CN110926541A - Straddle type monorail PC track beam detection device - Google Patents
Straddle type monorail PC track beam detection device Download PDFInfo
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- CN110926541A CN110926541A CN201911273672.9A CN201911273672A CN110926541A CN 110926541 A CN110926541 A CN 110926541A CN 201911273672 A CN201911273672 A CN 201911273672A CN 110926541 A CN110926541 A CN 110926541A
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- 239000011178 precast concrete Substances 0.000 description 170
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention provides a straddle type monorail PC track beam detection device, and relates to the technical field of urban track traffic transportation systems. This stride a formula monorail PC track roof beam detection device includes: the device comprises a device base, a beam surface friction coefficient measuring system, a geometric form measuring system, a walking system, a photographing imaging system and a control storage system. The straddle type monorail PC track beam detection device obtains the friction coefficient of the upper surface of the PC track beam through a beam surface friction coefficient measurement system; the walking posture of the detection device on the PC track beam is obtained through the geometric form measurement system, and the flatness of the upper surface of the PC track beam can be measured; the appearance image of the PC track beam shot by the shooting imaging system can be used for obtaining the disease conditions of cracks, falling blocks and the like of the PC track beam. The invention aims to efficiently, accurately and comprehensively detect the PC track beam and facilitate the detection and maintenance work of the PC track beam.
Description
Technical Field
The invention relates to the technical field of urban rail transit transportation systems, in particular to a straddle type monorail PC rail beam detection device.
Background
A straddle type monorail transportation system belongs to one of urban transportation systems, and compared with subways and light rails, the straddle type monorail transportation system generally adopts a single-column pier to support a double-line rail, is small in occupied area, low in engineering investment and good in landscape effect, and is suitable for cities or areas with relatively low passenger carrying demand. The basic principle of the straddle-type monorail transportation system is that a monorail vehicle with rubber tires runs on a bridge structure which is used as a track and a load-bearing structure.
A straddle-type monorail Precast Concrete (PC) track beam is a track structure of a straddle-type monorail transportation system, in a construction link, the straddle-type monorail PC track beam is subjected to the processes of factory prefabrication, transportation, hoisting and the like, and is required to intermittently bear the influences of dynamic load, wind load and rain and snow weather of a rail vehicle during operation, so that the defects of block falling, cracks, deformation and the like can be generated on the surface of the PC track beam, the structural stability of the straddle-type monorail PC track beam is influenced, and the driving safety is damaged; the flatness of the straddle type monorail PC track beam can be influenced, and the straddle type monorail PC track beam is not favorable for comfort and stability of driving. In addition, the upper surface of the straddle type monorail PC track beam, namely the track surface of the straddle type monorail PC track beam, needs to have a friction coefficient meeting the train running requirements, and the running is influenced by too large and too small friction coefficients of the upper surface of the straddle type monorail PC track beam.
The existing method for detecting the PC track beam can be roughly divided into a human engineering method and a mechanical method, the human engineering method is used for detecting the PC track beam by matching with equipment such as a ruler and the like through manpower, detection indexes are few due to the limitation of the number of tools carried by workers, the detection precision is not high through the equipment such as the ruler and the like, and meanwhile, the problem of low detection efficiency exists in manual detection.
The machine method is to detect the parameters of the PC track beam through the equipment capable of automatically walking, but the existing scheme only uses tools like a ruler and the like, and the types of detected indexes are few, so that the detection precision of the PC track beam is difficult to guarantee.
Therefore, the existing scheme for detecting the PC track beam has the problems of low detection precision and low detection efficiency.
Disclosure of Invention
The invention aims to provide a pre-cast concrete (PC) track beam detection device for a straddle type monorail, which solves the problems of low detection precision and low detection efficiency of the existing scheme for detecting the PC track beam of the straddle type monorail.
In order to achieve the purpose, the invention provides the following scheme:
a straddle-type monorail PC track beam detection device comprises: the device comprises a device base, a beam surface friction coefficient measuring system, a geometric form measuring system, a walking system, a photographing imaging system and a control storage system;
the beam surface friction coefficient measuring system, the geometric form measuring system, the walking system, the photographing imaging system and the control storage system are all arranged on the device base;
the beam surface friction coefficient measuring system is used for obtaining friction data of the upper surface of the PC track beam and obtaining the friction coefficient of the PC track beam through the friction data;
the geometry measuring system includes: a positioning sub-device and a posture sub-device;
the positioning sub-device is electrically connected with the control storage system; the positioning sub-device is used for acquiring position data of the straddle type monorail PC track beam detection device;
the posture sub-device is electrically connected with the control storage system; the attitude sub-device is used for acquiring inclination angle data of the straddle type monorail PC track beam detection device;
the walking system is used for driving the straddle type monorail PC track beam detection device to move on the PC track beam;
the photographing imaging system is used for photographing the PC track beam;
the photographing imaging system includes: a first camera, a second camera, and a third camera;
the first camera is used for photographing the upper surface of the PC track beam;
the second camera is used for photographing the left side surface of the PC track beam;
the third camera is used for photographing the right side surface of the PC track beam;
the control storage system is used for acquiring and storing the data of the geometric form measuring system.
Optionally, straddle type monorail PC track roof beam detection device still includes: an environment detection device;
the environment detection apparatus includes: a temperature sensor, a humidity sensor and an illumination sensor;
the temperature sensor, the humidity sensor and the illumination sensor are all fixed on the device base;
the temperature sensor is used for detecting the temperature around the straddle type monorail PC track beam detection device;
the humidity sensor is used for detecting the humidity around the straddle type monorail PC track beam detection device;
the illumination sensor is used for detecting the illumination intensity around the straddle type monorail PC track beam detection device.
Optionally, the positioning sub-device adopts a global positioning system;
the attitude sub-device adopts a laser gyroscope or an optical fiber gyroscope or an inertia measuring unit or an inclination angle sensor.
Optionally, the walking system includes: a wheel set and a drive motor;
the wheel set includes: the device comprises walking wheels, stabilizing wheels and guide wheels; the wheel set is fixedly connected with the device base; the wheel set is used for enabling the straddle type monorail PC track beam detection device to run along the PC track beam;
the walking wheels are in contact with the upper surface of the PC track beam; the walking wheels are electrically connected with the driving motor; the walking wheels are used for enabling the straddle type monorail PC track beam detection device to run along the PC track beam; the driving motor is used for driving the walking wheels to rotate so as to drive the straddle type monorail PC track beam detection device to run along the PC track beam;
the stabilizing wheels and the guide wheels are in contact with the side surface of the PC track beam; the guide wheels are in contact with the upper part of the side surface of the PC track beam, and the stabilizing wheels are in contact with the lower part of the side surface of the PC track beam; the stabilizing wheels are used for enabling the straddle type monorail PC track beam detection device to stably run; the guide wheel is used for guiding the straddle type monorail PC track beam detection device to convert the direction.
Optionally, straddle type monorail PC track roof beam detection device still includes: a camera mounting system; the number of the camera fixing systems is 3 groups;
the camera fixing system is used for arranging the photographing imaging system on the device base; the first camera, the second camera and the third camera are respectively arranged on the device base through 1 group of the camera fixing systems;
each set of the camera securing systems includes: the fixing support, the fixing arm and the fixing end socket are arranged on the fixing support;
the fixed support is fixedly connected with the device base;
one end of the fixed arm is hinged with the fixed support;
the fixed end is in universal connection with the other end of the fixed arm;
the fixed end is used for fixing the camera.
Optionally, straddle type monorail PC track roof beam detection device still includes: a power system, the power system comprising: a battery pack and a speed control subsystem;
the battery pack is electrically connected with the driving motor; the battery pack is used for providing power for the driving motor;
the speed control subsystem is electrically connected with the driving motor; the speed control subsystem is used for controlling the running speed of the straddle type monorail PC track beam detection device by controlling the driving motor;
the speed control subsystem comprises a speed measurement sensor, and the speed measurement sensor is used for measuring the real-time speed of the straddle type monorail PC track beam detection device.
Optionally, straddle type monorail PC track roof beam detection device still includes: an encoder; the encoder is arranged on the walking wheel;
the encoder is electrically connected with the photographing imaging system; the encoder is used for acquiring the rotation frequency of the walking wheels and controlling the photographing imaging system to photograph the PC track beam through the rotation frequency.
Optionally, the first camera, the second camera, and the third camera are all industrial cameras or area-array cameras or line-scan cameras.
Optionally, straddle type monorail PC track roof beam detection device still includes: a network communication system;
the network communication system is arranged on the device base; the network communication system is in transmission connection with the control storage system;
the network communication system is used for transmitting the data of the control storage system to a mobile terminal or a cloud terminal.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a straddle type monorail PC track beam detection device, which comprises: the device comprises a device base, a beam surface friction coefficient measuring system, a geometric form measuring system, a walking system, a photographing imaging system and a control storage system; the beam surface friction coefficient measuring system, the geometric form measuring system, the walking system, the photographing imaging system and the control storage system are all arranged on the base of the device; the beam surface friction coefficient measuring system is used for obtaining friction data of the upper surface of the PC track beam and obtaining the friction coefficient of the PC track beam through the friction data; the positioning sub-device of the geometric form measuring system is used for acquiring position data of the straddle type monorail PC track beam detection device, and the posture sub-device is used for acquiring inclination angle data of the straddle type monorail PC track beam detection device; the photographing imaging system is used for photographing the PC track beam; the walking system is used for enabling the straddle type monorail PC track beam detection device to run along the PC track beam; the control storage system is used for acquiring and storing the data of the geometric shape measuring system. The straddle type monorail PC track beam detection device obtains the friction coefficient of the upper surface of the PC track beam through a beam surface friction coefficient measurement system; the walking posture of the straddle type monorail PC track beam detection device on the PC track beam is obtained through a geometric form measurement system, namely the flatness of the upper surface of the PC track beam can be measured through position data and inclination data; through the PC track roof beam outward appearance image that imaging system shot of shooing, can obtain the crack of PC track roof beam and fall disease condition such as piece, compare prior art detection precision higher, measuring speed is faster, and measured data more is close to actual demand.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a structural diagram of a straddle type monorail PC track beam detection device according to an embodiment of the invention;
FIG. 2 is a left side view of the straddle type monorail PC track beam detection device of the embodiment of the invention;
FIG. 3 is a right side view of the straddle type monorail PC track beam detection device according to the embodiment of the invention.
Wherein, 1, a geometric form measuring system; 2. a front road condition video recording system; 4. controlling the storage system; 5. a power system; 6. a battery pack; 7. a network communication system; 8. a data processing subsystem; 9. a camera mounting system; 10. a first camera; 11. a device base; 12. a guide wheel; 13. a running wheel; 14. a stabilizing wheel; 15. a third camera; 16. a dragging wheel; 17. a second camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
FIG. 1 is a structural diagram of a straddle type monorail PC track beam detection device according to an embodiment of the invention; FIG. 2 is a left side view of the straddle type monorail PC track beam detection device of the embodiment of the invention; FIG. 3 is a right side view of the straddle type monorail PC track beam detection device according to the embodiment of the invention. Referring to fig. 1, 2 and 3, a straddle type monorail PC track beam detection device comprises: the device comprises a device base 11, a beam surface friction coefficient measuring system, a front road condition video recording system 2, an environment detecting system, a geometric form measuring system 1, a walking system, a photographing imaging system, a camera fixing system 9, a control storage system 4, a power system 5 and a network communication system 7.
The beam surface friction coefficient measuring system, the front road condition video recording system 2, the environment detecting system, the geometric form measuring system 1, the walking system, the photographing imaging system, the camera fixing system 9, the control storage system 4, the power system 5 and the network communication system 7 are all arranged on the device base 11.
The beam surface friction coefficient measuring system is used for obtaining friction data of the upper surface of the PC track beam and obtaining the friction coefficient of the upper surface of the PC track beam through the friction data.
The beam surface friction coefficient measuring system comprises a towing wheel set and a data processing subsystem 8, wherein the towing wheel set is connected with the data processing subsystem 8 through an electric wire. The towing wheel set is used for obtaining friction data of the upper surface of the PC track beam, namely friction data of the track surface of the PC track beam.
The towing wheel set comprises two towing wheels 16, the towing wheel set is connected with the device base 11 through a towing device, and an included angle exists between the towing wheels 16 and the advancing direction of the straddle type monorail PC track beam detection device. The dragging wheels 16 are placed on the track surface of the PC track beam, and the materials of the two dragging wheels 16 are the same as those of the wheels of the straddle type monorail transport train. Force sensors are arranged on the two dragging wheels 16 and used for detecting transverse force generated by the dragging wheels, and the data processing subsystem 8 is connected with the force sensors.
The data processing subsystem 8 is used for acquiring friction data of the upper surface of the PC rail beam, namely force sensor data, calculating the friction coefficient of the upper surface of the PC rail beam through the friction data, and storing the friction coefficient of the upper surface of the PC rail beam.
In practical application, an included angle exists between the towing wheels 16 and the advancing direction of the straddle type monorail PC track beam detection device, in the advancing process of the straddle type monorail PC track beam detection device, the towing wheels can generate transverse force perpendicular to the upper surface, the force sensors can measure the transverse force on the upper surface of the PC track beam, the data processing subsystem 8 obtains the transverse force detected by the force sensors, and the transverse force coefficient of the upper surface of the PC track beam, namely the friction coefficient of the upper surface of the PC track beam, is calculated through the transverse force.
The front road condition video recording system 2 is used for recording the road condition in front of the straddle type monorail PC track beam detection device in a video recording mode and storing the road condition. The front road condition video recording system 2 is a vehicle data recorder and can be fixed on the device base 11 through bolts. The front video recording system 2 is further provided with a Light Emitting Diode (LED) Light source, and the LED Light source is used for supplementing Light to the front video recording system 2 to ensure the brightness of video recording.
The environment detection system includes: temperature sensor, humidity sensor and illumination sensor.
The temperature sensor, the humidity sensor and the illumination sensor are all fixed on the device base 11.
The temperature sensor is used for detecting the temperature around the straddle type monorail PC track beam detection device.
The humidity sensor is used for detecting the humidity around the straddle type monorail PC track beam detection device.
The illumination sensor is used for detecting the illumination intensity around the straddle type monorail PC track beam detection device.
The temperature sensor, the humidity sensor and the illumination sensor are all electrically connected with the control storage system 4, and the environment detection system is used for recording environment parameter data around the straddle type monorail PC track beam detection device and transmitting the environment parameter data to the control storage system 4 for storage. The environmental parameter data include temperature, humidity and illumination intensity around the straddle type monorail PC track roof beam detection device, and environmental parameter data can assist the influence factor of research straddle type monorail PC track roof beam upper surface friction coefficient.
The LED light source can be electrically connected with the control storage system 4, and the control storage system 4 is used for adjusting the illumination intensity of the LED light source according to the illumination intensity detected by the illumination sensor. The weaker the illumination intensity detected by the illumination sensor, the stronger the illumination intensity of the LED light source; when the straddle type monorail PC track beam detection device works in a clear day, the LED light source is turned off; when the straddle type monorail PC track beam detection device works at night without a light source, the illumination intensity of the LED light source is adjusted to be maximum.
The geometry measuring system 1 includes: a positioning sub-device and a posture sub-device.
The positioning sub-device is electrically connected with the control storage system 4; the positioning sub-device is used for acquiring position data of the straddle type monorail PC track beam detection device. The Positioning sub-device employs a Global Positioning System (GPS).
The posture sub-device is electrically connected with the control storage system 4; the attitude sub-device is used for acquiring inclination angle data of the straddle type monorail PC track beam detection device, and the inclination angle data are inclination angle data of the advancing direction of the straddle type monorail PC track beam detection device during advancing and inclination angle data of the width direction of the PC track beam. The attitude sub-device adopts a laser gyroscope, an optical fiber gyroscope, an Inertial Measurement Unit (IMU) or an inclination sensor. When the track surface of the PC track beam is deformed or not flat, the inclination angle data fluctuates, and the flatness of the track surface can be judged according to the fluctuating inclination angle data; if vibration occurs in the straddle type monorail PC track beam detection device in the traveling process, low-amplitude high-frequency change of the inclination angle data can be caused, and the vibration condition of the straddle type monorail PC track beam detection device can be judged through the low-amplitude high-frequency change of the inclination angle data.
The geometry measuring system 1 is used to transmit the position data and the inclination data to the control and storage system for storage. A position-tilt curve can be generated from the position data and the tilt data, and the position-tilt curve can provide a reference for controlling data processing of the storage system. The position-inclination curve comprises a curve of inclination data of the position of the straddle type monorail PC track beam detection device and the advancing direction during advancing, and a curve of inclination data of the position of the straddle type monorail PC track beam detection device and the width direction of the PC track beam.
The straddle type single-track PC track beam detection device obtains the walking posture of the detection device on the PC track beam through a geometric form measurement system, namely, a position-inclination angle curve is generated through position data and inclination angle data, and the flatness of the track surface of the PC track beam can be further measured.
The walking system is used for driving the straddle type monorail PC track beam detection device to move on the PC track beam.
The walking system comprises: wheel set and driving motor.
The wheel group includes: running wheels 13, stabilizing wheels 14 and guide wheels 12; the wheel set is fixedly connected with the device base 11 and can be fixed through bolts; the wheel set is used for enabling the straddle type monorail PC track beam detection device to stably run along the PC track beam.
The walking wheels 13 are contacted with the track surface of the PC track beam; the walking wheels 13 are electrically connected with a driving motor; the walking wheels 13 are used for enabling the straddle type monorail PC track beam detection device to run along the PC track beam. The driving motor is used for driving the walking wheels 13 to rotate, and then the straddle type monorail PC track beam detection device is driven to run along the PC track beam. The driving motor adopts a direct current driving motor.
The stabilizing wheels 14 and the guide wheels 12 are both in contact with the side surface of the PC track beam; the guide wheels are contacted with the upper part of the side surface of the PC track beam, and the stabilizing wheels are contacted with the lower part of the side surface of the PC track beam; the stabilizing wheels 14 are used for enabling the straddle type monorail PC track beam detection device to stably run; the guide wheels 12 are used for guiding the straddle type monorail PC track beam detection device to convert the direction.
The photographing imaging system is used for photographing the PC track beam and recording an apparent image of the PC track beam in a camera photographing mode, so that the disease condition of the surface of the PC track beam is determined. The photographing imaging system includes: a first camera 10, a second camera 17 and a third camera 15.
The first camera 10 is used for photographing the upper surface of the PC track beam; the second camera 17 is used for photographing the left side surface of the PC track beam; the third camera 15 is used to photograph the right side surface of the PC rail beam. The first camera 10, the second camera 17 and the third camera 15 are all industrial cameras or area cameras or line cameras.
LED light sources are arranged around the first camera 10, the second camera 17 and the third camera 15 and used for supplementing light for the photographing imaging system, so that the brightness of the first camera 10, the second camera 17 and the third camera 15 during photographing is ensured.
The number of the camera fixing systems 9 is 3 groups; the camera fixing system 9 is used to set the photographing imaging system on the apparatus base 11. The first camera 10, the second camera 17, and the third camera 15 are respectively disposed on the apparatus base 11 through 1 set of camera fixing systems.
Each set of camera fixing systems 9 comprises: fixed support, fixed arm and dead end.
The fixed support is fixedly connected with the device base 11. One end of the fixed arm is hinged with the fixed support, so that the fixed arm can have a rotational degree of freedom. The fixed end is connected with the other end of the fixed arm in a universal mode, so that a camera fixed on the fixed end can be adjusted to a proper photographing angle, and the fixed end is used for fixing the camera. The camera refers to any one of the first camera, the second camera, or the third camera.
In practical application, the fixed arm of the camera fixing system for fixing the second camera and the third camera can be stretched and rotate at a small angle along the cross section direction of the PC track beam, and the fixed arm of the camera fixing system for fixing the first camera can be stretched and rotate at a small angle along the advancing direction of the PC track beam.
Straddle type single track PC track roof beam detection device still includes: an encoder; the encoder is arranged on the running wheels 13.
The encoder is electrically connected with the photographing imaging system; the encoder is used for obtaining the rotation frequency of the walking wheels, the displacement of the straddle type monorail PC track beam detection device is obtained through the rotation frequency of the walking wheels, then the displacement is converted into an electric signal, and the PC track beam is photographed through the electric signal control photographing imaging system. In practical application, the encoder can also assist in judging the walking distance of the straddle type monorail PC track beam detection device, and the judging mode is as follows: the walking distance is (the number of times of camera photographing is-1) multiplied by the interval distance between two adjacent photographing. The camera refers to any one of the first camera, the second camera, or the third camera.
The control storage system adopts an embedded system or an industrial personal computer or a singlechip. The control storage system is also respectively electrically connected with the photographing imaging system and the encoder, and is also used for acquiring and storing data of the photographing imaging system and setting working parameters of the encoder, wherein the working parameters of the encoder comprise the rotation frequency of the walking wheels.
The power system 5 includes: a battery pack 6, a speed control subsystem and a remote control subsystem. The battery pack 6 is electrically connected with the driving motor; the battery pack 6 is used to supply power to the drive motor. The battery pack 6 adopts a rechargeable battery pack, and the battery pack 6 is also electrically connected with the LED light source; the battery pack 6 is used to power the LED light source.
The speed control subsystem is electrically connected with the driving motor; the speed control subsystem comprises a speed measurement sensor, and the speed measurement sensor is used for measuring the real-time speed of the straddle type monorail PC track beam detection device. The speed control subsystem is used for controlling the power of the driving motor for receiving electric energy by comparing the real-time speed with the set speed, and further controlling the running speed of the straddle type monorail PC track beam detection device.
The remote control subsystem is electrically connected with the battery pack and the speed control subsystem respectively. The remote control subsystem is in wireless connection with the mobile terminal, the wireless connection comprises wireless connection modes such as Wi-Fi or Bluetooth, the remote control subsystem can facilitate the mobile terminal to check the state of the straddle type monorail PC track beam detection device in real time, or facilitate the mobile terminal to remotely control the straddle type monorail PC track beam detection device. In practical application, the remote control subsystem may be provided with a start button for controlling the battery pack to supply power to the driving motor, and a stop button for stopping the battery pack from supplying power to the driving motor. The remote CONTROL subsystem may also be provided with a CRUISE CONTROL SYSTEM (CCS) function. The mobile terminal can control the straddle type monorail PC track beam detection device by controlling a start button, a stop button and a constant-speed cruise system of the remote control subsystem.
The network communication system 7 comprises wireless connection equipment such as Wi-Fi or Bluetooth, the network communication system 7 is electrically connected with the control storage system 4, the data processing subsystem 8, the front road condition video recording system 2 and the speed control subsystem, the network communication system 7 is in communication connection with the mobile terminal through the Wi-Fi or Bluetooth, and the network communication system 7 is used for realizing data transmission among the data processing subsystem 8, the front road condition video recording system 2, the control storage system 4 and the mobile terminal.
In practical application, the mobile terminal can adjust the set speed of the speed control subsystem through the network communication system; the mobile terminal can also upload data transmitted by the network communication system to a cloud end through a 4G network, and the cloud end is used for planning a detection plan of the straddle type monorail PC track beam detection device. The mobile terminal can be a mobile phone or a tablet computer. The mobile terminal can also acquire the real-time position of the straddle type monorail PC track beam detection device, the real-time distance between the straddle type monorail PC track beam detection device and the mobile terminal and the like through the positioning sub-device.
The working flow of the straddle type monorail PC track beam detection device is as follows:
and placing the straddle type monorail PC track beam detection device at the starting point of the interval of the PC track beam to be detected. Before starting the straddle type monorail PC track beam detection device, checking the power condition of a battery pack, controlling the storage capacity of a storage system and the communication condition of a network communication system, setting the running parameters of the straddle type monorail PC track beam detection device, wherein the running parameters comprise the set speed of a speed control subsystem, the photographing frequency of a photographing imaging system and the like, and selecting a detection plan according to the cloud end to automatically control the straddle type monorail PC track beam detection device to work, or remotely controlling the straddle type monorail PC track beam detection device through a mobile terminal.
The straddle type monorail PC track beam detection device is started, the beam surface friction coefficient measurement system obtains the friction coefficient of the PC track beam, the geometric form measurement system obtains the position data and the inclination angle data of the straddle type monorail PC track beam detection device, and the encoder controls the photographing imaging system to photograph according to the set photographing frequency.
The mobile terminal or the cloud acquires the road condition in front of the straddle type single-track PC track beam detection device acquired by the front road condition video recording system according to preset time, and the environmental parameter data around the straddle type single-track PC track beam detection device acquired by the environmental detection system, and can judge whether the straddle type single-track PC track beam detection device continues to operate according to the road condition and the environmental parameter data.
The straddle type monorail PC track beam detection device obtains the friction coefficient of the PC track beam through a beam surface friction coefficient measurement system; the method comprises the steps that the walking posture of the straddle type monorail PC track beam detection device on a PC track beam is obtained through a geometric form measurement system, namely the flatness of the track surface of the PC track beam can be measured through position data and inclination data; the PC track beam appearance image shot by the shooting imaging system can obtain the disease conditions of cracks, falling blocks and the like of the PC track beam. Straddle type monorail PC track roof beam detection device has improved the detection precision and the measuring speed of the relevant detection achievement of PC track roof beam, and measured data more is close to actual demand. Meanwhile, the use of manpower is avoided, the personal safety of workers can be guaranteed, the influence of ambient weather on the friction coefficient can be researched through environmental parameter data acquired by an environmental detection system, and the environmental parameter data can also provide reference data for adjusting the intensity of photographing light supplement, early warning in severe weather and the like; the position data of the positioning sub-device can be combined to position the position of the PC track beam where the diseases are generated through the photographing imaging system; the straddle type monorail PC track beam detection device can be remotely controlled in real time through a network communication system and a mobile terminal.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A straddle type monorail PC track beam detection device is characterized by comprising: the device comprises a device base, a beam surface friction coefficient measuring system, a geometric form measuring system, a walking system, a photographing imaging system and a control storage system;
the beam surface friction coefficient measuring system, the geometric form measuring system, the walking system, the photographing imaging system and the control storage system are all arranged on the device base;
the beam surface friction coefficient measuring system is used for obtaining friction data of the upper surface of the PC track beam and obtaining the friction coefficient of the PC track beam through the friction data;
the geometry measuring system includes: a positioning sub-device and a posture sub-device;
the positioning sub-device is electrically connected with the control storage system; the positioning sub-device is used for acquiring position data of the straddle type monorail PC track beam detection device;
the posture sub-device is electrically connected with the control storage system; the attitude sub-device is used for acquiring inclination angle data of the straddle type monorail PC track beam detection device;
the walking system is used for driving the straddle type monorail PC track beam detection device to move on the PC track beam;
the photographing imaging system is used for photographing the PC track beam;
the photographing imaging system includes: a first camera, a second camera, and a third camera;
the first camera is used for photographing the upper surface of the PC track beam;
the second camera is used for photographing the left side surface of the PC track beam;
the third camera is used for photographing the right side surface of the PC track beam;
the control storage system is used for acquiring and storing the data of the geometric form measuring system.
2. The straddle-type monorail PC rail beam detection device of claim 1, further comprising: an environment detection device;
the environment detection apparatus includes: a temperature sensor, a humidity sensor and an illumination sensor;
the temperature sensor, the humidity sensor and the illumination sensor are all fixed on the device base;
the temperature sensor is used for detecting the temperature around the straddle type monorail PC track beam detection device;
the humidity sensor is used for detecting the humidity around the straddle type monorail PC track beam detection device;
the illumination sensor is used for detecting the illumination intensity around the straddle type monorail PC track beam detection device.
3. The straddle-type monorail PC track beam detection device of claim 1, wherein the positioning sub-device adopts a global positioning system;
the attitude sub-device adopts a laser gyroscope or an optical fiber gyroscope or an inertia measuring unit or an inclination angle sensor.
4. The straddle-type monorail PC track beam detection device of claim 1, wherein the walking system comprises: a wheel set and a drive motor;
the wheel set includes: the device comprises walking wheels, stabilizing wheels and guide wheels; the wheel set is fixedly connected with the device base; the wheel set is used for enabling the straddle type monorail PC track beam detection device to run along the PC track beam;
the walking wheels are in contact with the upper surface of the PC track beam; the walking wheels are electrically connected with the driving motor; the walking wheels are used for enabling the straddle type monorail PC track beam detection device to run along the PC track beam; the driving motor is used for driving the walking wheels to rotate so as to drive the straddle type monorail PC track beam detection device to run along the PC track beam;
the stabilizing wheels and the guide wheels are in contact with the side surface of the PC track beam; the guide wheels are in contact with the upper part of the side surface of the PC track beam, and the stabilizing wheels are in contact with the lower part of the side surface of the PC track beam; the stabilizing wheels are used for enabling the straddle type monorail PC track beam detection device to stably run; the guide wheel is used for guiding the straddle type monorail PC track beam detection device to convert the direction.
5. The straddle-type monorail PC rail beam detection device of claim 1, further comprising: a camera mounting system; the number of the camera fixing systems is 3 groups;
the camera fixing system is used for arranging the photographing imaging system on the device base; the first camera, the second camera and the third camera are respectively arranged on the device base through 1 group of the camera fixing systems;
each set of the camera securing systems includes: the fixing support, the fixing arm and the fixing end socket are arranged on the fixing support;
the fixed support is fixedly connected with the device base;
one end of the fixed arm is hinged with the fixed support;
the fixed end is in universal connection with the other end of the fixed arm;
the fixed end is used for fixing the camera.
6. The straddle-type monorail PC rail beam detection device of claim 4, further comprising: a power system, the power system comprising: a battery pack and a speed control subsystem;
the battery pack is electrically connected with the driving motor; the battery pack is used for providing power for the driving motor;
the speed control subsystem is electrically connected with the driving motor; the speed control subsystem is used for controlling the running speed of the straddle type monorail PC track beam detection device by controlling the driving motor;
the speed control subsystem comprises a speed measurement sensor, and the speed measurement sensor is used for measuring the real-time speed of the straddle type monorail PC track beam detection device.
7. The straddle-type monorail PC rail beam detection device of claim 6, further comprising: an encoder; the encoder is arranged on the walking wheel;
the encoder is electrically connected with the photographing imaging system; the encoder is used for acquiring the rotation frequency of the walking wheels and controlling the photographing imaging system to photograph the PC track beam through the rotation frequency.
8. The straddle-type monorail PC track beam detection device of claim 1, wherein the first camera, the second camera and the third camera are all industrial cameras or area-array cameras or line-array cameras.
9. The straddle-type monorail PC rail beam detection device of claim 1, further comprising: a network communication system;
the network communication system is arranged on the device base; the network communication system is in transmission connection with the control storage system;
the network communication system is used for transmitting the data of the control storage system to a mobile terminal or a cloud terminal.
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| CN201911273672.9A CN110926541A (en) | 2019-12-12 | 2019-12-12 | Straddle type monorail PC track beam detection device |
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| CN201911273672.9A CN110926541A (en) | 2019-12-12 | 2019-12-12 | Straddle type monorail PC track beam detection device |
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| CN110926541A true CN110926541A (en) | 2020-03-27 |
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| CN201911273672.9A Pending CN110926541A (en) | 2019-12-12 | 2019-12-12 | Straddle type monorail PC track beam detection device |
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