CN111005272A

CN111005272A - Track maintenance equipment based on suspension type magnetic suspension track traffic system

Info

Publication number: CN111005272A
Application number: CN201911216341.1A
Authority: CN
Inventors: 杨杰; 高涛; 周发助
Original assignee: Buddhist Tzu Chi General Hospital
Current assignee: Jiangxi Permanent Magnet Maglev Technology Co ltd
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2020-04-14
Anticipated expiration: 2039-12-02
Also published as: CN111005272B

Abstract

A rail maintenance device based on a suspension type magnetic suspension rail transit system. The system mainly comprises a hanging crane module, a track dust removal module, a video monitoring module, a vehicle-mounted communication module, a track sampling detection module, a vehicle-mounted operation control module and six modules. The six modules are mutually matched, the track maintenance equipment is supported on the suspension type track beam in a cooperative operation mode, foreign matters such as dust and magnetic debris on the magnetic suspension track are cleaned through the mechanical rubber wheels or the hairbrushes, meanwhile, sampling and detection are carried out on the foreign matters and the track state, and diagnosis is achieved on track abnormal detection data.

Description

Track maintenance equipment based on suspension type magnetic suspension track traffic system

Technical Field

The invention relates to the technical field of magnetic suspension equipment, in particular to track maintenance equipment based on a suspension type magnetic suspension track traffic system.

Background

The magnetic suspension running in the existing market basically covers high, medium and low speeds, wherein the most representative of the magnetic suspension running in the Shanghai is a magnetic suspension express line, a Changsha magnetic suspension special line and a Beijing S1 magnetic suspension subway rail transport line, which are domestic commercial lines which are successfully run at present. The current magnetic levitation technology develops a new system with a traditional structure, and simultaneously, various new traffic systems appear in the world in succession. For example, israel has proposed and developed a new type of suspended magnetic suspension express train-Sky Tran system, and the university of western science has proposed and developed a new type of permanent magnet rail transit-rainbow rail system, and so on.

In terms of hanging a monorail, various hanging rail traffic systems are proposed at home and abroad, such as a new energy hanging monorail train of a domestic medium locomotive company, a Russian Sky Way rail cable car, an empty rail special train of Dutmond Germany, a Japanese kilo-leaf monorail trolley and the like. However, the development of the conventional track safety inspection equipment is slow, and the development is still the direction in which improvement is urgently needed in a magnetic suspension system.

Among them, regarding the 'rainbow rail' system, the 'rainbow rail' system belongs to a new permanent magnetic suspension type rail traffic system, and has certain requirements on the rail structure. In particular, the permanent magnet suspension train can ensure the safe suspension and operation of the train only by ensuring the rail of the permanent magnet suspension train to be intact. In track quality testing, current mode mainly relies on manpower or unmanned aerial vehicle remote control lamp means, and two kinds of modes all make the flow of patrolling and examining loaded down with trivial details, and are with high costs. In the prior art, dust on the permanent magnet track and adsorbed foreign matters such as broken magnetic chips and the like are not cleaned and removed by a good means for a while.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides track maintenance equipment based on a suspension type magnetic suspension track traffic system, which is used for realizing the daily maintenance and repair of the equipment in the suspension type track and can clean the track and troubleshoot dangerous situations. The invention specifically adopts the following technical scheme.

Firstly, in order to achieve the above object, a rail maintenance device based on a suspended magnetic suspension rail transit system is provided, which includes: the suspension crane module comprises a magnetic suspension main body structure and is suspended on a magnetic suspension track; the suspension buckle is connected to the lower part of the magnetic suspension main body structure; the upper end of the hydraulic damper is fixedly connected with the suspension buckle, the lower end of the hydraulic damper is connected with a crane main body, and the magnetic suspension main body structure drives the crane main body to run along a magnetic suspension track. The track dust removal module is arranged at the lower part of the magnetic suspension main body structure, is positioned between the magnetic suspension main body structure and the magnetic suspension track, and comprises a foreign matter storage box for collecting foreign matters cleaned from the magnetic suspension track; and the foreign matter cleaning equipment is arranged at the front end of the opening of the foreign matter containing box, and the lower part of the foreign matter cleaning equipment cleans the foreign matters on the magnetic suspension track to the foreign matter containing box connected with the rear end of the foreign matter cleaning equipment from the upper surface of the magnetic suspension track. The video monitoring module comprises top monitoring equipment arranged at the top of the magnetic suspension main body structure and is used for monitoring the suspension crane module and the magnetic suspension track; the monitoring device is arranged at the lower part of the magnetic suspension main body structure and above the crane main body and is used for monitoring foreign matters cleaned by the track dust removal module and the running condition of the track maintenance equipment; the speed measurement positioning module is used for positioning and measuring the speed of the magnetic suspension main body structure through cross induction loops, and controlling and tracking the position and the speed of the track maintenance equipment in real time; the rail sampling detection module comprises magnetic flux detection equipment and rail state sampling equipment; the magnetic flux detection equipment is arranged in the middle of a magnetic suspension main body structure and comprises a magnetic flowmeter, the magnetic flowmeter is used for detecting the variable quantity of the magnetic field of the magnetic suspension track in real time, and the data obtained by detection is output to the vehicle-mounted operation control module; the track state sampling equipment is used for carrying out image sample acquisition on a position corresponding to the abnormal detection data of the magnetic suspension track; the magnetic flux detection equipment is used for identifying and judging the detection data of the fluxmeter, comparing an image sample acquired by the track state sampling equipment at a position corresponding to the abnormal detection data of the magnetic suspension track with a normal image sample database at the corresponding position of the magnetic suspension track for intelligent diagnosis, and outputting the diagnosis data of the abnormal detection data of the track

The invention adopts the cross induction loop technology to position and measure the speed of the magnetic suspension main body structure, and controls and tracks the position and the speed of the track maintenance equipment in real time. The rail sampling detection module comprises magnetic flux detection equipment and rail state sampling equipment; the magnetic flux detection equipment is arranged in the middle of a magnetic suspension main body structure and comprises a magnetic flowmeter, the magnetic flowmeter is used for detecting the variable quantity of the magnetic field of the magnetic suspension track in real time, and the data obtained by detection is output to the vehicle-mounted operation control module; the track state sampling equipment is used for carrying out image sample acquisition on the position corresponding to the abnormal detection data of the magnetic suspension track. And the vehicle-mounted operation control module is used for identifying and judging the detection data of the fluxmeter, comparing the image sample acquired by the track state sampling equipment at the position corresponding to the abnormal detection data of the magnetic suspension track with the normal image sample database at the corresponding position of the magnetic suspension track for intelligent diagnosis, and outputting the diagnosis of the abnormal detection data of the track.

Optionally, the track maintenance equipment based on the suspended magnetic suspension track transportation system further includes: the vehicle-mounted communication module adopts mature vehicle-mounted wireless communication equipment (such as an Inkanet vehicle-mounted communication system) to realize data exchange between people and vehicles, and the data transmission is mainly controlled by the vehicle-mounted operation control module. Specifically, the data front end of the wireless communication terminal can be preprocessed, and then the wireless communication transceiver realizes real-time data transmission of running states of the patrol car, the cloud database, the mobile monitoring terminal and a rail transit system master control room (ground control center), issuing of instruction operation commands and the like.

Optionally, the track maintenance equipment based on the suspended magnetic suspension track transportation system further includes: the speed measurement positioning module is used for positioning and measuring the speed of the magnetic suspension main body structure by adopting a cross induction loop technology, and controlling and tracking the position and the speed of the track maintenance equipment in real time; to the locating module that tests the speed, for this patent the track foreign matter detection method provide comparatively accurate positional information, speed etc. be the basis of functions such as the calling of the original database of track foreign matter detection, also be the basic prerequisite that track foreign matter detection keeps higher discernment precision. The vehicle-mounted speed measurement and positioning function is realized as follows: in the upper left corner of the cross-sectional view of figure 1 of the track maintenance equipment (inspection vehicle), the inspection vehicle is positioned and tested by adopting a cross induction loop technology, and the position and the speed of the inspection vehicle are controlled and tracked in real time. Among them, in the operation and control of the suspension train, the positioning and speed measurement of the vehicle often adopt a mature speed measurement positioning technology. Therefore, the patent also fully utilizes the speed measuring and positioning technology of the existing magnetic suspension train, wireless electromagnetic signals are transmitted to a cross loop laid along a track to generate a variable electromagnetic field, a vehicle-mounted induction coil is correspondingly arranged on the running inspection vehicle, induced electric energy on the vehicle-mounted induction coil caused by an alternating magnetic field generated on the loop on the track is received in real time, and the running speed and the position of the inspection vehicle are further determined through continuous change of the electric energy (mainly positive and negative of the induced electric signals). On the other hand, the speed measurement positioning function of the vehicle can also be realized by adopting a passive absolute positioning technology. The passive absolute positioning technology is that a known passive identification code is laid along a track, and then vehicle-mounted identification equipment is used for positioning and measuring the absolute position along the track by continuously identifying the identification code along the track. The inspection vehicle is provided with a vehicle-mounted communication interface so that operation such as calling of field data and instruction issuing by rail maintenance personnel can be facilitated.

Optionally, the track maintenance device based on the suspended magnetic suspension track transportation system is further provided with steering devices on two sides of the magnetic suspension main structure, and each steering device includes: the vehicle-mounted driving wheels protrude out of two sides of the magnetic suspension main body structure and abut against the surface of the inner side wall of the magnetic suspension track; one end of the guide equipment connecting shaft is fixedly connected with the side edge of the magnetic suspension main body structure, and the other end of the guide equipment connecting shaft is connected with the vehicle-mounted driving wheel; the rotating motor is fixedly connected with one end, close to the vehicle-mounted driving wheel, of the guide equipment connecting shaft, a motor shaft of the rotating motor is connected with the vehicle-mounted driving wheel, and the rotating motor outputs torque to drive the vehicle-mounted driving wheel to rotate along the surface of the inner side wall of the magnetic suspension track so as to drive the magnetic suspension main body structure to run and turn; and one end of the supporting spring is connected to the side edge of the magnetic suspension main body structure, the other end of the supporting spring is connected with the vehicle-mounted driving wheel or the guide equipment connecting shaft, and the guide equipment connecting shaft is maintained to be perpendicular to the side edge of the magnetic suspension main body structure.

Optionally, in the track maintenance device based on the suspension type magnetic suspension track traffic system, a plastic wheel rail support plate is further disposed on a surface of an inner side wall of the magnetic suspension track, where the plastic wheel rail support plate is correspondingly abutted to the vehicle-mounted driving wheel, and the plastic wheel rail support plate is disposed along a running direction of a magnetic suspension main structure in the magnetic suspension track.

Optionally, in the above track maintenance equipment based on the suspended magnetic suspension track traffic system, the rotating motor is a double-shaft motor, the double-shaft motor is fixed at the end of the guide equipment connecting shaft by a motor fixing back bolt, motor shafts are respectively arranged at two ends of the guide equipment connecting shaft, perpendicular to the double-shaft motor, and the two motor shafts are equally divided into two motor shafts which are respectively connected with at least one vehicle-mounted driving wheel to drive the vehicle-mounted driving wheel to move along the plastic wheel rail supporting plate.

Optionally, foretell track maintenance of equipment based on suspension type magnetic levitation track traffic system, wherein, still be connected with the conveyer belt between foreign matter cleans equipment and the foreign matter receiver, the lower extreme setting of conveyer belt is in the lower part of foreign matter cleans equipment with between the orbital upper surface of magnetic levitation, the upper end of conveyer belt is connected to the opening of foreign matter receiver, the conveyer belt is driven by the chopper, will the foreign matter that foreign matter cleans equipment from the magnetic levitation track upwards carries to in the foreign matter receiver.

Optionally, the track maintenance equipment based on the suspension type magnetic suspension track transportation system is further provided with a collection table on the front side of the lower end of the conveyor belt, the collection table is tightly attached to the upper surface of the magnetic suspension track, foreign matters accumulated on the upper surface of the magnetic suspension track are pushed forward along with the advance of the track maintenance equipment, the foreign matters are pushed up to the lower side of the foreign matter cleaning equipment, the foreign matter cleaning equipment cleans the foreign matters onto the conveyor belt, and the conveyor belt conveys the foreign matters upwards into the foreign matter storage box.

Optionally, the track maintenance equipment based on the suspended magnetic suspension track transportation system, wherein the foreign matter cleaning equipment comprises: the brush is arranged on the magnetic suspension track and is opposite to the front end part of the collecting table, and the brush rolls to clean foreign matters onto a conveying belt in the collecting table; the two hydraulic connecting rods are included, and two ends of one hydraulic connecting rod are respectively connected with the head of the brush and the lower part of the magnetic suspension main body structure; and the other hydraulic connecting rod is arranged in front of the brush and the conveyor belt and is connected with the tail of the brush and the lower part of the magnetic suspension main body structure.

Optionally, the track maintenance equipment based on the suspended magnetic suspension track transportation system, wherein the foreign matter cleaning equipment comprises: the rubber pad is in a roller shape, faces the front end of the collecting table, is arranged on the magnetic suspension rail through two hydraulic connecting rods, rolls, and cleans foreign matters on the magnetic suspension rail onto a conveying belt in the collecting table; the hydraulic connecting rod is connected with the rubber pad and the lower part of the magnetic suspension main body structure, and the rubber pad is abutted against the front part of the collecting table.

Optionally, in the track maintenance equipment based on the suspended magnetic suspension track transportation system, a downward support wheel is further arranged at the lower part of the magnetic suspension main structure and outside the foreign matter cleaning equipment, and the lower part of the support wheel abuts against sleeper beams at two sides in the magnetic suspension track; the magnetic suspension main structure with soft connection between the supporting wheel is provided with shock-absorbing structure, the supporting wheel supports foreign matter cleans equipment and/or the collection platform butt the upper surface of magnetic suspension track.

Optionally, the track maintenance equipment based on the suspended magnetic suspension track transportation system further includes a vehicle-mounted operation control module. The vehicle-mounted operation control module can be mainly divided into a drive control system, a wireless communication system, a speed measurement positioning system, a track condition monitoring system, a foreign matter cleaning system and coordination control of other auxiliary equipment and other modules. In the wireless communication system, the data front end of the wireless communication terminal is preprocessed, and then the wireless communication transceiver realizes real-time data transmission of the running states of the patrol car, the cloud database, the mobile monitoring terminal and the rail transit system master control room, issuing of instruction operation commands and the like. In the drive apparatus, control of the rotating electric machine and state observation are mainly realized, achieving control of the running state of the vehicle. The independent motor control system is used for monitoring the running state of the rotating motor (temperature, rotating speed, current and the like), the driving system directly controls the running state of the motor through the inverter, the position information of the speed measuring and positioning system can be directly transmitted to the driving controller, and meanwhile, the real-time data of the motor control system and the vehicle-mounted control system have a data exchange function. In the foreign matter cleaning equipment, the information such as the rotating speed and the position of the field roller brush is acquired, the data processing of the foreign matter cleaning equipment is used for controlling a driving motor of the roller brush through a chopper and adjusting the position of two groups of hydraulic lifting rods connected with the roller brush, meanwhile, the data communication between the foreign matter cleaning equipment and an on-board control system is maintained in real time, the on-board control system is used for coordinately controlling corresponding auxiliary equipment (such as the control of lighting equipment and the real-time monitoring of a camera on a specified position), in the accumulation process of the dust, broken magnetic chips and other foreign matters, the foreign matter cleaning equipment is used for controlling a conveying belt through the chopper, and the foreign matters on a collecting table are conveyed to a containing. In the track condition monitoring system, a monitoring device with a preset front end preprocesses front-end field data and interacts data and instructions of a vehicle-mounted control system, wherein the data monitoring mainly comprises a vehicle advancing monitoring end, a driving stator plate monitoring end, a track front monitoring end and a track side monitoring end, intelligent image processing is carried out by calling a cloud database, the system intelligently identifies and evaluates the track condition, when the track surface has potential safety hazards such as damage, the system can send early warning signals to a data monitoring room/a mobile monitoring end and carry out data storage by cloud data control, on the other hand, magnetic flux detection ends on two sides of a vehicle detect the magnetic field change of a permanent magnet array of the track in real time, and the vehicle-mounted monitoring system intelligently identifies the magnetic flux change rule; the safe quality inspection of the internal structure of the suspension type track beam is realized through means such as magnetic flux change, image recognition and the like; when the vehicle-mounted control system intelligently identifies the data of the magnetic flux/images, an early warning signal is sent to a data monitoring room/mobile monitoring end, and data storage is carried out through cloud data control; meanwhile, video tracking and photographing are carried out on the corresponding parts with potential safety hazards, the parts are sent to a cloud database to be stored, corresponding captured images and videos are identified and confirmed again by rail maintenance personnel, meanwhile, the rail maintenance personnel can also carry out remote video observation and identification means on the mobile telescopic camera probe (matched with a system for regulating and controlling the lighting and searchlighting equipment) through controlling the communication terminal, fixed-point dangerous positions of the corresponding rails are checked, and the like. For the vehicle-mounted speed measurement positioning system, accurate position/speed, road condition information and the like are provided for the vehicle-mounted operation control module. The inspection vehicle is correspondingly provided with an induction end of a cross induction loop, alternating signals on the cross induction loop along the track are detected and processed with data, positioning and speed measurement of the train are achieved, and the inspection vehicle is provided with a vehicle-mounted communication interface, so that track maintenance personnel can call field data and issue instructions and the like. On the other hand, other auxiliary equipment is coordinated with corresponding functional systems, and the vehicle-mounted operation control module is used for cooperatively adjusting and dispatching the equipment such as vehicle-mounted lighting equipment, hydraulic dampers and the like.

The above-mentioned permanent magnet track anomaly identification device (track state sampling device-means of track anomaly identification) can also perform anomaly identification for other facilities in the track, for example: the equipment such as wiping rail, drive stator board, cross response return wire, the plastic wheel backup pad of drive direction and the inspection car support wheel rail that set up along the line in track roof beam is required highly on the installation accuracy, and seamless connection as far as possible. However, in actual engineering construction, the flatness of the plane of the rail equipment (i.e. the connection of the joints between the rail beams) is often affected by actual conditions (including construction errors of the top beams and the columns, preset position deviation, natural sinking of the top beam supports and the like), which easily causes unevenness at the joints of the top beams, and thus requires the inspection vehicle to intensively inspect the target position in engineering construction and daily maintenance.

Therefore, the rail maintenance equipment such as the rail inspection vehicle and the like in the patent has the advantages that the vehicle-mounted related video/image acquisition equipment not only identifies and eliminates foreign matters on a permanent magnet rail surface, but also more importantly, the foreign matter detection, the dangerous case early warning and the like of the related equipment in the suspension type rail of a set of air rail system taking the permanent magnet rail as a core.

Specifically, the method aims at monitoring the surface states of equipment such as a sliding contact rail, a driving stator plate, a cross induction loop and the like, such as the abrasion of the sliding contact rail, the collision of the stator plate, the irregularity of a cross loop panel and the like. The video/image acquisition equipment correspondingly arranged on the track maintenance equipment such as the track inspection vehicle can carry out targeted track abnormal detection by acquiring the equipment abnormal image data of relevant positions and utilizing an advanced foreign object image identification technology.

Advantageous effects

The rail monitoring system utilizes the cooperation of the suspension crane module, the rail dust removal module, the video monitoring module, the vehicle-mounted communication module, the rail sampling detection module and the vehicle-mounted operation control module, utilizes the cooperative operation among the modules to support the rail maintenance equipment on the suspension rail beam, cleans foreign matters such as dust, magnetic debris and the like on the magnetic suspension rail through mechanical rubber wheels or hairbrushes, and simultaneously samples and detects the foreign matters and the rail state to realize the diagnosis of rail abnormity detection data.

Furthermore, the vehicle-mounted control system drives the hydraulic connecting rod to adjust the position of the brush or the rubber pad, so that the lifting position of the brush or the rubber pad is adjusted, and the position state of the brush or the rubber pad is adjusted back and forth up and down. The two groups of hydraulic lifting rods are connected to a special fixed frame of the detection vehicle. Particularly, the front end cleaning equipment is not limited to a roller brush, a roller rubber pad and the like can be adopted, the roller brush can further adopt hard bristles, certain inclination exists at the end portions of the bristles, and the removal of scraps on the side of the track is guaranteed.

In the practical engineering realization, the invention can further realize a supporting wheel structure by using a mechanical rubber wheel, and the supporting wheel structure is abutted to the sleeper beams on the two sides of the magnetic suspension track. The support wheels may also be designed to be anti-roll, for example with slight smooth bulges on both sides. In the installation of mechanical supporting wheel, can adopt soft connection, carry out the shock attenuation and handle, can effectively avoid the obvious tremble of vehicle that the irregularity that appears in the engineering realization such as sleeper rail roof beam leads to avoid the implement effect of irregularity's part influence relevant equipment, reduce the impression to track dust removal module dust removal effect.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a sectional view of a track maintenance device of a suspended magnetic levitation track traffic system according to the present invention.

Fig. 2 is a top view of the basic structure of the track maintenance device of the suspended magnetic levitation track traffic system provided by the present invention.

Fig. 3 is a front view of a motor driving module of a track maintenance device of a suspended magnetic levitation track transportation system provided by the present invention.

Fig. 4 is a top view of a motor driving module of a track maintenance device of a suspended magnetic levitation track transportation system provided by the present invention.

Fig. 5 is a side view of the track maintenance device of the suspended magnetic levitation track transportation system provided by the present invention.

Fig. 6 is a front view of a suspended crane bar of a track maintenance device of a suspended magnetic levitation track traffic system according to the present invention.

Fig. 7 is a side view of a suspended crane bar of a track maintenance device of a suspended magnetic levitation track traffic system according to the present invention.

Fig. 8 is a side view of a track dusting module of a track maintenance device of a suspended magnetic levitation track transportation system provided by the present invention.

Fig. 9 is a cross-sectional view of a track dust removal module of a track maintenance device of a suspended magnetic levitation track transportation system provided by the present invention.

Fig. 10 is a basic flow chart of the functional realization of the track maintenance device of the suspension type magnetic suspension track traffic system provided by the invention.

In the drawings, 1 denotes a hanging crane module; 11 denotes a hydraulic damper; 12 denotes a suspension clasp; 13 denotes a steering device; 14 denotes a soft crash pad; 15 denotes a crane body; 2 denotes a rail dust removal module; 21 denotes a support wheel; 22 denotes a foreign matter cleaning device; 221 denotes a brush; 222 denotes a hydraulic connecting rod; 223 denotes a rubber pad; 224 denotes a drum shaft; 225 denotes a collection stage; 3 denotes a video monitoring module; 31 denotes a head end monitoring device; 32 denotes a monitoring device; 33, an image pickup device; 4 denotes an in-vehicle communication module; 5 denotes an orbit sample detection module; reference numeral 51 denotes a magnetic flux detecting device; 6 represents a vehicle-mounted operation control module; 61 denotes vehicle-mounted drive wheels; 62 denotes a drive guide connecting shaft; 63 denotes a plastic wheel rail support plate; 64 denotes a motor fixing back bolt; 65 denotes a double-headed shaft motor; 66 denotes a support spring; 67 speed measurement positioning module.

Detailed Description

In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.

The meaning of the front and the back in the invention refers to that relative to the running direction of the track maintenance equipment on the magnetic suspension track, the track maintenance equipment points to the front of the running direction and points to the back of the running direction; and not as a specific limitation on the mechanism of the device of the present invention.

The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.

The meaning of "up and down" in the present invention means that the direction from the magnetic levitation track to the crane body is down when the user is facing the running direction of the track maintenance device, and vice versa, not specifically limited to the mechanism of the apparatus of the present invention.

Fig. 1 is a track maintenance device based on a suspension type magnetic suspension track traffic system, which is used for the safe maintenance of a suspension type track structure, in particular a permanent magnetic suspension traffic system. The invention provides a comprehensive rail autonomous inspection early warning vehicle which has the advantages of intellectualization, multifunction and the like and integrates comprehensive functions. Further perfects related matched service equipment of future suspension type rail transit standards, and can effectively promote the popularization pace of the suspension type rail transit standards to the market. The device can realize the functions of daily maintenance, repair, track cleaning, dangerous case troubleshooting and the like of the internal device of the suspension type track, and is novel track maintenance equipment integrating comprehensive functions.

The equipment mainly comprises six modules, namely a suspension crane module 1, a track dust removal module 2, a video monitoring module 3, a vehicle-mounted communication module 4, a track sampling detection module 5, a vehicle-mounted operation control module 6 and the like.

The suspension crane module 1 comprises a magnetic suspension main body structure and is suspended on a magnetic suspension track; the suspension buckle 12 is connected to the lower part of the magnetic suspension main body structure; the upper end of the hydraulic damper 11 is fixedly connected with the suspension buckle 12, the lower end of the hydraulic damper is connected with a crane main body 15, and the magnetic suspension main body structure drives the crane main body 15 to run along a magnetic suspension track;

the track dust removal module 2 is arranged at the lower part of the magnetic suspension main body structure, is positioned between the magnetic suspension main body structure and the magnetic suspension track, and comprises a foreign matter storage box for collecting foreign matters cleaned from the magnetic suspension track; a foreign matter cleaning device 22 which is arranged at the front end of the opening of the foreign matter containing box, wherein the lower part of the foreign matter cleaning device 22 cleans the foreign matters on the magnetic suspension track into the foreign matter containing box connected with the rear end of the foreign matter cleaning device 22 from the upper surface of the magnetic suspension track;

the video monitoring module 3 comprises top monitoring equipment 31 arranged at the top of the magnetic suspension main body structure and is used for monitoring the suspension crane module 1 and the magnetic suspension track; the system also comprises monitoring equipment 32 which is arranged at the lower part of the magnetic suspension main body structure and is positioned above the crane main body 15 and used for monitoring foreign matters cleaned by the track dust removal module 2 and the running condition of the track maintenance equipment;

the vehicle-mounted communication module 4 is used for positioning and measuring the speed of the magnetic suspension main body structure by adopting a cross induction loop technology, and controlling and tracking the position and the speed of the track maintenance equipment in real time;

a rail sampling detection module 5 including a magnetic flux detection device 51 and a rail state sampling device; the magnetic flux detection equipment 51 is arranged in the middle of the magnetic suspension main body structure, comprises a magnetic flowmeter, detects the variation of the magnetic field of the magnetic suspension track in real time by the magnetic flowmeter, and outputs the detected data to the vehicle-mounted operation and control module 6; the track state sampling equipment is used for carrying out image sample acquisition on a position corresponding to the abnormal detection data of the magnetic suspension track;

the magnetic flux detection device 51 is used for identifying and judging detection data of the fluxmeter, comparing an image sample acquired by the track state sampling device at a position corresponding to abnormal detection data of the magnetic levitation track with a normal image sample database at a corresponding position of the magnetic levitation track for intelligent diagnosis, and outputting diagnosis of the abnormal detection data of the track.

Vehicle-mounted operation and control module 6: the system can be mainly divided into a drive control system, a wireless communication system, a speed measuring and positioning system, a track condition monitoring system, a foreign matter cleaning system and coordination control of other auxiliary equipment and other modules.

In the wireless communication system, the running state of a patrol car, a cloud database, a mobile monitoring terminal and a rail transit system master control room is transmitted in real time, instruction operation commands are issued and the like through the preprocessing of the data front end of a wireless communication terminal and then a wireless communication transceiver;

in the drive apparatus, control of the rotating electric machine and state observation are mainly realized, achieving control of the running state of the vehicle. The independent motor control system is used for monitoring the running state of the rotating motor (temperature, rotating speed, current and the like), the driving system directly controls the running state of the motor through the inverter, the position information of the speed measurement positioning system can be directly transmitted to the driving controller, and meanwhile, the real-time data of the motor control system and the vehicle-mounted control system have a data exchange function;

in the foreign matter cleaning equipment, the information such as the rotating speed and the position of the field roller brush is acquired, the data processing of the foreign matter cleaning equipment is used for controlling a driving motor of the roller brush and adjusting the position of two groups of hydraulic lifting rods connected with the roller brush through a chopper, meanwhile, the data communication between the foreign matter cleaning equipment and a vehicle-mounted control system is maintained in real time, the vehicle-mounted control system is used for coordinately controlling corresponding auxiliary equipment (such as the control of lighting equipment and the real-time monitoring of a camera on a specified position), and in the accumulation process of the foreign matters such as dust/broken magnetic chips, the foreign matter cleaning equipment is used for controlling a conveyor belt through the chopper and conveying the foreign matters on a collecting table to a collecting box;

in the track condition monitoring system, a monitoring device with a preset front end preprocesses front-end field data and interacts data and instructions of a vehicle-mounted control system, wherein the data monitoring mainly comprises a vehicle advancing monitoring end, a driving stator plate monitoring end, a track front monitoring end and a track side monitoring end, intelligent image processing is carried out by calling a cloud database, the system intelligently identifies and evaluates the track condition, when the track surface has potential safety hazards such as damage, the system can send early warning signals to a data monitoring room/a mobile monitoring end and carry out data storage by cloud data control, on the other hand, magnetic flux detection ends on two sides of a vehicle detect the magnetic field change of a permanent magnet array of the track in real time, and the vehicle-mounted monitoring system intelligently identifies the magnetic flux change rule; the safe quality inspection of the internal structure of the suspension type track beam is realized through means such as magnetic flux change, image recognition and the like; when the vehicle-mounted control system intelligently identifies the data of the magnetic flux/images, an early warning signal is sent to a data monitoring room/mobile monitoring end, and data storage is carried out through cloud data control; meanwhile, video tracking and photographing are carried out on the corresponding parts with potential safety hazards, the parts are sent to a cloud database to be stored, corresponding captured images and videos are identified and confirmed again by rail maintenance personnel, meanwhile, the rail maintenance personnel can also carry out remote video observation and identification means on the mobile telescopic camera probe (matched with a system for regulating and controlling the lighting and searchlighting equipment) through controlling the communication terminal, fixed-point dangerous positions of the corresponding rails are checked, and the like. For the vehicle-mounted speed measurement positioning system, accurate position/speed, road condition information and the like are provided for the vehicle-mounted operation control module. The inspection vehicle is correspondingly provided with an induction end of a cross induction loop, alternating signals on the cross induction loop along the track are detected and processed with data, positioning and speed measurement of the train are achieved, and the inspection vehicle is provided with a vehicle-mounted communication interface, so that track maintenance personnel can call field data and issue instructions and the like. On the other hand, other auxiliary equipment is coordinated with corresponding functional systems, and the vehicle-mounted operation control module is used for cooperatively adjusting and dispatching the equipment such as vehicle-mounted lighting equipment, hydraulic dampers and the like.

Therefore, the track inspection vehicle is characterized in that vehicle-mounted related video/image acquisition equipment not only identifies and eliminates foreign matters on a permanent magnet track surface, but also detects abnormal situations, warns dangerous situations and the like of a set of related equipment in a suspended track of an air rail system taking a permanent magnet track as a core.

Specifically, the method aims at monitoring the surface states of equipment such as a sliding contact rail, a driving stator plate, a cross induction loop and the like, such as the abrasion of the sliding contact rail, the collision of the stator plate, the irregularity of a cross loop panel and the like. The track patrol car on correspond video image acquisition equipment that sets up can utilize advanced foreign matter image recognition technology to carry out corresponding track xenogenesis to detect through the equipment xenogenesis image data of gathering relevant position.

Referring to fig. 2, the magnetic levitation body structure includes a body detection vehicle. Four groups of mechanical rubber wheels are used as supporting wheels to be supported on two sides of the suspension type track beam. In the position setting, specifically, suspension type track roof beam usually adopts "encirclement formula" track roof beam, is used for laying the permanent magnetism suspension array in the both sides of track roof beam (to the sleeper track roof beam of mechanical wheel rail structure's traditional train of laying the wheel rail usually), and the sleeper track roof beam of mechanical rubber wheel described in this patent then lays in the position between suspension type track roof beam and the permanent magnetism suspension array, in actual engineering realization, the both sides of sleeper track roof beam of mechanical rubber wheel can carry out the anti-roll design, for example the slight smooth bulge of both sides. In the installation of mechanical supporting wheel 21, can adopt soft connection, carry out the shock attenuation and handle, can effectively avoid the obvious tremble of vehicle that the irregularity that appears in the engineering realization such as sleeper rail roof beam leads to directly influence the implementation effect of other relevant equipment, especially track dust removal module 2.

In the equipment, a suspension crane module 1 is connected to a main body detection vehicle through a hydraulic damper 11; the track dust removal module 2 is used for sweeping away magnetic chips, dust and other foreign matters adsorbed on the track, and the position of the track dust removal module is arranged right above the permanent magnet track (wherein, it is worth noting that most of broken magnetic chips are basically adsorbed at the gap position of the middle position of the permanent magnet array from the distribution condition of the broken magnetic chips on the test track of the actual permanent magnet array, so that the broken magnetic chips adsorbed on the track can be cleared mainly aiming at the broken magnetic chips at the gap position between the permanent magnet blocks in the permanent magnet array, and the broken magnetic chips are difficult to clear at a moment due to the adsorption effect of the permanent magnet, which is also an actual current situation problem). In position, the track dust removal modules 2 can be respectively arranged on permanent magnetic suspension tracks on two sides of the suspension type track beam and are arranged in left and right positions with the supporting wheels 21 of the detection vehicle. Particularly, due to the existence of the flexible connecting structure, the supporting wheels 21 and the rail dust removing device are not kept fixed in position, and can be correspondingly adjusted and arranged according to actual needs.

The track dust removal module 2 is mainly divided into a foreign matter storage box, a conveyor belt, and a foreign matter cleaning device 22, as shown in fig. 5, 8, and 9. Specifically, the foreign matter storage box is fastened on a left support frame and a right support frame of the detection vehicle through fixing bolts in the front and back directions (the advancing direction of the train is the front direction) and is used for storing foreign matters such as dust/broken magnetic chips and the like conveyed by front-stage cleaning equipment, and the box can be made of nonmagnetic materials; wherein, the front end mouth at the receiver is connected with the conveyer belt through fixed rotatory knot. And the conveyer belt adopts ferromagnetic material to make, through the orbital magnetization of permanent magnetism closely adsorb the collection platform 225 of conveyer belt with permanent magnetism track surface (track upper surface covers by non-magnetic protective layer), along with the gos forward of detection car, collect platform 225 and pile up foreign matter such as dust/magnetic debris forward, cooperate foreign matter simultaneously to clean equipment 22, continuously clean foreign matter such as dust on the conveyer belt, then carry the foreign matter receiver by the transfer belt (or the transfer brush cleaner) on the conveyer belt. Wherein, the left and right sides of the collecting platform 225 are in a circular structure for collecting the small amount of magnetic debris adsorbed on the two sides, and also preventing the dust/magnetic debris from accumulating on the collecting platform 225 to cause the dust/magnetic debris to spill or adsorb to the side of the track. For the foreign matter cleaning device 22, a rotary motor-driven cleaning roller brush and two groups (four left and right) of hydraulic lifting rods (or called as hydraulic dampers 11) are supported, position information is captured by a position sensor at the front end of the roller brush, the position adjustment and lifting of the roller brush are realized by a vehicle-mounted control system, the adjustment of the position state of the roller brush is performed by the two groups of hydraulic lifting rods, the operation is basically performed in a front-back mode, a vertical mode and the like, and the two groups of hydraulic lifting rods are connected to a special fixing frame of the detection vehicle. Particularly, the front end cleaning device is not limited to a roller brush, and a roller rubber pad and the like can be adopted, the roller brush adopts a relatively hard brush 221, the brush bristles of the brush 221 on the two sides are arranged on the surface of the roller shaft 224, and the end part of the brush bristles far away from the roller shaft 224 is arranged to have a certain inclination, so that the removal of the scraps on the side of the track is guaranteed.

The video monitoring device 32 on the inspection vehicle, as shown in fig. 1 and fig. 2, can be divided into a photographing and sampling device and a video monitoring device 32 according to different functions. The photographing, sampling and shooting equipment is mainly used for recognizing foreign matters of related videos/samples through a vehicle-mounted intelligent recognition system and carrying out early warning aiming at track specific positions/track segment moments when suspicious foreign matters are found; in position, the monitoring mounting frame is positioned at the front end of the detection vehicle, the monitoring mounting frame drooping in the middle of the front end of the detection vehicle is respectively provided with a left monitoring mounting frame and a right monitoring mounting frame, and the left monitoring mounting frame and the right monitoring mounting frame are matched with track side image acquisition equipment (respectively arranged in parallel with a left monitoring camera and a right monitoring camera on the monitoring mounting frame), so that all-dimensional video monitoring and image acquisition of permanent magnetic suspension tracks on two sides can be realized through cross photography of the two pairs of cameras. Meanwhile, a rotary type mobile camera (1 or a plurality of rotary type mobile cameras) are arranged on the monitoring mounting frame, comprehensive video monitoring is carried out on the advancing direction of the vehicle, animals (cats, snakes, mice and the like) or large foreign matters (mechanical parts scattered by running vehicles and the like) possibly existing in the advancing direction can be effectively detected through video and image processing and recognition of the advancing direction of the vehicle, and timely parking/early warning and other processing are achieved. The upper end of the detection vehicle is provided with an upper end monitoring camera for detecting the normal stator of the linear motor suspending the upper arm of the track beam in real time, and the cameras can adopt one group or multiple groups. Particularly, a plurality of groups of freely telescopic and movable camera probes can be arranged in front of and behind the detection vehicle, so that more specific and clear video/image materials and the like can be obtained from specific positions (or blind areas of a conventional camera coverage range) by moving the telescopic camera probes and the like at the time of vehicle early warning, and accurate detection information is provided for track maintenance personnel. In addition, the corresponding camera ports are respectively provided with an adjustable searchlight and other equipment. In fig. 2, the monitoring device 31 adopts a monitoring camera; the track side image acquisition device 33 is used for acquiring heterogeneous data of the track surface.

For the vehicle-mounted communication module 4, a mature vehicle-mounted wireless communication device (for example, an Inkanet vehicle-mounted communication system) is adopted to realize data exchange between people and vehicles, and data transmission is mainly controlled by the vehicle-mounted operation control module. Specifically, the data front end of the wireless communication terminal can be preprocessed, and then the wireless communication transceiver realizes real-time data transmission of the running state of the patrol car, the cloud database, the mobile monitoring terminal and a rail transit system master control room (ground control center), issuing of instruction operation commands and the like.

The speed measurement positioning module can adopt a cross induction loop line technology to position and measure the speed of the detection vehicle at the uppermost angle of the cross section view of the detection vehicle, and control and tracking of the position and the speed of the detection vehicle are ensured in real time. The speed measuring and positioning module is used for providing relatively accurate position information, speed and the like for the track foreign matter detection method, is a basis for functions such as calling of an original database for track foreign matter detection and also is a basic premise for keeping higher identification precision for track foreign matter detection.

The realization of the vehicle-mounted speed measuring and positioning function is as follows:

in the upper left corner (taking a cross-sectional view as a standard) of track maintenance equipment (inspection vehicle), the inspection vehicle is positioned and tested with speed by adopting a cross induction loop technology, and the control and tracking of the position and the speed of the inspection vehicle are ensured in real time. Among them, in the operation and control of the suspension train, the positioning and speed measurement of the vehicle often adopt a mature speed measurement positioning technology. Therefore, the patent also fully utilizes the speed measuring and positioning technology of the existing magnetic suspension train, wireless electromagnetic signals are transmitted to a cross loop laid along a track to generate a variable electromagnetic field, a vehicle-mounted induction coil is correspondingly arranged on the running inspection vehicle, induced electric energy on the vehicle-mounted induction coil caused by an alternating magnetic field generated on the loop on the track is received in real time, and the running speed and the position of the inspection vehicle are further determined through continuous change of the electric energy (mainly positive and negative of the induced electric signals). On the other hand, the speed measurement positioning function of the vehicle can also be realized by adopting a passive absolute positioning technology. The passive absolute positioning technology is that a known passive identification code is laid along a track, and then vehicle-mounted identification equipment is used for positioning and measuring the absolute position along the track by continuously identifying the identification code along the track. The inspection vehicle is provided with a vehicle-mounted communication interface so that operation such as calling of field data and instruction issuing by rail maintenance personnel can be facilitated.

In the operation and control of the suspension train, the positioning and speed measurement of the train usually adopt a mature speed measurement positioning technology. Therefore, the patent also fully utilizes the speed measuring and positioning technology of the existing magnetic suspension train, wireless electromagnetic signals are transmitted to the crossed return wires laid along the track to generate a variable electromagnetic field, the running detection vehicle is correspondingly provided with a vehicle-mounted induction coil, induced electric energy on the vehicle-mounted induction coil caused by an alternating magnetic field generated on the return wires on the track is received in real time, and the running speed and the running position of the detection vehicle are further determined through continuous change of the electric energy (mainly positive and negative of the induced electric signals). On the other hand, the speed measurement positioning function of the vehicle can also be realized by adopting a passive absolute positioning technology. The passive absolute positioning technology is that a known passive identification code is laid along a track, and then vehicle-mounted identification equipment is used for positioning and measuring the absolute position along the track by continuously identifying the identification code along the track.

Referring to fig. 2 and 10, the rail sampling detection module 5 on the detection vehicle mainly comprises two parts: a magnetic flux detecting device 51 and a rail state sampling device. The partial functions mainly aim at the permanent magnet suspension tracks on the left side and the right side of the suspension type track beam to automatically inspect the track, and the operation module shown in the figure 10 can be used for recognizing and diagnosing a plurality of problems including damage of the track suspension array, fragmentation of the permanent magnet suspension block, track deformation and the like. Because the problems of fragmentation/damage of the suspended permanent magnet block and the like usually cause the change of relevant parameters of the static magnetic field, such as irregular distribution of the magnetic field intensity, irregular change of the intensity and the like, the vehicle-mounted detection vehicle mainly detects the change of the static magnetic field by the fluxmeter in real time through the magnetic flux detection device 51, and identifies and judges the detection data of the fluxmeter, diagnoses the track abnormity and the like through the vehicle-mounted control system. The track state sampling device is used for acquiring image samples of positions of abnormal detection data of a track of a vehicle-mounted control system, and then intelligently diagnosing the system and a normal image sample database of the corresponding track position, wherein the normal image database can be stored to a cloud database by data storage of the acquired sample data in advance, and the established databases are respectively matched with corresponding track position information, particularly the sections (such as track turning sections, joints of track beams and the like) of the track which are likely to have loss.

In the vehicle-mounted driving structure, with reference to fig. 3 and 4, the steering, braking and driving of the track detection device can be controlled by the front and rear pairs of rotary driving motors on the left and right sides of the detection vehicle. The steering device 13 may be arranged in particular on both sides of the magnetically levitated body structure, which in some implementations may be arranged to comprise: the vehicle-mounted driving wheels 61 protrude out of two sides of the magnetic suspension main body structure and abut against the surface of the inner side wall of the magnetic suspension track; a guiding device connecting shaft 62, one end of which is fixedly connected with the side edge of the magnetic suspension main body structure, and the other end of which is connected with the vehicle-mounted driving wheel 61; the rotating motor is fixedly connected with one end, close to the vehicle-mounted driving wheel 61, of the guide device connecting shaft 62, a motor shaft of the rotating motor is connected with the vehicle-mounted driving wheel 61, and the rotating motor outputs torque to drive the vehicle-mounted driving wheel 61 to rotate along the surface of the inner side wall of the magnetic suspension track so as to drive the magnetic suspension main body structure to run and turn; and a support spring 66 having one end connected to a side edge of the magnetic levitation body structure and the other end connected to the vehicle-mounted driving wheel 61 or the guide apparatus connecting shaft 62, maintaining the guide apparatus connecting shaft 62 to be restored to be perpendicular to the side edge of the magnetic levitation body structure.

In some implementations, each set of rotary drive motors uses a double-headed shaft motor 65 to drive the upper and lower two rotary wheels and a plastic wheel rail support plate 63 laid on the inner wall of the suspended track beam, relying on conventional friction type driving and braking. The plastic wheel track support plate 63 is arranged on the surface of the inner side wall of the magnetic suspension track and correspondingly abuts against the vehicle-mounted driving wheel 61. The plastic wheel track supporting plate 63 is arranged along the running direction of the magnetic suspension main body structure in the magnetic suspension track. Double-end axle motor 65 is consolidated by motor fixed back bolt 64, fixes the tip of uide device connecting axle 62, perpendicular to in the double-end axle motor 65 the both ends of uide device connecting axle 62 are provided with the motor shaft respectively, two the motor shaft is equallyd divide and is connected with at least one on-vehicle drive wheel 61 respectively, drives on-vehicle drive wheel 61 is followed plastic wheel rail backup pad 63 moves. Each driving rotating motor set is connected by a driving guide equipment connecting shaft 62, so that the soft connection of the whole structure of the driving rotating motor set can be ensured. In addition, a spring support buckle is arranged on one side of each rotating motor, the support spring 66 of the driving wheel is connected to the rotating motor and a bogie of the detection vehicle, and the driving and guiding device connecting shaft 62 and the vehicle-mounted driving wheel 61 form three-point type support driving and guiding through a bogie interface. Wherein the support spring 66 of the driving wheel may be formed of a ring spring, a disc spring, or the like. The presence of the support spring 66 provides a degree of flexibility to the drive tumbler.

In the vehicle-mounted operation control module 6, the system can be mainly divided into a drive control system, a wireless communication system, a speed measuring and positioning system, a track condition monitoring system, a foreign matter cleaning system and other auxiliary equipment. In the wireless communication system, the data front end of the wireless communication terminal is preprocessed, and then the wireless communication transceiver realizes real-time data transmission of the running states of the detection vehicle and the cloud database, the mobile monitoring terminal and the rail transit system master control room, issuing of instruction operation commands and the like. In the drive apparatus, control of the rotating electric machine and state observation are mainly realized, achieving control of the running state of the vehicle. The independent motor control system is used for monitoring the running state of the rotating motor (temperature, rotating speed, current and the like), the driving system directly controls the running state of the motor through the inverter, the position information of the speed measuring and positioning system can be directly transmitted to the driving controller, and meanwhile, the real-time data of the motor control system and the vehicle-mounted control system have a data exchange function.

Still be connected with the conveyer belt between foreign matter cleans equipment 22 and the foreign matter receiver, the lower extreme setting of conveyer belt is in the foreign matter clean equipment 22 the lower part with between the orbital upper surface of magnetic suspension, the upper end of conveyer belt is connected to the opening of foreign matter receiver, the conveyer belt is driven by the chopper, will foreign matter cleans equipment 22 and upwards carries to from the foreign matter that cleans on the magnetic suspension track in the foreign matter receiver. The collecting table 225 is further arranged on the front side of the lower end of the conveying belt, the collecting table 225 is closely attached to the upper surface of the magnetic suspension track, foreign matters accumulated on the upper surface of the magnetic suspension track are pushed forward along with the advance of the track maintenance equipment, the foreign matters are pushed to the position below the foreign matter cleaning equipment 22, the foreign matter cleaning equipment 22 cleans the foreign matters onto the conveying belt, and the conveying belt conveys the foreign matters upwards into the foreign matter containing box.

In another implementation manner, in the foreign matter cleaning device 22, the information of the rotation speed, the position, and the like of the field roller brush is acquired, the driving motor of the roller brush is controlled by the data processing of the foreign matter cleaning device 22 through the chopper, the two groups of hydraulic lifting rods connected with the roller brush are used for position adjustment, meanwhile, the foreign matter cleaning device 22 maintains data communication with the vehicle-mounted control system in real time, the vehicle-mounted control system coordinates and controls corresponding auxiliary devices (for example, the control of lighting equipment and the real-time monitoring of a specified position by camera shooting are facilitated), in the accumulation process of foreign matters such as dust/broken magnetic chips, the foreign matter cleaning device 22 realizes the control of the conveyor belt through the chopper, and the foreign matters on the collecting table 225 are conveyed to the collecting box. In the track condition monitoring system, a monitoring device 32 with a front end in advance preprocesses front-end field data, and interacts data with data and instructions of a vehicle-mounted control system, wherein the data monitoring mainly comprises a vehicle advancing monitoring end, a long stator monitoring end, a track front monitoring end and a track side monitoring end, intelligent image processing is carried out by calling a cloud database, the system intelligently identifies and evaluates the track condition, when the track surface has potential safety hazards such as damage, the system can send early warning signals to a data monitoring room/mobile monitoring end, and cloud data control is used for data storage, on the other hand, stabbing pain detection ends on two sides of a vehicle detect the magnetic field change of a permanent magnet array of the track in real time, and the vehicle-mounted monitoring system intelligently identifies the magnetic flux change rule; the safe quality inspection of the internal structure of the suspension type track beam is realized through means such as magnetic flux change, image recognition and the like; when the vehicle-mounted control system intelligently identifies the data of the magnetic flux/images, an early warning signal is sent to a data monitoring room/mobile monitoring end, and data storage is carried out through cloud data control; meanwhile, video tracking and photographing are carried out on the corresponding parts with potential safety hazards, the parts are sent to a cloud database to be stored, corresponding captured images and videos are identified and confirmed again by rail maintenance personnel, meanwhile, the rail maintenance personnel can also carry out remote video observation and identification means on the mobile telescopic camera probe (matched with a system for regulating and controlling the lighting and searchlighting equipment) through controlling the communication terminal, fixed-point dangerous positions of the corresponding rails are checked, and the like. For a vehicle-mounted speed measurement positioning system, the patent provides two schemes, one is a cross induction loop wire technology, and the other is a passive magnetic code absolute positioning technology. The cross induction loop line technology is mature in the existing market and is a speed measuring and positioning technology which is commonly adopted in the existing rail transit field. Therefore, the detection vehicle is correspondingly provided with an induction end of the cross induction loop, alternating signals on the cross induction loop along the track are detected and processed with data, positioning and speed measurement of the train are achieved, and the detection vehicle is provided with a vehicle-mounted communication interface, so that track maintenance personnel can call field data and issue instructions and the like. On the other hand, the passive magnetic code absolute positioning technology adopts the known magnetic codes to be laid along a track line, the vehicle-mounted induction identification end carries out identification, vehicle position information is extracted, and the train speed is obtained through numerical processing. And uploading the acquired information of the train to a vehicle-mounted control system and a remote data monitoring end. The two schemes can realize the monitoring of the position and the speed of the train, and can be determined according to the actual situation, in the characteristics, the technology of the former is relatively mature, the cross induction loop along the track can be directly used without additional laying, and the latter has the advantages of lower technical requirement, low cost, long service life and the like. And other auxiliary equipment coordinates and cooperates with a corresponding control system to adjust and schedule the equipment such as the vehicle-mounted lighting, the hydraulic damper 11 and the like.

In other implementations, the device 22 may be configured to include: a brush 221 provided on the magnetic levitation track so as to face the front end of the collection table 225, the brush 221 rolling to clean foreign matters onto a conveyor belt in the collection table 225; two hydraulic connecting rods 222, wherein two ends of one hydraulic connecting rod 222 are respectively connected with the head of the brush 221 and the lower part of the magnetic suspension main body structure; wherein another hydraulic connecting rod 222 is arranged in front of the brush 221 and the conveyor belt, and connects the tail of the brush 221 with the lower part of the magnetic suspension main structure.

Alternatively, the foreign matter cleaning apparatus 22 may be further provided to include: a rubber pad 223 formed in a roller shape facing a front end of the collecting table 225 and disposed on the magnetic levitation rail by two hydraulic connection rods 222, the rubber pad 223 rolling to clean foreign matters on the magnetic levitation rail to a conveyor belt in the collecting table 225; the hydraulic link 222 connects the rubber pad 223 and the lower portion of the magnetic levitation body structure, and abuts the rubber pad 223 on the front portion of the collection table 225.

The support wheels may be arranged in particular at the lower part of the magnetic levitation body structure, outside the foreign matter cleaning device 22. The lower part of the supporting wheel 21 is abutted against sleeper rail beams on two sides in the magnetic suspension rail; the magnetic suspension main body structure is flexibly connected with the supporting wheel 21, a damping structure is arranged, and the supporting wheel 21 supports the foreign matter cleaning equipment 22 and/or the collecting table 225 to abut against the upper surface of the magnetic suspension track.

Referring to fig. 5, 6 and 7, in the suspended crane module 1, the appearance of the suspended crane module is the same outdoor cage-suspended crane fence used for daily maintenance and track monitoring and carrying of track maintenance personnel, the peripheral design of the suspended crane fence is rounded, so that safety threats to workers due to sharp convex parts are avoided, and the lower end of the crane is provided with an anti-collision soft rubber pad 14 for placing and carrying vehicles when the crane is detached.

The hanging crane fence is connected with the main body detection vehicle by four hydraulic dampers 11. The hydraulic damper 11 is connected to the suspension crane rail and the linking frame of the main body inspection vehicle at both ends thereof, a hanging link 226 is provided to the main body inspection vehicle, and linking links for hanging are provided to both front and rear ends of the suspension crane rail (the front is the train advancing direction, and herein, the hanging link 226 is not limited to the front and rear ends of the crane rail). The hydraulic damper 11 has a controllable extension characteristic to facilitate entry and exit of maintenance personnel, height adjustment, and the like. Meanwhile, the connecting buckles of the suspension crane railing and the detection vehicle body are fixed by the bolts, so that the hydraulic damper 11 and the suspension crane railing can be conveniently detached and replaced, the suspension crane railing is selectively detached and hung, the daily maintenance is convenient, the load of the detection vehicle is reduced, and the unnecessary energy consumption is avoided.

The storage cabinet and the operation platform are arranged in the suspension crane fence and are respectively arranged on the front side and the rear side of the suspension crane fence. The storage cabinet is divided into an upper layer and a lower layer, the subspace of the upper layer cabinet is relatively small, the storage cabinet is used for storing small objects such as temporary maintenance/repair tools, the space of the lower layer cabinet is relatively large, the storage cabinet is used for storing large and medium maintenance/repair tools, and the tools such as a portable fire extinguisher, a voice intercom device, an escape rope ladder and the like are fixed and placed on the daily routine hanging piece. The operation panel mainly provides the maintenance personal with the placing of instrument (big and small spanner, screwdriver etc.) and relevant instrument and equipment (monitoring instrument dial plate etc.) during routine maintenance operation, below the operation panel, can be used to the interim stacking of discarded object such as track foreign matter, dust. The size of the suspension crane railing is set according to actual engineering requirements, and changes of related parts are not eliminated.

The power supply of the whole track detection device can be supplied by a storage battery, and meanwhile, a trolley line can also be adopted. In the attached drawings, a storage battery is adopted to provide power output for the whole train, and in consideration of the heaviness of the energy storage batteries, the batteries are respectively and symmetrically placed on the left side and the right side of a load frame of the detection vehicle on the description of the attached drawings, so that the weight of the batteries is ensured to be uniformly dispersed; from the structure of train, (current wiping line gets electric mode technique comparatively mature, has extensive application in the market, also is a common mode of getting electric in suspension type track transportation), detects the car and also can design according to the mode of getting electric of actual operation line. In particular, the inspection vehicle can also adopt two modes, namely: the power taking mode of the trolley line is mainly, and the energy storage battery is used as an auxiliary double-layer guarantee.

The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.

Claims

1. A track maintenance device based on a suspended magnetic levitation track traffic system, comprising:

the suspension crane module (1) comprises a magnetic suspension main body structure, and is suspended on a magnetic suspension track; the suspension buckle (12) is connected to the lower part of the magnetic suspension main body structure; the upper end of the hydraulic damper (11) is fixedly connected with the suspension buckle (12), the lower end of the hydraulic damper is connected with a crane main body (15), and the magnetic suspension main body structure drives the crane main body (15) to run along a magnetic suspension track;

the track dust removal module (2) is arranged at the lower part of the magnetic suspension main body structure, is positioned between the magnetic suspension main body structure and the magnetic suspension track, and comprises a foreign matter storage box used for collecting foreign matters cleaned from the magnetic suspension track; the foreign matter cleaning equipment (22) is arranged at the front end of the opening of the foreign matter containing box, and the lower part of the foreign matter cleaning equipment (22) cleans the foreign matters on the magnetic suspension track into the foreign matter containing box connected with the rear end of the foreign matter cleaning equipment (22) from the upper surface of the magnetic suspension track;

the video monitoring module (3) comprises top monitoring equipment (31) arranged at the top of the magnetic suspension main body structure and is used for monitoring the suspension crane module (1) and the magnetic suspension track; the device also comprises monitoring equipment (32) which is arranged at the lower part of the magnetic suspension main body structure and is positioned above the crane main body (15) and used for monitoring foreign matters cleaned by the track dust removal module (2) and the running condition of the track maintenance equipment;

the speed measurement positioning module (67) is used for positioning and measuring the speed of the magnetic suspension main body structure through cross induction loops, and controlling and tracking the position and the speed of the track maintenance equipment in real time;

the rail sampling detection module (5) comprises a magnetic flux detection device (51) and a rail state sampling device; the magnetic flux detection equipment (51) is arranged in the middle of a magnetic suspension main body structure and comprises a magnetic flowmeter, the magnetic flowmeter is used for detecting the variation of the magnetic field of the magnetic suspension track in real time, and the detected data is output to the vehicle-mounted operation and control module (6); the track state sampling equipment is used for carrying out image sample acquisition on a position corresponding to the abnormal detection data of the magnetic suspension track;

the magnetic flux detection equipment (51) is used for identifying and judging the detection data of the fluxmeter, comparing an image sample acquired by the track state sampling equipment at a position corresponding to the abnormal detection data of the magnetic suspension track with a normal image sample database at the corresponding position of the magnetic suspension track to carry out intelligent diagnosis, and outputting the diagnosis of the abnormal detection data of the track.

2. Track maintenance device based on a suspended magnetic levitation track traffic system according to claim 1, further comprising an on-board operation control module (6), the on-board operation control module (6) comprising:

the system comprises a drive control system operation control module, a control module and a control module, wherein the drive control system operation control module is used for monitoring the operation state of a motor in the track maintenance equipment through temperature, rotating speed and current, and is also used for controlling the operation state of the motor through an inverter;

the wireless communication system operation control module is used for preprocessing the data front end of the wireless communication terminal, and then the wireless communication transceiver realizes real-time data transmission and instruction operation command issuing of the suspension type magnetic suspension track traffic system and the running state of the track maintenance equipment therein;

and the foreign matter cleaning system operation control module is used for collecting the rotating speed and the position of the foreign matter cleaning equipment (22) and controlling the running state and the operation position of a driving motor of the foreign matter cleaning equipment (22).

3. Track maintenance device based on a suspended magnetic levitation track transportation system according to claim 1, wherein steering devices (13) are further arranged on both sides of the magnetic levitation body structure, respectively, each steering device (13) comprising:

the vehicle-mounted driving wheels (61) protrude out of two sides of the magnetic suspension main body structure and abut against the surface of the inner side wall of the magnetic suspension track;

a guide device connecting shaft (62), one end of which is fixedly connected with the side edge of the magnetic suspension main body structure, and the other end of which is connected with the vehicle-mounted driving wheel (61);

the rotating motor is fixedly connected with one end, close to a vehicle-mounted driving wheel (61), of the guide device connecting shaft (62), a motor shaft of the rotating motor is connected with the vehicle-mounted driving wheel (61), and output torque drives the vehicle-mounted driving wheel (61) to rotate along the surface of the inner side wall of the magnetic suspension track so as to drive the magnetic suspension main body structure to run and turn;

and a support spring (66) having one end connected to a lateral edge of the magnetic levitation body structure and the other end connected to the vehicle-mounted driving wheel (61) or the guide apparatus connecting shaft (62), maintaining the guide apparatus connecting shaft (62) to be restored to be perpendicular to the lateral edge of the magnetic levitation body structure.

4. Track maintenance device for a suspended magnetic levitation track based transportation system according to claim 1, wherein plastic wheel track support plates (63) are further arranged in the inner side wall surfaces of the magnetic levitation track corresponding to the positions abutting the vehicle mounted driving wheels (61), the plastic wheel track support plates (63) being arranged along the running direction of the magnetic levitation body structure in the magnetic levitation track.

5. The track maintenance equipment based on a suspended magnetic suspension track traffic system according to claim 2-3, wherein the rotating motor is a double-shaft motor (65), the double-shaft motor (65) is fixed at the end of the guide equipment connecting shaft (62) by a motor fixing back bolt (64), two ends of the double-shaft motor (65) perpendicular to the guide equipment connecting shaft (62) are respectively provided with a motor shaft, and two motor shafts are respectively connected with at least one vehicle-mounted driving wheel (61) to drive the vehicle-mounted driving wheel (61) to run along the plastic wheel rail supporting plate (63).

6. The track maintenance equipment based on a suspended magnetic suspension track transportation system according to claim 1-4, wherein a conveyor belt is further connected between the foreign matter cleaning equipment (22) and the foreign matter storage box, the lower end of the conveyor belt is arranged between the lower part of the foreign matter cleaning equipment (22) and the upper surface of the magnetic suspension track, the upper end of the conveyor belt is connected to the opening of the foreign matter storage box, and the conveyor belt is driven by a chopper to convey the foreign matter cleaned by the foreign matter cleaning equipment (22) from the magnetic suspension track upwards into the foreign matter storage box.

7. The track maintenance equipment based on a suspended magnetic suspension track transportation system according to claim 5, wherein the lower end of the conveyor belt is provided with a collection platform (225) at the front side, the collection platform (225) is closely adhered to the upper surface of the magnetic suspension track, foreign matters accumulated on the upper surface of the magnetic suspension track are pushed forward along with the advance of the track maintenance equipment, the foreign matters are pushed up to the lower part of the foreign matter cleaning equipment (22), the foreign matters are cleaned to the conveyor belt by the foreign matter cleaning equipment (22), and the foreign matters are conveyed upwards to the foreign matter storage box by the conveyor belt.

8. Track maintenance device based on a suspended magnetic levitation track traffic system according to claims 5-6, characterized in that the foreign matter cleaning device (22) comprises:

a brush (221) which faces the front end of the collecting table (225) and is arranged on the magnetic suspension track, wherein the brush (221) rolls to clean foreign matters onto a conveying belt in the collecting table (225);

the two hydraulic connecting rods (222) are included, and two ends of one hydraulic connecting rod (222) are respectively connected with the head of the brush (221) and the lower part of the magnetic suspension main body structure; wherein another hydraulic connecting rod (222) is arranged in front of the brush (221) and the conveyor belt and is connected with the tail part of the brush (221) and the lower part of the magnetic suspension main body structure.

9. Track maintenance device based on a suspended magnetic levitation track traffic system according to claims 5-6, characterized in that the foreign matter cleaning device (22) comprises:

a rubber pad (223) which is provided in a roller shape, faces the front end of the collecting table (225), is provided on the magnetic levitation track by two hydraulic connecting rods (222), and rolls to clean foreign matters on the magnetic levitation track to a conveyor belt in the collecting table (225);

the hydraulic connecting rod (222) connects the rubber pad (223) and the lower part of the magnetic suspension main structure, and the rubber pad (223) is abutted against the front part of the collecting table (225).

10. Track maintenance device based on a suspended magnetic suspension track transportation system according to claims 1-8, characterized in that the lower part of the magnetic suspension main structure is further provided with downward support wheels (21) at the outer side of the foreign matter cleaning device (22), the lower part of the support wheels (21) abuts the sleeper beams at both sides in the magnetic suspension track; the magnetic suspension main body structure is flexibly connected with the supporting wheels (21), a damping structure is arranged, and the supporting wheels (21) support the foreign matter cleaning equipment (22) and/or the collecting table (225) to abut against the upper surface of the magnetic suspension track.