Portable contact network state inspection robot system

Abstract

The utility model provides a portable contact network state inspection robot system, and belongs to the technical field of contact network state detection. The problems of tedious operation, single detection function, low measurement precision and efficiency and the like of the existing contact network detection equipment are solved. Comprising a ground device and an inspection robot, the inspection robot comprises a handheld device and a vehicle-mounted device, the handheld device and the vehicle-mounted device are in wireless communication, and the vehicle-mounted device comprises an inspection robot body used for walking on a track. The inspection robot body is provided with a 2C imaging module used for collecting panoramic video data of an overhead line system, a contact suspension imaging module used for collecting contact suspension pictures, a supporting device imaging module used for collecting supporting device pictures, a geometric parameter measuring module used for collecting a contact line laser profile curve, and a computing device. An electric self-driving module and an imaging light source module; the device is applied to state inspection of the railway overhead line system.

Description

Technical Field

[0001] The utility model provides a portable contact network state inspection robot system, belonging to the technical field of contact network state detection. Background Art

[0002] The catenary system is a high-voltage transmission line installed in a zigzag pattern above the rails on electrified railways, supplying current to the pantographs. The catenary system is the main structure of railway electrification projects and is a specialized transmission line installed above the railway lines to supply power to electric locomotives. It consists of several components: contact suspension, support devices, positioning devices, supports, and foundations. Several existing technologies already have corresponding catenary inspection items, such as catenary safety inspection devices (2C), catenary suspension status detection and monitoring devices (4C), and catenary and power supply equipment ground monitoring devices (6C).

[0003] Currently, static catenary inspection data is primarily acquired through non-contact testing with inspection vehicles and manual measurement. Since 4C catenary inspection vehicles can only inspect the mainline catenary, the catenary parameters in station sidings, locomotive depots, and EMU depots are difficult to implement due to the inspection vehicle's operational schedule. Consequently, the catenary equipment parameters in these areas cannot be inspected using inspection vehicles, requiring manual measurement. This method is labor-intensive, inefficient, and unable to periodically monitor catenary parameters, hindering the safe and reliable operation of power supply equipment.

[0004] Currently, there is limited equipment for inspecting catenary systems in railway stations, turnouts, sidings, and other areas. The mainstream equipment is laser measuring instruments, which primarily measure geometric parameters. While relatively mature, these instruments are cumbersome to operate, labor-intensive, inefficient, and limited in functionality. In the past two years, some organizations have developed portable catenary inspection equipment. However, these devices suffer from significant limitations, such as excessive weight, low measurement accuracy, and manual operation. Their limited functionality primarily focuses on catenary imaging, making them incapable of meeting the current demands for inspecting complex rail transit infrastructure, including railway stations, sidings, and dedicated lines. Utility Model Content

[0005] In order to solve the problems of cumbersome operation, single detection function, low measurement accuracy and efficiency of existing rail transit contact network detection equipment in complex railway stations, sidings, dedicated lines, etc., this utility model proposes a portable contact network status inspection robot system. By adopting robot integration and miniaturization technology, integrating geometric parameter measurement, 2C, 4C detection, integrated electric drive control, high-definition imaging, high-precision measurement, structural design and other technologies, it realizes comprehensive and rapid detection of the rail transit contact network status.

[0006] The technical solution adopted by the present invention is: a portable contact network status inspection robot system, including ground equipment and an inspection robot, the inspection robot including two parts: a handheld device and a vehicle-mounted device, wireless communication is carried out between the handheld device and the vehicle-mounted device, the vehicle-mounted device includes an inspection robot body for walking on the track, the inspection robot body is equipped with a 2C imaging module for collecting panoramic video data of the contact network, a contact suspension imaging module for collecting contact suspension pictures, a support device imaging module for collecting support device pictures, a geometric parameter measurement module for collecting contact line laser contour curves, a computing device, an electric self-driving module and an imaging light source module, the computing device communicates bidirectionally with the 2C imaging module, the contact suspension imaging module, the support device imaging module, the geometric parameter measurement module and the electric self-driving module respectively through cables, and the computing device is also connected to the imaging light source module through a cable to control the start and stop and brightness of the imaging light source module.

[0007] Furthermore, the data collected by the inspection robot is copied to the ground equipment via a USB flash drive or a mobile hard disk for data processing.

[0008] Furthermore, the inspection robot body includes a body, the bottom of the body is equipped with insulating rubber wheels that match the railway track, a computing device is installed in the body, and the power supply control and walking control of the body are realized through the electric self-drive module.

[0009] Furthermore, the 2C imaging module includes high-definition panoramic cameras symmetrically installed on the top of the vehicle body. The two high-definition panoramic cameras realize the collection of panoramic video data of the contact network facilities and surrounding environment of the inspection line.

[0010] Furthermore, the contact suspension imaging module includes two high-definition industrial cameras placed on the left and right sides of the vehicle body, respectively, for capturing images of the suspension strings and phase / segment insulators, and the two high-definition industrial cameras are 1100mm~1200mm away from the center of the track.

[0011] Furthermore, the supporting device imaging module includes two high-definition industrial cameras installed back to back on the same side of the vehicle body.

[0012] Furthermore, the geometric parameter measurement module includes a laser, an area array camera and a compensation device, wherein the laser and the area array camera are installed in the same horizontal plane at the center of the top of the vehicle body to form a 2D sensor.

[0013] Furthermore, the imaging light source module includes a high-brightness instantaneous light source and a light source driver, the high-brightness instantaneous light source and the light source driver are connected via a cable, and the light source driver is connected to the computing device via a cable.

[0014] Furthermore, the high-definition panoramic camera in the 2C imaging module uses a camera with at least 5 million pixels.

[0015] Furthermore, the electric self-driving module is used to drive the vehicle body to move, and an obstacle avoidance module is provided in the electric self-driving module.

[0016] The beneficial effects of the present invention compared to the existing technology are as follows: the portable contact network status inspection robot system provided by the present invention combines user usage conditions and technical requirements, and adopts lightweight design technology (selecting lightweight carbon fiber materials) and integrated design technology (integrating geometric parameter measurement, 2C, 4C and other functions) in structural design, which can realize comprehensive and efficient detection of the contact network status. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings:

[0018] Figure 1 This is a system structure diagram of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the inspection robot of this utility model Figure 1 ;

[0020] Figure 3 This is a schematic diagram of the structure of the inspection robot of this utility model Figure 2 ;

[0021] In the figure: 1 is the robot body, 2 is the 2C imaging module, 3 is the contact suspension imaging module, 4 is the support device imaging module, and 5 is the geometric parameter measurement module. DETAILED DESCRIPTION

[0022] like Figure 1-3 As shown, the present invention provides a portable catenary status inspection robot system, comprising a ground device, a handheld device, and a vehicle-mounted device. The handheld and vehicle-mounted devices comprise the inspection robot. The handheld and vehicle-mounted devices communicate via wireless Wi-Fi. The ground device communicates via a USB flash drive or mobile hard drive, copying inspection data from the inspection robot to the ground device via the USB flash drive or mobile hard drive.

[0023] Specifically:

[0024] (1) The ground equipment mainly includes computers or servers, which are used to deploy comprehensive intelligent data analysis software for the contact network, intelligently analyze major defects in the contact suspension and issue early warnings. The intelligent data analysis software uses an existing software model, and the present invention does not make any improvements to this software.

[0025] (2) The handheld device includes an industrial three-proof tablet computer, which is used to deploy mobile terminal control software to realize the control and status display of the portable contact network status intelligent inspection robot. The mobile terminal control software also adopts the existing software model, and the present invention does not make any improvements to this software part.

[0026] (3) The on-board equipment mainly includes a 2C imaging module 2, a contact suspension imaging module 3, a support device imaging module 4, a geometric parameter measurement module 5, a computing device, an electric self-driving module, an imaging light source module and a robot body 1.

[0027] The 2C imaging module 2 mainly includes a high-definition panoramic camera, which is used to realize the panoramic video imaging function of the contact network.

[0028] In this embodiment, the imaging range of the 2C imaging module 2 is: the overhead line facilities of the inspection line and the related surrounding environment. The camera and lens selection is: select a 5 million pixel camera or higher resolution camera and a 6mm focal length lens.

[0029] The contact suspension imaging module 3 mainly includes a high-definition industrial camera, which is used to achieve high-definition imaging of the contact suspension.

[0030] In this embodiment, the contact suspension imaging module 3 functions to capture high-definition images of the suspension string and separate phase and segment insulators. Its installation layout is as follows: 1) Two modules are placed on the left and right sides of the inspection robot. 2) The modules are positioned 1100mm to 1200mm from the track center. The imaging field of view covers 2m x 2m, the camera resolution is 4096 x 3000, and the lens focal length is 35mm.

[0031] The support device imaging module 4 is primarily used to capture high-definition images of the support device. Its installation layout employs two sets of HD imaging modules, mounted back-to-back on one side of the vehicle. The operating principle is as follows: Each set of HD imaging modules provides a field of view encompassing a 6m x 3.5m area on one side of the track. The lens focal length is 40mm, and the cameras are synchronized with the light source to ensure optimal nighttime photography.

[0032] The geometric parameter measurement module 5 primarily includes a high-brightness laser, a high-definition area array camera, and a compensation device. It measures the contact line's pullout and lead height, as well as the horizontal and vertical spacing between contact lines. Because the inspection device's path exhibits an S-shaped motion during operation, the geometric parameter measurement module's measurement coordinate system deviates from the calibration state. Therefore, the compensation device is used to compensate for vehicle posture errors and correct the geometric parameter measurement results. For example, the compensation device can be a vehicle vibration compensation device such as that disclosed in CN206944994U, or other products that meet the requirements.

[0033] The installation layout is as follows: 1) The measurement plane is perpendicular to the rail surface. 2) The module's measurement height is 200mm from the rail surface. 3) The module is installed at the center of the inspection robot's body.

[0034] Working Principle: It utilizes line structured light triangulation. A laser and an area array camera are mounted in the same horizontal plane at the center of the vehicle roof, forming a 2D sensor. The laser provides vertical upward fill light, while the camera is tilted at a certain angle to capture the contact line. When the laser plane intersects the contact line cross section, a bright laser profile curve is formed on the contact line. This contact line laser profile curve is used to determine the contact line offset.

[0035] The computing device is a high-performance industrial computer, which is used to realize the control, data collection, data archiving and data communication functions of the inspection robot.

[0036] The electric self-drive module mainly includes batteries, motors, drivers, and obstacle avoidance modules, which are used to realize power supply control of the inspection robot, drive the robot to walk, and perform obstacle avoidance and detection functions.

[0037] The electric self-drive module is the power system that drives the wheels, including the motor, reducer, driver, battery, and obstacle avoidance module. It utilizes dual motors for synchronous control to ensure the vehicle maintains center and straight travel. The electric self-drive module also integrates an automatic obstacle avoidance module, which is primarily used to automatically brake the vehicle on rails with obstacles, preventing damage.

[0038] The imaging light source module consists of a high-brightness transient light source and a light source driver, and is used to provide fill light during the imaging process of the inspection robot.

[0039] The robot body mainly includes the inspection robot body structure, supporting components, mounting structure, insulating rubber wheels and other equipment, which are used to constitute the overall structure of the robot.

[0040] The configuration of the main modules in the present invention is described below according to Table 1.

[0041]

[0042] Table 1.

[0043] Existing multifunctional equipment is too heavy to be used on-site. This portable contact network status inspection robot, proposed in this utility model, integrates key functions such as geometric parameter measurement, 2C, 4C, and automatic obstacle avoidance. Its structural design utilizes lightweight carbon fiber materials, and its components are selected to be small and lightweight, with some components customized to achieve overall lightweighting. With a total weight of approximately 42kg, it can be used by two people on-site to perform inspection tasks.

[0044] Regarding the specific structure of the present invention, it should be noted that the connection relationship between the various component modules adopted in the present invention is definite and feasible. Except for the special instructions in the embodiments, the specific connection relationship can bring about corresponding technical effects and solve the technical problems raised by the present invention without relying on the execution of the corresponding software program. The components, modules, models of specific components appearing in the present invention, the connection methods between each other, and the conventional usage methods and expected technical effects brought about by the above-mentioned technical features, except for the specific instructions, all belong to the disclosed contents in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by technical personnel in this field before the application date, or belong to the existing technologies such as conventional technology and common knowledge in this field, and there is no need to elaborate, so that the technical solution provided in this case is clear, complete, and feasible, and the corresponding physical products can be reproduced or obtained based on this technical means.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A portable contact network status inspection robot system, characterized by: It includes ground equipment and an inspection robot, and the inspection robot includes two parts: a handheld device and a vehicle-mounted device. Wireless communication is carried out between the handheld device and the vehicle-mounted device. The vehicle-mounted device includes an inspection robot body for walking on the track. The inspection robot body is equipped with a 2C imaging module for collecting panoramic video data of the contact network, a contact suspension imaging module for collecting contact suspension pictures, a support device imaging module for collecting support device pictures, a geometric parameter measurement module for collecting contact line laser contour curves, a computing device, an electric self-driving module and an imaging light source module. The computing device communicates with the 2C imaging module, the contact suspension imaging module, the support device imaging module, the geometric parameter measurement module and the electric self-driving module in a two-way manner through cables respectively. The computing device is also connected to the imaging light source module through a cable to control the start and stop and brightness of the imaging light source module.

2. A portable contact network status inspection robot system according to claim 1, characterized in that: The data collected by the inspection robot is copied to the ground equipment via a USB flash drive or mobile hard drive for data processing.

3. The portable contact network status inspection robot system according to claim 1, characterized in that: The inspection robot body includes a body, the bottom of which is equipped with insulating rubber wheels that match the railway tracks, and a computing device is installed in the body. The power supply control and walking control of the body are achieved through an electric self-drive module.

4. A portable contact network status inspection robot system according to claim 3, characterized in that: The 2C imaging module includes high-definition panoramic cameras symmetrically installed on the top of the vehicle body. The two high-definition panoramic cameras collect panoramic video data of the contact network facilities and surrounding environment of the inspection line.

5. The portable contact network status inspection robot system according to claim 3, characterized in that: The contact suspension imaging module includes two high-definition industrial cameras placed on the left and right sides of the vehicle body, respectively, for capturing images of the suspension strings and phase / segment insulators, and the two high-definition industrial cameras are 1100mm~1200mm away from the center of the track.

6. The portable contact network status inspection robot system according to claim 3, characterized in that: The supporting device imaging module includes two high-definition industrial cameras installed back to back on the same side of the vehicle body.

7. The portable contact network status inspection robot system according to claim 3, characterized in that: The geometric parameter measurement module includes a laser, an array camera and a compensation device, wherein the laser and the array camera are installed in the same horizontal plane at the center of the top of the vehicle body to form a 2D sensor.

8. The portable contact network status inspection robot system according to claim 3, characterized in that: The imaging light source module includes a high-brightness instantaneous light source and a light source driver. The high-brightness instantaneous light source is connected to the light source driver via a cable, and the light source driver is connected to a computing device via a cable.

9. The portable contact network status inspection robot system according to claim 4, characterized in that: The high-definition panoramic camera in the 2C imaging module uses a camera with at least 5 million pixels.

10. The portable contact network status inspection robot system according to claim 3, characterized in that: The electric self-driving module is used to drive the vehicle body to move, and an obstacle avoidance module is provided in the electric self-driving module.

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