CN218905417U - Track traffic inspection system - Google Patents

Abstract

The application relates to the technical field of track detection, provides a track traffic inspection system, include: a robot and a track; the robot comprises a track chassis and a power module, wherein the robot moves on the track through the power module, and the power module is fixed on the track chassis; the robot further comprises a safety detection module, and the safety detection module is fixed on the track chassis. According to the method, the safety detection module in the robot is used for carrying out safety detection on the area in the detection range of the safety detection module when the robot moves on the track, urban rail traffic inspection can be carried out through the robot, the limitation of manual inspection is avoided, and urban rail traffic inspection efficiency can be improved.

Description

Rail Transit Inspection System

technical field

The present application relates to the technical field of track detection, in particular to a rail transit inspection system.

Background technique

At present, with the continuous development of the field of urban rail transit, the application demand for video surveillance technology in urban rail transit is gradually increasing.

In the tunnel inspection scenario, the manual inspection method is mainly used, and there are night shift inspections, which lead to the fatigue of operators, missed inspections, strong experience dependence, many repetitive inspection items, and high labor intensity. As a result, the traffic inspection efficiency of the current urban rail is low.

Utility model content

The application provides a rail transit inspection system, which aims to improve the efficiency of urban rail traffic inspection.

The application provides a rail transit inspection system, including: a robot and a track;

Wherein, the robot includes a rail chassis and a power module, the robot moves on the track through the power module, and the power module is fixed on the rail chassis;

The robot also includes a safety detection module, and the safety detection module is fixed on the track chassis.

In one embodiment, the power module includes a motor reducer, a driving motor and a driving wheel;

One end of the motor reducer is connected to the driving motor, and the other end is connected to the driving wheel.

In one embodiment, there are at least two motor reducers, at least two driving motors, and at least two driving wheels.

In one embodiment, the driving wheels are fixed on the back of the track chassis of the robot and attached to the track.

In one embodiment, a groove is provided on the outer circumference of the driving wheel, the driving wheel is installed on the track through the groove, and the radius of the groove of the driving wheel is larger than that of the track The convex radius of .

In one embodiment, the robot further includes a control module, and the control module is fixed to the rail chassis;

The control module includes at least one of a driver, a limit switch, and a limiter guard plate.

In one embodiment, the driver is fixed on the front of the track chassis of the robot, the limit switches are distributed at the four corners of the track chassis, and the limiter guard plate is located on the track chassis ends.

In one embodiment, the safety detection module includes at least one of a camera, a laser radar, a dual-photonic thermal imager, and a gas sensor.

In one embodiment, the gas sensor is fixed on the gas sensor bracket;

The laser radar is fixed on the laser radar base;

The camera is fixed on the camera bracket;

The gas sensor bracket, the lidar base, the camera bracket and the dual-light thermal imager are fixed on the front of the track chassis of the robot.

In one embodiment, the rail transit inspection system further includes: a battery module;

The battery module includes a charging electrode plate and a charger base, the charging electrode plate in the battery module is fixed on the front of the track through the charger base, and the charging electrode plate of the battery module is connected to the After the charging electrode plate on the robot is connected, the power supply of the robot can be charged.

The rail transit inspection system provided by this application, through the safety detection module in the robot, when the robot is moving on the track, it can perform safety inspection on the area within the detection range of the safety detection module, and the traffic inspection of urban rail can be carried out by the robot. Inspection, avoiding the limitations of manual inspection, can improve the efficiency of urban rail traffic inspection.

Description of drawings

In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the accompanying drawings in the embodiments or descriptions of the prior art. Obviously, the accompanying drawings described below are some implementations of the present application For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is one of the structural representations of the rail transit inspection system provided by the embodiment of the present application;

Fig. 2 is the enlarged schematic view of the local structure in Fig. 1;

Fig. 3 is the second structural diagram of the rail transit inspection system provided by the embodiment of the present application;

FIG. 4 is an enlarged schematic view of the partial structure in FIG. 3 .

Reference signs:

1. Track; 2. Track support rod; 3. Charging electrode plate; 4. Battery; 5. Pedometer; 6. Geared motor; 7. Lidar; 8. Camera; ;11. Limit switch; 12. Dual-light thermal imager; 13. Gas sensor; 14. Support wheel; 15. Limiter guard; 16. Charger base; 17. Motor reducer; 18. Drive motor; 19. Driving wheel; 20. Guide rail; 21. Controller.

Detailed ways

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application , but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The application embodiments and simplified descriptions do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the embodiments of this application, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application in specific situations.

In the embodiment of the present application, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first feature and the second feature may pass through the middle of the second feature. Media indirect contact. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structures, materials or features are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

The rail transit inspection system of the present application will be described below in conjunction with FIGS. 1-4 .

According to the embodiment of the present application, as shown in Fig. 1-Fig. 4, Fig. 1 is one of the schematic structural diagrams of the rail transit inspection system provided by the embodiment of the present application, and Fig. 2 is an enlarged schematic diagram of the partial structure in Fig. 1 .

Fig. 3 is the second structural diagram of the rail transit inspection system provided by the embodiment of the present application, and Fig. 4 is an enlarged schematic diagram of the partial structure in Fig. 3 .

In FIGS. 1-4 , the rail transit inspection system includes: a robot and a track 1 .

Wherein, the track 1 can be installed on the wall of the track area in the station or the tunnel. At the same time, the track 1 can be supported by the track support rod 2 to prevent the track 1 from falling off.

The rail support bar 2 and the rail 1 can be connected by bolts through the connecting plate 10 .

Wherein, the connecting plate 10 is located at the back of the track 1 . And, according to the actual conditions of different environments, the track support bar 2 can be placed on the ground for fixing, and can also be hung on the wall or top surface of the track area in the station or tunnel for fixing.

The robot can be installed on the track 1, and the robot can move on the track 1 after the installation is completed.

It should be noted that the robot can be installed on the track 1 in a detachable manner.

The robot can include a rail chassis 9, and various required modules can be installed on the rail chassis 9.

A safety detection module can be included in the robot, and the safety detection module can be installed on the front of the rail chassis 9 .

After the safety detection module is installed in the robot, when the robot slides on the track 1, the safety detection module can be used to perform safety detection on the area within the detection range of the safety detection module, so as to detect the track in the station or tunnel. Conduct safety inspections in the area to determine the safety of the track area in the station or tunnel.

It should be further noted that the safety detection module may include one or more of a camera 8 , a laser radar 7 , a dual-light thermal imager 12 , and a gas sensor 13 .

In some embodiments, the safety detection module may include a camera 8 , a laser radar 7 , a dual-light thermal imager 12 , a gas sensor 13 and other devices.

Wherein, the camera 8 can be fixed on the front of the robot rail chassis 9 by the camera bracket, and can carry out image and video shooting of the rail area in the station or tunnel, wherein the camera bracket is fixed on the robot rail chassis 9 front. Moreover, the camera 8 can be connected to the display device, and the captured image can be sent to the display device for display, so that subsequent relevant personnel can analyze whether there are problems of water seepage, cracks, falling rocks, and foreign matter intrusion in the tunnel based on the image; it can also facilitate Based on the image, relevant personnel analyze whether there is any abnormality in the equipment status indicators, digital display instruments, pointer display instruments, and switch positions in the computer room; it is also convenient for relevant personnel to analyze whether there are abnormal passenger behaviors in the station based on the image, such as falling, falling, etc. Sedentary, etc., and whether there are problems such as dense crowds.

The laser radar 7 can be fixed on the front of the robot rail chassis 9 through the laser radar base, and can accurately build three-dimensional models in tunnels, machine rooms, and stations, wherein the laser radar base is fixed on the front of the robot rail chassis 9 .

Therefore, the 3D model constructed after each scan can be sent to the display device through the laser radar 7, so that relevant personnel can determine whether there is an abnormality in the inspection scene according to the initial 3D model and the subsequent 3D model displayed on the display device, such as in In the tunnel inspection, the cracks and cracks of the tunnel blocks and the deformation and dislocation of the tunnel can also be analyzed in time for abnormal conditions in the tunnel, equipment indicator failures in the machine room, and passenger emergencies in the station.

The dual-light thermal imaging camera 12 can be fixed on the front of the robot rail chassis 9, and can take thermal infrared images of the area it points to, and can send the captured thermal infrared images to the display device for relevant personnel to determine whether there is a thermal infrared image based on the thermal infrared images. Abnormal fever problem.

The dual-light thermal imager 12 in the robot can be driven by a stepping motor to adjust the shooting angle, and a wider range of shooting areas can be obtained without affecting the structural space of the robot.

The gas sensor 13 can be fixed on the front of the robot rail chassis 9 through the gas sensor bracket, can detect and analyze the gas in each application scene, and send the detected gas information to the display device, so that relevant personnel can determine each application scene according to the gas information At the same time, the gas sensor 13 can also collect and record temperature and humidity data, wherein the gas sensor bracket is fixed on the front of the robot rail chassis 9 . The gas sensor 13 can quickly detect the gas composition and content in the robot inspection scene, thereby providing security for maintenance personnel to enter.

The safety detection module can also include an alarm device. After analyzing the information obtained by the camera 8, laser radar 7, dual-light thermal imager 12, gas sensor 13 and other equipment, it is determined that there is an abnormality in the track area in the station or tunnel. , For example, in the presence of toxic gas, water seepage in the tunnel, cracks, falling rocks, foreign matter intrusion, etc., an alarm signal can be sent through the alarm device to prompt the staff to conduct investigations.

Through the safety detection module, the real-time performance of rail transit video surveillance scene analysis can be improved.

The safety detection module can also include a bearing seat and a bearing support seat, the bearing support seat is fixed on the rail chassis 9 of the robot, and the bearing seat can be fixed on the rail chassis 9 of the robot through the bearing support seat.

The rail transit inspection system provided by this application, through the safety detection module in the robot, when the robot moves on the track 1, detects the area within the detection range of the safety detection module, and can use the robot to carry out urban rail 1 traffic Inspection, avoiding the limitations of manual inspection, can improve the efficiency of traffic inspection of urban rail 1.

It should be noted that the robot may include a power module, wherein the power module may be fixed on the track chassis 9 of the robot through a rotating shaft connection, so as to provide drive control for the robot.

The power module may include at least two motor reducers 17 , at least two driving motors 18 and at least two driving wheels 19 .

For example, the number of motor reducer 17, driving motor 18, and driving wheel 19 in this embodiment can be 2, 3, 4, etc., but the specific number is not limited in this application, and can be adjusted according to actual needs.

One end of each motor reducer 17 in at least two motor reducers 17 is connected to a driving motor 18 , and the other end is connected to a driving wheel 19 .

That is, one end of a motor reducer 17 is connected to one of the drive motors 18, and the other end is connected to one of the drive wheels 19;

It can drive the robot to run and control the running speed of the robot.

The motor reducer 17 can be fixed to the track base of the robot through the base of the motor reducer 17, wherein the base of the motor reducer 17 is fixed to the track chassis 9 of the robot.

In this application, the robot includes two sets of drive motors, which can control the rail speed of the robot according to the actual working conditions of the rail area. Moreover, when one driving wheel 19 slips, the other driving wheel 19 can compensate for the slipping, so that the robot can move normally, which is conducive to improving the traffic inspection efficiency of the urban rail 1 .

It should be further noted that, in some embodiments of the present application, the driving wheel 19 can be fixed on the back of the rail chassis 9 of the robot, and attached to the track 1, so that the robot can move on the basis of the driving wheel 19 when the driving motor 18 is running. Slide on the track 1, and regulate the running speed of the robot based on the operation of the motor reducer 17.

It can be understood that a groove is formed on the outer circumference of the driving wheel 19 in the robot, so the driving wheel 19 can be installed on the track 1 through the groove. Moreover, the radius of the groove portion of the driving wheel 19 is greater than the radius of the convex portion of the track 1 , thereby increasing the turning radius of the track 1 .

And, the axial section of the drive wheel 19 and the vertical plane can form a certain angle, and the specific angle can be set and adjusted according to actual needs, which can facilitate the disassembly and maintenance of the robot.

The robot can also include a geared motor 6, which is fixed on the track chassis 9 of the robot, and can indirectly control the drive wheel 19 by controlling the motor reducer 17 to slow down the robot.

In the present application, the robot may also include a control module, wherein the control module may be fixed on the track chassis 9 of the robot through a rotating shaft connection to control the robot.

The control module may include one or more of a driver, a limit switch 11 , and a limiter guard plate 15 . In some embodiments, the control module may include a driver, a limit switch 11 , a limiter guard plate 15 and the like.

Wherein, the driver is fixed on the front side of the track chassis 9 of the robot, the limit switches 11 are distributed on the four corners of the track chassis 9, the limiter guard plates 15 are positioned at the two ends of the track chassis 9, and the limit switch 11 passes through and limits Device guard plate 15 cooperates, and robot is carried out limit control.

The driver can cooperate with the driving motor 18 to realize the driving control of the robot by controlling the driving wheel 19 .

Wherein, the control module can also include a pedometer 5, and the pedometer 5 can be fixed on the front of the track chassis 9 of the robot, and can count the movement of the robot and count the movement data of the robot.

It should be further noted that the rail transit inspection system of the present application may further include: a battery module.

Wherein, the battery module may include a charging electrode plate 3 and a charger base 16 .

The charging electrode plate 3 in the battery module can be fixed on the front of the track 1 by the charger base 16, and the power supply of the robot can be charged.

The battery 4 can be used as a power source in the robot, and provides energy for the operation and movement of the robot. Wherein, the storage battery 4 can be fixed on the front of the track chassis 9 of the robot.

Moreover, the robot may also include a charging electrode plate 3 , and the charging electrode plate 3 in the robot may be fixed on the front of the rail chassis 9 .

When the robot is on one side of the charger base 16, the battery 4 connected to the charging electrode plate 3 of the robot can be charged through the charging electrode plate 3 in the battery module and the charging electrode plate 3 in the robot.

Further, the storage battery 4 in the robot can store energy through a supercapacitor, and the lifespan of the supercapacitor is one million charge-discharge cycles or ten years. However, due to the low storage density of supercapacitors, they need to be charged frequently. The storage battery 4 including a supercapacitor is adopted, and has the characteristics of fast charging speed.

When the storage battery 4 needs to be charged, the robot can drive to the charging electrode plate 3 side of the battery module, and the electromagnet inside the charging electrode plate 3 on the battery module can adsorb the charging electrode plate 3 on the robot to the battery module. On the charging electrode plate 3, the battery 4 is charged quickly.

The robot itself has a charging module, which can get rid of the limitation of the track length caused by the wired power transmission.

Also comprise controller 21 in the robot, controller is fixed on the track chassis 9 fronts of robot. The controller 21 can control the robot to move, charge and so on.

It should be further noted that the robot may also include a camera protective cover, a battery protective cover, a supporting U-shaped frame, a supporting wheel 14 frame, a supporting wheel 14 and the like.

The battery protective cover is connected with the rail chassis 9, and can cover the storage battery 4, charging electrode plate 3, charger base 16, gas sensor 13, gas sensor bracket, driver, pedometer 5, limit switch 11 on the rail chassis 9 , Support U-shaped frame and other devices.

The camera protective cover is connected with the rail chassis 9, and can cover the motor reducer 17, the motor reducer 17 base, the camera 8, the limit switch 11, supports devices such as U-shaped frames.

By installing protective devices such as battery shields and camera shields, the robot itself can be equipped with dustproof and waterproof functions, and can undertake long-term inspection tasks in harsh environments. Traffic inspection efficiency.

Supporting U-shaped frame is distributed in the left and right ends of rail chassis 9 fronts, and supporting wheel 14 is fixed in supporting U-shaped frame by being connected with supporting wheel 14 frames, and supporting wheel 14 contacts with track 1 surface.

It should be noted that the track chassis 9 of the robot includes two sets of support wheels 14, and the two sets of support wheels 14 contain spring damping devices, which can reduce the unevenness of the impurities attached to the surface of the guide rail 20 during the track process. vibration.

The track 1 may also include a connecting plate 10 and a track support rod 2 .

Wherein, the connecting plate 10 is respectively connected with the rail 1 and the rail supporting bar 2 through bolts, that is, the rail 1 and the rail supporting bar 2 are connected through the connecting plate 10 .

Adopting modular design and connection with rotating shafts, various modules including batteries, power and sensors can be easily added, so that the robot can effectively adapt to the needs of different operating environments, complete periodic inspection tasks, and be able to Undertake long-term inspection tasks in a strategic environment.

Based on the above content, the robot in this application can replace manual and automatically complete periodic inspection tasks, and can automatically judge potential diseases and risk problems and report inspection results to improve the efficiency of urban rail traffic inspections.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (10)

1. A rail transit inspection system, characterized in that, comprising: a robot and a track; Wherein, the robot includes a rail chassis and a power module, the robot moves on the track through the power module, and the power module is fixed on the rail chassis; The robot also includes a safety detection module, and the safety detection module is fixed on the track chassis. 2. The rail transit inspection system according to claim 1, wherein the power module includes a motor reducer, a drive motor and a drive wheel; One end of the motor reducer is connected to the driving motor, and the other end is connected to the driving wheel. 3. rail traffic inspection system according to claim 2, is characterized in that, the quantity of described motor speed reducer is at least two, the quantity of described driving motor is at least two, the quantity of described driving wheel is at least two. two. 4 . The rail transit inspection system according to claim 2 , wherein the driving wheels are fixed on the back of the rail chassis of the robot and attached to the rails. 5. The rail transit inspection system according to claim 4, wherein a groove portion is provided on the outer circumference of the driving wheel, and the driving wheel is installed on the track through the groove portion, The radius of the groove portion of the drive wheel is greater than the radius of the convex portion of the track. 6. The rail transit inspection system according to claim 1, wherein the robot further comprises a control module, and the control module is fixed to the rail chassis; The control module includes at least one of a driver, a limit switch, and a limiter guard plate. 7. The rail transit inspection system according to claim 6, wherein the driver is fixed on the front of the rail chassis of the robot, and the limit switches are distributed at four corners of the rail chassis, The limiter guard plates are located at both ends of the rail chassis. 8. The rail transit inspection system according to claim 1, wherein the safety detection module includes at least one of a camera, a laser radar, a dual-light thermal imager, and a gas sensor. 9. The rail transit inspection system according to claim 8, wherein the gas sensor is fixed on the gas sensor bracket; The laser radar is fixed on the laser radar base; The camera is fixed on the camera bracket; The gas sensor bracket, the lidar base, the camera bracket and the dual-light thermal imager are fixed on the front of the track chassis of the robot. 10. The rail transit inspection system according to claim 1, wherein the rail transit inspection system further comprises: a battery module; The battery module includes a charging electrode plate and a charger base, the charging electrode plate in the battery module is fixed on the front of the track through the charger base, and the charging electrode plate of the battery module is connected to the After the charging electrode plate on the robot is connected, the power supply of the robot can be charged.

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