Inspection robot and track inspection system

Abstract

The embodiment of the invention provides an inspection robot and a track inspection system, the inspection robot comprises a driving platform, the bottom of the driving platform is provided with a plurality of walking wheel sets oppositely arranged in the transverse direction, and the walking wheel sets are used for walking on a steel rail; the image detection module is located on the driving platform and used for collecting surface damage image information of the steel rail and damage image information of the interior of the steel rail and a track line; one end of the main control module is connected with the image detection module, the other end of the main control module is connected with an upper computer, and the main control module is used for uploading the image information collected by the image detection module to the upper computer. Track fastener system inspection, steel rail surface defect detection, steel rail ultrasonic base metal detection, steel rail electromagnetic detection (near surface), track geometric dimension, tunnel inspection and track plate foreign matter detection are realized through an image recognition technology, an electromagnetic detection module and a limit detection and ultrasonic detection module; the problems that manual inspection efficiency is low, and traditional public work inspection is single in detection item and low in detection precision are solved.

Description

Technical Field

[0001] The present application relates to the technical field of track inspection equipment, and in particular, to an inspection robot and a track inspection system. Background Art

[0002] As the operating mileage of my country's railways increases year by year, the railway operators have a greater demand for status monitoring and health management of key equipment such as tracks, rails, and switches. The track inspection mileage has gradually increased, and the requirements for the equipment's cruising ability have become higher and higher. In the railway operation safety management, the large amount of manpower involved in operation and maintenance can no longer meet the high-speed growth of railway lines. The traditional reliance on human-driven equipment and manual inspection is very inefficient, and the inspection and maintenance data cannot be digitally applied. There are certain safety hazards in railway operation safety. At present, there is an increasing need for medium and low-speed fastener inspection equipment, rail surface condition detection, ultrasonic rail parent material flaw detection equipment, track geometry detection equipment, tunnel inspection equipment, and limit detection equipment in railway line inspection. Traditional railway engineering inspection still mainly relies on manual push, naked eye observation, and single operation to carry out single, low-speed routine inspection. Conventional geometric inspection trolleys only realize traditional geometric size inspections, with single functions and low inspection speeds; fastener system inspections, tunnel limit inspections, etc. still maintain manual visual inspections. With the rapid development of electrified railway lines, traditional measurement methods can no longer meet the requirements of fast, accurate and safe railway inspection. Summary of the invention

[0003] The embodiments of the present application provide a patrol robot and a track patrol system to solve the problem that the existing track patrol uses manual patrol, has low patrol efficiency and poor accuracy.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] A patrol robot, comprising:

[0006] The driving platform has a plurality of sets of running wheel groups arranged laterally opposite to each other at the bottom, and the running wheel groups are used for running on the rails;

[0007] An image detection module is located on the driving platform and is used to collect image information of surface damage of the rail and image information of damage inside the rail and track line;

[0008] The main control module has one end connected to the image detection module and the other end connected to the host computer, and is used to upload the image information collected by the image detection module to the host computer.

[0009] Optionally, it also includes:

[0010] An electromagnetic detection module is located on the driving platform and is used to detect rail surface and near-surface damage; the main control module is connected to the electromagnetic detection module;

[0011] The electromagnetic detection module includes a plurality of electromagnetic sensors, and the electromagnetic sensors include a magnetic yoke, an excitation coil and a detection coil.

[0012] Optionally, it also includes:

[0013] The clearance detection module is located on the driving platform and is used to detect the track clearance range. The clearance detection module is connected to the main control module.

[0014] Optionally, it also includes:

[0015] An ultrasonic detection module is located on the driving platform and is used to detect internal damage of the rail; the main control module is connected to the ultrasonic detection module;

[0016] The ultrasonic detection module includes a plurality of detection probe wheels.

[0017] Optionally, the image detection module includes:

[0018] 2D color camera, used to collect surface damage image information of rails,

[0019] 3D camera, used to collect three-dimensional structural information of rails and track lines;

[0020] The 2D color camera and the 3D camera are connected to the main control module respectively.

[0021] Optionally, it also includes:

[0022] A tunnel image detection module, located on the driving platform, is used to collect image information of the inner wall of the tunnel and its accessories; the tunnel image detection module is connected to the main control module;

[0023] The tunnel image detection module includes a plurality of camera acquisition units.

[0024] Optionally, it further comprises a rail side displacement detection module, which is located below the driving platform and is used to detect the distance between the wheel rim of the running wheel set and the inner edge of the rail;

[0025] Any of the running wheel groups comprises a running wheel and a rotating motor, one end of the rotating motor is connected to the driving platform, and the other end is connected to the running wheel, for adjusting the rotation speed of the running wheel;

[0026] The trackside displacement detection module and the rotating motor are respectively connected to the main control module, and the main control module is used to adjust the output speed of the rotating motor according to the detection distance of the trackside displacement detection module.

[0027] Optionally, the running wheel assembly further includes a running wheel brake mechanism, which is connected to the running wheel and is used for braking and parking;

[0028] The main control module also includes a brake and parking control unit, and the brake and parking control unit is connected to the running wheel brake mechanism.

[0029] Optionally, the tunnel image detection module further includes:

[0030] A mounting seat, fixed to the upper surface of the driving platform;

[0031] A rotation drive mechanism, one end of which is rotationally connected to the mounting seat, and the other end of which is connected to all the camera acquisition units to drive all the camera acquisition units to rotate around the vertical axis; the rotation drive mechanism is connected to the main control module.

[0032] The present application provides a track inspection system, comprising:

[0033] The inspection robot described in any one of the above embodiments is located on the rail, and is used to detect the rail and the surrounding environment, and send the detection information to the control platform;

[0034] The control platform is located in the control center of the railway engineering system and is used to send motion instructions to the inspection robot, receive detection information sent by the inspection robot, and perform data analysis based on the detection information.

[0035] An inspection robot provided in an embodiment of the present application includes: a driving platform, a bottom of which is provided with a plurality of groups of running wheel groups arranged opposite to each other in the transverse direction, and the running wheel groups are used to run on rails; an image detection module, located on the driving platform, and used to collect surface damage image information of the rails and damage image information of the inside of the rails and the track line; a main control module, one end of which is connected to the image detection module and the other end is connected to a host computer, and is used to upload the image information collected by the image detection module to the host computer.

[0036] Compared with the prior art, the inspection robot and track inspection system provided in the embodiments of the present application have the following technical effects:

[0037] In the present application, a running wheel group is arranged at the bottom of the driving platform to realize the walking of the inspection robot on the rail, and an image detection module is used to collect surface damage image information of the rail and damage image information of the inside of the rail and the track line. The rail fastener system inspection, rail surface defect detection, rail ultrasonic base material detection, rail electromagnetic detection (near surface), track geometry, tunnel inspection and track plate foreign body detection are realized through image recognition technology, electromagnetic detection module, limit detection and ultrasonic detection module, so as to solve the problems of low efficiency of manual inspection, single detection items and low detection accuracy of traditional engineering inspection; the inspection robot replaces the traditional manual inspection to improve the work efficiency and accuracy, and uploads the detection data to the host computer to realize data intelligent analysis and improve the reliability of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 A schematic diagram of the structure of an inspection robot and a track inspection system provided in an embodiment of the present application.

[0040] The following are marked in the accompanying drawings:

[0041] Driving platform 1, image detection module 2, electromagnetic detection module 3, limit detection module 4, ultrasonic detection module 5, tunnel image detection module 6, running wheel set 7. DETAILED DESCRIPTION

[0042] The embodiment of the invention discloses an inspection robot and a track inspection system, so as to solve the problem that the existing track inspection adopts manual inspection, has low inspection efficiency and poor accuracy.

[0043] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0044] See also Figure 1 , Figure 1 A schematic diagram of the structure of an inspection robot and a track inspection system provided in an embodiment of the present application.

[0045] In a specific embodiment, the inspection robot provided by the present application includes a driving platform 1, an image detection module 2, an electromagnetic detection module 3, a limit detection module 4, an ultrasonic detection module 5, a tunnel image detection module 62, a trackside displacement detection module, a power management system and a main control module; wherein, a plurality of running wheel groups 7 are provided at the bottom of the driving platform 1, and at least two groups of running wheel groups 7 are arranged relatively in the transverse direction of the driving platform 1, and the transverse direction of the driving platform 1 is the transverse direction of the track; the running wheel group 7 drives the driving platform 1 to run on the rails.

[0046] The image detection module 2 is located on the driving platform 1, and is used to collect surface damage image information of the rail and damage image information of the inside of the rail and the track line; the image detection module 2 includes a 2D color camera and / or a 3D camera, the 2D color camera is used to collect surface damage image information of the rail; the 3D camera is used to collect three-dimensional structural information of the rail and the track line, wherein the track line specifically includes a fastener system, a rail support, a track plate and a sleeper; the 2D color camera and the 3D camera are respectively connected to the main control module, and the 2D color camera collects the surface damage of the rail and directly observes the surface condition of the rail; the resolution of the 2D color camera is not less than 1920x1080 to ensure image clarity; its frame rate is above 30fps to achieve stable image acquisition of fast-moving vehicles or detection equipment; and an industrial-grade camera is used with a dust-proof and shock-proof design to adapt to different environmental conditions. Furthermore, the 3D camera is used to collect the three-dimensional structural information of the rails, fastener systems, rail supports, track plates, and sleepers, and accurately measure the shape parameters of the rails. Based on structured light or laser scanning technology, it has high precision and the error is below the sub-millimeter level; it captures the three-dimensional structural information of the track surface, which can be used to identify problems such as wear and depression of the track; and it has a high dynamic range (HDR) and can adapt to stable operation under different lighting conditions. The camera can adapt to the working environment under different lighting conditions, improve image quality, and reduce detection errors caused by sudden changes in light. Preferably, the image detection module 2 is set to two groups, which are respectively located on the lateral sides of the driving platform 1 and are respectively arranged opposite to the rails on both sides. Each group of image detection modules 2 includes a group of 2D color cameras and a group of 3D cameras, so as to realize the defect identification and quantitative analysis of the rail surface, fastener system, track plate and other parts, as well as the detection of track geometry parameters and rail wear.

[0047] The main control module can be set as a PLC controller. In other embodiments, other processors or computing units can be used, all of which are within the scope of protection of this application. The main control module uses a network communication module to connect to the host computer. The network communication module includes an Ethernet interface and a wireless communication unit for data transmission and remote control; the Ethernet interface uses an industrial Ethernet interface, such as Gigabit Ethernet, to ensure the stability of data transmission; the wireless communication unit is a 4G / 5G network to achieve remote data transmission, while supporting dual-mode communication to improve data communication reliability.

[0048] Specifically, the electromagnetic detection module 3 is located on the driving platform 1, preferably at the front end of the driving platform 1, and is used to detect surface and near-surface damage of the rail, that is, magnetic field anomalies caused by near-surface defects of the rail, and to detect blind areas of the rail surface such as conventional ultrasonic testing; the electromagnetic detection module 3 includes a number of electromagnetic sensors, which include a yoke, an excitation coil and a detection coil.

[0049] Furthermore, the limit detection module 4 is located in the middle of the driving platform 1, and detects safety hazards within the track limit range to perceive and warn in advance; the limit detection module 4 is connected to the main control module and sends the detection data to the main control module; the limit detection module 4 is generally configured as a laser radar sensor, which identifies the track limit range through the data collected by the laser radar within a certain driving range in front of the driving platform 1 to ensure that the clearance section of the track area meets the requirements of safe driving.

[0050] Furthermore, the ultrasonic detection module 5 is located on the driving platform 1 and is used to detect internal damage of the rail; the main control module is connected to the ultrasonic detection module 5; the ultrasonic detection module 5 is set as an ultrasonic sensor, which can effectively detect rail defects such as rail head core damage, rail waist screw hole cracks and rail bottom transverse cracks, rail waist longitudinal splitting during the operation of the driving platform 1.

[0051] In this embodiment, the tunnel image detection module 62 is arranged on the driving platform 1, and is used to collect image information of the inner wall of the tunnel and its accessories; the tunnel image detection module 62 is connected to the main control module; the tunnel image detection module 62 includes a plurality of camera acquisition units. Specifically, the tunnel image detection module 62 also includes a mounting seat and a rotation drive mechanism; the mounting seat is fixed to the upper surface of the driving platform 1, and a detachable fixed connection is realized by using threaded fasteners, etc.; one end of the rotation drive mechanism is rotationally connected to the mounting seat, and the other end is connected to all the camera acquisition units to drive all the camera acquisition units to rotate around the vertical axis, so as to realize the image acquisition function of the inner wall of the tunnel and its accessories of not less than 270°; at the same time, the rotation drive mechanism is connected to the main control module. In one embodiment, the tunnel image detection module 62 also includes a fan-shaped rotating mounting seat, and each camera acquisition unit is arranged in the circumference of the fan-shaped rotating mounting seat, and the rotation drive mechanism is fixed at the center of the fan-shaped rotating mounting seat, so as to drive the fan-shaped rotating mounting seat and each camera acquisition unit thereon to rotate around the vertical axis, so as to realize the image acquisition of the inner wall of the tunnel and its accessories.

[0052] In a preferred embodiment, the rail side displacement detection module is located below the driving platform 1 and is set below the surface of the rail, and is used to detect the distance between the wheel flange of the running wheel set 7 and the inner edge of the rail;

[0053] Any running wheel group 7 includes a running wheel and a rotating motor, one end of the rotating motor is connected to the driving platform 1, and the other end is connected to the running wheel, for adjusting the speed of the running wheel;

[0054] The trackside displacement detection module and the rotating motor are respectively connected to the main control module, and the main control module is used to adjust the output speed of the rotating motor according to the detection distance of the trackside displacement detection module.

[0055] The trackside displacement detection module is connected to the main control module, and the main control module adjusts the output speed of the rotating motor to achieve constant speed cruising of the running wheel group 7; further, when the inspection robot turns, the trackside displacement detection module detects the distance between the wheel rim of the running wheel group 7 and the inner edge of the rail, and the main control module is used to adjust the output speed of each rotating motor in the running wheel group 7 when the detection distance of the trackside displacement detection module is greater than the preset distance, so that the running wheel group 7 can move laterally along the center line of the track, eliminate the serpentine motion of the drive platform 1 when it is self-walking on the rail, realize automatic walking and centering of the inspection robot, and ensure the reliability of the motion system.

[0056] Furthermore, the running wheel group 7 also includes a running wheel brake mechanism, which is connected to the running wheel and is used for braking and parking; the main control module also includes a brake and parking control unit, which is connected to the running wheel brake mechanism to automatically park when encountering an obstacle.

[0057] The above-mentioned inspection robot also has a navigation and positioning unit, including an RTK locator, an encoder and an image recognition unit to ensure the accuracy and reliability of railway positioning under complex working conditions.

[0058] The inspection robot provided in this application realizes qualitative and quantitative analysis of defect detection through 2D color cameras and 3D cameras, and more accurately identifies surface defects of rails, missing parts, deformation, skewness, abnormal buckle pressure, etc. in the fastener system; at the same time, the trackside displacement detection module is used to realize the robot's automatic walking and centering solution to ensure the reliability of the motion system; it realizes the inspection and detection of rails, fastener systems, track plates, track geometric dimensions, tunnel images, and limits, and the comprehensive detection data is interconnected, and the data of people, machines, materials, methods, and environment are introduced to conduct multi-dimensional data analysis quality control; at the same time, the rail comprehensive inspection big data processing capability is improved through automated inspection, intelligent analysis, and integrated data management, and the algorithm is used to retrieve and analyze data, establish a trend data model, output the expected pre-control plan, and improve the auxiliary maintenance decision-making ability. Through precise positioning technology, multi-sensor fusion technology, and image AI technology, the rail geometric parameter inspection, rail fastener system, rail plate crack, foreign matter, missing and other defect detection are innovatively realized. The efficiency, speed and accuracy of manual inspection are greatly improved, and the railway is provided with new technologies for comprehensive rail inspection and comprehensive data analysis and processing decision-making capabilities.

[0059] Based on the above embodiments, the present application also provides a track inspection system, including:

[0060] The inspection robot of any one of the above embodiments is located on the rail, and is used to inspect the rail and the surrounding environment, and send the inspection information to the control platform;

[0061] The control platform is located in the control center of the railway engineering system. It is used to send motion instructions to the inspection robot, receive detection information sent by the inspection robot, and perform data analysis based on the detection information.

[0062] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0063] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A patrol robot, characterized in that: include: The driving platform has a plurality of sets of running wheel groups arranged laterally opposite to each other at the bottom, and the running wheel groups are used for running on the rails; An image detection module is located on the driving platform and is used to collect image information of surface damage of the rail and image information of damage inside the rail and track line; The main control module has one end connected to the image detection module and the other end connected to the host computer, and is used to upload the image information collected by the image detection module to the host computer.

2. The inspection robot according to claim 1, characterized in that: Also includes: An electromagnetic detection module is located on the driving platform and is used to detect rail surface and near-surface damage; the main control module is connected to the electromagnetic detection module; The electromagnetic detection module includes a plurality of electromagnetic sensors, and the electromagnetic sensors include a magnetic yoke, an excitation coil and a detection coil.

3. The inspection robot according to claim 1, characterized in that: Also includes: The clearance detection module is located on the driving platform and is used to detect the track clearance range. The clearance detection module is connected to the main control module.

4. The inspection robot according to claim 1, characterized in that: Also includes: An ultrasonic detection module is located on the driving platform and is used to detect internal damage of the rail; the main control module is connected to the ultrasonic detection module; The ultrasonic detection module includes a plurality of detection probe wheels.

5. The inspection robot according to claim 1, characterized in that: The image detection module comprises: 2D color camera, used to collect surface damage image information of rails, 3D camera, used to collect three-dimensional structural information of rails and track lines; The 2D color camera and the 3D camera are connected to the main control module respectively.

6. The inspection robot according to claim 1, characterized in that: Also includes: A tunnel image detection module, located on the driving platform, is used to collect image information of the inner wall of the tunnel and its accessories; the tunnel image detection module is connected to the main control module; The tunnel image detection module includes a plurality of camera acquisition units.

7. The inspection robot according to claim 1, characterized in that: It also includes a rail side displacement detection module, which is located below the driving platform and is used to detect the distance between the wheel flange of the running wheel set and the inner edge of the rail; Any of the running wheel groups comprises a running wheel and a rotating motor, one end of the rotating motor is connected to the driving platform, and the other end is connected to the running wheel, for adjusting the rotation speed of the running wheel; The trackside displacement detection module and the rotating motor are respectively connected to the main control module, and the main control module is used to adjust the output speed of the rotating motor according to the detection distance of the trackside displacement detection module.

8. The inspection robot according to claim 7, characterized in that: The running wheel assembly further includes a running wheel brake mechanism, which is connected to the running wheel and is used for braking and parking; The main control module also includes a brake and parking control unit, and the brake and parking control unit is connected to the running wheel brake mechanism.

9. The inspection robot according to claim 6, characterized in that: The tunnel image detection module also includes: A mounting seat, fixed to the upper surface of the driving platform; A rotation drive mechanism, one end of which is rotationally connected to the mounting seat, and the other end of which is connected to all the camera acquisition units to drive all the camera acquisition units to rotate around the vertical axis; the rotation drive mechanism is connected to the main control module.

10. A track inspection system, characterized in that: include: The inspection robot according to any one of claims 1 to 9 is located on the rail, and is used to detect the rail and the surrounding environment, and send the detection information to the control platform; The control platform is located in the control center of the railway engineering system and is used to send motion instructions to the inspection robot, receive detection information sent by the inspection robot, and perform data analysis based on the detection information.

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