CN107972696A - A kind of rail polling robot - Google Patents
A kind of rail polling robot Download PDFInfo
- Publication number
- CN107972696A CN107972696A CN201711168383.3A CN201711168383A CN107972696A CN 107972696 A CN107972696 A CN 107972696A CN 201711168383 A CN201711168383 A CN 201711168383A CN 107972696 A CN107972696 A CN 107972696A
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- China
- Prior art keywords
- incorporating section
- central enclosure
- storage case
- motor
- portion storage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
Abstract
A kind of rail polling robot, including central enclosure, anterior storage case, rear portion storage case, antenna, two level telescopic arm, roller frame body, motor, lifting gear and bottom support base；The central enclosure is in integrally cuboid, inside is used to configure rechargeable battery, onboard servers and communications router, the front portion storage case and rear portion storage case are integrally T-shaped, the front and rear sides of the central enclosure are respectively arranged at, the top of the both sides of the central enclosure includes the top incorporating section of protrusion；The front portion storage case and rear portion storage case include the vertical strip incorporating section in bottom and top transverse direction strip incorporating section, the top transverse direction strip incorporating section is connected with the top incorporating section, it is configured with the vertical strip incorporating section in bottom of the front portion storage case due to the SLAM laser radars in scanning front, it is laterally homogeneous on the vertical strip incorporating section in bottom of the rear portion storage case and central enclosure to be configured with four microwave radars.
Description
Technical field
The present invention relates to a kind of rail polling robot.
Background technology
The manually mode substantially of the daily operation inspection of the track of subway at present.Main inspection power contacts net, communication line
Hammered into shape with professional work triplets such as signalling arrangement, building structure, the change of track wound, electromechanical equipments along track by flashlight, percussion,
The simple tool Walkthrough such as hand-held detector, or manually push the slowly mobile routine that carries out by large-scale track flaw detection tool car and patrol
Inspection.
The content of the invention
To overcome prior art problem, the present invention provides a kind of rail polling robot.
A kind of rail polling robot, including central enclosure, anterior storage case, rear portion storage case, antenna, two level are stretched
Contracting arm, roller frame body, motor, lifting gear and bottom support base；
The central enclosure is in integrally cuboid, and inside is used to configure rechargeable battery, onboard servers and communications router,
The front portion storage case and rear portion storage case are integrally T-shaped, are respectively arranged at the front and rear sides of the central enclosure, described
The top of the both sides of central enclosure includes the top incorporating section of protrusion；The front portion storage case and rear portion storage case include
The vertical strip incorporating section in bottom and top transverse direction strip incorporating section, the top transverse direction strip incorporating section and the top incorporating section
Connect, be configured with the vertical strip incorporating section in bottom of the front portion storage case due to the SLAM laser radars in scanning front,
It is laterally homogeneous on the vertical strip incorporating section in bottom of the rear portion storage case and central enclosure to be configured with four microwave radars；Institute
Antenna configuration is stated in the top of the central enclosure；
The two level telescopic arm is configured at the both sides of the central enclosure, end and the roller of the two level telescopic arm
Frame body is fixedly connected, and the motor is configured at the inner side of the roller frame body；Described in when the two level telescopic arm is shunk completely
Roller frame body is accommodated in the exterior bottom of the top incorporating section, the motor be accommodated in the central enclosure exterior front,
In the both sides position of the vertical strip incorporating section in bottom；
The lifting gear is configured at the both sides inside the central enclosure, and the bottom support base is configured at the middle part
The bottom of hull outside, the lifting gear are fixedly connected with the bottom support base.
Preferably, the centre of the top transverse direction strip incorporating section of front and rear is each equipped with high-definition camera,
The both sides of the high-definition camera are configured with LED illumination lamp.
Preferably, the roller frame body includes inner side baffle, outer side shield, middle fixed part and axis pin, the centre
Fixed part is configured between the inner side baffle and outer side shield, and the end of the middle fixed part and the two level telescopic arm is consolidated
Fixed connection, the both ends of the axis pin are respectively arranged in the inner side baffle and outer side shield, and the motor is configured in described
The outside of side shield, the motor are fixedly connected with the axis pin, and roller is fixedly connected with the axis pin.
Preferably, the bottom of the inner side baffle protrudes from the bottom of the roller；
The bottom that the inner side baffle protrudes from the roller includes the bearing wheel of landscape configuration；
The both ends of the axis pin are configured with bearing, and the inner side baffle and outer side shield are fixed in the outer ring of the bearing
On；
The side that the axis pin is used to configure the motor includes special-shaped slot, and the rotor of the motor passes through the special-shaped slot
It is fixed on the axis pin.
Preferably, the lifting gear includes spiral expanding bar and control motor, and the overcoat of the spiral expanding bar leads to
Cross fixed seat to be fixed on the inner wall of the central enclosure, the control motor is configured at the top-side of the spiral expanding bar
On the position parallel with the spiral expanding bar, the control motor controls the spiral expanding bar, institute by gear carrying case
The bottom for stating spiral expanding bar is pierced by the central enclosure and is fixedly connected with the bottom support base, the spiral expanding bar of homonymy
Top fixed by fixinig plate.
Preferably, the rechargeable battery and onboard servers be respectively arranged at the bottom of the central enclosure both sides,
The lower section of the control motor；The communications router is configured at the interposition at the top of the rechargeable battery and onboard servers
Put.
Preferably, the outside top of the top plate of the central enclosure includes Multifunctional support pillar, the Multifunctional support pillar
Top configures multi-functional plug-in top plate, and the antenna configuration is in the both sides of the multi-functional plug-in top plate.
Preferably, LED light control circuit, PWM alignment circuits, camera control circuit, microwave radar sensing are further included
Circuit, communication interface control circuit and motor driving controling circuit；The LED light control circuit, PWM alignment circuits, video camera
Control circuit, microwave radar sensing circuit, communication interface control circuit and motor driving controling circuit are configured at the top and receive
Receive in portion.
Preferably, the top cover of the central enclosure is dismountable cover plate.
Preferably, the antenna includes WIFI antennas, 4G antennas and gps antenna.
Beneficial effects of the present invention：
Rail polling robot provided by the invention is in integrally a cuboid when two level telescopic arm is shunk completely, convenient
Vanning carries, at the same can Autoamtic standing stretch out telescopic arm and walking in orbit is detected, the unit of internal entirety is matched somebody with somebody
Put rationally, while top can install additional and configure other functional parts, purposes more comprehensively facilitates functions expanding, while the rail of the present invention
Road crusing robot is collapsible, and small volume and less weight, portability is strong, can be consigned by 24 cun of trolley cases, only one people can be operated；
Driven by power, the speed of a ship or plane is adjustable, highest speed 8km/h, a ultimate run 20km；One key is started shooting, automatic Pilot, automatic obstacle-avoiding,
Automatic alarm, supports networking clustered control, foolproof use pattern.
Brief description of the drawings
Fig. 1 is the front side structure schematic diagram of the rail polling robot of the present invention；
Fig. 2 is the front side structure front view of the rail polling robot of the present invention；
Fig. 3 is the rear structure front view of the rail polling robot of the present invention；
Fig. 4 is the first visual angle of internal structure figure of the rail polling robot of the present invention；
Fig. 5 is the second visual angle of internal structure figure of the rail polling robot of the present invention；
Fig. 6 is the 3rd visual angle figure of internal structure of the rail polling robot of the present invention；
Fig. 7 is the first visual angle of roller frame body figure of the rail polling robot of the present invention；
Fig. 8 is the second visual angle of roller frame body figure of the rail polling robot of the present invention.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, a kind of rail polling robot, including middle part shell
Body 1, anterior storage case 2, rear portion storage case 3, antenna 4, two level telescopic arm 5, roller frame body 6, motor 7,8 and of lifting gear
Bottom support base 9；
The overall central enclosure 1 is in cuboid, and inside is used to configure rechargeable battery 10, onboard servers 11 and communication lines
By device 12, the front portion storage case 2 and rear portion storage case 3 are overall T-shaped, before being respectively arranged at the central enclosure 1
Both sides afterwards, the top of the both sides of the central enclosure 1 include the top incorporating section 13 of protrusion；The front portion storage case 2 is with after
Portion's storage case equal 3 includes the vertical strip incorporating section in bottom and top transverse direction strip incorporating section, the top transverse direction strip storage
Portion is connected with the top incorporating section 13, is configured with the vertical strip incorporating section in bottom of the front portion storage case 2 due to sweeping
The SLAM laser radars 14 in front are retouched, on the vertical strip incorporating section in bottom of the rear portion storage case 3 and central enclosure laterally
Uniformly it is configured with four microwave radars 15；The antenna 4 is configured at the top of the central enclosure；SLAM laser radars 14 are used for
The state in moment scanning front simultaneously sends cartographic information to onboard servers 11, and two microwave radars 15 at middle part are used to detect
Barrier on the inside of track, two microwave radars 15 in outside are used for the barrier above detection track, so realize accurate
Avoidance and scan function.
The two level telescopic arm 5 is configured at the both sides of the central enclosure, is configured with four altogether, the two level telescopic arm 5
End 16 be fixedly connected with the roller frame body 6, the motor 7 is configured at the inner side of the roller frame body 6；In the two level
The roller frame body 6 is accommodated in the bottom of the top incorporating section 13 when telescopic arm is shunk completely, and the motor 7 is accommodated in described
In the both sides position of the vertical strip incorporating section in front, bottom of central enclosure, it is in a cubic so to realize whole device,
Conveniently it is positioned in trolley case.
The roller frame body 6 includes inner side baffle 17, outer side shield 18, middle fixed part 19, vertical connecting portion 20 and pin
Axis 21, the middle fixed part 19 are configured between the inner side baffle 17 and outer side shield 18, and the middle fixed part 19 is logical
The end that vertical connecting portion 20 is crossed with the two level telescopic arm 5 is fixedly connected, and specifically, it is configured at the two level telescopic arm 5
End bottom, the so convenient bottom that the overall storage of roller frame body 6 is hidden in top incorporating section 13；The axis pin 21
Both ends are respectively arranged on the inner side baffle 17 and outer side shield 18, and specifically, the both ends of the axis pin 21 are configured with bearing
22, the outer ring of the bearing 22 is fixed on the inner side baffle 17 and outer side shield 18；The motor 7 is configured at the inner side
The outside of baffle 17, the motor 7 are fixedly connected with the axis pin 21, and specifically, the axis pin 21 is used to configure the motor 7
Side include special-shaped slot 23, the rotor of the motor 7 is fixed on the axis pin 21 by the special-shaped slot 23；Roller 24 with
The axis pin 21 is fixedly connected；The bottom of the inner side baffle 17 protrudes from the bottom of the roller 24；The inner side baffle 17
Protruding from the bottom of the roller 24 includes the bearing wheel 25 of landscape configuration；Roller frame body 6 is so enabled smoothly to run
In orbit.
The lifting gear 8 is configured at the both sides inside the central enclosure 1, and the bottom support base 9 is configured at described
Bottom on the outside of central enclosure, the lifting gear 8 are fixedly connected with the bottom support base 9.The lifting gear 8 includes spiral shell
Telescopic rod 26 and control motor 28 are revolved, the overcoat of the spiral expanding bar 26 is fixed on the central enclosure 1 by fixed seat 27
Inner wall on, it is described control motor 28 be configured at the spiral expanding bar 26 top-side it is parallel with the spiral expanding bar 26
Position on, it is described control motor 28 the spiral expanding bar 26, the spiral expanding bar 26 are controlled by gear carrying case 29
Bottom be pierced by the central enclosure 1 and be fixedly connected with the bottom support base 9, the top of the spiral expanding bar 26 of homonymy leads to
Cross fixinig plate 30 to fix, so ensure the fastness of spiral expanding bar 26, while fixinig plate 30 carries other as carrying platform
Component.
The centre of the top transverse direction strip incorporating section of front and rear is each equipped with high-definition camera 31, the high definition
The both sides of video camera 31 are respectively configured with two LED illumination lamps 32.Front and back by the high-definition cameras of front and rear sides to track
To being monitored, LED light is used to be illuminated track.
The rechargeable battery 10 and onboard servers 11 are respectively arranged at the both sides, described of the bottom of the central enclosure 1
Control the lower section of motor 28；The communications router 12 is configured in the top of the rechargeable battery 10 and onboard servers 11
Between on position.Wherein described rechargeable battery 10 is used to be powered for car body, and the onboard servers 11 are used for each data
It is acquired calculating and controls motor etc..The communications router 12 is used to send out each road signal that needs send and receive
Send and receive and be controlled branch process.
The top cover of the central enclosure 1 is dismountable cover plate, it is dismantled by the button 33 of both sides.The central enclosure
The outside top of 1 top plate includes Multifunctional support pillar 34, and the top of the Multifunctional support pillar 34 configures multi-functional plug-in top plate 35,
Thereon can be with accessories manipulator, detection device etc.；The antenna 4 is configured at the both sides of the multi-functional plug-in top plate 35, described
Antenna includes WIFI antennas, 4G antennas and gps antenna.Wherein WIFI antennas and 4G antennas is used for transmission vision signal and control
Signal, gps antenna are used to position car body.
Further include LED light control circuit, PWM alignment circuits, camera control circuit, microwave radar sensing circuit, communication
Interface control circuit and motor driving controling circuit；The LED light control circuit, PWM alignment circuits, camera control circuit,
Microwave radar sensing circuit, communication interface control circuit and motor driving controling circuit are configured in the top incorporating section 13.
When in use, between rail polling robot being placed on track first, control bottom support base 9 stretches out, and works as entirety
After roller 24, after stretching out two level telescopic arm 5, pack up bottom support base 9 and allow trolley to stop in orbit, then start to transport
OK.
The present invention robot can autonomous operation, automatic obstacle-avoiding and safety detection, autonomy-oriented intelligent patrol detection, realize track
Holographic data collection and the intellectual analysis early warning of circuit, while can realize a plurality of circuit networking operation monitoring of City-level.Track
Intelligent patrol detection holography AR robots are by trolley special system, intelligence control system, airborne information processing microserver and center
Data handling system, system of broadband wireless communication, onboard power system, automatic obstacle-avoiding system, vehicle-running recording system, vehicling lighting
System and warning system, holographic data acquisition system and pipeline net monitoring system, its onboard servers 11 have following functions：
1. automatic Pilot：Control system order, start by set date, brake, constant-speed traveling, speed governing, stagnation of movement, collision can be received
Detection and self-actuating brake, rescue mode etc., support two way；
2. cruise：Support that more gears are set and switching, gear speed can be set from the background；
3. it is accurately positioned：The operating range of calculation automatically for supporting to turn-take several according to vehicle is positioned, and supports the GPS/ Big Dippeves/gal
The integrated access of the positioning methods such as profit summary/UWB, supports fixed point to stop；
4. status monitoring：Operating status detection in real time is with reporting, and status data includes switch for vehicle machine state, driving lamp is opened
Off status, automobile data recorder on off state, two sets of external equipment on off states, the speed of service, traffic direction, operating range, when
Preceding electricity, signal quality；
5. automatic obstacle-avoiding：Support the detection radar such as microwave, laser.Barrier automatic retarding stagnation of movement is detected, support pattern is cut
Change, can push away or pull other vehicles under rescue mode；
6. communication mode：Support the multi-communication protocol modes such as 4G/WiFi/ZigBee, be defaulted as WiFi accesses；
7. man-machine interface：Man-machine interface is mobile phone or Pad APP, and by WiFi/ bluetooth connection controllers, function is supported
Vehicle configures and vehicle remote control；
By these function modules, the automatic running of unmanned plane is realized, automatically controls, automate inspection, intelligent number
According to analysis and early warning.Solves the key issue that the unmanned and datamation collection of rail polling combs.
Equipment control at the same time：Car light, automobile data recorder, axle expansion bracket, 2 sets of external equipment power switch controls.
Condition monitoring：Output provides current running state, position, speed, electricity, operating range (note journey)；Externally carry
Receive interface for data output interface and control command.
Data communication：Control panel integrates WiFi module, 4G communication modules (3 Netcom's use), 2.4G communication modules, 485 communications
Interface.Reserve the communication protocol module interfaces such as expansible 4G/ZigBee/LoRa/NB-IoT.Data communication interface is provided, is passed through
Onboard WiFi carries out data interaction with tele-control system, is defaulted as WiFi or 485 serial ports.At the same time can by 2.4G with it is distant
Control device docking.
The product realizes autonomy-oriented control, wireless communication, avoidance Detection ＆ Controling, Lighting control, the driving of unmanned vehicle
Recorder control management, management system docking are integrated with the access of information service acquisition module.
The Highgrade integration of system has been ensured first so that the control management of unmanned vehicle becomes more controllable, and adding can
With property, performance boost more than 30%.
Secondly because integrated design, reduces related components, reduce the overall cost cost 50% of equipment with
On；
3rd, due to using Highgrade integration, reducing equipment size, alleviating the weight of overall unmanned vehicle, reduce
Power consumption more than 60%, comparable configuration increase course continuation mileage more than 30%.
Finally, equipment has abundant interface and expandability, expands the unmanned vehicle based on the pilot rich
Rich external equipment and sensor, disclosure satisfy that the project application demand of different scenes, reduce the input that project repeats research and development.
Integrate the operation management cost that the product of the pilot can help user to reduce more than 50%.The track of the present invention
The correlation functions such as crusing robot offer electricity drives, communicates, automatically controlling, obstacle identification, positioning, while standard power supply is provided and is led to
Believe interface, seamless carry docking three-dimensional laser radar, thermal imaging system, defectoscope, panorama camera, environmental sensor, positioning and measurement
Etc. various sensors, the intellectually and automatically of rail polling can be realized.
The solution of the present invention mainly provides the correlation function of the operation of robot, communication and avoidance, and other expand part
Can be stronger by additional realization, versatility.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
The various modifications and improvement that case is made, should all fall into the protection domain that claims of the present invention determines.
Claims (10)
- A kind of 1. rail polling robot, it is characterised in that：Including central enclosure, anterior storage case, rear portion storage case, antenna, two level telescopic arm, roller frame body, motor, lifting Device and bottom support base；The central enclosure is in integrally cuboid, and inside is used to configure rechargeable battery, onboard servers and communications router, described Anterior storage case and rear portion storage case are integrally T-shaped, are respectively arranged at the front and rear sides of the central enclosure, the middle part The top of the both sides of housing includes the top incorporating section of protrusion；The front portion storage case and rear portion storage case include bottom Vertical strip incorporating section and top transverse direction strip incorporating section, the top transverse direction strip incorporating section connects with the top incorporating section It is logical, it is configured with the vertical strip incorporating section in bottom of the front portion storage case due to the SLAM laser radars in scanning front, institute State and laterally homogeneous on the vertical strip incorporating section in bottom and central enclosure of rear portion storage case be configured with four microwave radars；It is described Antenna configuration is in the top of the central enclosure；The two level telescopic arm is configured at the both sides of the central enclosure, the end of the two level telescopic arm and the roller frame body It is fixedly connected, the motor is configured at the inner side of the roller frame body；The roller when the two level telescopic arm is shunk completely Frame body is accommodated in the exterior bottom of the top incorporating section, and the motor is accommodated in exterior front, the bottom of the central enclosure In the both sides position of vertical strip incorporating section；The lifting gear is configured at the both sides inside the central enclosure, and the bottom support base is configured at the central enclosure The bottom in outside, the lifting gear are fixedly connected with the bottom support base.
- 2. rail polling robot according to claim 1, it is characterised in that：The centre of the top transverse direction strip incorporating section of front and rear is each equipped with high-definition camera, the high-definition camera Both sides be configured with LED illumination lamp.
- 3. rail polling robot according to claim 1, it is characterised in that：The roller frame body includes inner side baffle, outer side shield, middle fixed part and axis pin, the middle fixed part and is configured at institute State between inner side baffle and outer side shield, the middle fixed part is fixedly connected with the end of the two level telescopic arm, the pin The both ends of axis are respectively arranged in the inner side baffle and outer side shield, and the motor is configured at the outside of the inner side baffle, The motor is fixedly connected with the axis pin, and roller is fixedly connected with the axis pin.
- 4. rail polling robot according to claim 3, it is characterised in that：The bottom of the inner side baffle protrudes from the bottom of the roller；The bottom that the inner side baffle protrudes from the roller includes the bearing wheel of landscape configuration；The both ends of the axis pin are configured with bearing, and the outer ring of the bearing is fixed in the inner side baffle and outer side shield；The side that the axis pin is used to configure the motor includes special-shaped slot, and the rotor of the motor is fixed by the special-shaped slot In on the axis pin.
- 5. rail polling robot according to claim 1, it is characterised in that：The lifting gear includes spiral expanding bar and control motor, and the overcoat of the spiral expanding bar is fixed on by fixed seat On the inner wall of the central enclosure, the control motor is configured at the top-side of the spiral expanding bar and the spiral expanding On the parallel position of bar, the control motor controls the spiral expanding bar by gear carrying case, the spiral expanding bar Bottom is pierced by the central enclosure and is fixedly connected with the bottom support base, passes through fixation at the top of the spiral expanding bar of homonymy Piece is fixed.
- 6. rail polling robot according to claim 5, it is characterised in that：The rechargeable battery and onboard servers are respectively arranged at the both sides of the bottom of the central enclosure, the control motor Lower section；The communications router is configured on the centre position at the top of the rechargeable battery and onboard servers.
- 7. rail polling robot according to claim 1, it is characterised in that：The outside top of the top plate of the central enclosure includes Multifunctional support pillar, and the top configuration of the Multifunctional support pillar is multi-functional Plug-in top plate, the antenna configuration is in the both sides of the multi-functional plug-in top plate.
- 8. rail polling robot according to claim 1, it is characterised in that：Further include LED light control circuit, PWM alignment circuits, camera control circuit, microwave radar sensing circuit, communication interface Control circuit and motor driving controling circuit；The LED light control circuit, PWM alignment circuits, camera control circuit, microwave Radar sensing circuit, communication interface control circuit and motor driving controling circuit are configured in the top incorporating section.
- 9. rail polling robot according to claim 8, it is characterised in that：The top cover of the central enclosure is dismountable cover plate.
- 10. rail polling robot according to claim 1, it is characterised in that：The antenna includes WIFI antennas, 4G antennas and gps antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711168383.3A CN107972696B (en) | 2017-11-21 | 2017-11-21 | A kind of rail polling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711168383.3A CN107972696B (en) | 2017-11-21 | 2017-11-21 | A kind of rail polling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107972696A true CN107972696A (en) | 2018-05-01 |
| CN107972696B CN107972696B (en) | 2019-08-23 |
Family
ID=62010909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711168383.3A Active CN107972696B (en) | 2017-11-21 | 2017-11-21 | A kind of rail polling robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107972696B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760018A (en) * | 2019-01-03 | 2019-05-17 | 中建地下空间有限公司 | A kind of power cabin device |
| CN110450816A (en) * | 2019-09-12 | 2019-11-15 | 西安文理学院 | A kind of round-the-clock intelligence rail inspection platform and method for inspecting |
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| CN203982191U (en) * | 2014-06-13 | 2014-12-03 | 广西电网公司崇左供电局 | A kind of rail polling robot mechanism |
| WO2015011671A1 (en) * | 2013-07-24 | 2015-01-29 | General Impianti S.R.L. | Self-propelled apparatus for measuring geometric and/or structural parameters of a railway track and/or switch |
| WO2016046109A1 (en) * | 2014-09-22 | 2016-03-31 | European Trans Energy Gmbh | Method for ascertaining the position of the overhead contact line or the busbar for vehicles |
| CN107065868A (en) * | 2017-03-29 | 2017-08-18 | 科大智能电气技术有限公司 | A kind of cruising inspection system based on crusing robot |
| CN206455652U (en) * | 2016-12-20 | 2017-09-01 | 大唐河北发电有限公司马头热电分公司 | A kind of infrared double vision intelligent online inspection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0733019A (en) * | 1993-07-15 | 1995-02-03 | Mitsui Constr Co Ltd | Rail environment probing device |
| WO2015011671A1 (en) * | 2013-07-24 | 2015-01-29 | General Impianti S.R.L. | Self-propelled apparatus for measuring geometric and/or structural parameters of a railway track and/or switch |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
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| WO2016046109A1 (en) * | 2014-09-22 | 2016-03-31 | European Trans Energy Gmbh | Method for ascertaining the position of the overhead contact line or the busbar for vehicles |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760018A (en) * | 2019-01-03 | 2019-05-17 | 中建地下空间有限公司 | A kind of power cabin device |
| CN110450816A (en) * | 2019-09-12 | 2019-11-15 | 西安文理学院 | A kind of round-the-clock intelligence rail inspection platform and method for inspecting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107972696B (en) | 2019-08-23 |
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