Inspection control system for rail transit line

Abstract

The invention relates to the technical field of rail transit detection, in particular to an inspection control system for a rail transit line, which comprises an inspection robot, an intelligent safety helmet and a server, and is characterized in that the server comprises a task distribution module used for acquiring an inspection task and issuing the inspection task to the inspection robot and the intelligent safety helmet; the inspection robot performs automatic inspection according to the inspection task; the positioning module is used for acquiring real-time position information of the inspection robot when the inspection robot executes the inspection task through a first positioning device, and drawing and sorting according to the real-time position information to obtain a trajectory; the detection module is used for detecting the track, and if the track is abnormal, corresponding position information is recorded and loaded to the track line; if the foreign matter exists on the track, parking and notifying the intelligent safety helmet before the braking distance threshold value is reached; and the intelligent auxiliary module is used for providing assistance. The problem that a single inspection mode has limitation is solved, inspection is more comprehensive, and the inspection efficiency of the working track is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit detection, and in particular to a patrol inspection control system for rail transit lines. Background Art

[0002] Tracks are an important part of railway lines. Due to long-term exposure to harsh natural environments, they will be damaged by rain, cold, frost, wind and sand on the one hand, and impact and wear caused by vehicles running on the tracks on the other hand, which will cause the state of the tracks to change. Therefore, it is necessary to inspect the tracks, and the main inspection methods include manual visual inspection and line inspection robot operation. Among them, the advantages of manual visual inspection are flexible scheduling and timely handling of problems when they are discovered. The disadvantages are that the test results are subject to the subjective influence of personnel, the work intensity is high, there are certain safety risks, and the efficiency is low. The advantages of line inspection robots are that they can effectively reduce the work intensity of staff while improving the accuracy of test results, and the test results are objective and safe. The disadvantages are that the detection equipment is relatively fixed, and there are blind spots or obstructions in some places, which make it impossible to detect, and there are certain limitations. Inaccurate inspections have certain safety hazards to the operation of rail trains, and repeated inspections will reduce the efficiency of inspections. Summary of the invention

[0003] The purpose of the present invention is to provide a patrol control system for rail transit lines, to solve the problem of limitations of a single patrol method, to reduce the number of staff and to cooperate with patrol robots to perform auxiliary line inspections, to ensure safety while making the inspection more comprehensive and improving the efficiency of working track inspections.

[0004] In order to achieve the above-mentioned object, a patrol control system for rail transit lines is provided, comprising a patrol robot, an intelligent helmet and a server, wherein the patrol robot comprises a seat, a walking body, a toolbox, a control device and a detection device, wherein the toolbox is provided with an electronic tag scanning component for scanning the electronic tags on the internal tools, wherein the detection device comprises a first positioning device, a track gauge detection device, a track height difference detection device and a radar, wherein the intelligent helmet comprises a second positioning device and a controller, wherein the control device and the controller are both electrically connected to the server, and wherein the server comprises:

[0005] Task allocation module: used to obtain inspection tasks and send the inspection tasks to the inspection robot and the smart helmet; the inspection robot automatically inspects according to the inspection tasks;

[0006] Positioning module: used to obtain the real-time position information of the inspection robot when performing the inspection task through the first positioning device, and to draw and organize the trajectory line according to the real-time position information;

[0007] Detection module: used to detect the track gauge through the track gauge detection device. If the track gauge is abnormal, the corresponding position information is recorded and loaded onto the track line; used to detect the track height on both sides through the track height difference detection device. If the track height is abnormal, the corresponding position information is recorded and loaded onto the track line; used to analyze whether there are foreign objects on the track through radar scanning. If there are foreign objects, the vehicle stops before reaching the braking distance threshold and notifies the smart helmet;

[0008] Intelligent auxiliary module: used to receive feedback information from the intelligent safety helmet on the removal of foreign objects, and perform auxiliary analysis and judgment based on the feedback information. If the analysis shows that tools are needed, the inspection robot will scan the electronic tags on the internal tools through the electronic tag scanning component. If the required tools exist, the distance will be calculated based on the first positioning device and the second positioning device. If the distance exceeds the threshold, the inspection robot will be driven to move forward based on the positioning information of the second positioning device.

[0009] Furthermore, the detection device further includes a camera, and the server further includes:

[0010] Image analysis module: used to collect image information in front of the track through the camera, and compare and verify the image information with the analysis results of the detection module. If there is foreign matter, the image information is saved and the corresponding position information is loaded onto the track line. It is also used to determine whether the staff handling foreign matter in front are wearing smart helmets correctly based on the image information.

[0011] Furthermore, the server further comprises:

[0012] Route verification module: used to verify the inspection task and the trajectory line. If passed, the inspection task and the trajectory line will be saved.

[0013] Furthermore, the smart helmet is provided with a laser ranging sensor for measuring the distance to the target point; the server also includes:

[0014] Close contact module: used to analyze the approaching parking speed and parking distance of the inspection robot according to the ranging results of the laser ranging sensor, and control the inspection robot to move in close contact according to the parking speed and parking distance.

[0015] Furthermore, a rotating platform is provided below the radar, and the server further includes the following modules:

[0016] Return module: used to generate an alarm message when it is identified that the feedback information of the smart helmet for eliminating foreign objects is that the foreign objects cannot be eliminated; it is also used to load the alarm information into the trajectory line in combination with the corresponding position information, and control the steering of the radar on the rotating platform, as well as control the inspection robot to return along the original route.

[0017] Furthermore, the route checking module is also used to enable the detection module to re-detect and check the data on the trajectory line when returning to the original route.

[0018] Furthermore, the track height difference detection device is an inclination sensor, which is used to measure the inclination angle and detect the track height difference based on the inclination angle; a U-shaped tube is provided on the front and rear sides of the inspection robot, and a convergent air outlet is provided at one end of the U-shaped tube, and the air outlet faces the track, and a trumpet-shaped air inlet is provided at one end of the U-shaped tube.

[0019] Principles and advantages:

[0020] 1. In this scheme, the inspection robot is inspected according to the inspection task through the detection module, and the gauge detection device automatically detects the gauge, and the track height difference detection device detects the height of the tracks on both sides. If the gauge is abnormal, the corresponding position information is recorded and loaded onto the track line; if the track height is abnormal, the corresponding position information is recorded and loaded onto the track line. These two parts of the work are automatically completed by the inspection robot during driving, without the participation of staff, which improves the efficiency of inspection. When the radar scans and analyzes the presence of foreign objects on the track, the vehicle stops and notifies the smart helmet before reaching the braking distance threshold, so as to notify the staff to remove the foreign objects and ensure the safety of subsequent driving. The intelligent auxiliary module receives the feedback information of the smart helmet on the removal of foreign objects, and performs auxiliary analysis and judgment based on the feedback information. If the analysis shows that tools are needed, the inspection robot scans the electronic tags on the internal tools through the electronic tag scanning component. If the required tools exist, the distance is calculated according to the first positioning device and the second positioning device. If the distance exceeds the threshold, it means that the staff is far away from the inspection robot, and it is time-consuming and laborious for the staff to go back and forth to take them, which affects the efficiency of removing foreign objects. The inspection robot drives the inspection robot to go according to the positioning information of the second positioning device. The mutual cooperation between man and machine is realized to improve the inspection efficiency. Thus, the number of staff is reduced, and the inspection robot is used to carry out auxiliary line inspection, which ensures safety while making the inspection more comprehensive and improving the inspection efficiency of the working track.

[0021] 2. The image analysis module collects image information in front of the track and compares and verifies the image information with the analysis results of the detection module. If there is a foreign object, the image information is saved and the corresponding position information is loaded onto the track line, mainly as fault evidence for inspection. Detection and identification mainly rely on radar, which has high accuracy and sensitivity. It is also used to determine whether the staff handling foreign objects in front are wearing smart helmets correctly based on the image information, further ensuring the safety of the staff.

[0022] 3. The track height difference detection device is an inclination sensor, which is used to measure the inclination angle and detect the track height difference based on the inclination angle. The U-shaped tubes on the front and rear sides of the inspection robot can use the wind force during the driving process to clean the track surface, achieve a certain cleaning effect, avoid affecting the detection results of the inclination sensor, and thus improve the accuracy of the data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is a logic block diagram of a patrol control system for a rail transit line according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following is further described in detail through specific implementation methods:

[0025] Example

[0026] A patrol control system for rail transit lines, basically as follows Figure 1 As shown, it includes an inspection robot, an intelligent safety helmet and a server. The intelligent safety helmet is connected to the inspection robot via remote wireless communication, and the inspection robot is connected to the server via remote wireless communication.

[0027] The inspection robot includes a base, a seat, a walking body, a camera, a toolbox, a control device and a detection device. The walking body includes wheels and a motor, which are arranged on the base. The seat is used by staff and can accommodate 2-3 people. The toolbox is provided with an electronic tag scanning component for scanning the electronic tags on the internal tools. The toolbox includes a hammer, a saw, a chisel, a crowbar, a jack, etc.

[0028] The detection device includes a first positioning device, a track gauge detection device, a track height difference detection device and a radar. A rotating platform is arranged below the radar for radar steering. Tracks are different from roads. Compared with electric vehicles, the radar does not need to take care of all directions and can scan the front of the track. Therefore, the radar only rotates and changes direction when turning. The track height difference detection device is an inclination sensor, which is used to measure the inclination angle and detect the track height difference according to the inclination angle. The track gauge detection device includes a first distance sensor and a second distance sensor that are arranged relatively and at a fixed distance. The first distance sensor and the second distance sensor are respectively arranged on both sides of the chassis along the track gauge direction; the first distance sensor is arranged close to the first track, and the second distance sensor is arranged close to the second track; the first distance sensor is used to detect the distance between the first distance sensor and the inner side of the first track, and the second distance sensor is used to detect the distance between the second distance sensor and the inner side of the second track. Therefore, the track gauge can be obtained by adding the distance detection value of the first distance sensor, the distance detection value of the second distance sensor, and the distance between the first distance sensor and the second distance sensor.

[0029] The smart helmet includes a second positioning device, a controller and a laser distance sensor, wherein the laser distance sensor is used to measure the distance to a target point, wherein the target point is selected by a staff member and may be a foreign object on the track or other objects. The control device and the controller are both electrically connected to a server.

[0030] The server comprises:

[0031] Task allocation module: used to obtain inspection tasks and send the inspection tasks to the inspection robot and the smart helmet; the inspection robot automatically inspects according to the inspection tasks;

[0032] Positioning module: used to obtain the real-time position information of the inspection robot when performing the inspection task through the first positioning device, and to draw and organize the trajectory line according to the real-time position information;

[0033] Detection module: used to detect the track gauge through the track gauge detection device. If the track gauge is abnormal, the corresponding position information is recorded and loaded onto the track line; used to detect the track height on both sides through the track height difference detection device. If the track height is abnormal, the corresponding position information is recorded and loaded onto the track line; used to analyze whether there are foreign objects on the track through radar scanning. If there are foreign objects, the vehicle stops before reaching the braking distance threshold and notifies the smart helmet;

[0034] Intelligent auxiliary module: used to receive feedback information from the intelligent safety helmet on the removal of foreign objects, and perform auxiliary analysis and judgment based on the feedback information. If the analysis shows that tools are needed, the inspection robot will scan the electronic tags on the internal tools through the electronic tag scanning component. If the required tools exist, the distance will be calculated based on the first positioning device and the second positioning device. If the distance exceeds the threshold, the inspection robot will be driven to move forward based on the positioning information of the second positioning device.

[0035] Image analysis module: used to collect image information in front of the track through the camera, and compare and verify the image information with the analysis results of the detection module. If there is foreign matter, the image information is saved and the corresponding position information is loaded onto the track line. It is also used to determine whether the staff handling foreign matter in front are wearing smart helmets correctly based on the image information.

[0036] Route verification module: used to verify the inspection task and the trajectory line. If passed, the inspection task and the trajectory line will be saved.

[0037] Close contact module: used to analyze the approaching parking speed and parking distance of the inspection robot according to the ranging results of the laser ranging sensor, and control the inspection robot to move in close contact according to the parking speed and parking distance.

[0038] Return module: used to generate an alarm message when it is identified that the feedback information of the smart helmet for eliminating foreign objects is that the foreign objects cannot be eliminated; it is also used to load the alarm information into the trajectory line in combination with the corresponding position information, and control the steering of the radar on the rotating platform, as well as control the inspection robot to return along the original route.

[0039] The route checking module is also used to enable the detection module to re-detect and check the data on the trajectory line when returning to the original route.

[0040] The track height difference detection device is an inclination sensor, which is used to measure the inclination angle and detect the track height difference based on the inclination angle; a U-shaped tube is provided on the front and rear sides of the inspection robot, one end of the U-shaped tube is provided with a convergent air outlet, the air outlet faces the track, and one end of the U-shaped tube is provided with a trumpet-shaped air inlet.

[0041] 1. In this scheme, the inspection robot is inspected according to the inspection task through the detection module, and the track gauge detection device automatically detects the track gauge, and the track height difference detection device detects the track height on both sides. If the track gauge is abnormal, the corresponding position information is recorded and loaded onto the track line; if the track height is abnormal, the corresponding position information is recorded and loaded onto the track line. These two parts of the work are automatically completed by the inspection robot during driving, without the participation of staff, which improves the efficiency of inspection. When the radar scans and analyzes the presence of foreign objects on the track, the robot stops and notifies the smart helmet before reaching the braking distance threshold, so as to notify the staff to remove the foreign objects and ensure the safety of subsequent driving. The intelligent auxiliary module performs auxiliary analysis and judgment on the feedback information. If the analysis shows that tools are needed, the inspection robot scans the electronic tags on the internal tools through the electronic tag scanning component. If the required tools exist, the distance is calculated according to the first positioning device and the second positioning device. If the distance exceeds the threshold, it means that the staff is far away from the inspection robot, and it is time-consuming and laborious for the staff to go back and forth to pick up, which affects the efficiency of removing foreign objects. The inspection robot drives the inspection robot to go according to the positioning information of the second positioning device. Realize the mutual cooperation between man and machine to improve the inspection efficiency. This reduces the number of staff and cooperates with the inspection robot to carry out auxiliary line inspection, ensuring safety while making the inspection more comprehensive and improving the inspection efficiency of the working track.

[0042] 2. The image analysis module collects image information in front of the track and compares and verifies the image information with the analysis results of the detection module. If there is a foreign object, the image information is saved and the corresponding position information is loaded onto the track line, mainly as fault evidence for inspection. Detection and identification mainly rely on radar, which has high accuracy and sensitivity. It then determines whether the staff handling foreign objects in front are wearing smart helmets correctly based on the image information, further ensuring the safety of the staff.

[0043] 3. The track height difference detection device is an inclination sensor, which is used to measure the inclination angle and detect the track height difference based on the inclination angle. The U-shaped tubes on the front and rear sides of the inspection robot can use the wind force during the driving process to clean the track surface, achieve a certain cleaning effect, avoid affecting the detection results of the inclination sensor, and thus improve the accuracy of the data.

[0044] 4. When returning, you can calibrate the measured data before measurement to ensure the accuracy of the data.

[0045] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A patrol control system for rail transit lines, characterized in that: It includes an inspection robot, an intelligent helmet and a server. The inspection robot includes a seat, a walking body, a toolbox, a control device and a detection device. The toolbox is provided with an electronic tag scanning component for scanning the electronic tags on the internal tools. The detection device includes a first positioning device, a track gauge detection device, a track height difference detection device and a radar. The intelligent helmet includes a second positioning device and a controller. The control device and the controller are both electrically connected to the server. The server includes: Task allocation module: used to obtain inspection tasks and send the inspection tasks to the inspection robot and the smart helmet; the inspection robot automatically inspects according to the inspection tasks; Positioning module: used to obtain the real-time position information of the inspection robot when performing the inspection task through the first positioning device, and to draw and organize the trajectory line according to the real-time position information; Detection module: used to detect the track gauge through the track gauge detection device. If the track gauge is abnormal, the corresponding position information is recorded and loaded onto the track line; used to detect the track height on both sides through the track height difference detection device. If the track height is abnormal, the corresponding position information is recorded and loaded onto the track line; used to analyze whether there are foreign objects on the track through radar scanning. If there are foreign objects, the vehicle stops before reaching the braking distance threshold and notifies the smart helmet; Intelligent auxiliary module: used to receive feedback information from the intelligent safety helmet on the removal of foreign objects, and perform auxiliary analysis and judgment based on the feedback information. If the analysis shows that tools are needed, the inspection robot will scan the electronic tags on the internal tools through the electronic tag scanning component. If the required tools exist, the distance will be calculated based on the first positioning device and the second positioning device. If the distance exceeds the threshold, the inspection robot will be driven to move forward based on the positioning information of the second positioning device.

2. A patrol control system for rail transit lines according to claim 1, characterized in that: The detection device further includes a camera, and the server further includes: Image analysis module: used to collect image information in front of the track through the camera, and compare and verify the image information with the analysis results of the detection module. If there is foreign matter, the image information is saved and the corresponding position information is loaded onto the track line. It is also used to determine whether the staff handling foreign matter in front are wearing smart helmets correctly based on the image information.

3. The inspection control system for rail transit lines according to claim 2, characterized in that: The server also includes: Route verification module: used to verify the inspection task and the trajectory line. If passed, the inspection task and the trajectory line will be saved.

4. The inspection control system for rail transit lines according to claim 3, characterized in that: The smart helmet is provided with a laser ranging sensor for measuring the distance to the target point; the server also includes: Close contact module: used to analyze the approaching parking speed and parking distance of the inspection robot according to the ranging results of the laser ranging sensor, and control the inspection robot to move in close contact according to the parking speed and parking distance.

5. A patrol control system for rail transit lines according to claim 4, characterized in that: A rotating platform is provided below the radar, and the server further comprises the following modules: Return module: used to generate an alarm message when it is identified that the feedback information of the smart helmet for eliminating foreign objects is that the foreign objects cannot be eliminated; it is also used to load the alarm information into the trajectory line in combination with the corresponding position information, and control the steering of the radar on the rotating platform, as well as control the inspection robot to return along the original route.

6. A patrol control system for rail transit lines according to claim 5, characterized in that: The route checking module is also used to enable the detection module to re-detect and check the data on the trajectory line when returning to the original route.

7. A patrol control system for rail transit lines according to claim 6, characterized in that: The track height difference detection device is an inclination sensor, which is used to measure the inclination angle and detect the track height difference based on the inclination angle; a U-shaped tube is provided on the front and rear sides of the inspection robot, one end of the U-shaped tube is provided with a convergent air outlet, the air outlet faces the track, and one end of the U-shaped tube is provided with a trumpet-shaped air inlet.

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