Design And Realization Of Intelligent Walking Vehicle For Urban Rail Transit Work Inspection

With the rapid development of urban rail transit,the requirements for public inspection of subways and other rail transit are also increasing.At present,the domestic subway engineering inspection mainly depends on manual inspection or pushing inspection equipment for patrol inspection.The manual inspection method is inefficient,cannot guarantee detection accuracy,and has high labor costs.Large foreign rail inspection vehicles have high detection accuracy,but their cost is high,it is difficult to borrow them,and they cannot be widely used in rail inspection.Therefore,a small automated rail inspection vehicle is urgently required to be equipped with rail inspection equipment instead of manual inspection of rail works.Therefore,this article aims to design a lightweight,portable,remote-controllable railcar,which can be equipped with the fastener detection module,vertical wear detection module and wave wear detection module in the research group to realize the automatic inspection of subway rail works.First of all,this paper analyzes the requirements put forward by the Shekou West Depot of Shenzhen Metro,and determines the task of public works inspection.Based on the analysis of the subway environment field survey and testing objectives,this paper designed the smart road track inspection process and determined the technical scheme of smart road design.In terms of car body structure,this article focuses on lightweight and modular design,and simplifies the car body into three parts: frame,wheelset and transmission structure.This article uses Solidworks to perform solid modeling and overall assembly of each module of the intelligent traveling vehicle,which ensures the rationality of the car body structure design.n terms of control system,this paper has completed the design of the power management PCB and the lower computer PCB,and also developed its firmware program.The firmware program development includes the collection of vehicle body speed data,acceleration data,horizontal tilt data,vibration data and distance data The firmware program also realizes remote control of smart driving and collection and transmission of battery power data.In this paper,the program development of the mini-pc on the upper computer is realized,and the vehicle sensor data,battery power data and detection module data are integrated and uploaded to the cloud server.This paper also develops an information system to realize the real-time display of the running state of smart driving and the detection data of fasteners.In terms of intelligent driving strategy,this paper designs a speed measurement method that combines the M speed measurement method and the T speed measurement method to achieve accurate measurement of vehicle speed.Aiming at uneven track,this paper designs a vibration reduction strategy based on adaptive PID motion control with discrete supervised Hebb learning rules,and also completes an intelligent walking strategy based on integral decoupling PID control algorithm for intelligent vehicle deceleration and deceleration stable operation.Finally,this paper integrates the smart car body,peripheral sensors,control system and detection module.Automated inspection of track works on Shenzhen Metro Line 2 is to verify its intelligent walking strategy.After testing,the stability,control system and intelligent walking strategy of intelligent driving meet the design requirements.