Urban rail transit protection area risk source combined inspection system and method

Abstract

The invention relates to the technical field of urban rail transit risk monitoring, and discloses an urban rail transit protection area risk source combined inspection system, which comprises vibration sensors arranged on the inner wall of an urban rail transit protection area tunnel, and the vibration sensors are arranged at certain intervals according to the direction of the tunnel; the cameras are arranged on the ground of the urban rail transit protection area, the cameras higher than the ground are arranged at certain intervals according to the arrangement direction of the vibration sensors, and one camera corresponds to one or more vibration sensors; the unmanned aerial vehicle is arranged close to the camera; and the cloud platform is arranged in the inspection control room and connected with the vibration sensor, the camera and the unmanned aerial vehicle in a wired communication or wireless communication mode. According to the invention, automatic inspection of the urban rail transit is realized, the risk of potential safety hazards of the underground urban rail transit is effectively reduced, and safe and stable operation of the urban rail transit system is timely guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of urban rail transit risk monitoring, and in particular to a risk source joint inspection system and method for an urban rail transit protection zone. Background Art

[0002] As my country's urbanization process continues to accelerate, the urban population is increasing, which has brought tremendous pressure to urban transportation. Traditional ground transportation is difficult to meet the travel needs of the growing urban population. Urban rail transit has become a new mode of transportation that major cities are vigorously building. Urban rail transit is certainly convenient and fast, and can alleviate urban traffic problems to a large extent. However, as an underground building, the structure of urban rail transit is easily squeezed by the soil in a complex geotechnical environment, resulting in deformation, which brings a series of safety hazards. Therefore, it is inevitable to consider the impact of large-scale machinery and other operations within the scope of the urban rail transit track protection area on the life of the urban rail transit tunnel. Due to the increasing social demand for urban rail transit inspections, traditional manual inspections mainly use manual paper records, which have problems such as untimely reporting, irregular event records, and inaccurate geographical locations. The inspection efficiency and effectiveness are relatively low. Therefore, it is necessary to develop an automatic inspection system for urban rail transit protection. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention aims to provide a joint inspection system and method for risk sources in an urban rail transit protection zone, so as to realize automatic inspection of urban rail transit, effectively reduce the risk of safety hazards in underground urban rail transit, and timely ensure the safe and stable operation of the urban rail transit system.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A joint inspection system for risk sources in urban rail transit protection areas, comprising:

[0006] Vibration sensor: arranged on the inner wall of the tunnel in the urban rail transit protection zone, a plurality of the vibration sensors are evenly arranged on the inner wall of the tunnel along the direction of the tunnel, and are used to monitor the vibration signal of the inner wall of the tunnel;

[0007] Camera: arranged on the ground of the urban rail transit protection zone, a plurality of the cameras are evenly arranged above the ground along the arrangement direction of the vibration sensors, one camera corresponds to one or more vibration sensors, and is used to photograph the risk source situation within the detection range of the vibration sensor;

[0008] Drone: set up near the camera, one drone corresponds to multiple cameras, and is used to fly to the risk source to shoot illegal operations when there are obstructions between the camera and the risk source;

[0009] Cloud platform: arranged in the inspection control room, connected with the vibration sensor, camera, and drone respectively by wired communication or wireless communication, the cloud platform comprises a first signal receiving module, a first judgment module, a first execution module, a second signal receiving module, a second judgment module, a second execution module, a third judgment module, and a third execution module, the first signal receiving module is used to obtain the vibration sensor signal, the first judgment module is used to judge whether there is a risk source above the tunnel according to the vibration sensor signal;

[0010] The first execution module is used to calculate the area range of the risk source when the risk source is confirmed, and to start the corresponding camera according to the area range of the risk source to shoot the situation of the risk source;

[0011] The second signal receiving module is used to receive the image captured by the camera and process the captured image.

[0012] The second judgment module is used to judge whether there is an obstruction between the camera and the risk source according to the image captured by the camera;

[0013] The second execution module is used for controlling the drone corresponding to the camera to fly to the risk source and photograph the risk source when there is an obstruction between the camera and the risk source;

[0014] The third judgment module is used to judge whether there is any illegal operation at the risk source according to the image taken by the camera or the drone;

[0015] The third execution module is used to issue an alarm when there is any illegal operation at the risk source, prompting the staff in the inspection control room to perform corresponding processing.

[0016] Furthermore, the vibration sensor is an optical fiber sensor.

[0017] Furthermore, the camera is installed at an unobstructed high position, and the camera is an all-round multi-angle camera.

[0018] Furthermore, the drone is set on a machine nest, and the machine nest is located below one of the cameras corresponding to the drone; the machine nest is provided with a door and an automatic door control system connected to the door; the machine nest is also provided with an automatic charging device, and the automatic charging device is movably connected to the drone, the drone is equipped with a camera, and the drone is a multi-rotor drone.

[0019] An inspection method based on the risk source joint inspection system in the urban rail transit protection zone includes:

[0020] S01. Deploy vibration sensors, cameras, and drones:

[0021] S02, obtaining vibration sensor signals,

[0022] S03. Determine whether there is a risk source above the tunnel through the vibration sensor signal:

[0023] S04. When it is confirmed that there is the risk source above the tunnel, the area range of the risk source is calculated, and according to the area range of the risk source, a corresponding camera is turned on to photograph the situation of the risk source;

[0024] S05, receiving the image captured by the camera, and processing the captured image;

[0025] S06, determining whether there is an obstruction between the camera and the risk source;

[0026] S07, when there is an obstruction between the camera and the risk source, control the drone corresponding to the camera to fly to the risk source, photograph the risk source and proceed to step S08; when there is no obstruction between the camera and the risk source, proceed directly to step S08 after completing step S06;

[0027] S08. Determine whether there is any illegal operation at the risk source according to the image taken by the camera or the drone;

[0028] S09. When there is illegal operation at the risk source, an alarm is issued to prompt the staff in the inspection control room to take corresponding measures;

[0029] Among them, the measures taken include: the cloud platform sends instructions to the drone, controls the drone to fly to the illegal operation point, and stops the illegal operators through warning sounds or lights; or, the drone or camera captures the image of the illegal operator and transmits it to the cloud platform, and uses image recognition technology on the cloud platform to confirm the illegal behavior and identify the illegal operator.

[0030] Furthermore, the method for deploying the vibration sensor is as follows: according to the direction of the tunnel, a vibration sensor is deployed at a certain distance, and the distance ensures that the vibration sensor can detect external vibration signals and locate them; the method for deploying the camera is as follows: on the ground of the urban rail transit protection zone, according to the deployment direction of the vibration sensor, a camera above the ground is deployed on the inner wall of the tunnel at a certain distance, and each camera corresponds to one or more vibration sensors; the installation point of the camera is an unobstructed high location and away from vegetation areas; the method for deploying the drone is as follows: a drone nest is deployed at a position below the camera, one drone corresponds to multiple cameras, and the machine slot is located below one of the cameras corresponding to the drone.

[0031] Furthermore, the step of judging whether there is a risk source above the tunnel through the vibration sensor signal is: establishing a library of illegal operation signals in the cloud platform, and when receiving the vibration sensor signal, the cloud platform will automatically compare the wavelength to judge whether there is a risk source.

[0032] Furthermore, the step of calculating the regional scope of the risk source is:

[0033] The cloud platform records the three-dimensional coordinates A of each vibration sensor i , and the distance D between the vibration sensor and the ground i ; Where i is the number of the vibration sensor;

[0034] When a risk source occurs, the vibration sensor receives the vibration information generated by the risk source, and the cloud platform obtains the three-dimensional coordinates A of the vibration sensor. i , the distance D between the vibration sensor and the ground i , and obtain the distance S between the vibration sensor and the risk source based on the vibration information i ; Calculate the horizontal distance X between the risk source and the vibration sensor by the following formula: i , the formula is: X i 2 =S i 2 -D i 2 Based on the horizontal distance X between the risk source and the vibration sensor i and the three-dimensional coordinates A of the vibration sensor i Determine the regional scope of the risk source.

[0035] Further,

[0036] The step of determining whether there is an obstruction between the camera and the risk source comprises: when the area range of the risk source is calculated, turning on the camera corresponding to the vibration sensor, determining whether there is an obstruction between the camera and the risk source through line of sight analysis, and if so, feeding back to the drone through the cloud platform;

[0037] The S07 also includes: after receiving the feedback, the drone plans a route according to the risk source and the location information of the nest and flies to the risk source with the assistance of the global positioning system to take pictures.

[0038] Further,

[0039] The steps of judging whether there is any illegal operation at the risk source are as follows: the cloud platform builds a sample library of mechanical equipment with illegal operation, uses deep learning for training and verification to obtain a verification model, and after the cloud platform receives images taken by a camera or drone, it identifies the risk source through the verification model.

[0040] The step S09 also includes: after identifying that there is illegal operation at the risk source, accurately locating the risk source according to the principle of photogrammetry.

[0041] The beneficial effects of the present invention are:

[0042] The present invention can quickly discover potential safety risk sources, such as equipment failures, by deploying vibration sensors to monitor vibration conditions in the tunnel, which helps to take timely measures to deal with them; by using the cloud platform to control high-position ground cameras and drones, efficient monitoring and remote control of risk sources can be achieved, improving the accuracy and real-time nature of monitoring; the cloud platform can automatically analyze and judge the images taken by cameras or drones, quickly identify whether there are any illegal operations, reduce the burden of manual judgment, and improve efficiency and accuracy. Once the cloud platform determines that there are illegal operations at the risk source, it can immediately issue an alarm to notify the staff to handle it, achieve rapid response and early warning notification, and reduce the possibility of accidents. The present invention can effectively improve the safety and management efficiency of underground urban rail transit systems, reduce the probability of safety risks, and ensure the safety of passengers and staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0044] Figure 1 This is a work flow chart of a joint inspection system for risk sources in an urban rail transit protection zone of the present invention;

[0045] Figure 2This is a working principle diagram of a joint inspection system for risk sources in an urban rail transit protection zone of the present invention;

[0046] Figure 3 This is a structural diagram of a joint inspection system for risk sources in an urban rail transit protection zone of the present invention. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0049] It should be noted that the terms "comprises" and "has" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatus.

[0050] A joint inspection system for risk sources in urban rail transit protection areas, such as Figure 1 , Figure 2 and Figure 3 As shown, it includes: a vibration sensor, a camera, a drone and a cloud platform. The vibration sensor, the camera, the drone and the cloud platform are all connected to the cloud platform through wired communication or wireless communication.

[0051] (1) Vibration sensor: It is installed on the inner wall of the tunnel in the urban rail transit protection zone. According to the direction of the tunnel, the vibration sensor is buried along the top of the urban rail transit tunnel. A vibration sensor is arranged at a certain interval to receive the vibration signal generated by the risk source above the tunnel.

[0052] The vibration sensor uses an optical fiber sensor, and its optimal detection range is L. The optimal detection range is to ensure that the sensor can detect external vibration signals and locate them. An optical fiber sensing device is arranged every L, and the three-dimensional coordinates (X 光纤传感器 , Y 光纤传感器 , Z 光纤传感器) and the distance information D from the ground. When an illegal operation occurs, the optical fiber sensor receives the vibration signal, obtains the position of the sensor, and obtains the distance information S between the sensor and the illegal operation position. According to the known distance between the sensor and the ground is D i , calculate the horizontal distance X between the illegal operation point and the sensor i For: X i 2 =S i 2 -D i 2 ; where i is the number of the vibration sensor. Based on this, the approximate horizontal range of the illegal operation point from the optical fiber sensor can be obtained.

[0053] (2) Cameras: These cameras are installed on the ground in the urban rail transit protection zone. According to the layout of the vibration sensors, a camera is installed above the ground at a certain distance. Each camera corresponds to one or more vibration sensors and is used to capture the risk source. The distance between cameras can be 500 meters.

[0054] The camera is installed at an unobstructed high position and is capable of shooting in all directions and from multiple angles.

[0055] When setting up the camera, environmental changes such as vegetation should be taken into consideration to ensure long-term stable shooting.

[0056] According to the three-dimensional coordinates of the operation point, the camera is called to observe the risk source. The three-dimensional coordinates of the camera (X 高位摄像头 , Y 高位摄像头 , Z 高位摄像头 ) and the approximate horizontal range of the illegal operation point from the fiber optic sensor, and ensure that there is no blind spot based on the straight line between the two points.

[0057] (3) Drone: It is set up near the camera and is used to fly to the risk source to take pictures of illegal operations when there are obstructions between the camera and the risk source;

[0058] The drone is set on the nest, which is located below the camera. The nest is equipped with a door and an automatic door control system connected to the door. The nest is also equipped with an automatic charging device, which is actively connected to the drone. The drone is equipped with a camera and is a multi-rotor drone. Choose a location below the high-position camera to set up the drone nest (X 机巢， Y 机巢 , Z 机巢 ). The specific configuration of the drone structure is:

[0059] 1) Equipped with an automated gating system, which automatically turns on when the drone returns to its home position and automatically turns off when it takes off, protecting the drone from external interference.

[0060] 2) Equipped with automatic charging function, the drone can automatically dock with the charger when landing.

[0061] 3) Use prefabricated concrete foundation or gravity foundation with good waterproof performance.

[0062] 4) Equip a multi-rotor drone equipped with a camera, and select a location that is convenient for the drone to take off and land.

[0063] Drone flight path settings:

[0064] When illegal operations occur, the line of sight between the camera and the illegal operation point is analyzed and found to be blocked, which is then fed back to the drone. After receiving the feedback, the drone plans a route based on the illegal operation point and the location information of the nest to fly over and take a look. The drone nest is installed near the camera, and the camera can find blind spots by taking images of the protected area. Then the drone can plan the path in the protected area for flight and blind spot monitoring.

[0065] (4) Cloud platform: used to receive signals from vibration sensor units and determine whether there is a risk source based on the signals; if there is a risk source, the camera corresponding to the vibration sensor that has received the signal from the risk source is controlled to turn on and take a picture of the risk source; the image captured by the camera is received and processed to determine whether there is an obstruction between the camera and the risk source; if there is an obstruction between the camera and the risk source, the drone corresponding to the camera is controlled to fly to the risk source and take a picture of the risk source; the risk source is analyzed based on the images captured by the camera or drone. If there is any illegal operation, an alarm is issued to prompt the staff in the inspection control room to take corresponding measures.

[0066] Specifically, the cloud platform is arranged in the inspection control room and is connected to the vibration sensor, the camera and the drone respectively through wired communication or wireless communication. The cloud platform includes a first signal receiving module, a first judgment module, a first execution module, a second signal receiving module, a second judgment module, a second execution module, a third judgment module and a third execution module. The first signal receiving module is used to obtain the vibration sensor signal.

[0067] The first judgment module is used to judge whether there is a risk source above the tunnel through the vibration sensor signal;

[0068] The first execution module is used to calculate the area range of the risk source when a risk source is confirmed, and to start the corresponding camera according to the area range of the risk source to shoot the situation of the risk source;

[0069] The second signal receiving module is used to receive the image captured by the camera and process the captured image.

[0070] The second judgment module is used to judge whether there is an obstruction between the camera and the risk source according to the image captured by the camera;

[0071] The second execution module is used to control the drone corresponding to the camera to fly to the risk source and take photos of the risk source when there is an obstruction between the camera and the risk source;

[0072] The third judgment module is used to judge whether there is any illegal operation at the risk source based on the images taken by the camera or the drone;

[0073] The third execution module is used to issue an alarm when there is an illegal operation at the risk source, prompting the staff in the inspection control room to carry out corresponding processing.

[0074] The cloud platform is responsible for the data processing and management of each inspection unit, as well as the linkage between the inspection units. It performs functions such as data collection, data storage, data processing, risk source identification, and risk source location, and centrally manages each risk source inspection unit.

[0075] An inspection method based on a joint inspection system for risk sources in an urban rail transit protection zone comprises the following steps:

[0076] S01. Deploy vibration sensors, cameras, and drones:

[0077] Vibration sensor layout: According to the direction of the tunnel, a vibration sensor is laid out at a certain distance to ensure that the vibration sensor can detect external vibration signals and locate them; the layout of the vibration sensor is as follows: based on the geological conditions, curvature, traffic flow and environmental noise of the tunnel, an intelligent algorithm is used to calculate the best vibration sensor layout to ensure the best monitoring effect under various conditions. This adaptive layout design aims to improve the sensitivity and accuracy of the fiber optic sensing system while reducing monitoring blind spots caused by environmental changes.

[0078] Camera layout: On the ground of the urban rail transit protection zone, according to the layout direction of the vibration sensor, a camera above the ground is laid out at a certain distance, and one camera corresponds to one or more vibration sensors; the camera installation point is an unobstructed high location and away from vegetation areas;

[0079] Drone deployment: Place the drone nest below the camera.

[0080] S02, obtaining a vibration sensor signal;

[0081] S03, judging whether there is a risk source above the tunnel through the vibration sensor signal;

[0082] The cloud platform system processes the vibration signal and establishes a library of illegal operation signals in the cloud platform. When receiving the vibration sensor signal, the cloud platform will automatically compare the wavelength to determine whether there is a risk source.

[0083] S04. When a risk source is confirmed, the area range of the risk source is calculated, and according to the area range of the risk source, the corresponding camera is turned on to shoot the situation of the risk source;

[0084] When a risk source is confirmed, the area range of the risk source is obtained through the vibration sensor, specifically:

[0085] The cloud platform records the three-dimensional coordinates A of each vibration sensor and the distance D between the vibration sensor and the ground. i ; Where i is the number of the vibration sensor;

[0086] When a risk source occurs, the vibration sensor receives the vibration information generated by the risk source, and the cloud platform obtains the three-dimensional coordinates A of the vibration sensor. i , the distance D between the vibration sensor and the ground i , and calculate the distance S between the vibration sensor and the risk source based on the vibration information i ; Calculate the horizontal distance X between the risk source and the vibration sensor by the following formula: i , the formula is: X i 2 =S i 2 -D i 2 Based on the horizontal distance X between the risk source and the vibration sensor i and the three-dimensional coordinates A of the vibration sensor i Derive the regional scope of the risk source;

[0087] The cloud platform transmits the determined risk source area to the nearby cameras, and the cameras adjust the focal length and direction according to the information received from the cloud platform to capture images of the risk source location.

[0088] S05, receiving the image captured by the camera and processing the captured image:

[0089] The camera transmits the captured images to the cloud platform through a data transmission link, and the cloud platform uses image processing algorithms to accurately identify and locate risk sources.

[0090] S06. Determine whether there is an obstruction between the camera and the risk source:

[0091] S07, when there is an obstruction between the camera and the risk source, control the drone corresponding to the camera to fly to the risk source, photograph the risk source and proceed to step S08; when there is no obstruction between the camera and the risk source, proceed directly to step S08 after completing step S06;

[0092] When the regional scope of the risk source is obtained, the corresponding camera closest to the risk source is selected according to the position of the optical fiber sensor, and the camera corresponding to the vibration sensor is turned on. Through line of sight analysis, it is determined whether there is any obstruction between the camera and the risk source. If there is no obstruction, the impact of the camera shooting is directly transmitted to the cloud platform for analysis. If there is an obstruction, it is fed back to the drone through the cloud platform. After receiving the feedback, the drone plans the route according to the risk source and the location information of the nest, and flies to the risk source with the assistance of the global positioning system to take pictures.

[0093] The fiber optic sensor is in an underground tunnel. Based on its positional relationship with the ground, it can find the corresponding camera near the ground and adjust the camera shooting according to the direction of the protected area.

[0094] Through line of sight analysis, if the high-position camera is blocked or encounters other abnormal conditions during shooting, it will be reported to the pan-tilt system. The cloud platform system will notify the drone in the machine nest to take off and fly to the risk source location determined by the fiber optic inspection unit with the assistance of the global positioning system to take pictures. The captured images will also be transmitted to the cloud platform system for precise identification and positioning of the risk source.

[0095] S08. Determine whether there are any illegal operations at the risk source based on the images taken by the camera or drone;

[0096] S09. When there are illegal operations at the risk source, an alarm will be issued to prompt the staff in the inspection control room to take corresponding measures.

[0097] The cloud platform has built a sample library of mechanical equipment that operates in violation of regulations, and uses deep learning for training and verification to obtain a verification model. After the cloud platform receives images taken by cameras or drones, it identifies the risk source through the verification model. After identifying that there is illegal operation at the risk source, the risk source is accurately located based on the principles of photogrammetry. The cloud platform system notifies managers to take measures to address the illegal operations at the risk source.

[0098] The measures taken include: once a violation is confirmed, the cloud platform sends a notification to the drone nest, which flies to the risk source location and uses the onboard image sensor to capture a clear image of the risk source location, while stopping the operator through warning sounds or lights; or, the drone or camera captures the image of the violating operator and transmits it to the cloud platform, where image recognition technology is implemented to confirm the violation and identify possible violators.

[0099] For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all of these changes and deformations should fall within the protection scope of the claims of the present invention.

Claims

1. A joint inspection system for risk sources in urban rail transit protection areas, characterized in that: include: Vibration sensor: arranged on the inner wall of the tunnel in the urban rail transit protection zone, a plurality of the vibration sensors are evenly arranged on the inner wall of the tunnel along the direction of the tunnel, and are used to monitor the vibration signal of the inner wall of the tunnel; Camera: arranged on the ground of the urban rail transit protection zone, a plurality of the cameras are evenly arranged above the ground along the arrangement direction of the vibration sensors, one camera corresponds to one or more vibration sensors, and is used to photograph the risk source situation within the detection range of the vibration sensor; Drone: set up near the camera, one drone corresponds to multiple cameras, and is used to fly to the risk source to shoot illegal operations when there are obstructions between the camera and the risk source; Cloud platform: arranged in the inspection control room, connected to the vibration sensor, camera, and drone respectively through wired communication or wireless communication, the cloud platform includes a first signal receiving module, a first judgment module, a first execution module, a second signal receiving module, a second judgment module, a second execution module, a third judgment module, and a third execution module; The first signal receiving module is used to obtain a vibration sensor signal; The first judgment module is used to judge whether there is a risk source above the tunnel according to the vibration sensor signal; The first execution module is used to calculate the area range of the risk source when the risk source is confirmed, and to start the corresponding camera according to the area range of the risk source to shoot the situation of the risk source; The second signal receiving module is used to receive the image captured by the camera and process the captured image; The second judgment module is used to judge whether there is an obstruction between the camera and the risk source according to the image captured by the camera; The second execution module is used for controlling the drone corresponding to the camera to fly to the risk source and photograph the risk source when there is an obstruction between the camera and the risk source; The third judgment module is used to judge whether there is any illegal operation at the risk source according to the image taken by the camera or the drone; The third execution module is used to issue an alarm when there is any illegal operation at the risk source, prompting the staff in the inspection control room to perform corresponding processing.

2. According to claim 1, a joint inspection system for risk sources in urban rail transit protection areas is characterized in that: The vibration sensor is an optical fiber sensor.

3. The risk source joint inspection system for urban rail transit protection areas according to claim 1 is characterized in that: The camera is installed at an unobstructed high position, and the camera is an all-round multi-angle camera.

4. The risk source joint inspection system for urban rail transit protection areas according to claim 1 is characterized in that: The drone is set on a machine nest, and the machine nest is located below one of the cameras corresponding to the drone; the machine nest is provided with a door and an automatic door control system connected to the door; the machine nest is also provided with an automatic charging device, and the automatic charging device is movably connected to the drone, and the drone is equipped with a camera.

5. An inspection method based on the joint inspection system for risk sources in the urban rail transit protection zone according to any one of claims 1 to 4, characterized in that: S01. Deploy vibration sensors, cameras, and drones; S02, obtaining a vibration sensor signal; S03, judging whether there is a risk source above the tunnel through the vibration sensor signal; S04. When it is confirmed that there is the risk source above the tunnel, the area range of the risk source is calculated, and according to the area range of the risk source, a corresponding camera is turned on to photograph the situation of the risk source; S05, receiving the image captured by the camera, and processing the captured image; S06, determining whether there is an obstruction between the camera and the risk source; S07, when there is the shielding object between the camera and the risk source, control the drone corresponding to the camera to fly to the risk source, photograph the risk source and proceed to step S08; when there is no shielding object between the camera and the risk source, directly proceed to step S08 after completing step S06; S08. Determine whether there is any illegal operation at the risk source according to the image taken by the camera or the drone; S09. When there is illegal operation at the risk source, an alarm is issued to prompt the staff in the inspection control room to take corresponding measures; Among them, the measures taken include: the cloud platform sends instructions to the drone, controls the drone to fly to the illegal operation point, and stops the illegal operators through warning sounds or lights; or, the drone or camera captures the image of the illegal operator and transmits it to the cloud platform, and uses image recognition technology on the cloud platform to confirm the illegal behavior and identify the illegal operator.

6. A patrol inspection method according to claim 5, characterized in that: The method for deploying the vibration sensor is as follows: according to the direction of the tunnel, a vibration sensor is deployed on the inner wall of the tunnel at a certain distance, and the distance ensures that the vibration sensor can detect external vibration signals and locate them; the method for deploying the camera is as follows: on the ground of the urban rail transit protection zone, according to the deployment direction of the vibration sensor, a camera above the ground is deployed at a certain distance, and each camera corresponds to one or more vibration sensors; the installation point of the camera is an unobstructed high location and away from vegetation areas; the method for deploying the drone is as follows: a drone nest is deployed at a position below the camera, one drone corresponds to multiple cameras, and the machine slot is located below one of the cameras corresponding to the drone.

7. The inspection method according to claim 5, characterized in that: The step of judging whether there is a risk source above the tunnel through the vibration sensor signal is as follows: establishing a library of illegal operation signals in the cloud platform, and when receiving the vibration sensor signal, the cloud platform will automatically compare the wavelength to judge whether there is a risk source.

8. The inspection method according to claim 5, characterized in that: The steps for calculating the regional scope of the risk source are: The cloud platform records the three-dimensional coordinates A of each vibration sensor i , and the distance D between the vibration sensor and the ground i ; Where i is the number of the vibration sensor; When a risk source occurs, the vibration sensor receives the vibration information generated by the risk source, and the cloud platform obtains the three-dimensional coordinates A of the vibration sensor. i , the distance D between the vibration sensor and the ground i , and obtain the distance S between the vibration sensor and the risk source based on the vibration information i ; Calculate the horizontal distance X between the risk source and the vibration sensor by the following formula: i , the formula is: X i 2 =S i 2 -D i 2 Based on the horizontal distance X between the risk source and the vibration sensor i and the three-dimensional coordinates A of the vibration sensor i Determine the regional scope of the risk source.

9. A patrol inspection method according to claim 8, characterized in that: The step of determining whether there is an obstruction between the camera and the risk source comprises: when the area range of the risk source is calculated, turning on the camera corresponding to the vibration sensor, determining whether there is an obstruction between the camera and the risk source through line of sight analysis, and if so, feeding back to the drone through the cloud platform; The S07 also includes: after receiving the feedback, the drone plans a route according to the risk source and the location information of the nest and flies to the risk source with the assistance of the global positioning system to take pictures.

10. The inspection method according to claim 5, characterized in that: The steps of judging whether there is any illegal operation at the risk source are as follows: the cloud platform builds a sample library of mechanical equipment with illegal operation, uses deep learning for training and verification to obtain a verification model, and after the cloud platform receives images taken by a camera or drone, it identifies the risk source through the verification model. The step S09 also includes: after identifying that there is illegal operation at the risk source, accurately locating the risk source according to the principle of photogrammetry.

Images