CN213262695U - Small-size urban rail transit tunnel intelligence patrols and examines robot - Google Patents
Small-size urban rail transit tunnel intelligence patrols and examines robot Download PDFInfo
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- CN213262695U CN213262695U CN202022438569.XU CN202022438569U CN213262695U CN 213262695 U CN213262695 U CN 213262695U CN 202022438569 U CN202022438569 U CN 202022438569U CN 213262695 U CN213262695 U CN 213262695U
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Abstract
The utility model discloses a small-sized intelligent inspection robot for urban rail transit tunnels, which comprises a shell and a chassis for supporting the shell, wherein the chassis is provided with traveling wheels, a driving motor for driving the traveling wheels, a power supply for providing electric power for power utilization parts, and an intelligent monitoring system; the intelligent monitoring system comprises an upper computer, a controller, a wireless communicator, an image sensor, a distance sensor, a temperature and humidity sensor, a smoke sensor, an acceleration sensor and a GPS sensor. The utility model discloses effectively utilize big data and cloud computational analysis, in time diagnose out the trouble, avoided the tradition to patrol and examine the phenomenon of diagnosis error, patrol and examine the robot and realize long-range patrolling and examining, the data after patrolling and examining can convey the surveillance center in real time, realize unmanned operation mode completely, saved the manpower and materials cost in the subway fortune dimension work greatly, the rigidity demand of the urban rail transit operation safety of fastening.
Description
Technical Field
The utility model relates to an automatic change and patrol and examine the robot field, especially relate to a robot is patrolled and examined to small-size urban rail transit tunnel intelligence.
Background
With the acceleration of economic development and urbanization process, urban rail transit has gradually become a core component of a modern urban public passenger transportation system. With the formation and development of rail transit networks in China, a large number of rail transit infrastructures enter a maintenance period successively, and line safety and monitoring face increasing pressure. In order to solve the problem, the development of urban rail traffic state monitoring with multidisciplinary intersection, such as vehicle rail coupling dynamics, large-scale engineering structure health detection, digital signal processing technology, nondestructive testing flaw detection technology and the like, is imperative.
With the arrival of the 4.0 times of industry, the robot industry rapidly grows like bamboo shoots in the spring after rain, and the application of the robot brings the change of turning over the ground for our life and production mode. Along with the more mature AI technology and the continuous expansion of the application field, the intelligent inspection robot can lead the subway traffic to enter a more intelligent and unmanned era. In the subway industry, the detection and monitoring technology of rail transit infrastructure is immature, and the problem of how to ensure the safe operation of a subway system needs to be solved urgently.
At present, the traditional manual inspection mode mainly adopts a human + rail car integrated mode, and has the defects of high labor intensity, potential personal safety hazards, low working efficiency, dispersed detection quality, long line occupation time and the like, and the rail car also has the difficulties of high cost, limited operation mode and the like, and particularly has to reserve a skylight period, so that various safety accidents in a subway tunnel occur. Therefore, the intelligent inspection robot with high inspection efficiency and low labor cost has important significance.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a robot is patrolled and examined to small-size urban rail transit tunnel intelligence to promote and patrol and examine efficiency, reduce the cost of labor.
In order to achieve the purpose, the utility model provides a small-size intelligent inspection robot for urban rail transit tunnels, which comprises a shell and a chassis for supporting the shell, wherein the chassis is provided with traveling wheels, a driving motor for driving the traveling wheels, a power supply for supplying electric power to electric parts, and an intelligent monitoring system; the intelligent monitoring system comprises an upper computer, a controller, a wireless communicator, an image sensor, a distance sensor, a temperature and humidity sensor, a smoke sensor, an acceleration sensor and a GPS sensor;
the controller is arranged in the shell and is connected with the upper computer through the wireless communicator; the input end of the driving motor is connected with the output end of the controller;
the image sensor is arranged on the shell and used for collecting image information of a track where the walking wheels walk in real time, and the output end of the image sensor is connected with the input end of the controller and sends the image information to the controller;
the distance sensor is mounted on the shell and used for detecting barrier distance information in front of the travelling wheels in real time, and the output end of the distance sensor is connected with the input end of the controller and sends the barrier distance information to the controller;
the temperature and humidity sensor is mounted on the shell and used for detecting temperature and humidity information of a track where the travelling wheels travel in real time, and an output end of the temperature and humidity sensor is connected with an input end of the controller and sends the temperature and humidity information to the controller;
the smoke sensor is arranged on the shell and used for detecting smoke concentration information of the position of the robot in real time, and the output end of the smoke sensor is connected with the input end of the controller and sends the smoke concentration information to the controller;
the acceleration sensor is arranged in the shell and used for detecting the acceleration information of the robot in real time, and the output end of the acceleration sensor is connected with the input end of the controller and sends the acceleration information to the controller;
the GPS sensor is arranged in the shell and used for detecting the position information of the robot in real time, and the output end of the GPS sensor is connected with the input end of the controller and sends the position information to the controller.
As right the utility model discloses technical scheme's further improvement, the outline of casing is the arc, just link to each other in order can dismantle the mode through the buckle between casing and the chassis.
As right the utility model discloses technical scheme's further improvement, driving motor's quantity is the same and the one-to-one drive with the quantity of walking wheel.
As a further improvement to the technical scheme of the utility model, image sensor adopts OV2710 type camera.
As a further improvement to the technical solution of the present invention, the distance sensor employs a MyAntennal1mb type laser distance measuring instrument.
As a further improvement to the technical scheme of the utility model, temperature and humidity sensor's model is GY-SHT 30.
As a further improvement to the technical scheme of the utility model, the model of the smoke sensor is MQ-2.
As a further improvement to the technical scheme of the utility model, acceleration sensor's model is MPU 6050.
As a further improvement to the technical scheme of the utility model, the model of GPS sensor is BN-880Q.
As right the utility model discloses technical scheme's further improvement, wireless communication ware adopts 2.4GHZ Lora wireless communication structure.
Through the above disclosure, the present invention has the following beneficial technical effects:
the utility model provides a small-size urban rail transit tunnel intelligence patrols and examines robot, when the robot is walked at the track of waiting to examine through the walking wheel, because the add of intelligent monitoring system, it can gather the image in order to judge track camber and whether have the crack through image sensor, can assist through distance sensor and detect whether there is the barrier along the way, can detect whether there is the production of conflagration effectively through smoke transducer, can detect whether track temperature environment is normal through temperature and humidity sensor, can carry out comprehensive positioning to the robot through acceleration sensor and GPS sensor, and the built-in gyroscope of acceleration sensor can also detect whether track turn slope is normal and the track is enough smooth, the above-mentioned data is handled by the controller and is transmitted to the host computer through wireless communicator and is monitored and stored, thereby realize automatic intelligent patrolling and examining, the problem of traditional patrolling and examining not real-time, cover incomprehensible is solved, can not receive external environment influences such as geographical condition or bad weather, can accomplish to move about the sword surplus to the high-risk operation.
The utility model discloses effectively utilize big data and cloud computational analysis, in time diagnose out the trouble, avoided the tradition to patrol and examine the phenomenon of diagnosis error, patrol and examine the robot and realize long-range patrolling and examining, the data after patrolling and examining can convey the surveillance center in real time, realize unmanned operation mode completely, saved the manpower and materials cost in the subway fortune dimension work greatly, the rigidity demand of the urban rail transit operation safety of fastening.
Drawings
FIG. 1 is a front view of the connection between the housing and the chassis of the present invention;
fig. 2 is a schematic block diagram of the intelligent monitoring system of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.
As shown in fig. 1 and 2: this embodiment provides a robot is patrolled and examined to small-size urban rail transit tunnel intelligence, including casing 1 and the chassis 2 that is used for supporting casing 1, install walking wheel 3 on the chassis 2, be used for the driving motor 4 of driving walking wheel 3 and be used for providing the power 5 of electric power for the power consumption part. According to the difference of the inspection objects (double-track tracks or single-track tracks), the chassis 2 can have different structures to adapt to the walking requirements; the number of the walking wheels 3 can be set according to the requirement, for example, when the walking wheels act on the double-track, the chassis 2 is a rectangular frame, and at this time, the walking wheels 3 are preferably four and are respectively positioned at four corners of the chassis 2. The outer contour of the shell 1 can be arc-shaped so as to reduce the fluid resistance when walking; and the shell 1 is detachably connected with the chassis 2 through a buckle, for example, the bottom of the shell 1 can be provided with a buckling hole, and the top of the chassis 2 can be provided with a clamp matched with the buckling hole, so that the shell and the chassis can be rapidly assembled. The number of the driving motors 4 is preferably the same as that of the walking wheels 3, and the driving motors are driven in a one-to-one correspondence manner, so that the walking of the robot can be accurately controlled. The driving motor 4 can comprise an L298N motor driving board and a DC-DC voltage boosting and reducing module, and is used for receiving information of a controller to control the motor and supply power to the motor; the power source 5 is preferably a rechargeable battery, and at this time, it is provided with a charging module, an ADC digital-to-analog conversion module, an overcharge and overdischarge module, and a voltage stabilization module, which are consistent with the prior art and are not described herein again.
The inspection robot also comprises an intelligent monitoring system; the intelligent monitoring system comprises an upper computer 6, a controller 7, a wireless communicator 8, an image sensor 9, a distance sensor 10, a temperature and humidity sensor 11, a smoke sensor 12, an acceleration sensor 13 and a GPS sensor 14. The controller 7 is arranged in the shell 1 and is connected with the upper computer 6 through a wireless communicator 8; the input end of the driving motor 4 is connected with the output end of the controller 7. The upper computer 6 is arranged in the monitoring room and can be of a PC structure; the controller 7 is preferably a single chip microcomputer, and after comprehensively processing the data, the controller sends an instruction to the wireless communicator 8 and the driving motor 4 to control the robot to move and return the data. Wireless communicator 8 may employ a 2.4GHZ Lora wireless communication architecture.
The image sensor 9 is arranged on the shell 1 and used for collecting image information of a track where the walking wheels 3 walk in real time, and the output end of the image sensor 9 is connected with the input end of the controller 7 and sends the image information to the controller 7; the image sensor 9 may employ an OV2710 type camera. For example, after image information is acquired, image processing can be achieved by using an open source image processing library OpenCV, the image is compressed into a standard definition image for Lora transmission, a high definition image is transmitted to OpenCV for edge extraction, curve fitting and curvature calculation are performed, if abnormality is found, abnormal data and positioning information are transmitted to an upper computer 6 for notification and processing, and when the inspection robot returns to an inspection point, high definition video can be read and backed up through high speed local area network wireless transmission.
The distance sensor 10 is mounted on the shell 1 and used for detecting the distance information of the obstacle in front of the travelling wheel 3 in real time, and the output end of the distance sensor 10 is connected with the input end of the controller 7 and sends the distance information of the obstacle to the controller 7; the distance sensor 10 may employ a laser rangefinder of the type MyAntenna l1 mb.
The temperature and humidity sensor 11 is mounted on the shell 1 and used for detecting temperature and humidity information of a track where the travelling wheels 3 travel in real time, and an output end of the temperature and humidity sensor 11 is connected with an input end of the controller 7 and sends the temperature and humidity information to the controller 7; the temperature and humidity sensor 11 may be of the type GY-SHT 30.
The smoke sensor 12 is arranged on the shell 1 and used for detecting smoke concentration information of the robot position in real time, and the output end of the smoke sensor 12 is connected with the input end of the controller 7 and sends the smoke concentration information to the controller 7; the smoke sensor 12 may be of the type MQ-2.
The acceleration sensor 13 is arranged in the shell 1 and used for detecting the acceleration information of the robot in real time, and the output end of the acceleration sensor 13 is connected with the input end of the controller 7 and sends the acceleration information to the controller 7; the acceleration sensor 13 may be of the type MPU 6050.
The GPS sensor 14 is arranged in the shell 1 and used for detecting the position information of the robot in real time, and the output end of the GPS sensor 14 is connected with the input end of the controller 7 and sends the position information to the controller 7; the GPS sensor 14 may be model BN-880Q.
The real-time data of the image sensor 9, the distance sensor 10, the temperature and humidity sensor 11, the smoke sensor 12 and the acceleration sensor 13 can be transmitted to the upper computer 6 in real time through JSON codes, and if abnormity is found, the abnormal data and the positioning information are reported to the upper computer 6 for processing. The GPS sensor 14 is mainly responsible for positioning and acquiring in a location where the GPS signal is good, and when the GPS signal cannot meet the accuracy requirement or the signal is too weak to position, the acceleration sensor 13 can assist in performing quadratic integral dead reckoning of the acceleration.
When the robot walks on the track to be detected through the walking wheels 3, due to the addition of the intelligent monitoring system, the robot can acquire images through the image sensor 9 to judge the curvature of the track and whether cracks exist or not, can assist in detecting whether obstacles exist along the way or not through the distance sensor 10, can effectively detect whether fire occurs or not through the smoke sensor 12, can detect whether the temperature environment of the track is normal or not through the temperature and humidity sensor 11, can comprehensively position the robot through the acceleration sensor 13 and the GPS sensor 14, can detect whether the slope of the turning part of the track is normal or not and whether the track is smooth enough or not through the gyroscope arranged in the acceleration sensor 13, processes the data through the controller 7, and transmits the data to the upper computer 6 through the wireless communicator 8 for monitoring and storage, thereby realizing automatic intelligent patrol, and solving the problems of traditional non-real-time patrol and inspection, The problem of incomplete coverage.
The above description is only an example of the present invention, and the common general knowledge of the known specific structures and characteristics of the embodiments is not described herein. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. The utility model provides a robot is patrolled and examined to small-size urban rail transit tunnel intelligence, includes the casing and is used for supporting the chassis of casing, install walking wheel on the chassis, be used for the driving motor of road wheel and be used for providing the power of electric power for the power consumption part, its characterized in that: the intelligent monitoring system is also included; the intelligent monitoring system comprises an upper computer, a controller, a wireless communicator, an image sensor, a distance sensor, a temperature and humidity sensor, a smoke sensor, an acceleration sensor and a GPS sensor;
the controller is arranged in the shell and is connected with the upper computer through the wireless communicator; the input end of the driving motor is connected with the output end of the controller;
the image sensor is arranged on the shell and used for collecting image information of a track where the walking wheels walk in real time, and the output end of the image sensor is connected with the input end of the controller and sends the image information to the controller;
the distance sensor is mounted on the shell and used for detecting barrier distance information in front of the travelling wheels in real time, and the output end of the distance sensor is connected with the input end of the controller and sends the barrier distance information to the controller;
the temperature and humidity sensor is mounted on the shell and used for detecting temperature and humidity information of a track where the travelling wheels travel in real time, and an output end of the temperature and humidity sensor is connected with an input end of the controller and sends the temperature and humidity information to the controller;
the smoke sensor is arranged on the shell and used for detecting smoke concentration information of the position of the robot in real time, and the output end of the smoke sensor is connected with the input end of the controller and sends the smoke concentration information to the controller;
the acceleration sensor is arranged in the shell and used for detecting the acceleration information of the robot in real time, and the output end of the acceleration sensor is connected with the input end of the controller and sends the acceleration information to the controller;
the GPS sensor is arranged in the shell and used for detecting the position information of the robot in real time, and the output end of the GPS sensor is connected with the input end of the controller and sends the position information to the controller.
2. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the outer contour of the shell is arc-shaped, and the shell is detachably connected with the chassis through a buckle.
3. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the number of the driving motors is the same as that of the traveling wheels, and the driving motors are driven in a one-to-one correspondence manner.
4. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the image sensor adopts an OV2710 type camera.
5. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the distance sensor employs a laser rangefinder model myantennal1 mb.
6. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the type of the temperature and humidity sensor is GY-SHT 30.
7. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the model of the smoke sensor is MQ-2.
8. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the model of the acceleration sensor is MPU 6050.
9. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the model of the GPS sensor is BN-880Q.
10. The intelligent inspection robot for small urban rail transit tunnels according to claim 1, characterized in that: the wireless communicator adopts a 2.4GHZ Lora wireless communication structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022438569.XU CN213262695U (en) | 2020-10-28 | 2020-10-28 | Small-size urban rail transit tunnel intelligence patrols and examines robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022438569.XU CN213262695U (en) | 2020-10-28 | 2020-10-28 | Small-size urban rail transit tunnel intelligence patrols and examines robot |
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| Publication Number | Publication Date |
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| CN213262695U true CN213262695U (en) | 2021-05-25 |
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| CN202022438569.XU Expired - Fee Related CN213262695U (en) | 2020-10-28 | 2020-10-28 | Small-size urban rail transit tunnel intelligence patrols and examines robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771990A (en) * | 2021-10-13 | 2021-12-10 | 郎方 | Urban rail signal system troubleshooting device |
| CN114137860A (en) * | 2021-10-11 | 2022-03-04 | 北京天玛智控科技股份有限公司 | External structure of video inspection robot and track used in cooperation with external structure |
| CN114396892A (en) * | 2021-12-02 | 2022-04-26 | 重庆交通大学 | Method for measuring curvature of curve track of track traffic |
| CN115188090A (en) * | 2022-06-29 | 2022-10-14 | 日海通信服务有限公司 | Intelligent inspection maintenance method based on 5G communication |
-
2020
- 2020-10-28 CN CN202022438569.XU patent/CN213262695U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137860A (en) * | 2021-10-11 | 2022-03-04 | 北京天玛智控科技股份有限公司 | External structure of video inspection robot and track used in cooperation with external structure |
| CN113771990A (en) * | 2021-10-13 | 2021-12-10 | 郎方 | Urban rail signal system troubleshooting device |
| CN114396892A (en) * | 2021-12-02 | 2022-04-26 | 重庆交通大学 | Method for measuring curvature of curve track of track traffic |
| CN114396892B (en) * | 2021-12-02 | 2023-08-25 | 重庆交通大学 | Track curvature measuring method for track traffic curve |
| CN115188090A (en) * | 2022-06-29 | 2022-10-14 | 日海通信服务有限公司 | Intelligent inspection maintenance method based on 5G communication |
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Granted publication date: 20210525 Termination date: 20211028 |