CN107356671A - Full-automatic unmannedization subway or subway track detection method - Google Patents
Full-automatic unmannedization subway or subway track detection method Download PDFInfo
- Publication number
- CN107356671A CN107356671A CN201710576410.4A CN201710576410A CN107356671A CN 107356671 A CN107356671 A CN 107356671A CN 201710576410 A CN201710576410 A CN 201710576410A CN 107356671 A CN107356671 A CN 107356671A
- Authority
- CN
- China
- Prior art keywords
- track
- full
- detection vehicle
- detection
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 365
- 238000012360 testing method Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 47
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 238000007689 inspection Methods 0.000 claims description 25
- 238000002604 ultrasonography Methods 0.000 claims description 25
- 239000000523 sample Substances 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000005299 abrasion Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000004148 unit process Methods 0.000 claims description 6
- 238000013473 artificial intelligence Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 4
- 108091006146 Channels Proteins 0.000 claims description 3
- 230000007774 longterm Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 102000010637 Aquaporins Human genes 0.000 claims description 2
- 108010063290 Aquaporins Proteins 0.000 claims description 2
- 238000004441 surface measurement Methods 0.000 claims description 2
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 claims 1
- 230000002159 abnormal effect Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 241001269238 Data Species 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 240000007320 Pinus strobus Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/269—Various geometry objects
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Acoustics & Sound (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of full-automatic unmannedization subway or subway track detection method, its full-automatic control system is communicated by communication network with the full-automatic unmannedization track detection vehicle receive-transmit system at each station, controls the full-automatic unmannedization track detection vehicle receive-transmit system work；The full-automatic unmannedization track detection vehicle receive-transmit system discharges track detection vehicle qualified after testing and relief car group to running track according to the instruction of the full-automatic control system；Track detection vehicle and the relief car group being discharged into running track is carried out to double track while detected with certain speed, and as found, fucoid uploads fucoid image data as if；Returned after the completion of detection, the full-automatic unmannedization track detection vehicle receive-transmit system will be detected, and charged and be supplemented couplant after track detection vehicle and relief car group is packed up to track detection vehicle.Automated invention substantially achieves track detecting and unmanned, detection efficiency is high, and speed is fast, and the reliability of data is high.
Description
Technical field
The present invention relates to a kind of full-automatic unmannedization subway or subway track detection method.
Background technology
Track detecting is the important component for ensureing track traffic safe operation, because the train operation density of rail locomotive is big
The characteristics of short passenger's density of time interval is big thus the abrasion of track than more serious, easily there are various hidden danger in long-play,
So the detection of subway and subway track also turns into the most important thing of the safe link of rail vehicle transportation.
The detection mode used at present is to push track detection vehicle upper rail by testing staff after terminating at night to run to carry out
Detection, the still older analog machine that instrument uses, live interpretation is carried out according to Realtime Alerts situation by testing staff, it is lacked
Point is obvious：1）It is relevant can to detect that defect pushes away the experiences such as the posture state of track detection vehicle with testing staff, 2）Can not be right
Detection data are contrasted, and 3）The judgement of defect is relevant with the experience of testing staff, and 4）Use substantial amounts of testing staff.
666 kilometers of Beijing subway circulation total kilometrage of 2015,1036 kilometers are up to the year two thousand twenty, daily night subway
The time stopped transport for detection less than 4 hours, two track detection vehicles of people one, about 3 kilometers/hour of walking detection speed, detection
Complete all track circuits will need substantial amounts of personnel equipment and time.
In addition, the data detected at present are all the signal strobes of analog machine collection, the picture format of preservation, do not possess same
Position repeatedly contrasts, it is impossible to the value of position signalling lateral comparison, does not also just have intelligent automaticization data management and detection
The intellectuality that cycle arranges, it can not equally prejudge the life-span of track and change the date, every 1 millimeter each ultrasonic probe gathers one
Data, 9 probes are shared, that is, 9 datas of collection are needed per 1mm, the data volume that detection is one time is very huge, without suitable
Data handling system, will be unable to produce a desired effect.
The content of the invention
In order to overcome the drawbacks described above of prior art, the invention provides a kind of full-automatic unmannedization subway or subway track
Detection method, this method realize track detecting automation and unmanned substantially, and detection efficiency is high, and speed is fast, data can
It is high by property, and do not need substantial amounts of testing staff.
The technical solution adopted in the present invention：A kind of full-automatic unmannedization subway or subway track detection method, automatically
Control system is communicated by communication network with the full-automatic unmannedization track detection vehicle receive-transmit system at each station, control it is described it is complete from
Dynamic unmanned track detection vehicle receive-transmit system work；
The full-automatic unmannedization track detection vehicle receive-transmit system discharges after testing according to the instruction of the full-automatic control system
Qualified track detection vehicle and relief car group are in running track；
Be discharged into track detection vehicle and the relief car group in running track according to full-automatic control system and/or it is described it is complete from
The instruction that unmanned track detection vehicle receive-transmit system is sent is moved, carries out to double track while detects with certain speed, as discovery can
Sign is doubted, fucoid image data is uploaded to belonging to it or neighbouring full-automatic unmannedization track detection vehicle receive-transmit system, then
The full-automatic control system is sent to by the full-automatic unmannedization track detection vehicle receive-transmit system；
After track detection vehicle and the relief car group completes detection return according to instruction, car receive-transmit system is detected by the Star Simulator
It is packed up from running track, leaves running track；
The full-automatic unmannedization track detection vehicle receive-transmit system will be examined after track detection vehicle and relief car group is packed up to track
Measuring car is detected, charged and supplemented couplant, is prepared for detection next time.
Beneficial effects of the present invention：It is many-sided due to being carried out using track detection vehicle of the traveling in running track to track
Automatic detection and automatic alarm, shorten detection time, improve detection efficiency, save manpower, avoid artificial judgment
Caused error；
The full-automatic unmannedization track detection vehicle receive-transmit system work at each station is controlled as a result of the full-automatic control system of the whole network
Make, realize the whole network and automatically control, drastically increase automaticity；
Because there is provided the full-automatic unmannedization track detection vehicle that can be received and dispatched to track detection vehicle and relief car group transmitting-receiving
System, the transmitting-receiving of track detection vehicle and relief car group can be carried out according to the run time of subway or subway, and realized between each station
Segmentation detection, drastically increase detection efficiency, save detection time, do not influence the normal operation of track traffic；
As a result of track detection vehicle and relief car group, when operation troubles occurs in track detection vehicle, relief car can be passed through
Track detection vehicle is towed back to, avoided because detection car failure causes to hinder track traffic operation.
The present invention is adapted to the automatic detection of underground railway track, subway track and other similar track running tracks.
Brief description of the drawings
Fig. 1 is the system organigram of the present invention；
Fig. 2 is the main view direction schematic diagram of track detection vehicle and relief car group of the present invention；
Fig. 3 is the side-looking direction schematic diagram of track detection vehicle and relief car group of the present invention；
Fig. 4 is the schematic diagram of rapid abutting joint of the present invention and automatic releasing device；
Fig. 5 is rapid abutting joint of the present invention and the diagrammatic cross-section of automatic releasing device.
Embodiment
Referring to Fig. 1-Fig. 5, the present invention is according to modern technology of Internet of things, the communication technology and Automatic Measurement Technique, there is provided one
Kind full-automatic unmannedization subway or subway track detection method, comprise the following steps：
The full-automatic control system is led to by communication network and the full-automatic unmannedization track detection vehicle receive-transmit system at each station
Letter, control the full-automatic unmannedization track detection vehicle receive-transmit system work；
The full-automatic unmannedization track detection vehicle receive-transmit system discharges after testing according to the instruction of the full-automatic control system
Qualified track detection vehicle and relief car group are in running track；
Be discharged into track detection vehicle and the relief car group in running track according to full-automatic control system and/or it is described it is complete from
The instruction that unmanned track detection vehicle receive-transmit system is sent is moved, carries out to double track while detects with certain speed；
After track detection vehicle and the relief car group completes detection return according to instruction, by the full-automatic unmannedization track detecting
Car receive-transmit system packs up it from running track, leaves running track；
The full-automatic unmannedization track detection vehicle receive-transmit system will be examined after track detection vehicle and relief car group is packed up to track
Measuring car is detected, charged and supplemented couplant, is prepared for detection next time.
Track detection vehicle and the relief car group such as finds fucoid as preferably by fucoid image data in detection
Belonging to it or neighbouring full-automatic unmannedization track detection vehicle receive-transmit system is reached, then is examined by the full-automatic unmannedization track
Measuring car receive-transmit system is sent to the full-automatic control system.
The full-automatic control system can be used as software loading to utilize calculating into computer network or the webserver
The communication capacity of machine network, realize and the full-automatic unmannedization track detection vehicle receive-transmit system at each station and each track detecting
The communication of car, relief car, control the operation of whole system.
The full-automatic control system can set experts database or artificial intelligence to carry out intelligent depth study, full-automatic detection
Data retrieval and full-automatic early warning etc., form intelligent depth learning system, full-automatic detection data retrieval and full-automatic early warning system
System, the appropriate technologies such as cloud computing and cloud storage can be used to realize these functions, in some cases, the present invention can also be related to
And system as the independent autonomous system with public network, or set between the system and external network system material every
From etc., to ensure the security of system operation when necessary.
The track detection vehicle uses any one following mode uploading detection data, can also combine both modes
Use：
The uploading detection data in detection process, the full-automatic unmannedization track detection vehicle receive-transmit system will be detected in data again
Full-automatic control system is reached, the full-automatic unmannedization track detection vehicle receive-transmit system can be real after detection data are received
Shi Shangchuan, can also disposable upload etc. after this detection is completed；
The not uploading detection data, but except fucoid image information in detection process, examined by the full-automatic unmannedization track
After measuring car receive-transmit system is withdrawn, with the corresponding data-interface pair of the full-automatic unmannedization track detection vehicle receive-transmit system progress
Connect, detection data are uploaded to the full-automatic unmannedization track detection vehicle receive-transmit system, the full-automatic unmannedization track inspection
Detection data are uploaded to full-automatic control system by measuring car receive-transmit system again.
The full-automatic unmannedization track detection vehicle receive-transmit system is receiving track detection vehicle and relief car the group upload
Detection data（Including fucoid image data）Afterwards, data analysis contrast can be carried out to the detection data, meets early warning bar
Personnel's early warning into station during part, to the early warning of affiliated track traffic control centre, send corresponding pre-warning signal, stand in personnel's early warning
Pre-warning facility in station can be passed through（Such as the mobile communication equipment that personnel carry at any time in monitor screen, language alarm and station
Deng）.
The full-automatic control system can carry out artificial intelligence analysis after detection data are received to all data,
According to analysis result, track section is paid close attention in early warning.
The full-automatic control system can every railway line same position of analogy automatically each detection data, it is new when having
Detection data upload after, after storing and generating catalog, new detection data are entered according to positional information when detecting
Row is decomposed, and the contrast one by one of each position is carried out with existing detection data, generates path wear Long-term change trend curve, foundation
The detection cycle next time and service life of wear curve every section of track of automatic budget.
Track detection vehicle and the relief car group can include track detection vehicle and relief car, the track detection vehicle and rescue
Help car to interconnect by rapid abutting joint and automatic releasing device, the track detection vehicle bearing track detection, data
Record and data upload function, receive the instruction from the full-automatic control system and feedback of the information, for example, status information and
Positional information etc., when track detection vehicle break down can not normally travel when, upload fault message, the relief car according to it is complete oneself
The instruction that autocontrol system and/or the full-automatic unmannedization track detection vehicle receive-transmit system are sent starts, will as tractor
Track detection vehicle, which is towed back to, sends position, by the track detection vehicle and is rescued by the full-automatic unmannedization track detection vehicle receive-transmit system
The withdrawal of car group is helped, away from running track.
Track detection vehicle and relief car in track detection vehicle and the relief car group can be provided with can with it is described complete
The communication control system of automatic unmanned track detection vehicle receive-transmit system and full-automatic control system communication, can not normally performed
Fault alarm is carried out during the instruction that the full-automatic control system or full-automatic unmannedization track detection vehicle receive-transmit system are sent, on
Pass fault message.
The full-automatic unmannedization track detection vehicle receive-transmit system include be used for data processing and communication electronic system and
Mechanical system two parts, mechanical system part therein can be arranged at the one end at subway or subway station, and electronic system can be according to
Set according to prior art, mechanical system realizes dispensing, the recovery of track detection vehicle and relief car group under the control of electronic system
And to detecting the functions such as car, the detection of relief car, maintenance, the demarcation of detection means, charging, supplement coupling liquid, by launching,
Detection is safeguarded that the track detection vehicle on track and relief car group enter running track, running track is detected, by returning
Receive, the track detection vehicle in running track and relief car group is returned to detection and is safeguarded track, track and fortune can be safeguarded in detection
Set between row track sluice gate and/or can detection track detection car and the detector that passes through of relief car group etc., to track detecting
Car and relief car group are rolled and driven into detection away from and safeguard that track is recorded and controlled.
Track detection vehicle and relief car group can be discharged in the end of run time to rail according to subway or subway running situation
Track detecting is carried out on road, track detection vehicle and relief car group is packed up automatically before subway or subway next time run time, makes
Leave running track.
The track detection vehicle and relief car group being stowed away safeguard track, track detection vehicle and the relief car group into detection
In track detection vehicle and relief car be separated from each other, the full-automatic unmannedization track detection vehicle receive-transmit system packing up track inspection
Safety detection, abrasion maintenance assessment, charging and supplement coupling water are carried out after measuring car to track detection vehicle.
The full-automatic unmannedization track detection vehicle receive-transmit system can include：
Automatic safety detection means, be arranged in subway or subway station, for detection car and relief car carry out safety inspection,
The electric power system for detecting car and relief car is charged, couples water supply；
Fully-automatic ultrasonic caliberating device, it is arranged in subway or subway station, for recording nominal data and verification data, and according to
The validity of nominal data and verification data checking detection data；
Full-automatic dispensing and retracting device, are arranged in subway or subway station, for track detection vehicle and relief car order to be thrown
The off-position being put on detected track, deposit position is recovered to after detection by track detection vehicle and relief car again；
Device for automatically controlling, it is arranged in subway or subway station, for controlling the automatic safety detection means, described complete
Automatic ultrasonic caliberating device and the full-automatic operation launched with retracting device, receive the testing number that track detection vehicle is sent
According to position data and upload to full-automatic control system, and to sending instructions under track detection vehicle and relief car, instruction can be
The information such as continue to detect, return, stay where one is, pending further orders and receiving the fault-signal that track detection vehicle or relief car are sent, and where being sent to
Subway or subway station administration personnel, corresponding early warning is carried out when meeting the situation for needing early warning.
Preferably, the automatic safety detection means includes a set of intelligentized multi-axis robot, the multi-axis machine
People is provided with single or multiple work heads, when the multi-axis robot is provided with single work head, including at least three multi-axis machines
People, safety inspection work head, charging work head and coupling water supply work head are separately installed with, when the multi-axis robot is provided with
During multiple work heads, including at least safety inspection work head, charging work head and coupling water supply work head, each work head
Safety inspection work, charging work and coupling water supply work can be sequentially or simultaneously performed, is belonged to detection car and relief car
Routine servicing.
Preferably, the charging work head is provided with UPS uninterrupted power supply devices, ensures the reliability of power supply, weakens abnormal
Power-off interference to caused by detection car and relief car.
Preferably, the fully-automatic ultrasonic caliberating device include two demarcation test blocks with running track same specification and other
Auxiliary calibration equipment, ultrasonic probe abrasion condition is assessed and completes the calibration of probe.
Preferably, the detection safeguards that track is demarcated through the automatic safety detection means, the fully-automatic ultrasonic
Each track detection vehicle station of device and the deposit position, thus connects above-mentioned each device so that track is examined
Measuring car and relief car can safeguard that track moves/driven to the operating position of each relevant apparatus along detection automatically, it is not necessary to other
Mobility-aid apparatus and accurate positioning.
Preferably, the full-automatic dispensing and retracting device include base and the cantilever fixed or be rotatablely connected with base
Beam, the cantilever beam be provided with sliding rail and moved along track and it is hanged detection car or relief car slide device, the release
Position and the deposit position are located within the working range of the cantilever beam.
This is a kind of preferred scheme, also has other to shift detection car and relief car from the deposit position certainly
To the scheme of the off-position, such as set directly between the deposit position and the off-position fixed or movable
Connection track.
Preferably, the deposit position of the deposit position of the track detection vehicle and the relief car is spaced apart, thus
There need not be special equipment to make a distinction and identify detection car and relief car.
Preferably, full-automatic launch performs hanged detection car, release detection car, hanged rescue with retracting device order
Car and release relief car complete the release of track detection vehicle and relief car, and the device for automatically controlling sends instruction control successively
The detection car and relief car of release complete automatic butt.
Referring to Fig. 2 and Fig. 3, the relief car comprises at least the rescue car body provided with walking mechanism, installed in the rescue
Ben Che control centres 1 on car body and the electric power system on the rescue car body, the detection car and the relief car
Linked together by rapid abutting joint and automatic releasing device 11, in addition to track dust arrester 10, the track dust arrester
10 are arranged on the front of the detection car.
Detection car body/rescue car body 3 carries all other systems, and the driving wheel 8 of the walking mechanism is installed in described
Detect car body/rescue car body 3 on, preferably front-wheel be the ultrasonic wave detecting system wheel seach unit, be responsible for track ultrasonic wave without
Carrying out flaw detection is damaged, trailing wheel is driving wheel 8, is responsible for the driving detection car/relief car motion.
Motor 7 is connected on the driving wheel 8 by electromagnetic clutch, when the detection car/relief car is in rail
On road and during fault-free, the electromagnetic clutch is in connection status all the time, and the motor 7 is powered, and the detection car/
Relief car can stablize the position stopped in any gradient, and when the detection car breaks down, the electromagnetic clutch disconnects
Connection, power is provided by relief car.
The detection car and the relief car are all self-powered, and the 48VDC that lithium battery group 6 can be provided used in system is straight
Stream, the detection car/relief car continuously and smoothly is set to walk 140 kilometers, 60 kilometers of detection, is then back to website every time, or
Person detects 100 kilometers, then reaches a nearest website, can carry out United Dispatching by remote control center.
Speed is uniformly controlled by the control centre 1 of car, and the detection car being mutually butted and the relief car are with identical
Speed moves；The water tank 5 can automatic water-supply, detection car stops water supply when be in non-detection status, and its water supply passes through water route
The control valve control of setting, the preferred magnetic valve of control valve, the magnetic valve is opened during detection, and car is detected after postponing 3s
Starting row is walked to carry out detection record data, the closed electromagnetic valve after detection.
When the detection car returns to website progress water recharging, the water tank is sent out by being arranged on the level sensor of inside
The signal that send stops supplying water, when the level sensor failure in the water tank, the level sensor that is arranged in supply channel
Second layer guarantee can be played, stops supplying water when having sensed liquid；The Ben Che control centres 1 control the start and stop of the motor
Connection with speed governing, the connection disengagement of the electromagnetic clutch, the detection car and the relief car is with automatically disengaging, Yi Jitong
News, send the information such as ownship position state to remote control center in real time.
The respective counts of the ultrasonic wave detecting system, the video detection system and the rail section profile measuring system
It is responsible for the collection and pretreatment of coherent detection data according to Acquisition Circuit 4, the detection car control centre 2 is responsible for coherent detection data
Analysis, early warning fucoid is as its result is uploaded by the communicator 1.
The track detection vehicle can include the track detecting car body provided with walking mechanism, pacify on the track detecting car body
Equipped with ultrasonic wave detecting system, video detection system and rail section profile measuring system, with the ultrasonic wave detecting system pair
Track carries out ultrasonic nondestructive test, obtains ultrasonic inspection detection information, raceway surface is regarded with the video detection system
Frequency is shot, and obtains surface appearance video detection information, with the cross section profile of the rail section profile measuring system measure track,
Cross section profile detection information is obtained, the ultrasonic inspection detection information, surface appearance video detection information and surface profile are examined
Measurement information carries out Treatment Analysis, obtains corresponding ultrasonic inspection detection data, surface appearance video detection data and surface abrasion
Data are detected, when any detection data reach alert if, are alarmed accordingly and/or prompting of transfiniting.
Preferably, the ultrasonic wave detecting system includes wheel seach unit, ultrasound data acquisition circuit, ultrasound data processing list
Member and coupling water supply system, the output of the wheel seach unit are accessed at the ultrasound data through the ultrasound data acquisition circuit
Unit is managed, the ultrasound data acquisition circuit pre-processes to the detectable signal from wheel seach unit, and formation can be described
The data mode of ultrasound data processing unit processes, handled accordingly by ultrasound data processing unit, through the ultrasonic number
After processing unit processes, track detection vehicle control centre is accessed, the ultrasound data processing unit can be determined as needed
With the division of labor of the track detection vehicle control centre during ultrasound detection Correlation method for data processing, the ultrasonic inspection testing number
According to transmission after being generated by the ultrasound data processing unit to the track detection vehicle control centre or the track detection vehicle
Control centre further handles the data from the ultrasound data processing unit generation ultrasonic inspection detection data.
The wheel seach unit can include roller and the probe boots on the roller, be provided with the probe boots
The probe chip of multiple different setting angles, the symmetrical distribution of wheel seach unit, is respectively used to enter the track of corresponding side
Row ultrasonic inspection detect, and simultaneously be used as the track detection vehicle road wheel, it is described coupling water supply system mainly by water tank,
Supply channel, water pump and control valve are formed, and the water of water tank provides the coupling of supersonic sounding by supply channel to wheel seach unit
Heshui.
Level sensor can be provided with the water tank.
The video detection system mainly by high-definition camera, video data acquiring circuit and video data processing element,
The output of the high-definition camera accesses the video data processing element, the video counts through the video data acquiring circuit
The vision signal from high-definition camera is pre-processed according to Acquisition Circuit, formation can be the video data processing element
The data mode of processing, handled accordingly by video data processing element, after video data processing element processing,
Track detection vehicle control centre is accessed, the video data processing element and vehicle data processing can be determined as needed
The division of labor of the center during video detection Correlation method for data processing, the surface appearance video detection data is by the video data
Sent after processing unit generation to the track detection vehicle control centre or the track detection vehicle control centre to from institute
The data for stating video data processing element further handle the generation surface appearance video detection data, the high-definition camera
Quantity be one or more, before the car body of the track detection vehicle and in raceway surface situation can be shot
Position and posture, mounting means of the high-definition camera on the car body of the track detection vehicle are preferably allowed for the high definition
The mounting means that the posture of camera is adjusted, for example, it is be hinged provided with positioning and locking device, or installed in automatically controlled head
On.
Preferably, the rail section profile measuring system includes array laser, laser data Acquisition Circuit and laser
Data processing unit, the output of the array laser access the laser data through the laser data Acquisition Circuit and handle list
Member, the laser data Acquisition Circuit pre-process to the laser acquisition signal from array laser, and formation can be institute
The data mode of laser data processing unit processes is stated, is handled accordingly by laser data processing unit, through the laser
After data processing unit processing, track detection vehicle control centre is accessed, can determine that the video data processing is single as needed
The division of labor of the first and described vehicle data processing center during laser detection Correlation method for data processing, the surface abrasion testing number
According to transmission after being generated by the laser data processing unit to the track detection vehicle control centre or the track detection vehicle
Control centre further handles the data from the laser data processing unit generation surface abrasion detection data, institute
The quantity of array laser is stated as one or more, below the car body of the track detection vehicle and in can be to track
Each position carry out surface measurement position and posture.
Data, surface appearance video detection data and table detect to the ultrasonic inspection in the track detection vehicle control centre
The numerical value of surface wear detection data is with each self-corresponding fucoid as threshold value（Upper limit threshold and/or lower threshold, depending on result of detection
Concrete condition depending on）It is compared, when meeting or exceeding warning limits, generates fucoid image data and upload.
When provided with ultrasound data processing unit, the ultrasound data processing unit is provided with ultrasonic system holder.
When provided with laser data processing unit, the ultrasound data processing unit stores provided with profile measuring system.
When provided with video data processing element, the video data processing element is provided with video system system memory.
When being provided with track detection vehicle central store provided with track detection vehicle control centre, the track detection vehicle control centre
Device, the storage for related measured data, basis/normal data, historical data and routine data etc..
The track detection vehicle is connected with relief car, track detection vehicle and relief car group is formed, when track detection vehicle is normal
During work, relief car is drawn by track detection vehicle, when track detection vehicle breaks down, returned by relief car traction track detection car
Return, the relief car comprises at least the rescue car body provided with walking mechanism, and its row can be controlled by being provided with the rescue car body
The relief car control centre sailed, the relief car control centre and the track detection vehicle control centre are equipped with and be able to can connect
Enter the communicator of communication network.
The track detecting car body and the rescue car body are connected by rapid abutting joint with automatic releasing device, described quick
Docking includes the first connector 21 and the second connector 24, first connector 21 and described second with automatic releasing device 11
Connector 24 includes connection end and the articulated end for being mutually butted for connecting detection car or relief car, second connection
The articulated end of part 24 is provided with umbrella hook 25, and the umbrella, which is linked up with 25 whole circumferences, has identical structure, and any position is all
Accurate mounting can be realized, circumference when eliminating docking is spacing, and the articulated end of first connector 21 is provided with some and institute
State umbrella and link up with 25 supporting outer hanging hooks 23, the articulated end of the outer hanging hook 23 and first connector 21, which is hinged and is provided with, to be made
Its front end moves inwardly into the mounting elastic bodies with the mounting of umbrella hook 25, the quantity of the outer hanging hook 23 be it is multiple,
Circumferentially.
The outer hanging hook 23 can rotate around articulated position 22, the outer hanging hook 23 is strutted to inner side gathering or outside,
Umbrella hook 25 stretch into the inner side of outer hanging hook 23 and in the presence of the mounting elastic body with the outer hanging hook 23
Achieve a butt joint, when umbrella hook 25, which is axially moveable, to be docked with the outer hanging hook 23, the 23 outside side stay of outer hanging hook
Opening enables the umbrella hook 25 to pass freely through, after the outer hanging hook 23 docks completion with umbrella hook 25, institute
State outer hanging hook 23 and collapse realization locking to inner side, avoid undesirably falling off in the course of work.
Preferably, the outer hanging hook 23 is the stock provided with hook, and the articulated position 22 of the outer hanging hook 23 is positioned at described
The middle part of stock or the one end for not setting hook, it is described when the articulated position 22 of the outer hanging hook is located at the middle part of the stock
Mounting elastic body is to be arranged on the pretensioned spring 27 that the stock does not set hook one end, the elastic force of the pretensioned spring 27
The direction of motion of contact point of the direction with the pretensioned spring 27 on the stock is consistent, by the elastic force of spring by described in
The hook end of outer hanging hook 23 is pressed on the umbrella hook 25, when the articulated position 22 of the outer hanging hook is located at the stock not
It is if described to mount the pre-stretching spring that elastic body is the middle part for being arranged on the stock, the pre-stretching during one end of hook
The direction of motion of tie point of the elastic force direction of spring with the pre-stretching spring on the stock is consistent, passes through the drawing of spring
The hook end of the outer hanging hook is pressed on the umbrella hook 25 by power, simple in construction to be easy to control and connect reliable.
Preferably, first connector 21 is provided with the strip connected in star 26 for accommodating the outer hanging hook, is formed to described outer
Hook 23 it is spacing, avoid swinging for the outer hanging hook 23.
Preferably, first connector 21, which is provided with, makes each outer hanging hook 23 while the pushing meanss outwards strutted.
Preferably, the pushing meanss are located at the internal cavities of first connector 21, including Tapered Cup 29, the cone
Shape part 29 is axially movable and small end is outside, and the section of the Tapered Cup 29 can be set to polygon or circle with corner angle
Shape, the cavity is consistent with the maximum cross-section profile of the Tapered Cup 29, or the section of the Tapered Cup 29 is set into circular,
The guide protrusions or guide groove of some bar shapeds, the cavity and the Tapered Cup are provided with the maximum cross-section of the Tapered Cup 29
29 maximum cross-section profile is consistent and is accordingly provided with guide groove or guide protrusions, other similar modes can also be used to make institute
Stating Tapered Cup 29 can not can only rotate axially movable, when the Tapered Cup 29 moves axially outward, on the outer hanging hook
Provided with the support bar 28 extended radially inwardly, the support bar is through the radial support rod aperture on first connector, outside it
End is extended in the axial cavity with corresponding plug-in hook connects, inner end, the position of support bar described in the plug-in hook connects
Before the hinge point 22 of the outer hanging hook and the first connector, the support bar 28 is displaced outwardly, and is promoted described outer
Hook 23 moves out.The inner end of the outer hanging hook is extended in the stroke range of the small end of the Tapered Cup, can rationally be set
The positions and dimensions of support bar and its supporting structure are put, it just can be synchronously jacked up each outer hanging hook, each outer hanging hook
Support bar be located on same cross section, thus, during the Tapered Cup moves forward, its taper surface and each branch
The inner end of support member contacts and pushed out, and then drives each outer hanging hook to overcome the elastic force of each mounting spring mechanism synchronously outside
Upset, the front end of each outer hanging hook is linked up with the synchronous umbrella hook for departing from the second connector, realize track detection vehicle and relief car
Unhook, the articulated end of the articulated end of the second connector and the first connector is docked, then outer hanging hook on the first connector
Hook portion is hooked on the umbrella hook of second connector just.
Preferably, the through hole is the small ladder hole of outer imperial palace, and 28 bars of the corresponding support are the small rank of outer imperial palace
It terraced axle, cannot be further continued for moving inward after the shaft shoulder of the support bar 28 touches the shoulder of the through hole, be formed
To the spacing of the support bar.
Preferably, the motor 31 that output end carries leading screw 30 is additionally provided with the cavity, the center of the Tapered Cup 29 is set
There is the screwed hole for connecting the leading screw 30, the gyration of the motor shaft is converted to the cone by the structure of this feed screw nut
The axial movement of shape part 28, other any existing structures that can be realized the Tapered Cup 29 and move along a straight line can also be used,
Such as rack-and-pinion, connecting rod slider or use hydraulic cylinder etc..
Preferably, outwardly, the top of the articulated end of first connector 21 is provided with pair on the convex surface of umbrella hook 25
The umbrella hook 25 forms spacing spacing hole, and the spacing hole is to be fitted with the convex profile of umbrella hook 5
Bellmouth, the umbrella hook and outer hanging hook completion pair are can guarantee that when umbrella hook 25 touches the bellmouth
Connect, the convex surface center of the umbrella hook 25 is provided with guide section, and the top of the spacing hole is provided with to be engaged with the guide section
Pilot hole, the bellmouth be engaged with the pilot hole to be formed to the umbrella hook centering and guide effect, make institute
State the first connector 21 with second connector 24 to be located on same axis, prevent deflection during docking.
Preferably, the connection end of first connector 21 and the connection end of second connector 24 are provided with connection method
Orchid, convenient processing and dismounting.
Preferably, the outline of first connector 21 is square that the outline of second connector 24 is circle,
And first connector 21 and the inside of second connector 24 are hollow structure.
After detecting the railcar R-T unit that car and relief car slave site set and being discharged on track, the railcar with
The relief car starts docking, it is necessary to when departing from, and passes through the branch by the motor pushing interior tapered part of first connector
Strut struts the outer hanging hook, and the railcar or relief car any one movement can depart from, according to remote after the completion of docking
The instruction at process control center goes test point to await orders.
Preferably, the track detecting car body is identical with the structure of the rescue car body, and preferably using can be across double
The aluminum alloy frame of rail.
Preferably, the walking mechanism of the track detection vehicle and relief car includes motor, electromagnetic clutch and driving
Wheel, A-GPS positioners can also be included, the output of the motor connects corresponding each driving wheel by electromagnetic clutch,
The A-GPS positioners are used for the position for recording the track detection vehicle in real time, and position signalling is passed into described car control
Center processed, track dust arrester, the track detecting car body and the rescue car body are installed before the track detection vehicle
Structure it is identical, using can be across the aluminum alloy frame of double track.
Preferably, the search coverage of the video detection system is located at the detecting area of the rail section profile measuring system
Domain（That is measured zone）Before, the search coverage of the rail section profile measuring system is located at ultrasonic inspection detection system
Before the search coverage of system, thus, the same position on track is successively by the video detection system, the rail section
The search coverage of profile measuring system and the ultrasonic inspection detecting system, when the detection data of the video detection system are tables
When planar condition is normally that path wear degree is normal with the detection data of the track profile measuring system, to respective rail region
Conventional Ultrasound flaw detection is carried out, when the detection data of the video detection system are that surface appearance is abnormal or the track profile is surveyed
When the detection data of amount system are that path wear degree is abnormal, conventional Ultrasound flaw detection is carried out to respective rail region or is strengthened super
Acoustic inspection, when the detection data of the video detection system are the inspections of the abnormal and described track profile measuring system of surface appearance
When survey data are that path wear degree is abnormal, reinforcing ultrasonic inspection, the probe strengthened ultrasonic inspection and refer to use are carried out
The chipset number ultrasonic inspection more than conventional Ultrasound flaw detection, can obtain higher flaw detection precision and accuracy.Due to use
Wheel seach unit, it is same probe same in other words group of scanning of the probe chip to track of chip be batch (-type) or periodically, i.e.,
Scanning area is set to cover the Zone Full of track, the flaw detection precision and accuracy to different parts are also different, and institute
It is that continuous, precision is consistent to state video detection system and detection/measurement of the track profile measuring system, therefore, by institute
The search coverage for stating video detection system and the track profile measuring system is preposition and only carried at least one of which system
Presentation surface situation is abnormal or path wear degree it is abnormal in the case of, just start more multigroup probe chip and carry out strengthening ultrasound
Flaw detection, it may also be necessary to the travel speed of probe vehicles is correspondingly reduced when strengthening ultrasonic inspection, due to the original of track interior
Beginning defect can be just found generally before track puts into operation, and using it is rear the defects of mainly early send out in over worn area
Domain or the region influenceed by external damage factor, and the influence of external damage factor is often first in the video of raceway surface
In embodied, therefore, can be bright in the case of ensureing that detection data are accurate, reliable by above-mentioned exploring sequence and mode
The aobvious data processing amount for reducing ultrasonic inspection, improves speed of detection, and the probe chip that difference is organized can be arranged on different
In probe boots or it is arranged in identical probe boots, can there is different distribution modes and/or different detection angles, can also
Using identical distribution mode and/or identical detection angle, the probe chip of difference group can be alternately distributed on roller, often
One group of probe chip can independently implement conventional Ultrasound flaw detection, when needing strengthen flaw detection, can start multigroup（Such as
It is preferred that two groups or 3 groups）Detected.
The present invention has following features：
1）The collection of detection data is automatically performed by track detection vehicle, can effectively control the detection angles at each position of track examining
It is consistent during survey, reliability greatly improves；
2）Substantial amounts of resource can be saved, by taking Beijing as an example, it is contemplated that have 1036 kilometers of track to the year two thousand twenty, if using current
Detection means, in the case where putting into 100 hand propelled track detection vehicles and 200 site operation personnels, all cars own
People ceaselessly works down, it is necessary to which about 7 hours could complete a detection cycle, and these manpower consumptions are not included into row data also
The personnel of the later stages such as analysis input, and the detection method of the invention is used, 1-2 people's monitoring and warning is only needed, applicant designs at present
Track detection vehicle detection speed up to 32 kilometers/hour, up to 60 kilometers, double track detects the travel distance of per car simultaneously,
In the case where putting into 20 sets of track detection vehicles, need to only divide with regard to a detection cycle, the data in later stage can be completed less than 2 hours
Analysis can be then automatically performed by system completely.
3）Give warning in advance, using the automatic testing method of the present invention, one-time detection can be carried out daily, the collection one per 1mm
Secondary data, form substantial amounts of data volume, and system can utilize existing artificial intelligence technology to learn the analysis to data, contrast track
The detection data of upper same position obtain the development trend of track condition, reach the effect to give warning in advance, and the accident that reduces occurs several
Rate.
4）The subway in whole city and subway track detecting can be made to realize unmanned automatic detection management；
5）The data of more than one hundred million, energy can be there is over based on the extremely huge data volume of detection data accumulation, each time detection
It is enough very easily to obtain normal signal, all kinds of flaw indications, the assessment calculating of wear extent；
6）The use state and service life of track can be effectively obtained by the analysis contrast to detection data, it is final to realize
Automatically controlled automation, the long-term input of personnel is reduced, substantial amounts of resource can be saved from the point of view of the whole nation；
7）Full-automatic detection data retrieval comparing function can be realized, there is the circuit of whole city underground or subway operation ratio
Figure, and can be pin-pointed in 1 centimetre；
8）Full-automatic detection data retrieval comparing function can be carried out the data obtained to each track detecting and track one by one
Corresponding, front and rear data are contrasted；
9）Full-automatic detection data retrieval comparing function can be had access to for people at any time, have access to position and include track detection vehicle, each
Any one interface of the iron or Star Simulator at subway station detection car receive-transmit system, full-automatic control system and Terminal Server Client；
10）Intelligent depth learning system can be set to be characterized in that the data for gathering each orbital position store repeatedly
Contrast, the data that all tracks gather are contrasted, and various defect classification grades, energy are obtained according to the contrast to gathered data
The analysis of enough big datas based on collection forms artificial intelligence, and data analysis is done instead of appointees；
11）Full-automatic early warning system is characterized in that track detection vehicle and relief car automatically can believe malfunction and position etc.
Breath issues Star Simulator detection car receive-transmit system and is uploaded to full-automatic control system, while is sent to belonged to subway or subway
Station administration personnel；
12）Warning information can be sent when detecting that track has questionable signal to place subway or subway station to carry out manually again
Look into；
Running track alleged by the present invention includes underground railway track, subway track and other any suitable forms are used for track traffic
Track or other similar to track, alleged subway station, subway station refer to the station of various track traffics, full-automatic nothing alleged by the present invention
Peopleization subway or subway track detection method, being not used in restriction orbital fashion only includes underground railway track and/or subway track.
It is disclosed by the invention it is each preferably with optional technological means, unless otherwise indicated and one preferably or can selecting technology hand
Section is outside the further restriction of another technological means, can form some different technical schemes in any combination.
Claims (10)
1. a kind of full-automatic unmannedization subway or subway track detection method, it is characterised in that：
Full-automatic control system is communicated by communication network with the full-automatic unmannedization track detection vehicle receive-transmit system at each station, control
Make the full-automatic unmannedization track detection vehicle receive-transmit system work；
The full-automatic unmannedization track detection vehicle receive-transmit system discharges after testing according to the instruction of the full-automatic control system
Qualified track detection vehicle and relief car group are in running track；
Be discharged into track detection vehicle and the relief car group in running track according to full-automatic control system and/or it is described it is complete from
The instruction that unmanned track detection vehicle receive-transmit system is sent is moved, carries out to double track while detects with certain speed, as discovery can
Sign is doubted, fucoid image data is uploaded to belonging to it or neighbouring full-automatic unmannedization track detection vehicle receive-transmit system, then
The full-automatic control system is sent to by the full-automatic unmannedization track detection vehicle receive-transmit system；
After track detection vehicle and the relief car group completes detection return according to instruction, car receive-transmit system is detected by the Star Simulator
It is packed up from running track, leaves running track；
The full-automatic unmannedization track detection vehicle receive-transmit system will be examined after track detection vehicle and relief car group is packed up to track
Measuring car is detected, charged and supplemented couplant, is prepared for detection next time.
2. the method as described in claim 1, it is characterised in that the track detection vehicle using any one following mode or under
Row two ways uploading detection data：
The uploading detection data in detection process, the full-automatic unmannedization track detection vehicle receive-transmit system will be detected in data again
Reach full-automatic control system；
The not uploading detection data, but except fucoid image information in detection process, examined by the full-automatic unmannedization track
After measuring car receive-transmit system is withdrawn, with the corresponding data-interface pair of the full-automatic unmannedization track detection vehicle receive-transmit system progress
Connect, detection data are uploaded to the full-automatic unmannedization track detection vehicle receive-transmit system, the full-automatic unmannedization track inspection
Detection data are uploaded to full-automatic control system by measuring car receive-transmit system again.
3. method as claimed in claim 2, it is characterised in that the full-automatic unmannedization track detection vehicle receive-transmit system is being received
After the detection data uploaded to the track detection vehicle and relief car group, data analysis contrast, symbol are carried out to the detection data
Personnel's early warning into station when closing early-warning conditions, to the early warning of affiliated track traffic control centre, sends corresponding pre-warning signal.
4. method as claimed in claim 2, it is characterised in that the full-automatic control system is right after detection data are received
All data carry out artificial intelligence analysis, and according to analysis result, track section is paid close attention in early warning.
5. full-automatic detection data retrieval contrast as claimed in claim 4, it is characterised in that the full-automatic control system is certainly
Each detection data of every railway line same position of dynamic analogy, after new detection data are received, store and generate retrieval
Catalogue, new detection data are decomposed according to positional information when detecting, and each position is carried out with existing detection data
The contrast one by one put, path wear Long-term change trend curve is generated, the inspection next time according to the automatic every section of track of budget of wear curve
Survey the service life of cycle and track.
6. the method as described in claim 1,2,3,4 or 5, it is characterised in that track detection vehicle and the relief car group includes rail
Road detects car and relief car, and the track detection vehicle and relief car are interconnected on one by rapid abutting joint and automatic releasing device
Rise, the detection of track detection vehicle bearing track, data record and the data upload function, receiving come from the Automatic Control system
The instruction of system and feedback of the information, when track detection vehicle break down can not normally travel when, upload fault message, the relief car
The instruction sent according to the full-automatic control system and/or full-automatic unmannedization track detection vehicle receive-transmit system starts, as
Track detection vehicle is towed back to and sends position by tractor, is examined the track by the full-automatic unmannedization track detection vehicle receive-transmit system
Measuring car and relief car group are withdrawn.
7. method as claimed in claim 6, it is characterised in that the track detection vehicle in track detection vehicle and the relief car group
It is equipped with what can be communicated with the full-automatic unmannedization track detection vehicle receive-transmit system and full-automatic control system with relief car
Communication control system, it can not normally perform the full-automatic control system or full-automatic unmannedization track detection vehicle receive-transmit system
Fault alarm is carried out during the instruction sent, uploads fault message.
8. method as claimed in claim 7, it is characterised in that the track detection vehicle and relief car group being stowed away, which enter detection, to be tieed up
Guard rail road, track detection vehicle and relief car in track detection vehicle and the relief car group are separated from each other, described full-automatic unmanned
Change track detection vehicle receive-transmit system and safety detection, abrasion maintenance assessment, charging and supplement coupling water are carried out to track detection vehicle.
9. full-automatic detection data retrieval contrast as claimed in claim 8, it is characterised in that the track detection vehicle includes setting
There is the track detecting car body of walking mechanism, ultrasonic wave detecting system, video detection system are installed on the track detecting car body
With rail section profile measuring system, ultrasonic nondestructive test is carried out to track with the ultrasonic wave detecting system, ultrasound is obtained and visits
Triage surveys data, carries out video capture to raceway surface with the video detection system, obtains surface appearance video detection data,
With the cross section profile of the rail section profile measuring system measure track, cross section profile detection data are obtained.
10. full-automatic detection data retrieval contrast as claimed in claim 8, it is characterised in that:
The ultrasonic wave detecting system includes wheel seach unit, ultrasound data acquisition circuit, ultrasound data processing unit and coupling water
Water system, the output of the wheel seach unit access the ultrasound data processing unit, warp through the ultrasound data acquisition circuit
After the ultrasound data processing unit processes, track detection vehicle control centre is accessed, the track detection vehicle control centre is provided with
This external memory and for being communicated with the full-automatic unmannedization track detection vehicle receive-transmit system and the full-automatic control system
Track detection vehicle communicator, the wheel seach unit includes roller and the probe boots on the roller, the probe
The probe chip of multiple different setting angles is provided with boots, the symmetrical distribution of wheel seach unit, is respectively used to corresponding
The track of side carries out ultrasonic inspection detection, and is used as the road wheel of the track detection vehicle, the coupling water supply system simultaneously
Mainly it is made up of water tank, supply channel, water pump and control valve, the water of water tank provides by supply channel to wheel seach unit to be surpassed
The coupling water of acoustic detection；
The video detection system is described mainly by high-definition camera, video data acquiring circuit and video data processing element
The output of high-definition camera accesses the video data processing element through the video data acquiring circuit, through the video data
After processing unit processes, the track detection vehicle control centre is accessed, the quantity of the high-definition camera is one or more, is pacified
Taken the photograph before the car body of the track detection vehicle and in position and the posture that can shoot raceway surface situation, the high definition
As mounting means of the head on the car body of the track detection vehicle preferably allows for that the posture of the high-definition camera is adjusted
Mounting means；
It is single that the rail section profile measuring system includes array laser, laser data Acquisition Circuit and laser data processing
Member, the output of the array laser accesses the laser data processing unit through the laser data Acquisition Circuit, through described
After laser data processing unit processes, the track detection vehicle control centre is accessed, the quantity of the array laser is one
Or it is multiple, below the car body of the track detection vehicle and in the position that surface measurement can be carried out to each position of track
Put and posture；
The rapid abutting joint includes the first connector and the second connector with automatic releasing device, and first connector is arranged on
One end of the track detection vehicle is connected on the relief car, second connector is arranged on the track detection vehicle and connected
One end of the relief car, the articulated end for being used to connect the first connector on second connector is provided with umbrella hook, described
The articulated end for being used to connect second connector on first connector is provided with some outer hanging hooks supporting with umbrella hook,
The articulated end of the outer hanging hook and first connector, which is hinged and is provided with, makes its front end move inwardly into and umbrella hook
The mounting elastic body of mounting, the quantity of the outer hanging hook is multiple, and circumferentially, first connector, which is provided with, makes each institute
The pushing meanss stated outer hanging hook while outwards strutted, the axial cavity of first connector is interior to be provided with Tapered Cup, the taper
Part coordinates with axial cavity movement and small end is provided with and extended radially inwardly towards second connector, the outer hanging hook
Support bar, through the radial support rod aperture on first connector, its outer end connects the support bar with corresponding outer hanging hook
Connect, inner end is extended in the axial cavity, and the position of support bar described in the plug-in hook connects is located at the outer hanging hook and
Before the hinge point of a connection piece, the inner end of the outer hanging hook is extended in the stroke range of the small end of the Tapered Cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576410.4A CN107356671B (en) | 2017-07-14 | 2017-07-14 | Full-automatic unmannedization subway or subway track detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710576410.4A CN107356671B (en) | 2017-07-14 | 2017-07-14 | Full-automatic unmannedization subway or subway track detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107356671A true CN107356671A (en) | 2017-11-17 |
| CN107356671B CN107356671B (en) | 2019-11-12 |
Family
ID=60292533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710576410.4A Active CN107356671B (en) | 2017-07-14 | 2017-07-14 | Full-automatic unmannedization subway or subway track detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107356671B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109840907A (en) * | 2019-01-29 | 2019-06-04 | 西安理工大学 | A kind of rail abrasion detection method based on deep learning |
| CN109853378A (en) * | 2019-03-22 | 2019-06-07 | 中铁大桥科学研究院有限公司 | A kind of portable bridge is with checking trolley, rescue and Bridges Detection |
| CN110231402A (en) * | 2019-05-22 | 2019-09-13 | 张博湉 | A kind of Container inspection system method and device |
| CN112834613A (en) * | 2020-12-22 | 2021-05-25 | 中铁隧道集团二处有限公司 | TBM tunnel storage battery car rail early warning robot system that detects a flaw |
| CN112903825A (en) * | 2021-01-19 | 2021-06-04 | 昆明论道机械制造有限公司 | Detection equipment capable of rapidly detecting rail surface cracks and detection method thereof |
| CN113671945A (en) * | 2021-07-15 | 2021-11-19 | 深圳市雄帝科技股份有限公司 | Unmanned transport vehicle scheduling management method and management system thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200964113Y (en) * | 2006-08-07 | 2007-10-24 | 王春花 | Intelligent type railway track viewing vehicle |
| CN101320020A (en) * | 2007-06-07 | 2008-12-10 | 章罕 | Ultrasonic wheel type probe |
| CN102156167A (en) * | 2011-04-07 | 2011-08-17 | 华南理工大学 | Distributed ultrasonic detecting method and system of steel rails |
| CN102826096A (en) * | 2012-09-14 | 2012-12-19 | 宝鸡南车时代工程机械有限公司 | Multifunctional inspection detecting vehicle used for railway steel rail |
| CN104122890A (en) * | 2013-04-24 | 2014-10-29 | 山东轻工业学院 | City underground railway inspection robot system and detection method |
| CN104648636A (en) * | 2015-01-20 | 2015-05-27 | 西北工业大学 | Mechanical type flexible butt-joint locking mechanism |
-
2017
- 2017-07-14 CN CN201710576410.4A patent/CN107356671B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200964113Y (en) * | 2006-08-07 | 2007-10-24 | 王春花 | Intelligent type railway track viewing vehicle |
| CN101320020A (en) * | 2007-06-07 | 2008-12-10 | 章罕 | Ultrasonic wheel type probe |
| CN102156167A (en) * | 2011-04-07 | 2011-08-17 | 华南理工大学 | Distributed ultrasonic detecting method and system of steel rails |
| CN102826096A (en) * | 2012-09-14 | 2012-12-19 | 宝鸡南车时代工程机械有限公司 | Multifunctional inspection detecting vehicle used for railway steel rail |
| CN104122890A (en) * | 2013-04-24 | 2014-10-29 | 山东轻工业学院 | City underground railway inspection robot system and detection method |
| CN104648636A (en) * | 2015-01-20 | 2015-05-27 | 西北工业大学 | Mechanical type flexible butt-joint locking mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109840907A (en) * | 2019-01-29 | 2019-06-04 | 西安理工大学 | A kind of rail abrasion detection method based on deep learning |
| CN109840907B (en) * | 2019-01-29 | 2021-07-20 | 西安理工大学 | Steel rail wear detection method based on deep learning |
| CN109853378A (en) * | 2019-03-22 | 2019-06-07 | 中铁大桥科学研究院有限公司 | A kind of portable bridge is with checking trolley, rescue and Bridges Detection |
| CN110231402A (en) * | 2019-05-22 | 2019-09-13 | 张博湉 | A kind of Container inspection system method and device |
| CN112834613A (en) * | 2020-12-22 | 2021-05-25 | 中铁隧道集团二处有限公司 | TBM tunnel storage battery car rail early warning robot system that detects a flaw |
| CN112834613B (en) * | 2020-12-22 | 2022-07-26 | 中铁隧道集团二处有限公司 | TBM tunnel storage battery car rail early warning robot system that detects a flaw |
| CN112903825A (en) * | 2021-01-19 | 2021-06-04 | 昆明论道机械制造有限公司 | Detection equipment capable of rapidly detecting rail surface cracks and detection method thereof |
| CN113671945A (en) * | 2021-07-15 | 2021-11-19 | 深圳市雄帝科技股份有限公司 | Unmanned transport vehicle scheduling management method and management system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107356671B (en) | 2019-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107356671A (en) | Full-automatic unmannedization subway or subway track detection method | |
| CN207173608U (en) | Full-automatic unmannedization subway or subway track detection device | |
| CN206954247U (en) | The full-automatic unmannedization receive-transmit system of subway or subway track detection vehicle | |
| WO2021068848A1 (en) | Tunnel structure disease multi-scale measurement and intelligent diagnosis system and method | |
| CN106049210B (en) | A kind of track condition Intelligent Measurement platform | |
| CN108248635B (en) | A kind of intelligent checking system for rail tunnel | |
| CN111016932B (en) | Track inspection vehicle and detection method of energy-saving air rail system | |
| Falamarzi et al. | A review on existing sensors and devices for inspecting railway infrastructure | |
| CN105416097B (en) | Contact Line Detection tool car and method based on laser radar | |
| CN105313908B (en) | Facility scanning means by a kind of rail | |
| CN106192634A (en) | A kind of railroad track elastic bar fastener condition automatic detection device and method | |
| Jing et al. | Developments, challenges, and perspectives of railway inspection robots | |
| CN110789566B (en) | Track defect monitoring method and monitoring equipment based on axle box acceleration signal | |
| CN107328783A (en) | A kind of bridge intelligent checking system based on unmanned plane | |
| KR101602376B1 (en) | A train faulty monitoring system | |
| CN102060037A (en) | Online dynamic detection device of all-periphery contour dimension of locomotive wheel pair | |
| CN110281970A (en) | A kind of suspension type railway freight automatic decoupling device, system and method | |
| DE112009002247T5 (en) | Inspection of a pipeline | |
| CN107642036A (en) | Bridge quick visualization detection means and its system and method | |
| CN106400628B (en) | Models computed method, control unit, control system and railway switch detection method | |
| CN109895805A (en) | A kind of rail traffic vehicles vehicle bottom cruising inspection system and method | |
| CN109061669A (en) | Clearance Detection and its method | |
| CN111006748A (en) | Monitoring system for overload and unbalanced load of railway wagon | |
| CN205068089U (en) | Rail mounted is patrolled and examined system for transformer substation | |
| Li et al. | Smart railway based on the Internet of Things |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231211 Address after: 101399 402b, building 9, yard 13, Mintai Road, Shunyi District, Beijing (scientific and technological innovation functional area) Patentee after: Atami intelligent equipment (Beijing) Co.,Ltd. Address before: 100102 402b, Block E, Wangjing Science and Technology Pioneer Park, Chaoyang District, Beijing Patentee before: BEIJING ON-TECH INSPECTION TECHNOLOGIES CO.,LTD. |