Autonomous path planning subway passenger room door-pantograph unmanned aerial vehicle detection device

Abstract

The application discloses a subway passenger room door-pantograph unmanned aerial vehicle detection device capable of autonomous path planning, and relates to the technical field of unmanned aerial vehicle detection devices.The detection device comprises a detection mechanism and a protection mechanism.The protection mechanism comprises a set of protection plates, a cylindrical groove and a set of electromagnets.The surface of each protection plate is fixed with a first rectangular block.The top of each hole block is fixed with an L-shaped block.A set of first springs is fixed between each L-shaped block and the corresponding first rectangular block.The inside of the cylindrical groove is provided with a circular tube, a second spring and a connecting rod.Two installation seats with different shapes are arranged above the circular tube, and a conductive sheet is bonded to each installation seat.The surface of each protection plate is fixed with an embedded iron sheet.The protection mechanism can protect the infrared thermal imager collection end and the visible light camera collection end, thereby ensuring the imaging quality of the unmanned aerial vehicle detection device and improving the service life of the unmanned aerial vehicle detection device.

Description

Technical Field

[0001] This invention relates to the field of drone detection device technology, specifically a subway passenger compartment door-pantograph drone detection device with autonomous path planning capability. Background Technology

[0002] The drone inspection device is an integrated device that combines vision, laser, infrared and other sensing equipment, drones and intelligent recognition systems. It can collect and analyze information such as appearance, status and defects of targets through autonomous or remote-controlled flight. In the face of the complex structure of the pantograph on the doors and roof of subway passenger compartments and the scattered inspection points, it solves the problems of low efficiency, high safety risks and easy omissions in traditional manual inspections, as well as the lack of GPS signals in subway depots, thus improving inspection efficiency.

[0003] While existing drone inspection devices can be equipped with autonomous path planning modules to achieve unmanned remote-controlled inspection of subway passenger car doors and pantographs, effectively improving inspection efficiency, the infrared thermal imager and visible light camera acquisition ends on these devices are usually exposed and lack corresponding protection. When the drone is parked, transported, or moved within the warehouse, the acquisition ends are easily subject to accidental contact such as scratches or collisions from foreign objects, which can lead to scratches, wear, or even cracks on the lens surface, directly affecting its imaging quality and reducing the service life of the entire drone inspection device.

[0004] Therefore, we propose a UAV detection device for subway passenger compartment doors-pantographs with autonomous path planning capability to solve the problems mentioned in the background technology. Summary of the Invention

[0005] The purpose of this invention is to provide a subway passenger compartment door-pantograph drone detection device with autonomous path planning capability, in order to solve the problem mentioned in the background art that existing drone detection devices lack protection for their infrared thermal imager acquisition end and visible light camera acquisition end.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a subway passenger compartment door-pantograph unmanned aerial vehicle detection device capable of autonomous path planning, comprising a detection mechanism, wherein the detection mechanism includes a frame, a top cover and a placement box, and a protective mechanism is provided between the top cover and the placement box, the protective mechanism being used to protect the components; The protective mechanism includes a set of protective plates, a cylindrical groove, and a set of electromagnets. A first rectangular block is fixed to the surface of each protective plate, and a perforated block is movably fitted onto each protective plate. An L-shaped block is fixed to the top of each perforated block. A set of first springs is fixed between each L-shaped block and the corresponding first rectangular block. A second rectangular block is fixed to the middle position inside each perforated block. The second rectangular block is used to restrict the protective plate from moving out of the perforated block. A cylindrical groove contains a circular tube, a second spring, and a connecting rod. The second spring is located between the circular tube and the connecting rod. A base is fixed to the bottom of the circular tube. Two mounting seats of different shapes are provided above the circular tube, and a conductive sheet is adhered to each mounting seat. An iron sheet is fixedly embedded on the surface of each protective plate.

[0007] Preferably, the perforated blocks are fixed to the outer wall of the top cover, and a lever is fixed to the surface of each protective plate near the bottom. The cylindrical groove is pre-set at the bottom of the placement box, the inner wall of the cylindrical groove is in contact with the outer wall of the cylindrical tube, and the top of the base is in contact with the bottom of the placement box.

[0008] Preferably, the top end of the second spring is fixed to the top of the inner wall of the cylindrical groove, the bottom end of the second spring is fixed to the top of the base, the bottom end of the connecting rod is fixed to the top of the base, and the top end of the connecting rod movably passes through the top of the inner wall of the cylindrical groove and extends into the interior of the placement box.

[0009] Preferably, one of the mounting bases is fixed to the top of the connecting rod, and the other mounting base is fixed to the inner wall of the placement box. The centers of the two conductive sheets are on the same vertical line. A set of electromagnets are symmetrically installed on the inner wall of the top cover, and the magnetic end of each electromagnet moves through the inner wall of the top cover.

[0010] Preferably, each mounting end of the frame is equipped with a motor, the top of the frame is fixed with an elastic anti-collision ring, each motor output end is equipped with a propeller, the elastic anti-collision ring is used for propeller protection, and the top cover is installed with the placement box by screws.

[0011] Preferably, the top cover is fixed on the frame, the main control unit is installed inside the top cover, the mounting block and rectangular plate are installed inside the placement box, a visible light camera is installed on the mounting block, and the acquisition end face of the visible light camera is in contact with the surface of one of the protective plates.

[0012] Preferably, the acquisition end of the visible light camera moves through the inner wall of the placement box, and a communication module, an autonomous path planning module, and an inertial measurement unit are installed on the top of the rectangular plate, with the installation end of the communication module moving through the inner wall of the placement box.

[0013] Preferably, a lithium battery is adhered to the inner wall of the placement box near the bottom, and multiple limiting blocks are also fixed thereon. The limiting blocks are used to limit the left and right and front and back movement of the lithium battery. A lidar is installed on the inner wall of the placement box, and the detection end of the lidar moves through the inner wall of the placement box.

[0014] Preferably, a fixing frame is installed on the inner wall of the placement box, and an infrared thermal imager is installed inside the fixing frame. The acquisition end face of the infrared thermal imager is in contact with the surface of the protective plate, and the fixing frame is used to fix the infrared thermal imager on the placement box.

[0015] Preferably, the acquisition end of the infrared thermal imager moves through the inner wall of the placement box, a magnetometer is installed on the outer wall of the placement box, a barometer and a switch are respectively glued inside the two pre-reserved round holes on the placement box, and an antenna is installed at the transceiver end of the communication module.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, by setting up a protective mechanism, the infrared thermal imager acquisition end and the visible light camera acquisition end can be protected, thereby ensuring the imaging quality of the UAV detection device and improving the service life of the UAV detection device. Through the cooperation of the second spring, the weight of the entire UAV detection device, the connecting rod, the round tube and the mounting base, the two electromagnets connected in series can be automatically de-energized or energized when parked or raised. Through the cooperation of the first spring, the L-shaped block, the first rectangular block, the second rectangular block and the perforated block, the protective plate can be automatically reset after being moved. At the same time, through the cooperation of the energized electromagnet and the iron plate, the protective plate after being moved can be fixed.

[0017] 2. In this invention, by setting up a detection mechanism, autonomous path planning detection of subway car doors and pantographs can be achieved, thereby solving the problems of low efficiency, high safety risks and easy omissions in traditional manual inspections, and improving detection efficiency. Through the cooperation of the main control unit, lithium battery, motor, inertial measurement unit, magnetometer, barometer and propeller, the entire UAV detection device can be moved to a stable position.

[0018] 3. In this invention, by combining a visible light camera and an infrared thermal imager, image data of subway car doors and pantographs can be collected. By combining an autonomous path planning module and a lidar, it can actively avoid equipment on the roof of the subway car, ensuring flight safety. Attached Figure Description

[0019] Figure 1 This is a side-view perspective view of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention. Figure 2 This is a perspective view from below of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention. Figure 3 This is a top-view perspective view of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention. Figure 4 This is a partial perspective view from below of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention. Figure 5 This is a top-view perspective view of the detection mechanism of the autonomous path planning subway passenger compartment door-pantograph UAV detection device of the present invention. Figure 6 This is a side-view perspective view of the protective mechanism of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention. Figure 7 This is a partial sectional perspective view of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention. Figure 8 This is a perspective view of the protective mechanism of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention; Figure 9 This is a sectional perspective view of the protective mechanism of the subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability according to the present invention. Figure 10 This invention relates to a UAV detection device for subway passenger compartment doors and pantographs with autonomous path planning capability. Figure 7 Enlarged 3D view of the structure at point A in the middle.

[0020] In the diagram: 1. Detection mechanism; 101. Frame; 102. Motor; 103. Elastic anti-collision ring; 104. Propeller; 105. Top cover; 106. Placement box; 107. Main control unit; 108. Mounting block; 109. Visible light camera; 110. Rectangular plate; 111. Communication module; 112. Autonomous path planning module; 113. Inertial measurement unit; 114. Lithium battery; 115. Limiting block; 116. LiDAR; 117. Fixing frame; 118. Infrared thermal imager ; 119. Magnetometer; 120. Barometer; 121. Antenna; 122. Switch; 2. Protective mechanism; 201. Protective plate; 202. First rectangular block; 203. Perforated block; 204. L-shaped block; 205. First spring; 206. Second rectangular block; 207. Lever; 208. Cylindrical groove; 209. Base; 210. Round tube; 211. Second spring; 212. Connecting rod; 213. Mounting base; 214. Conductive sheet; 215. Electromagnet; 216. Iron sheet. Detailed Implementation

[0021] 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.

[0022] Example 1: Please refer to Figures 1-5 and Figure 7 As shown, the present invention provides a technical solution: a subway passenger compartment door-pantograph UAV detection device with autonomous path planning capability, including a detection mechanism 1. The detection mechanism 1 includes a frame 101, a top cover 105, and a placement box 106. Each mounting end of the frame 101 is equipped with a motor 102. An elastic anti-collision ring 103 is fixed to the top of the frame 101. A propeller 104 is installed at the output end of each motor 102. The elastic anti-collision ring 103 is used to protect the propeller 104. The top cover 105 and the placement box 106 are installed together by screws. The top cover 105 is fixed to the frame 101. A main control unit 107 is installed inside the top cover 105. An mounting block 108 and a rectangular plate 110 are installed inside the placement box 106. A visible light camera 109 is installed on the mounting block 108. The acquisition end of the visible light camera 109 moves through the inner wall of the placement box 106. A communication module 111 and an autonomous path planning module 11 are installed on the top of the rectangular plate 110. The mounting end of the inertial measurement unit 113 and the communication module 111 extends through the inner wall of the placement box 106. A lithium battery 114 is adhered to the inner wall of the placement box 106 near the bottom, and multiple limiting blocks 115 are also fixed thereon. The limiting blocks 115 are used to limit the left-right and back-forward movement of the lithium battery 114. A lidar 116 is installed on the inner wall of the placement box 106, and the detection end of the lidar 116 extends through the inner wall of the placement box 106. There is a mounting bracket 117, and an infrared thermal imager 118 is installed inside the mounting bracket 117. The mounting bracket 117 is used to fix the infrared thermal imager 118 to the placement box 106. The acquisition end of the infrared thermal imager 118 moves through the inner wall of the placement box 106. A magnetometer 119 is installed on the outer wall of the placement box 106. A barometer 120 and a switch 122 are respectively glued inside the two pre-reserved round holes on the placement box 106. An antenna 121 is installed at the transceiver end of the communication module 111.

[0023] In this embodiment, when it is necessary to inspect the subway car doors and pantographs, the maintenance personnel first set parameters on the ground control station console, such as selecting the train to be inspected, the inspection items (doors + pantographs), the inspection accuracy, and the priority. Then, the ground control station console system reads the 3D model of the train from the parameters and generates a globally pre-planned path. At the same time, the start button of the UAV inspection device switch 122 is pressed at the stopping position to power on the device and complete the self-test. Then, the ground control station console sends instructions to the main control unit 107 through the antenna 121 and the communication module 111. After receiving the instructions, the main control unit 107 will be powered by the lithium battery 114 and start all the ground motors 102, so that the starting ground motors 102 drive the propellers 104. The device rotates, and with the cooperation of the inertial measurement unit 113, barometer 120, and magnetometer 119, the entire UAV detection device is vertically and stably raised. Upon reaching a certain height, it pauses for 1-2 minutes to initialize and stabilize the components before entering cruise mode. When the UAV detection device flies towards the detection area next to the train, the main control unit 107, through the visible light camera 109, inertial measurement unit 113, and the computing unit within the main control unit 107, collects environmental features, builds a local map, and locks the relative position of the UAV detection device to the train. The main control unit 107 then sends the positioning results to the autonomous path planning module 112, allowing the UAV detection device to begin flying along the pre-planned route. The UAV detection device then begins its flight. The drone will fly at a constant altitude, distance, and speed along the side of the train car, and, in conjunction with a visible light camera 109 and a lidar 116, will sequentially perform multi-angle high-definition photography and laser scanning of each passenger compartment door. The collected status information data, including the door body, sealing strips, locking mechanisms, and door gaps, will be wirelessly transmitted to the ground control station via a communication module 111 and an antenna 121. Simultaneously, the corresponding positioning data for each door will also be transmitted to the ground control station. After all subway passenger doors have been inspected, the drone will autonomously climb along a planned path, actively avoiding rooftop equipment and flying to a safe area above the pantograph, in conjunction with the lidar 116 and an autonomous path planning module 112. When inspecting the pantograph area, the main control unit 107, in conjunction with the visible light camera 109, lidar 116, and infrared thermal imager 118, directly images, measures the temperature, and measures the thickness of the carbon sliding plate, pantograph head, frame, insulator, damper, and terminals on the pantograph. The collected data is then wirelessly transmitted to the ground control station console via the communication module 111 and antenna 121. Simultaneously, the corresponding positioning data for each pantograph is also transmitted to the ground control station console. Once the inspection data for both the subway passenger car door and the pantograph is transmitted to the ground control station console, the console system automatically identifies defects, marks their location, type, and severity level, and binds them to the train, door number, and pantograph location. A test report is then exported.Once the ground control station's operating console system confirms that all subway car doors and pantographs have completed inspection, the UAV inspection device, in conjunction with the autonomous path planning module 112, visible light camera 109, inertial measurement unit 113, the calculation unit in the main control unit 107, and lidar 116, will replan the optimal and safest return path based on the device's current position, obstacles within the depot, and its stopping position. The UAV inspection device will then return to its stopping position according to the newly set return path. After returning to its stopping position, press the off button on switch 122.

[0024] Example 2: According to Figures 1-10As shown, a protective mechanism 2 is provided between the top cover 105 and the placement box 106. The protective mechanism 2 is used to protect the components. The protective mechanism 2 includes a set of protective plates 201, a cylindrical groove 208, and a set of electromagnets 215. A first rectangular block 202 is fixed on the surface of each protective plate 201, and a perforated block 203 is movably sleeved on each protective plate 201. An L-shaped block 204 is fixed on the top of each perforated block 203. A set of first springs 205 is fixed between each L-shaped block 204 and the corresponding first rectangular block 202. A second rectangular block 206 is fixed in the middle of the interior of each perforated block 203. The second rectangular block 206 is used for... The protective plate 201 is restricted from moving out of the perforated block 203. The cylindrical groove 208 contains a cylindrical tube 210, a second spring 211, and a connecting rod 212. The second spring 211 is located between the cylindrical tube 210 and the connecting rod 212. A base 209 is fixed to the bottom of the cylindrical tube 210. Two differently shaped mounting seats 213 are provided above the cylindrical tube 210, and a conductive sheet 214 is adhered to each mounting seat 213. An iron sheet 216 is fixedly embedded on the surface of each protective plate 201. Multiple perforated blocks 203 are fixed to the outer wall of the top cover 105. A lever 207 is fixed near the bottom of the surface of each protective plate 201. The groove 208 is pre-set at the bottom of the placement box 106. The inner wall of the cylindrical groove 208 contacts the outer wall of the cylindrical tube 210. The top of the base 209 contacts the bottom of the placement box 106. The top of the second spring 211 is fixed to the top of the inner wall of the cylindrical groove 208, and the bottom of the second spring 211 is fixed to the top of the base 209. The bottom of the connecting rod 212 is fixed to the top of the base 209, and the top of the connecting rod 212 moves through the top of the inner wall of the cylindrical groove 208 and extends into the interior of the placement box 106. One mounting base 213 is fixed to the top of the connecting rod 212, and the other mounting base 213 is fixed to the inner wall of the placement box 106. The centers of the two conductive plates 214 are on the same vertical line. A set of electromagnets 215 are symmetrically installed on the inner wall of the top cover 105, and the magnetic end of each electromagnet 215 moves through the inner wall of the top cover 105. The inside of the placement box 106 is equipped with a mounting block 108 and a rectangular plate 110. A visible light camera 109 is installed on the mounting block 108. The acquisition end face of the visible light camera 109 is in contact with the surface of one of the protective plates 201. A fixing frame 117 is installed on the inner wall of the placement box 106. An infrared thermal imager 118 is installed inside the fixing frame 117. The acquisition end face of the infrared thermal imager 118 is in contact with the surface of the protective plate 201.

[0025] In this embodiment, when the UAV detection device begins to rise, the top of the base 209 separates from the bottom of the placement box 106 due to the rebound force of the circular tube 210, the cylindrical groove 208, and the second spring 211. The moving base 209 then moves the connecting rod 212, which in turn moves the corresponding conductive plate 214 through the connected mounting base 213. When the moving conductive plate 214 contacts the stationary conductive plate 214, two electromagnets are connected in series. When circuit 215 is energized, the magnetic ends of the two electromagnets 215 will generate magnetic force. When the drone detection device pauses for 1 to 2 minutes, the protective plate 201 is moved directly. The moving protective plate 201 engages with the corresponding perforated block 203 and the corresponding L-shaped block 204, compressing the corresponding set of first springs 205. When the moving protective plate 201 causes the connected iron plate 216 to come into contact with the magnetic end of the electromagnet 215 that generates the magnetic force, the force applied to the protective plate 201 is released. When both protective plates 201 have completed their movement, the acquisition ends of the visible light camera 109 and the infrared thermal imager 118 will be exposed, thus releasing the protection of their acquisition ends. When the UAV detection device returns to the parking position after completing the detection operation, the second spring 211 will be compressed again due to the overall weight of the UAV detection device. Simultaneously, the connecting rod 212 will cooperate with the mounting base 213 to allow the corresponding guide... When the two conductive plates 214 separate from the stationary conductive plate 214, the circuit connecting the two electromagnets 215 in series is de-energized. At this time, the magnetic attraction of the two electromagnets 215 will lose its magnetic attraction. Then, with the cooperation of the rebound force of the first spring 205, the L-shaped block 204, the second rectangular block 206, the perforated block 203, and the first rectangular block 202, the protective plate 201 will return to its original position, blocking the acquisition end of the visible light camera 109 and the acquisition end of the infrared thermal imager 118, thereby protecting them.

[0026] The overall effect and working principle of the mechanism are as follows: During use, maintenance personnel first set parameters on the ground control station console, such as selecting the train to be inspected, the inspection items (doors + pantograph), inspection accuracy, and priority. Then, the ground control station console system reads the train's 3D model from the parameters and generates a globally pre-planned path. Simultaneously, the start button of the UAV inspection device switch 122 is pressed at the stopping position to power on the device and complete self-testing. Next, the ground control station console sends commands to the main control unit 107 via antenna 121 and communication module 111. Upon receiving the commands, the main control unit 107, powered by lithium battery 114, starts all ground motors 102, causing the propellers 104 to rotate. Simultaneously, through the inertial measurement unit 113, barometer 120, and magnetometer 119, the entire UAV inspection device is vertically and stably raised. Upon reaching a certain height, it pauses for 1 to 2 minutes to initialize and stabilize the components. When the drone detection device enters cruise mode and flies to the detection area next to the train, the main control unit 107 will collect environmental features, build a local map, and lock the relative position of the drone detection device and the train through the cooperation of the visible light camera 109, the inertial measurement unit 113 and the computing unit in the main control unit 107. Then the main control unit 107 will send the positioning results to the autonomous path planning module 112, so that the drone detection device can start flying along the pre-planned route. Then the drone detection device will fly along the side of the vehicle at a fixed altitude, fixed distance and uniform speed. Through the cooperation of the visible light camera 109 and the lidar 116, it will take high-definition pictures and laser scans of each passenger compartment door from multiple angles in sequence. The collected status information data of the door body, rubber strip, locking mechanism, door gap and other aspects will be directly transmitted wirelessly to the ground control station console through the cooperation of the communication module 111 and the antenna 121. At the same time, the positioning data of each door body will also be transmitted to the ground control station console. After all subway car doors have been inspected, the drone inspection device will autonomously climb along the planned path. Simultaneously, with the cooperation of LiDAR 116 and autonomous path planning module 112, it will actively avoid the equipment on the roof and fly to the safe area above the pantograph. When the drone inspection device moves to the pantograph inspection area, the main control unit 107 will directly image, measure the temperature and thickness of the carbon sliding plate, pantograph head, frame, insulator, damper, and terminal block on the pantograph through the cooperation of visible light camera 109, LiDAR 116 and infrared thermal imager 118. The collected data will be wirelessly transmitted to the ground control station console through the cooperation of communication module 111 and antenna 121. At the same time, the corresponding positioning data of each pantograph will also be transmitted to the ground control station console. When the detection data of the subway car doors and pantographs are transmitted to the ground control station console, the console system will automatically identify the defects and mark their location, type, and severity level. It will also bind the defects to the train, door number, and pantograph location. Then, it will export the detection report. When the ground control station console system confirms that all subway car doors and pantographs have been inspected, the UAV detection device will work with the autonomous path planning module 112, visible light camera 109, inertial measurement unit 113, the calculation unit in the main control unit 107, and lidar 116 to replan the optimal and safe return path based on the device's current position, obstacles in the depot, and the stopping position. The UAV detection device will then return to the stopping position according to the newly set return path. After the UAV detection device returns to the stopping position, simply press the off button on switch 122. When the drone detection device begins to rise, the top of the base 209 separates from the bottom of the placement box 106 due to the rebound force of the circular tube 210, the cylindrical groove 208, and the second spring 211. The moving base 209 then moves the connecting rod 212, which, through the connected mounting base 213, moves the corresponding conductive plate 214. When the moving conductive plate 214 contacts the stationary conductive plate 214, the two electromagnets 215 connected in series... The circuit will be powered on, at which point the magnetic ends of the two electromagnets 215 will generate magnetic force. When the drone detection device pauses for 1 to 2 minutes, the protective plate 201 is moved directly, allowing it to engage with the corresponding perforated block 203 and the corresponding L-shaped block 204, compressing the corresponding set of first springs 205. When the moving protective plate 201 causes the connected iron plate 216 to contact the magnetic end of the electromagnet 215 that generates the magnetic force, the force applied to the protective plate 201 is released. When both protective plates 201 have completed their movement, the acquisition ends of the visible light camera 109 and the infrared thermal imager 118 will be exposed, thus releasing the protection of their acquisition ends. When the UAV detection device returns to the parking position after completing the detection operation, the second spring 211 will be compressed again due to the overall weight of the UAV detection device. At the same time, the connecting rod 212 will cooperate with the mounting base 213 to allow the corresponding conductive sheet to... When the two conductive plates 214 are separated from the stationary conductive plate 214, the circuit of the two electromagnets 215 connected in series is de-energized. At this time, the magnetic attraction ends of the two electromagnets 215 will lose their magnetic attraction. Then, with the cooperation of the rebound force of the first spring 205, the L-shaped block 204, the second rectangular block 206, the perforated block 203 and the first rectangular block 202, the protective plate 201 will return to its original position, blocking the acquisition end of the visible light camera 109 and the acquisition end of the infrared thermal imager 118, so as to protect them.

[0027] Among them, the motor 102, main control unit 107 (integrated by computing unit and control unit), visible light camera 109, communication module 111, autonomous path planning module 112, inertial measurement unit 113, lithium battery 114, lidar 116, infrared thermal imager 118, magnetometer 119, barometer 120, antenna 121, switch 122, electromagnet 215 and conductive sheet 214 are all existing technologies, and their models can be selected according to actual conditions. Therefore, the control methods and wiring of these components will not be described in detail here.

[0028] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A subway passenger compartment door-pantograph unmanned aerial vehicle (UAV) detection device capable of autonomous path planning, comprising a detection mechanism (1), characterized in that: The testing mechanism (1) includes a frame (101), a top cover (105) and a placement box (106). A protective mechanism (2) is provided between the top cover (105) and the placement box (106). The protective mechanism (2) is used to protect the components. The protective mechanism (2) includes a set of protective plates (201), a cylindrical groove (208), and a set of electromagnets (215). A first rectangular block (202) is fixed to the surface of each protective plate (201), and a perforated block (203) is movably fitted onto each protective plate (201). An L-shaped block (204) is fixed to the top of each perforated block (203). A set of first springs (205) is fixed between each L-shaped block (204) and the corresponding first rectangular block (202). A second rectangular block (206) is fixed to the middle position inside each perforated block (203). 206) Used to restrict the protective plate (201) from moving out of the perforated block (203). The cylindrical groove (208) is provided with a round tube (210), a second spring (211) and a connecting rod (212). The second spring (211) is located between the round tube (210) and the connecting rod (212). The bottom of the round tube (210) is fixed with a base (209). The top of the round tube (210) is provided with two mounting seats (213) of different shapes. Each mounting seat (213) is attached with a conductive sheet (214). Each protective plate (201) is fixedly embedded with an iron sheet (216).

2. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 1, characterized in that: Multiple perforated blocks (203) are fixed to the outer wall of the top cover (105). Each protective plate (201) has a lever (207) fixed near the bottom. The cylindrical groove (208) is pre-set at the bottom of the placement box (106). The inner wall of the cylindrical groove (208) is in contact with the outer wall of the round tube (210). The top of the base (209) is in contact with the bottom of the placement box (106).

3. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 1, characterized in that: The top end of the second spring (211) is fixed to the top of the inner wall of the cylindrical groove (208), the bottom end of the second spring (211) is fixed to the top of the base (209), the bottom end of the connecting rod (212) is fixed to the top of the base (209), and the top end of the connecting rod (212) moves through the top of the inner wall of the cylindrical groove (208) and extends into the interior of the placement box (106).

4. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 1, characterized in that: One of the mounting bases (213) is fixed to the top of the connecting rod (212), and the other mounting base (213) is fixed to the inner wall of the placement box (106). The centers of the two conductive sheets (214) are on the same vertical line. A set of electromagnets (215) are symmetrically installed on the inner wall of the top cover (105), and the magnetic end of each electromagnet (215) moves through the inner wall of the top cover (105).

5. The subway passenger compartment door-pantograph unmanned aerial vehicle detection device with autonomous path planning as described in claim 1, characterized in that: Each mounting end of the frame (101) is equipped with a motor (102), and an elastic anti-collision ring (103) is fixed at the top of the frame (101). Each output end of the motor (102) is equipped with a propeller (104). The elastic anti-collision ring (103) is used to protect the propeller (104). The top cover (105) and the placement box (106) are installed together by screws.

6. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 1, characterized in that: The top cover (105) is fixed on the frame (101). The main control unit (107) is installed inside the top cover (105). The mounting block (108) and rectangular plate (110) are installed inside the placement box (106). A visible light camera (109) is installed on the mounting block (108). The acquisition end face of the visible light camera (109) is in contact with the surface of one of the protective plates (201).

7. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 6, characterized in that: The acquisition end of the visible light camera (109) moves through the inner wall of the placement box (106). The top of the rectangular plate (110) is equipped with a communication module (111), an autonomous path planning module (112), and an inertial measurement unit (113). The installation end of the communication module (111) moves through the inner wall of the placement box (106).

8. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 1, characterized in that: A lithium battery (114) is bonded to the inner wall of the placement box (106) near the bottom, and a plurality of limiting blocks (115) are also fixed thereon. The limiting blocks (115) are used to limit the left and right and front and back movement of the lithium battery (114). A lidar (116) is installed on the inner wall of the placement box (106), and the detection end of the lidar (116) moves through the inner wall of the placement box (106).

9. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 7, characterized in that: The inner wall of the placement box (106) is fitted with a fixing frame (117), and an infrared thermal imager (118) is installed inside the fixing frame (117). The acquisition end face of the infrared thermal imager (118) is in contact with the surface of the protective plate (201). The fixing frame (117) is used to fix the infrared thermal imager (118) on the placement box (106).

10. The autonomous path planning-enabled subway passenger compartment door-pantograph UAV detection device according to claim 9, characterized in that: The acquisition end of the infrared thermal imager (118) can be moved through the inner wall of the placement box (106). A magnetometer (119) is installed on the outer wall of the placement box (106). A barometer (120) and a switch (122) are respectively glued inside the two pre-reserved round holes on the placement box (106). An antenna (121) is installed on the transceiver end of the communication module (111).

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