Multi-mode inspection robot applied to subway platform and field section

Abstract

The invention discloses a multi-mode inspection robot applied to a subway platform and a field section, and relates to the technical field of inspection robots, the multi-mode inspection robot comprises a shell, driving structures are installed on the two sides of the shell, a fixing structure is installed below the driving structures, a cleaning structure is installed in the shell, and the cleaning structure is installed in the shell. A cleaning structure is installed on one side of the shell, a compression structure is installed on one side of the cleaning structure, a sealing structure is installed on one side of the cleaning structure, an infrared T-shaped holder is installed on one side of the shell, the multi-mode inspection robot can inspect a subway platform and a field section in all directions, and the infrared T-shaped holder has the high-definition camera shooting and infrared night vision functions. The sensor array arranged on the shell can monitor environmental data such as temperature, humidity, smoke concentration and the like in real time, and important information is provided for safe operation of a subway station.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and specifically to a multi-mode inspection robot applied to subway platforms and depots. Background Art

[0002] An inspection robot is an automated system used to monitor and inspect specific areas or equipment, and is widely applied in multiple fields such as industry, construction, and transportation. In the application of subway platforms and depots, the inspection robot can achieve comprehensive monitoring and inspection of various facilities and equipment within the platform and depot by integrating multiple sensors and intelligent algorithms. It has multiple functions such as autonomous navigation, environmental perception, target recognition, and data analysis, which can effectively improve the inspection efficiency, reduce the cost and risk of manual inspection. The inspection robot can automatically perform inspection operations according to the preset inspection route and tasks, and transmit the inspection results to the background management system in real time, providing strong guarantee for the safe operation of subway platforms and depots.

[0003] The prior art CN115922737B discloses a multi-functional safety inspection robot. The technical solution discloses that "the present invention discloses a multi-functional safety inspection robot, belonging to the technical field of safety inspection; including a mobile base, a trapezoidal platform is arranged at the front end position above the mobile base, a column is arranged on the trapezoidal platform, and a lidar is arranged at the top of the column through a pan-tilt; a lifting rod is arranged above the mobile base, a rotating platform is arranged at the top of the lifting rod, extension rods are horizontally arranged outward on both sides of the rotating platform, and a camera group is rotatably arranged at the end of the extension rod; a call button is arranged at the top of the lifting rod. In the present invention, the lidar arranged through the pan-tilt measures and identifies the objects around the running route to provide assistance for autonomous driving; combined with a road recognition camera inclined downward, the perception of the actual environment is further improved; cooperating with the infrared induction probe arranged on the trapezoidal platform to sense animals and humans and then avoid them automatically, improving the adaptability to the movement of animals and personnel."

[0004] Although the prior art has disclosed a multi-functional safety inspection robot, there are still some deficiencies. Specifically, in the actual production operation process, the multi-functional safety inspection robot has problems working in the complex environments of subway platforms and depots. Subway platforms and depots usually have characteristics such as narrow spaces, complex structures, and high passenger flow densities. This requires the inspection robot to not only have accurate positioning and navigation capabilities but also be able to flexibly avoid obstacles in crowded environments to ensure the safety of passengers and equipment. There are a wide variety of equipment in subway platforms and depots, including multiple systems such as signal systems and power supply systems, and each system has its specific inspection requirements and standards. Although the inspection robots in the prior art have certain recognition and measurement capabilities, when facing these complex and diverse equipment, they may not be able to provide sufficiently detailed and accurate inspection data, thus affecting the accuracy of decision-making. Therefore, in view of the actual needs of subway platforms and depots, it is particularly important to develop a robot that can overcome the deficiencies of the prior art and has multi-mode inspection capabilities. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-mode inspection robot applied to subway platforms and depots to solve the problems raised in the prior art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A multi-mode inspection robot applied to subway platforms and depots, the multi-mode inspection robot includes a housing, drive structures are installed on both sides of the housing, a fixing structure is installed below the drive structures, a cleaning structure is installed inside the housing, a sealing structure is installed on one side of the cleaning structure, a power supply is installed inside the housing, and an infrared T-shaped pan-tilt is installed on one side of the housing. The drive structures are responsible for providing the necessary power to enable the robot to move stably on different surfaces. The fixing structure ensures the stability and durability of the drive structures and at the same time provides additional support points. The cleaning structure can clean the surrounding environment during the inspection process. The sealing structure is used to seal the internal structure of the housing. The power supply ensures that the robot will not stop working due to energy exhaustion during long-term inspection tasks. The infrared T-shaped pan-tilt can capture environmental images and data in real time, providing rich visual and data information for the inspection, the perception ability and data collection ability of the robot.

[0007] The drive structure includes a first motor. Four first motors are installed at the four corners on the side of the housing. A connecting shell is sleeved on the output shaft of the first motor. A first moving joint is installed inside the connecting shell. The first motor is rotationally connected to the first moving joint. Two mounting plates are installed on one side of the first moving joint. A rotating shaft is installed between the two mounting plates. The rotating shaft is rotationally connected to the two mounting plates. A second moving joint is sleeved on the rotating shaft. The second moving joint is rotationally connected to the rotating shaft. The first motor provides drive for the entire multi-mode inspection robot.

[0008] The fixed structure includes a sleeve. One side of the sleeve is provided with a protrusion. The sleeve is connected to one side of the second moving joint. A piston rod is installed inside the sleeve. The piston rod is slidably connected to the sleeve. One side of the piston rod is provided with a protrusion. The inside of the piston rod is a hollow structure. A buffer spring is sleeved outside the piston rod. A rubber pad is installed on one side of the piston rod. The function of the buffer spring is to provide buffering during movement, reduce impact, and ensure the smoothness of movement. The rubber pad material has good elasticity and shock absorption performance, and can effectively absorb vibration and impact.

[0009] The cleaning structure includes a second motor. The second motor is connected to the upper side of the inner wall of the housing. A rotating disk is installed on one side of the output shaft of the second motor. The rotating disk is rotatably connected to the second motor. A protrusion is provided on the side surface of the rotating disk. A groove is formed on the inner wall of the housing. The protrusion on the rotating disk cooperates with the groove on the housing. A fixing block is installed below the rotating disk. Two second mounting plates are installed below the fixing block. A third motor is installed on the second mounting plates. A third moving joint is installed between the two second mounting plates. The output shaft of the third motor is connected to the third moving joint. Two third mounting plates are installed on one side of the third moving joint. A fourth motor is installed on one side of the third mounting plates. A fourth moving joint is installed on one side of the third mounting plates. A groove is provided on one side of the fourth moving joint. A manipulator is installed in the groove. A fifth motor is installed on one side of the fourth moving joint. The fifth motor is connected to the manipulator. The second motor is used to drive the rotation of the cleaning structure. The third motor and the fourth motor are used to drive the movement of the third moving joint and the fourth moving joint. The fifth motor is used to drive the movement of the manipulator.

[0010] The sealing structure includes a sixth motor. The sixth motor is located on the inner wall of the housing. A gear is installed on the output shaft of the sixth motor. A fourth mounting plate is installed on the lower side of the housing. The fourth mounting plate, a moving plate is installed on the fourth mounting plate. A rack is installed on the moving plate. The gear is meshed with the rack. A waste bin is installed below the fourth mounting plate. A through hole is formed on one side of the waste bin. A fixing plate is installed on one side of the fourth mounting plate. A fifth mounting plate is installed on the fixing plate. The fifth mounting plate is located on the inner wall of the housing. Grooves are provided on both sides of the waste bin. A protrusion is provided on one side of the fifth mounting plate. The grooves on the waste bin cooperate with the protrusions on the fifth mounting plate. The sealing structure is used to seal the mechanical components inside the housing. The sixth motor is used to drive the rotation of the gear. The gear drives the movement of the rack to drive the opening and closing of the moving plate. The waste bin is a detachable structure, which is convenient for quick replacement and cleaning.

[0011] The compression structure includes a compression chamber, which is installed on a fixed plate. There is a through hole on one side of the compression chamber, and the through hole on the compression chamber coincides with the through hole on the waste bin. A first cylinder is installed on one side of the compression chamber. The first cylinder is located below the fourth mounting plate. A first compression plate is installed on the push rod of the first cylinder. The first compression plate is an L-shaped plate. A second cylinder is installed on one side of the compression chamber. A second compression plate is installed on the push rod of the second cylinder. The first cylinder is used to push the first compression plate to send foreign objects into the inner side of the compression chamber and close the compression chamber. The second cylinder is used to push the second compression plate to move. The first compression plate and the second compression plate cooperate to compress foreign objects.

[0012] A power supply is installed on the inner wall of the housing. A suction pump is installed on one side of the power supply. The suction pump is connected to the rubber pad and the compression chamber through pipelines. The power supply is a device that can be repeatedly charged. The power supply provides power for the entire device to ensure the normal operation of the equipment. The suction pump is connected to the rubber pad through a pipeline to extract the gas inside the rubber pad to ensure stability in the fixed state. The suction pump extracts the gas in the sealed chamber composed of the compression chamber, the fourth mounting plate, and the first compression plate during the compression process, facilitating more complete compression of foreign objects.

[0013] An infrared T-shaped cloud platform is installed above the housing. A temperature and humidity sensor is installed on one side of the infrared T-shaped cloud platform. Two solid-state lidar sensors are installed on one side of the housing. The infrared T-shaped cloud platform is mainly used to provide high-definition visible light images and infrared functions, supporting accurate imaging under low-light conditions in stations and transportation hubs to facilitate accurate identification by recognition algorithms. The solid-state lidar sensors are used to realize laser environment perception, used to construct a high-precision regional map, support obstacle detection and path planning. The temperature and humidity sensor is used to detect the temperature and humidity in the subway platform environment in real time.

[0014] An autonomous navigation software, a cloud platform optoelectronic system, an environment perception system, and an anomaly identification and alarm software are set in the control system of the multi-mode inspection robot. The autonomous navigation software is an intelligent navigation control software developed specifically for the four-legged robot to move autonomously in stations and transportation hubs. It has sensitive environment perception and excellent multi-environment adaptation capabilities, stable map construction and dynamic high-precision positioning capabilities, helping managers better use and operate the robot. The anomaly identification and alarm software is used to meet the detection and early warning requirements for inspections of platforms, concourses, and entrances and exits in two modes before the station opens and closes. It accurately identifies and judges various inspection items such as PIS screens, the opening and closing of platform screen doors, the brightness and darkness of indicator light advertising screens, personnel target detection, guiding signs, garbage targets, elevator operating status, and environmental detection, and outputs an abnormal state warning to trigger the alarm function.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The inspection robot can be stably fixed on an inclined plane through a fixed structure, adapt to various complex terrains, maintain the overall stability of the device during the cleaning process, prevent slipping, and improve the operation efficiency and safety.

[0017] 2. The inspection robot sends the collected foreign objects into the compression bin for compression storage. The air pump extracts the gas in the compression bin to make the compression more sufficient, reduces the storage volume of the foreign objects, enables the inspection robot to clean more foreign objects, reduces the frequency of manually replacing the waste bin, and improves the inspection efficiency.

[0018] 3. The inspection robot uses a variety of sensors to be able to detect the humidity and temperature of the subway platform and yard environment in real time. Through a variety of intelligent software, the inspection robot realizes precise navigation and environment perception, ensures the efficient operation of the inspection robot, discovers and alarms abnormal states in a timely manner, and improves the safety and intelligent management level of subway operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of the present invention;

[0020] Figure 2 is a bottom view of the present invention;

[0021] Figure 3 is a perspective view of the internal structure of the housing of the present invention;

[0022] Figure 4 is a sectional view of the present invention;

[0023] Figure 5 is a perspective view of the cleaning structure of the present invention;

[0024] Figure 6 is a sectional view of the fixed structure of the present invention;

[0025] Figure 7 is a perspective view of the compression structure of the present invention.

[0026] In the figure: 1. Housing; 2. Driving structure; 201. Motor 1; 202. Connecting housing; 203. Moving joint 1; 204. Mounting plate 1; 205. Rotating shaft; 206. Moving joint 2; 3. Fixing structure; 301. Sleeve; 302. Piston rod; 303. Buffer spring; 304. Rubber pad; 4. Cleaning structure; 401. Motor 2; 402. Rotating disk; 403. Fixed block; 404. Mounting plate 2; 405. Moving joint 3; 406. Motor 3; 407. Motor 4; 408. Mounting plate 3; 409. Moving joint 4; 410. Motor 5; 411. Manipulator; 5. Sealing structure; 501. Motor 6; 502. Gear; 503. Moving plate; 504. Mounting plate 4; 505. Waste bin; 506. Mounting plate 5; 507. Rack; 508. Fixed plate; 6. Power supply; 7. Air extraction pump; 8. Compression structure; 801. Compression chamber; 802. Cylinder 1; 803. Compression plate 1; 804. Cylinder 2; 805. Compression plate 2; 9. Infrared T-shaped pan-tilt; 10. Solid-state lidar; 11. Temperature and humidity sensor. Detailed implementation manners

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] Please refer to Figures 1-7 , the present invention provides a technical solution: A multi-mode inspection robot applied to subway platforms and depots. The multi-mode inspection robot includes a housing 1, driving structures 2 are installed on both sides of the housing 1, a fixing structure 3 is installed below the driving structure 2, a cleaning structure 4 is installed inside the housing 1, a sealing structure 5 is installed on one side of the cleaning structure 4, a power supply 6 is installed inside the housing 1, and an infrared T-shaped pan-tilt 9 is installed on one side of the housing 1. The driving structure 2 is responsible for providing necessary power to enable the robot to move stably on different surfaces. The fixing structure 3 ensures the stability and durability of the driving structure 2 and provides additional support points at the same time. The cleaning structure 4 can clean the surrounding environment during the inspection process. The sealing structure 5 is used to seal the internal structure of the housing 1. The power supply 6 ensures that the robot will not stop working due to energy depletion during a long inspection task. The infrared T-shaped pan-tilt 9 can capture environmental images and data in real time, providing rich visual and data information for the inspection, the perception ability and data collection ability of the robot.

[0029] The driving structure 2 includes a first motor 201. Four first motors 201 are installed at the four corners on the side of the housing 1. A connecting housing 202 is sleeved on the output shaft of the first motor 201. A first motion joint 203 is installed inside the connecting housing 202. The first motor 201 is rotationally connected to the first motion joint 203. Two first mounting plates 204 are installed on one side of the first motion joint 203. A rotating shaft 205 is installed between the two first mounting plates 204. The rotating shaft 205 is rotationally connected to the two first mounting plates 204. A second motion joint 206 is sleeved on the rotating shaft 205. The second motion joint 206 is rotationally connected to the rotating shaft 205. The first motor 201 provides drive for the entire multi-mode inspection robot.

[0030] The fixing structure 3 includes a sleeve 301. A protrusion is provided on one side of the sleeve 301. The sleeve 301 is connected to one side of the second motion joint 206. A piston rod 302 is installed inside the sleeve 301. The piston rod 302 is slidably connected to the sleeve 301. A protrusion is provided on one side of the piston rod 302. The inside of the piston rod 302 is a hollow structure. A buffer spring 303 is sleeved on the outside of the piston rod 302. A rubber pad 304 is installed on one side of the piston rod 302. The function of the buffer spring 303 is to provide buffering during movement, reduce impact, and ensure the smoothness of movement. The material of the rubber pad 304 has good elasticity and shock absorption performance, and can effectively absorb vibration and impact.

[0031] The cleaning structure 4 includes a second motor 401. The second motor 401 is connected to the upper side of the inner wall of the housing 1. A rotating disk 402 is installed on one side of the output shaft of the second motor 401. The rotating disk 402 is rotationally connected to the second motor 401. A protrusion is provided on the side of the rotating disk 402. A groove is formed on the inner wall of the housing 1. The protrusion on the rotating disk 402 cooperates with the groove on the housing 1. A fixing block 403 is installed below the rotating disk 402. Two second mounting plates 404 are installed below the fixing block 403. A third motor 406 is installed on the second mounting plates 404. A third motion joint 405 is installed between the two second mounting plates 404. The output shaft of the third motor 406 is connected to the third motion joint 405. Two third mounting plates 408 are installed on one side of the third motion joint 405. A fourth motor 407 is installed on one side of the third mounting plates 408. A fourth motion joint 409 is installed on one side of the third mounting plates 408. A groove is provided on one side of the fourth motion joint 409. A mechanical arm 411 is installed in the groove. A fifth motor 410 is installed on one side of the fourth motion joint 409. The fifth motor 410 is connected to the mechanical arm 411. The second motor 401 is used to drive the rotation of the cleaning structure 4. The third motor 406 and the fourth motor 407 are used to drive the movement of the third motion joint 405 and the fourth motion joint 409. The fifth motor 410 is used to drive the movement of the mechanical arm 411.

[0032] The sealing structure 5 includes a motor six 501 which is located on the inner wall of the housing 1. A gear 502 is installed on the output shaft of the motor six 501. A mounting plate four 504 is installed on the lower side of the housing 1. A moving plate 503 is installed on the mounting plate four 504. A rack 507 is installed on the moving plate 503. The gear 502 is meshed with the rack 507. A waste bin 505 is installed below the mounting plate four 504. A through hole is opened on one side of the waste bin 505. A fixing plate 508 is installed on one side of the mounting plate four 504. A mounting plate five 506 is installed on the fixing plate 508. The mounting plate five 506 is located on the inner wall of the housing 1. Grooves are provided on both sides of the waste bin 505. A protrusion is provided on one side of the mounting plate five 506. The groove on the waste bin 505 is matched with the protrusion on the mounting plate five 506. The sealing structure 5 is used to seal the mechanical components inside the housing 1. The motor six 501 is used to drive the gear 502 to rotate. The gear 502 drives the rack 507 to move to drive the opening and closing of the moving plate 503. The waste bin 505 is a detachable structure, which is convenient for quick replacement and cleaning.

[0033] The compression structure 8 includes a compression chamber 801 which is installed on the fixing plate 508. A through hole is provided on one side of the compression chamber 801. The through hole on the compression chamber 801 coincides with the through hole on the waste bin 505. A cylinder one 802 is installed on one side of the compression chamber 801. The cylinder one 802 is located below the mounting plate four 504. A compression plate one 803 is installed on the push rod of the cylinder one 802. The compression plate one 803 is an L-shaped plate. A cylinder two 804 is installed on one side of the compression chamber 801. A compression plate two 805 is installed on the push rod of the cylinder two 804. The cylinder one 802 is used to push the compression plate one 803 to send foreign objects into the inner side of the compression chamber 801 and close the compression chamber 801. The cylinder two 804 is used to push the compression plate two 805 to move. The compression plate one 803 and the compression plate two 805 cooperate to compress foreign objects.

[0034] A power source 6 is installed on the inner wall of the housing 1. An air extraction pump 7 is installed on one side of the power source 6. The air extraction pump 7 is connected through a pipeline rubber pad 304. The power source 6 is a rechargeable device. The power source 6 provides power for the whole device to ensure the normal operation of the equipment. The air extraction pump 7 is connected to the rubber pad 304 through a pipeline to extract the gas in the rubber pad 304 to ensure the stability in the fixed state.

[0035] Above the housing 1, an infrared T-shaped pan-tilt 9 is installed. On one side of the infrared T-shaped pan-tilt 9, a temperature and humidity sensor 11 is installed. On one side of the housing 1, two solid-state lidar 10 are installed. The infrared T-shaped pan-tilt 9 is mainly used to provide high-definition visible light images and infrared functions, support accurate imaging under low-light conditions in stations and transportation stations, so as to facilitate accurate identification by the recognition algorithm. The solid-state lidar 10 realizes laser environment perception, is used to construct a high-precision map of the area, supports obstacle detection and path planning. The temperature and humidity sensor 11 is used to detect the temperature and humidity in the subway platform environment in real time.

[0036] In the control system of the multi-mode inspection robot, there are autonomous navigation software, pan-tilt optoelectronic system, environment perception system, and anomaly identification and alarm software. The autonomous navigation software is an intelligent navigation control software developed specifically for quadruped robots to move autonomously in stations and transportation stations. It has sensitive environment perception and excellent multi-environment adaptation ability, stable map construction and dynamic high-precision positioning ability, helping managers better use and operate the robot; the anomaly identification and alarm software is used to meet the detection and early warning requirements for inspections of platforms, concourses, and entrances and exits in two modes before the station opens and closes. It accurately identifies and judges inspection items such as PIS screens, the opening and closing of platform door rolling shutters, the brightness and darkness of indicator light advertising screens, personnel target detection, guiding signs, garbage targets, elevator operating status, and environmental detection, and outputs an abnormal status warning to trigger the alarm function.

[0037] The working principle of the present invention: Before the multi-mode inspection robot works, it first constructs a high-precision map of the subway platform and yard section through the autonomous navigation software, adds points to be inspected on the map, such as platform doors, LED screens, access corridors, and rolling shutters. Then turn on the power supply 6, and the control system controls the operation of the first motor 201. The first motor 201 drives the first moving joint 203 and the second moving joint 206 to move forward. The multi-mode inspection robot moves along the planned route. The two solid-state lidar 10 detect pedestrians and obstacles around the multi-mode inspection robot during its operation and take measures to avoid obstacles. Before the station opens, the multi-mode inspection robot scans the display screens, LED advertising screens, lighting fixtures, platform doors, etc. along the route in turn. The infrared T-shaped pan-tilt 9 and the anomaly identification and alarm software cooperate to provide high-definition visible light images and infrared functions. If a fault is found, it is reported to the vehicle control room in time. The temperature and humidity sensor 11 detects the temperature and humidity of the platform and concourse in real time.

[0038] During the inspection process, if the anomaly identification and alarm software detects toilet paper balls, plastic bags, etc. on the ground, the control system controls the drive structure 2 to move the housing 1 above the foreign object. The rubber pad 304 contacts the ground, and the air pump 7 extracts the gas inside the rubber pad 304 through a pipeline to stably fix the multi-mode inspection robot. The motor six 501 operates to drive the gear 502 to rotate, the gear 502 drives the rack 507 to move, and the rack 507 drives the moving plate 503 to move. The lower part of the housing 1 of the multi-mode inspection robot opens. The control system controls the operation of the motor two 401, motor three 406, motor four 407, and motor five 410. The motor two 401, motor three 406, motor four 407, and motor five 410 cooperate to move the manipulator 411 above the foreign object. The manipulator 411 operates to clamp the foreign object and send it into the compression bin 801. The cylinder one 802 operates to push the compression plate one 803 to move, and the compression plate one 803 pushes the foreign object to move inside the compression bin 801. The compression bin 801, the mounting plate four 504, and the compression plate one 803 form a sealed chamber. The air pump 7 operates to extract the gas in the sealed chamber to facilitate the compression of the foreign object. The cylinder two 804 operates to push the compression plate two 805 to move, and the compression plate two 805 cooperates with the compression plate one 803 to compress the foreign object. The cylinder one 802 operates to retract the compression plate one 803, and the cylinder two 804 operates to push the foreign object into the waste bin 505 for storage. The motor two 401, motor three 406, motor four 407, and motor five 410 cooperate to retract the entire cleaning structure 4 into the housing 1. The motor six 501 operates to drive the moving plate 503 to move to seal the housing 1. After the waste bin 505 is full, it is cleaned and replaced by the operator.

[0039] Before the station is closed, the multi-mode inspection robot again follows the planned route to check the LED advertising screen, the opening and closing of the platform door rolling shutter, the brightness and darkness of the indicator advertising screen, the detection of personnel targets, the guiding signs, the garbage targets, the operating status of the elevator, and the environmental detection, etc., and outputs an abnormal status warning to trigger the alarm function. After the detection is completed, it moves to the charging pile for charging.

[0040] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A multi-mode inspection robot used in subway platforms and yards, characterized by: The multi-mode inspection robot comprises a shell (1), drive structures (2) are installed on both sides of the shell (1), a fixing structure (3) is installed below the drive structure (2), a cleaning structure (4) is installed inside the shell (1), a sealing structure (5) is installed on one side of the cleaning structure (4), a compression structure (8) is installed on one side of the cleaning structure (4), a power supply (6) is installed on the inside of the shell (1), and an infrared T-shaped pan-tilt head (9) is installed on one side of the shell (1).

2. A multi-mode inspection robot for subway platforms and sections according to claim 1, characterized in that: The driving structure (2) comprises a motor (201), four motors (201) are mounted on the four corners of the side of the housing (1), a connecting shell (202) is sleeved on the output shaft of the motor (201), a moving joint (203) is mounted inside the connecting shell (202), the motor (201) is rotatably connected to the moving joint (203), two mounting plates (204) are mounted on one side of the moving joint (203), a rotating shaft (205) is mounted between the two mounting plates (204), the rotating shaft (205) is rotatably connected to the two mounting plates (204), a moving joint (206) is sleeved on the rotating shaft (205), and the moving joint (206) is rotatably connected to the rotating shaft (205).

3. A multi-mode inspection robot for subway platforms and sections according to claim 2, characterized in that: The fixed structure (3) comprises a sleeve (301), one side of the sleeve (301) is provided with a protrusion, the sleeve (301) is connected to one side of the second motion joint (206), a piston rod (302) is installed on the inner side of the sleeve (301), the piston rod (302) is slidably connected to the sleeve (301), one side of the piston rod (302) is provided with a protrusion, the inner side of the piston rod (302) is a hollow structure, the outer side of the piston rod (302) is sleeved with a buffer spring (303), and one side of the piston rod (302) is installed with a rubber pad (304).

4. The multi-mode inspection robot used in subway platforms and sections according to claim 3 is characterized by: The cleaning structure (4) comprises a second motor (401), the second motor (401) being connected to the upper side of the inner wall of the housing (1), a rotating disk (402) being mounted on one side of the output shaft of the second motor (401), the rotating disk (402) being rotatably connected to the second motor (401), a protrusion being arranged on the side of the rotating disk (402), a groove being provided on the inner wall of the housing (1), the protrusion on the rotating disk (402) being matched with the groove on the housing (1), a fixing block (403) being mounted below the rotating disk (402), two second mounting plates (404) being mounted below the fixing block (403), and a third motor (404) being mounted on the second mounting plate (404). 406), a motion joint 3 (405) is installed between the two mounting plates 2 (404), the output shaft of the motor 3 (406) is connected to the motion joint 3 (405), two mounting plates 3 (408) are installed on one side of the motion joint 3 (405), a motor 4 (407) is installed on one side of the mounting plate 3 (408), a motion joint 4 (409) is installed on one side of the mounting plate 3 (408), a groove is provided on one side of the motion joint 4 (409), a manipulator (411) is installed in the groove, a motor 5 (410) is installed on one side of the motion joint 4 (409), and the motor 5 (410) is connected to the manipulator (411).

5. The multi-mode inspection robot used in subway platforms and sections according to claim 4, characterized in that: The sealing structure (5) comprises a motor six (501), the motor six (501) being located on the inner wall of the housing (1), a gear (502) being mounted on the output shaft of the motor six (501), a mounting plate four (504) being mounted on the lower side of the housing (1), a moving plate (503) being mounted on the mounting plate four (504), a rack (507) being mounted on the moving plate (503), the gear (502) being meshingly connected with the rack (507), and the mounting plate four (504) being mounted on the moving plate four (504). A waste bin (505) is installed below plate four (504), a through hole is opened on one side of the waste bin (505), a fixing plate (508) is installed on one side of the mounting plate four (504), a mounting plate five (506) is installed on the fixing plate (508), the mounting plate five (506) is located on the inner wall of the shell (1), grooves are arranged on both sides of the waste bin (505), a protrusion is arranged on one side of the mounting plate five (506), and the groove on the waste bin (505) matches with the protrusion on the mounting plate five (506).

6. A multi-mode inspection robot for subway platforms and sections according to claim 5, characterized in that: The compression structure (8) comprises a compression bin (801), wherein the compression bin (801) is mounted on a fixed plate (508), a through hole is provided on one side of the compression bin (801), and the through hole on the compression bin (801) coincides with the through hole on the waste bin (505), a cylinder one (802) is mounted on one side of the compression bin (801), and the cylinder one (802) is located below the mounting plate four (504), a compression plate one (803) is mounted on the push rod of the cylinder one (802), and the compression plate one (803) is an L-shaped plate, a cylinder two (804) is mounted on one side of the compression bin (801), and a compression plate two (805) is mounted on the push rod of the cylinder two (804).

7. The multi-mode inspection robot used in subway platforms and sections according to claim 6, characterized in that: A power source (6) is installed on the inner wall of the housing (1), and an air pump (7) is installed on one side of the power source (6). The air pump (7) is connected to the rubber pad (304) and the compression chamber (801) through a pipeline.

8. The multi-mode inspection robot used in subway platforms and yards according to claim 7, characterized in that: An infrared T-shaped platform (9) is installed above the shell (1), a temperature and humidity sensor (11) is installed on one side of the infrared T-shaped platform (9), and two solid-state laser radars (10) are installed on one side of the shell (1).

9. The multi-mode inspection robot used in subway platforms and sections according to claim 8, characterized in that: The control system of the multi-mode inspection robot is provided with autonomous navigation software, a pan-tilt photoelectric system, an environmental perception system and abnormality identification and alarm software.

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