Railway transponder intelligent inspection robot and control system thereof

Abstract

The invention relates to the technical field of railway transponders, and discloses a railway transponder intelligent inspection robot and a control system thereof.The railway transponder intelligent inspection robot comprises a walking chassis, and a multi-mode detection module is installed on the walking chassis and used for detecting a transponder; the walking chassis comprises a frame, two mounting seats fixedly mounted on the frame, rotary driving assemblies arranged on the corresponding mounting seats, connecting pieces mounted at the driving ends of the corresponding rotary driving assemblies and driving wheel assemblies mounted at one ends of the connecting pieces, the driving wheel assemblies can clamp a rail, the frame moves along the rail, and the driving wheel assemblies can drive the frame to move along the rail. When a track which cannot be clamped is encountered, the rotating driving device can drive the connecting piece to rotate, so that the driving wheel assembly is attached to the ground, the frame moves along the ground through the driving wheel assembly, then the transponder is detected through the multi-mode detection module, and the problems that in the prior art, time and labor are wasted in routing inspection of the interval transponder, and the routing inspection efficiency is high are solved. And the efficiency is not high.

Description

Technical Field

[0001] The present invention relates to the technical field of railway balises, and particularly to an intelligent inspection robot for railway balises and its control system. Background Art

[0002] During the high-speed operation of trains, balises, as key components of the CTCS train control system, effectively ensure the reliable transmission of information between trains and ground equipment. However, due to the very high train running speed, the installation position of balises has a great impact on the strength of the wireless signals transmitted between trains and ground equipment. Therefore, the railway department has strict specifications and requirements for the installation position of balises between the two rails. Thus, faults in balises will directly affect the operation safety of trains and need to be promptly investigated and handled.

[0003] Regular inspection of balises is very important for ensuring the operation safety of railway lines and the normal operation of signal systems. Through regular inspection and maintenance, it can be ensured that balise equipment works stably for a long time and avoid the adverse effects of faults on train operation safety. At present, the main operation method for railway inspection in China is manual inspection on the track during the "skylight period". The main inspections include abnormal appearance of balises, abnormal position, whether the installation bolts at various places are tightened, and whether there are coverings (such as stones, metal parts and other sundries) on the surface of balises.

[0004] Hardware faults of balises refer to faults of the balises themselves, which are commonly seen in the balises being damaged by external impacts, such as being accidentally damaged by construction workers during construction, being impacted by ice cubes falling from the moving train body in winter, damage to the tail cable of active balises, and interference from the external electromagnetic environment, etc., resulting in abnormal operation of the balises.

[0005] During the inspection process of balises, the method of manual inspection on the track during the "skylight period" is still mostly adopted. Especially for the inspection of balises in the section, it is time-consuming and laborious, and the efficiency is not high. Therefore, there is an urgent need for an intelligent inspection robot that can move autonomously and integrate multi-dimensional detection functions. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems existing in the prior art, and to propose an intelligent inspection robot for railway balises and its control system.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions: An intelligent inspection robot for railway balises, including a walking chassis, on which a multi-modal detection module is installed for detecting balises; The walking chassis includes a frame, two mounting seats fixedly installed on the frame, a rotary drive assembly arranged on the corresponding mounting seat, and a drive wheel assembly installed at the drive end of the corresponding rotary drive assembly. The two drive wheels are symmetrically arranged for driving the walking chassis to move on the track.

[0008] Preferably, the rotation drive assembly includes a groove formed on one side of the mounting base, a rotation drive device fixedly installed on the mounting base, and a rotating rod rotatably installed in the groove and connected to the drive end of the rotation drive device. The rotating rod is connected to the drive wheel assembly through a connecting rod assembly.

[0009] Preferably, the connecting rod assembly includes two rod bodies rotatably connected by a rotating shaft. One of the rod bodies is connected to the drive wheel assembly, and the other rod body is fixedly connected to the outside of the rotating rod through a servo motor. The drive end of the servo motor is fixedly connected to the rod body. Limit blocks for restricting the end positions of the drive wheel assembly are installed on both sides of the mounting base.

[0010] Preferably, the drive wheel assembly includes a pulley seat provided at the end of the corresponding rod body, a pulley groove formed on one side of the pulley seat, and a plurality of pulleys rotatably installed in the pulley groove. A pulley drive assembly is installed above the pulley seat. The pulley drive assembly includes a rotating motor provided on the pulley seat and a speed reducer provided at the drive end of the rotating motor. The drive end of the speed reducer is in transmission connection with a plurality of pulleys through a transmission gear assembly.

[0011] Preferably, a base is installed on one side of the pulley seat. An installation groove is formed on one side of the base, and an electromagnet is installed in the installation groove.

[0012] Preferably, two card slots are installed on both sides of the base. A protective plate is installed on the base through the card slots for protecting the electromagnet.

[0013] Preferably, a balance detection assembly is installed above the frame. An electric slide rail is also installed on the frame, and a balance slider is slidably installed at the drive end of the electric slide rail.

[0014] Preferably, the multi-modal detection module is installed on the top of the frame and includes: A binocular vision camera for collecting the appearance image of the transponder to detect cracks, rust, and surface coverings; A laser displacement sensor for measuring the inclination angle of the transponder installation plane and geometric dimension deviation; A high-frequency antenna array for scanning the electromagnetic signal intensity and frequency of the transponder; An obstacle avoidance system including radars and vision sensors arranged in the front and back of the frame, which triggers a voice warning and transmits an image to the background when detecting foreign objects on the track.

[0015] Preferably, the multi-modal detection module is installed on the frame through a robotic arm.

[0016] A control system for an intelligent inspection robot for railway transponders, using an intelligent inspection robot for railway transponders, including: A walking control module for controlling the movement of the inspection robot on the railway track; A multi-modal detection control module for controlling the multi-modal detection module to detect the transponder; A data processing module for receiving the acquisition data of the multi-modal detection module, processing the data, and judging the status of the transponder; A communication module for uploading the analysis data to the cloud platform.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, by clamping the track with the driving wheel assembly, the whole device can move along the track. According to the shape and height of the track, the rotating driving device can drive the connecting rod assembly to rotate, adjust the height and angle of the driving wheel assembly, and adapt to the track shape. During the walking process, the multi-modal detection module is used to detect the transponder. Compared with the prior art, the present invention provides an intelligent inspection robot for railway transponders that can walk autonomously along a single track, integrates mechanical adjustment and multi-modal detection, solves the problems of low efficiency of manual inspection and single detection dimension, and adapts to complex track environments. Description of the Drawings

[0018] Figure 1 A three-dimensional schematic diagram of an intelligent inspection robot for railway transponders and its control system proposed by the present invention; Figure 2 A schematic diagram of the mounting seat of an intelligent inspection robot for railway transponders and its control system proposed by the present invention; Figure 3 A schematic diagram of the pulley seat of an intelligent inspection robot for railway transponders and its control system proposed by the present invention; Figure 4 A schematic block diagram of the principle of an intelligent inspection robot control system for railway transponders proposed by the present invention; Figure 5 A schematic diagram of the execution principle of an intelligent inspection robot control system for railway transponders proposed by the present invention.

[0019] In the figure: 1, frame; 2, mounting seat; 3, connecting rod assembly; 4, groove; 5, rotating driving device; 6, rotating rod; 7, pulley seat; 8, pulley groove; 9, pulley; 10, rotating motor; 11, reducer; 12, base; 13, mounting groove; 14, electromagnet; 15, balance detection component; 16, electric slide rail; 17, balance slider; 18, robotic arm; 19, limit block; 26, card slot; 27, protective plate. Detailed Embodiments

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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.

[0021] Referring to Figures 1 to 5 , an intelligent inspection robot for railway balises, comprising a walking chassis, on which a multi-modal detection module is installed for detecting balises; The walking chassis includes a frame 1, two mounting seats 2 fixedly installed on the frame 1, a rotary drive assembly disposed on the corresponding mounting seat 2, and a drive wheel assembly installed at the driving end of the corresponding rotary drive assembly. The two drive wheels are symmetrically arranged for driving the walking chassis to move on the track.

[0022] When this device is in use, by clamping the track with the drive wheel assembly, the whole device can be made to move along the track. According to the shape and height of the track, the connecting rod assembly 3 can be driven to rotate by the rotary drive device 5 to adjust the height and angle of the drive wheel assembly to adapt to the track shape. During the walking process, the balises are detected by the multi-modal detection module. Compared with the prior art, the present invention provides an intelligent inspection robot for railway balises that can autonomously walk along a single track, integrate mechanical adjustment and multi-modal detection, solves the problems of low efficiency of manual inspection and single detection dimension, and adapts to complex track environments.

[0023] Furthermore, the rotary drive assembly includes a groove 4 opened on one side of the mounting seat 2, a rotary drive device 5 fixedly installed on the mounting seat 2, and a rotating rod 6 rotatably installed in the groove 4 and connected to the driving end of the rotary drive device 5. The rotating rod 6 is connected to the drive wheel assembly through a connecting rod assembly 3. The connecting rod assembly 3 includes two rod bodies rotatably connected by a rotating shaft. One of the rod bodies is connected to the drive wheel assembly, and the other rod body is fixedly connected to the outside of the rotating rod 6 through a servo motor. The driving end of the servo motor is fixedly connected to the rod body. Limiting blocks 19 for limiting the end positions of the drive wheel assembly are installed on both sides of the mounting seat 2. The limiting blocks 19 can limit the positions of the left and right sides of the drive wheel assembly. The rotary drive device 5 uses a rotary motor 10, which can rotate the whole drive wheel assembly to adjust the angle of the pulley. The servo motor can rotate the connecting rod assembly 3, so that under the action of the rotating shaft and the limiting blocks 19, the whole drive wheel assembly moves up and down. Here, it should be noted that the limiting blocks 19 enclose both sides of the mounting seat 2, Figure 1 The open design in

[0024] Furthermore, the driving wheel assembly includes a pulley seat 7 arranged at the end of the corresponding rod body, a pulley groove 8 opened on one side of the pulley seat 7 and a plurality of pulleys 9 rotatably installed in the pulley groove 8. A pulley driving assembly is installed above the pulley seat 7. The pulley driving assembly includes a rotating motor 10 arranged on the pulley seat 7 and a reducer 11 arranged at the driving end of the rotating motor 10. The driving end of the reducer 11 is connected to the plurality of pulleys 9 through a transmission gear wheel assembly. The reducer 11 can be driven by the rotating motor 10, and the transmission gear assembly is driven by the reducer 11 to drive the corresponding pulley 9 to rotate, so as to drive the frame 1 to move along the rail railway.

[0025] The transmission gear assembly includes a driving gear arranged at the driving end of the reducer 11, the driving gear is fixedly connected to one of the pulleys 9, and a driven gear is installed on one side of the remaining pulleys 9. The driving gear can drive the driven gear through the transmission gear to drive the remaining pulleys 9 to move in the same direction, driving the frame 1 to move. This transmission gear assembly is a prior art and will not be described in detail here.

[0026] Furthermore, a base 12 is installed on one side of the pulley seat 7, and a mounting groove 13 is opened on one side of the base 12. An electromagnet 14 is installed in the mounting groove 13. The electromagnet 14 is set and generates a strong magnetic field after being energized, so that the robot can be firmly adsorbed on the surface of the steel structure (i.e., the rails), and remain stable in unstable environments such as vibration and strong wind, ensuring the precise operation of sensors and cameras.

[0027] Furthermore, two card slots 26 are installed on both sides of the base 12, and a protective plate 27 is installed on the base 12 through the card slots 26 to protect the electromagnet 14. Insert blocks are provided on both sides of the protective plate 27. The material of the insert block is hard plastic. The insert block is L-shaped, so that one end of the insert block is clamped in the card slot 26 to limit the protective plate 27. The protective plate 27 can protect the electromagnet 14 when it is not in use.

[0028] Furthermore, a balance detection component 15 is installed above the frame 1, and an electric slide rail 16 is also installed on the frame 1. A balance slider 17 is slidably installed on the driving end of the electric slide rail 16. Through the set balance detection component 15, it can be detected whether the frame 1 is offset when the track railway moves. When the inclination angle is greater than 5°, the displacement compensation of the balance slider 17 is automatically triggered, and the balance slider 17 is driven to move by the electric slide rail 16 to avoid the risk of rollover.

[0029] The balance detection component 15 is an electronic gyroscope, which is a prior art and will not be described in detail here.

[0030] In this embodiment, the multi-modal detection module is installed on the top of the frame 1 by a four-degree-of-freedom robotic arm 18. The end of the four-degree-of-freedom robotic arm 18 is equipped with a quick-release detection module. Angle encoders are integrated at the joints of the robotic arm 18 for precisely adjusting the detection height and horizontal angle. The quick-release interface at the end of the robotic arm 18 also supports expansion function modules (such as an infrared thermometer), including: A binocular vision camera, which is used to collect the appearance image of the transponder. Generally, it is at a height of 250 mm from the surface of the transponder. It cooperates with a ring-shaped fill light to collect the appearance image for detecting cracks, rust, and surface coverings; A laser displacement sensor, which is used to measure the tilt angle of the installation plane of the transponder and the geometric dimension deviation; A high-frequency antenna array, which is used to scan the electromagnetic signal intensity and frequency of the transponder; An obstacle avoidance system, including radars and vision sensors installed at the front and back of the frame 1. When detecting foreign objects on the track, it triggers a voice warning and transmits the captured image back to the background; An intelligent control unit: It includes a main control chip, a 5G / LoRa dual-mode communication module, and an edge computing module. The main control chip is connected to each sensor and runs image processing algorithms. The edge computing module analyzes the data in real time and generates an exception report.

[0031] Working principle: 1. The robot autonomously travels along the single track to the position of the target transponder, and the lidar and satellite positioning cooperate for positioning; 2. The robotic arm 18 adjusts the detection module to a height of 250 mm from the surface of the transponder, and the binocular vision camera collects the image and transmits it to the edge computing module; 3. The high-frequency antenna scans the signal intensity, and the laser displacement sensor measures the tilt angle of the installation plane (threshold ≤ 5°); 4. The edge computing module compares the reference picture with the real-time data. If the signal attenuation > 20% or the tilt angle exceeds the limit, it marks the abnormality and transmits it back to the monitoring center; 5. When encountering foreign objects on the track, the obstacle avoidance system triggers deceleration and stops, and uploads the captured image.

[0032] Furthermore, a control system for an intelligent inspection robot for railway transponders uses an intelligent inspection robot for railway transponders, including: A walking control module, which is used to control the movement of the inspection robot on the railway track; A multi-modal detection control module, which is used to control the multi-modal detection module to detect the transponder; A data processing module, which is used to receive the collected data from the multi-modal detection module and process the data to judge the state of the transponder; A communication module, which is used to upload the analyzed data to the cloud platform.

[0033] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. An intelligent inspection robot for railway balises, comprising a walking chassis, characterized in that: A multi-modal detection module is installed on the walking chassis for transponder detection; The walking chassis includes a frame, two mounting seats fixedly mounted on the frame, a rotating drive assembly arranged on the corresponding mounting seats, and a driving wheel assembly installed on the driving end of the corresponding rotating drive assembly. The two driving wheels are symmetrically arranged to drive the walking chassis to move on the track.

2. The intelligent inspection robot for railway balises according to claim 1, wherein: The rotary drive assembly includes a groove opened on one side of the mounting seat, a rotary drive device fixedly mounted on the mounting seat, and a rotating rod rotatably mounted in the groove and connected to the driving end of the rotary drive device. The rotating rod is connected to the driving wheel assembly through a connecting rod assembly.

3. The intelligent inspection robot for railway balises according to claim 2, wherein: The connecting rod assembly includes two rod bodies rotatably connected by a rotating shaft, one of the rod bodies is connected to the driving wheel assembly, and the other rod body is fixedly connected to the outer side of the rotating rod through a servo motor, and the driving end of the servo motor is fixedly connected to the rod body. Limit blocks for limiting the end position of the driving wheel assembly are installed on both sides of the mounting seat.

4. The intelligent inspection robot for railway balises according to claim 3, wherein: The driving wheel assembly includes a pulley seat arranged at the end of the corresponding rod body, a pulley groove opened on one side of the pulley seat and a plurality of pulleys rotatably installed in the pulley groove. A pulley driving assembly is installed above the pulley seat. The pulley driving assembly includes a rotating motor arranged on the pulley seat and a reducer arranged at the driving end of the rotating motor. The driving end of the reducer is connected to the plurality of pulleys through a transmission gear wheel assembly.

5. The intelligent inspection robot for railway balises according to claim 4, wherein: A base is installed on one side of the pulley seat, a mounting groove is opened on one side of the base, and an electromagnet is installed in the mounting groove.

6. The intelligent inspection robot for railway balises according to claim 5, wherein: Two card slots are installed on both sides of the base, and a protective plate is installed on the base through the card slots to protect the electromagnet.

7. The intelligent inspection robot for railway balises according to claim 6, wherein: A balance detection assembly is installed above the frame, and an electric slide rail is also installed on the frame. A balance slider is slidably installed on the driving end of the electric slide rail.

8. The intelligent inspection robot for railway balises according to claim 1, wherein: The multimodal detection module is installed on the top of the frame and includes: Binocular vision camera, used to collect images of the transponder appearance for detecting cracks, rust and surface coverings; Laser displacement sensor, used to measure the inclination angle and geometric dimension deviation of the transponder installation plane; A high-frequency antenna array for scanning the transponder's electromagnetic signal strength and frequency; The obstacle avoidance system, including radar and visual sensors installed in front and behind the frame, triggers voice warnings and transmits images back to the background when foreign objects are detected on the track.

9. A railway transponder intelligent inspection robot control system according to any one of claim 8, characterized in that: The multimodal detection module is mounted on the frame via a mechanical arm.

10. A control system for an intelligent inspection robot of railway balises, which uses an intelligent inspection robot of railway balises according to any one of claims 1-9, characterized in that: include: A walking control module is used to control the movement of the inspection robot on the rails; A multi-modal detection control module, used to control the multi-modal detection module to detect the transponder; A data processing module is used to receive the collected data from the multi-modal detection module, process the data, and determine the state of the transponder; The communication module is used to upload the analysis data to the cloud platform.

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