CN212047342U - Mobile device and connected mobile integrated vehicle set thereof - Google Patents

Abstract

The utility model discloses a mobile device and even integrated set of cars of hanging removal thereof. The utility model discloses a mobile device is including enclosing fender formula main frame unit, power pack, main control unit, brake unit, power supply unit and controlling the unit, power supply unit is right each unit power supply of above-mentioned of mobile device. The hitching mobile integrated vehicle group comprises at least two mobile devices which are connected in a grouping mode through connectors, each mobile device comprises an activation button, the mobile device is activated to be a driving vehicle, the mobile device with the activation button pressed becomes a driving vehicle, and other mobile devices are driven vehicles. Through the utility model discloses, can realize stable, the high-efficient operation of being connected and cooperating of detecting system and mobile device to can ensure fast, when continuously operating, can accomplish in step accurately such as carry out the operation of patrolling and examining of being on active service detection etc. to the peripheral adapting unit of contact rail.

Description

Mobile device and connected mobile integrated vehicle set thereof

Technical Field

The utility model relates to a rail transit technical field especially relates to a mobile device and continuous string removal integrated vehicle group that is used for rail transit intelligence to patrol and examine.

Background

The rail transit fast inspection and rush repair vehicle has the main functions of helping rail transit maintenance and guarantee workers to transport personnel, equipment, materials and the like to a destination through an authorized current existing rail line at a higher speed and efficiency when emergency faults occur in the rail transit daily maintenance and guarantee working process or at a certain part of a rail transit system and need fast repair, so that the comprehensive efficiency of the rail transit system daily maintenance and guarantee work or the emergency fault repair work is improved.

But because reasons such as cost control, technical merit, designer experience are not enough, current common track traffic is patrolled and examined fast and breakdown van generally has the transport convenience problems such as the transport difficulty that whole car is bulky, weight is great leads to, especially carries this type of breakdown van and can occupy a large amount of manpowers and time at urgent repair in-process, seriously influences the timeliness of salvageing. Meanwhile, the conventional inspection auxiliary equipment has the defect that inspection operation cannot be efficiently and conveniently completed due to the limitation of the expansion function by the inspection and transportation capacity, low efficiency and the like of the conventional breakdown van.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to reduce the comprehensive convenience of patrolling and examining auxiliary device to and can also realize the problem of function expansion more accurately simultaneously, provide a mobile device and continuous mobile integrated vehicle group of putting together thereof.

The utility model discloses an above-mentioned technical problem is solved through following technical scheme:

the utility model provides a mobile device for rail transit intelligence patrols and examines the operation, and its characteristics lie in, and it includes: the enclosure type main frame unit comprises a plurality of enclosure arms, the enclosure arms are sequentially connected end to form a frame structure, and a hollow part for realizing function expansion of the mobile device is formed in the center of the frame structure; the power unit at least comprises four groups of running wheels, wherein at least one group of running wheels is a driving wheel used for providing driving force for the moving device to travel along the track; the main control unit is used for controlling the power unit to control the driving wheel to operate, is arranged on one side of the frame structure and is electrically connected with the power unit; the braking unit is arranged between the frame structure and the travelling wheels positioned on one side of the frame structure and is used for enabling the moving device to be in a deceleration or static state; the power supply unit is used for supplying power to the mobile device, is arranged on one side of the frame structure and is respectively and electrically connected with the power unit, the main control unit and the brake unit; and the control unit is used for sending a control command to the mobile device and is electrically connected with the power supply unit and the main control unit.

The device of this embodiment can realize patrolling and examining the detecting system's of operation carrying on rail transit, and can be to carrying on relevant detecting module quick, the continuous operation in-process, automobile body and module assembly are all less at horizontal and fore-and-aft amplitude, have ensured detecting system's high efficiency and reliability, have improved the precision and the comprehensive operating efficiency of operation greatly.

Preferably, the moving track of the moving device is a moving track along a track under the driving of the power unit (i.e. the moving device moves along the track under the driving of the power unit), and the track is a track contacting with the running wheels of the moving device (the track in this embodiment may be a track for a transportation system).

Preferably, each surrounding arm is located in the same horizontal plane and includes a first transverse surrounding arm, a first longitudinal surrounding arm, a second transverse surrounding arm and a second longitudinal surrounding arm which are sequentially connected end to end, wherein the first transverse surrounding arm and the second transverse surrounding arm, and the first longitudinal surrounding arm and the second longitudinal surrounding arm are arranged in parallel at intervals.

Preferably, the frame structure of the enclosure type main frame unit is a detachable frame structure or an integrated frame structure.

Preferably, a cavity structure is formed in each surrounding arm. In the embodiment, accurate weight reduction calculation is performed to the maximum extent on all the devices/modules which need to be installed and need to be borne by the surrounding arm stress deformation target value, and a local cavity structure is arranged in the surrounding arm, so that the device can meet the bearing detection function and can ensure the required detection precision.

Preferably, the cross-sectional shape of the cavity structure in the surrounding arm is L-shaped. The L-shaped section can enhance the bearing strength of the surrounding arm.

Preferably, each surrounding arm is provided with a plurality of connecting modules for connecting external function expanding equipment.

Preferably, each of the coupling modules includes a plurality of mechanical connectors for positioning and fixing, and the mechanical connectors are respectively fixedly inserted into the surrounding arms.

Preferably, each mechanical interface structure includes an interface base body with a central hole, and a rotating rod penetrating through the interface base body through the central hole, at least two limiting portions for clamping the interface base body and the surrounding arm are formed on the interface base body, a rotating handle is arranged at one end of the rotating rod, the other end of the rotating rod penetrates through the central hole of the interface base body from the inner side direction of the surrounding arm to extend outwards, threads are formed on the surface of a rod body of the outwards extending portion, and a plurality of positioning portions for positioning the plug-in function expansion device are further arranged on the interface base body. In the embodiment, the mechanical interface adopts the combined design of the positioning hole with the quick positioning function and the quick fastening rotary handle, so that the quick connection, the accurate positioning and the stable operation of various plug-in function expansion detection equipment/modules with corresponding adaptive connecting heads can be realized.

Preferably, the moving device is detachably connected with a side-standing pushing device (such as a pushing trolley) through a connecting module. Of course, the side-standing pushing device is provided with a connecting head matched with the connecting module. This embodiment is through detachable one side of connecting push device that stands, can help the operator light more and swiftly in track traffic equipment warehouse, station room, platform and any other inconvenient occasions such as circuit section that go on the rail, carries out the side and stands the push to the mobile device, improves maintenance efficiency to the human cost has been saved greatly.

Preferably, each of the connection modules further includes a plurality of electrical interfaces disposed at intervals in an embedded manner in each of the surrounding arms, each of the electrical interfaces has at least one set of electrical connection jacks embedded therein, and connection functional ends of each of the electrical connection jacks are exposed out of the surrounding arms, so as to achieve positioning, electrical connection, and fixation of the external function extension device. The electrical connection in this embodiment is an electrical connection including power, signal, and data transmission. The electrical interface in this embodiment may adopt standard components in the prior art: the multi-core aviation plug can realize the mutual stable interconnection of various detection modules, the vehicle-mounted storage battery and the vehicle-mounted control terminal, ensures that the device can carry out smooth detection operation under the supply of stable system electric energy, and improves the quality and the efficiency for the inspection operation.

Preferably, the mobile device further comprises at least one network switch, and each network switch is electrically connected with at least two of the electrical interface and the power supply unit.

Preferably, the four sets of running wheels further include at least one driven wheel for providing balanced supporting force for the movement of the enclosure type main frame unit, wherein the running wheels of the four sets of running wheels for providing driving force for the moving device to move along the track are driving wheels, and the driving wheels include: the wheel shaft is arranged on the central line of the wheel rim in a penetrating way, the motor is electrically connected with a motor driving controller (the driving wheel can be directly driven by the motor and can continuously provide running power for the mobile device), one end of the base is fixedly connected with the outer side of a surrounding arm of the surrounding type main frame unit, and the other end of the base is fixedly connected with the wheel shaft; the driven wheel includes: the wheel shaft penetrates through the center line of the wheel rim, one end of the base is fixedly connected with the outer side of a surrounding arm of the surrounding type main frame unit, and the other end of the base is fixedly connected with the wheel shaft.

Preferably, the mobile device further comprises at least one information acquisition unit for acquiring and storing the state information of the mobile device, and the information acquisition unit is electrically connected with the main control unit and the power supply unit; the information acquisition unit comprises a plurality of sensor modules and an information processing module, and all the sensor modules are electrically connected with the information processing module and form one-to-one corresponding information feedback streams. In this embodiment, the information processing module is responsible for performing operation processing on data collected and fed back by each sensor module, storing an operation result in a local storage medium of the information processing module, and transmitting the operation result to the main control unit; or only the operation result is directly transmitted to the main control unit (namely only the operation result is transmitted and not stored).

Preferably, the sensor modules of the information acquisition unit include load sensors respectively disposed on axles of the traveling wheels.

Preferably, the plurality of sensor modules of the information acquisition unit include at least one non-contact wheel speed sensor respectively disposed on the traveling wheels.

Preferably, the power supply unit includes at least one group of storage batteries, and the plurality of sensor modules of the information acquisition unit include at least one current-voltage sensor, and the current-voltage sensor is disposed at an electrode outlet terminal of the storage batteries.

Preferably, the sensor modules of the information acquisition unit include a plurality of vibration sensors, and each vibration sensor is fixedly arranged on the enclosure type main frame unit.

Preferably, the mobile device further comprises a wireless mobile communication unit for cloud storage and analysis, and the wireless mobile communication unit is electrically connected with the information acquisition unit and the power supply unit. The wireless mobile communication unit in this embodiment can be implemented by an existing wireless mobile module, which is the prior art and therefore will not be described herein.

Preferably, the mobile device further comprises a plurality of lighting units, and each lighting unit is electrically connected with the power supply unit.

Preferably, each of the lighting units at least comprises a plurality of LED headlights and a plurality of LED taillights, each of the LED headlights and the LED taillights is respectively disposed in the cavity structure of at least two opposite surrounding arms (for example, the two opposite surrounding arms are a first transverse surrounding arm and a second transverse surrounding arm of the frame structure when viewed from the front of the mobile device), and the surrounding arms are further provided with a plurality of lighting holes for scattering light to the outside of the surrounding arms.

Preferably, the main control unit and the power unit communicate with each other through a controller area network bus to transmit the control instruction information of the main control unit and the driving state information of the power unit.

Preferably, the mobile device further comprises an operator permission judgment unit, and the operator permission judgment unit is electrically connected with the main control unit and the power supply unit respectively and is used for ensuring that an operator always operates the mobile device within a specified authorization range.

Preferably, the mobile device further comprises a human-computer interaction unit, including: the electronic display screen is electrically connected with the main control unit and the power supply unit and forms an information feedback flow with the main control unit; the sound and light alarm device is electrically connected with the main control unit and the power supply unit.

Preferably, the control unit comprises a main switch for controlling the start/stop of the mobile device, a speed regulating device for regulating the rotating speed of a driving motor of the mobile device, and a box body, wherein the main switch is electrically connected with the power supply unit, and the speed regulating device is electrically connected with the main switch and the main control unit; the box body is arranged on one side of a surrounding arm of the surrounding type main frame unit, and the main switch and the speed regulating device are located in the box body.

Preferably, the speed adjusting device is a hall knob type speed adjuster. The hall knob governor in this embodiment is commercially available and is prior art.

Preferably, the brake unit includes two sets of hydraulic disc brake assemblies at least, and every set of hydraulic disc brake assembly includes: the brake disc is concentrically sleeved and fixedly connected to the inner side of the traveling wheel, and the brake handle is used for synchronously braking all the hydraulic disc brake assemblies.

Preferably, the enclosure type main frame unit further comprises a bottom plate, the bottom plate is embedded in the bottom of the enclosure type main frame unit, is located in the plane of the bottom end face of the frame structure, and is connected with the frame structure to form a whole. Through the bottom plate in this embodiment, can make the utility model discloses a mobile device has great vehicle floor space, can carry on with the industrial control all-in-one of detection module assorted, great volume and weight. In addition, through this bottom plate, operating personnel operates whole journey, can sit the seat of arranging on the bottom plate in and smoothly carry out convenient, comfortable and stable detection to detecting system freely and control to effectively reduce operation intensity of labour, and the at utmost guarantees the operation precision.

Preferably, the bottom plate is a multifunctional lifting bottom plate, the bottom of the multifunctional lifting bottom plate is fixedly connected with one end of a telescopic mechanism, the other end of the telescopic mechanism along the telescopic direction is fixedly connected with the frame structure, and the telescopic mechanism is electrically connected with the power supply unit (through the power supply unit, the telescopic mechanism can lift the multifunctional lifting bottom plate). The multifunctional lifting bottom plate in the embodiment can be changed into a lifting operation platform through the telescopic mechanism, so that the high-altitude auxiliary operation of the mobile device is realized. For example, in order to transport a heavy electric cabinet or other electrical equipment to a platform far higher than a rail, an operator may move the electric cabinet to a multifunctional lifting base plate on the base plate, and lift the lifting platform to the same height as the platform, so that the operator on the platform can move the electric cabinet to the platform.

The utility model also provides a couple move integrated train set, its characteristics are that, it includes at least two mobile device as described above, through erect a connector between two adjacent mobile device each other realize two the marshalling of mobile device connect, the both ends of connector respectively with two the hookup module on the mobile device carry out the rigid coupling; the communication mode among all the mobile devices in the linked mobile integrated train set is a mode that a local area network is formed through respective main control units and communication is carried out through a controller local area network bus; each mobile device further comprises an activation button for activating to become a master vehicle, the activation button is electrically connected with the master control unit and the power supply unit, and by pressing the activation button of any one mobile device, the mobile device is in a master vehicle running state, and other mobile devices are in slave vehicle running states.

Preferably, the connectors are respectively formed at both ends thereof with connecting members for mating connection with the coupling modules.

On the basis of the common knowledge in the field, the above preferred conditions can be combined at will to obtain the preferred embodiments of the present invention.

The utility model discloses an actively advance the effect and lie in:

1. the utility model discloses a mobile device, it is small, light in weight, fast, the load is big, has realized collecting "intelligent type, portable" in an organic whole. Through the frame structure design of enclosing fender formula main frame unit to can be when the effective usage space of increase device, reinforcing safety in utilization, can also compress device's whole volume and weight effectively, convenience when increasing the transport.

2. Through the hollow part formed by the frame structure, external equipment or components can be arranged on the hollow part according to the operation requirement, namely, the hollow part is used as the same basic platform, so that the multifunctional expansion of the mobile device is realized; additionally, the utility model discloses a motor of each drive wheel of power pack and drive wheel from the area sustainably provides the power of operation for this device. In addition, the mobile device is also provided with an operator authority judgment unit for identifying the identity and the operation authority of the driver, so that the driving safety is improved.

3. The utility model discloses human-computer interaction unit and be used for perception mobile device operating parameter's information acquisition unit have still been add to form an information feedback stream in the device instruction inner loop, with grasp vehicle running state in real time, realize more accurate operation control.

4. Through the utility model discloses an all kinds of hookup modules that set up on enclosing the arm have greatly made things convenient for real-time quick, the portable connection of device with external function extension equipment, have improved mobile device's the convenience of carrying and external operation equipment's function extension greatly.

5. The internal part of each surrounding arm of the surrounding type main frame unit of the device of the utility model is provided with a hollow structure, which not only can be used for internal wiring, but also can be internally provided with a lighting unit, thereby greatly reducing the weight of the whole vehicle while enhancing the aesthetic degree of the whole vehicle; enclose all kinds of hookup modules that set up on the arm simultaneously, also greatly made things convenient for the utility model discloses real-time quick, the portable connection of mobile device and external function extension equipment also is convenient for follow-up further function extension and upgrading simultaneously.

6. The utility model discloses can also form to be linked up and remove integrated set of cars through the connector on the mobile device, realize the function of linking up of many devices to can drive all the other driven cars through the driving motor car, thereby when guaranteeing safety, still greatly expand and overhaul personnel and goods and materials transportation volume in the transportation, improve the efficiency of overhauing, also saved the cost of overhaul simultaneously greatly.

Drawings

Fig. 1 is a three-dimensional structure diagram of a mobile device according to an embodiment of the present invention;

fig. 2 is a three-dimensional structure diagram of a mobile device with a bottom plate according to another embodiment of the present invention;

FIG. 3 is an enlarged partial perspective view of the boom of the mobile device of FIG. 1;

FIG. 4 is an enlarged sectional view of the apron of FIG. 3;

FIG. 5 is a schematic exploded view of the base plate and the mobile device shown in FIG. 4;

FIG. 6 is an enlarged perspective view of the coupling module disposed on the arm of the mobile device;

FIG. 7 is a rear view of the link module of FIG. 6;

FIG. 8 is an enlarged perspective view of the mechanical interface;

fig. 9 is a sectional view taken along a in fig. 8;

fig. 10 is an enlarged schematic view of an electrical interface of the mobile device of the present invention;

FIG. 11 is a perspective view of a mobile device with a multi-functional lifting/lowering bottom plate according to another embodiment of the present invention;

fig. 12 is a schematic view showing a state of use of the moving device with a base plate according to the present invention;

fig. 13 is a schematic structural diagram of the use state of the hitching mobile integrated vehicle group according to the present invention.

Description of reference numerals:

mobile device 1

Surrounding arm 101

Cavity structure 1011

Hollow part 102

Running wheel 200

Drive wheel 201

Driven wheel 202

Power supply unit 300

Link module 400

Mechanical interface 401

Rotary handle 4011

Interface base 4012

Position limiting part 40121

Location portion 40122

Rotating rod 4013

Thread 4014

Electrical interface 402

Electrical patch jack 4021

Control unit 500

Baseplate 600

Telescopic mechanism 601

Illumination aperture 700

Human-computer interaction unit 800

Electronic display screen 801

Track 2

Connector 3

Detailed Description

As shown in fig. 1 to 12, the utility model provides a mobile device 1 of an embodiment for track traffic routing inspection operation, this mobile device 1 includes: a surrounding type main frame unit, a power unit, a main control unit, a brake unit, a control unit 500 and a power supply unit 300 (the power supply unit can be one or more groups of storage batteries); enclose fender formula main frame unit and include a plurality of enclose arm 101, each encloses arm 101 and is that in proper order end to end forms a frame construction, frame construction's central authorities form a well kenozooecium 102 for realize mobile device's function expands, promptly: the hollow part in the center of the frame structure can provide an installation position, and then the hollow part can be used as the same basic platform to install corresponding external equipment or components on the installation position according to the operation requirement; in this embodiment, the braking unit is disposed between the frame structure and the traveling wheels on one side of the frame structure, and is used for decelerating or stopping the moving device. The main control unit is arranged on one side of the frame structure and is electrically connected with the power unit, and is used for transmitting a control command to the power unit, and controlling each driving part to operate according to the control command after the power unit respectively calculates an actual target control command corresponding to the current state; the control unit is electrically connected with the power supply unit and the main control unit and used for sending a control instruction to the mobile device. The power supply unit is arranged on one side of the frame structure, is at least electrically connected with the main control unit, the power unit, the electric connection unit and the brake unit and is used for supplying power to the mobile device. Therefore, the power supply unit is also called as "total power supply", and in specific implementation, the power supply unit may include: one or two groups of storage batteries, a plurality of switches, relays, cables and the like. The power supply unit can be implemented by using a storage battery assembly in the prior art, and is not described in detail herein.

As shown in fig. 2 and fig. 5, as a preferred embodiment, the enclosure type main frame unit of the present invention further includes a bottom plate 600, wherein the bottom plate 600 is embedded in the bottom of the enclosure type main frame unit, is located in the plane of the bottom end surface of the frame structure, and is connected to the frame structure. As shown in fig. 12, a base plate 600 is embedded in the frame structure of the apron type main frame unit and located at the bottom of the hollow portion, and a driver can ride on the mobile device and can move synchronously with the mobile device through the base plate. The bottom plate and the frame structure of the enclosure type main frame unit can be integrally connected or detachably connected according to operation requirements.

As shown in fig. 1 and 4, the power unit of the present invention includes four sets of running wheels 200, one set of running wheels is a driving wheel 201 for providing driving force for the moving device to travel along the rail, and the other running wheels are driven wheels 202. The driving wheel 201 includes: the wheel shaft penetrates through the center line of the wheel rim, one end of the base is fixedly connected with the outer side of a surrounding arm of the surrounding type main frame unit, and the other end of the base is fixedly connected with the wheel shaft; the motors are electrically connected with a motor driving controller, and each motor runs under the driving of the motor driving controller. Through the motor (for example, a direct current motor) that separately carries, each drive wheel can direct self-drive operation, and then uninterruptedly is the utility model discloses a mobile device provides operation power.

From driving wheel 202 include: the wheel shaft penetrates through the center line of the wheel rim, one end of the base is fixedly connected with the outer side of a surrounding arm of the surrounding type main frame unit, and the other end of the base is fixedly connected with the wheel shaft. Of course, as another alternative, all the running wheels 200 may be the driving wheels 201, i.e. a motor is respectively arranged on four groups of running wheels to provide the moving device with four directions of power. Therefore, four motor driving controllers respectively control four motors correspondingly, and the power is dispersed and strong. Similarly, the power unit of the mobile device, four sets of running wheels, can also be a combination of two sets of driving wheels 201 and two sets of driven wheels 202, so that the mobile device forms a power unit comprising two front drives and two rear drives. That is, the normal operation of the whole device can be ensured as long as four motors do not fail at the same time and even if only one motor is in normal operation. That is, the fault of any motor driver can not generate the rushing type influence on the control system, and other motor drive controllers can normally operate.

The brake unit at least comprises two sets of hydraulic disc brake components and is used for controlling the moving speed of the moving device. Hydraulic disc brake assemblies are commercially available. Every set hydraulic pressure dish subassembly of stopping includes: the brake disc comprises a brake disc, a hydraulic caliper, a hydraulic oil pipe, a hydraulic oil pot, a hydraulic cylinder and a brake handle, wherein each set of hydraulic disc brake component is installed on a walking wheel, during installation, the brake disc is concentrically sleeved and fixedly connected to the inner side of the walking wheel, and through the brake handle, synchronous brake operation of each hydraulic disc brake component can be realized. The piston of the hydraulic cylinder is moved by pulling the brake handle, hydraulic oil is conveyed to the hydraulic calipers through the hydraulic oil pipe, the hydraulic calipers are driven to clamp the brake disc, when the brake handle is pulled, the hydraulic pressure degree of the hydraulic calipers during clamping is large, a good brake effect can be achieved, and the moving device can be quickly decelerated or made to be in a static state.

In order to ensure the bearing strength and reduce the weight of the device, the wheel body materials of the combined self-driven steel rail walking wheel in practical implementation can be as follows from inside to outside in sequence: aluminum materials, nylon materials and stainless steel materials. The middle material is nylon, so that the axle counter of the combined self-driven steel rail travelling wheel cannot be interfered. If interference exists, false occupancy interference signals of abnormal occupancy faults are easily generated on control signals of the mobile device, and normal judgment of the mobile device is influenced.

As shown in fig. 1 to 10, each of the surrounding arms of the mobile device of the present invention may further include a plurality of connection modules 400, and the mobile device may be conveniently connected to an external function extension device (not shown in the figure) through the connection modules. The link module 400 of the mobile device includes: a plurality of mechanical interfaces 401 for positioning and fixing are respectively and fixedly arranged on the surrounding arms 101 in a penetrating manner, and correspondingly, a coupling head (not shown in the figure) matched with the mechanical interface 401 is arranged on each external function expanding device. As shown in fig. 6 and 10, the coupling module 400 further includes a plurality of electrical interfaces 402 disposed at intervals in an embedded manner on each of the booms 101. The mechanical interfaces 401 and the electrical interfaces 402 can be disposed on the surrounding arm 101 individually or in combination.

As shown in fig. 8 to 9, each of the mechanical interfaces 401 includes an interface base 4012 having a central hole, and a rotating rod 4013 penetrating through the interface base 4012 through the central hole, at least two limiting portions 40121 for clamping the interface base 4012 and the surrounding arm 101, and a plurality of positioning portions 40122 for positioning the external function extension device are formed on the interface base 4012, one end of the rotating rod 4013 is provided with a rotating handle 4011, the other end of the rotating rod extends outward from the inner side direction of the surrounding arm 101 through the central hole of the interface base 4012, and a screw thread 4014 (i.e., a screw rod portion) is formed on the rod body surface of the outward extending portion for realizing fastening connection with the external function extension device having an adaptive coupling head. The mechanical interface 401 can be quickly positioned by the combined structure of the positioning portions 40122 and the limiting portions 40121. And the screw rod end with the screw thread 4014 extending outwards through the rotary rod 4013 can realize the fast fastening connection and the accurate positioning with various plug-in function expanding equipment or detection function modules with corresponding adaptive connectors, and ensure the stable operation of the plug-in function expanding equipment.

As shown in fig. 8 to 9, the positioning portion 40122, the threaded portion of the rotating rod 4013, and the rotating handle 4011 are respectively exposed at two sides of the surrounding arm, so as to facilitate positioning, fastening, and connecting operations of the mobile device and the related external function expanding equipment. Preferably, through locating a mechanical interface 401 outside enclosing the arm, the utility model discloses a mobile device can also connect one side immediately the pushing device (not shown in the figure) detachablely, through this side immediately the pushing device on set up with the coupling head of this mechanical interface looks adaptation, alright realize easily carrying out the mobile device that the side was placed conveniently under the line section of going on the inconvenient rail of track traffic. Therefore the utility model discloses can improve the efficiency of patrolling and examining the transportation greatly, also greatly practice thrift the manpower consumption in the maintenance simultaneously.

As shown in fig. 10, the electrical interface 402 of the present invention is commercially available, and may be formed from a base structure and one or more multi-core plugs, or may be a cylindrical bore structure. For example: may be a multi-conductor aircraft socket, which is a commercially available standard. By adopting the multi-core aviation socket, the stable interconnection among various detection modules, the vehicle-mounted storage battery and the vehicle-mounted control terminal can be realized, and the stable supply of system electric energy of the device is ensured, so that the detection operation is ensured to be smooth, and the efficiency is improved for the operation quality improvement. Further, as shown in fig. 10, one or more electrical connection jacks 4021 are built in each electrical interface 402, and connection functional ends of the electrical connection jacks are exposed out of the surrounding arm, so as to realize positioning, electrical connection and fixed connection of the external function expansion device. Furthermore, the utility model discloses an electrical interface can also be the network jack. The electrical interface of the present invention is a prior art interface, and will not be described herein.

The mobile device also comprises at least one information acquisition unit which is electrically connected with the main control unit and the power supply unit and is used for acquiring and storing the state information of the mobile device; the information acquisition unit includes a plurality of sensor modules and an information processing module, and a plurality of sensor modules include: the device comprises a plurality of load sensors, a non-contact wheel speed sensor, a current and voltage sensor and a plurality of vibration sensors; all the sensor modules are electrically connected with the information processing module and form one-to-one corresponding information feedback streams, the information processing module is responsible for carrying out operation processing on data collected and fed back by all the sensor modules, then storing operation results in a local storage medium carried by the information processing module, and simultaneously transmitting the operation results to the main control unit; or the operation result is directly transmitted to the main control unit without local storage. When the number of the information acquisition units is multiple, the information acquisition units are connected in parallel, specifically, at least one of the information acquisition units may be used as a main device, and the rest of the information acquisition units may be used as backup devices. In addition, the information acquisition unit is electrically connected with the main control unit and forms an information feedback stream, the information acquisition unit is responsible for sending the data of each sensor after operation processing to the main control unit, the main control unit receives the data fed back by the information acquisition unit and then carries out comprehensive operation processing by combining the information or the data acquired by other channels, and finally, corresponding control instructions are output to all the function units to which the mobile device belongs according to the comprehensive operation processing result.

The load sensors of the information acquisition unit are respectively arranged on wheel shafts of the walking wheels, and the non-contact wheel speed sensors are respectively arranged on the walking wheels. The non-contact wheel speed sensor consists of an induction magnetic ring and an induction magnetic head, wherein the induction magnetic ring is arranged in the center of one side of the walking wheel and rotates synchronously with the walking wheel, the induction magnetic head is arranged on one side, close to the walking wheel, of a surrounding arm used for fixing the walking part of the walking wheel and is close to the outer side of the induction magnetic ring, and a certain gap is always kept between the induction magnetic ring and the walking wheel. Non-contact wheel speed sensor module portions are commercially available in the prior art. In addition, the current and voltage sensors of the information acquisition unit are arranged at the electrode wire outlet end of the storage battery, and each vibration sensor is fixedly arranged on the enclosure type main frame unit.

As shown in fig. 1, each of the surrounding arms 101 is located in the same horizontal plane, and includes a first transverse surrounding arm, a first longitudinal surrounding arm, a second transverse surrounding arm, and a second longitudinal surrounding arm that are sequentially connected end to end, where the first transverse surrounding arm and the second transverse surrounding arm, and the first longitudinal surrounding arm and the second longitudinal surrounding arm are all arranged in parallel at intervals. In order to reduce the overall weight of the device, a cavity structure is formed in each surrounding arm. As shown in fig. 2 and 3, the cross-sectional shape of the cavity 1011 in each of the booms 101 is L-shaped, which enhances the load-bearing strength of the booms.

As shown in fig. 1-2, in order to facilitate track maintenance at night or in foggy weather, the mobile device of the present invention further includes a plurality of lighting units, each of which is electrically connected to the power supply unit. The cavity structure in the surrounding arm can accommodate the lighting unit. Each of the lighting units includes a plurality of LED headlights and a plurality of LED taillights, each of which is respectively disposed in the cavity structure 1011 of at least two opposite surrounding arms 101 of the surrounding type main frame unit, so that the lights of the LED headlights and the LED taillights are scattered outward through the holes of the lighting holes 700 specially disposed on the side walls of the cavity. The main control unit and the power unit are communicated through a Controller Area Network bus (CAN bus for short, CAN is an abbreviation of Controller Area Network), and control instruction information of the main control unit and driving state information of the power unit are transmitted.

Further, as shown in fig. 1 and 4, the mobile device of the present invention further includes a human-computer interaction unit 800, which includes: the electronic display screen 801 is used for displaying the operation parameters of the mobile device, and the sound and light alarm device is electrically connected with the main control unit and the power supply unit. After being electrically connected with the main control unit and the power supply unit, the electronic display screen 801 forms an information feedback stream with the main control unit. The electronic display screen is characterized in that an NFC wireless data transmission module (NFC) is arranged in a body of the electronic display screen, is a short-distance high-Frequency wireless data transmission module, is evolved from non-contact Radio Frequency Identification (RFID), is developed and developed by Philips semiconductors, Nokia and Sony, and is based on RFID and internet technology) and is used for identifying the identity and the control authority of a driver. As shown in fig. 1, the control unit 500 of the present invention includes a main switch, a speed adjusting device and a box, wherein the main switch is electrically connected to the power supply unit for controlling the start/stop of the mobile device, and the speed adjusting device is electrically connected to the main switch and the main control unit for adjusting the rotation speed of the driving motor of the mobile device as required; the box body is arranged on one side of a surrounding arm 401 of the surrounding type main frame unit, and the main switch and the speed regulating device can be accommodated in the box body. Of course, if the box body has redundant space, other accessories or routing wires can be placed in the box body. Alternatively, the operator may hold the control unit outside the mobile device. The utility model discloses a speed adjusting device can adopt the available speed adjusting device of market among the prior art, for example: the prior art hall rocker type speed regulator, hall knob type speed regulator, etc. are the prior art, and therefore, are not described herein again.

Preferably, the utility model discloses a mobile device still includes a wireless mobile communication unit, wireless mobile communication unit is connected with information acquisition unit, power supply unit electricity respectively for will by all data and information that information acquisition unit transmitted send to network server and carry out high in the clouds storage, analysis. The wireless mobile communication unit in this embodiment can be implemented by an existing wireless mobile module, which is the prior art and therefore will not be described herein.

The main control unit and the power unit are communicated through a controller local area network bus to transmit control instruction information of the main control unit and driving state information of the power unit. In addition, the mobile device further comprises an operator permission judging unit, the operator permission judging unit is respectively electrically connected with the main control unit and the power supply unit, and an operator can be ensured to operate the mobile device within a specified authorization range all the time through the operator permission judging unit. In addition, the operator authority judgment unit is also used for identifying the identity and the operation authority of a driver, verifying and comparing the identified identity information in the driver card with the information in the vehicle networking server acquired through the wireless network module, and if the comparison information is consistent with each other, the operator authority judgment unit outputs an authority signal to the main control unit, otherwise, the operator authority judgment unit outputs the authority signal to the main control unit: the check failed.

The mobile device further comprises at least one network switch, and each network switch is electrically connected with at least two of the electrical interfaces and the power supply unit. Therefore, mutual transmission of information or electric energy among the electric interfaces can be realized. It should be noted that, each switch operates independently or in a partial networking mode or in a complete networking mode, and some or all of the plurality of electrical interfaces are electrically connected with the same network switch which operates independently or in the same networking mode.

As shown in fig. 11, the bottom plate 600 of the present invention can be a multifunctional lifting bottom plate, the bottom of the multifunctional lifting bottom plate is fixedly connected to one end of a telescopic mechanism 601, the other end of the telescopic mechanism 601 is fixedly connected to the frame structure, and the telescopic mechanism is electrically connected to the power supply unit and can lift the multifunctional lifting bottom plate. The telescoping mechanism in this embodiment can be implemented by using an electric telescopic frame which is already in the prior art, and the part is in the prior art and is not described in . Through the multi-functional lifting bottom plate with the telescopic mechanism, the mobile device can easily realize high-altitude auxiliary operation, for example, in order to carry a heavy electric control cabinet or other heavy electrical equipment to a platform far higher than a rail, an operator can firstly move the electric control cabinet to a multi-functional lifting underframe and lift the multi-functional lifting bottom plate through the telescopic mechanism, so that the multi-functional lifting bottom plate is lifted to be as high as the platform, and the electric control cabinet is translated to the platform by a worker positioned on the platform.

The frame structure of the enclosure type main frame unit can be a detachable frame structure and also can be an integrated frame structure. Furthermore, as shown in fig. 12 and 13, the moving means is driven by its power unit to move along the rail 2 in contact with its four running wheels.

In addition, the present invention further provides a hitching mobile integrated vehicle group, as shown in fig. 13, the hitching mobile integrated vehicle group may include at least two mobile devices 1 (three mobile devices may be used as required in actual use), a connector 3 (the connector in this embodiment may be a connector of a hitching vehicle known in the prior art) is installed between two adjacent mobile devices to realize marshalling connection of the two mobile devices, connecting members for pairing connection with the connecting modules are respectively formed at two ends of the connector, and when hitching, the connecting members at two ends of the connector are respectively connected with the connecting modules at corresponding positions on the two adjacent mobile devices in an adaptive manner to realize hitching of the two devices; each mobile device in the linked mobile integrated train unit forms a local area network through a respective main control unit and communicates through a controller local area network bus; each mobile device further comprises an activation button for activating to become a master vehicle, the activation button is electrically connected with the master control unit and the power supply unit, the mobile device is switched to be in the master vehicle running state by pressing the activation button of any mobile device in the hitching mobile integrated vehicle group, and other mobile devices in the hitching mobile integrated vehicle group are in the slave vehicle running state. Through controlling even the integrated group of cars that moves of hanging, just realized the utility model discloses the even marshalling function of hanging of device.

The communication control method of the hitching and moving integrated vehicle group comprises the following steps:

s1, the main control unit of the main motor car sends the control command to a controller area network bus (namely CAN bus);

s2, respectively acquiring control commands sent by the driving vehicle by the main control unit of each driven vehicle, and then respectively sending the control commands to the power units of the driven vehicles for driving control;

s3, sending the state information of the driven vehicles and the state information of the master control unit of the driven vehicles to a controller local area network bus by the master control unit of each driven vehicle respectively, and acquiring the state information of each driven vehicle by the master control unit of the driving vehicle through the controller local area network bus;

s4, the master vehicle sends the acquired state information of the slave vehicles to the information acquisition unit of the master vehicle through the master control unit of the master vehicle for operation processing, then stores the operation result data in a local storage medium of the master vehicle, and transmits the operation result data to the network server through the wireless mobile communication unit of the master vehicle for cloud storage and analysis; and

and S5, the master vehicle judges whether the slave vehicle is in a normal state according to the operation result, and if the slave vehicle is in an abnormal state, the master vehicle and the corresponding human-computer interaction unit of the slave vehicle are controlled to simultaneously send out alarm signals.

The utility model discloses an electronic display screen's screen display information content contains: the system comprises the following components of residual electric quantity, vehicle running direction, current vehicle speed, highest speed limit, active vehicle control authority activation state, coupling state, hand brake state, accumulated driving mileage, vehicle overweight state, axle overweight state, coupling vehicle number, various alarm prompt words and the like. Preferably, the electronic display screen is a foldable electronic display screen. In addition, each mobile device (hereinafter referred to as a vehicle for short) can be further connected with a vehicle-mounted data transmission unit, and through a storage medium (such as an SD card) of the vehicle-mounted data transmission unit, the running state information of the mobile device can be uploaded to a cloud vehicle management and control platform of a specified network server, so that a manager can master various states of all online running vehicles in a remote online mode in real time, and overall operation scheduling and commanding are facilitated.

Through the control method of above-mentioned mobile device, even hanging removal integrated vehicle group and even hanging removal integrated vehicle group, the utility model discloses can realize that detecting system and mobile device's stability, high efficiency are connected to and the cooperative operation under the device function expansion for mobile device is quick, continuous operation in, realizes patrolling and examining the operation including the service condition etc. of the peripheral insulation support adapting unit of touch rail, carries out accurate monitoring in step and record etc..

The following description will be given of the control process and the control principle of the mobile device in combination with the present invention:

and starting a main switch in a braking system of the mobile device, starting power supply by the power supply unit, starting the mobile device, starting the electronic display screen to brighten, and accessing a wireless network module arranged in the electronic display screen into the vehicle networking server. The information acquisition unit and the local storage system start to operate, and the main control unit starts to operate at the same time.

Through an operator authority judgment unit, a driver places a non-contact chip card (such as a work card ID) with identity information at an electronic display screen, and reads the identity information in the ID card through an NFC wireless data transmission module (NFC is a Near Field Communication abbreviation) built in a man-machine interaction unit, so that the identification of the driver identity and the corresponding operation authority judgment are realized (for example, the driver is Zhang, the maximum speed of driving is allowed to be 5 km/h, and the driver is Li, the maximum speed of driving is allowed to be 20 km/h).

A driver adjusts the target speed of the vehicle through a speed regulation knob, a main control unit transmits a calculated control command to all motor drive controllers of a power unit, and the motor drive controllers calculate the actual target control command of the corresponding motor according to the current state (such as the motor rotating speed, the motor temperature, the motor fault state and the like) of the corresponding motor respectively and then control the current or voltage input by each phase line of the motor so as to drive the motor to run.

The following describes the control operation process of the present invention in detail by taking an example that a driver (hereinafter referred to as a driver) needs to complete one article transportation:

as shown in fig. 12, when a power switch is turned on, the electronic display screen is turned on, the mobile device detects that the brake handle of the brake unit is not pulled up, and the screen (hereinafter referred to as the screen) of the electronic display screen prompts to pull up the brake handle, and simultaneously performs voice alarm: the brake handle is pulled up, and after the brake handle is pulled up, the voice alarm is released. A certain suggestion of screen display carries out identification, carries out voice broadcast simultaneously: please swipe the ID of the work card for identification. Zhangyi places the employee's card in electronic display screen department, and the screen display shows: zhangzhi, employee id number 00001, speed limit 5 km/h.

After checking whether the residual electric quantity displayed on the screen is enough, for example, 90% of electric quantity, the device can be started, then the mobile device (hereinafter referred to as a vehicle) is ready to be started, the forward/reverse gear is confirmed to be in a forward state through the screen display and the button indicator lamp, the brake handle is put down, the speed regulating knob on the speed regulating device is rotated clockwise from 0 position, and the vehicle starts to run forwards. The speed of the vehicle is controlled according to the speed corresponding to the speed regulating knob, the vehicle is accelerated to the corresponding speed from 0 km/h, and the vehicle can know the real-time speed through the screen. When the speed reaches a certain speed limit authority (5 km/h), the speed of the mobile device is always controlled within 5 km/h.

When a certain destination is reached and the vehicle needs to be parked, the speed is gradually reduced to 0 kilometer/hour by rotating the speed regulating knob to park, or the brake handle can be pulled up, at the moment, the motor of the driving wheel stops outputting the braking force, and the vehicle is completely parked by a mechanical brake. When the vehicle stops, the vehicle exceeds the destination, after a certain button is pressed down to back the car, the button indicator lamp is turned on, the screen displays the back-up state, and meanwhile, the voice broadcasting and back-up reminding are realized. At the moment, the speed regulating knob is rotated anticlockwise from the 0 position, and the vehicle starts to run in a reverse mode. And pulling up the brake handle after a certain parking is opened.

After a certain destination is reached, loading articles to be transported on the vehicle, piling up the articles in front of the left side of the vehicle, when the articles exceed 150 kg, acquiring and transmitting the overweight information to the main control unit through the load sensor arranged in the information acquisition unit, and outputting and displaying the overweight information through a screen by the main control unit: the overweight warning in left place ahead carries out the pronunciation warning simultaneously: "the vehicle is overweight in the front left and the driving is forbidden". Then the user opens the car and puts the articles on the car uniformly again, and the screen and the voice alarm are released. When a certain person continues to load articles on the vehicle, the articles on the vehicle exceed 500 kg, the same screen displays the overweight alarm of the vehicle again and simultaneously gives an alarm by voice: "the vehicle is overweight and the running is forbidden". If a certain overlow alarm is not watched, the vehicle is prepared to be started normally, the vehicle is found to be stopped in situ and cannot advance or reverse, and the vehicle still keeps the overweight alarm. After a certain separated article is moved, the overweight alarm is relieved, and at the moment, the vehicle can normally operate.

As shown in FIG. 13, when one mobile device is not enough to load more articles to the train, another two mobile devices are found and three mobile devices are connected together through a connector to form a train of the integrated mobile train set. And a certain icon connected to the screen of the three mobile devices normally confirms that the continuously-connected mobile integrated vehicle group is normally connected. Thus, by pressing the activate button for the master vehicle control authority on one of the mobiles, making that mobile the master vehicle and taking control of the hitching mobile integrated consist, the other mobile becomes the slave vehicle.

In the whole process of the operation, the vehicle and the operation data are collected in real time and stored in a storage device (such as an SD card) on the vehicle, and are uploaded to a specified network server in real time for backup.

The following table 1 is the utility model discloses the performance parameter of device and prior art inspection device's performance contrast table.

TABLE 1

To sum up, the utility model discloses have "wisdom": the enclosure type main frame unit of the utility model adopts a frame structure, and the hollow part formed by the frame structure can be provided with external equipment or parts according to the operation requirement, namely, the hollow part is used as the same basic platform, thereby realizing the multifunctional expansion of the mobile device; additionally, the utility model discloses a motor of each drive wheel of power pack and drive wheel from the area sustainably provides the power of operation for this device. In addition, the mobile device is also provided with an operator authority judgment unit for identifying the identity and the operation authority of the driver, so that the driving safety is improved.

The utility model discloses human-computer interaction unit and be used for perception mobile device operating parameter's information acquisition unit have still been add to form an information feedback stream in the device instruction inner loop, with grasp vehicle running state in real time, realize more intelligent accurate operation control. Moreover, the lighting unit of the device is internally provided with a hollow structure in the surrounding arm, thereby greatly reducing the weight of the whole vehicle. Especially, through the utility model discloses an all kinds of hookup modules that set up on enclosing the arm have greatly made things convenient for real-time quick, the portable connection of device with external function extension equipment, have improved the portability and the operation travelling comfort of device.

Although specific embodiments of the present invention have been described above, it will be understood by those skilled in the art that this is by way of example only and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and the principles of the present invention, and these changes and modifications are all within the scope of the present invention.

Claims (30)

1. The utility model provides a mobile device for rail transit patrols and examines the operation, its characterized in that, it includes:

the enclosure type main frame unit comprises a plurality of enclosure arms, the enclosure arms are sequentially connected end to form a frame structure, and a hollow part for realizing function expansion of the mobile device is formed in the center of the frame structure;

the power unit at least comprises four groups of walking wheels, wherein at least one group of walking wheels is a driving wheel used for providing driving force for the moving device to move along the track;

the main control unit is used for controlling the power unit to control the driving wheel to operate, is arranged on one side of the frame structure and is electrically connected with the power unit;

the brake unit is arranged between the frame structure and the travelling wheels positioned on one side of the frame structure;

the power supply unit is arranged on one side of the frame structure and is respectively and electrically connected with the power unit, the main control unit and the brake unit;

and the control unit is used for sending a control command to the mobile device and is electrically connected with the power supply unit and the main control unit.

2. The mobile device according to claim 1, wherein the moving track of the mobile device is a moving track along a track driven by a power unit, and the track is a track in contact with running wheels of the mobile device.

3. The mobile device according to claim 1, wherein each of the surrounding arms is located in the same horizontal plane, and includes a first transverse surrounding arm, a first longitudinal surrounding arm, a second transverse surrounding arm and a second longitudinal surrounding arm, which are connected end to end in sequence, wherein the first transverse surrounding arm and the second transverse surrounding arm, and the first longitudinal surrounding arm and the second longitudinal surrounding arm are arranged in parallel and spaced apart.

4. The mobile device of claim 1, wherein the frame structure of the containment main frame unit is a removable frame structure or an integral frame structure.

5. The mobile device according to claim 1, wherein each of the enclosing arms has a cavity structure formed therein.

6. The mobile device of claim 5, wherein the cross-sectional shape of the cavity structure in the boom is L-shaped.

7. The mobile device as claimed in claim 1, wherein each of the arms is provided with a plurality of connection modules for connecting with external function expanding equipment.

8. The mobile device as claimed in claim 7, wherein each of the coupling modules includes a plurality of mechanical connectors for positioning and fastening, and each of the mechanical connectors is fixedly inserted into each of the surrounding arms.

9. The mobile device according to claim 8, wherein each mechanical interface comprises an interface base having a central hole, and a rotating rod passing through the interface base through the central hole, at least two limiting portions for engaging the interface base with the surrounding arm are formed on the interface base, one end of the rotating rod is provided with a rotating handle, the other end of the rotating rod passes through the central hole of the interface base from the inner side of the surrounding arm and extends outward, a thread is formed on the surface of the rod body of the outward extending portion, and a plurality of positioning portions for positioning the external function expanding device are further formed on the interface base.

10. The mobile unit according to claim 7, wherein each of the coupling modules further comprises a plurality of electrical connectors spaced in-line from each of the arms, each of the electrical connectors having at least one set of electrical connection jacks therein, the connection function end of each of the electrical connection jacks being exposed from the arm.

11. The mobile unit of claim 10, further comprising at least one network switch, each of the network switches electrically connected to at least two of the electrical interface and power supply units.

12. The mobile assembly of claim 1 wherein said four sets of running wheels further comprise at least one driven wheel for providing balanced support for movement of said enclosed main frame unit; the driving wheel includes: the wheel shaft is arranged on the central line of the wheel rim in a penetrating way, the motor is electrically connected with a motor driving controller, one end of the base is fixedly connected with the outer side of a surrounding arm of the surrounding type main frame unit, and the other end of the base is fixedly connected with the wheel shaft; the driven wheel includes: the wheel shaft penetrates through the center line of the wheel rim, one end of the base is fixedly connected with the outer side of a surrounding arm of the surrounding type main frame unit, and the other end of the base is fixedly connected with the wheel shaft.

13. The mobile device of claim 1, wherein the mobile device further comprises at least one information acquisition unit for acquiring and storing the state information of the mobile device, the information acquisition unit being electrically connected to the main control unit and the power supply unit; the information acquisition unit comprises a plurality of sensor modules and an information processing module, and all the sensor modules are electrically connected with the information processing module and form one-to-one corresponding information feedback streams.

14. The mobile device as claimed in claim 13, wherein the sensor modules of the information collecting unit include load sensors respectively disposed at axles of the running wheels.

15. The mobile device as claimed in claim 13, wherein the sensor modules of the information collecting unit comprise at least one non-contact wheel speed sensor respectively disposed on the traveling wheels.

16. The mobile device according to claim 15, wherein the power supply unit comprises at least one battery, and the sensor modules of the information acquisition unit comprise at least one current-voltage sensor, and the current-voltage sensor is disposed at an electrode outlet of the battery.

17. The mobile device of claim 13, wherein the plurality of sensor modules of the information gathering unit comprise a plurality of vibration sensors, each of the vibration sensors being secured to the containment mainframe unit.

18. The mobile device of claim 13, further comprising a wireless mobile communication unit for cloud storage and analysis, wherein the wireless mobile communication unit is electrically connected to the information acquisition unit and the power supply unit.

19. The mobile device of claim 1, further comprising a plurality of lighting units, each of the lighting units being electrically connected to a respective power supply unit.

20. The mobile unit of claim 19, wherein each of the lighting units comprises at least a plurality of LED headlights and a plurality of LED taillights, each of the LED headlights and LED taillights being disposed within the cavity of at least two opposing perimeter arms of the containment main frame unit, the perimeter arms further having a plurality of lighting apertures for diffusing light outwardly of the perimeter arms.

21. The mobile device as claimed in claim 1, wherein the master control unit communicates with the power unit via a controller area network bus to transmit the control command information of the master control unit and the driving state information of the power unit.

22. The mobile device of claim 1, further comprising an operator authority determination unit electrically connected to the main control unit and the power supply unit, respectively.

23. The mobile device of claim 1, wherein the mobile device further comprises a human-machine interaction unit comprising: the electronic display screen is electrically connected with the main control unit and the power supply unit and forms an information feedback flow with the main control unit; the sound and light alarm device is electrically connected with the main control unit and the power supply unit.

24. The mobile device as claimed in claim 1, wherein the control unit comprises a main switch for controlling on/off of the mobile device, a speed regulating device for regulating the rotation speed of a driving motor of the mobile device, and a box body, the main switch is electrically connected with the power supply unit, and the speed regulating device is electrically connected with the main switch and the main control unit; the box body is arranged on one side of a surrounding arm of the surrounding type main frame unit, and the main switch and the speed regulating device are located in the box body.

25. The mobile unit of claim 24 wherein the governor is a hall knob governor.

26. The mobile device of claim 1, wherein the brake unit includes at least two sets of hydraulic disc brake assemblies, each set of hydraulic disc brake assemblies including: the brake disc is concentrically sleeved and fixedly connected to the inner side of the traveling wheel, and the brake handle is used for synchronously braking all the hydraulic disc brake assemblies.

27. The mobile unit of claim 1 wherein the containment main frame unit further comprises a bottom plate embedded in the bottom of the containment main frame unit in the plane of the bottom end surface of the frame structure and integrally connected to the frame structure.

28. The mobile device as claimed in claim 27, wherein the base plate is a multi-function lifting base plate, a bottom of the multi-function lifting base plate is fixedly connected to one end of a telescopic mechanism, the other end of the telescopic mechanism along a telescopic direction thereof is fixedly connected to the frame structure, and the telescopic mechanism is electrically connected to the power supply unit.

29. A hitching and moving integrated vehicle set, characterized in that it comprises at least two moving devices as set forth in any one of claims 1-28, the two moving devices are connected in groups by erecting a connector between the two moving devices adjacent to each other, and both ends of the connector are respectively fixedly connected with the connecting modules on the two moving devices; the communication mode among all the mobile devices in the linked mobile integrated train set is a mode that a local area network is formed through respective main control units and communication is carried out through a controller local area network bus; each mobile device further comprises an activation button for activating to become a master vehicle, the activation button is electrically connected with the master control unit and the power supply unit, the mobile device is in a master vehicle running state by pressing the activation button of any one mobile device, and other mobile devices are in slave vehicle running states.

30. The hitching mobile integrated consist of claim 29, wherein the connectors are formed at each end with a connector for mating connection with a coupling module.

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