CN107356671B - Full-automatic unmannedization subway or subway track detection method - Google Patents
Full-automatic unmannedization subway or subway track detection method Download PDFInfo
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- CN107356671B CN107356671B CN201710576410.4A CN201710576410A CN107356671B CN 107356671 B CN107356671 B CN 107356671B CN 201710576410 A CN201710576410 A CN 201710576410A CN 107356671 B CN107356671 B CN 107356671B
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- G01N29/04—Analysing solids
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Abstract
The present invention relates to a kind of full-automatic unmannedization subway or subway track detection methods, its full-automatic control system is communicated by communication network with the full-automatic unmannedization track detection vehicle receive-transmit system at each station, and the full-automatic unmannedization track detection vehicle receive-transmit system work is controlled；The full-automatic unmannedization track detection vehicle receive-transmit system is discharged according to the instruction of the full-automatic control system through in the qualified track detection vehicle of detection and relief car group to running track；The track detection vehicle and relief car group being discharged into running track are carried out to double track while being detected with certain speed, as discovery fucoid uploads fucoid image data as if；It is returned after the completion of detection, the full-automatic unmannedization track detection vehicle receive-transmit system will be detected to track detection vehicle, and charged and be supplemented couplant after packing up track detection vehicle and relief car group.It is automated invention substantially achieves track detecting and unmanned, detection efficiency is high, and speed is fast, the high reliablity of data.
Description
Technical field
The present invention relates to a kind of full-automatic unmannedization subway or subway track detection methods.
Background technique
Track detecting is the important component for ensureing rail traffic safe operation, since the train operation density of rail locomotive is big
For the big feature of the short passenger's density of time interval so the abrasion of track is than more serious, long-play is easy to appear various hidden danger,
So the detection of subway and subway track also becomes the most important thing of the safe link of rail vehicle transportation.
Currently used detection mode is to push track detection vehicle upper rail by testing staff after terminating operation night to carry out
Detection, what instrument used still lacks than older analog machine by testing staff according to the live interpretation of Realtime Alerts situation progress
Point is obvious: 1) it is related can to detect that defect pushes away the experiences such as the posture state of track detection vehicle with testing staff, 2) and it cannot be right
Detection data compares, 3) judgement of defect is related with the experience of testing staff, and 4) use a large amount of testing staff.
666 kilometers of Beijing subway circulation total kilometrage in 2015 is up to 1036 kilometers to the year two thousand twenty, daily night subway
The time stopped transport for detecting, two track detection vehicles of people one, walking detected about 3 kilometers/hour of speed, detection less than 4 hours
Complete all track circuits will need a large amount of personnel equipment and time.
In addition, the data detected at present are all the signal strobes of analog machine acquisition, the picture format of preservation does not have same
Position repeatedly compares, and is unable to the value of position signal lateral comparison, does not also just have intelligent automaticization data management and detection
The intelligence that period arranges, cannot equally prejudge the service life and replacement date of track, and every 1 millimeter of each ultrasonic probe acquires one
Data share 9 probes, that is, every 1mm needs to acquire 9 datas, and the data volume that detection is one time is very huge, without suitable
Data processing system, will be unable to achieve the desired results.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the present invention provides a kind of full-automatic unmannedization subway or subway tracks
Detection method, this method realize track detecting automation and unmanned substantially, and detection efficiency is high, and speed is fast, data can
By property height, and a large amount of testing staff is not needed.
The technical solution adopted in the present invention: one kind full-automatic unmannedization subway or subway track detection method, automatically
Control system communicate with the full-automatic unmannedization track detection vehicle receive-transmit system at each station by communication network, control it is described entirely oneself
Move unmanned track detection vehicle receive-transmit system work；
The full-automatic unmannedization track detection vehicle receive-transmit system discharges warp according to the instruction of the full-automatic control system
It detects on qualified track detection vehicle and relief car group to running track；
The track detection vehicle that is discharged into running track and relief car group are according to full-automatic control system and/or described
The instruction that full-automatic unmannedization track detection vehicle receive-transmit system issues, is carried out to double track while being detected with certain speed, is such as sent out
Existing fucoid is as being uploaded to belonging to it or neighbouring full-automatic unmannedization track detection vehicle transmitting-receiving system for fucoid image data
System, then the full-automatic control system is sent to by the full-automatic unmannedization track detection vehicle receive-transmit system；
After the track detection vehicle and relief car group complete detection return according to instruction, by Star Simulator detection vehicle transmitting-receiving
System packs up it from running track, leaves running track；
The full-automatic unmannedization track detection vehicle receive-transmit system, will be to rail after packing up track detection vehicle and relief car group
Road detection vehicle is detected, charged and is supplemented couplant, is prepared for detection next time.
Beneficial effects of the present invention: many-sided due to using the track detection vehicle travelled in running track to carry out track
It is automatic detection and automatic alarm, shorten detection time, improve detection efficiency, save manpower, avoid artificial judgment
When the fault that generates；
Full-automatic control system due to using the whole network controls the full-automatic unmannedization track detection vehicle transmitting-receiving system at each station
System work realizes the whole network automatic control, greatly improves the degree of automation；
Due to being provided with the full-automatic unmannedization track detection vehicle that can be received and dispatched to track detection vehicle and relief car group
Receive-transmit system, can carry out the transmitting-receiving of track detection vehicle and relief car group according to the runing time of subway or subway, and realize each
Segmentation detection between standing, greatly improves detection efficiency, saves detection time, do not influence the normal operation of rail traffic；
It can be by rescuing when operation troubles occurs in track detection vehicle due to using track detection vehicle and relief car group
It helps vehicle to tow back to track detection vehicle, avoids causing to interfere rail traffic operation because of detection vehicle failure.
The present invention is adapted to the automatic detection of underground railway track, subway track and other similar track running tracks.
Detailed description of the invention
Fig. 1 is system organigram of the 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 the diagrammatic cross-section of rapid abutting joint of the present invention and automatic releasing device.
Specific embodiment
Referring to Fig. 1-Fig. 5, the present invention provides one according to modern technology of Internet of things, the communication technology and automatic measurement technique
Kind full-automatic unmannedization subway or subway track detection method, including the following steps:
The full-automatic control system is received and dispatched by communication network and the full-automatic unmannedization track detection vehicle at each station
System communication controls the full-automatic unmannedization track detection vehicle receive-transmit system work；
The full-automatic unmannedization track detection vehicle receive-transmit system discharges warp according to the instruction of the full-automatic control system
It detects on qualified track detection vehicle and relief car group to running track；
The track detection vehicle that is discharged into running track and relief car group are according to full-automatic control system and/or described
The instruction that full-automatic unmannedization track detection vehicle receive-transmit system issues, is carried out to double track while being detected with certain speed；
After the track detection vehicle and relief car group complete detection return according to instruction, by the full-automatic unmannedization track
Detection vehicle receive-transmit system packs up it from running track, leaves running track；
The full-automatic unmannedization track detection vehicle receive-transmit system, will be to rail after packing up track detection vehicle and relief car group
Road detection vehicle is detected, charged and is supplemented couplant, is prepared for detection next time.
The track detection vehicle and relief car group when detecting, such as find fucoid as preferably will be on fucoid image data
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 into computer network or network server, utilize calculating
The communication capacity of machine network realizes the full-automatic unmannedization track detection vehicle receive-transmit system and each track detecting with each station
The communication of vehicle, relief car controls the operation of whole system.
Experts database can be set in the full-automatic control system or artificial intelligence carries out intelligent depth study, full-automatic detection
Data retrieval and full-automatic early warning etc. form intelligent depth learning system, the retrieval of full-automatic detection data and full-automatic early warning system
System can realize these functions using appropriate technologies such as cloud computing and cloud storages, in some cases, the present invention can also be related to
And system as the independent autonomous system with public network, or be arranged between this system and external network system material every
From etc., to guarantee the safety of system operation if necessary.
The track detection vehicle uses any one following mode uploading detection data, can also combine both modes
It uses:
Uploading detection data in the detection process, the full-automatic unmannedization track detection vehicle receive-transmit system will test number again
According to full-automatic control system is uploaded to, the full-automatic unmannedization track detection vehicle receive-transmit system can receive detection data
It uploads in real time afterwards, can also disposably be uploaded after completing this detection etc.；
Not uploading detection data in the detection process, but except fucoid image information, by the full-automatic unmannedization rail
After road detects the withdrawal of vehicle receive-transmit system, data-interface corresponding with the full-automatic unmannedization track detection vehicle receive-transmit system progress
Docking, will test data and is uploaded to the full-automatic unmannedization track detection vehicle receive-transmit system, the full-automatic unmannedization track
Detection vehicle receive-transmit system will test data again and be uploaded to full-automatic control system.
The full-automatic unmannedization track detection vehicle receive-transmit system is receiving the track detection vehicle and the upload of relief car group
Detection data (including fucoid image data) after, can to the detection data carry out data analysis comparison, meet early warning item
Personnel's early warning into station when part issues corresponding pre-warning signal to the early warning of affiliated rail traffic control centre, interior personnel's early warning of standing
Pre-warning facility in standing (such as monitor screen, language alarm and the mobile communication equipment that carries at any time of personnel in standing can be passed through
Deng).
The full-automatic control system can carry out artificial intelligence analysis to all data after receiving detection data,
Based on the analysis results, track section is paid close attention in early warning.
The full-automatic control system can automatic every railway line same position of analogy each detection data, it is new when having
Detection data upload after, after storing and generating catalog, location information when to new detection data according to detection into
Row decomposes, and the comparison 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.
The track detection vehicle and relief car group may include track detection vehicle and relief car, the track detection vehicle and rescue
It helps vehicle to interconnect by rapid abutting joint and automatic releasing device, the track detection vehicle bearing track detection, data
Record and data upload function, receive instruction from the full-automatic control system and information feedback, for example, status information and
Location 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 starting that autocontrol system and/or the full-automatic unmannedization track detection vehicle receive-transmit system issue, will as tractor
Track detection vehicle, which is towed back to, issues position, by the track detection vehicle and is rescued by the full-automatic unmannedization track detection vehicle receive-transmit system
The withdrawal of vehicle group is helped, away from running track.
The track detection vehicle and track detection vehicle in relief car group and relief car can be equipped 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, cannot normally execute
Fault alarm is carried out when the instruction that the full-automatic control system or full-automatic unmannedization track detection vehicle receive-transmit system issue, on
Pass fault message.
The full-automatic unmannedization track detection vehicle receive-transmit system include for the electronic system of data processing and communication and
Mechanical system two parts, mechanical system part therein can be set one end in subway or subway station, and electronic system can be according to
It is arranged according to the prior art, mechanical system realizes dispensing, the recycling of track detection vehicle and relief car group under the control of electronic system
And to functions such as detection vehicle, the detection of relief car, maintenance, the calibration of detection device, charging, supplement coupling liquids, by launching,
So that track detection vehicle and relief car group on detection maintenance track is entered running track, running track is detected, by returning
It receives, track detection vehicle and relief car group in running track is made to return to detection maintenance track, it can be in detection maintenance track and fortune
Be arranged between row track sluice gate and/or can detection track detection vehicle and the detector etc. that passes through of relief car group, to track detecting
Vehicle and relief car group are driven out to and drive into detection maintenance track and recorded and controlled.
Track detection vehicle and relief car group can be discharged to rail in the end of run time according to subway or subway operating condition
Track detecting is carried out on road, is packed up track detection vehicle and relief car group automatically before subway or subway next time runing time, is made
Leave running track.
The track detection vehicle and relief car group being stowed away enter detection maintenance track, the track detection vehicle and relief car group
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 to track detection vehicle after measuring car.
The full-automatic unmannedization track detection vehicle receive-transmit system may include:
Automatic safety detection device is arranged in subway or subway station, for carrying out safety to detection vehicle and relief car
It checks, charged to the power supply system of detection vehicle and relief car, couple water supply；
Fully-automatic ultrasonic caliberating device 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 verification detection data；
Full-automatic dispensing and recyclable device, are arranged in subway or subway station, for track detection vehicle and relief car is suitable
Sequence is launched to the releasing position on detected track, and track detection vehicle and relief car are recovered to storage position again after detection
It sets；
Device for automatically controlling is arranged in subway or subway station, for controlling the automatic safety detection device, institute
The operation for stating fully-automatic ultrasonic caliberating device and the full-automatic dispensing and recyclable device, receives the inspection that track detection vehicle is sent
Measured data and position data simultaneously upload to full-automatic control system, and to sending instructions under track detection vehicle and relief car, instruction can
The fault-signal that track detection vehicle or relief car are sent is received the information such as to be to continue with detection, return, stay where one is, pending further orders, and is sent to
Place 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 device includes a set of intelligentized multi-axis robot, the multi-axis machine
People is equipped with single or multiple work heads, when the multi-axis robot is equipped with single work head, includes at least three multi-axis machines
People is separately installed with safety inspection work head, charging work head and coupling water supply work head, when the multi-axis robot is equipped with
When multiple work heads, includes at least safety inspection work head, charging work head and coupling water and feed work head, each work head
Safety inspection work, charging work and coupling water supply work can be sequentially or simultaneously executed, is belonged to detection vehicle and relief car
Routine servicing.
Preferably, the charging work head is equipped with UPS uninterrupted power supply device, guarantees the reliability of power supply, weakens abnormal
Power-off is interfered caused by detection vehicle and relief car.
Preferably, the fully-automatic ultrasonic caliberating device include two calibration test blocks with running track same specification and other
The calibration of probe is assessed ultrasonic probe abrasion condition and completed to auxiliary calibration equipment.
Preferably, the detection maintenance track is demarcated through the automatic safety detection device, the fully-automatic ultrasonic
Device and each track detection vehicle station of the storage position, thus connect above-mentioned each device, so that track is examined
Measuring car and relief car automatic can safeguard that track moves/drive to the operating position of each relevant apparatus along detection, not need other
Mobility-aid apparatus and accurate positioning.
Preferably, the cantilever that the full-automatic dispensing and recyclable device include pedestal and fix or be rotatablely connected with pedestal
Beam, the cantilever beam be equipped with sliding rail and moved along track and it is hanged detection vehicle or relief car slide device, the release
Position and the storage position are located within the working range of the cantilever beam.
This is a kind of preferred embodiment, can will test vehicle and relief car there are also other certainly and shift from the storage position
To the scheme of the releasing position, such as it is arranged directly between the storage position and the releasing position fixed or movable
Connection track.
Preferably, the storage position of the track detection vehicle and the storage position of the relief car are separated from each other, thus
It has not needed special equipment detection vehicle and relief car are distinguished and identified.
Preferably, the full-automatic dispensing and recyclable device sequence execute hanged detection vehicle, release detection vehicle, hanged rescue
Vehicle and release relief car complete the release of track detection vehicle and relief car, and it is successive that the device for automatically controlling sends instruction control
The detection vehicle and relief car of release complete automatic butt.
Referring to figs. 2 and 3, the relief car, which includes at least, is equipped with the rescue car body of walking mechanism, is mounted on the rescue
Ben Che control centre 1 on car body and the power supply system being mounted on the rescue car body, the detection vehicle and the relief car
It is linked together by rapid abutting joint and automatic releasing device 11, further includes track dust-extraction unit 10, the track dust-extraction unit
10 are mounted on the front of the detection vehicle.
Detection car body/rescue car body 3 carries all other systems, and the driving wheel 8 of the walking mechanism is mounted on 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, rear-wheel is driving wheel 8, is responsible for the driving detection vehicle/relief car movement.
Driving motor 7 is connected on the driving wheel 8 by electromagnetic clutch, when the detection vehicle/relief car is in rail
On road and when fault-free, the electromagnetic clutch is in connection status always, and the driving motor 7 charges, and the detection vehicle/
Relief car can stablize the position stopped in any gradient, and when the detection vehicle breaks down, the electromagnetic clutch is disconnected
Connection, provides power by relief car.
The detection vehicle and the relief car are all self-powered, and it is straight that lithium battery group 6 is capable of providing 48VDC used in system
Stream enables the detection vehicle/relief car continuously and smoothly to walk 140 kilometers, and 60 kilometers of detection, then returns 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 vehicle, and the detection vehicle being mutually butted and the relief car are with identical
Speed is mobile；The water tank 5 can automatic water-supply, detection vehicle stops supplying water, supplies water and pass through water route when be in non-detection status
The control valve of setting controls, the preferred solenoid valve of control valve, and when detection, the solenoid valve was opened, and detects vehicle after postponing 3s
Starting row walks to carry out detection record data, and the solenoid valve is closed after detection.
When the detection vehicle returns to website progress water recharging, the water tank, which passes through, is arranged in internal water level sensor hair
The signal sent stops supplying water, and when the water level sensor failure in the water tank, the water level sensor in water supply pipe is arranged in
Second layer guarantee can be played, stops supplying water when having sensed liquid；The Ben Che control centre 1 controls the start and stop of the motor
With speed regulation, the electromagnetic clutch connection disengage, it is described detection vehicle and the relief car connection and automatically disengage, 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 acquisition and pretreatment of coherent detection data according to Acquisition Circuit 4, the detection vehicle control centre 2 is responsible for coherent detection data
Analysis, early warning fucoid uploads as, result passes through the communication device 1.
The track detection vehicle may include the track detecting car body equipped 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, is regarded with the video detection system to raceway surface
Frequency is shot, and obtains surface appearance video detection information, and the cross section profile of track is measured with the rail section profile measuring system,
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 processing analysis, obtains corresponding ultrasonic inspection detection data, surface appearance video detection data and surface abrasion
Detection data is alarmed and/or prompt of transfiniting accordingly when any detection data reaches alert if.
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 access at the ultrasound data through the ultrasound data acquisition circuit
Unit is managed, the ultrasound data acquisition circuit pre-processes the detectable signal from wheel seach unit, and formation can be described
The data mode of ultrasound data processing unit processes is performed corresponding processing by ultrasound data processing unit, through the ultrasonic number
After processing unit processes, track detection vehicle control centre is accessed, can according to need and determine the ultrasound data processing unit
With the division of labor of track detection vehicle control centre during ultrasound detection Correlation method for data processing, the ultrasonic inspection testing number
According to by being sent to the track detection vehicle control centre or the track detection vehicle after ultrasound data processing unit generation
Control centre is further processed the data from the ultrasound data processing unit and generates the ultrasonic inspection detection data.
The wheel seach unit may include idler wheel and the probe boots that are mounted on the idler wheel, be provided on the probe boots
The probe chip of multiple and different setting angles, wheel seach unit bilateral symmetry are distributed, be respectively used to the track of corresponding side into
Row ultrasonic inspection detection, and simultaneously be used as the track detection vehicle traveling wheel, the coupling water supply system mainly by water tank,
Water supply pipe, water pump and control valve are constituted, and the water of water tank provides the coupling of supersonic sounding to wheel seach unit by water supply pipe
Heshui.
Water level sensor can be equipped in 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, is performed corresponding processing by video data processing element, after video data processing element processing,
Track detection vehicle control centre is accessed, can according to need and determine the video data processing element and vehicle data processing
The division of labor of center during video detection Correlation method for data processing, the surface appearance video detection data is by the video data
Processing unit is sent to the track detection vehicle control centre or the track detection vehicle control centre to from institute after generating
The data for stating video data processing element, which are further processed, generates the surface appearance video detection data, the high-definition camera
Quantity be one or more, be mounted on 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, being equipped with the hinged of positioning and locking device, or is mounted on automatically controlled holder
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 the laser acquisition signal from array laser, and formation can be institute
The data mode for stating laser data processing unit processes is performed corresponding processing by laser data processing unit, through the laser
After data processing unit processing, track detection vehicle control centre is accessed, can according to need and determine that the video data processing is single
The division of labor of first and described vehicle data processing center during laser detection Correlation method for data processing, the surface abrasion testing number
According to by being sent to the track detection vehicle control centre or the track detection vehicle after laser data processing unit generation
Control centre is further processed the data from the laser data processing unit and generates the surface abrasion detection data, institute
The quantity of array laser is stated as one or more, being mounted below the car body of the track detection vehicle and be in can be to track
Each position carry out surface measurement position and posture.
The track detection vehicle control centre is to the ultrasonic inspection detection data, surface appearance video detection data and table
The numerical value of surface wear detection data and corresponding fucoid are as threshold value (upper limit threshold and/or lower threshold, depending on detection result
Concrete condition depending on) be compared, when meeting or exceeding warning limits, generate fucoid image data simultaneously upload.
When being equipped with ultrasound data processing unit, the ultrasound data processing unit is equipped with ultrasonic system reservoir.
When being equipped with laser data processing unit, the ultrasound data processing unit is stored equipped with profile measuring system.
When being equipped with video data processing element, the video data processing element is equipped with video system system memory.
When being equipped with track detection vehicle control centre, the track detection vehicle control centre is equipped with track detection vehicle central store
Device, the storage for related measured data, basis/normal data, historical data and program 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
When work, relief car is drawn by track detection vehicle, when track detection vehicle breaks down, is returned by relief car traction track detection vehicle
It returns, the relief car includes at least the rescue car body equipped with walking mechanism, its row can be controlled by being equipped on 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 can connect
Enter the communication device of communication network.
The track detecting car body and the rescue car body are connect 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 the connecting pin for connecting detection vehicle or relief car and the articulated end for being mutually butted, second connection
The articulated end of part 24 is equipped with umbrella hook 25, and the entire circumferential structure having the same of umbrella hook 25, any position is all
It may be implemented accurately to mount, eliminate circumferential limit when docking, the articulated end of first connector 21 is equipped with several and institute
It states umbrella and links up with 25 matched outer hanging hooks 23, the articulated end of the outer hanging hook 23 and first connector 21 is hinged and equipped with making
Its front end moves inwardly into the mounting elastic bodies with 25 mounting of umbrella hook, the quantity of the outer hanging hook 23 be it is multiple,
Circumferentially.
The outer hanging hook 23 can be rotated around articulated position 22, make that the outer hanging hook 23 collapses inwardly or outside struts,
Umbrella hook 25 protrude into 23 inside of outer hanging hook and under the action of the mounting elastic body with the outer hanging hook 23
Realize docking, when umbrella hook 25, which is axially moveable, to be docked with the outer hanging hook 23, the outside side stay of the outer hanging hook 23
Opening enables the umbrella hook 25 to pass freely through, after the outer hanging hook 23 docks completion with umbrella hook 25, institute
It states outer hanging hook 23 and collapses realization locking inwardly, avoid undesirably falling off in the course of work.
Preferably, the outer hanging hook 23 is the stock equipped with hook, and the articulated position 22 of the outer hanging hook 23 is located 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 the pretensioned spring 27 that the stock is arranged in and does not set hook one end, the elastic force of the pretensioned spring 27
Direction is consistent with the direction of motion of contact point of the pretensioned spring 27 on the stock, will be described by the elastic force of spring
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
If the mounting elastic body is the pre-stretching spring that the middle part of the stock is arranged in, the pre-stretching when one end of hook
The elastic force direction of spring is consistent with the direction of motion of tie point of the pre-stretching spring on the stock, passes through the drawing of spring
The hook end of the outer hanging hook is pressed on the umbrella hook 25 by power, and structure is simply convenient for controlling and connecting reliable.
Preferably, first connector 21 is equipped with the strip-shaped groove 26 for accommodating the outer hanging hook, is formed to described outer
The limit of hook 23, avoids swinging for the outer hanging hook 23.
Preferably, first connector 21, which is equipped with, makes each outer hanging hook 23 outside distracted pushing meanss simultaneously.
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 as 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 as round,
The guide protrusions or guide groove of several bar shapeds, the cavity and the Tapered Cup are equipped at the maximum cross-section of the Tapered Cup 29
29 maximum cross-section profile is consistent and is accordingly equipped with guide groove or guide protrusions, and institute can also be made by the way of other similar
Stating Tapered Cup 29 can only be axially movable without being able to rotate, when the Tapered Cup 29 moves axially outward, on the outer hanging hook
Equipped with the support rod 28 extended radially inwardly, the support rod passes through the radial support rod aperture on first connector, outside
End extends in the axial cavity with corresponding plug-in hook connects, inner end, the position of support rod described in the plug-in hook connects
Before the hinge point 22 of the outer hanging hook and the first connector, the support rod 28 is displaced outwardly, and is pushed described outer
Hook 23 moves out.The inner end of the outer hanging hook extends in the stroke range of the small end of the Tapered Cup, can rationally set
The positions and dimensions for setting support rod and its supporting structure make it just can be by the synchronous jack-up of each outer hanging hook, each outer hanging hook
Support rod be located on same cross section, as a result, during the Tapered Cup moves forward, tapered surface and each branch
The inner end of support member contacts and pushes out, and then the elastic force for driving each outer hanging hook to overcome respectively mounting spring mechanism synchronizes outward
Overturning makes the front end of each outer hanging hook link up with the synchronous umbrella hook for being detached from the second connector, realizes 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 in just on the umbrella hook of second connector.
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
Terraced axis cannot be further continued for moving inward after the shaft shoulder of the support rod 28 touches the shoulder of the through-hole, be formed
Limit to the support rod.
Preferably, the motor 31 that output end has lead screw 30 is additionally provided in the cavity, the center of the Tapered Cup 29 is set
There is the threaded hole for connecting the lead screw 30, the rotary motion of the motor shaft is converted to the cone by the structure of this feed screw nut
The axial movement of shape part 28 can also use other any existing structures that can be realized the Tapered Cup 29 and move along a straight line,
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 equipped with pair on the convex surface of umbrella hook 25
The umbrella hook 25 forms the limit hole of limit, and the limit hole is to fit with the convex profile of umbrella hook 5
Bellmouth can guarantee the umbrella hook and outer hanging hook completion pair when umbrella hook 25 touches the bellmouth
It connects, the convex surface center of the umbrella hook 25 is equipped with guide section, and the top of the limit hole is equipped with to be matched with the guide section
Pilot hole, the bellmouth matched with the pilot hole to be formed to the umbrella hook centering and guiding role, make institute
It states the first connector 21 to be located on same axis with second connector 24, prevents deflection when docking.
Preferably, the connecting pin of first connector 21 and the connecting pin of second connector 24 are equipped with connection method
Orchid facilitates processing and dismounting.
Preferably, the outer profile of first connector 21 is rectangular, and the outer profile of second connector 24 is circle,
It and is hollow structure inside first connector 21 and second connector 24.
When detect vehicle and relief car slave site setting railcar R-T unit be discharged on track after, the railcar with
The relief car starts to dock, and when needing to be detached from, 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 be detached from, according to remote after the completion of docking
Process control center instructs 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 driving motor, electromagnetic clutch and driving
Wheel can also include A-GPS positioning device, and the output of the driving motor connects corresponding each driving wheel by electromagnetic clutch,
The A-GPS positioning device is used to record the position of the track detection vehicle in real time, and position signal is passed to described vehicle control
Center processed is equipped with track dust-extraction unit, the track detecting car body and the rescue car body 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
Before domain (i.e. measured zone), the search coverage of the rail section profile measuring system is located at the ultrasonic inspection detection system
Before the search coverage of system, the video detection system, the rail section are successively passed through in the same position on track as a result,
The search coverage of profile measuring system and the ultrasonic inspection detection system, when the detection data of the video detection system is table
When planar condition is normally and the detection data of the track profile measuring system is that path wear degree is normal, to respective rail region
Conventional Ultrasound flaw detection is carried out, when the detection data of the video detection system is that surface appearance is abnormal or the track profile is surveyed
When the detection data of amount system is 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 is the inspection of the abnormal and described track profile measuring system of surface appearance
When measured data is that path wear degree is abnormal, reinforcing ultrasonic inspection is carried out, the reinforcing ultrasonic inspection refers to the probe used
Chipset number is detected a flaw more ultrasonic inspections than conventional Ultrasound, can obtain higher flaw detection precision and accuracy.Due to use
Wheel seach unit, same in other words group of probe chip of same probe chip be to the scanning of track it is intermittent or periodic, i.e.,
So that scanning area is covered the whole region of track, the flaw detection precision and accuracy of different parts are also different, and institute
Detection/the measurement for stating video detection system and the track profile measuring system is that continuous, precision is consistent, therefore, by institute
The search coverage for stating video detection system and the track profile measuring system is preposition and only mention at least one of which system
Under presentation surface situation is abnormal or the abnormal situation of path wear degree, just starts more multiple groups probe chip and carry out strengthening ultrasound
Flaw detection, it may also be necessary to the travel speed that probe vehicles are accordingly decreased when strengthening ultrasonic inspection, due to the original of track interior
Beginning defect can be found usually before track puts into operation, and the defect after use is mainly early sent out in over worn area
Domain or the region influenced 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 guaranteeing that detection data is 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 of difference group can be set different
It pops one's head in boots or is arranged in identical probe boots, can there is different distribution modes and/or different detection angles, it can also be with
Using identical distribution mode and/or identical detection angle, the probe chip of difference group can be alternately distributed on idler wheel, often
One group of probe chip can independently implement conventional Ultrasound flaw detection, when carry out strengthen flaw detection when, can star multiple groups (such as
It is preferred that two groups or 3 groups) it is detected.
The present invention has following features:
1) acquisition of detection data is automatically performed by track detection vehicle, and the detection angles at each position of track can be effectively controlled
It is consistent in the detection process, reliability greatly improves；
2) a large amount 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 used
Current detection means, in the case where putting into 100 hand propelled track detection vehicles and 200 site operation personnels, Suo Youche
Owner ceaselessly works down, needs to complete for about 7 hours a detection cycle, these manpower consumptions are not yet comprising carrying out
The personnel of the later periods investment such as data analysis, and the detection method of the invention is used, 1-2 people's monitoring and warning is only needed, at present applicant
The detection speed of the track detection vehicle of design is up to 32 kilometers/hour, and the travel distance of per car up to 60 kilometers, examine simultaneously by double track
It surveys, in the case where 20 sets of track detection vehicles of investment, only less than 2 hours need to can complete a detection cycle, the number in later period
It can be then automatically performed completely by system according to analysis.
3) it gives warning in advance, using automatic testing method of the invention, one-time detection, every 1mm acquisition one can be carried out daily
Secondary data, form a large amount of data volume, and system can use analysis of the existing artificial intelligence technology study to data, compare track
The detection data of upper same position obtains the development trend of track condition, achievees the effect that give warning in advance, and the accident that reduces occurs several
Rate.
4) subway and subway track detecting that can make entire city realize unmanned automatic detection management；
5) extremely huge data volume can be accumulated based on detection data, detects that there is over more than one hundred million numbers each time
According to can very easily obtain normal signal, the assessment of all kinds of flaw indications, abrasion loss calculates；
6) use state and service life of track can be effectively obtained by the analysis comparison to detection data, finally
It realizes automatically controlled automation, reduces the long-term investment of personnel, a large amount of resource can be saved from the point of view of the whole nation；
7) full-automatic detection data retrieval comparing function, the route operation with entire city underground or subway be can be realized
Ratio chart, and can be pin-pointed in 1 centimetre；
8) full-automatic detection data retrieval comparing function can carry out the data obtained to each track detecting and track
It corresponds, front and back 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 include track detection vehicle, it is each
Any one of a subway or the Star Simulator at subway station detection vehicle receive-transmit system, full-automatic control system and Terminal Server Client connect
Mouthful；
10) intelligent depth learning system can be set it is characterized in that the data that each orbital position acquires are stored
Repeatedly comparison, the data that all tracks acquire are compared, and obtain various defect classification etc. according to the comparison to acquisition data
Grade, can form artificial intelligence based on the analysis of the big data of acquisition, do data analysis instead of appointees；
11) full-automatic early warning system is it is characterized in that track detection vehicle and relief car can be automatically by malfunction and positions
Etc. information issue Star Simulator detection and vehicle receive-transmit system and be uploaded to full-automatic control system, while be sent to belonged to subway or
Subway station administration personnel；
12) warning information can be issued to place subway or subway station when detecting that track has questionable signal to carry out manually
Check；
Running track alleged by the present invention includes handing over for track for underground railway track, subway track and other any suitable forms
Logical track or other similar track, alleged subway station, subway station refer to the station of various rail traffics, alleged by the present invention it is complete from
Unmanned subway or subway track detection method are moved, being not used in and limiting orbit form 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 that further limiting for another technological means is outer, can form several different technical solutions 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, is controlled
Make the full-automatic unmannedization track detection vehicle receive-transmit system work；
The full-automatic unmannedization track detection vehicle receive-transmit system is discharged according to the instruction of the full-automatic control system through detecting
On qualified track detection vehicle and relief car group to running track；
The track detection vehicle that is discharged into running track and relief car group 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 issues is moved, carries out to double track while detecting 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 the track detection vehicle and relief car group complete detection return according to instruction, by the full-automatic unmannedization track detecting
Vehicle receive-transmit system packs up it from running track, leaves running track；
The full-automatic unmannedization track detection vehicle receive-transmit system will examine track after packing up track detection vehicle and relief car group
Measuring car is detected, charged and is supplemented couplant, is prepared for detection next time,
The track detection vehicle includes the track detecting car body equipped with walking mechanism, is equipped with ultrasound on the track detecting car body
Wave detection system, video detection system and rail section profile measuring system carry out track with the ultrasonic wave detecting system
Ultrasonic nondestructive test obtains ultrasonic inspection detection data, carries out video capture to raceway surface with the video detection system, obtains
Surface appearance video detection data is obtained, with the cross section profile of rail section profile measuring system measurement track, obtains section
Contour detecting data, the ultrasonic wave detecting system include wheel seach unit, ultrasound data acquisition circuit, ultrasound data processing unit
With coupling water supply system, the output of the wheel seach unit accesses the ultrasound data through the ultrasound data acquisition circuit and handles
Unit accesses track detection vehicle control centre after the ultrasound data processing unit processes, in track detection vehicle control
The heart is equipped with this secondary memory and is used for and the full-automatic unmannedization track detection vehicle receive-transmit system and the Automatic Control system
It unites the track detection vehicle communication device of communication, the wheel seach unit includes idler wheel and the probe boots that are mounted on the idler wheel, institute
The probe chip that multiple and different setting angles are provided on probe boots is stated, the wheel seach unit bilateral symmetry is distributed, is respectively used to
Ultrasonic inspection detection is carried out to the track of corresponding side, and is used as the traveling wheel of the track detection vehicle simultaneously,
The track detection vehicle and relief car group include track detection vehicle and relief car, and the track detection vehicle and relief car pass through
Rapid abutting joint interconnects with automatic releasing device, and the rapid abutting joint and automatic releasing device include the first connector
With the second connector, first connector is mounted on one end that the track detection vehicle is connected on the relief car, and described
Two connectors are mounted on one end that the relief car is connected on the track detection vehicle, for connecting the on second connector
The articulated end of a connection piece is linked up with equipped with umbrella, is set on first connector for connecting the articulated end of second connector
Have it is several link up with matched outer hanging hooks with the umbrella, the articulated end of the outer hanging hook and first connector hingedly and is equipped with
Its front end is set to move inwardly into the mounting elastic body with umbrella hook mounting, the quantity of the outer hanging hook is multiple, edge
Circle distribution, first connector, which is equipped with, makes each outer hanging hook outside distracted pushing meanss simultaneously, first connection
Tapered Cup is equipped in the axial cavity of part, the Tapered Cup connects with the mobile cooperation of the axial cavity and small end towards described second
Fitting, the outer hanging hook are equipped with the support rod extended radially inwardly, and the support rod passes through the diameter on first connector
To support rod hole, outer end extends in the axial cavity with corresponding plug-in hook connects, inner end, the plug-in hook connects institute
The position for stating support rod is located at before the hinge point of the outer hanging hook and the first connector, and the inner end of the outer hanging hook extends
To the stroke range of the small end of the Tapered Cup.
2. the method as described in claim 1, it is characterised in that the track detection vehicle using any one following mode or under
Column two ways uploading detection data:
Uploading detection data in the detection process, the full-automatic unmannedization track detection vehicle receive-transmit system will test in data again
Reach full-automatic control system；
Not uploading detection data in the detection process, but except fucoid image information, it is examined by the full-automatic unmannedization track
After measuring car receive-transmit system is withdrawn, data-interface pair corresponding with the full-automatic unmannedization track detection vehicle receive-transmit system progress
It connects, will test data and be uploaded to the full-automatic unmannedization track detection vehicle receive-transmit system, the full-automatic unmannedization track inspection
Measuring car receive-transmit system will test data again and be uploaded to full-automatic control system.
3. method according to 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 comparison, symbol are carried out to the detection data
Personnel's early warning into station issues corresponding pre-warning signal to the early warning of affiliated rail traffic control centre when closing early-warning conditions.
4. method according to claim 2, it is characterised in that the full-automatic control system is right after receiving detection data
All data carry out artificial intelligence analysis, and based on the analysis results, track section is paid close attention in early warning.
5. method as claimed in claim 4, it is characterised in that described automatic every railway line of analogy of full-automatic control system is same
Each detection data of one position stores and generates catalog after receiving new detection data, to new detection data
Location information when according to detection is decomposed, and the comparison one by one of each position is carried out with existing detection data, generates rail
Road wear trend change curve, according to the detection cycle next time of the automatic every section of track of budget of wear curve and the use longevity of track
Life.
6. the method as described in claim 1,2,3,4 or 5, it is characterised in that the track detection vehicle bearing track detection, number
According to record and data upload function, receives instruction and information feedback from the full-automatic control system, work as track detection vehicle
Break down can not normally travel when, upload fault message, the relief car according to the full-automatic control system and/or it is complete from
The instruction starting that unmanned track detection vehicle receive-transmit system issues is moved, track detection vehicle is towed back to as tractor and issues position,
The track detection vehicle and relief car group are withdrawn by the full-automatic unmannedization track detection vehicle receive-transmit system.
7. method as claimed in claim 6, it is characterised in that the track detection vehicle in the track detection vehicle and relief car group
Being equipped with relief car can communicate with the full-automatic unmannedization track detection vehicle receive-transmit system and full-automatic control system
Communication control system cannot normally execute the full-automatic control system or full-automatic unmannedization track detection vehicle receive-transmit system
Fault alarm is carried out when the instruction of sending, uploads fault message.
8. the method for claim 7, it is characterised in that the track detection vehicle and relief car group being stowed away enter detection dimension
Guard rail road, the track detection vehicle and track detection vehicle in relief car group and relief car 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. method according to claim 8, it is characterised in that:
The coupling water supply system is mainly made of water tank, water supply pipe, water pump and control valve, and the water of water tank is by supplying
The coupling water of water pipe road direction wheel seach unit offer supersonic sounding；
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, peace
Before the car body of the track detection vehicle and in position and the posture that can shoot raceway surface situation；
The rail section profile measuring system includes that array laser, laser data Acquisition Circuit and laser data processing are single
The output of member, 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, it is mounted below the car body of the track detection vehicle and in the position that can carry out surface measurement to each position of track
It sets and posture.
10. method as claimed in claim 9, it is characterised in that the high-definition camera is on the car body of the track detection vehicle
Mounting means be the mounting means for allowing the posture to the high-definition camera to be adjusted.
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| 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 |
| CN110231402B (en) * | 2019-05-22 | 2020-09-11 | 张博湉 | Container detection method and device |
| 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 |
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| CN104648636A (en) * | 2015-01-20 | 2015-05-27 | 西北工业大学 | Mechanical type flexible butt-joint locking mechanism |
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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. |