A distributed track detection trolley

Abstract

The present invention relates to a distributed track detection trolley, which comprises a control center, a support frame, a chassis frame, a support plate, a bin body, a power supply, a wheel hub, a camera component and an angle adjuster; the number of the support frames and the chassis frames is multiple, one end of each support frame is rotatably fixed under the support plate, adjacent support brackets are connected by a chassis bracket, the chassis frame is a telescopic rod, the wheel hub is fixed at the lower end of the support frame, the wheel hub is connected with a wheel hub motor, and the wheel hub motor is connected with the control center; the bin body is fixed above the support plate, the control center and the power supply are located in the bin body, the camera component is rotatably fixed under the support plate through the angle adjuster, an angle sensor is arranged on the angle adjuster, the camera component and the angle sensor are connected with the control center, and a positioning component is further arranged in the bin body. Compared with the prior art, the present invention has the advantages of high efficiency, low energy consumption, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent rail transit maintenance, and in particular to a distributed track detection trolley. Background Art

[0002] With the rapid development of China's economy, the construction of rail transit, as one of the pillar industries of the national economy, is also booming. The key role of the track is to provide a stable and comfortable operation environment for trains, which is directly related to the driving safety of trains. Therefore, the problem of track insecurity will seriously affect railway transportation, endanger the personal safety of the people, and cause immeasurable losses to the country and society. Therefore, timely maintenance of railway tracks is an important prerequisite for ensuring the smoothness of the tracks. With the development of science and technology and the continuous improvement of the intelligent level, the Internet of Things and artificial intelligence technologies have become the trend of the intelligent development of the rail transit industry. How to apply them to track inspection and explore a safe, intelligent and efficient track intelligent inspection scheme is of great importance.

[0003] Typical track insecurity factors include foreign object intrusion, track slab cracks, deformation, surface defects, etc. Foreign object intrusion easily hinders the normal operation of the railway system and blocks the train operation line; due to the large day-night temperature difference for a long time, cracks are formed due to the thermal expansion and contraction of concrete, and the degree of cracks will be aggravated after being eroded by rainwater, thus changing the force of the track slab and seriously threatening the track operation safety. Therefore, regular railway maintenance is necessary.

[0004] At present, inspection trolleys have been widely used in railway maintenance, basically replacing manual inspection. However, most of the existing inspection trolleys need to rely on manual operation and are semi-automatic, still having the problems of time-consuming, laborious and low efficiency in inspection. At the same time, the time of the skylight stage is limited. In the multi-track line section such as a station, single-vehicle and single-track detection is time-consuming and laborious, and the detection task cannot be efficiently completed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects that most of the existing inspection trolleys need to rely on manual operation and are semi-automatic, still having the problems of time-consuming, laborious and low efficiency in inspection, and provide a distributed track detection trolley.

[0006] The purpose of the present invention can be realized by the following technical solutions:

[0007] A distributed track detection trolley includes a control center, a support frame, a chassis frame, a support plate, a bin body, a power supply, a wheel hub, a camera component and an angle adjuster;

[0008] The number of the support vehicle frames and the chassis vehicle frames is multiple. One end of each support vehicle frame is rotatably fixed under the support plate. Adjacent support brackets are connected by a chassis bracket. The chassis vehicle frame is a telescopic rod. The wheel hub is fixed at the lower end of the support vehicle frame. The shape of the wheel hub matches the track. The wheel hub is connected with a wheel hub motor, and the wheel hub motor is connected to the control center;

[0009] The bin body is fixed above the support plate. The control center and the power supply are located in the bin body. The camera component is rotatably fixed under the support plate through an angle adjuster. An angle sensor is arranged on the angle adjuster. The camera component and the angle sensor are connected to the control center. A positioning component is also arranged in the bin body.

[0010] Preferably, a light sensor and a searchlight are arranged on the camera component. The searchlight is connected to the power supply. The light sensor and the searchlight are connected to the control center.

[0011] Preferably, a speed sensor is arranged at the position of the wheel hub. The speed sensor is connected to the control center.

[0012] Preferably, the chassis vehicle frame further includes a connection block. The connection block is connected to each support vehicle frame through a telescopic rod. The distance between the connection block and each support vehicle frame is the same. One end of the telescopic rod is connected to the support vehicle frame, and the other end is rotatably fixed on the connection block.

[0013] Preferably, the telescopic rod includes a first inner rod, a second inner rod, an outer rod and a connecting piece; the outer rod is a hollow columnar structure. The first inner rod and the second inner rod are respectively detachably fixed at both ends of the outer rod. A plurality of through holes are arranged on one side of the outer rod. Threaded holes corresponding to the through holes are arranged on the first inner rod and the second inner rod. The connecting piece passes through the through hole and connects the threaded hole.

[0014] Preferably, a solar charging panel is fixed on the outer side of the bin body. The solar charging panel is connected to the power supply. The number of the solar charging panels is multiple.

[0015] Preferably, a display screen is arranged above the bin body. The display screen is connected to the control center.

[0016] Preferably, the angle adjuster includes an upper connecting rod, a lower connecting rod, a rotating piece and a button; one end of the upper connecting rod is connected to the support plate, and the other end is connected to the rotating piece. One end of the lower connecting rod is connected to the camera component, and the other end is connected to the rotating piece. The button is connected to the rotating piece.

[0017] Preferably, the support vehicle frame is rotatably fixed on the support plate through a U-shaped frame. The bottom end of the U-shaped frame is fixed on the support plate. Through holes are arranged at both ends of the U-shaped frame. A rotating shaft is arranged in the through holes. The support vehicle frame is rotatably connected to the rotating shaft.

[0018] Preferably, a Zigbee module, a communication module and an antenna are further provided in the bin body. The antenna is connected to the Zigbee module, and the Zigbee module and the communication module are connected to the control center;

[0019] When multiple vehicles run on multiple tracks, the inspection trolley is divided into a master vehicle and a slave vehicle. The ZigBee module of the master vehicle includes a terminal node, a router and a coordinator, and the ZigBee module of the slave vehicle includes a terminal node and a router; when the master vehicle communicates with the slave vehicle wirelessly, the values of various sensors of the slave vehicle are respectively transmitted to their corresponding terminal nodes, and then uniformly transmitted to the router. The digital signals collected by the sensors are processed by the router and then sent out through the antenna 21. The data sent by the router of the slave vehicle is received by the router of the master vehicle, transmitted to the coordinator of the master vehicle, stored and processed, and then transmitted to the control center. Finally, the master vehicle uploads the data collected by multiple vehicles to the cloud server through the communication module.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] (1) In this solution, by adjusting the telescopic length of the chassis frame, the included angle between the support frame and the support plate is adjusted, the overall height of the device is adjusted, and the wheels can also be fixed to the track. The device is placed on the track, and then the imaging component and the angle adjuster are taken out from below the support plate, and the relative position between the imaging component and the track is adjusted through the angle adjuster. At the same time, the angle sensor on the angle adjuster transmits the adjusted angle to the control center, so that the imaging component is located above the track. Then, the control center controls the device to move forward and stop through the wheel hub motor. During the operation of the device, the imaging component collects images of the track, and the collected information is transmitted to the control center, and the position of the device is monitored in real time through the positioning component, and the track is inspected by combining the real-time position and image information. Through the fully automated setting, the manual participation in the inspection process of the trolley is avoided, the consumption of manpower and material resources is saved, and it is more practical and economical; at the same time, the fully automated device has a higher inspection efficiency for the track, and the detection accuracy is also improved because the interference of human factors is avoided.

[0022] (2) In this solution, a light sensor and a searchlight are provided on the imaging component. In this embodiment, the light sensors are fixed on the left and right sides of the imaging component, and the searchlights are fixed on the upper and lower sides of the imaging component. The control center adjusts the light of the working environment of the imaging component through the searchlight according to the light intensity of the working environment of the imaging component detected by the light sensor, so that the imaging component can capture clear images of the track, and the applicable range of the device is improved. Description of the Drawings

[0023] Figure 1Schematic diagram of the structure of the trolley in the working state provided by the present invention;

[0024] Figure 2 Schematic diagram of the structure of the trolley in the non - working state provided by the present invention;

[0025] Figure 3 Schematic diagram of the structure of the telescopic rod of the trolley provided by the present invention;

[0026] Figure 4 Schematic diagram of the structure of the angle adjuster of the trolley provided by the present invention;

[0027] Figure 5 Schematic diagram of the structure of the angle adjustment device of the support frame of the trolley provided by the present invention;

[0028] Figure 6 Flow chart of the distributed operation of multiple trolleys on multiple tracks provided by the present invention;

[0029] Figure 7 Flow chart of the operation of the trolley provided by the present invention;

[0030] In the figure: 1, support frame; 2, chassis frame; 3, support plate; 4, bin body; 5, wheel hub; 6, camera component; 7, angle adjuster; 8, connecting block; 9, first inner rod; 10, second inner rod; 11, outer rod; 12, connecting piece; 13, solar charging panel; 14, display screen; 15, upper connecting rod; 16, lower connecting rod; 17, rotating part; 18, button; 19, U - shaped frame; 20, rotating shaft; 21, antenna. Detailed implementation manners

[0031] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0033] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0035] It should be noted that the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0036] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0037] Embodiment 1

[0038] As Figure 1-2 shown, a distributed track detection trolley includes a control center, a support frame 1, a chassis frame 2, a support plate 3, a bin 4, a power supply, wheels 5, a camera component 6, and an angle adjuster 7;

[0039] The number of support frames 1 and chassis frames 2 is multiple. One end of each support frame 1 is rotatably fixed below the support plate 3. Adjacent support brackets 1 are connected by a chassis bracket 2. The chassis frame 2 is a telescopic rod. The wheels 5 are fixed at the lower end of the support frame 1. The shape of the wheels 5 matches the track. The wheels 5 are connected with a wheel motor, and the wheel motor is connected to the control center;

[0040] The bin 4 is fixed above the support plate 3. The control center and the power supply are located inside the bin 4. The camera component 6 is rotatably fixed below the support plate 3 through the angle adjuster 7. An angle sensor is provided on the angle adjuster 7. The camera component 6 and the angle sensor are connected to the control center. A positioning component is also provided inside the bin 4.

[0041] Working principle: Adjust the telescopic length of the chassis frame 2, thereby adjusting the angle between the support frame 1 and the support plate 3, adjusting the overall height of the device, and enabling the wheels 5 to be fixedly fitted on the track. Place the device on the track, then take out the camera component 6 and the angle adjuster 7 from below the support plate 3, and adjust the relative position between the camera component 6 and the track through the angle adjuster 7. At the same time, the angle sensor on the angle adjuster 7 transmits the adjusted angle to the control center, so that the camera component 6 is located above the track. Then, the control center controls the forward and stop of the device through the wheel hub motor. During the operation of the device, the camera component collects images of the track, transmits the collected information to the control center, and the position of the device is monitored in real time through the positioning component, and the track is inspected by combining the real-time position and image information.

[0042] In this solution, by adjusting the telescopic length of the chassis frame 2, the angle between the support frame 1 and the support plate 3 is further adjusted, the overall height of the device is adjusted, and the wheels 5 can also be fixedly fitted on the track. Place the device on the track, then take out the camera component 6 and the angle adjuster 7 from below the support plate 3, and adjust the relative position between the camera component 6 and the track through the angle adjuster 7. At the same time, the angle sensor on the angle adjuster 7 transmits the adjusted angle to the control center, so that the camera component 6 is located above the track. Then, the control center controls the forward and stop of the device through the wheel hub motor. During the operation of the device, the camera component collects images of the track, transmits the collected information to the control center, and the position of the device is monitored in real time through the positioning component, and the track is inspected by combining the real-time position and image information. Through the fully automated setting, the manual participation in the inspection process of the trolley is avoided, the consumption of manpower and material resources is saved, and it is more practical and economical; at the same time, the fully automated device has a higher inspection efficiency for the track, and the detection accuracy is also improved because the interference of human factors is avoided.

[0043] In this embodiment, the frame part uses carbon fiber material, which is light in weight, high in rigidity, and has good shock absorption effect, absorbing the vibration of the track during the operation of the trolley, reducing the transmission of force to the circuit compartment, and thus playing a certain protective role for the circuit compartment. The control center is a STM32F103 microcontroller, which controls the angle adjuster through the serial port to connect the angle sensor, controls the wheel hub motor by connecting the speed sensor, and controls the searchlight by connecting the light sensor.

[0044] As a preferred implementation manner, a light sensor and a searchlight are provided on the camera component 6, the searchlight is connected to the power supply, and the light sensor and the searchlight are connected to the control center.

[0045] In this solution, a light sensor and a searchlight are provided on the imaging component 6. In this embodiment, the light sensors are fixed on the left and right sides of the imaging component 6, and the searchlights are fixed on the upper and lower sides of the imaging component 6. The light intensity of the working environment of the imaging component 6 is sensed by the light sensors, and the control center adjusts the light of the working environment of the imaging component 6 through the searchlights, so that the imaging component 6 captures clear track images, improving the applicable range of the device.

[0046] As a preferred implementation, a speed sensor is provided at the position of the wheel hub 5, and the speed sensor is connected to the control center.

[0047] In this solution, by installing a speed sensor at the position of the wheel hub 5, the real-time monitoring of the running speed of the trolley is realized and transmitted to the control center. The control center adjusts the hub motor to adjust the forward speed of the trolley, ensuring that the trolley advances at an appropriate speed and further ensuring that the track images obtained by the imaging component 10 are clear.

[0048] As a preferred implementation, the chassis frame 2 further includes a connecting block 8. The connecting block 8 is connected to each support frame 1 through a telescopic rod. The distance between the connecting block 8 and each support frame 1 is the same. One end of the telescopic rod is connected to the support frame 1, and the other end is rotatably fixed on the connecting block 8.

[0049] In this embodiment, the number of support frames 1 is 4. The support plate 3 is a rectangular structure. Each support frame 1 is uniformly fixed at the four ends of the support plate 3. Adjacent two support frames 1 are connected by one telescopic rod, and the opposite two support frames 1 are connected by two telescopic rods and the connecting block 8. The three telescopic rods connected end to end form a triangular structure, further enhancing the supporting ability of the support frame 1 and improving the structural stability of the entire device. At the same time, in the non-working state, the connecting block 8 moves upward, and the telescopic rods connected to the connecting block 8 are retracted in an umbrella-like structure, which will not occupy extra space and is convenient for storage.

[0050] As Figure 3 shown, the telescopic rod includes a first inner rod 9, a second inner rod 10, an outer rod 11 and a connecting piece 12; the outer rod 11 is a hollow columnar structure. The first inner rod 9 and the second inner rod 10 are respectively detachably fixed at both ends of the outer rod 11. A plurality of through holes are provided on one side of the outer rod 11, and threaded holes corresponding to the through holes are provided on the first inner rod 9 and the second inner rod 10. The connecting piece 12 passes through the through hole and connects the threaded hole.

[0051] In this solution, the distance between different support frames 1 is adjusted by the telescopic rod to achieve the purpose of adjusting the height of the trolley. The specific adjustment process is as follows: after removing the connecting piece 12, slide the first inner rod 9 and the second inner rod 10 along the outer rod 11, align the through holes with other threaded holes, and then pass the connecting piece 12 through the through hole and connect other threaded holes to realize the position adjustment of the first inner rod 9 and the second inner rod 10 relative to the outer rod 11.

[0052] As a preferred embodiment, a solar charging panel 13 is fixed to the outer side of the bin body 4. The solar charging panel 13 is connected to a power source, and the number of solar charging panels 13 is multiple.

[0053] In this solution, by arranging the solar charging panel 13 connected to the power source on the outer side of the bin body 4, the trolley can charge the power source through the solar charging panel 13 during operation, greatly improving the endurance of the device. While saving energy, it has high economy and practicality. In this embodiment, the bin body 4 is of a cuboid structure, and four solar charging panels 13 are installed around the bin body 4, so that when the trolley works on a sunny day, the solar panels 17 can receive sunlight and charge the power source at all times.

[0054] A display screen 14 is provided above the bin body 4, and the display screen 14 is connected to the control center.

[0055] In this solution, by arranging the display screen 14 above the bin body 4, the information transmitted from each sensor to the control center is displayed on the display screen 14. In this embodiment, the display screen is installed on the top of the bin body 4, and both RS232 and USB dual interfaces are considered. It is connected to the routing node CC2530 in the communication module through the RS232 interface and connected to the coordinator device CC2530 in the communication module through the USB interface. It supports the Windows system and is installed with a data transmission system, including main functions such as selecting the serial port, obtaining the number of captured pictures, real-time monitoring of the trolley running speed, ambient light intensity, shooting angle, location, etc. The serial port control is mainly implemented using Serial Port.

[0056] As Figure 4 shown, the angle adjuster 7 includes an upper connecting rod 15, a lower connecting rod 16, a rotating member 17 and a button 18; one end of the upper connecting rod 15 is connected to the support plate 3, the other end is connected to the rotating member 17, one end of the lower connecting rod 16 is connected to the imaging component 6, and the other end is connected to the rotating member 17. The button 18 is connected to the rotating member 17.

[0057] In this solution, the angle adjuster 7 is used to adjust the angle between the upper connecting rod 15 and the lower connecting rod 16 through the rotating member 17, so as to achieve the purpose of adjusting the relative position between the imaging component 6 and the track. During operation, the imaging component 6 is taken out from below the support plate 3, the button 18 is pressed to adjust the angle between the upper connecting rod 15 and the lower connecting rod 16. After determining that the angle between the upper connecting rod 15 and the lower connecting rod 16 is appropriate through the angle sensor, the button 18 is released to lock the angle between the upper connecting rod 15 and the lower connecting rod 16.

[0058] As Figure 5As shown in the figure, the support frame 1 is rotatably fixed on the support plate 3 through the U-shaped frame 19. The bottom end of the U-shaped frame 19 is fixed on the support plate 3. Through holes are provided at both ends of the U-shaped frame 19, and a rotating shaft 20 is provided in the through holes. The support frame 1 is rotatably connected to the rotating shaft 20.

[0059] A Zigbee module, a communication module and an antenna 21 are further provided in the bin body 4. The antenna 21 is connected to the Zigbee module, and the Zigbee module and the communication module are connected to the control center.

[0060] In this solution, by installing the Zigbee module and the antenna 21 on the device, a communication foundation is provided for the collaborative operation of multiple vehicles, realizing wireless data transmission between different small vehicles. By the method of multiple vehicles working simultaneously, the inspection efficiency of the device is further improved while the energy consumption of the device is reduced. ZigBee technology has the advantages of low power consumption, low cost, short delay, high capacity, high reliability, high security, etc.

[0061] As Figure 6-7 shown, in this embodiment, when multiple vehicles operate in a distributed manner on multiple tracks, each small vehicle is divided into a master vehicle and a slave vehicle, and at the same time, the master and slave vehicles are distributedly networked to facilitate data transmission. The ZigBee module of the master vehicle includes a terminal node, a router and a coordinator, and the ZigBee module of the slave vehicle includes a terminal node and a router. When the small vehicle transmits its own sensor data to its own display screen, each type of sensor corresponds to a terminal node respectively. Multiple terminal nodes converge data to the router, and the router communicates with the display screen through the RS-232 standard interface; when the master vehicle and the slave vehicle perform wireless communication, the numerical values of each sensor of the slave vehicle are respectively transmitted to its corresponding terminal node, and then uniformly transmitted to the router. After the digital signal collected by the sensor is processed by the router, it is sent out through the antenna 21. The data sent by the router of the slave vehicle is received by the router of the master vehicle, transmitted to the coordinator of the master vehicle, stored and processed, and then transmitted to the display screen. Finally, the master vehicle uploads the multi-vehicle multi-sensor data to the cloud server through the communication module; and the master vehicle identifies its own sensor data, which is convenient for the router to distinguish and forward the data by branches. The terminal node, router and coordinator in the ZigBee module all adopt the CC2530 single-chip microcomputer because it includes an RF transceiver with excellent performance, an industrial standard enhanced 8051 MCU, a programmable non-volatile memory in the system, excellent receiving sensitivity and strong anti-interference ability.

[0062] In this embodiment, the communication module is a 5G communication module, which is responsible for transmitting each data to the gateway interface, converting it into TCP / IP data, and then remotely uploading it to the cloud server through the 5G network. In the cloud server, the pictures are identified and classified through the deep learning algorithm model, and the data is processed, analyzed and mined through big data technology.

[0063] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in this technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A distributed track detection trolley, characterized in that, It includes a control center, a support frame (1), a chassis frame (2), a support plate (3), a bin body (4), a power supply, wheels (5), a camera component (6) and an angle adjuster (7); The number of the support frames (1) and the chassis frames (2) is multiple. One end of each support frame (1) is rotatably fixed under the support plate (3). Adjacent support frames (1) are connected by the chassis frame (2). The chassis frame (2) is a first telescopic rod. The wheels (5) are fixed at the lower end of the support frame (1). The shape of the wheels (5) matches the track. The wheels (5) are connected with wheel motors, and the wheel motors are connected to the control center; The bin body (4) is fixed above the support plate (3). The control center and the power supply are located in the bin body (4). The camera component (6) is rotatably fixed under the support plate (3) through the angle adjuster (7). An angle sensor is arranged on the angle adjuster (7). The camera component (6) and the angle sensor are connected to the control center. A positioning component is also arranged in the bin body (4); The chassis frame (2) further includes a connecting block (8). The connecting block (8) is connected to each support frame (1) through a second telescopic rod. The distance between the connecting block (8) and each support frame (1) is the same. One end of the second telescopic rod is connected to the support frame (1), and the other end is rotatably fixed on the connecting block (8); The first telescopic rod includes a first inner rod (9), a second inner rod (10), an outer rod (11) and a connecting piece (12). The outer rod (11) is a hollow columnar structure. The first inner rod (9) and the second inner rod (10) are respectively detachably fixed at both ends of the outer rod (11). A plurality of through holes are arranged on one side of the outer rod (11). Threaded holes corresponding to the through holes are arranged on the first inner rod (9) and the second inner rod (10). The connecting piece (12) passes through the through hole to connect the threaded hole.

2. The distributed track detection trolley according to claim 1, characterized in that A light sensor and a searchlight are arranged on the camera component (6). The searchlight is connected to the power supply. The light sensor and the searchlight are connected to the control center.

3. A distributed track detection trolley according to claim 1, wherein A speed sensor is arranged at the position of the wheels (5). The speed sensor is connected to the control center.

4. The distributed track detection trolley according to claim 1, characterized in that A solar charging panel (13) is fixed on the outer side of the bin body (4). The solar charging panel (13) is connected to the power supply. The number of the solar charging panels (13) is multiple.

5. A distributed track detection trolley according to claim 1, characterized in that, A display screen (14) is arranged above the bin body (4). The display screen (14) is connected to the control center.

6. The distributed track detection trolley according to claim 1, wherein The angle adjuster (7) includes an upper connecting rod (15), a lower connecting rod (16), a rotating part (17) and a button (18). One end of the upper connecting rod (15) is connected to the support plate (3), and the other end is connected to the rotating part (17). One end of the lower connecting rod (16) is connected to the camera component (6), and the other end is connected to the rotating part (17). The button (18) is connected to the rotating part (17).

7. A distributed track detection trolley according to claim 1, characterized in that, The support vehicle frame (1) is rotatably fixed on the support plate (3) through a U-shaped frame (19). The bottom end of the U-shaped frame (19) is fixed on the support plate (3). Through holes are provided at both ends of the U-shaped frame (19), and a rotating shaft (20) is provided in the through holes. The support vehicle frame (1) is rotatably connected to the rotating shaft (20).

8. A distributed track detection trolley according to claim 1, characterized in that, A Zigbee module, a communication module and an antenna (21) are further provided in the bin body (4). The antenna (21) is connected to the Zigbee module, and the Zigbee module and the communication module are connected to the control center; When multiple vehicles run on multiple tracks, the inspection vehicle is divided into a master vehicle and a slave vehicle. The ZigBee module of the master vehicle includes a terminal node, a router and a coordinator, and the ZigBee module of the slave vehicle includes a terminal node and a router; when the master vehicle communicates wirelessly with the slave vehicle, the values of each sensor of the slave vehicle are respectively transmitted to its corresponding terminal node, and then uniformly transmitted to the router. After the digital signal collected by the sensor is processed by the router, it is sent out through the antenna (21). The data sent by the slave vehicle router is received by the master vehicle router and transmitted to the master vehicle coordinator. After the data is stored and processed, it is transmitted to the control center. Finally, the master vehicle uploads the data collected by multiple vehicles to the cloud server through the communication module.

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