CN107364466A - A kind of contactless rail polling system of rail vehicle - Google Patents
A kind of contactless rail polling system of rail vehicle Download PDFInfo
- Publication number
- CN107364466A CN107364466A CN201710584552.5A CN201710584552A CN107364466A CN 107364466 A CN107364466 A CN 107364466A CN 201710584552 A CN201710584552 A CN 201710584552A CN 107364466 A CN107364466 A CN 107364466A
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- rail
- image
- speed line
- track
- mounting seat
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
Abstract
The invention discloses a kind of contactless rail polling system of rail vehicle, including the image analysis processing system to shoot the CCD high-speed line array camera devices of rails, fastener, track plates and railway roadbed image and be analyzed and processed to image, the CCD high-speed lines array camera device, which is arranged on, to be equipped in the suspension mounting seat of work business track inspection car or rail-defect detector car, the beneficial effects of the invention are as follows：Solve the problems such as existing detection method means are single, reliability is low, operating efficiency is low, detect working automation, informationization, serialization and precision, workload is small and efficiency high, reduce operation cost, the comprehensive evaluation result of high quality can be provided, track quality state, accurate instruction track maintenance and repair can be grasped in time, ensure road transport safety, meet the demand of current high-speed railway and Urban Rail Transit Development.
Description
Technical field
The present invention relates to a kind of rail polling system, the contactless rail polling system of specifically a kind of rail vehicle.
Background technology
High-speed railway and urban track traffic with make it that the life of people is more convenient, with the raising of speed and big
The inspection to put into effect to track equipment and monitoring of scale are more kept a close eye on as the security concern of railway traffic.Tradition
Inspection inspection be by being accomplished manually, its accuracy of detection is, and work closely bound up with the level of skill of patrol officer and experience
Work amount is big, time-consuming, operating efficiency is low, can not meet current high-speed railway and the operation security need of urban track traffic
Ask.
The content of the invention
It is an object of the invention to provide a kind of contactless rail polling system of rail vehicle, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the present invention provides following technical scheme：
A kind of contactless rail polling system of rail vehicle, including to shoot rails, fastener, track plates and
The CCD high-speed line array camera devices of railway roadbed image and the image analysis processing system analyzed and processed to image, the CCD
High-speed line array camera device, which is arranged on, to be equipped in the suspension mounting seat of work business track inspection car or rail-defect detector car.
As the further scheme of the present invention：It is described suspension mounting seat include be weldingly fixed on work be engaged in track inspection car or
Left suspension mounting seat, mid-mounting mounting seat and right suspension mounting seat on chassis on rail-defect detector car, for fixing and pacifying
Fill CCD high-speed line array camera devices.
As further scheme of the invention：The CCD high-speed lines array camera device includes being arranged on left suspension peace
Three high-speed line array cameras on seat and three high-speed line array cameras in right suspension mounting seat are filled, by a left side
High-speed line array camera in right respectively left outside, left, left inside, right outer, the right neutralization right side, wherein left and right high speed line
The position of array camera and two one steel rails of left and right are mutually corresponding, for being responsible for each half of trajectory diagram of two one steel rail center lines or so
The shooting of picture, left outside, left inside, right high-speed line array camera deviates certain angle to the center line of two one steel rails outside and in the right side,
It is each responsible for shooting fastener and left stock rail rail level on the outside of left stock rail, left stock rail rail level and left stock rail inner side fastener, the right side
This track parts of fastener are the most on the outside of fastener and right stock rail rail level, right stock rail rail level and right stock rail on the inside of stock rail
Concentrate, the local state of structure complex region the most.
As further scheme of the invention：The CCD high-speed lines array camera device passes through spiral shell with suspension mounting seat
The mode that screw bolt and nut coordinates is fixed, and nut is stop nut, and locking provided with thread locking adhesive at cooperation, makes simultaneously
The two is fastened admittedly together with steel cable.
As further scheme of the invention：The LED high brightness being illuminated is also equipped with the suspension mounting seat
Lighting apparatus, LED high-brightness light lighting equipments include multichannel light source.
As further scheme of the invention：Described image analysis process system includes being used to control CCD high speed linear arrays
The capture card of row camera device synchronous acquisition image, the image analysis processing module analyzed and processed to image and for figure
Display screen as show broadcasting, wherein capture card are used to trigger multiple high speed linear arrays in CCD high-speed line array camera devices
The switch of row video camera, high-speed line array camera are electrically connected with image analysis processing module and display screen.
As further scheme of the invention：Also include being used to store up image in described image analysis process system
The internal memory deposited.
Compared with prior art, the beneficial effects of the invention are as follows：Solve that existing detection method means are single, reliability
The low, problem such as operating efficiency is low, detection working automation, informationization, serialization and precision, workload is small and efficiency high, drop
Low operation cost, can provide the comprehensive evaluation result of high quality, can grasp track quality state, accurate instruction circuit in time
Maintenance, it is ensured that road transport safety, meet the demand of current high-speed railway and Urban Rail Transit Development.
Brief description of the drawings
Fig. 1 is a kind of front view of the contactless rail polling system of rail vehicle.
Fig. 2 is a kind of top view of the contactless rail polling system of rail vehicle.
In figure：The left suspension mounting seats of 1-, 2- mid-mountings mounting seat, the right suspension mounting seats of 3-, 4-CCD high-speed line arrays are taken the photograph
As device, 5- steel cables, 6-LED high-brightness light lighting equipments.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1~2, in the embodiment of the present invention, a kind of contactless rail polling system of rail vehicle, including with
To shoot the CCD high-speed line arrays camera device 4 of rails, fastener, track plates and railway roadbed image and image analyzed
The image analysis processing system of processing, the CCD high-speed lines array camera device 4 be arranged on be equipped on work business track inspection car or
In the suspension mounting seat of rail-defect detector car, when work business track inspection car or rail-defect detector car move in orbit, CCD high-speed lines
The image information taken the photograph is transferred to image analysis processing system and analyzed and processed by array camera device 4, obtains the matter of track
Amount state, work foundation is provided for track maintenance and repair.
The suspension mounting seat includes being weldingly fixed on is engaged on the chassis on track inspection car or rail-defect detector car in work
Left suspension mounting seat 1, mid-mounting mounting seat 2 and right suspension mounting seat 3, for fixing and installing the shooting of CCD high-speed lines array
Device 4.
Three high-speed line arrays that the CCD high-speed lines array camera device 4 includes being arranged in left suspension mounting seat 1 are taken the photograph
Camera and three high-speed line array cameras in right suspension mounting seat 3, are respectively designated as left outside, left from left to right
In, it is left inside, right it is outer, right neutralize high-speed line array camera in the right side, wherein the position of left and right high speed linear array video camera
It is mutually corresponding with the one steel rail of left and right two, for being responsible for the shooting of each half of orbital image of two one steel rail center lines or so, can clap
Take the photograph the overall looks of rail, fastener, sleeper (track plates) and the whole track of railway roadbed, high-speed line in left outside, left inside, the right outer and right side
Array camera deviates certain angle to the center line of two one steel rails, is each responsible for shooting fastener and left stock steel on the outside of left stock rail
Fastener, right stock rail inner side fastener and right stock rail rail level, right stock rail on the inside of rail rail surface, left stock rail rail level and left stock rail
On the outside of rail level and right stock rail this track parts of fastener concentrate the most, the local state of structure complex region the most.
The CCD high-speed lines array camera device 4 is consolidated with suspension mounting seat by way of screw bolt and nut cooperation
It is fixed, and nut is stop nut, and it is locking provided with thread locking adhesive at cooperation, windward area is reduced as far as possible to reduce wind
Resistance, while fastened the two admittedly together using steel cable 5, carry out secondary mousing and fix, ensure whole CCD high-speed lines array shooting
Device 4 forms dual safety design, ensures equipment safety.
The LED high-brightness light lighting equipments 6 being illuminated are also equipped with the suspension mounting seat, LED highlight illuminations are set
Standby 6 include multichannel light source, and the making of LED high-brightness light lighting equipments 6 has two features：It is first, strong with the illumination of subject surface
Basic wait strong of degree is principle, devises multichannel light source, so as to according to rail, fastener, sleeper from lighting apparatus distance come
Lamplight brightness is adjusted, the surface shot of same gray scale strong intensity of illumination, the image such as is obtained in different camera sites (distance)
On can obtain identical gray value.It is separately the edge and zero, shooting depth direction track on strengthened rail between each parts
Showing for part defect such as engine burn, track plates fracture edges, devises illumination β drift angles, is produced using the discrepancy in elevation between parts
Shade reach the reinforcing at edge.
Described image analysis process system includes being used to control the synchronous acquisition image of CCD high-speed line arrays camera device 4
Capture card, the image analysis processing module analyzed and processed to image and the display screen for image show broadcasting,
Wherein capture card is used for the switch for triggering multiple high-speed line array cameras in CCD high-speed line arrays camera device 4, realizes multiple
The Synchronous camera of high-speed line array camera, high-speed line array camera are electrically connected with image analysis processing module and display screen,
Image after shooting, which can be transmitted to image analysis processing module, to be handled, and is played out in display screen.
Also include being used for the internal memory for storing image in described image analysis process system.
The present invention operation principle be：Image analysis processing module to handle captured image, it include pair
Original image is carried out according to the feature of different track structure diseases using the methods of image filtering, image sharpening and image enhaucament
Image preprocessing, to improve the overall and local definition of image, the pretreatment of image is done for follow-up image automatic identification
Part preparation, image analysis processing module are realized different to rail contact fatigue crackle, peeling chip off-falling, scratch, light belt simultaneously
Often and fastener installation is crooked, fracture, lack and sleeper or track plates crackle, railway roadbed rise soil, track foreign matter the defects of scheme
Picture is the automatic identification of visual track structure disease, and can complete the statistics of track structure disease, auto report completing and
Image reproducing.
Image automatic identification includes steel rail defect image, and (rail contact fatigue crackle, rail peel off chip off-falling and scratch, rail
Surface optical zone is abnormal) identification, fastener defect image (fastener installation is crooked, brisement, missing), sleeper defect image (sleeper or rail
Guidance tape crackle) identification, railway roadbed defect image (railway roadbed is risen soil) identification and image recognition the defects of track foreign matter, image it is automatic
Identification is under the cooperation of specially designed hardware equipment for it, can just obtain more preferable effect, because LED highlight illuminations are set
The multichannel light source of standby design, which avoids piece image while pays close attention to two or more targets, to be difficult to obtain the awkward of same readability
A word used for translation；Illumination β drift angles make shade caused by the discrepancy in elevation between parts turn into the reinforcing at edge；Taken according to the characteristics of track structure more
The scheme that road high-speed line array camera is laid out according to certain way improves the thing of rail fastening track parts concentrated area
It is the precision of images to manage resolution ratio；
Left outside, left inside and right interior and right outer high-speed line array camera shoots fastener and left stock steel on the outside of left stock rail respectively
Fastener, right stock rail inner side fastener and right stock rail rail level, right stock rail on the inside of rail rail surface, left stock rail rail level and left stock rail
The width image of fastener four on the outside of rail level and right stock rail, there is rail and fastener two in more fixed region in the image of acquisition
Individual track component, after automatic image recognition system is using rim detection and Threshold segmentation processing, know fastening bolt as priori
Knowledge area-of-interest (ROI) positioning, due to the position of fastening bolt in the picture only by gauge change and wheel trip between and
Double swerve, described automatic image recognition system can scan in certain regional extent, by the bolt area of a circle and spiral shell
Bolt spacing determines the presence of fastening bolt and accurate position in periodic feature, further according to fastening bolt to rail edge
Fixed range, to delimit the line of demarcation of rail and fastener, so as to image cut be rail image region and fastener image district
Domain.
The identification of steel rail defect：
Steel rail defect obtained in image mainly has three types：Rail contact fatigue crackle, rail peel off chip off-falling and
Scratch, Rail Surface light belt are abnormal, and rail contact fatigue crackle typically occurs in action edge on the inside of rail, the extension direction of crackle
Longitudinally there is fixed angle with rail, the spacing of crackle is in periodically；Although rail peeling chip off-falling is different with the scratch origin cause of formation, two
Person is essentially identical in characterization image gray value and edge shape；Rail Surface light belt is demonstrated by Wheel Rail Contact state, and light belt is along steel
Rail is longitudinally extending, and narrow, center double swerve during time width, light belt is in high brightness, has high gray value.
Steel rail defect image recognition is known automatically for itself intrinsic feature of above-mentioned three types steel rail defect
It is other：
Identification of the steel rail defect image recognition to rail contact fatigue crackle employs crack spacing and calculates method of identification, this
Method is that the horizontal direction in defined region (the left right area of rail) divides some groups along rail longitudinal searching crackle, and is calculated
Crack spacing is recorded, finally identifies that this defect whether there is with the ratio between the mean square deviation of crack spacing and average；
Chip off-falling is peeled off in steel rail defect image recognition to rail and abrasive identification employs the low gray scale in unit (segmentation) region
It is worth pixel ratio method of identification, i.e., longitudinally intercepts one section of image by defined length along rail, count below certain gray value
Pixel accounts for the ratio of the total pixel of unit, judges to identify that rail peels off chip off-falling and abrasive presence with this；
Steel rail defect image recognition employs Edge Following calculating method to the abnormal identification of Rail Surface light belt, through threshold value point
The rail image after processing is cut, the gray value of light belt and non-light belt is generated the difference highlighted, software passes through to left and right two
Gray value line of demarcation scans for calculating, and obtains the curve of two description light belt width, then calculates distance, two songs of two curves
Center line of line etc. come obtain the change of the width of light belt, light belt off-centring situation of change, identify whether light belt different with this
Often.
Fastener defect recognition：
The fastener defect that image is obtained mainly has three types：Fastening elastic rod installs crooked, brisement, missing：Fastener bullet
Crooked bar installation is that fastening elastic rod is not installed by normal position, generates the deviation of position；Fastening elastic rod brisement is
Fastening elastic rod brisement, deformation, cause the deformation or imperfect of fastening elastic rod global shape；Fastening elastic rod missing is i.e. in defined rail
Road does not have fastening elastic rod on position, these defect fastener edges and marginal position and normal fastening elastic rod edge and position on image
Put and generate difference.
The identification of fastener defect image uses the key edge matching method based on fastener shape and position, i.e., makees fastening bolt
Area-of-interest (ROI) for priori positions and the bolt center of circle is calculated, with the center of circle in the range of fastener image-region
Centered on peripherad fastener key edge matched.According to the difference of normal fastening elastic rod and defect fastener on key edge
Difference between different and three kinds of different defect fasteners, reach the mesh of automatic identification.
Sleeper or track plates defect recognition：
Left and right high speed linear array video camera shoots to obtain reflection track centerline or so half and half rail, fastener, rail
Pillow (track plates) and railway roadbed are the image of the overall looks of whole track；
Image automatic identification makees rim detection and Threshold segmentation processing to this image, and using fastening bolt as priori
Area-of-interest (ROI) position and be calculated the bolt center of circle.
For sleeper track (Ballast track), can directly according to the fastening bolt center of circle, by sleeper and rail, fastener size,
Rail, fastener and the image in railway roadbed region are rejected in shearing, and reservation obtains sleeper area image.
Extraction and matching based on shape facility can be used for track plates track (non-fragment orbit), track plates is rejected and connects
Seam, positioning boss, track circuit transponder etc., further according to the fastening bolt center of circle, by sleeper and rail, fastener size, shearing is picked
Except the image of rail, fastener and railway roadbed region, reservation obtains track plates area image.
The sleeper or track board defect that image is obtained are sleeper or track plates crackle, and this crackle normally behaves as three
Kind form：Simple check line, tortoise row and chip off-falling.Normal sleeper or track plates image and have these crackles image and crack image it
Between have obvious difference.
The identification of sleeper or the identification of track plates defect image to simple check line, tortoise row and chip off-falling is using the low gray value in unit area
Pixel ratio method of identification, i.e., sleeper or the image in track plates region are divided into several units, Ran Houji by rules such as mileages
The ratio that unit is accounted for every the low gray-value pixel of unit is calculated, because this ratio is by normal cell, simple check line list from low to high
Member, tortoise column unit and the arrangement of chip off-falling unit, thus identify the difference between them,
According to tortoise column unit and the area of each defect of the respective permutation calculation of chip off-falling unit；List to simple check line may occur
Member, carries out crackle search and tracking, during all penetration of cracks unit sizes, is determined as single crack element, and press certain rule to it
Edge Following then is carried out to surrounding, finally determines the length of simple check line, specialized department can do according to the area and length of crackle
Last judgement.
Railway roadbed defect defect recognition：
Automatic image recognition system has also obtained the image in railway roadbed region in processing procedure, and the railway roadbed that image is obtained lacks
Fall into and risen soil for railway roadbed, normal railway roadbed and image of rising soil are distinguished substantially after Threshold segmentation is handled.
The identification of railway roadbed defect image is risen soil to railway roadbed using the low gray-value pixel ratio method of identification identification in unit area.
Track foreign matter identifies：
Track foreign bodies detection image has two kinds of situations：First, the track foreign matter that area is larger, the location of its is typically invaded
Enter the boundary of each track parts, cover boundary line；Second, track foreign matter in a certain track part diagram as in regional extent,
Particularly on track plates track, it is present in the range of track plates image-region.
Described track foreign matter image recognition software is used based on whole track geometry shape facility for the previous case
Extraction and matching process；Used for latter event based on defined installation equipment geometric characteristics several in orbit
Extraction and matching process.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (7)
- A kind of 1. contactless rail polling system of rail vehicle, it is characterised in that including to shoot rails, button The CCD high-speed line array camera devices of part, track plates and railway roadbed image and the image analysis processing analyzed and processed to image System, the CCD high-speed lines array camera device are arranged on the suspension peace for being equipped on work business track inspection car or rail-defect detector car Fill on seat.
- 2. the contactless rail polling system of a kind of rail vehicle according to claim 1, it is characterised in that described outstanding Hang mounting seat include being weldingly fixed on be engaged in work the left suspension mounting seat on the chassis on track inspection car or rail-defect detector car, in Between hang mounting seat and right suspension mounting seat, for fixing and installing CCD high-speed line array camera devices.
- 3. the contactless rail polling system of a kind of rail vehicle according to claim 2, it is characterised in that described CCD high-speed line arrays camera device includes three high-speed line array cameras being arranged in left suspension mounting seat and installed in the right side Three high-speed line array cameras in mounting seat are hung, outer, right neutralization respectively left outside, left, left inside, right from left to right is right Interior high-speed line array camera, wherein the position of left and right high speed linear array video camera and two one steel rails of left and right are mutually right Should, for being responsible for the shooting of each half of orbital image of two one steel rail center lines or so, high-speed line in left outside, left inside, the right outer and right side Array camera deviates certain angle to the center line of two one steel rails, is each responsible for shooting fastener and left stock steel on the outside of left stock rail Fastener, right stock rail inner side fastener and right stock rail rail level, right stock rail on the inside of rail rail surface, left stock rail rail level and left stock rail On the outside of rail level and right stock rail this track parts of fastener concentrate the most, the local state of structure complex region the most.
- 4. the contactless rail polling system of a kind of rail vehicle according to claim 3, it is characterised in that described CCD high-speed line array camera devices are fixed with suspension mounting seat by way of screw bolt and nut cooperation, and nut is locking Nut, and it is locking provided with thread locking adhesive at cooperation, while fastened the two admittedly together using steel cable.
- 5. the contactless rail polling system of a kind of rail vehicle according to claim 4, it is characterised in that described outstanding The LED high-brightness light lighting equipments for being also equipped with being illuminated in mounting seat are hung, LED high-brightness light lighting equipments include multichannel light source.
- 6. the contactless rail polling system of a kind of rail vehicle according to claim 1-5, it is characterised in that described Image analysis processing system includes being used to control the capture card of CCD high-speed line array camera device synchronous acquisition images, to image The image analysis processing module analyzed and processed and the display screen for image show broadcasting, wherein capture card are used for The switch of multiple high-speed line array cameras in CCD high-speed line array camera devices is triggered, high-speed line array camera electrically connects Map interlinking is as analysis and processing module and display screen.
- A kind of 7. contactless rail polling system of rail vehicle according to claim 6, it is characterised in that the figure As also including being used for the internal memory stored to image in analysis process system.
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| CN201710584552.5A CN107364466A (en) | 2017-07-18 | 2017-07-18 | A kind of contactless rail polling system of rail vehicle |
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| CN201710584552.5A CN107364466A (en) | 2017-07-18 | 2017-07-18 | A kind of contactless rail polling system of rail vehicle |
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| CN108974043A (en) * | 2018-08-09 | 2018-12-11 | 铁路愿景欧洲有限公司 | Railroad track survey system |
| CN109658397A (en) * | 2018-12-12 | 2019-04-19 | 广州地铁集团有限公司 | A kind of rail polling method and system |
| CN111252110A (en) * | 2020-01-17 | 2020-06-09 | 杭州中车车辆有限公司 | Track beam detection system and detection method for straddle type single-track inspection vehicle |
| CN112945976A (en) * | 2021-02-05 | 2021-06-11 | 中国铁道科学研究院集团有限公司 | Method and device for detecting contact fatigue crack of steel rail |
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| KR20150101275A (en) * | 2014-02-26 | 2015-09-03 | 선문대학교 산학협력단 | Railway rails using the interference pattern of wear measurement device |
| GB2536746A (en) * | 2015-09-03 | 2016-09-28 | Rail Vision Europe Ltd | Railroad track survey system |
| CN106809247A (en) * | 2015-12-02 | 2017-06-09 | 田荣侠 | A kind of vehicle-mounted automatic track detection device of city rail vehicle |
| CN205632521U (en) * | 2016-05-24 | 2016-10-12 | 北京鹰路科技有限公司 | Track state intelligence inspection device |
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| CN108974043A (en) * | 2018-08-09 | 2018-12-11 | 铁路愿景欧洲有限公司 | Railroad track survey system |
| CN109658397A (en) * | 2018-12-12 | 2019-04-19 | 广州地铁集团有限公司 | A kind of rail polling method and system |
| CN111252110A (en) * | 2020-01-17 | 2020-06-09 | 杭州中车车辆有限公司 | Track beam detection system and detection method for straddle type single-track inspection vehicle |
| CN111252110B (en) * | 2020-01-17 | 2021-01-26 | 杭州中车车辆有限公司 | Track beam detection system and detection method for straddle type single-track inspection vehicle |
| CN112945976A (en) * | 2021-02-05 | 2021-06-11 | 中国铁道科学研究院集团有限公司 | Method and device for detecting contact fatigue crack of steel rail |
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Inventor after: Gong Peiyi Inventor after: Tang Youfu Inventor after: Wu Yuanliang Inventor after: Ma Lili Inventor after: Luo Juanjuan Inventor after: Gao Xihui Inventor before: Gong Peiyi Inventor before: Tang Youfu Inventor before: Yu Jialei Inventor before: Gong Yifan |
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Application publication date: 20171121 |