Railway line unmanned aerial vehicle patrol system

Abstract

The utility model discloses a railway line unmanned aerial vehicle patrol system which comprises an unmanned aerial vehicle, and an unmanned aerial vehicle field, a public network communication module and a cloud server which are connected in sequence, and a first patrol unit and a second patrol unit are carried on the unmanned aerial vehicle. The first patrol unit comprises a sensor assembly, a first microcontroller and a wireless data transmission module which are connected in sequence; the second patrol unit comprises an infrared thermal imager, a camera interface conversion module and a wireless image transmission module which are connected in sequence, and the wireless image transmission module is further connected with a camera; the wireless data transmission module and the wireless image transmission module are in wireless communication connection with the unmanned aerial vehicle field. According to the utility model, the structure is simple, the design is reasonable, the wireless image transmission module and the wireless data transmission module are adopted, the infrared thermal imager and the camera are also adopted, all-directional detection and all-time image detection along the railway are realized, and the use effect is good.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of detection, specifically relates to a railway line unmanned aerial vehicle patrol system. BACKGROUND

[0002] The work flow of railway inspection is a systematic and meticulous process, aiming to ensure the safety, stability and reliable operation of railway lines and related facilities.

[0003] Comprehensive inspection: the inspection personnel start from the station, check the operation of each signal, station board, crossing and other facilities according to the line inspection map, and check whether the signal board, station name plate, kilometer marker and other identification plates are intact. At the same time, the train operation line, signal equipment, electrical facilities, track and turnout are comprehensively inspected.

[0004] During the inspection process, the inspection personnel need to comprehensively inspect the train operation line, train operation environment, signal equipment, electrical facilities, track and turnout. Signal equipment detection includes the normal operation of signal lights, traffic lights, cables and overhead lines. For the train operation line, it needs to check whether the turnout, track gauge, track and other equipment are intact, without abnormal ferromagnetic damage and corrosion, bolts, nails and other conditions; for the train operation environment, it needs to pay attention to check whether there are landslides, debris flow and other natural disasters in tunnels, culverts, bridges and ditches, and whether there are plants or human occupation. For the signal machine, it needs to check whether the line indicator light on it is normal and whether the various displays accurately display the position of the train.

[0005] If the line equipment failure or safety hazard is found, the inspection personnel need to handle it in time. For problems that can be solved on site, such as cleaning branches, weeds and other road obstacles, the inspection personnel can handle it themselves; for problems that cannot be solved on site, such as equipment failure, track damage, etc., it needs to be repaired in time and reported to the superior department.

[0006] There are many difficulties in the process of railway inspection, including environmental challenges. In the extreme weather conditions such as heavy rain, snow, high temperature, haze and so on, the difficulty of unmanned aerial vehicle inspection and manual inspection increases significantly. These conditions not only affect the line of sight of the detection personnel and machine vision, but also may cause the efficiency of the detection equipment to decline.

[0007] Therefore, it is hoped that there is an inspection system that can improve the inspection efficiency in low visibility conditions, help the staff to master the on-site situation of the railway line in time, and promote the new mode of railway line operation and maintenance from "fault repair", "planned repair" to "state repair" and "predictive repair". UTILITY MODEL CONTENT

[0008] The utility model wants to solve the technical problem in prior art, provide a railway line unmanned aerial vehicle patrol system, it is simple in structure, reasonable in design, not only adopts wireless image transmission module and wireless data transmission module, but also adopts infrared thermal imager and camera, realizes the detection of all directions along the railway and image detection of all time periods, and the use effect is good.

[0009] To solve the above technical problems, the utility model adopts the technical scheme: a railway line unmanned aerial vehicle patrol system, characterized by: including unmanned aerial vehicle, and unmanned airfield, public network communication module and cloud server connected in turn, the first patrol unit and the second patrol unit are carried on the unmanned aerial vehicle, the first patrol unit includes sensor assembly, first microcontroller and wireless data transmission module connected in turn;The second patrol unit includes infrared thermal imager, camera interface conversion module and wireless image transmission module connected in turn, and the wireless image transmission module is also connected with the camera;Wireless data transmission module and wireless image transmission module are connected with unmanned airfield wireless communication respectively.

[0010] The railway line unmanned aerial vehicle patrol system, characterized by: sensor assembly includes gas detection sensor, inertial sensor and smoke sensor, and the gas detection sensor, the inertial sensor and the smoke sensor are connected with the input end of the first microcontroller respectively.

[0011] The railway line unmanned aerial vehicle patrol system, characterized by: wireless data transmission module adopts module U1 of model DATALINK10, module U1 includes the socket of the module U1 body, the input end of USB data line is connected with the first microcontroller, and the output end of USB data line is connected with the socket of module U1.

[0012] The railway line unmanned aerial vehicle patrol system, characterized by: wireless image transmission module includes module U2 of model INTQ6600 and module U3 of model INTQ6600.

[0013] The railway line unmanned aerial vehicle patrol system, characterized by: the output end of camera is connected with the input end of first HDMI data line, and the output end of first HDMI data line is connected with the HDMIIN interface of module U2;The output end of infrared thermal imager is connected with the input end of camera interface conversion module, the output end of camera interface conversion module is connected with the input end of second HDMI data line, and the output end of second HDMI data line is connected with the HDMIIN interface of module U3.

[0014] The railway line unmanned aerial vehicle patrol system, characterized by: camera interface conversion module is used to convert the first image signal collected by infrared thermal imager into HDMI format.

[0015] The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0016] The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0017] The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0018] The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0019] The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0020] 1、 The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0021] 2、 The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0022] 3、 The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0023] The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0024] The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0025] Fig. 1 The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0026] Fig. 2 The railway line unmanned aerial vehicle patrol system has the following advantages compared with the prior art.

[0027] Fig. 3 Figure 1 is a schematic diagram of the connection relationship between the camera and the wireless image transmission module of the utility model.

[0028] Fig. 4 Figure 2 is a schematic diagram of the connection relationship between the infrared thermal imager and the wireless image transmission module of the utility model.

[0029] Explanation of reference signs:

[0030] 1 - wireless image transmission module; 2 - wireless data transmission module; 3 - camera;

[0031] 4 - camera interface conversion module; 5 - gas detection sensor; 6 - inertial sensor;

[0032] 7 - smoke sensor; 8 - unmanned aerial vehicle; 9 - public network communication module;

[0033] 10 - cloud server; 11 - first microcontroller; 12 - infrared thermal imager;

[0034] 13 - ground terminal. DETAILED DESCRIPTION

[0035] The utility model will be further described in detail below in combination with the drawings and the embodiments of the utility model.

[0036] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0040] like Figs. 1 to 4 As shown, this utility model includes a drone, and a drone airport 8, a public network communication module 9, and a cloud server 10 connected in sequence. The drone is equipped with a first patrol unit and a second patrol unit. The first patrol unit includes a sensor assembly, a first microcontroller 11, and a wireless data transmission module 2 connected in sequence. The second patrol unit includes an infrared thermal imager 12, a camera interface conversion module 4, and a wireless image transmission module 1 connected in sequence. The wireless image transmission module 1 is also connected to a camera 3. The wireless data transmission module 2 and the wireless image transmission module 1 are wirelessly connected to the drone airport 8.

[0041] In actual use, both the wireless image transmission module 1 and the wireless data transmission module 2 are wireless communication transmissions, but their data link functions differ. The wireless data transmission module 2 supports 400M, 800M, and 900M frequency bands, providing a data channel for transmitting various control commands between devices; the wireless image transmission module 1 only supports the 1.4GHz frequency band and serves as the data channel for the drone payload to acquire images and transmit voice data.

[0042] The wireless data transmission module 2 is used for transmitting the information collected by the sensor assembly to the unmanned airfield 8 in a wireless communication manner. The information collected by the sensor assembly is sent to the cloud server 10 by the unmanned airfield 8, and the information collected by the sensor assembly is screened and identified by the staff of the cloud server 10, so as to ensure the safety of railway operation and avoid the occurrence of safety accidents.

[0043] The wireless data transmission module 2 adopts a module U1 of a DATALINK10 type. The module U1 includes a socket arranged on the body of the module U1. The input end of a USB data line is connected with the first microcontroller 11, and the output end of the USB data line is connected with the socket of the module U1.

[0044] The DATALINK10 is a serial communication wireless transmission module, which is divided into an airborne end and a ground end. The airborne end of the DATALINK10 is carried on the unmanned aerial vehicle, and the ground end of the DATALINK10 is arranged in the unmanned airfield. The communication distance is less than or equal to 10 km. The DATALINK10 has the characteristics of long transmission distance, strong anti-interference, and full transparent real-time transmission, and is used for the interaction of control instructions between the unmanned aerial vehicle and the unmanned airfield. The wireless frequency band is 840Mhz-845Mhz.

[0045] The wireless image transmission module 1 is used for transmitting the visible light images collected by the camera 3 and the thermal images collected by the infrared thermal imager 12 along the railway in a wireless communication manner to the unmanned airfield 8. The images are sent to the cloud server 10 by the unmanned airfield 8, and the images are identified by the staff of the cloud server 10, so as to identify possible accidents along the railway, including the invasion of the protection net by the idle and miscellaneous personnel and livestock, natural disasters, garbage, fires, and floating objects in the line safety area. The infrared thermal imager 12 is used in cooperation with the camera 3, so as to realize the full-time image detection along the railway.

[0046] The wireless image transmission module 1 includes a module U2 of an INTQ6600 type and a module U3 of an INTQ6600 type.

[0047] The INTQ6600 is a wireless transmission and image encoding and decoding module, which is divided into an airborne end and a ground end. The airborne end of the INTQ6600 is carried on the unmanned aerial vehicle, and the ground end of the INTQ6600 is arranged in the unmanned airfield. The INTQ6600 is used for the transmission and encoding and decoding processing of image data between the unmanned aerial vehicle and the unmanned airfield 8. The communication distance is less than or equal to 10 km. The wireless frequency band is 1430Mhz-1444Mhz.

[0048] In actual use, the unmanned aerial vehicle cruises according to the predetermined route, and the infrared thermal imager 12 is used to collect infrared thermal images along the railway. The output end of the infrared thermal imager 12 is connected with the input end of the camera interface conversion module 4, the output end of the camera interface conversion module 4 is connected with the input end of the second HDMI data line, and the output end of the second HDMI data line is connected with the HDMIIN interface of the module U3. The infrared thermal images are converted into HDMI format by the camera interface conversion module 4, transmitted to the unmanned aerial vehicle 8 by the wireless image transmission module 1, and sent to the cloud server 10 by the unmanned aerial vehicle 8. The staff of the cloud server 10 processes the thermal images, and once an abnormal heat source such as the body temperature of a small animal is found, an alarm information is sent to the ground terminal 13, so that accidents or failures that may occur are avoided.

[0049] The infrared thermal imager 12 displays visible thermal images after processing the temperature emitted by the target object. This technology is not affected by visible light and can penetrate obstacles such as fog and smoke, so it can clearly image even in darkness or adverse weather conditions, and is therefore very suitable for detecting foreign object intrusion in railway inspection. In cooperation with the camera 3, it can realize full-time image detection along the railway.

[0050] For example, in the railway inspection area, small animals such as birds, snakes and mice may enter the railway track area and be blocked by the railway track, which poses a threat to the safety of train operation. The infrared thermal images of the infrared thermal imager 12 can show the existence of these small animals and provide warning information for the staff.

[0051] It should be noted that the camera interface conversion module 4 is used to convert the first image signal collected by the infrared thermal imager 12 into HDMI format. In one possible embodiment, the camera interface conversion module 4 is a Cameralink to HDMI interface conversion module. In one possible embodiment, the camera interface conversion module 4 uses a module U4 with model number SQVP002-2.

[0052] The camera 3 is used to collect visible light images along the railway, such as images of the track and the environment around the track. The output of the camera 3 is connected to the input of the first HDMI data line, and the output of the first HDMI data line is connected to the HDMIIN interface of the module U2, so that the images collected by the camera 3 are transmitted to the ground unmanned airport 8 through the module U2 of model INTQ6600, and the thermal images are sent to the cloud server 10 by the unmanned airport 8. The staff of the cloud server 10 performs image recognition on the images along the railway. The target types identified include the integrity, flatness, cracks and deformation of the track, as well as the invasion of the protective net by miscellaneous personnel and livestock, natural disasters, garbage dumping, fires, and floating objects in the line safety area. The identification method is selected by the staff of the cloud server 10, which is not within the protection scope of the utility model.

[0053] It should be noted that the camera 3 and the infrared thermal imager 12 are hung at the bottom of the unmanned aerial vehicle, and the camera interface conversion module 4 and the airborne end of the wireless image transmission module 1 are installed in the hollow box, which is fixed on the surface of the unmanned aerial vehicle by binding tape, which does not affect the flight of the unmanned aerial vehicle, and the binding tape can be cut off after the flight is completed, and the hollow box can be disassembled for repair and inspection.

[0054] It should be noted that the public network communication module 9 refers to a 4G communication module.

[0055] It should be noted that the unmanned airport 8 is an intelligent base station integrating functions such as unmanned aerial vehicle take-off and landing, charging, data transmission and storage. It not only provides a protective place for the unmanned aerial vehicle against bad weather conditions, theft and wild animals, but also realizes automatic take-off, task execution, landing and charging of the unmanned aerial vehicle, as well as automatic uploading of inspection data. In a possible embodiment, a fixed unmanned aerial vehicle full-automatic airport of model Huakeer WK-AC50 Mini is selected.

[0056] In a possible embodiment, an industrial-grade four-rotor unmanned aerial vehicle compatible with the unmanned airport is selected, the fuselage is made of carbon fiber material, the overall strength is large, the weight is light, the overall power efficiency is high, and the reliability is strong.

[0057] In this embodiment, the sensor assembly includes a gas detection sensor 5, an inertial sensor 6 and a smoke sensor 7, which are respectively connected to the input of the first microcontroller 11.

[0058] In the railway inspection, the gas detection sensor 5 can be used to monitor the gas pollution of the environment along the railway, and can detect the concentration of harmful gases in the air, such as hydrogen sulfide, carbon monoxide, etc., to prevent safety accidents caused by harmful gas leakage. In actual use, the gas detection sensor 5 includes a carbon monoxide sensor with a model of GTH1000 and a hydrogen sulfide sensor with a model of ME3-H2S.

[0059] In the railway inspection, the smoke sensor 7 is used to detect the concentration of smoke particles in the air, which can timely find safety hazards such as fire and ensure the safety of railway operation. The smoke sensor adopts a smoke sensor with a model of MQ-2.

[0060] The inertial sensor 6 adopts a chip MPU6050, which is a sensor integrating a 3-axis accelerometer and a 3-axis gyroscope, used for measuring and calculating attitude angle, and capable of detecting the motion state of the unmanned aerial vehicle. In the railway inspection, the inertial sensor can help the unmanned aerial vehicle to realize accurate positioning and attitude control, and ensure the stability and accuracy of the inspection process.

[0061] The cloud server 10 is connected with the ground terminal 13. The cloud server 10 is used to store the information collected by the sensor components received by the unmanned aerial vehicle 8, and the thermal image and visible light image, and the cloud server 10 realizes data interaction with the ground terminal 13 through the Internet interaction machine.

[0062] The unmanned airfield 8 has a data receiving module wirelessly connected with the wireless data transmission module 2, and a video receiving module wirelessly connected with the wireless image transmission module 1.

[0063] In one possible embodiment, the wireless data transmission module 2 has an airborne end and a ground end, and the data receiving module of the unmanned airfield 8 refers to the ground end of the wireless data transmission module 2.

[0064] In one possible embodiment, the wireless image transmission module 1 has an airborne end and a ground end, and the video receiving module of the unmanned airfield 8 refers to the ground end of the wireless image transmission module 1.

[0065] Among them, the contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0066] The above is only an embodiment of the present application, and does not limit the present application in any way. Any simple modification, change and equivalent structure change made according to the technical essence of the present application to the above embodiment are still within the protection scope of the technical solution of the present application.

Claims

1. A railway line unmanned aerial vehicle (UAV) patrol system, characterized in that: This includes a drone, and in sequence connected a drone airport (8), a public network communication module (9), and a cloud server (10). The drone is equipped with a first patrol unit and a second patrol unit. The first patrol unit includes a sensor assembly, a first microcontroller (11) and a wireless data transmission module (2) connected in sequence. The second patrol unit includes an infrared thermal imager (12), a camera interface conversion module (4) and a wireless image transmission module (1) connected in sequence. The wireless image transmission module (1) is also connected to a camera (3). The wireless data transmission module (2) and the wireless image transmission module (1) are wirelessly connected to the drone airport (8) respectively.

2. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 1, characterized in that: The sensor assembly includes a gas detection sensor (5), an inertial sensor (6), and a smoke sensor (7), which are connected to the input terminals of the first microcontroller (11).

3. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 1, characterized in that: The wireless data transmission module (2) uses a module U1 with the model number DATALINK10. The module U1 includes a socket on the module U1 body, the input end of the USB data cable is connected to the first microcontroller (11), and the output end of the USB data cable is connected to the socket of the module U1.

4. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 1, characterized in that: The wireless image transmission module (1) includes module U2 with model number INTQ6600 and module U3 with model number INTQ6600.

5. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 4, characterized in that: The output end of the camera (3) is connected to the input end of the first HDMI data cable, and the output end of the first HDMI data cable is connected to the HDMIIN interface of module U2; the output end of the infrared thermal imager (12) is connected to the input end of the camera interface conversion module (4), the output end of the camera interface conversion module (4) is connected to the input end of the second HDMI data cable, and the output end of the second HDMI data cable is connected to the HDMIIN interface of module U3.

6. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 1, characterized in that: The camera interface conversion module (4) is used to convert the first image signal acquired by the infrared thermal imager (12) into HDMI format.

7. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 1 or 6, characterized in that: The camera interface conversion module (4) is a Cameralink to HDMI interface conversion module.

8. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 7, characterized in that: The camera interface conversion module (4) uses module U4 with model number SQVP002-2.

9. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 1, characterized in that: The cloud server (10) is connected to the ground terminal (13).

10. A railway line unmanned aerial vehicle (UAV) patrol system according to claim 1, characterized in that: The unmanned airport (8) has a data receiving module that is wirelessly connected to the wireless data transmission module (2) and an image transmission receiving module that is wirelessly connected to the wireless image transmission module (1).

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