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

Track traffic inspection system

Technical Field

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

Background

At present, with the continuous development of the urban rail transit field, the application requirements of the urban rail transit video monitoring technology are gradually increased.

In a tunnel inspection scene, a manual inspection method is mainly adopted, night shift inspection is carried out, so that the problems of easy fatigue and omission of operators are caused, the experience dependence is strong, the number of repeated inspection items is large, the labor intensity of the operators is high, and the like. Thus, the current urban rail traffic inspection efficiency is low.

Disclosure of Invention

The application provides a track traffic inspection system, aims at improving the traffic inspection efficiency of urban rail.

The application 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.

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

one end of the motor reducer is connected with the driving motor, and the other end of the motor reducer is connected with the driving wheel.

In one embodiment, the number of motor reducers is at least two, the number of driving motors is at least two, and the number of driving wheels is at least two.

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

In one embodiment, a groove part is formed in the periphery of the driving wheel, the driving wheel is arranged on the track through the groove part, and the radius of the groove part of the driving wheel is larger than that of the outer part of the track.

In one embodiment, the robot further comprises a control module, the control module being fixed to the rail chassis;

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

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

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

In one embodiment, the gas sensor is fixed to a gas sensor holder;

the laser radar is fixed on the laser radar base;

the camera is fixed on the camera bracket;

the gas sensor support, the laser radar base, the camera support and the double-photo-thermal imager are fixed on the front surface of the track chassis of the robot.

In one embodiment, the track traffic inspection system further comprises: a battery module;

the battery module comprises a charging electrode plate and a charger base, wherein the charging electrode plate in the battery module is fixed on the front face of the track through the charger base, and the charging electrode plate of the battery module can charge a power supply of the robot after being connected with the charging electrode plate on the robot.

The utility model provides a track traffic inspection system, through the safety inspection module in the robot, when the robot moves on the track, carry out safety inspection to the region that is in safety inspection module detection range, can carry out urban rail's traffic inspection through the robot, avoid artifical limitation of inspection, can improve urban rail's traffic inspection efficiency.

Drawings

For a clearer description of the present application or of the solutions of the prior art, a brief description will be given below of the embodiments or of the drawings in the description of the prior art, it being obvious that the drawings described below are some embodiments of the present application, from which other drawings can be obtained, without the inventive effort for a person skilled in the art.

Fig. 1 is one of schematic structural diagrams of a rail transit inspection system provided in an embodiment of the present application;

FIG. 2 is an enlarged schematic view of the partial structure of FIG. 1;

fig. 3 is a second schematic structural diagram of the track traffic inspection system according to the embodiment of the present application;

fig. 4 is an enlarged schematic view of a partial structure in fig. 3.

Reference numerals:

1. a track; 2. a track support rod; 3. a charging electrode plate; 4. a storage battery; 5. a pedometer; 6. a speed reducing motor; 7. a laser radar; 8. a camera; 9. a track chassis; 10. a connecting plate; 11. a limit switch; 12. a dual-optical thermal imager; 13. a gas sensor; 14. a support wheel; 15. a limiter guard plate; 16. a charger base; 17. a motor reducer; 18. a driving motor; 19. a driving wheel; 20. a guide rail; 21. and a controller.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the description of the embodiments of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., are based on those shown in the drawings, are merely for convenience in describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the embodiments of the present application will be understood by those of ordinary skill in the art in a specific context.

In the examples herein, a first feature "on" or "under" a second feature may be either the first and second features in direct contact, or the first and second features in indirect contact via an intermediary, unless expressly stated and defined otherwise. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

The track traffic inspection system of the present application is described below with reference to fig. 1-4.

According to an embodiment of the present application, as shown in fig. 1 to 4, fig. 1 is one of schematic structural diagrams of a track traffic inspection system provided in the embodiment of the present application, and fig. 2 is an enlarged schematic diagram of a partial structure in fig. 1.

Fig. 3 is a second schematic structural diagram of the track traffic inspection system according to the embodiment of the present application, and fig. 4 is an enlarged schematic structural diagram of a part of the track traffic inspection system in fig. 3.

In fig. 1 to 4, the rail transit inspection system includes: robot and track 1.

Wherein the track 1 may be mounted on a wall of a track area in a station or tunnel. Meanwhile, the rail 1 can be supported by the rail support rods 2 to prevent the rail 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 connection plate 10 is located at the back of the track 1. And according to the actual conditions of different environments, the track supporting rod 2 can be placed on the ground for fixing, and can also be hung on a wall surface or a top surface of a track area in a station or a tunnel for fixing.

The robot may be mounted on the rail 1 and may move on the rail 1 after the mounting is completed.

It should be noted that the robot may be detachably mounted on the rail 1.

The robot may include a rail chassis 9, and various modules as needed may be mounted on the rail chassis 9.

The robot may include a safety detection module, which may be mounted on the front surface of the track 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 for carrying out safety detection on the area in the detection range of the safety detection module, so that the safety detection is carried out on the track area in the station or the tunnel, and the safety of the track area in the station or the tunnel is determined.

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-photo thermal imager 12, and a gas sensor 13.

In some embodiments, the security detection module may include a camera 8, a laser radar 7, a dual thermal imager 12, a gas sensor 13, and the like.

The camera 8 can be fixed on the front surface of the robot track chassis 9 through a camera bracket, and can shoot images and videos of a track area in a station or a tunnel, wherein the camera bracket is fixed on the front surface of the robot track chassis 9. The camera 8 can be connected with the display equipment, and shot images are sent to the display equipment for display, so that follow-up related personnel can analyze whether problems of water seepage, slotting, falling rocks and foreign matter invasion exist in a tunnel according to the images; the system can also be convenient for related personnel to analyze whether the state of the equipment state indicator lamp, the digital display instrument, the pointer display instrument and the switch position in the machine room is abnormal or not according to the images; and the method can also be convenient for related personnel to analyze whether passengers in the station have abnormal behaviors such as falling, sitting for a long time and the like and whether people flow densely and the like according to the images.

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

Therefore, the three-dimensional model constructed after each scanning can be sent to the display equipment through the laser radar 7, so that related personnel can determine whether abnormal conditions exist in the inspection scene according to the initial three-dimensional model and the subsequent three-dimensional model displayed in the display equipment, such as cracking and slotting of tunnel building blocks, tunnel deformation dislocation and the like in tunnel inspection, and the problems of abnormal conditions in tunnels, equipment indicator light faults in a machine room, passengers in a station and the like can be analyzed in time.

The dual-photo thermal imager 12 can be fixed on the front surface of the robot track chassis 9, can shoot a thermal infrared image of a pointing region of the robot track chassis, and can send the shot thermal infrared image to a display device so as to enable related personnel to determine whether abnormal heating problems exist or not based on the thermal infrared image.

The double-photo thermal imager 12 in the robot can adjust the shooting angle through the driving of the stepping motor, and can obtain a shooting area with a larger range without affecting the structural space of the robot.

The gas sensor 13 can be fixed on the front surface of the robot track chassis 9 through a gas sensor bracket, can detect and analyze the gas in each application scene, and sends the detected gas information to the display equipment so that related personnel can determine whether toxic and harmful gas exists in each application scene according to the gas information; meanwhile, the gas sensor 13 can also collect and record temperature and humidity data, wherein the gas sensor bracket is fixed on the front surface of the robot track chassis 9. The gas sensor 13 can be used for rapidly detecting the gas components and the gas content in the robot inspection scene, so that safety guarantee is provided for the entry of maintenance personnel.

The safety detection module can also comprise an alarm device, and if the information acquired by the equipment such as the camera 8, the laser radar 7, the dual-optical thermal imager 12, the gas sensor 13 and the like is analyzed, the situation that the track area in the station or the tunnel is abnormal, such as toxic gas, water seepage in the tunnel, slotting, falling rocks, foreign matter invasion and the like, is determined, and an alarm signal can be sent through the alarm device so as to prompt staff to check.

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

The safety detection module can further comprise a bearing seat and a bearing support seat, wherein the bearing support seat is fixed on the track chassis 9 of the robot, and the bearing seat can be fixed on the track chassis 9 of the robot through the bearing support seat.

The utility model provides a track traffic inspection system, through the safety inspection module in the robot, when the robot moves on track 1, detect the region that is in safety inspection module detection range, can carry out urban rail 1's traffic inspection through the robot, avoid artifical limitation of inspection, can improve urban rail 1's traffic inspection efficiency.

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

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

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

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

Namely, one end of a motor reducer 17 is connected with one of the driving motors 18, and the other end is connected with one of the driving wheels 19; one end of the other motor reducer 17 is connected with the other driving motor 18, and the other end is connected with the other driving wheel 19.

The robot can be driven to operate and the operation speed of the robot can be controlled.

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

The robot comprises two groups of driving motors, and the track speed of the robot can be controlled according to the actual working condition of the track area. In addition, when one driving wheel 19 is in a slipping condition, the other driving wheel 19 can compensate the slipping, so that the robot can normally move, and the traffic inspection efficiency of the urban rail 1 is improved.

It should be further noted that in some embodiments of the present application, the driving wheel 19 may be fixed on the back of the track chassis 9 of the robot and attached to the track 1, so that the robot may slide on the track 1 based on the driving wheel 19 when the driving motor 18 operates, and regulate the operation speed of the robot based on the operation of the motor reducer 17.

As will be appreciated, the outer periphery of the driving wheel 19 in the robot is provided with a groove portion, so that the driving wheel 19 can be mounted on the rail 1 through the groove portion. The groove radius of the driving wheel 19 is larger than the outer flange radius of the rail 1, thereby increasing the turning radius of the rail 1.

And, the axial cross section of drive wheel 19 can become certain angle concrete angle and can set for and adjust according to actual demand with vertical plane, can conveniently carry out equipment dismouting and maintenance to the robot.

The robot can also comprise a gear motor 6, the gear motor 6 is fixed on the track chassis 9 of the robot, and the robot can be decelerated by controlling the motor reducer 17 to indirectly control the driving wheel 19.

The robot can also comprise a control module, wherein the control module can be fixed on the track chassis 9 of the robot in a rotating shaft connection mode to control the robot.

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

The driver is fixed on the front surface of the rail-mounted chassis 9 of the robot, limit switches 11 are distributed at four corners of the rail-mounted chassis 9, limit guard plates 15 are located at two ends of the rail-mounted chassis 9, and the limit switches 11 are matched with the limit guard plates 15 to limit and control the robot.

The driver may cooperate with a drive motor 18 to effect drive control of the robot by controlling a drive wheel 19.

The control module can further comprise a pedometer 5, the pedometer 5 can be fixed on the front surface of the track chassis 9 of the robot, the step counting can be carried out on the movement of the robot, and the movement data of the robot are counted.

It should be further noted that the track traffic inspection system of the present application may further include: and a battery module.

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 surface of the track 1 through the charger base 16, and can charge the power supply of the robot.

The robot can be provided with a storage battery 4 as a power supply, and the power supply can be used for providing energy for the operation and the movement of the robot. The battery 4 can be fixed on the front of the rail chassis 9 of the robot.

The robot may further include a charging electrode plate 3, and the charging electrode plate 3 in the robot may be fixed to the front surface of the rail chassis 9.

When the robot is located on the side of the charger base 16, the battery 4 connected to the charging electrode plate 3 of the robot in 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 the super capacitor, and the service life of the super capacitor is millions of charge and discharge cycles or ten years. But the super capacitor is charged frequently because the storage density is not high. The storage battery 4 comprising the super capacitor is adopted, and the charging speed is high.

When the storage battery 4 needs to be charged, the robot can travel to one side of the charging electrode plate 3 of the battery module, and the electromagnet in the charging electrode plate 3 on the battery module can adsorb the charging electrode plate 3 on the robot to the charging electrode plate 3 of the battery module, so that the storage battery 4 is charged rapidly.

The robot is provided with the charging module, so that the limitation of the track length caused by the wired transmission power supply can be eliminated.

The robot also comprises a controller 21 which is fixed to the front surface of the rail chassis 9 of the robot. The robot travel, charging, etc. can be controlled by the controller 21.

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

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

The camera protective cover is connected with the track chassis 9 and can cover the motor reducer 17, the base of the motor reducer 17, the camera 8, the limit switch 11, the support U-shaped frame and other devices.

Through setting up protector such as battery protection casing and camera protection casing, can make robot self possess dustproof waterproof function, can bear long-term task of patrolling and examining under abominable environment, can resist severe cold and high temperature high humidity environment, improve urban rail 1's traffic and patrol and examine efficiency.

The supporting U-shaped frames are distributed at the left end and the right end of the front face of the track chassis 9, the supporting wheels 14 are connected with the supporting wheel 14 frames and fixed in the supporting U-shaped frames, and the supporting wheels 14 are in surface contact with the track 1.

It should be noted that the track chassis 9 of the robot includes two sets of supporting wheels 14, and the two sets of supporting wheels 14 each include a spring damping device, so that vibration caused by uneven impurities attached to the surface of the guide rail 20 can be reduced during the track running process.

The track 1 may also comprise a connection plate 10, a track support bar 2.

The connecting plate 10 is connected with the track 1 and the track supporting rod 2 through bolts respectively, namely the track 1 is connected with the track supporting rod 2 through the connecting plate 10.

Adopt the modularized design, adopt the pivot to connect, can conveniently add various modules including battery, power and sensor for the robot can effectively adapt to different operational environment demands, accomplishes periodic inspection task, and can bear long-term inspection task under the disfigurement environment.

Based on the above, the robot in the application can replace manual work to automatically complete periodic inspection tasks, can automatically judge potential diseases and risk problems and report inspection results, and improves traffic inspection efficiency of urban rails.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (10)

1. A rail transit inspection system, comprising: 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.

2. The track traffic inspection system according to claim 1, wherein the power module comprises a motor reducer, a drive motor and a drive wheel;

one end of the motor reducer is connected with the driving motor, and the other end of the motor reducer is connected with the driving wheel.

3. The rail transit inspection system of claim 2, wherein the number of motor reducers is at least two, the number of drive motors is at least two, and the number of drive wheels is at least two.

4. The rail transit inspection system of claim 2, wherein the drive wheel is fixed to the back of the rail chassis of the robot and is attached to the rail.

5. The track traffic inspection system according to claim 4, wherein a groove portion is formed in the periphery of the driving wheel, the driving wheel is mounted on the track through the groove portion, and the radius of the groove portion of the driving wheel is larger than the radius of the outer flange portion of the track.

6. The rail transit inspection system of claim 1, wherein the robot further comprises a control module, the control module being secured to the rail chassis;

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

7. The rail transit inspection system of claim 6, wherein the driver is fixed on the front surface of the rail chassis of the robot, the limit switches are distributed on four corners of the rail chassis, and the limit guard plates are located at two ends of the rail chassis.

8. The rail transit inspection system of claim 1, wherein the security detection module comprises at least one of a camera, a laser radar, a dual-photo thermal imager, and a gas sensor.

9. The rail transit inspection system of claim 8, wherein the gas sensor is fixed to a gas sensor bracket;

the laser radar is fixed on the laser radar base;

the camera is fixed on the camera bracket;

the gas sensor support, the laser radar base, the camera support and the double-photo-thermal imager are fixed on the front surface of the track chassis of the robot.

10. The rail transit inspection system of claim 1, further comprising: a battery module;

the battery module comprises a charging electrode plate and a charger base, wherein the charging electrode plate in the battery module is fixed on the front face of the track through the charger base, and the charging electrode plate of the battery module can charge a power supply of the robot after being connected with the charging electrode plate on the robot.

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