CN109931905A - The detection system and detection method and engineering truck of straddle-type monorail conductor rail - Google Patents
The detection system and detection method and engineering truck of straddle-type monorail conductor rail Download PDFInfo
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- CN109931905A CN109931905A CN201711349359.XA CN201711349359A CN109931905A CN 109931905 A CN109931905 A CN 109931905A CN 201711349359 A CN201711349359 A CN 201711349359A CN 109931905 A CN109931905 A CN 109931905A
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Abstract
The invention discloses a kind of detection system of straddle-type monorail conductor rail and detection method and straddle-type monorail engineering trucks, wherein, the detection system of straddle-type monorail conductor rail includes: range unit, processing unit and suggestion device, range unit, for detecting at a distance from the conductor rail of straddle-type monorail and the lateral face of track girder, and detection conductor rail is at a distance from the top surface of track girder；Processing unit for obtaining the lateral distance testing result of conductor rail at a distance from the lateral face of track girder according to conductor rail, and obtains the fore-and-aft distance testing result of conductor rail according to conductor rail at a distance from the top surface of track girder；Suggestion device, for being prompted respectively lateral distance testing result and fore-and-aft distance testing result.Installation quality detection is carried out to conductor rail using the detection system or detection method, detection efficiency is high, and it is time saving and energy saving, securely and reliably.
Description
Technical field
The invention belongs to rail vehicle technical field more particularly to a kind of detection system of straddle-type monorail conductor rail, with
And the detection method and straddle-type monorail engineering truck of straddle-type monorail conductor rail.
Background technique
Existing straddle-type monorail is after conductor rail is installed, by manually being connect on track girder using slide calliper rule detection
The installation quality of rail-engaging.By the installation quality of artificial detection conductor rail, low efficiency, and loop wheel machine is needed to assist, artificial and machine
Tool is at high cost, and high altitude operation risk is high.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the present invention needs to propose a kind of detection system of straddle-type monorail conductor rail, the straddle-type monorail conductor rail
Detection system, it is time saving and energy saving, it is high-efficient.The present invention also proposes straddle-type monorail engineering truck and straddle seat including the detection system
The detection method of formula unit conductor rail.
To solve the above-mentioned problems, the detection system of the straddle-type monorail conductor rail of first aspect present invention embodiment, packet
It includes: range unit, for detecting at a distance from the conductor rail of straddle-type monorail and the lateral face of track girder, and the detection contact
Rail is at a distance from the top surface of the track girder；Processing unit, for according to the conductor rail and the lateral face of the track girder
Distance obtains the lateral distance testing result of the conductor rail, and according to the top surface of the conductor rail and the track girder away from
From the fore-and-aft distance testing result for obtaining the conductor rail；Suggestion device, for the lateral distance testing result and described
Fore-and-aft distance testing result is prompted respectively.
The detection system of straddle-type monorail conductor rail according to an embodiment of the present invention, detects conductor rail by range unit
With at a distance from the lateral face of track girder and conductor rail is at a distance from the top surface of track girder, processing unit is according to detection data
Directly judge unqualified place, compared to artificial detection, detection efficiency is high, and detection accuracy is high, time saving and energy saving, high reliablity.
The straddle-type monorail engineering truck of second aspect of the present invention embodiment, the inspection including the straddle-type monorail conductor rail
Examining system.
Straddle-type monorail engineering truck according to an embodiment of the present invention, by using the straddle-type monorail of above-mentioned aspect embodiment
The detection system of conductor rail realizes the detection to the installation quality of conductor rail, more time saving and energy saving compared to manual measurement, inspection
It is high to survey precision, it is high-efficient, securely and reliably.
To solve the above-mentioned problems, the detection method of the straddle-type monorail conductor rail of third aspect present invention embodiment, packet
It includes: obtaining the conductor rail of straddle-type monorail detected by range unit and connect at a distance from the lateral face of track girder, and according to described
Rail-engaging obtains the lateral distance testing result of the conductor rail at a distance from the lateral face of the track girder；It obtains by the ranging
The conductor rail of device detection is at a distance from the top surface of the track girder, and according to the top of the conductor rail and the track girder
The distance in face obtains the fore-and-aft distance testing result of the conductor rail；To the lateral distance testing result and the fore-and-aft distance
Testing result is prompted respectively.
The detection method of straddle-type monorail conductor rail according to an embodiment of the present invention, based on the contact detected by range unit
Rail is at a distance from the lateral face of track girder and conductor rail is at a distance from the top surface of track girder, can be detected conductor rail laterally away from
It is whether qualified from fore-and-aft distance, it is detected compared to slide calliper rule, more time saving and energy saving, detection accuracy is high, and method is simple, and efficiency mentions
It is high.
Detailed description of the invention
Fig. 1 is the block diagram of the detection system of straddle-type monorail conductor rail according to an embodiment of the present invention；
Fig. 2 is the block diagram of the detection system of straddle-type monorail conductor rail according to an embodiment of the invention；
Fig. 3 is process of the detection conductor rail according to an embodiment of the invention at a distance from the lateral face of track girder
Schematic diagram；
Fig. 4 is showing for process of the detection conductor rail according to an embodiment of the invention at a distance from the top surface of track girder
It is intended to；
Fig. 5 is the block diagram of the detection system of straddle-type monorail conductor rail according to an embodiment of the invention；
Fig. 6 is the equipment scheme of installation of the lateral distance of detection conductor rail according to an embodiment of the invention；
Fig. 7 is the equipment scheme of installation of the fore-and-aft distance of detection conductor rail according to an embodiment of the invention；
Fig. 8 is the block diagram of the detection system of straddle-type monorail conductor rail according to an embodiment of the invention；
Equipment scheme of installation when Fig. 9 is vibration compensation according to an embodiment of the invention；
Figure 10 is the block diagram of straddle-type monorail engineering truck according to an embodiment of the present invention；
Figure 11 is the flow chart of the detection method of straddle-type monorail conductor rail according to an embodiment of the present invention；
Figure 12 is the flow chart of the detection method of straddle-type monorail conductor rail according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Main indicator for the installation quality detection of the conductor rail of straddle-type monorail includes: 1, conductor rail and track girder
Whether horizontal lateral distance is qualified；2, whether conductor rail is qualified at a distance from the longitudinal direction of the top of track girder；3, insulated terminal whether there is or not
It is abnormal.
In order to more efficiently and rapidly detect the installation quality of conductor rail, time saving and energy saving, effect that the embodiment of the present invention proposes
The high detection system of rate.The detection system of straddle-type monorail conductor rail proposed according to embodiments of the present invention is described with reference to the accompanying drawings
System.
Fig. 1 is the block diagram of the detection system of straddle-type monorail conductor rail according to an embodiment of the present invention, as shown in Figure 1, this
The detection system 100 of the straddle-type monorail conductor rail of inventive embodiments includes range unit 10, processing unit 20 and suggestion device
30。
Wherein, range unit 10 is used to detect the conductor rail of straddle-type monorail at a distance from the lateral face of track girder, and
Conductor rail is detected at a distance from the top surface of track girder.Herein, the distance between face in the same direction of conductor rail and track girder is detected
It is significant, for example, the lateral face of detection conductor rail detects upper edge and the track girder of conductor rail at a distance from the lateral face of track girder
Top surface distance.Range unit 10 can include but is not limited to laser sensor, such as 2D (2-Dimensional) laser
Sensor can detecte face at a distance from face, naturally it is also possible to use other distance members applicatory, not limit specifically herein
System.
Processing unit 20 is used to obtain the lateral distance inspection of conductor rail at a distance from the lateral face of track girder according to conductor rail
It surveys as a result, for example, conductor rail is compared at a distance from the lateral face of track girder with the lateral level threshold value of setting, when being more than
Think unqualified when the transverse direction level threshold value, it is on the contrary, then it is assumed that qualified.And processing unit 20 is according to conductor rail and track girder
Top surface distance obtain conductor rail fore-and-aft distance testing result, for example, by conductor rail at a distance from the top surface of track girder and
Preset longitudinal direction level threshold value is compared, and thinks unqualified when being more than longitudinal level threshold value, on the contrary, then it is assumed that qualified.
Suggestion device 30 for proposing the lateral distance testing result and fore-and-aft distance testing result of conductor rail respectively
Show, for example, testing result is provided by display screen, thus, testing staff can understand the cross of conductor rail and track girder in time
Whether lateral distance is qualified, and, whether the top fore-and-aft distance for understanding conductor rail and track girder is qualified, examines compared to slide calliper rule
It surveys, more convenient, efficiency improves, more time saving and energy saving.
Specifically, in some embodiments of the invention, as shown in Fig. 2, range unit 10 includes the first range finder module
11 and second range finder module 12.Wherein, the first range finder module 11 is used to detect the rail level of the conductor rail of straddle-type monorail to first
The first distance of datum level, the second range finder module 12 are used to detect the lateral face of the track girder of straddle-type monorail to the first datum level
Second distance.Herein, the first datum level can be plane locating for the first range finder module 11 or the second range finder module 12, and
Guarantee that the first range finder module 11 and the second range finder module 12 are in same level, in this way, the comparison of distance is just significant.Processing dress
20 are set for calculating the first distance difference of first distance and second distance, and according to first distance difference and lateral level threshold value
Obtain the lateral distance testing result of conductor rail.
Specifically, first distance difference is conductor rail at a distance from the lateral face of track girder, referring to shown in Fig. 3, is passed through
Laser sensor detects first distance and second distance, and such as computer of processing unit 20 calculates first distance difference, and judges
Whether first distance difference transfinites, when first distance difference is more than default lateral level threshold value, it is believed that the rail level of conductor rail with
The distance of the lateral face of track girder is unqualified, then by suggestion device 30 export " transfiniting, unqualified ", and backstage record and to
Anchor point ink-jet label；It is on the contrary, then it is assumed that it is qualified, " not transfiniting, qualified " can be exported by suggestion device 30, it is thus possible to
Judge conductor rail whether be transversely mounted quality up to standard, detected compared to by slide calliper rule, it is more rapidly and efficiently, time saving and energy saving.
In some embodiments of the invention, as shown in Fig. 2, range unit 10 further includes third range finder module 13 and the 4th
Range finder module 14.Wherein, third range finder module 13 is for detecting the upper edge of conductor rail to the third distance of the second datum level, and the 4th
Range finder module 14 is for detecting the top surface of track girder to the 4th distance of the second datum level.Similarly, the second datum level can be
Plane locating for third range finder module 13 or the 4th range finder module 14, and guarantee third range finder module 13 and the 4th range finder module 14
In same level.Processing unit 20 is also used to calculate the second distance difference of third distance with the 4th distance, and according to second
Distance difference and longitudinal level threshold value obtain the fore-and-aft distance testing result of conductor rail.
Specifically, second distance difference is conductor rail at a distance from the top longitudinal surface of track girder, referring to shown in Fig. 4,
Third distance and the 4th distance are detected by laser sensor, such as computer of processing unit 20 calculates second distance difference, and
Judge whether second distance difference transfinites, when second distance difference is more than preset longitudinal level threshold value, it is believed that conductor rail
Upper edge is unqualified at a distance from the top surface longitudinal surface of track girder, then exports " transfiniting, unqualified " by suggestion device 30, and backstage
It records and is marked to anchor point ink-jet；It is on the contrary, then it is assumed that it is qualified, " not transfiniting, qualified " can be exported by suggestion device 30,
It is thus possible to judge whether the longitudinally mounted quality of conductor rail is up to standard, detect compared to by slide calliper rule, more rapidly and efficiently, saves
Shi Shengli.
Detection for the installation quality of conductor rail further includes whether detection insulated terminal is good, using current detection side
Formula, one insulated terminal of every detection about need 2 minutes, are separated by 3 meters or 4 meters and install an insulated terminal, for one kilometer
Track just needs the workload of 3 days/people, and detection efficiency is low.
In order to improve the detection efficiency to insulated terminal, in an embodiment of the present invention, as shown in figure 5, the present invention is implemented
The detection system 100 of the straddle-type monorail conductor rail of example further includes image collecting device 40.Image collecting device 40 is for acquiring
The image information of the insulated terminal of conductor rail；Processing unit 20 is also used to judge according to image information that the insulated terminal of conductor rail is
No exception, specifically, processing unit 20 analyze image information, by image with prestore model and be compared, judge to insulate
Whether terminal has fracture or other exceptions, and exports in insulated terminal exception the abnormal prompt information of corresponding insulated terminal to mentioning
Showing device 30.To which the insulated terminal which position testing staff can understand in time is abnormal, and detection efficiency improves.
In short, it can be may be implemented by such as 2D laser sensor of range unit 10 to conductor rail and track girder
Detection of the distance and conductor rail of horizontal lateral face at a distance from the top longitudinal surface of track girder, and, pass through image collector
Setting 40 may be implemented detection to insulated terminal, more time saving and energy saving compared to the installation quality of artificial detection conductor rail, efficiency
It is high.
In some embodiments of the invention, as is seen in fig. 6 or fig. 7, the first range finder module 11, the second range finder module 12,
Third range finder module 13, the 4th range finder module 14 and image collecting device 40 are installed on straddle-type monorail engineering truck 1000,
For example, being installed on the truck chassis of straddle-type monorail engineering truck 1000.In the installation of the conductor rail to certain section of straddle-type monorail
When quality is detected, straddle-type monorail engineering truck 1000 is sailed in the enterprising every trade of this section of track, range unit 10 and Image Acquisition
Device 40 works, and the detection of the conductor rail to this section of track can be realized, efficiently quickly.
In some embodiments, referring to shown in Fig. 6 or 7, the first range finder module 11, the second range finder module 12, third ranging
Module 13, the 4th range finder module 14 and image collecting device 40 are two.For example, conductor rail is in the two sides of single track, Zong Gongke
Eight laser sensors and two industrial cameras are needed, the data that will test carry out operation to obtain more accurate detection value.
Specifically, as shown in fig. 6, conductor rail is in the two sides of track girder, when carrying out lateral distance detection, using two
One range finder module 11 detects the rail level of the conductor rail of track girder two sides respectively, detects rail respectively using two the second range finder modules 12
Lateral face at left and right sides of road beam, and using respective average value as first distance and second distance.Wherein, the first ipsilateral survey
It is generally aligned in the same plane away from module 11 and the second range finder module 12.In turn, processing unit 20 calculates first distance and second distance
First distance difference, i.e. acquisition conductor rail is at a distance from the lateral face of track girder, and by first distance difference and lateral standard threshold
Value is compared, and is then judged as qualified in the margin of tolerance, is then judged as unqualified beyond tolerance permissible value, to realize docking
The detection of rail-engaging and the horizontal lateral distance of track girder.
Referring to shown in Fig. 7, when carrying out fore-and-aft distance detection, is detected and connect from the top down using two third range finder modules 13
The upper edge of rail-engaging, and minimum value is obtained detected respectively from the top down using two the 4th range finder modules 14 as third distance
Track top surface of the beam, and average value is obtained using as the 4th distance；Wherein, four range finder modules are generally aligned in the same plane.In turn, it handles
Device 20 calculates the second distance difference of third distance and the 4th distance, that is, obtains conductor rail at a distance from the top surface of track girder,
And be compared second distance difference with longitudinal level threshold value, it is judged as qualified if in the margin of tolerance, otherwise, exceeds
Tolerance permissible value, which is then judged as, not to be conformed to then, to realize the detection to the top fore-and-aft distance of conductor rail and track girder.
As shown in fig. 6, the detection to insulated terminal, can use such as industrial camera of image collecting device 40, adopt in Fig. 6
The image of the insulated terminal of acquisition trajectory beam two sides is distinguished with two frame industrial cameras, and image information is uploaded to processing unit
20, image is compared processing unit 20 with the model prestored, occurs being broken if any insulated terminal or loosened screw etc. is abnormal
Interpretation is made, to be prompted.
In an embodiment of the present invention, processing unit 20 is also used to lateral distance testing result, fore-and-aft distance detection knot
The exception information of fruit and insulated terminal is sent to server.The database that testing result can be generated by server, detects people
Member can inquire database understand testing result, take further step according to testing result, with to it is underproof place into
Row trimming.
In addition, straddle-type monorail engineering truck is during traveling, since the out-of-flatness of contact surface will cause the transverse direction of vehicle
It shakes, thus the shaking range progress limit to detection device and straddle-type monorail engineering truck 1000 is needed to give in Fig. 6 or 7
The schematic diagram of the contour line of engineering truck, vehicle gauge and facilities clearance is gone out.In order to avoid shaking when limit detection to detection
As a result biggish deviation is caused, in an embodiment of the present invention, as shown in figure 8, the detection system 100 of the embodiment of the present invention is also wrapped
Include compensation device 50, compensation device 50 is to conductor rail at a distance from the lateral face of track girder and the top surface of conductor rail and track girder
Distance compensate.
Specifically, in some embodiments of the invention, as shown in figure 9, using two the second range finder modules 12, one
Two range finder modules 12 are used to detect the distance of first datum level an of side to corresponding side of track girder, another
Second range finder module 12 is used to detect the distance of the first datum level of another side to corresponding another side of track girder.
Compensation device 50 is used for the distance and track girder of first datum level an of side to corresponding side according to track girder
The difference of distance of the first datum level of another side to corresponding another side first distance difference is corrected.
Under normal circumstances, the distance of first datum level an of side of track girder to corresponding side and track girder is another
The distance of first datum level of a side to corresponding another side be it is equal, when straddle-type monorail engineering truck 1000 or so
When rocking, then it is reference with track girder that causing the detected value on both sides, there are deviations, according to the deviation come poor to first distance is obtained
That is the distance of lateral face of conductor rail to track girder is corrected, to conductor rail caused by double swerve when compensating limit detection
Detection error at a distance from the lateral face of track girder improves detection accuracy.
In other embodiments of the invention, for the detection error of fore-and-aft distance caused by up-down vibration, compensation dress
Set 50 be also used to obtain straddle-type monorail engineering truck 1000 run when the 4th range finder module 14 detection dynamic measurement and
The static measurement values that 4th range finder module 14 detects when straddle-type monorail engineering truck 1000 is static, and according to static measurement values and move
The difference of state measured value is corrected second distance difference.Specifically, as shown in figure 9, two the 4th detection moulds can be used
Block 14, and will test the average value of value as measured value.Due to the out-of-flatness of contact surface, straddle-type monorail engineering truck will cause
1000 pitch, so that there are errors for testing result of the conductor rail at a distance from the top surface of track girder, in straddle-type
There is no the influences of vibration for the data that single track engineering truck 1000 detects when static, and when straddle-type monorail engineering truck 1000 is run
The data of detection often due to the influence of vibration and there are deviations, then can be according to the difference of static measurement values and dynamic measurement
The fore-and-aft distance of conductor rail is corrected, due to the caused detection error that pitches when compensating limit detection, improves inspection
Survey precision.
In conclusion the detection system 100 of the straddle-type monorail conductor rail of the embodiment of the present invention, passes through 10 He of range unit
Image collecting device 40 detects the installation quality of conductor rail, and detection efficiency is high, detection accuracy is high, high reliablity.Also, it uses
Range unit 10 is detected to testing staff without technical requirements, and processing unit 20 can directly judge unqualified place, can scene
Rectification.Using image collecting device 40 come more accurate compared to traditional artificial detection the case where detecting insulated terminal, efficiency
It is high.And testing result is corrected by compensation device 50, detection caused by double swerve can be compensated or vibrated up and down
Error, it is more accurate to detect.
Based on above-mentioned aspect embodiment to the explanation of the detection system of straddle-type monorail conductor rail, as shown in Figure 10, this hair
The straddle-type monorail engineering truck 1000 of bright second aspect embodiment includes the detection system 100 of the straddle-type monorail conductor rail,
When detecting to the installation quality of conductor rail, straddle-type monorail engineering truck 1000 is advanced on needing the track detected, is detected
System 100 is detected, and 100 specific detection process such as above example of detection system illustrates, and details are not described herein.
The straddle-type monorail engineering truck 1000 of the embodiment of the present invention, by using the straddle-type monorail of above-mentioned aspect embodiment
The detection system 100 of conductor rail realizes the detection to the installation quality of conductor rail, more time saving and energy saving compared to manual measurement,
It is high-efficient, securely and reliably.
The detection method of the straddle-type monorail conductor rail of embodiment according to a third aspect of the present invention is described with reference to the accompanying drawings.
Figure 11 is according to the flow chart of the detection method of the straddle-type monorail conductor rail of the embodiment of the present invention, such as Figure 11 institute
Show, the detection method of the straddle-type monorail conductor rail of the embodiment of the present invention includes:
S1 obtains the conductor rail of straddle-type monorail detected by range unit at a distance from the lateral face of track girder, and root
The lateral distance testing result of conductor rail is obtained at a distance from the lateral face of track girder according to conductor rail.
In some embodiments of the invention, it is carried out by range unit such as 2D laser sensor apart from detection, and will
Processing unit is uploaded to apart from detection information.
Specifically, the rail level of the conductor rail detected by range unit is obtained to the first distance of the first datum level, and, it obtains
Take the lateral face of the track girder detected by range unit to the second distance of the first datum level；Herein, the first datum level can be with
For for detection plane locating for range unit, and guarantee that the detection of first distance and second distance is in same level, so
The comparison of distance is just significant.Calculate first distance and second distance first distance difference, that is, conductor rail and track girder it is lateral
The distance in face；The lateral distance testing result that conductor rail is obtained according to first distance difference and lateral level threshold value, for example, first
On the contrary distance difference then thinks unqualified when being more than lateral level threshold value, then think qualification.
S2 obtains the conductor rail detected by range unit at a distance from the top surface of track girder, and according to conductor rail and track
The distance of the top surface of beam obtains the fore-and-aft distance testing result of conductor rail.
Specifically, the upper edge of the conductor rail detected by range unit is obtained to the third distance of the second datum level, and, it obtains
Take the top surface of the track girder detected by range unit to the 4th distance of the second datum level；Similarly, the second datum level can be
Detection plane locating for range unit, and guarantee that the detection of third distance and the 4th distance is in same level；Calculate third away from
Second distance difference with a distance from the 4th, i.e. acquisition conductor rail is at a distance from the top surface of track girder；According to second distance difference
The fore-and-aft distance testing result of conductor rail is obtained with longitudinal level threshold value, for example, second distance difference is more than longitudinal level threshold value
When think unqualified, it is on the contrary then think qualified.
S3 prompts lateral distance testing result and fore-and-aft distance testing result respectively.
For example, testing staff can have found unqualified place in time, go forward side by side by showing that screen prompts testing result
The trimming of row scene, it is efficiently simple.Alternatively, the information at unqualified place can be uploaded to server, conductor rail is generated by server
Distance detects underproof database, for testing staff's inquiry.
The detection method of straddle-type monorail conductor rail according to an embodiment of the present invention, based on the contact detected by range unit
Rail is at a distance from the lateral face of track girder and conductor rail is at a distance from the top surface of track girder, can be detected conductor rail laterally away from
It is whether qualified from fore-and-aft distance, it is detected compared to slide calliper rule, more time saving and energy saving, method is simple, and efficiency improves.
Detection for the installation quality of conductor rail, in addition to whether detection conductor rail closes at a distance from the lateral face of track girder
Whether lattice, and detection conductor rail are qualified at a distance from the top surface of track girder, include the case where the detection to insulated terminal.
In an embodiment of the present invention, as shown in figure 12, the detection side of the straddle-type monorail conductor rail of the embodiment of the present invention
Method further include:
S4 acquires the image information of the insulated terminal of conductor rail.
For example, acquiring the image of insulated terminal by industrial camera, and image information is uploaded to processing unit.
S5 judges whether the insulated terminal of conductor rail is abnormal according to image information.
Specifically, the image of insulated terminal is compared by processing unit with model, if insulated terminal occur being broken or
Loosened screw etc. then judges extremely.
S6 carries out abnormal prompt when insulated terminal exception.
For example, testing staff can have found in time, and carry out field replaceable by showing that screen is prompted.Alternatively, can
The exception information of insulated terminal is uploaded to server, server generates insulated terminal exception information database, for detection
Personnel inquiry.
By acquiring the image information of insulated terminal, the superiority and inferiority of insulated terminal is judged according to image information, compared to artificial
Detection, it is more time saving and energy saving, more efficiently.
In some embodiments, referring to shown in Fig. 6 or 7, range unit and image collecting device are installed in straddle-type list
On rail engineering truck, for example, being installed on the truck chassis of straddle-type monorail engineering truck.Mistake of the straddle-type monorail engineering truck in traveling
Cheng Zhong will cause the transverse shakiness or up-down vibration of vehicle due to the out-of-flatness of contact surface, so as to the detection knot of conductor rail
Fruit causes error.Cause biggish deviation, in an embodiment of the present invention, may be used also testing result in order to avoid shaking or vibrating
It is compensated with the lateral distance and fore-and-aft distance of the conductor rail to acquisition.
Specifically, in some embodiments of the invention, a side of the track girder detected by range unit is obtained extremely
The distance of first datum level of a corresponding side, and, obtain another side of the track girder detected by range unit extremely
The distance of first datum level of another corresponding side；According to track girder side to first base of a corresponding side
Difference at a distance from the distance in quasi- face and another side of track girder to the first datum level of corresponding another side is to the
One distance difference is corrected, when compensating limit detection caused by double swerve to the lateral face of conductor rail and track girder away from
From detection error, improve detection accuracy.
In other embodiments of the invention, range unit is mounted on straddle-type monorail engineering truck, for shaking up and down
The detection error of fore-and-aft distance caused by dynamic, the detection method of the embodiment of the present invention further include: what acquisition was detected by range unit
Straddle-type monorail engineering truck operation when track girder top surface to the second datum level dynamic measurement, and, obtain by ranging
Device detection the top surface of track girder when straddle-type monorail engineering truck is static to the second datum level static measurement values；And
Third distance is corrected according to the difference of static measurement values and dynamic measurement, due to running up and down when compensating limit detection
It winnows with a dustpan caused detection error, improves detection accuracy.
A kind of non-transitorycomputer readable storage medium is also proposed in some embodiments of the invention, is stored thereon with
Computer program, the program are performed the detection method realized such as the straddle-type monorail conductor rail of embodiment in terms of above-mentioned.
It should be noted that in the description of this specification, any mistake described otherwise above in flow chart or herein
Journey or method description are construed as, and expression includes the steps that one or more for realizing specific logical function or process
Executable instruction code module, segment or part, and the range of the preferred embodiment of the present invention includes other
Realize, wherein sequence shown or discussed can not be pressed, including according to related function by it is basic simultaneously in the way of or press
Opposite sequence, Lai Zhihang function, this should be understood by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (17)
1. a kind of detection system of straddle-type monorail conductor rail, which is characterized in that the detection system includes:
Range unit connects for detecting at a distance from the conductor rail of straddle-type monorail and the lateral face of track girder, and described in detection
Rail-engaging is at a distance from the top surface of the track girder；
Processing unit, for obtaining the transverse direction of the conductor rail at a distance from the lateral face of the track girder according to the conductor rail
Apart from testing result, and obtained at a distance from the top surface of the track girder according to the conductor rail conductor rail it is longitudinal away from
From testing result；
Suggestion device, for being prompted respectively the lateral distance testing result and the fore-and-aft distance testing result.
2. the detection system of straddle-type monorail conductor rail as described in claim 1, which is characterized in that
The range unit includes the first range finder module and the second range finder module, wherein first range finder module is for detecting
The rail level of the conductor rail is to the first distance of the first datum level, and second range finder module is for detecting the side of the track girder
To face to the second distance of first datum level；
Processing unit, for calculating the first distance difference of the first distance Yu the second distance, and according to described first
Distance difference and lateral level threshold value obtain the lateral distance testing result.
3. the detection system of straddle-type monorail conductor rail as claimed in claim 2, which is characterized in that
The range unit further includes third range finder module and the 4th range finder module, and the third range finder module is described for detecting
The upper edge of conductor rail is to the third distance of the second datum level, and the 4th range finder module is for detecting the top surface of the track girder extremely
4th distance of second datum level；
The processing unit is also used to calculate the second distance difference of the third distance with the 4th distance, and according to institute
It states second distance difference and longitudinal level threshold value obtains the fore-and-aft distance testing result.
4. the detection system of straddle-type monorail conductor rail as claimed in claim 3, which is characterized in that the detection system is also wrapped
It includes:
Image collecting device, the image information of the insulated terminal for acquiring the conductor rail；
The processing unit is also used to judge according to described image information whether the insulated terminal of the conductor rail is abnormal, and
The abnormal prompt information of the corresponding insulated terminal is exported when the insulated terminal exception to the suggestion device.
5. the detection system of straddle-type monorail conductor rail as claimed in claim 4, which is characterized in that the first ranging mould
Block, second range finder module, the third range finder module, the 4th range finder module and described image acquisition device are respectively mounted
On straddle-type monorail engineering truck.
6. the detection system of straddle-type monorail conductor rail as claimed in claim 5, which is characterized in that the first ranging mould
Block, second range finder module, the third range finder module, the 4th range finder module and described image acquisition device are two
It is a.
7. the detection system of straddle-type monorail conductor rail as claimed in claim 6, which is characterized in that
Wherein, second range finder module is used to detect a side of the track girder to the first of the one side of correspondence
The distance of datum level, another second range finder module be used to detect another side of the track girder to it is corresponding it is described another
The distance of first datum level of side；
The detection system further includes compensation device, and the compensation device is used for according to a side of the track girder to correspondence
The distance of first datum level of one side and another side to corresponding another side of the track girder
The difference of the distance of first datum level is corrected the first distance difference.
8. the detection system of straddle-type monorail conductor rail as claimed in claim 7, which is characterized in that
The compensation device, be also used to obtain the straddle-type monorail engineering truck operation when described in the 4th range finder module detection
Dynamic measurement and when the straddle-type monorail engineering truck is static described in the detection of the 4th range finder module static measurement values, and root
The second distance difference is corrected according to the difference of the static measurement values and the dynamic measurement.
9. the detection system of straddle-type monorail conductor rail as claimed in claim 4, which is characterized in that the processing unit is also used
In the exception information of the lateral distance testing result, the fore-and-aft distance testing result and the insulated terminal is sent to clothes
Business device.
10. a kind of straddle-type monorail engineering truck, which is characterized in that including the described in any item straddle-type lists of such as claim 1-9
The detection system of rail conductor rail.
11. a kind of detection method of straddle-type monorail conductor rail, which is characterized in that the detection method includes:
The conductor rail of straddle-type monorail detected by range unit is obtained to connect at a distance from the lateral face of track girder, and according to described
Rail-engaging obtains the lateral distance testing result of the conductor rail at a distance from the lateral face of the track girder；
The conductor rail detected by the range unit is obtained at a distance from the top surface of the track girder, and according to the contact
Rail obtains the fore-and-aft distance testing result of the conductor rail at a distance from the top surface of the track girder；
The lateral distance testing result and the fore-and-aft distance testing result are prompted respectively.
12. the detection method of straddle-type monorail conductor rail as claimed in claim 11, which is characterized in that obtain by range unit
The conductor rail of the straddle-type monorail of detection is at a distance from the lateral face of track girder, and according to the conductor rail and the track girder
The distance of lateral face obtains the lateral distance testing result of the conductor rail, comprising:
The rail level of the conductor rail detected by the range unit is obtained to the first distance of the first datum level, and, it obtains
The lateral face of the track girder detected by the range unit to first datum level second distance；
Calculate the first distance difference of the first distance Yu the second distance；
The lateral distance testing result is obtained according to the first distance difference and lateral level threshold value.
13. the detection method of straddle-type monorail conductor rail as claimed in claim 12, which is characterized in that obtain by the ranging
The conductor rail of device detection is at a distance from the top surface of the track girder, and according to the top of the conductor rail and the track girder
The distance in face obtains the fore-and-aft distance testing result of the conductor rail, comprising:
The upper edge of the conductor rail detected by the range unit is obtained to the third distance of the second datum level, and, it obtains
The top surface of the track girder detected by the range unit to second datum level the 4th distance；
Calculate the second distance difference of the third distance with the 4th distance；
The fore-and-aft distance testing result is obtained according to the second distance difference and longitudinal level threshold value.
14. the detection method of straddle-type monorail conductor rail as claimed in claim 13, which is characterized in that the detection method is also
Include:
Acquire the image information of the insulated terminal of the conductor rail；
Judge whether the insulated terminal is abnormal according to described image information；And
Abnormal prompt is carried out when the insulated terminal exception.
15. the detection method of straddle-type monorail conductor rail as claimed in claim 14, which is characterized in that range unit is mounted on
On straddle-type monorail engineering truck, the detection method further include:
Obtain the first benchmark of a side to the one side of correspondence of the track girder detected by the range unit
The distance in face, and, obtain another side of the track girder detected by the range unit to it is corresponding it is described another
The distance of first datum level of side；
According to the distance of the first datum level of the track girder side to the one side of correspondence and the track girder
Another side to another side the first datum level distance difference to the first distance difference into
Row correction.
16. the detection method of straddle-type monorail conductor rail as claimed in claim 15, which is characterized in that the detection method is also
Include:
Obtain top surface to the institute of the track girder when the straddle-type monorail engineering truck is run detected by the range unit
State the dynamic measurement of the second datum level, and, obtain by the range unit detect in the straddle-type monorail engineering truck
When static the top surface of the track girder to second datum level static measurement values；And
The second distance difference is corrected according to the difference of the static measurement values and the dynamic measurement.
17. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
It is performed realization such as the described in any item methods of claim 11-16.
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| CN201711349359.XA CN109931905B (en) | 2017-12-15 | 2017-12-15 | Detection system and detection method for straddle type monorail contact rail and engineering truck |
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| CN201711349359.XA CN109931905B (en) | 2017-12-15 | 2017-12-15 | Detection system and detection method for straddle type monorail contact rail and engineering truck |
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| CN109931905B (en) | 2020-12-25 |
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