WO2019148846A1 - Self-inspection system for railway traffic intelligent routing inspection robot - Google Patents

Abstract

A self-inspection system for a railway traffic intelligent routing inspection robot. The self-inspection system comprises: a data collection module (100) for collecting movement state data of an intelligent routing inspection robot (1) and railway surface data of a railway (2); a first data processing module (200) and a second data processing module (300) for processing data; a platform control module (400) for generating an early-warning signal and an alarm signal; a central control module (500) for summarizing the early-warning signal and the alarm signal; a memory module (600), a platform database module (700) and a central database module (800) for storing a threshold value and standard data; and a platform display module (900) and a central display module (1000) for feeding back the early-warning signal and the alarm signal.

Description

Self-checking system for rail transit intelligent inspection robot Technical field

The invention relates to the field of rail transit safety, in particular to a self-checking system for a rail transit intelligent inspection robot.

Background technique

With the increasing population of large cities, road traffic is increasingly unable to meet the rapidly increasing traffic usage, and the development of urban rail transit systems plays an important role in mitigating urban traffic congestion.

As a special service industry, urban rail transit includes the personal safety of passengers and the safety of various equipment and facilities in the production process. At the same time, there are many unpredictable safety hazards and the safety of urban rail transit systems. Features include: (1) public facility characteristics; (2) high flow and high density; (3) closedness; (4) affected by directed air flow; (5) difficult to prevent.

The faults of the rail transit system are various. According to the fault manifestation, the equipment can be divided into equipment wear, breakage and crack. According to the physical type of the fault inducer, it can be divided into electrical fault, signal fault, mechanical fault and electronic fault.

The intelligent inspection robot installed inside the tunnel, such as the intelligent inspection robot disclosed in the application number CN201710333954.8, can monitor the status of the rail transit infrastructure in real time during the operation of the rail transit, and timely discover faults or hidden troubles. Save time on security checks and increase the efficiency of security checks.

Although the inspection area of the inspection robot can cover most of the interior of the tunnel, there are still some blind spots. For example, the track that cannot be used for the inspection robot cannot be detected, and when the inspection robot itself fails, it will also affect the inspection. The robot monitors the use status of the rail transit infrastructure during the operation of the rail transit, which may result in the failure to detect faults or hidden faults in time, resulting in safety hazards for trains and personnel.

Summary of the invention

The invention is to overcome the technical problems in the prior art that the intelligent inspection robot runs on the track and cannot detect by itself, and provides a self-checking system for the intelligent inspection robot of the rail transit, which can be used for the intelligent inspection robot. The running track and the state of the inspection robot itself are monitored, and the existing safety hazards are discovered in time, which effectively improves the safety and stability of the rail transit operating system.

The invention provides a self-checking system for a rail transit intelligent inspection robot, comprising:

The data acquisition module is configured to collect motion state data of the intelligent inspection robot, and collect track surface data of the motion track of the intelligent inspection robot, and transmit the motion state data and the track surface data to the first data processing module for Transmitting the motion state data and the track surface data to the second data processing module when the first data processing module fails, for receiving the error information transmitted by the first data processing module;

The first data processing module is disposed on the smart inspection robot, and is configured to receive standard data and thresholds transmitted by the storage module, and receive motion state data and track surface data transmitted by the data acquisition module, and use the motion state data and the track. The surface data is compared with the standard data and generates early warning information or alarm information for transmitting the motion state data, the track surface data, the warning information and the alarm information to the station control module, and when the first data processing module cannot process the data normally, the data is sent to the data. The acquisition module and the station control module send error information;

a second data processing module: disposed on the platform of the rail transit system, configured to receive standard data and thresholds transmitted by the platform database module, for receiving motion state data and track surface data transmitted by the data acquisition module, for using the motion state data and The track surface data is compared with the standard data and generates early warning information or alarm information for transmitting the motion state data, the track surface data, the warning information and the alarm information to the station control module;

The platform control module is disposed on the platform of the rail transit system, and is configured to receive motion state data, track surface data, early warning information, and alarm information transmitted by the first data processing module and the second data processing module, and is configured to generate an early warning signal according to the early warning information. , for generating an alarm signal according to the alarm information, for transmitting the warning signal and the alarm signal to the platform display module, for transmitting the warning signal and the alarm signal to the central control module, for using the motion state data, the track surface data, and comparing The result, the warning information and the alarm information are transmitted to the station database module, and are used for receiving an early warning signal or an alarm signal sent by the central control module and transmitting the same to the station display module;

Central control module: set in the rail transit system control center, used to receive the early warning signals and alarm signals sent by each station control module and transmit them to the station control module of the adjacent station;

a memory module: disposed on the smart inspection robot, configured to receive standard data and thresholds transmitted by the platform database module, and configured to transmit the standard data and the threshold to the first data processing module;

a platform database module: disposed on the rail transit system platform for receiving standard data and thresholds transmitted by the central database module for transmitting standard data and thresholds to the second database module and the memory module for receiving the transmission by the station control module Motion state data, track surface data, comparison results, warning information, and alarm information are compressed and generated to generate compressed data packets for transmitting the compressed data packets to the central database module;

Central database module: set in the rail transit system control center for storing standard data and thresholds and updating, for transmitting updated standard data and thresholds to the station database module for receiving and summarizing the transmissions of the database modules of each station Compressed data packet;

Station display module: set on the platform of the rail transit system, used to receive the early warning signal and alarm signal transmitted by the station control module and feed back the warning signal or alarm signal to the station management personnel;

The central display module is set in the rail transit system control center for receiving the warning signals and alarm signals transmitted by the central control module and feeding back the warning signals or alarm signals to the rail transit system management personnel.

The data acquisition module can collect the motion state data of the inspection robot and the state data of the inspection robot running track in real time. When the track or the inspection robot is abnormal, the first data processing module or the second data processing module can generate the early warning information or The fault information is sent to the station processing module to generate an early warning signal or an alarm signal, and then fed back to the station management personnel through the platform display module, and fed back to the rail transit system management personnel through the central display module, so that the track and the inspection robot movement can be monitored in real time. Status, timely discover faults and realize the function of eliminating potential safety hazards in advance, and improve the safety of rail transit system operation. At the same time, when the first data processing module set on the intelligent inspection robot can work normally, data collection The module preferentially transmits the data collected in real time to the first data processing module for processing; when the first data processing module fails to work normally, the data acquisition module directly transmits the collected data to the second data processing module on the platform for processing, Guaranteed pair According to the timeliness of processing, improve the safety of rail transit system running.

A self-checking system for a rail transit intelligent inspection robot according to the present invention. As a preferred mode, the motion state data includes, but is not limited to, a motion inspection speed, a motion state, a surface temperature, a surface foreign object, and a surface defect of the intelligent inspection robot. .

A self-checking system for a rail transit intelligent inspection robot according to the present invention, as a preferred mode, the track surface data includes, but is not limited to, track surface foreign matter and track surface defects.

A self-checking system for a rail transit intelligent inspection robot according to the present invention, as a preferred mode, the first data processing module includes:

The first data classification module is configured to receive and classify the motion state data and the track surface data collected and transmitted by the data acquisition module, and send the motion state data to the first motion state data comparison module, and send the track surface data to First track surface data comparison module;

The first motion state data comparison module is configured to receive standard data and a threshold value transmitted by the memory module, and receive the motion state data transmitted by the first data classification module and compare with the standard data, and generate a threshold value when the preset warning threshold is exceeded. The warning signal is transmitted to the station control module, and when the set alarm threshold is exceeded, an alarm signal is generated and the alarm signal is transmitted to the station control module;

The first track surface data comparison module is configured to receive standard data and thresholds transmitted by the memory module, and receive the track surface data transmitted by the first data classification module and compare with the standard data, and generate when the set warning threshold is exceeded. The warning signal transmits the warning signal to the station control module. When the set alarm threshold is exceeded, an alarm signal is generated and the alarm signal is transmitted to the station control module.

A self-checking system for a rail transit intelligent inspection robot according to the present invention, as a preferred mode, the second data processing module includes:

a second data classification module: configured to receive and classify the motion state data and the track surface data collected and transmitted by the data acquisition module, and send the motion state data to the second motion state data comparison module, for transmitting the track surface data to a second track surface data comparison module;

a second motion state data comparison module: configured to receive standard data and a threshold value transmitted by the station database module, and receive the motion state data transmitted by the second data classification module and compare with the standard data. When the set warning threshold is exceeded, Generating an early warning signal and transmitting the warning signal to the station control module. When the set alarm threshold is exceeded, an alarm signal is generated and the alarm signal is transmitted to the station control module;

a second track surface data comparison module: configured to receive standard data and thresholds transmitted by the station database module, and receive the track surface data transmitted by the second data classification module and compare with the standard data, when the set warning threshold is exceeded, An early warning signal is generated and transmitted to the station control module. When the set alarm threshold is exceeded, an alarm signal is generated and the alarm signal is transmitted to the station control module.

A self-checking system for a rail transit intelligent inspection robot according to the present invention, as a preferred mode, the data acquisition module is a fiber optic sensor.

Optical fiber sensors use light as the carrier of sensitive information, and use optical fiber as the coal quality to transmit sensitive information. It has good electrical insulation performance, strong anti-electromagnetic interference capability, non-intrusive, high sensitivity, and easy to realize long-distance monitoring of the signal under test. Corrosion-resistant, explosion-proof, flexible optical path, easy to connect with computer, etc., widely used in civil engineering, petroleum industry, aerospace, can be used to test stress relaxation, dynamic load stress, temperature and other parameters.

A self-checking system for a rail transit intelligent inspection robot according to the present invention, as a preferred mode, the optical fiber sensor is fixed on the inner wall of the tunnel along the direction of the track extension, and the length of the optical fiber sensor along the track extending direction is greater than or equal to the length of the track, and the optical fiber The distance between the sensor and the track is less than 50cm. The fiber optic sensor arranged along the track direction can measure the surface state information of the track in real time, discover the safety hazard of the track surface in time, and improve the safety of the inspection robot operation.

A self-checking system for a rail transit intelligent inspection robot according to the present invention, as a preferred mode, the fiber optic sensor is fixed on the track along the direction of the track extension, and the length of the fiber sensor along the track extension direction is equal to the length of the track. The fiber optic sensor fills the length of the entire track, ensuring that there is no blank for the detection of the track.

According to a self-checking system for a rail transit intelligent inspection robot, a plurality of optical fiber sensors are arranged at intervals to form a fiber sensor group along a track extending direction, and the length of the fiber sensor group is greater than or equal to the track. The length of each fiber sensor that constitutes the fiber sensor group is less than 50 cm from the track.

According to the invention, a self-checking system for a rail transit intelligent inspection robot, as a preferred mode, the display module comprises one or a combination of the following devices: a display, a horn, and a signal light.

During the use of the present invention, the data acquisition module collects the motion state data of the intelligent inspection robot and the state data of the intelligent inspection robot running track in real time, and transmits the robot motion state data and the track state data to the first data processing module; The first classification module in the first data processing module transmits the robot motion state data to the first motion state data comparison module, and the first motion state data comparison module compares the motion state data with the standard data transmitted by the memory module. When the warning threshold is determined, an early warning signal is generated and the early warning signal is transmitted to the station control module. When the alarm threshold is exceeded, an alarm signal is generated and the alarm signal is transmitted to the station control module; the first classification module in the first data processing module Transmitting the track state data to the first track surface data comparison module, the first track surface data comparison module compares the track state data with the standard data transmitted by the memory module, and generates an early warning signal and an early warning when the set warning threshold is exceeded Signal transmission to the station The station control module generates an alarm signal and transmits an alarm signal to the station control module when the alarm threshold is exceeded; the station control module generates an early warning signal according to the warning information or generates an alarm signal according to the alarm information, and passes the warning signal or the alarm signal through the platform The display module feeds back to the station management personnel to obtain the early warning signal and the alarm signal at the first time to eliminate the safety hazard in time, and the station control module transmits the warning signal and the alarm signal to the central control module, and then feeds back to the track through the central display module. The traffic system management personnel enable them to obtain early warning signals and alarm signals in time, and the central control module can transmit the warning signals and alarm signals to the adjacent station control module, and feed back to the station management personnel of the station through the corresponding platform display module. It can timely obtain early warning signals and alarm signals to timely understand the existing safety hazards; at the same time, the station control module transmits the motion state data, track surface data, comparison results, warning information and alarm information to the platform database module for pressure. After generating the compressed data packets, compressed data packets central database module for rail transport system database module transmits each station will be aggregated to provide a data base for the analysis of security incidents.

During the use of the present invention, when the first data processing module disposed on the intelligent inspection robot cannot perform data processing normally, the first data processing module generates error information and sends the error information to the data acquisition module and the station control module, and the data acquisition module The motion state data of the patrol robot collected in real time and the state data of the trajectory of the intelligent patrol robot are transmitted to the second data processing module for data processing, thereby ensuring the timeliness of data processing.

The invention has a data acquisition module for real-time collecting the motion state data and the track state data of the intelligent inspection robot on the track or on both sides of the track, which can realize real-time data collection, and can automatically generate an alarm when the data processing module finds that the data is abnormal. The signal or alarm signal is transmitted to the station control module, and is fed back to the station management personnel through the display module, so that it can find the hidden dangers in time, and effectively improve the safety and stability of the rail transit operating system.

The invention further provides a first data processing module and a second data processing module respectively on the intelligent inspection robot and the platform. When the first data processing module disposed on the intelligent inspection robot can work normally, the data collected by the optical fiber sensor The data is sent to the first data processing module for processing. When the first data processing module fails to work normally, the data collected by the optical fiber sensor is directly transmitted to the second data processing module on the station for processing, so that the self-checking system can detect abnormal data in time. , timely detection of security risks.

DRAWINGS

1 is a composition diagram of a self-checking system for a rail transit intelligent inspection robot;

2 is a composition diagram of a first data processing module of a self-checking system for a rail transit intelligent inspection robot;

3 is a composition diagram of a second data processing module of a self-checking system for a rail transit intelligent inspection robot;

Figure 4 is a flow chart of Embodiment 1;

Figure 5 is a flow chart of Embodiment 2;

Figure 6 is a flow chart of Embodiment 3;

Figure 7 is a flow chart of Embodiment 4;

8 is a schematic view showing the installation structure of the optical fiber sensor of Embodiment 5;

9 is a schematic view showing a mounting structure of a fiber optic sensor of Embodiment 6;

FIG. 10 is a schematic view showing the installation structure of the optical fiber sensor of Embodiment 7.

Reference mark:

100, a data acquisition module; 200, a first data processing module; 210, a first data classification module; 220, a first motion state comparison module; 230, a first track surface data comparison module; 300, a second data processing module; a second data classification module; 320, a second motion state comparison module; 330, a second track surface data comparison module; 400, a station control module; 500, a central control module; 600, a memory module; 700, a platform database module; , central database module; 900, platform display module; 1000, central display module; 1, intelligent inspection robot; 2, track; 3, fiber optic sensor; 4, tunnel.

Detailed ways

The invention provides a self-checking system for a rail transit intelligent inspection robot, as shown in FIG. 1 , comprising:

The data acquisition module 100 is a fiber optic sensor 3 for collecting motion state data of the smart inspection robot 1. The motion state data includes, but is not limited to, the motion speed, motion state, surface temperature, surface foreign matter, and surface defects of the intelligent inspection robot 1 For collecting track surface data of the motion track 2 of the smart inspection robot 1, the track surface data includes but is not limited to the surface foreign matter of the track 2 and the surface defect of the track 2, for transmitting the motion state data and the track surface data to the first data processing The module 200 is configured to transmit the motion state data and the track surface data to the second data processing module 300 when the first data processing module 200 fails, and receive the error information transmitted by the first data processing module 200;

The first data processing module 200 is disposed on the smart inspection robot 1 for receiving standard data and thresholds transmitted by the storage module 600, for receiving motion state data and track surface data transmitted by the data acquisition module 100, for moving The status data and the track surface data are compared with the standard data and generate early warning information or alarm information for transmitting the motion state data, the track surface data, the warning information, and the alarm information to the station control module 400, when the first data processing module 200 cannot When the data is processed normally, the error information is sent to the data collection module 100 and the station control module 400. As shown in FIG. 2, the first data processing module 200 includes:

The first data classification module 210 is configured to receive and classify the motion state data and the track surface data transmitted by the data acquisition module 100 for transmitting the motion state data to the first motion state data comparison module 220 for using the track surface Data is transmitted to the first track surface data comparison module 230;

The first motion state data comparison module 220 is configured to receive the standard data and the threshold value transmitted by the memory module 600, and receive the motion state data transmitted by the first data classification module 210 and compare with the standard data when the set warning threshold is exceeded. At the time, generating an early warning signal and transmitting the warning signal to the station control module 400, when the set alarm threshold is exceeded, generating an alarm signal and transmitting the alarm signal to the station control module 400;

The first track surface data comparison module 230 is configured to receive the standard data and the threshold value transmitted by the memory module 600, and receive the track surface data transmitted by the first data classification module 210 and compare with the standard data when the set warning threshold is exceeded. At the time, generating an early warning signal and transmitting the warning signal to the station control module 400, when the set alarm threshold is exceeded, generating an alarm signal and transmitting the alarm signal to the station control module 400;

The second data processing module 300 is disposed on the rail transit system platform for receiving standard data and thresholds transmitted by the station database module 700, and is configured to receive motion state data and track surface data transmitted by the data acquisition module 100 for use in moving The status data and the track surface data are compared with the standard data and generate early warning information or alarm information for transmitting the motion state data, the track surface data, the warning information and the alarm information to the station control module 400; as shown in FIG. 3, the second The data processing module 300 includes:

The second data classification module 310 is configured to receive and classify the motion state data and the track surface data collected by the data collection module 100, and send the motion state data to the second motion state data comparison module 320 for using the track surface. Data is transmitted to the second track surface data comparison module 330;

The second motion state data comparison module 320 is configured to receive the standard data and the threshold value transmitted by the station database module 600, and receive the motion state data transmitted by the second data classification module 310 and compare with the standard data when the set warning is exceeded. Threshold, generating an early warning signal and transmitting the early warning signal to the station control module 400, when the set alarm threshold is exceeded, generating an alarm signal and transmitting the alarm signal to the station control module 400;

The second track surface data comparison module 330 is configured to receive the standard data and the threshold value transmitted by the station database module 600, and receive the track surface data transmitted by the second data classification module 310 and compare with the standard data when the set warning is exceeded. Threshold, generating an early warning signal and transmitting the early warning signal to the station control module 400, when the set alarm threshold is exceeded, generating an alarm signal and transmitting the alarm signal to the station control module 400;

The platform control module 400 is disposed on the rail transit system platform for receiving the motion state data, the track surface data, the warning information, and the alarm information transmitted by the first data processing module 200 and the second data processing module 300, and is configured to use the warning information according to the warning information. Generating an early warning signal for generating an alarm signal according to the alarm information, for transmitting the warning signal and the alarm signal to the station display module 900, for transmitting the warning signal and the alarm signal to the central control module 500, for using the motion state data, The track surface data, the comparison result, the warning information and the alarm information are transmitted to the station database module 700, for receiving the warning signal or the alarm signal sent by the central control module 500 and transmitting it to the station display module 900;

The central control module 500 is disposed in the rail transit system control center, and is configured to receive the early warning signal and the alarm signal sent by each station control module 400 and transmit the same to the station control module 400 of the adjacent station;

The memory module 600 is disposed on the smart inspection robot 1 for receiving standard data and thresholds transmitted by the station database module 700 for transmitting standard data and thresholds to the first data processing module 200;

The platform database module 700 is disposed on the rail transit system platform for receiving standard data and thresholds transmitted by the central database module 800 for transmitting the standard data and thresholds to the second database module 300 and the memory module 600 for receiving the platform The motion state data, the track surface data, the comparison result, the warning information, and the alarm information transmitted by the control module 400 are compressed and generated to generate a compressed data packet for transmitting the compressed data packet to the central database module 700;

The central database module 800 is disposed at the rail transit system control center, and is configured to store standard data and thresholds for updating the updated standard data and thresholds to the station database module 700 for receiving and summarizing the database modules of the stations. 700 transmitted compressed data packet;

The platform display module 900 includes one or a combination of the following devices: a display, a horn, and a signal light, which are disposed on the platform of the rail transit system for receiving the early warning signal and the alarm signal transmitted by the station control module 400 and feeding back the warning signal or the alarm signal. To the station manager;

The central display module 1000 includes one or a combination of the following devices: a display, a horn, and a signal light, which are disposed in the rail transit system control center for receiving the early warning signal and the alarm signal transmitted by the central control module 500 and feeding back the warning signal or the alarm signal. To rail transit system managers.

Example 1

When a foreign object appears on the track 2 on which the smart inspection robot 1 is running, as shown in FIG. 4, the following steps are performed:

S11, data acquisition: the optical fiber sensor 3 collects the track surface data in real time and transmits it to the data classification module 210 in the first data processing module 200;

S12, data classification: data classification module 210 transmits track surface data to the track surface data comparison module 220;

S13. The early warning determines that the track surface data comparison module 230 compares the track surface data with the standard data transmitted by the memory module 600. When the size and shape of the foreign object exceeds the warning threshold, generating the warning information proceeds to step S14, and the size and shape of the foreign object. If the warning threshold is not exceeded, the process proceeds to step S17;

S14. The alarm judgment module 230 compares the track surface data with the standard data transmitted by the memory module 600. When the size and shape of the foreign object exceed the alarm threshold, the alarm information is generated to proceed to step S15, and the size and shape of the foreign object are generated. If the alarm threshold is not exceeded, proceed to step S16;

S15. The alarm: the station control module 400 generates an alarm signal according to the alarm information and feeds back to the station management personnel through the station display module 900;

S16, the warning: the station control module 400 generates an early warning signal according to the warning information, and feeds back to the station management personnel through the station display module 900;

S17, the station control module 400 transmits the warning signal and the alarm signal to the central control module 500;

S18. The central control module 500 feeds the warning signal and the alarm signal to the rail transit management personnel through the central display module 1000.

S19. The central control module 500 sends the warning signal and the alarm signal to the station control module 400 of the adjacent station, and feeds back to the station management personnel of the station through the corresponding station display module 900;

S110. The intelligent inspection robot 1 operates normally.

Example 2

When a crack occurs on the track 2 on which the intelligent inspection robot 1 operates, as shown in FIG. 5, the following steps are performed:

S21, data acquisition: the optical fiber sensor 3 collects the track surface data in real time and transmits it to the data classification module 210 in the first data processing module 200;

S22, data classification: data classification module 210 transmits track surface data to the track surface data comparison module 230;

S23. The early warning determines that the track surface data comparison module 230 compares the track surface data with the standard data transmitted by the memory module 600. When the crack size exceeds the warning threshold, the generated warning information proceeds to step S24, when the crack size does not exceed the early warning threshold. Going to step S27;

S24. The alarm judgment: the track surface data comparison module 230 compares the track surface data with the standard data transmitted by the memory module 600. When the crack size exceeds the alarm threshold, the alarm information is generated to proceed to step S25, when the crack size does not exceed the alarm threshold. When it proceeds to step S26;

S25. The alarm: the station control module 400 generates an alarm signal according to the alarm information and feeds back to the station management personnel through the station display module 900;

S26, the warning: the station control module 400 generates an early warning signal according to the warning information, and feeds back to the station management personnel through the platform display module 900;

S27, the station control module 400 transmits the warning signal and the alarm signal to the central control module 500;

S28. The central control module 500 feeds the warning signal and the alarm signal to the rail transit management personnel through the central display module 1000.

S29. The central control module 500 sends the warning signal and the alarm signal to the station control module 400 of the adjacent station, and feeds back to the station management personnel of the station through the corresponding station display module 900;

S210, the intelligent inspection robot 1 operates normally.

Example 3

When the smart inspection machine 1 moves too fast, as shown in FIG. 6, the following steps are performed:

S31, data acquisition: the optical fiber sensor 3 real-time acquisition of the speed of the intelligent inspection robot 1 and transmitted to the data classification module 210 in the first data processing module 200;

S32, data classification: data classification module 210 transmits the speed of the intelligent inspection robot 1 to the motion state data comparison module 220;

S33. The early warning determines that the motion state data comparison module 220 compares the motion speed of the smart inspection robot 1 with the standard speed transmitted by the memory module 600, and generates an early warning information when the motion speed of the smart inspection robot 1 exceeds the warning threshold. S34, when the speed of the intelligent inspection robot 1 does not exceed the warning threshold, proceeds to step S37;

S34. The alarm judgment module: the motion state data comparison module 220 compares the motion speed of the smart inspection robot 1 with the standard speed transmitted by the storage library module 600, and generates an alarm information when the motion speed of the smart inspection robot 1 exceeds the alarm threshold. Step S35, when the speed of the intelligent inspection robot 1 does not exceed the alarm threshold, proceeds to step S36;

S35. The alarm: the station control module 400 generates an alarm signal according to the alarm information, and feeds back to the station management personnel through the station display module 900;

S36, the warning: the station control module 400 generates an early warning signal according to the warning information, and feeds back to the station management personnel through the platform display module 900;

S37, the station control module 400 transmits the warning signal and the alarm signal to the central control module 500;

S38. The central control module 500 feeds the warning signal and the alarm signal to the rail transit management personnel through the central display module 1000.

S39. The central control module 500 sends the warning signal and the alarm signal to the station control module 400 of the adjacent station, and feeds back to the station management personnel of the station through the corresponding station display module 900;

S310. The intelligent inspection robot 1 operates normally.

Example 4

When the surface temperature of the smart inspection robot 1 is too high, as shown in FIG. 7, the following steps are performed:

S41, data acquisition: the optical fiber sensor 3 collects the surface temperature of the intelligent inspection robot 1 in real time and transmits it to the first data processing module 200. When the first data processing module 200 can process the data, the process proceeds to step S46, when the first data processing When the module 200 cannot process the data, the process proceeds to step S42;

S42, data transmission: the optical fiber sensor 3 transmits the collected surface temperature of the intelligent inspection robot 1 to the second data processing module 300;

S43, data classification: the second data classification module 310 in the second data processing module 300 transmits the surface temperature of the intelligent inspection robot 1 to the second motion state data comparison module 320;

S44. The early warning determines that the second motion state data comparison module 320 compares the surface temperature of the smart inspection robot 1 with the standard temperature transmitted by the database module 700, and generates an early warning information when the surface temperature of the intelligent inspection robot 1 exceeds the warning threshold. Proceed to step S45, when the surface temperature of the intelligent inspection robot 1 does not exceed the warning threshold, proceed to step S414;

S45. The alarm determines that the second motion state data comparison module 320 compares the surface temperature of the smart inspection robot 1 with the standard temperature transmitted by the database module 700, and generates an alarm information when the surface temperature of the smart inspection robot 1 exceeds an alarm threshold. Proceeding to step S49, when the surface temperature of the intelligent inspection robot 1 does not exceed the alarm threshold, proceeds to step S410;

S46, data classification: the first data classification module 210 of the first data processing module 200 transmits the surface temperature of the intelligent inspection robot 1 to the first motion state data comparison module 220;

S47. The early warning determines that the first motion state data comparison module 220 compares the surface temperature of the smart inspection robot 1 with the standard temperature transmitted by the memory module 600, and generates an early warning information when the surface temperature of the smart inspection robot 1 exceeds the warning threshold. Proceed to step S48, when the surface temperature of the intelligent inspection robot 1 does not exceed the warning threshold, proceed to step S414;

S48. The alarm judgment: the first motion state data comparison module 220 compares the surface temperature of the smart inspection robot 1 with the standard temperature transmitted by the memory module 600, and generates an alarm information when the surface temperature of the smart inspection robot 1 exceeds an alarm threshold. Proceeding to step S49, when the surface temperature of the intelligent inspection robot 1 does not exceed the alarm threshold, proceeds to step S410;

S49. The alarm: the station control module 300 generates an alarm signal according to the alarm information and feeds back to the station management personnel through the display module 500;

S410, the warning: the station control module 300 generates an early warning signal according to the warning information and feeds back to the station management personnel through the display module 500;

S411, the station control module 400 transmits the warning signal and the alarm signal to the central control module 500;

S412, the central control module 500 feeds the warning signal and the alarm signal to the rail transit management personnel through the central display module 1000;

S413, the central control module 500 sends the warning signal and the alarm signal to the station control module 400 of the adjacent station, and feeds back to the station management personnel of the station through the corresponding station display module 900;

S414. The intelligent inspection robot 1 operates normally.

Example 5

As shown in Fig. 8, the optical fiber sensor 3 is fixed to the track 2 in the direction in which the track extends, and the length of the fiber sensor 3 in the direction in which the track 2 extends is equal to the length of the track 2.

Example 6

As shown in FIG. 9, the optical fiber sensor 3 is fixed on the inner wall of the tunnel 4 in the extending direction of the track 2. The length of the optical fiber sensor 3 along the direction of the track 2 is equal to the length of the track 2, and the distance between the fiber sensor 3 and the track is less than 50 cm.

Example 7

As shown in FIG. 10, a plurality of optical fiber sensors are arranged at intervals to form a fiber sensor group extending along a track. The length of the fiber sensor group is greater than the length of the track, and the distance between each fiber sensor and the track constituting the fiber sensor group is less than 50 cm.

The above description is intended to be illustrative, and not restrictive, and it is understood by those of ordinary skill in the art All will fall within the scope of protection of the present invention.

Claims (10)

1. A self-checking system for a rail transit intelligent inspection robot, characterized in that:

   The data acquisition module (100) is configured to collect motion state data of the smart inspection robot (1), and collect track surface data of the motion inspection robot (1) motion track (2) for using the motion The status data and the track surface data are transmitted to the first data processing module (200) for transmitting the motion state data and the track surface data to the first data module (200) when the first data processing module (200) fails a data processing module (300), configured to receive error information transmitted by the first data processing module (200);

   a first data processing module (200): disposed on the smart inspection robot (1), configured to receive standard data and a threshold value transmitted by the memory module (600), for receiving the data transmission module (100) The motion state data and the track surface data are used to compare the motion state data and the track surface data with the standard data and generate warning information or alarm information for using the motion state data, The track surface data, the warning information and the alarm information are transmitted to the station control module (400), and when the first data processing module (200) is unable to process data normally, the data acquisition module (100) and The station control module (400) sends an error message;

   a second data processing module (300): disposed on the rail transit system platform for receiving standard data and thresholds transmitted by the station database module (700) for receiving the motion state transmitted by the data collection module (100) Data and the track surface data for comparing the motion state data and the track surface data with the standard data and generating warning information or alarm information for using the motion state data, the track surface Data, the warning information, and the alarm information are transmitted to the station control module (400);

   a platform control module (400): disposed on the rail transit system platform, configured to receive the motion state data, the track transmitted by the first data processing module (200) and the second data processing module (300) The surface data, the warning information, and the alarm information are used to generate an early warning signal according to the warning information, and configured to generate an alarm signal according to the alarm information, for transmitting the early warning signal and the alarm signal to the platform a display module (900) for transmitting the early warning signal and the alarm signal to the central control module (500) for using the motion state data, the track surface data, the comparison result, The warning information and the alarm information are transmitted to the station database module (700) for receiving the early warning signal or the alarm signal sent by the central control module (500) and transmitting the same to the station display module ( 900);

   a central control module (500): disposed at the rail transit system control center, configured to receive the early warning signal and the alarm signal sent by the station control module (400) on each station and transmit the same to the adjacent station Station control module (400);

   a memory module (600): disposed on the smart inspection robot (1) for receiving the standard data and a threshold transmitted by the station database module (700), for transmitting the standard data and a threshold to the a first data processing module (200);

   a platform database module (700): disposed on the rail transit system platform for receiving the standard data and thresholds transmitted by the central database module (800) for transmitting the standard data and thresholds to the second a database module (300) and the memory module (600), configured to receive the motion state data, the track surface data, the comparison result, the warning information, and the information transmitted by the station control module (400) Decoding the alarm information and compressing to generate a compressed data packet for transmitting the compressed data packet to the central database module (800);

   a central database module (800): disposed at the rail transit system control center for storing the standard data and thresholds and updating for transmitting the updated standard data and thresholds to the station database module (700) And for receiving and summarizing compressed data packets transmitted by each of the station database modules (700);

   a platform display module (900): disposed on the rail transit system platform, configured to receive the early warning signal and the alarm signal transmitted by the station control module (300), and feed back the early warning signal or the alarm signal to Station management staff;

   a central display module (1000): disposed at the rail transit system control center, configured to receive the early warning signal and the alarm signal transmitted by the central control module (500), and feed back the early warning signal or the alarm signal to Rail transit system management staff.
2. The self-checking system for a rail transit intelligent inspection robot according to claim 1, wherein the motion state data includes, but is not limited to, a motion speed and a motion state of the smart inspection robot (1). , surface temperature, surface foreign matter and surface defects.
3. A self-checking system for a rail transit intelligent inspection robot according to claim 1, wherein the track surface data includes, but is not limited to, surface foreign matter and surface defects of the track (2).
4. A self-checking system for a rail transit intelligent inspection robot according to any one of claims 1 to 3, wherein the first data processing module (200) comprises:

   a first data classification module (210): configured to receive and classify the motion state data and the track surface data collected and transmitted by the data collection module (100), and send the motion state data to the first a motion state data comparison module (220) for transmitting the track surface data to the first track surface data comparison module (230);

   a first motion state data comparison module (220): configured to receive the standard data and a threshold value transmitted by the memory module (600), and receive the motion state data transmitted by the first data classification module (210) And comparing with the standard data, when the set warning threshold is exceeded, generating an early warning signal and transmitting the warning signal to the station control module (400), and generating an alarm signal when the set alarm threshold is exceeded And transmitting the alarm signal to the station control module (400);

   a first track surface data comparison module (230) for receiving the standard data and thresholds transmitted by the memory module (600) for receiving the track surface data transmitted by the first data classification module (210) And comparing with the standard data, when the set warning threshold is exceeded, generating an early warning signal and transmitting the warning signal to the station control module (400), and generating an alarm signal when the set alarm threshold is exceeded And transmitting the alarm signal to the station control module (400).
5. The self-checking system for a rail transit intelligent inspection robot according to any one of claims 1 to 3, wherein the second data processing module (300) comprises:

   a second data classification module (310): configured to receive and classify the motion state data and the track surface data collected and transmitted by the data collection module (100), and send the motion state data to a second a motion state data comparison module (320) for transmitting the track surface data to a second track surface data comparison module (330);

   a second motion state data comparison module (320): configured to receive the standard data and a threshold value transmitted by the station database module (700), and receive the motion state transmitted by the second data classification module (310) The data is compared with the standard data. When the set warning threshold is exceeded, an early warning signal is generated and transmitted to the station control module (400), and when the set alarm threshold is exceeded, an alarm is generated. Signaling and transmitting the alarm signal to the station control module (400);

   a second track surface data comparison module (330) for receiving the standard data and thresholds transmitted by the station database module (700) for receiving the track surface transmitted by the second data classification module (310) The data is compared with the standard data. When the set warning threshold is exceeded, an early warning signal is generated and transmitted to the station control module (400), and when the set alarm threshold is exceeded, an alarm is generated. The signal is transmitted to the station control module (400).
6. The self-checking system for a rail transit intelligent inspection robot according to any one of claims 1 to 5, characterized in that the data acquisition module (100) is a fiber optic sensor (3).
7. A self-checking system for a rail transit intelligent inspection robot according to claim 6, wherein the optical fiber sensor (3) is fixed on the inner wall of the tunnel (4) along the extending direction of the rail (2) The length of the fiber sensor (3) extending along the track (2) is greater than or equal to the length of the track (2), and the distance between the fiber sensor (3) and the track (2) is less than 50 cm.
8. A self-checking system for a rail transit intelligent inspection robot according to claim 6, characterized in that the optical fiber sensor (3) is fixed to the rail (2) along the extending direction of the rail (2) Above, the length of the fiber sensor (3) extending along the track (2) is equal to the length of the track (2).
9. A self-checking system for a rail transit intelligent inspection robot according to any one of claims 7 to 8, characterized in that a plurality of said optical fiber sensors (3) are arranged at intervals to form one along said track ( 2) a fiber-optic sensor group extending in a direction, the length of the fiber-optic sensor group being greater than or equal to the length of the track (2), each of the fiber-optic sensors (3) and the track (2) constituting the fiber-optic sensor group The spacing is less than 50cm.
10. A self-checking system for a rail transit intelligent inspection robot according to claim 1, wherein said station display module (900) and said central display module (1000) comprise one of the following devices or combination:

    Display, speaker, signal light.

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