Train inspection robot and inspection method

Abstract

The application discloses a train inspection robot and an inspection method, which comprises a moving assembly, a controller, a vibration detection assembly, an acoustic control assembly, a temperature detection assembly, a processor, a positioning assembly and a communication module. The moving assembly is used for driving in a train carriage. The controller stores a preset position. The moving assembly stops at the preset position. When the moving assembly stops at the preset position, the vibration detection assembly moves downward to contact the floor to obtain vibration information of the floor. When the moving assembly drives away from the preset position, the vibration detection assembly is separated from the floor. The acoustic control assembly is used for collecting noise information of electrical equipment. The temperature detection assembly is used for obtaining temperature information of a power distribution cabinet in the carriage. The processor judges the abnormality of the electrical equipment according to the vibration information, the noise information and the temperature information. The positioning assembly is used for determining fault position information. After the communication module establishes a communication connection with a terminal, the fault position information is sent. The train inspection robot has high reliability of a judgment result.

Description

Technical Field

[0001] This invention belongs to the field of inspection robot technology, and more specifically, relates to a train inspection robot and inspection method. Background Technology

[0002] Train inspection is a crucial part of daily train maintenance, directly impacting passenger safety. Routine inspections typically involve testing the train's electrical equipment to determine its proper functioning. This work is usually performed by train inspectors. Since the electrical equipment is installed under the train floor, vibrations in its moving parts cause floor vibrations. Inspectors rely on experience to assess floor vibration and determine if the equipment is functioning correctly. However, new inspectors, lacking experience, may be unsure of the location of moving parts under the floor, leading to subjective judgments and potentially unreliable results. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a train inspection robot and inspection method aimed at improving the reliability of electrical equipment operation judgment.

[0004] To achieve the above objectives, the present invention provides a train inspection robot, comprising:

[0005] A moving component used for movement within a train car;

[0006] A controller for storing preset positions, whereby the mobile component stops when it travels to the preset positions;

[0007] LiDAR, inertial sensors, and odometers are used to scan and model the cabin environment and generate high-precision maps and positioning.

[0008] A vibration detection component is movably connected to the train inspection robot. When the mobile component stops at the preset position, the vibration detection component moves downward to contact the floor to obtain vibration information of the floor. When the mobile component moves away from the preset position, the vibration detection component separates from the floor.

[0009] A voice-activated component, used to collect noise information from electrical equipment when the moving component is stopped at the preset position;

[0010] A temperature detection component is used to acquire the temperature information of the vehicle's electrical distribution cabinet when the mobile component is parked at the cabinet.

[0011] The processor determines the electrical equipment malfunction based on the vibration, noise, and temperature information.

[0012] A positioning component, used to determine the location of the fault when the electrical equipment malfunctions;

[0013] A communication module establishes a communication connection with a terminal and is used to send the fault location information to the terminal when the electrical equipment malfunctions.

[0014] In one embodiment, the vibration detection assembly includes a connector and a vibration detection sensor, the connector driving the vibration detection sensor to move vertically in a straight line, so as to contact or separate from the floor.

[0015] In one embodiment, the connector includes a telescopic rod having a fixed end and a telescopic end disposed opposite to each other. The fixed end is connected to the train inspection robot, and the telescopic end is connected to the vibration detection sensor. The telescopic end can extend or retract from the fixed end.

[0016] In one embodiment, the vibration detection assembly further includes a protective shell and a contact probe. The contact probe is disposed on the side of the protective shell facing the floor. The protective shell has a mounting cavity inside and an opening on the side of the protective shell facing the floor. The vibration detection sensor is disposed in the opening and extends or retracts from the opening.

[0017] In one embodiment, the vibration detection component adopts two layouts: one vibration detection component is located inside the inspection robot, and the other vibration detection component is located on the outer periphery of the inspection robot.

[0018] In one embodiment, the positioning component is used to obtain the train carriage number and train passenger seat number when the electrical equipment malfunctions, so as to determine the fault location information.

[0019] In one embodiment, the positioning component includes a detection camera, a lifting rod, and a movable gimbal. The detection camera is exposed on the movable gimbal. One end of the lifting rod is connected to the train inspection robot, and the other end is connected to the movable gimbal. The movable gimbal is capable of both planar and vertical rotation of the lifting rod.

[0020] In one embodiment, the temperature detection component includes an infrared thermal imaging camera, which is mounted on the active pan-tilt unit. Before acquiring temperature information, the detection camera identifies the vehicle's electrical distribution cabinet.

[0021] In one embodiment, the system further includes an obstacle avoidance module, wherein multiple obstacle avoidance modules are provided and are located on the periphery of the train inspection robot.

[0022] In one embodiment, the voice control component further includes a speaker, which is used to cyclically broadcast the fault location information when the moving component reaches the destination in the event of an electrical malfunction.

[0023] The present invention also provides an inspection method for a train inspection robot, comprising:

[0024] S100: Uses LiDAR, inertial sensors and odometers to model the environment inside the carriage, and uses a controller to store preset positions, so that the moving components can drive the train inspection robot to move to the preset positions;

[0025] S200: After the train inspection robot arrives at the preset position, it uses a vibration detection component to obtain vibration information of the floor.

[0026] S300: Uses a voice-activated component to obtain noise information at a preset location;

[0027] S400: When controlling the train inspection robot in the carriage electrical distribution cabinet, it uses temperature detection components to obtain the temperature information of the carriage electrical distribution cabinet.

[0028] S500: Uses a processor to determine electrical equipment malfunctions based on vibration, noise, and temperature information;

[0029] S600: When electrical equipment malfunctions, obtain the train carriage number and train passenger seat number to determine the location information of the fault.

[0030] S700: Using a communication module that establishes a communication connection with the terminal, the fault location information described at this time is sent to the terminal.

[0031] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0032] The train inspection robot of this application accurately moves to the electrical equipment floor of each train car through a moving component and a controller to improve positioning accuracy. At the same time, it uses a vibration detection component and a sound control component to acquire vibration and sound information. In addition, it uses a temperature detection component to acquire the temperature information of the car's electrical distribution cabinet. Through a processor, when any of the vibration, noise, and temperature information is abnormal, it judges the electrical equipment fault to improve the reliability of the detection results. It uses a positioning component to determine the fault location information and uses a communication module to send the fault location information to the terminal to facilitate maintenance personnel to carry out maintenance. Attached Figure Description

[0033] Figure 1 This is a perspective view of a train inspection robot according to an embodiment of the present invention;

[0034] Figure 2This is a front view of a train inspection robot according to an embodiment of the present invention;

[0035] Figure 3 This is a side view of a train inspection robot according to an embodiment of the present invention;

[0036] Figure 4 This is a bottom view of a train inspection robot according to an embodiment of the present invention;

[0037] Figure 5 This is a top view of a train inspection robot according to an embodiment of the present invention;

[0038] Figure 6 This is a cross-sectional view of a train inspection robot according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the vibration detection component structure of a train inspection robot according to an embodiment of the present invention;

[0040] Figure 8 for Figure 7 Cross-sectional view at GG in the middle;

[0041] Figure 9 This is a flowchart of a train inspection robot inspection method according to an embodiment of the present invention.

[0042] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0043] 10. Train Inspection Robot; 11. Mobility Component; 111. Hub Motor; 112. Dual Differential Drive Wheel; 113. Caster Wheel; 114. Chassis; 115. Switch Button; 116. Shock Absorption Device; 12. Controller; 13. Vibration Detection Component; 131. Connector; 1311. Telescopic Rod; 13111. Fixed End; 13112. Telescopic End; 132. Vibration Detection Sensor; 133. Protective Shell; 1331. Mounting Cavity; 1332. Opening; 134. Contact Probe; 14. Voice Control Component; 141. Microphone; 142. Speaker; 15. Temperature Detection Component; 151. Infrared Thermal Imaging Camera; 16. Processor; 17. Positioning Component; 171. Detection Camera; 172. Lifting Rod; 173. Movable Gimbal; 18. Communication Module; 19. Obstacle Avoidance Module. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0045] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0046] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0047] like Figures 1 to 8 As shown, the present invention provides a train inspection robot 10, which includes a moving component 11, a controller 12, a vibration detection component 13, a voice control component 14, a temperature detection component 15, a processor 16, a positioning component 17, and a communication module 18.

[0048] The mobile component 11 is used to move within the train carriage. Specifically, in this embodiment, the mobile component 11 includes a hub motor 111, dual differential drive wheels 112, casters 113, and a chassis 114. The chassis 114 is located at the bottom of the train inspection robot 10. The dual differential drive wheels 112 are electrically connected to the hub motor 111 and serve as the drive wheels of the train inspection robot 10. Since the two sides of the dual differential drive wheels 112 have different speeds, turning on both sides is possible. Furthermore, the casters 113 serve as auxiliary wheels of the train inspection robot 10, and they move under the drive of the dual differential drive wheels 112. Furthermore, a switch button 115 is provided on the top of the train inspection robot 10. Maintenance personnel can press the switch button 115 to switch the train inspection robot 10 from the off state to the on state. In this state, the hub motor 111 is in standby mode.

[0049] The controller 12 stores preset positions, and the moving component 11 stops when it reaches the preset position. The preset position refers to the location of the electrical equipment under the floor of each carriage. Specifically, in this embodiment, since the controller 12 stores the location of the electrical equipment under the floor of each carriage, when the train inspection robot 10 is powered on, it can move to the floor of the electrical equipment location under the guidance of the controller 12. It is easy to understand that the controller 12 ensures the accuracy of the moving component 11's movement direction. Furthermore, storing the preset positions in the controller 12 ensures the consistency of the moving component 11's arrival at each preset position. Therefore, when the vibration detection component 13 detects vibration, its proximity to the electrical equipment under the floor ensures the accuracy and reliability of the detection results.

[0050] The lidar, inertial sensor, and odometer scan and model the carriage environment to generate a high-precision map and location. Specifically, since the three are integrated into the controller 12, they are not shown in the accompanying drawings. It is easy to understand that the high-precision map facilitates positioning, which is convenient for the moving component 11 to travel within the train carriage.

[0051] The vibration detection component 13 is movably connected to the train inspection robot 10. When the moving component 11 stops at a preset position, the vibration detection component 13 contacts the floor to acquire floor vibration information, ensuring the accuracy of the vibration information. When the moving component 11 moves away from the preset position, the vibration detection component 13 separates from the floor to avoid interfering with the movement of the moving component 11. Specifically, in this embodiment, the vibration amplitude of electrical equipment during abnormal operation is larger than that under normal operation. Since the electrical equipment is located under the floor, the floor vibration amplitude near the electrical equipment is larger during abnormal operation than under normal operation. By establishing a vibration health prediction and analysis model and comparing the floor vibration information acquired at the current moment, it is possible to determine whether the electrical equipment is abnormal. For example, when the electrical equipment is an air conditioner, a loose air conditioner compressor will cause the floor to vibrate. Since the vibration amplitude when the air conditioner compressor is loose is greater than the vibration amplitude under normal operation, this will cause abnormal floor vibration. By collecting and analyzing the floor vibration information, it is possible to determine whether the air conditioner is operating abnormally.

[0052] The voice control component 14 is used to collect noise information of the electrical equipment when the moving component 11 is stopped at a preset position. Specifically, in this embodiment, the voice control component 14 uses a microphone 141. It is easy to understand that when the electrical equipment makes an abnormal sound, it can be determined that the electrical equipment is malfunctioning. For example, when the air conditioner compressor is damaged, or when the current or voltage flowing through the air conditioner is abnormal, the sound of the air conditioner is different from that under normal operating conditions. By comparing the air conditioner noise with the noise under normal operating conditions, it can be determined whether the air conditioner is malfunctioning.

[0053] The temperature detection component 15 is used to acquire the temperature information of the car's electrical distribution cabinet when the moving component 11 is parked near it. It's easy to understand that when electrical equipment malfunctions, the current or voltage within the equipment will be abnormal, causing temperature changes. Acquiring the temperature of the electrical equipment allows for the determination of this malfunction. The advantage of acquiring the temperature information of the car's electrical distribution cabinet is that, since there are multiple electrical devices in a car, and the wiring of these devices is connected to the cabinet, acquiring the cabinet's temperature information avoids the need to collect the temperatures of multiple devices. Furthermore, electrical equipment located under the floor introduces detection errors, and the temperature of electrical equipment increases over long-term operation, leading to detection errors. The car's electrical distribution cabinet, connected to each electrical device via wires and located relatively far from them, avoids errors caused by the long-term operation of the electrical equipment.

[0054] The processor 16 determines that the electrical equipment is malfunctioning based on vibration information, noise information, and temperature information. Specifically, in this embodiment, when any of the vibration information, noise information, and temperature information is abnormal, the processor 16 determines that the electrical equipment is malfunctioning, thereby ensuring the reliability of the electrical equipment detection results.

[0055] The positioning component 17 is used to determine the location of the fault when electrical equipment malfunctions. This design allows maintenance personnel to easily reach the fault location for repair work.

[0056] The communication module 18 establishes a communication connection with the terminal. The communication module 18 is used to send fault location information to the terminal when the electrical equipment is abnormal.

[0057] Optionally, the communication module 18 can establish communication with the terminal based on communication protocols such as Bluetooth, WiFi, infrared, 2.4G, and 3G / 4G / 5G. Correspondingly, the terminal can be a smartphone, tablet, smartwatch, PC, laptop, etc., that supports at least one of the aforementioned communication protocols. Specifically, in this embodiment, the communication module 18 establishes a WiFi connection with the terminal. It is easy to understand that by sending fault location information to the terminal, maintenance personnel can obtain fault location information in real time.

[0058] It is understood that the train inspection robot 10 of this application accurately moves to the electrical equipment floor of each train car through the moving component 11 and the controller 12 to improve the accuracy of the position. At the same time, it uses the vibration detection component 13 and the sound control component 14 to obtain vibration and sound information. In addition, it uses the temperature detection component 15 to obtain the temperature information of the car's electrical distribution cabinet. Through the processor 16, when any of the vibration information, noise information and temperature information is abnormal, it judges the electrical equipment fault to improve the reliability of the detection results. The positioning component 17 determines the fault location information and uses the communication module 18 to send the fault location information to the terminal to facilitate maintenance personnel to carry out maintenance.

[0059] In one embodiment, the vibration detection assembly 13 includes a connector 131 and a vibration detection sensor 132. The connector 131 drives the vibration detection sensor 132 to move vertically, thereby contacting or separating from the floor. Specifically, in this embodiment, the vibration detection sensor 132 is driven by the connector 131 to rise vertically to separate from the floor, and the vibration detection sensor 132 is driven by the connector 131 to descend vertically to contact the floor. It is easy to understand that since the connector 131 only needs to drive the vibration detection sensor 132 to move up and down in the vertical direction, the movement mode of the connector 131 is simple, which makes the structure of the connector 131 simple. In this way, the reliability of the operation of the connector 131 is improved, and the connection of the connector 131 to complex movements is avoided, which may lead to easy damage. This ensures the reliability of the vibration detection sensor 132 in contact with or separation from the ground. At the same time, since the distance between the vibration detection sensor 132 and the floor in the vertical direction is controllable, the vibration detection sensor 132 can also detect unevenness. For example, when there is an object on the floor, the dual differential drive wheel 112 will be raised due to the unevenness of the floor. In this case, the vibration detection sensor 132 can still contact the floor because the height is controllable. In addition, since the vibration detection sensor 132 only moves in the vertical direction, the vibration detection component 13 only occupies vertical space. In this way, the miniaturization design requirement of the train inspection robot 10 can be achieved.

[0060] Furthermore, the connector 131 includes a telescopic rod 1311, which has a fixed end 13111 and a telescopic end 13112 disposed opposite to each other. The fixed end 13111 is connected to the train inspection robot 10, and the telescopic end 13112 is connected to the vibration detection sensor 132. The telescopic end 13112 can extend or retract from the fixed end 13111. Specifically, the telescopic end 13112 can extend from the fixed end 13111 and drive the vibration detection sensor 132 to contact the floor, and the telescopic end 13112 can retract from the fixed end 13111 and drive the vibration detection sensor 132 to separate from the floor. It is understandable that using the telescopic rod 1311, while ensuring the height of the vibration detection sensor 132 is adjustable, has a simple structure and can meet the requirement of low manufacturing cost. At the same time, compared with using a guide rail slider to achieve height adjustment of the vibration detection sensor 132, the telescopic rod 1311 does not require the installation of a guide rail, and the telescopic rod 1311 is smaller in size, which can meet the miniaturization design requirements of the train inspection robot 10.

[0061] Furthermore, the vibration detection assembly 13 also includes a protective housing 133 and a contact probe 134. The contact probe 134 is located on the floor-facing side of the protective housing 133. The protective housing 133 has a mounting cavity 1331 and an opening 1332 on the floor-facing side. The vibration detection sensor 132 is located in the opening 1332 and can extend or retract from the opening 1332. Specifically, since the contact probe 134 is closer to the floor than the protective housing 133, when the telescopic end 13112 extends from the fixed end 13111 and contacts the floor, the contact probe 134 first contacts the floor and obtains the contact force with the ground, preventing the telescopic rod 1311 from continuously extending and causing damage to the vibration detection sensor 132. By placing the vibration detection sensor 132 in the opening 1332, the vibration detection sensor 132 can retract into the mounting cavity 1331 from the opening 1332 when no detection is needed, thus preventing damage to the vibration detection sensor 132 due to external factors and improving the service life of the vibration detection sensor 132.

[0062] In one embodiment, two vibration detection components 13 are provided. It is understood that providing multiple vibration detection components 13 as a redundant design can prevent the train inspection robot 10 from continuing to operate even if one vibration detection component 13 fails. Furthermore, one vibration detection component 13 is located inside the inspection robot, and the other is located on the outer periphery of the inspection robot. It is easy to understand that placing the vibration detection component 13 inside the inspection robot can prevent damage to the vibration detection component 13 caused by external factors, thus increasing its service life. At the same time, after the telescopic rod 1311 is retracted, the vibration detection component 13 can be hidden inside the inspection robot, improving the overall integrity and aesthetics of the inspection robot. Placing the vibration detection component 13 on the outer periphery of the inspection robot facilitates maintenance work by maintenance personnel after the vibration detection component 13 fails.

[0063] In one embodiment, the positioning component 17 is used to obtain train passenger seat numbers to determine the fault location information when electrical equipment malfunctions. That is, the positioning component 17 uses the train passenger seat numbers closest to the fault location information as the fault location coordinates. The advantage of this design is that maintenance personnel are more familiar with the train passenger seat numbers; instead of providing maintenance personnel with fault location coordinates, providing them with the train passenger seat numbers makes it easier for them to obtain the fault location information, thereby improving maintenance efficiency.

[0064] Furthermore, the positioning component 17 includes a detection camera 171, a lifting rod 172, and a movable gimbal 173. The detection camera 171 is exposed on the movable gimbal 173. One end of the lifting rod 172 is connected to the train inspection robot 10, and the other end is connected to the movable gimbal 173. The movable gimbal 173 can rotate the lifting rod 172 in both a plane and vertically. Specifically, in this embodiment, the movable gimbal 173 is raised and lowered by the lifting rod 172, which can drive the detection camera 171 to move vertically. A planar rotation motor is provided between the movable gimbal 173 and the lifting rod 172. By rotating the planar rotation motor, the movable gimbal 173 is rotated in the plane, thereby enabling the detection camera 171 to rotate 360° in the plane to complete image recognition. A vertical rotation motor is also provided between the movable gimbal 173 and the lifting rod 172. By rotating the vertical rotation motor, different elevation angles can be achieved between the movable gimbal 173 and the lifting rod 172. Thus, under the drive of the movable gimbal 173, the lens of the detection camera 171 is aligned with the passenger seat number located on the side of the train to ensure the accuracy of image acquisition.

[0065] In one embodiment, the temperature detection component 15 includes an infrared thermal imaging camera 151. That is, the infrared thermal imaging camera 151 acquires the infrared radiation from the vehicle's electrical distribution cabinet to obtain the temperature of the cabinet. Furthermore, the infrared thermal imaging camera 151 is mounted on a pan-tilt unit 173, ensuring that the camera can be raised, lowered, rotated horizontally, and rotated vertically, allowing it to be aimed at the electrical distribution cabinet and ensuring the accuracy of the temperature readings. Additionally, before acquiring temperature information, the infrared thermal imaging camera 151 identifies the electrical distribution cabinet. Specifically, in this embodiment, the detection camera 171 and the infrared thermal imaging camera are co-located on the movable pan-tilt unit 173. After the movable pan-tilt unit 173 is adjusted to align with the vehicle's electrical distribution cabinet, the detection camera 171 identifies the wiring terminals inside the cabinet, and then the infrared thermal imaging camera acquires the infrared radiation from the cabinet. It is understood that since the wiring terminals are the switches for various electrical devices, the detection camera 171 identifies these terminals. Furthermore, because the detection camera 171 and the infrared thermal imaging camera 151 are co-located on the movable pan-tilt unit 173, this ensures the accuracy of the detected temperature, and the infrared thermal imaging camera can acquire infrared radiation without further attitude adjustment. Additionally, the dual differential drive wheels 112 are also equipped with a shock-absorbing device 116. It is understandable that the center of gravity of the train inspection robot 10 is raised because the motion gimbal 173 is equipped with a detection camera 171 and an infrared thermal imaging camera 151. At the same time, due to vibrations on the floor, the train inspection robot 10 is prone to instability or even tipping over during operation. The shock absorption device 116 can ensure the stability of the train inspection robot 10 during operation.

[0066] In one embodiment, the train inspection robot 10 is further provided with an obstacle avoidance module 19. It is easy to understand that the obstacle avoidance module 19 can improve the safety of the train inspection robot 10's movement and prevent collisions with other objects. Furthermore, multiple obstacle avoidance modules 19 are provided, and these modules 19 are located on the outer periphery of the train inspection robot 10. The advantage of this arrangement is that it ensures that the train inspection robot 10 is protected from collisions when moving in all directions.

[0067] In one embodiment, the voice control component 14 is further provided with a speaker 142, which is used to broadcast fault location information. Specifically, in this embodiment, the microphone 141 and the speaker 142 are integrated. The advantage of providing the speaker 142 is that transmitting fault location information by sound is more intuitive and easier for maintenance personnel to understand. Furthermore, the speaker 142 broadcasts when the moving component 11 reaches the destination. Here, the destination refers to the maintenance station. Broadcasting the fault location information when the moving component 11 reaches the maintenance station avoids situations where maintenance personnel fail to notice the terminal information due to negligence, and can notify maintenance personnel at the maintenance station to carry out maintenance. At the same time, it avoids interference with the detection process caused by broadcasting during the microphone 141's detection process.

[0068] The present invention also provides an inspection method for a train inspection robot 10, comprising:

[0069] S100: The environment inside the carriage is modeled using LiDAR, inertial sensors and odometers, and the preset position is stored by the controller 12, so that the moving component 11 can drive the train inspection robot 10 to move to the preset position.

[0070] S200: After the train inspection robot 10 arrives at the preset position, the vibration detection component 13 is used to obtain the vibration information of the floor;

[0071] S300: Use the voice control component 14 to obtain noise information at a preset location;

[0072] S400: When the train inspection robot 10 is in the car electrical distribution cabinet, it uses the temperature detection component 15 to obtain the temperature information of the car electrical distribution cabinet.

[0073] S500: Uses processor 16 to determine electrical equipment malfunctions based on vibration, noise, and temperature information;

[0074] S600: When electrical equipment malfunctions, obtain the train carriage number and train passenger seat number to determine the location information of the fault.

[0075] S700: Using the communication module 18 that establishes a communication connection with the terminal, the fault location information at this time is sent to the terminal.

[0076] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A train inspection robot, characterized in that, include: A moving component used for movement within a train car; A controller for storing preset positions, whereby the mobile component stops when it travels to the preset positions; LiDAR, inertial sensors, and odometers are used to scan and model the cabin environment and generate high-precision maps and positioning. A vibration detection component is movably connected to the train inspection robot. When the mobile component stops at the preset position, the vibration detection component moves downward to contact the floor to obtain vibration information of the floor. When the mobile component moves away from the preset position, the vibration detection component separates from the floor. A voice-activated component, used to collect noise information from electrical equipment when the moving component is stopped at the preset position; A temperature detection component is used to acquire the temperature information of the vehicle's electrical distribution cabinet when the mobile component is parked at the cabinet. The processor determines the electrical equipment malfunction based on the vibration, noise, and temperature information. A positioning component is used to determine the fault location information when the electrical equipment malfunctions; the positioning component is also used to obtain the train carriage number and train passenger seat number when the electrical equipment malfunctions, in order to determine the fault location information. A communication module establishes a communication connection with a terminal and is used to send the fault location information to the terminal when the electrical equipment malfunctions.

2. The train inspection robot as described in claim 1, characterized in that, The vibration detection assembly includes a connector and a vibration detection sensor. The connector drives the vibration detection sensor to move vertically in a straight line, so as to make contact with or separate from the floor.

3. The train inspection robot as described in claim 2, characterized in that, The connector includes a telescopic rod with a fixed end and a telescopic end arranged opposite to each other. The fixed end is connected to the train inspection robot, and the telescopic end is connected to the vibration detection sensor. The telescopic end can extend or retract from the fixed end.

4. The train inspection robot as described in claim 3, characterized in that, The vibration detection assembly also includes a protective shell and a contact probe. The contact probe is located on the side of the protective shell facing the floor. The protective shell has a mounting cavity inside and an opening on the side of the protective shell facing the floor. The vibration detection sensor is located in the opening and can extend or retract from the opening.

5. The train inspection robot as described in claim 3, characterized in that, The vibration detection component adopts two layouts: one vibration detection component is located inside the inspection robot, and the other vibration detection component is located on the outer periphery of the inspection robot.

6. The train inspection robot as described in claim 1, characterized in that, The positioning component includes a detection camera, a lifting rod, and a movable gimbal. The detection camera is exposed on the movable gimbal. One end of the lifting rod is connected to the train inspection robot, and the other end is connected to the movable gimbal. The movable gimbal is capable of both planar and vertical rotation of the lifting rod.

7. The train inspection robot as described in claim 6, characterized in that, The temperature detection component includes an infrared thermal imaging camera, which is mounted on the movable pan-tilt unit. Before acquiring temperature information, the detection camera identifies the vehicle's electrical distribution cabinet.

8. The train inspection robot as described in any one of claims 1 to 5, characterized in that, It also includes an obstacle avoidance module, of which there are multiple obstacle avoidance modules, which are located on the periphery of the train inspection robot.

9. The train inspection robot as described in any one of claims 1 to 5, characterized in that, The voice control component also includes a speaker, which is used to repeatedly broadcast the fault location information when the electrical equipment malfunctions and the moving component reaches the destination.

10. A method for inspecting trains using a train inspection robot, characterized in that, include: S100: Uses LiDAR, inertial sensors and odometers to model the environment inside the carriage, and uses a controller to store preset positions, so that the moving components can drive the train inspection robot to move to the preset positions; S200: After the train inspection robot arrives at the preset position, it uses a vibration detection component to obtain vibration information of the floor. S300: Uses a voice-activated component to obtain noise information at a preset location; S400: When controlling the train inspection robot in the carriage electrical distribution cabinet, it uses temperature detection components to obtain the temperature information of the carriage electrical distribution cabinet. S500: Uses a processor to determine electrical equipment malfunctions based on vibration, noise, and temperature information; S600: When electrical equipment malfunctions, obtain the train carriage number and train passenger seat number to determine the location of the fault. S700: Using a communication module that establishes a communication connection with the terminal, the fault location information at this time is sent to the terminal.

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