A patrol robot for subway stations

Abstract

This invention discloses an inspection robot for subway stations, comprising: a track-mounted mobile robot, a tunnel inspection camera, a door opening mechanism, a mounting slot, a station inspection mechanism, and an automatic charging device. The tunnel inspection camera is mounted on the top front side of the track-mounted mobile robot. The door opening mechanism is located at the top center of the track-mounted mobile robot, serving as a dedicated mechanism for opening subway platform doors and ensuring accurate opening of the platform doors. The station inspection mechanism is located within the cavity of the mounting slot, enabling automatic deployment of inspection equipment within the station. This inspection robot for subway stations, through an integrated carrier approach, achieves automatic control of platform door opening, deploys the inspection robot from within the tunnel, realizes real-time linkage between tunnel and platform inspections, promotes unmanned and intelligent subway inspections, and provides core technical support for the efficient operation and maintenance of urban rail transit.

Description

Technical Field

[0001] This invention relates to the field of subway technology, specifically to an inspection robot for subway stations. Background Technology

[0002] Subway stations are comprehensive transportation hubs integrating technologies from multiple fields. They adopt modular building designs, with underground stations using deep foundation pits to resist ground pressure, and above-ground stations using lightweight steel structures to reduce land occupation while taking into account earthquake resistance and noise reduction requirements. Communication signals are based on the CBTC system. In terms of operation and services, the AFC system supports facial recognition and QR code payment, and the platform doors and train doors are linked for control. Environmental control is achieved by the HVAC system to dynamically adjust temperature and humidity and link with sensors for ventilation. Security relies on intelligent cameras, AI behavior analysis and fire alarm systems for monitoring. The emergency system is equipped with lighting, evacuation signs and escape routes, thus constructing a safe and efficient transportation hub framework.

[0003] In existing technologies, subway station inspections are based on manual inspections, supplemented by some automated equipment. Manual inspections mainly rely on staff to periodically check platform facilities, station hall environments, and key parts of tunnels, recording data through visual observation and handheld instrument measurements. This approach suffers from low efficiency, high costs, and safety risks. As for automated equipment, tunnel inspections often use track-mounted mobile robots equipped with high-definition cameras and infrared sensors to collect images and environmental data, enabling basic detection of tunnel cracks and foreign objects. However, their functionality is limited, as they can only move along fixed tracks and cannot intervene in platform equipment. Platform inspections introduce wheeled autonomous navigation robots that use LiDAR to build maps and combine them with cameras to detect the integrity of facilities. However, these robots often need to be placed manually on the platform and lack data linkage with the tunnel inspection system. Overall, they are still in a stage of segmented automation and data silos, which is insufficient to meet the high-efficiency operation and maintenance needs of subways operating at high density. Summary of the Invention

[0004] The purpose of this invention is to provide an inspection robot for subway stations to at least solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an inspection robot for subway stations, comprising:

[0006] Track-based mobile robot;

[0007] A tunnel inspection camera is installed on the top front side of the track-mounted mobile robot, and the tunnel inspection camera is electrically connected to the track-mounted mobile robot;

[0008] The door opening mechanism is located at the top center of the track-mounted mobile robot. The door opening mechanism is a dedicated mechanism for opening subway platform doors, ensuring that the platform doors open accurately.

[0009] The mounting slot is provided at the rear top of the track-mounted mobile robot;

[0010] The station inspection mechanism is installed inside the mounting slot, and the station inspection mechanism can realize the automatic deployment of inspection equipment inside the station.

[0011] An automatic charging device is installed on top of the track-mounted mobile robot and located on the left side of the mounting slot. The automatic charging device is electrically connected to the track-mounted mobile robot.

[0012] Preferably, the door opening mechanism includes: a bottom box-shaped outer shell, an outward-folding electric door, a landing platform, a drone, a small robotic arm, and an execution component; the bottom box-shaped outer shell is fixedly installed at the top center of the track-mounted mobile robot; the outward-folding electric door is installed at the top of the bottom box-shaped outer shell, and the outward-folding electric door is electrically connected to the track-mounted mobile robot; the landing platform is installed in the inner cavity of the bottom box-shaped outer shell, and the landing platform is electrically connected to the track-mounted mobile robot; the drone is placed on the upper surface of the landing platform, and the drone is remotely network-connected to the track-mounted mobile robot; the small robotic arm is installed at the bottom of the drone, and the small robotic arm is electrically connected to the drone; the execution component is located at the rear side of the moving end of the small robotic arm.

[0013] Preferably, the actuating components include: a tank housing, a first electric suction cup, a first motor, a rotating arm, a second electric suction cup, a first electric telescopic rod, a square housing, and a vision sensor; the tank housing is fixedly installed on the right side of the moving end of the small robotic arm along the vertical direction; there are two first electric suction cups, which are respectively installed on the front and rear sides of the bottom right side of the tank housing, and the first electric suction cups are electrically connected to the drone; there are two first motors, which are respectively installed on the front and rear sides of the top left side of the tank housing, and the first motors are electrically connected to the drone; one end of the rotating arm is rotatably connected to the inner side of the tank housing via a rotating shaft. At the top front and rear sides, the rotating ends of the two first motors extend into the inner side of the tank shell and are connected to the axis of the rotating arm; there are two second electric suction cups, which are respectively installed at the other end of the front and rear rotating arms, and the second electric suction cups are electrically connected to the drone; the first electric telescopic rod is installed in the middle left side of the tank shell, and the telescopic end of the first electric telescopic rod extends from the middle tank body of the tank shell to the right side, and the first electric telescopic rod is electrically connected to the drone; a square shell is installed on the right side of the telescopic end of the first electric telescopic rod; a vision sensor is installed at the top of the square shell, and the vision sensor is electrically connected to the drone.

[0014] Preferably, the actuating component further includes: a socket, a first grooved rod, a first connecting pin, a touch head, a fixing seat, a second grooved rod, a grooved seat, a miniature electric telescopic rod, and a second connecting pin; the socket is embedded in the bottom right side of the square housing and communicates with the inner cavity of the square housing; the first grooved rod is inserted into the inner cavity of the socket along the left-right direction, and a groove is formed on the left side of the first grooved rod; the first connecting pin is installed inside the groove on the left side of the first grooved rod; the touch head is installed at the right end of the first grooved rod; the fixing seat is fixedly installed on the left side of the bottom end of the inner cavity of the square housing; one end of the second grooved rod is rotated via a pivot. The second groove rod is connected to the inner side of the fixed base. A through groove is formed in the middle of the second groove rod. The first connecting pin is inserted into the inner cavity of the groove of the second groove rod. The groove seat is installed at the other end of the second groove rod. Grooves are formed at both the front and rear ends of the inner side of the groove seat. The miniature electric telescopic rod is installed at the top of the inner cavity of the square shell. The miniature electric telescopic rod is electrically connected to the UAV. There are two second connecting pins. The two second connecting pins are respectively installed on the front and rear sides of the telescopic end of the miniature electric telescopic rod. The two second connecting pins are respectively inserted into the inner cavity of the groove on the front and rear sides of the groove seat.

[0015] Preferably, the station inspection mechanism includes: a first roller frame, a trough frame, a second electric telescopic rod, a third electric telescopic rod, a slot frame, a second roller frame, a ramp, and a fourth electric telescopic rod; there are two first roller frames, which are respectively installed on the front and rear sides of the bottom of the mounting slot in the left-right direction; the trough frame is inserted into the inner side of the front and rear first roller frames in the left-right direction; there are two second electric telescopic rods, which are respectively installed on the front and rear sides of the bottom of the mounting slot in the left-right direction and located on the front and rear sides of the inner side of the front and rear first roller frames, the telescopic ends of the two second electric telescopic rods are connected to the front and rear sides of the bottom of the trough frame, and the second electric telescopic rods are electrically connected to the track-moving robot; there are two third ... The third electric telescopic rod is installed at both ends of the inner side of the slot frame in a left-right direction, and is electrically connected to the track-moving robot. The slot frame is located above the slot frame, and the telescopic ends of the two third electric telescopic rods are connected to the front and rear sides of the bottom end of the slot frame. There are two second roller frames, which are installed at the front and rear sides of the bottom end of the slot frame in a left-right direction, and are respectively inserted into the slots at both ends of the inner side of the slot frame. The ramp is located on the right side of the inner cavity of the slot frame. There are two fourth electric telescopic rods, which are installed at both ends of the left side of the inner cavity of the slot frame in a left-right direction, and the telescopic ends of the two fourth electric telescopic rods are connected to the front and rear ends of the left side of the ramp through a pivot seat. The fourth electric telescopic rod is electrically connected to the track-moving robot.

[0016] Preferably, the station inspection mechanism further includes: a rotating plate, a fifth electric telescopic rod, a connecting rod, a slot seat, a telescopic frame, a fixed suction cup, a sixth electric telescopic rod, a magnetic clamp, and an inspection robot; the rotating plate is rotatably mounted on the bottom right middle part of the slot frame via a rotating shaft seat; there are two fifth electric telescopic rods, each rotatably mounted on the bottom of the slot frame via a rotating shaft seat and located at the front and rear ends on the left side of the rotating plate, and the fifth electric telescopic rods are electrically connected to the track-moving robot; there are two connecting rods, one end of each connecting rod is rotatably connected to the telescopic ends of the front and rear fifth electric telescopic rods via a rotating shaft, and the other ends of each connecting rod are connected to the front and rear sides of the rotating plate. The connecting rod is V-shaped; the slot seat is fixedly installed on the bottom right side of the rotating plate; the telescopic frame is inserted into the inside of the slot seat; there are four fixed suction cups, which are respectively installed at the four right corners of the telescopic frame; the sixth electric telescopic rod is installed at the bottom of the slot seat, and the telescopic end of the sixth electric telescopic rod is connected to the left side of the telescopic frame, and the sixth electric telescopic rod is electrically connected to the track-moving robot; the magnetic clamp is installed at the top left middle of the slot frame, and the magnetic clamp is electrically connected to the track-moving robot; the inspection robot is placed on the upper surface of the slot frame, and the left side of the inspection robot can be magnetically fixed to the magnetic clamp, and the inspection robot and the track-moving robot are remotely network connected.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. A track-mounted robot moves along the subway's internal tracks according to the station route. Tunnel inspection cameras collect image information from inside the subway tunnel. When the track-mounted robot reaches the station, an outward-opening electric door drone takes off from the landing platform and moves to the platform door control switch position. A small robotic arm drives the touch head in the execution component to move and align with the control switch based on coordinate information. The first motors on both sides drive the second electric suction cups at corresponding positions to rotate inward or outward, so that the rotating arms on both sides drive the second electric suction cups to adhere and fix them to the space above the control switch surface, thus fixing the entire outer shell of the slot to the control switch surface. The first electric telescopic rod drives the square shell to make the touch head contact the control switch. The miniature electric telescopic rod drives the second connecting pin to move along the inner cavity of the slot seat, so that the slot seat drives the slot seat to rotate to the right inside the fixed seat, thereby causing the first connecting pin to move along the inner cavity of the second slot rod and drive the first slot rod to move to the right along the inner cavity of the insert seat, so as to drive the touch head to press and trigger the control switch, thus opening the subway platform door.

[0019] 2. The second electric telescopic rod drives the slot frame to perform the first stage of telescopic translation, and the third electric telescopic rod drives the slot frame to perform the second stage of telescopic translation, so that the slot frame extends from the platform door into the platform. The fifth electric telescopic rod extends and drives the connecting rod to rotate the rotating plate downward to a vertical position. The sixth electric telescopic rod drives the telescopic frame to move downward and fix the fixed suction cup to the ground to achieve the support function of the slot frame. The fourth electric telescopic rod drives the ramp to extend from the inner cavity of the slot frame to the right. The ramp rotates downward around the pivot seat at the connection position with the fourth electric telescopic rod and forms a slope after contacting the ground. The magnetic suction fixer releases the magnetic fixation of the inspection robot, so that the inspection robot moves along the surface of the slot frame and the ramp to the inside of the subway platform for inspection.

[0020] This integrated approach enables automatic control of platform door opening, deploys inspection robots from inside the tunnel, and achieves real-time linkage between tunnel and platform inspections. This promotes unmanned and intelligent subway inspections and provides core technical support for the efficient operation and maintenance of urban rail transit. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the operation of the present invention;

[0022] Figure 2 for Figure 1 An exploded image of an inspection robot;

[0023] Figure 3 for Figure 2 Exploded view of the door opening mechanism;

[0024] Figure 4 for Figure 3 Exploded view of the execution components;

[0025] Figure 5 for Figure 4 Enlarged view of point A;

[0026] Figure 6 for Figure 2 Exploded view of the execution components;

[0027] Figure 7 for Figure 6 Enlarged view of point B.

[0028] In the diagram: 1. Track-mounted mobile robot; 2. Tunnel inspection camera; 3. Door opening mechanism; 31. Bottom box-shaped outer shell; 32. Outward-opening electric door; 33. Lifting and lowering platform; 34. Drone; 35. Small robotic arm; 4. Actuating component; 41. Tank shell; 42. First electric suction cup; 43. First motor; 44. Rotating arm; 45. Second electric suction cup; 46. First electric telescopic rod; 47. Square shell; 48. Vision sensor; 49. Insertion socket; 410. First tank rod; 411. First connecting pin; 412. Touch head; 413. Fixing base; 414. Second tank rod; 41 5. Tank base; 416. Miniature electric telescopic rod; 417. Second connecting pin; 5. Mounting slot; 6. Station inspection mechanism; 61. First roller frame; 62. Tank frame; 63. Second electric telescopic rod; 64. Third electric telescopic rod; 65. Slot frame; 66. Second roller frame; 67. Slope plate; 68. Fourth electric telescopic rod; 69. Rotating plate; 610. Fifth electric telescopic rod; 611. Connecting rod; 612. Slot base; 613. Telescopic frame; 614. Fixed suction cup; 615. Sixth electric telescopic rod; 616. Magnetic fixing device; 617. Inspection robot; 7. Automatic charging equipment. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Please see Figures 1-7This invention provides a technical solution: an inspection robot for subway stations, comprising: a track-mounted mobile robot 1, a tunnel inspection camera 2, a door opening mechanism 3, a mounting slot 5, a station inspection mechanism 6, and an automatic charging device 7. The track-mounted mobile robot 1 adopts a track-type mobile platform, with a built-in lithium battery to power the internal electrical components electrically connected to it. It is equipped with a PLC controller and a main control system to coordinate the linkage operation of sub-devices. It has data storage and wireless transmission functions, and can upload the information collected by each device to the subway monitoring center in real time. As the basic mobile carrier of the overall equipment, it travels along a preset track inside the subway tunnel and automatically stops according to the planned route of the station. The tunnel inspection camera 2 is installed on the top front side of the track-mounted mobile robot 1, and is electrically connected to the track-mounted mobile robot 1. The tunnel inspection camera 2 is an industrial-grade high-definition inspection camera equipped with infrared night vision function, and collects data in real time as it moves with the track-mounted mobile robot 1. The system collects internal tunnel image information, uses a built-in algorithm to initially identify and mark abnormal areas, providing accurate positioning for subsequent manual verification, and transmits image data in real time to the storage module of the track-mounted mobile robot 1 to ensure traceability of inspection records. The door opening mechanism 3 is located at the top center of the track-mounted mobile robot 1. As a dedicated mechanism for opening subway platform doors, the door opening mechanism 3 ensures accurate opening of the platform doors. The mounting slot 5 is located at the rear of the top of the track-mounted mobile robot 1. The station inspection mechanism 6 is located inside the mounting slot 5 and can automatically deploy inspection equipment inside the station. The automatic charging device 7 is installed at the top of the track-mounted mobile robot 1 and located on the left side of the mounting slot 5. The automatic charging device 7 is electrically connected to the track-mounted mobile robot 1 and provides automatic charging for the inspection robot 617. When the inspection robot 617 returns to the storage state, the internal drive module of the automatic charging device 7 drives the charging connector to automatically connect to its charging port.

[0031] As a preferred option, further, such as Figure 3As shown, the door opening mechanism 3 includes: a bottom box-type outer shell 31, an outward-folding electric door 32, a landing platform 33, a drone 34, a small robotic arm 35, and an execution component 4. The bottom box-type outer shell 31 is fixedly installed at the top center of the track-mounted mobile robot 1. The outward-folding electric door 32 is installed at the top of the bottom box-type outer shell 31 and is electrically connected to the track-mounted mobile robot 1. The outward-folding electric door 32 is a double-opening electric flip door equipped with two sets of DC servo motors. When fully open, it is flush with the top of the bottom box-type outer shell 31, and it remains closed under normal conditions to protect the internal equipment. The landing platform 33 is installed inside the bottom box-type outer shell 31 and is electrically connected to the track-mounted mobile robot 1. The landing platform 33 has a built-in fixing device 4, and the platform surface is equipped with charging contacts as needed. The drone 34 automatically... The docking and power supply provide a stable reference plane for the drone 34 to park and take off. The drone 34 is placed on the upper surface of the take-off and landing platform 33. The drone 34 and the track-based mobile robot 1 are remotely connected via network. The drone 34 is a compact indoor drone equipped with a real-time positioning and navigation module, obstacle avoidance sensors, and supports 5G / Wi-Fi dual-mode communication. It has an internal PLC control module and main control system to coordinate the linkage operation of sub-devices. The small robotic arm 35 is installed at the bottom of the drone 34 and is electrically connected to the drone 34. The small robotic arm 35 is a lightweight multi-degree-of-freedom robotic arm. It adjusts the spatial attitude of the actuator 4 through multi-degree-of-freedom rotation to ensure that the touch head 412 of the actuator is accurately aligned with the platform door control switch. The actuator 4 is located on the rear side of the moving end of the small robotic arm 35.

[0032] As a preferred option, further, such as Figure 4 and Figure 5As shown, the execution component 4 includes: a tank housing 41, a first electric suction cup 42, a first motor 43, a rotating arm 44, a second electric suction cup 45, a first electric telescopic rod 46, a square housing 47, a vision sensor 48, an insert base 49, a first tank rod 410, a first connecting pin 411, a touch head 412, a fixing base 413, a second tank rod 414, a tank base 415, a miniature electric telescopic rod 416, and a second connecting pin 417; the tank housing 41 is fixedly installed on the right side of the moving end of the small robotic arm 35 in the vertical direction; there are two first electric suction cups 42, which are respectively installed on the front and rear sides of the bottom right side of the tank housing 41, and the first electric suction cups 42 are electrically connected to the drone 34. The disc 42 uses a miniature vacuum suction cup and is equipped with a miniature vacuum pump, serving as the lower fixing point of the actuator 4. Two first motors 43 are installed on the front and rear sides of the top left side of the tank housing 41, respectively. The first motors 43 are electrically connected to the drone 34. The first motors 43 are high-precision servo motors equipped with Hall effect sensors for position feedback, driving the rotating arm 44 to rotate, thereby adjusting the spatial angle of the second electric suction cup 45, ensuring precise contact with the space above the switch surface. One end of the rotating arm 44 is rotatably connected to the front and rear sides of the top inner side of the tank housing 41 via a rotating shaft. The rotating ends of the two first motors 43 extend into the inner side of the tank housing 41 and are connected to the shaft of the rotating arm 44. The second electric... There are two suction cups 45. The two second electric suction cups 45 are respectively installed at the other end of the front and rear rotating arms 44. The second electric suction cups 45 are electrically connected to the drone 34. The first electric suction cup 42 is a miniature vacuum suction cup equipped with a miniature vacuum pump. It serves as the upper fixing point of the actuator 4, forming an upper and lower fixing structure with the first electric suction cup 42, which rigidly fixes the actuator 4 to the switch surface to ensure no displacement deviation during subsequent touch operations. The first electric telescopic rod 46 is installed in the middle left side of the outer shell 41. The telescopic end of the first electric telescopic rod 46 extends from the middle of the outer shell 41 to the right side. The first electric telescopic rod 46 is electrically connected to the drone 34. The first electric telescopic rod 46 is a miniature precision push rod. The horizontal drive component 7, after the execution component 4 is fixed, is extended by the drone 34, pushing the square housing 47 and the touch head 412 to the right until the touch head 412 contacts the surface of the control switch; the square housing 47 is installed on the right side of the telescopic end of the first electric telescopic rod 46; the vision sensor 48 is installed on the top of the square housing 47, and the vision sensor 48 is electrically connected to the drone 34. The vision sensor 48 uses a miniature vision module and is equipped with an AI image recognition chip as the visual positioning system of the execution component 4. It uses AI algorithms to identify the contours of the control switch, button positions and other features, calculates the target coordinates of the touch head 412 and transmits them to the drone 34, captures images of the operation process in real time, and feeds them back to the drone 34 for dynamic adjustment;The insert base 49 is embedded in the bottom right side of the square housing 47 and communicates with the inner cavity of the square housing 47; the first groove rod 410 is inserted into the inner cavity of the insert base 49 in the left-right direction, and a groove is opened on the left side of the first groove rod 410. The first groove rod 410 serves as the direct drive rod of the touch head 412 and slides along the inner cavity of the insert base 49; the left groove is connected to the second groove rod 414 through the first connecting pin 411, converting the rotational motion of the second groove rod 414 into its own linear motion; the first connecting pin 411 is installed inside the left groove of the first groove rod 410, and slides along its inner cavity when the second groove rod 414 rotates, transmitting the rotational force to the first groove rod 410. Axial thrust of 10; the touch head 412 is installed at the right end of the first slot rod 410, and the touch head 412 is made of silicone material to avoid scratching the switch surface; the fixing seat 413 is fixedly installed on the left side of the bottom of the inner cavity of the square housing 47, providing a rotation fulcrum for the second slot rod 414 to ensure its stable rotation around the fixed axis; one end of the second slot rod 414 is rotatably connected to the inner side of the fixing seat 413 through a rotating shaft, and a through slot is opened in the middle of the second slot rod 414. The first connecting pin 411 is inserted into the inner cavity of the slot of the second slot rod 414. The second slot rod 414 serves as the force transmission medium between the miniature electric telescopic rod 416 and the first slot rod 410, through the middle slot The body engages with the first connecting pin 411 to convert the rotational motion of the slot seat 415 into the linear motion of the first slot rod 410. The slot seat 415 is installed at the other end of the second slot rod 414. The inner side of the slot seat 415 has slots at both the front and rear ends. The slot seat 415 is a connecting component that connects the miniature electric telescopic rod 416 and the second slot rod 414. Through the sliding engagement of the slots on both sides with the second connecting pin 417, the linear extension and retraction of the miniature electric telescopic rod 416 is converted into its own rotational motion. The miniature electric telescopic rod 416 is installed at the top of the inner cavity of the square shell 47. The miniature electric telescopic rod 416 is electrically connected to the drone 34. The miniature electric telescopic rod 416 adopts... A miniature push rod, equipped with a limit switch to prevent overextension and overretraction, serves as the final driving force source for the touch head 412. During retraction, it pulls the slot base 415 to rotate via the second connecting pin 417. This rotation, transmitted through the second slot rod 414 and the first connecting pin 411, pushes the first slot rod 410 and the touch head 412 to the right. Two second connecting pins 417 are installed on the front and rear sides of the telescopic end of the miniature electric telescopic rod 416, respectively. The two second connecting pins 417 are inserted into the inner cavities of the slot base 415 on both sides, converting the linear motion of the miniature electric telescopic rod 416 into the rotational motion of the slot base 415.

[0033] As a preferred option, further, such as Figure 6 and Figure 7As shown, the station inspection mechanism 6 includes: a first roller frame 61, a trough frame 62, a second electric telescopic rod 63, a third electric telescopic rod 64, a slot frame 65, a second roller frame 66, a ramp 67, a fourth electric telescopic rod 68, a rotating plate 69, a fifth electric telescopic rod 610, a connecting rod 611, a slot seat 612, a telescopic frame 613, a fixed suction cup 614, a sixth electric telescopic rod 615, a magnetic clamp 616, and an inspection robot 617. There are two first roller frames 61, which are installed on the front and rear sides of the bottom of the inner cavity of the mounting groove 5 in a left-right direction. The first roller frames 61 serve as the primary sliding track of the trough frame 62, and the symmetrically distributed rollers inside reduce the coefficient of friction when the trough frame 62 moves horizontally. The trough frame 62 is inserted into the inner side of the two first roller frames 61 in the left-right direction. The trough frame 62 serves as the primary telescopic carrier of the station inspection mechanism 6. Driven by the second electric telescopic rod 63, it slides along the first roller frames 61, achieving the initial extension of the equipment from the installation trough 5 towards the platform. There are two second electric telescopic rods 63, installed in the bottom of the inner cavity of the installation trough 5 in the left-right direction and located at the front and rear ends of the inner side of the two first roller frames 61. The telescopic ends of the two second electric telescopic rods 63 are connected to the front and rear sides of the bottom end of the trough frame 62. The second electric telescopic rods 63 are electrically connected to the track-mounted mobile robot 1. The second electric telescopic rods 63 use a large-stroke drive push rod and are equipped with limit sensors. The telescopic rods 63 drive the slot frame 62 in pairs to achieve primary telescopic movement, with a stroke sufficient for the initial crossing from the track area to the platform door. Two third electric telescopic rods 64 are installed at the front and rear ends of the inner side of the slot frame 62, respectively, in the left-right direction. The third electric telescopic rods 64 are electrically connected to the track-mounted mobile robot 1. Each third electric telescopic rod 64 uses a large-stroke drive push rod and is equipped with a limit sensor to drive the slot frame 65 for secondary telescopic movement, cooperating with the second electric telescopic rods 63 to form an extension. The total telescopic stroke meets the distance requirement from the track to the platform interior. The slot frame 65 is positioned above the slot frame 62, with the telescopic ends of the two third electric telescopic rods 64 connected to the front and rear ends of the bottom of the slot frame 65. The slot frame 65 serves as a patrol... The direct support platform of the inspection robot 617 slides along the trough frame 62 under the drive of the third electric telescopic rod 64, which can transport the inspection robot 617 to the platform area; there are two second roller frames 66, which are installed on the front and rear sides of the bottom of the slot frame 65 in the left and right directions, respectively. The two second roller frames 66 are inserted into the slots at the front and rear ends of the inner side of the trough frame 62, respectively. The second roller frames 66 serve as guide components for the secondary telescopic movement, ensuring that the slot frame 65 moves linearly along the trough frame 62; the ramp 67 is set on the right side of the inner cavity of the slot frame 65. The surface of the ramp 67 is treated with anti-slip material. The ramp 67 serves as a transition channel for the inspection robot 617 from the slot frame 65 to the platform ground. It is controlled to unfold or retract by the fourth electric telescopic rod 68.There are two fourth electric telescopic rods 68, which are installed at the front and rear ends of the left side of the inner cavity of the slot frame 65, respectively, along the left-right direction. The telescopic ends of the two fourth electric telescopic rods 68 are connected to the front and rear ends of the left side of the ramp 67 through a pivot seat. The fourth electric telescopic rods 68 are electrically connected to the track-mounted mobile robot 1. The fourth electric telescopic rods 68 first extend themselves to push the ramp out of the inner cavity of the slot frame 65, and then rotate through the pivot seat to make the end of the ramp 67 contact the ground to form a slope. The rotating plate 69 is rotatably installed at the middle of the right side of the bottom end of the slot frame 65 through the pivot seat. There are two fifth electric telescopic rods 610. The fifth electric telescopic rod 610 is rotatably mounted on the bottom end of the slot frame 65 via a rotating shaft seat, and is located at the front and rear ends of the left side of the rotating plate 69. The fifth electric telescopic rod 610 is electrically connected to the track-mounted mobile robot 1. The fifth electric telescopic rod 610 drives the V-shaped connecting rod 611 through telescopic drive, causing the rotating plate 69 to complete a 90° rotation. There are two connecting rods 611. One end of the two connecting rods 611 is rotatably connected to the telescopic ends of the front and rear fifth electric telescopic rods 610 via a rotating shaft. The other ends of the two connecting rods 611 are connected to the front and rear sides of the rotating plate 69, respectively. The connecting rods 611 are V-shaped and convert the linear motion of the fifth electric telescopic rod 610 into linear motion. For the rotational movement of the rotating plate 69, the V-shaped structure of the connecting rod 611 amplifies the driving torque, ensuring that the rotating plate 69 can smoothly rotate under load. The slot seat 612 is fixedly installed on the bottom right side of the rotating plate 69. The telescopic frame 613 is inserted into the inside of the slot seat 612. Driven by the sixth electric telescopic rod 615, the telescopic frame 613 rises and falls along the slot seat 612, adjusting the height of the fixed suction cup 614 to adapt to different platform surfaces. There are four fixed suction cups 614, which are respectively installed at the four right corners of the telescopic frame 613. The sixth electric telescopic rod 615 is installed at the bottom of the slot seat 612, and the telescopic end of the sixth electric telescopic rod 615 is connected to the bottom of the slot seat 612. The telescopic frame 613 is connected to the left side, and the sixth electric telescopic rod 615 is electrically connected to the track-moving robot 1. The sixth electric telescopic rod 615 drives the telescopic frame 613 to descend and rise by extending and shortening its own telescopic end, so that the fixed suction cup 614 is in close contact with the ground. The magnetic suction holder 616 is installed at the middle of the left side of the top of the slot frame 65. The magnetic suction holder 616 is electrically connected to the track-moving robot 1. When the magnetic suction holder 616 is powered on, it generates magnetic force to attract the left side of the inspection robot 617, preventing the inspection robot 617 from slipping during the movement of the track-moving robot 1 or the extension and retraction of the station inspection mechanism 6. It is released immediately after the power is cut off, allowing the inspection robot 617 to move autonomously.Inspection robot 617 is placed on the upper surface of slot frame 65. The left side of inspection robot 617 can be magnetically fixed to magnetic fastener 616. Inspection robot 617 and track-mounted mobile robot 1 are remotely network connected. Inspection robot 617 is equipped with LiDAR, panoramic camera, temperature and humidity sensor, and gas sensor. It uses SLAM autonomous navigation to autonomously plan its inspection path, performing omnidirectional inspection of the platform area. The panoramic camera identifies the integrity of platform facilities, sensors monitor environmental parameters, and LiDAR constructs a platform map and detects foreign objects. Data is transmitted to track-mounted mobile robot 1 in real time.

[0034] Its detailed connection methods are well-known technologies in this field. The following mainly introduces the working principle and process, and the specific work is as follows:

[0035] Step 1: The track-mounted mobile robot 1 travels along the subway track according to the preset station route. During the journey, the built-in program automatically activates the tunnel inspection camera 2 to collect real-time images of the tunnel interior. Upon arrival at the station, the track-mounted mobile robot 1 enters the platform operation mode, controlling the outward-opening electric door 32 and the drone 34 to start. The outward-opening electric door 32 automatically opens, releasing the closure of the top of the bottom box-shaped outer shell 31 and revealing the top opening of the bottom box-shaped outer shell 31. The drone 34 takes off from the surface of the landing platform 33 and positions itself at the platform door control switch. The pre-programmed program inside the drone 34 controls the visual sensor 48, the small robotic arm 35, the first electric suction cup 42, the first motor 43, the second electric suction cup 45, the first electric telescopic rod 46, and the miniature electric telescopic rod 416 to start. The visual sensor 48 scans and identifies the control switch position, transmitting the coordinate data to the drone 34. The small robotic arm 35... 5. The coordinate-driven actuator 4 adjusts at multiple angles to align the touch head 412 with the switch. The first electric suction cup 42 is attached to the empty space below the switch. The first motors 43 on both sides drive the rotating arm 44 to rotate, so that the second electric suction cup 45 is firmly fixed above the switch, forming a stable fixation. After the fixation is completed, the first electric telescopic rod 46 pushes the square housing 47 to the right, so that the touch head 412 is close to the switch. The miniature electric telescopic rod 416 retracts and drives the second connecting pin 417 to move along the inner cavity of the slot seat 415. The second connecting pin 417 drives the slot seat 415 to rotate to the right inside the fixed seat 413, thereby causing the first connecting pin 411 to move along the inner cavity of the second slot rod 414. Through the linkage between the second slot rod 414 and the first connecting pin 411, the first slot rod 410 is pushed to the right along the insert seat 49, so as to drive the touch head 412 to press and trigger the control switch, thereby realizing the opening of the subway platform door.

[0036] Step 2: After the platform door opens, the pre-programmed control system of the track-mounted mobile robot 1 activates the automatic charging device 7, the second electric telescopic rod 63, the third electric telescopic rod 64, the fifth electric telescopic rod 610, the sixth electric telescopic rod 615, the fourth electric telescopic rod 68, the magnetic fastener 616, and the inspection robot 617. The automatic charging device 7 retracts its charging connector, disengaging from the charging port of the inspection robot 617. The second electric telescopic rod 63 extends, driving the slot frame 62 to move to the right along the inner side of the first roller frames 61 at both ends for the first stage of telescopic translation. The third electric telescopic rod 64 extends, driving the slot frame 65. The second roller frame 66 moves along the inner side of the slot frame 62, driving the slot frame 65 to move to the right for the second stage of telescopic translation, thus allowing the slot frame 65 to extend from the platform door into the platform. The fifth electric telescopic rod 610 extends, driving the connecting rod 611. One end rotates upward, causing the other end of the connecting rod 611 to drive the rotating plate 69 to rotate downward to a vertical position below the slot frame 65. The sixth electric telescopic rod 615 extends, driving the telescopic frame 613 to move downward inside the slot seat 612, and causing the telescopic frame 613 to drive the fixed suction cup 614 to contact the ground for fixation, thereby achieving the support function of the slot frame 65. The fourth electric telescopic rod 68 extends, driving the ramp 67 to extend to the right from the inner cavity of the slot frame 65. When the ramp 67 completely moves out of the slot frame 65, the ramp 67 rotates downward around the pivot seat at the connection position with the fourth electric telescopic rod 68. After the end of the ramp 67 contacts the ground, it naturally forms a slope. The magnetic suction fixer 616 is de-energized and releases the inspection robot 617. The inspection robot 617 moves into the platform along the channel formed by the slot frame 65 and the ramp 67 and begins autonomous inspection operations.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A patrol robot for a subway station, characterized by, Include: Track mobile robot (1); Tunnel inspection camera (2) is installed at the top front side of the track mobile robot (1), and the tunnel inspection camera (2) and the track mobile robot (1) are electrically connected; Door opening mechanism (3) is arranged in the middle of the top of the track mobile robot (1), the door opening mechanism (3) is used as a special mechanism for opening the subway platform door, and the precise opening of the platform door is ensured; Mounting groove (5) is opened in the top rear side of the track mobile robot (1); Station inspection mechanism (6) is arranged in the inner cavity of the mounting groove (5), and the station inspection mechanism (6) can realize automatic delivery of the internal inspection equipment of the station; Automatic charging device (7) is installed at the top of the track mobile robot (1) and located on the left side of the mounting groove (5), and the automatic charging device (7) and the track mobile robot (1) are electrically connected; The door opening mechanism (3) comprises: Bottom box type shell (31) is fixedly installed at the top of the track mobile robot (1); Outward turning electric door (32) is installed at the top of the bottom box type shell (31), and the outward turning electric door (32) and the track mobile robot (1) are electrically connected; Landing platform (33) is installed in the inner cavity of the bottom box type shell (31), and the landing platform (33) and the track mobile robot (1) are electrically connected; The unmanned aerial vehicle (34) is placed on the upper surface of the landing platform (33), and the unmanned aerial vehicle (34) and the track mobile robot (1) are remotely connected through a network; Small mechanical arm (35) is installed at the bottom of the unmanned aerial vehicle (34), and the small mechanical arm (35) and the unmanned aerial vehicle (34) are electrically connected; Execution component (4) is arranged at the rear side of the moving end of the small mechanical arm (35); The execution component (4) comprises: Groove shell (41) is fixedly installed at the right side of the moving end of the small mechanical arm (35) in the up-down direction; The number of first electric suction cups (42) is two, two first electric suction cups (42) are respectively installed at the right side bottom end of the groove shell (41), and the first electric suction cups (42) and the unmanned aerial vehicle (34) are electrically connected; The number of first motors (43) is two, two first motors (43) are respectively installed at the left side top end of the groove shell (41), and the first motors (43) and the unmanned aerial vehicle (34) are electrically connected; Rotary arm (44) is rotatably connected to the inner side top end of the groove shell (41) through a rotating shaft at one end, and the rotating end of the two first motors (43) extends into the inner side of the groove shell (41) and is connected with the shaft of the rotary arm (44); The number of second electric suction cups (45) is two, two second electric suction cups (45) are respectively installed at the other end of the front and rear rotary arms (44), and the second electric suction cups (45) and the unmanned aerial vehicle (34) are electrically connected; A first electric telescopic rod (46) is installed in the middle of the left side of the groove shell (41), and the telescopic end of the first electric telescopic rod (46) extends to the right side from the middle groove of the groove shell (41); the first electric telescopic rod (46) is electrically connected with the unmanned aerial vehicle (34); A square shell (47) is installed at the telescopic end of the right side of the first electric telescopic rod (46); A visual sensor (48) is installed at the top end of the square shell (47), and the visual sensor (48) is electrically connected with the unmanned aerial vehicle (34).

2. The inspection robot for a subway station according to claim 1, characterized in that: The execution component (4) further comprises: A plug-in cylinder seat (49) is embedded in the right bottom end of the square shell (47) and communicates with the inner cavity of the square shell (47); A first groove rod (410) is inserted into the inner cavity of the plug-in cylinder seat (49) in the left-right direction, and a groove is formed in the left side of the first groove rod (410); A first connecting pin (411) is installed in the left side groove of the first groove rod (410); A touch head (412) is installed at the right end of the first groove rod (410); A fixed seat (413) is fixedly installed at the inner cavity bottom left side of the square shell (47); A second groove rod (414) is rotatably connected to the inner side of the fixed seat (413) at one end, a groove extending through the front and back is formed in the middle of the second groove rod (414), and the first connecting pin (411) is inserted into the inner cavity of the groove of the second groove rod (414); A groove seat (415) is installed at the other end of the second groove rod (414), and grooves are formed at the front and back ends of the inner side of the groove seat (415); A micro electric telescopic rod (416) is installed at the inner cavity top end of the square shell (47), and the micro electric telescopic rod (416) is electrically connected with the unmanned aerial vehicle (34); Two second connecting pins (417) are installed at the front and back sides of the telescopic end of the micro electric telescopic rod (416), and the two second connecting pins (417) are respectively inserted into the inner cavities of the front and back grooves of the groove seat (415).

3. The inspection robot for a subway station according to claim 2, characterized in that: The station inspection mechanism (6) comprises: Two first roller frames (61) are installed at the inner cavity bottom front and back sides of the installation groove (5) in the left-right direction; A groove frame (62) is inserted into the inner side of the front and back first roller frames (61) in the left-right direction; Two second electric telescopic rods (63) are installed at the inner cavity bottom front and back sides of the installation groove (5) in the left-right direction and located at the inner side front and back ends of the front and back first roller frames (61), the telescopic ends of the two second electric telescopic rods (63) are connected with the bottom front and back sides of the groove frame (62), and the second electric telescopic rods (63) are electrically connected with the track mobile robot (1). Third electric telescopic rod (64), the number of third electric telescopic rods (64) is two, two third electric telescopic rods (64) are respectively installed in the left and right directions on the inner side of the front and rear ends of the groove frame (62), and the third electric telescopic rod (64) is electrically connected with the track moving robot (1); The slot frame (65) is arranged above the groove frame (62), and the telescopic ends of the two third electric telescopic rods (64) are connected with the bottom end of the slot frame (65) on the front and rear sides; Second roller frame (66), the number of second roller frames (66) is two, two second roller frames (66) are respectively installed on the bottom end of the front and rear sides of the slot frame (65), and two second roller frames (66) are respectively inserted with the inner side of the front and rear ends of the groove frame (62); The slope plate (67) is arranged in the inner cavity right side of the slot frame (65); Fourth electric telescopic rod (68), the number of fourth electric telescopic rods (68) is two, two fourth electric telescopic rods (68) are respectively installed in the left and right directions on the inner cavity left side of the front and rear ends of the slot frame (65), and the telescopic ends of the two fourth electric telescopic rods (68) are connected with the left side of the front and rear ends of the slope plate (67) through the shaft seat, and the fourth electric telescopic rod (68) is electrically connected with the track moving robot (1).

4. The inspection robot for a subway station according to claim 3, characterized in that: The station inspection mechanism (6) further comprises: Rotating plate (69), rotatingly installed on the bottom end right side of the slot frame (65) through the shaft seat; The number of fifth electric telescopic rods (610) is two, two fifth electric telescopic rods (610) are respectively rotatingly installed on the bottom end of the slot frame (65) and located on the left side of the front and rear ends of the rotating plate (69) through the shaft seat, and the fifth electric telescopic rod (610) is electrically connected with the track moving robot (1); The number of connecting rods (611) is two, one end of two connecting rods (611) is respectively rotatingly connected with the telescopic end of the front and rear fifth electric telescopic rods (610), the other end of two connecting rods (611) is respectively connected with the front and rear sides of the rotating plate (69), the slot seat (612) is fixedly installed on the bottom end right side of the rotating plate (69); Telescopic frame (613) is inserted in the inner side of the slot seat (612); The number of fixed suction cups (614) is four, four fixed suction cups (614) are respectively installed on the right side of the four corners of the telescopic frame (613); The sixth electric telescopic rod (615) is installed at the bottom of the slot seat (612), the telescopic end of the sixth electric telescopic rod (615) is connected with the left side of the telescopic frame (613), and the sixth electric telescopic rod (615) is electrically connected with the track moving robot (1).

5. The inspection robot for a subway station according to claim 4, characterized in that: The station inspection mechanism (6) further comprises: Magnetic fixing device (616) is installed on the top left side of the slot frame (65), and the magnetic fixing device (616) is electrically connected with the track moving robot (1); An inspection robot (617) is placed on the upper surface of the slot frame (65), and the left side of the inspection robot (617) can be magnetically and fixedly connected with a magnetic fixing device (616). The inspection robot (617) and the track moving robot (1) are remotely connected in network.

6. The inspection robot for a subway station according to claim 5, characterized in that: The connecting rod (611) is in the shape of a V.

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