CN111953945A - Comprehensive track detection device based on unmanned driving - Google Patents
Comprehensive track detection device based on unmanned driving Download PDFInfo
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- CN111953945A CN111953945A CN202010826559.5A CN202010826559A CN111953945A CN 111953945 A CN111953945 A CN 111953945A CN 202010826559 A CN202010826559 A CN 202010826559A CN 111953945 A CN111953945 A CN 111953945A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/181—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems
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Abstract
The invention discloses a comprehensive track detection device based on unmanned driving, and relates to the technical field of rail detection. In the invention: a second end side longitudinal cavity is formed in the end side of the second transverse mounting substrate; a pair of second pressure sensors are symmetrically arranged in the longitudinal cavity at the second end side; the second internal movable plate is in contact connection with a second pressure sensor; a second adjusting spring is arranged between the second inner movable plate and the second outer movable plate; one side of the second external movable plate is provided with a movable rolling body protruding out of the longitudinal cavity at the second end side; a third longitudinal infrared sensor for sensing longitudinally downwards is arranged on the third upper side plate; a third transverse infrared sensor for transverse inward sensing is arranged on the third lower side plate; and a third lateral angle infrared sensor for oblique sensing is arranged on the third transverse mounting substrate. The method and the device judge the corresponding structural change on the I-shaped rail at the current position, effectively detect the rail deformation which cannot be distinguished by naked eyes, and reduce the hidden potential safety hazard on the rail.
Description
Technical Field
The invention belongs to the technical field of rail detection, and particularly relates to a comprehensive rail detection device based on unmanned driving.
Background
In recent years, with the rapid development of railways, railway engineering equipment is steadily advancing towards high-energy, high-efficiency and high-technology. In the past, every construction by huge manpower is gradually changed to high-tech and labor-saving direction.
The railway network line equipment is complex, the number of stations is large, a hand-push type inspection instrument is used in the current equipment workshop for inspecting the line, the geometric state of the track is mainly inspected, and a flaw detector and a double-track flaw detection trolley are mainly used for flaw detection. The inspection mode mainly depends on manual operation and needs to be separately and independently completed, the field operation needs a large amount of manpower, and the detection efficiency of the flaw detector and the track inspection tester is not high, so that the inspection mode is not in line with the current development requirements.
In the existing rail detection means, image acquisition and analysis are common technical means. However, errors and misjudgments are large when the images of the rails are acquired, and the small deformation of the rails cannot be shown in the images during image acquisition, but the small deformation of the rails is a hidden danger of causing major accidents.
Aiming at some rail deformation which is not well recognized by naked eyes, the rail is accurately designed in the process of unmanned automatic detection, and the problem which needs to be solved urgently in the event of needing railway maintenance is solved.
Disclosure of Invention
The invention aims to provide a comprehensive track detection device based on unmanned driving, so that the structural change corresponding to an I-shaped rail at the current position is judged, and the deformation of the rail which cannot be distinguished by naked eyes is effectively detected.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a comprehensive track detection device based on unmanned driving, wherein a track comprises track bed sleepers and I-shaped rails positioned on the track bed sleepers; the intelligent detection system comprises a walking detection platform walking above the track bed sleeper and the I-shaped rails, wherein a horizontal angle sensing mechanism is arranged in the walking detection platform, and two groups of first longitudinal installation base plates in pairs are fixedly connected to the lower portion of the walking detection platform.
The intelligent detection system comprises a self-checking subsystem for performing state self-checking after the terminal equipment on the walking detection platform is started; the intelligent detection system comprises a radar anti-collision subsystem of a front laser radar and a rear laser radar which are arranged on the walking detection platform; the intelligent detection system comprises a field video monitoring subsystem for monitoring cameras at the front and rear positions of the walking detection platform; the intelligent detection system comprises an upper host system for receiving and processing information interaction and processing among the command center subsystem, the on-site video monitoring subsystem, the collision avoidance system and the command center subsystem; the intelligent detection system comprises a track bed inspection subsystem for continuously sensing and detecting the states of the track and the peripheral surface under a dynamic condition.
Each first longitudinal mounting base plate faces the second transverse mounting base plate of the I-shaped rail; a third lateral mounting substrate; a second end side longitudinal cavity is formed in the end side of the second transverse mounting substrate; a pair of second pressure sensors are symmetrically arranged in the longitudinal cavity at the second end side; a second inner movable plate and a second outer movable plate are movably arranged in the longitudinal cavity at the second end side; the second internal movable plate is in contact connection with a second pressure sensor; a second adjusting spring is arranged between the second inner movable plate and the second outer movable plate; one side of the second external movable plate is provided with a movable rolling body protruding out of the longitudinal cavity at the second end side.
The end side of the third transverse mounting substrate is fixedly connected with a third upper side plate and a third lower side plate; a third longitudinal infrared sensor for sensing longitudinally downwards is arranged on the third upper side plate; a third transverse infrared sensor for transverse inward sensing is arranged on the third lower side plate; and a third lateral angle infrared sensor for oblique sensing is arranged on the third transverse mounting substrate.
As a preferred technical scheme of the invention, a high-definition wide-angle camera device is arranged right below the walking detection platform; the ultrasonic flaw detector positioned on two sides of the high-definition wide-angle camera device is arranged below the walking detection platform.
As a preferred technical scheme of the invention, a second inner middle plate is fixedly arranged at the middle position of the second end side longitudinal cavity; and the pair of second pressure sensors are symmetrically and fixedly arranged on two sides of the second inner middle plate.
As a preferred technical scheme of the invention, the I-shaped rail comprises an I-shaped inner lower side surface and an I-shaped inner upper side surface; the movable rolling body at the lower side is in extrusion contact with the lower side surface inside the I-shaped part; the movable rolling body on the upper side is in compression contact with the upper side surface inside the I-shaped part.
As a preferred technical solution of the present invention, the third edge angle infrared sensor is located between the third longitudinal infrared sensor and the third transverse infrared sensor; the I-shaped rail comprises an I-shaped upper plate upper side surface, an I-shaped upper plate edge side surface and an I-shaped upper edge angle position between the I-shaped upper plate upper side surface and the I-shaped upper plate edge side surface; the sensing detection direction of the third longitudinal infrared sensor is matched with the upper side surface of the I-shaped upper plate; the sensing detection direction of the third transverse infrared sensor is matched with the side surface of the upper plate edge of the I-shaped plate; and the sensing detection direction of the third edge angle infrared sensor is matched with the corner position at the upper part of the I-shaped part.
As a preferable technical solution of the present invention, in the pair of second pressure sensors in the second end-side longitudinal cavity, the standard parameter threshold value detected by the upper second pressure sensor is greater than the standard parameter threshold value detected by the lower second pressure sensor.
The invention has the following beneficial effects:
1. according to the invention, the upper and lower movable rollers connected with the I-shaped rail are arranged on the I-shaped rail, the movable rollers are contacted with the panel of the I-shaped rail, and the contact pressure change is sensed and detected through the corresponding pressure sensors, so that the corresponding structural change on the I-shaped rail at the current position is judged, and the rail deformation which cannot be distinguished by naked eyes is effectively detected;
2. the infrared distance sensor matched in multiple angles is arranged, the distance of the plate surface and the corner position of the plate block on the upper side of the I-shaped plate is detected, the standard exceeding abnormal conditions such as abrasion, extrusion, corrosion, deformation and the like of the upper side plate of the I-shaped rail are preliminarily detected, and the image acquisition device on the walking detection platform can conveniently perform image acquisition alarm in a targeted manner.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced 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 that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a rail detection arrangement according to the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is a partially enlarged view of the structure at B in FIG. 2;
FIG. 4 is an enlarged view of a portion of the structure of FIG. 2 at C;
FIG. 5 is a logic diagram of a driving system of the walking detection platform of the present invention;
FIG. 6 is a schematic diagram of an internal working system of the intelligent detection terminal device of the walking detection platform in the invention;
FIG. 7 is a schematic view of the collision avoidance subsystem of the present invention;
FIG. 8 is a schematic view of the sonic flow spray coupling for ultrasonic detection in accordance with the present invention;
FIG. 9 is a schematic view of (a part of) a structure of the walking detection platform of the present invention cooperating with the walking detection platform on a rail;
in the drawings, the components represented by the respective reference numerals are listed below:
1-track bed sleeper; 2-i-rail; 3-a walking detection platform; 4-a horizontal angle sensing mechanism; 5-ultrasonic flaw detector; 6-high-definition wide-angle camera device; 7-a first vertical mounting substrate; 8-a second lateral mounting substrate; 9-a third lateral mounting substrate; 10-a second end side longitudinal cavity; 11-a second internal median plate; 12-a second pressure sensor; 13-a second internal position flap; 14-a second peripheral flap; 15-a second regulating spring; 16-a movable roller body; 17-a second edge guide groove; 18-a third upper sideboard; 19-a third longitudinal infrared sensor; 20-a third lower sideboard; 21-a third lateral infrared sensor; 22-a third corner infrared sensor; 201-inner underside of I-shape; 202-the upper side of the inside of the I-shaped part; 203-upper side of the I-shaped upper plate; 204-side surface of upper plate edge of I-shaped edge; 205-corner position of the upper part of the I-shaped part.
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 the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.
Example one
The invention relates to an unmanned-based comprehensive track detection device, which comprises a walking detection platform 3 walking above a track sleeper 1 and an I-shaped rail 2, wherein a horizontal angle sensing mechanism 4 is arranged in the walking detection platform 3, two groups of paired first longitudinal installation base plates 7 are fixedly connected below the walking detection platform 3, and each first longitudinal installation base plate 7 faces to a second transverse installation base plate 8 and a third transverse installation base plate 9 of the I-shaped rail 2; a second end side longitudinal cavity 10 is formed in the end side of the second transverse mounting substrate 8; a pair of second pressure sensors 12 are symmetrically arranged in the second end side longitudinal cavity 10; a second inner movable plate 13 and a second outer movable plate 14 are movably arranged in the second end side longitudinal cavity 10; the second internal movable plate 13 is in contact connection with the second pressure sensor 12; a second adjusting spring 15 is arranged between the second inner movable plate 13 and the second outer movable plate 14; one side of the second externally movable plate 14 is provided with a movable roller 16 protruding out of the second end-side longitudinal cavity 10.
A third upper side plate 18 and a third lower side plate 20 are fixedly connected to the end side of the third transverse mounting substrate 9; a third longitudinal infrared sensor 19 for sensing longitudinally downwards is arranged on the third upper side plate 18; a third transverse infrared sensor 21 for sensing transversely inwards is arranged on the third lower side plate 20; a third lateral angle infrared sensor 22 for tilt sensing is provided on the third lateral mounting substrate 9.
In the invention, a high-definition wide-angle camera device 6 is arranged right below a walking detection platform 3; and an ultrasonic flaw detector 5 positioned at two sides of the high-definition wide-angle camera device 6 is arranged below the walking detection platform 3.
In the invention, a second inner middle plate 11 is fixedly arranged at the middle position of the second end side longitudinal cavity 10; a pair of second pressure sensors 12 are symmetrically and fixedly installed at both sides of the second inner median plate 11.
In the invention, the I-shaped rail 2 comprises an I-shaped inner lower side surface 201 and an I-shaped inner upper side surface 202; the movable rolling body 16 at the lower side is in pressing contact with the lower side 201 of the I-shaped inner part; the upper movable roller 16 is in pressing contact with the i-shaped inner upper side 202.
In the present invention, the third side angle infrared sensor 22 is located between the third longitudinal infrared sensor 19 and the third transverse infrared sensor 21; the I-shaped rail 2 comprises an I-shaped upper plate upper side surface 203, an I-shaped upper plate edge side surface 204 and an I-shaped upper edge angle position 205 positioned between the I-shaped upper plate upper side surface 203 and the I-shaped upper plate edge side surface 204; the sensing detection direction of the third longitudinal infrared sensor 19 is matched with the upper side surface 203 of the I-shaped upper plate; the sensing detection direction of the third transverse infrared sensor 21 is matched with the side surface 204 of the I-shaped upper plate edge; the sensing direction of the third edge angle infrared sensor 22 is matched with the upper edge angle position 205 of the I-shaped part.
In the present invention, in the pair of second pressure sensors 12 in the second end-side longitudinal cavity 10, the standard parameter threshold value detected by the upper second pressure sensor 12 is larger than the standard parameter threshold value detected by the lower second pressure sensor 12.
Example two
In the invention, the walking detection platform comprises a start-stop control system, an obstacle scanning system and a state detection system (detecting battery capacity, water quantity, running state, current mileage, network state and the like), and is a basic condition and safety guarantee for the operation of the unmanned detection terminal equipment. When the terminal equipment scans obstacles, or the scanning system is in a fault state, or the terminal equipment is in an off-line state, the automatic braking, the obstacle removal and the automatic recovery detection are carried out, and in addition, the highest speed per hour of the unmanned walking platform is 15 km/h.
The walking detection platform further comprises a hardware module interface corresponding to the walking detection platform, namely the walking platform adopts a modular interface design, and different modules can be integrated according to different detection requirements. If the detection requirements such as ultrasonic flaw detection, track detection or track bed inspection are independently carried out, a plurality of detection modules can be simultaneously integrated to work in parallel.
In the invention, in the process of dynamically detecting the rail by the walking detection platform, the system is established by three means of Beidou, an encoder, a 4G/5G network and RFID, so that the system can adapt to accurate positioning in various environments. The encoder determines the mileage with relatively high precision, the Beidou determines the longitude and latitude of the unmanned detection terminal equipment, and inertial positioning is carried out through the 4G/5G network and the encoder in the environments such as the tunnel.
In the invention, a wireless network module is arranged in the walking detection platform, if a wireless network fails, the terminal equipment is considered to be separated from the monitoring of the command center, the terminal equipment automatically brakes and suspends the detection, and the command center displays that the equipment is in an abnormal off-line state and gives an alarm.
When the walking detection platform equipment reaches a detection terminal, the equipment is automatically braked, and a command center and field personnel are informed that the detection is finished, the equipment is recovered, and meanwhile, the complete detection data is transmitted back. And in the abnormal state of the network, the off-line data is reserved, and the network can be continuously transmitted or manually copied after recovery.
EXAMPLE III
The invention is provided with a walking detection platform: the walking detection platform comprises a self-checking subsystem, an anti-collision subsystem, an upper host, a field video monitoring subsystem, an ultrasonic detection subsystem and a track bed inspection subsystem.
The walking platform of the rail unmanned intelligent detection terminal equipment is a foundation for realizing unmanned driving and automatic operation, and the stability and firmness of the walking platform are of great importance to the performance of the whole equipment.
A. The self-checking subsystem: after the unmanned intelligent track detection terminal equipment is started, state self-detection is carried out, the on-line state and the ready condition of each subsystem are confirmed, and necessary self-detection information results are fed back to the command center subsystem. And the command center displays the obtained partial self-checking information result in a status bar of the main interface.
B. An anti-collision subsystem: the anti-collision subsystem comprises an anti-collision subsystem structure, the rail unmanned intelligent detection terminal equipment is provided with front and rear laser radars, and a radar anti-collision system is established for anti-collision. The radar anti-collision subsystem is composed of laser radar detection equipment, an upper computer and a wireless communication module. The rail unmanned intelligent detection terminal equipment stops walking and detection operation when encountering obstacles, and unnecessary personal injury and damage of the rail unmanned intelligent detection terminal equipment are avoided.
In the radar monitoring area setting, the laser radar detection equipment is used for detecting people and objects in a scanning range and sending detection results to the host computer.
The radar detection early warning area is divided into a radar monitoring area, a radar early warning area and a radar alarm area from far to near.
Radar monitoring area:
the radar monitoring area is an area from the early warning detection distance to the alarm distance, the set range of the system is a range 10-40 meters away from the track unmanned intelligent detection terminal equipment, and the area is a radar monitoring starting area.
Radar early warning area:
the radar early warning area is an area between the early warning distance and the rail unmanned intelligent detection terminal equipment, the range from 10 meters to the rail unmanned intelligent detection terminal equipment is set in the system, when an obstacle is continuously close to the radar and enters the radar early warning area, danger warning is given, the radar system sends out a warning signal, the warning signal is sent to the command center subsystem through sound and character highlighting, meanwhile, the command of stopping the walking of the rail unmanned intelligent detection terminal equipment is initiatively initiated, and personal injury or damage to the rail unmanned intelligent detection terminal equipment is avoided.
Area early warning:
when obstacles appear in the longitudinal distance of the rail unmanned intelligent detection terminal equipment and the distance ranges of the left and right sides with the rail unmanned intelligent detection terminal equipment as the center, early warning is triggered.
C. On-site video monitoring subsystem
The rail unmanned intelligent detection terminal equipment is provided with a front camera and a rear camera, and a video monitoring system is established for remote on-site viewing. Can debug the scene video, artifical barrier removal affirmation avoids the unmanned intelligent detection terminal equipment of track that barrier erroneous judgement caused not work.
The video images are stored locally and transmitted back to the command center subsystem in real time through on-site network transmission equipment.
And the command center staff can watch the on-site video monitoring image in real time through the command center subsystem and can intervene the action of the unmanned intelligent detection terminal equipment of the track manually if necessary.
D. Host system
The operation of the rail unmanned intelligent detection terminal equipment system adopts a special management software and server transfer mode.
The upper computer system running on the upper computer is mainly used for receiving and processing the information interaction and processing among the command center subsystem, the field video monitoring subsystem, the collision avoidance system and the command center subsystem. And determining a processing mode according to the self-checking result, determining the motion mode of the unmanned intelligent track detection terminal equipment and whether to continue to operate according to the anti-collision result, and adjusting the motion mode of the unmanned intelligent track detection terminal equipment and whether to continue to operate according to manual intervention of the command center subsystem.
E. Ultrasonic detection subsystem
The ultrasonic steel rail flaw detection operation module can perform internal damage detection operation on double strands of steel rails without influencing the steel rail structure and the line operation.
When the detection task comprises an ultrasonic flaw detection part, the ultrasonic flaw detection subsystem needs to be started. In order to ensure the smooth operation of ultrasonic flaw detection, the front and the rear spray heads are respectively arranged on the two sides of each terminal, and the flow can be adjusted. The rated voltage of the spraying coupling system is 24V; the working current is 1.58A; maximum current: 9.0A; the flow is continuous and stable, and the maximum flow can reach 7.0 LPM; when the spraying coupling system works, the left spray head and the right spray head are opened simultaneously, and the front spray head and the rear spray head are automatically switched according to the advancing direction; the flow of each spray head can be adjusted by workers according to the tread condition of the railway line steel rail.
Technical parameters of the ultrasonic detection subsystem are as follows:
1) the operation mode is as follows: the system can be singly lapped on the unmanned platform for operation, and can also be combined with other operation systems to be lapped on the unmanned platform for operation
2) Flaw detection operation speed: the highest detection speed is 15km/h, and the detection speed is 8-12 km/h.
3) Flaw detection frequency: collected every 2.80 mm.
4) Probe adjustment: the relative state of the probe wheel and the steel rail is automatically adjusted.
5) Remote adjustment: the centering servo mechanism can be remotely marked and adjusted.
6) Data synchronization: flaw detection data are transmitted to a command center system in real time, so that the advantage expert resources are fully utilized, and occupation of secondary rechecking on skylight and manpower is reduced.
The ultrasonic detection subsystem has the advantages that:
1) the highest detection speed can reach 15km/h, and the skylight time is fully utilized.
2) And the double tracks are simultaneously detected, so that the manual expenditure is reduced.
3) The 9 channels realize the full coverage of the railhead and the reduction of the detection blind area of the rail web and the rail bottom (the projection area of the rail web).
4) Sampling is carried out once every 2.80mm, the acquisition precision is high, and leakage injury is greatly avoided.
5) The adjustable centering servo mechanism and the adjustable spraying coupling system fully ensure the relative state and the coupling degree of the probe wheel and the steel rail, and ensure the effectiveness of the acquired signals.
6) An intelligent injury judging algorithm is built in, an injury-free area is intelligently skipped, an injury signal is highlighted, and the risks of low manual injury judging efficiency and missed judgment and erroneous judgment are reduced.
F. Track bed inspection subsystem
The track bed inspection subsystem can acquire continuous images of the track and the peripheral surface state under a dynamic condition, has the functions of intelligently identifying and positioning defects such as steel rail surface scratch, sleeper (track slab) defects, steel rail fastener abnormity and the like, and provides a flat, efficient, automatic and intelligent detection means for the safe operation of the high-speed railway. Compared with the ultrasonic flaw detection of the steel rail, the method is more focused on the surface damage of the steel rail and the visual damage of a roadbed, a track plate and the like, and is effective supplement to the ultrasonic flaw detection result of the steel rail.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. The comprehensive track detection device based on unmanned driving comprises a track bed sleeper (1) and an I-shaped rail (2) positioned on the track bed sleeper (1) on a track; the intelligent detection system comprises a walking detection platform (3) walking above a track sleeper (1) and an I-shaped rail (2), wherein a horizontal angle sensing mechanism (4) is arranged in the walking detection platform (3), and two sets of first longitudinal mounting base plates (7) which are paired are fixedly connected with the lower part of the walking detection platform (3), and the intelligent detection system is characterized in that:
the intelligent detection system comprises a self-checking subsystem for performing state self-checking after the terminal equipment on the walking detection platform (1) is started;
the intelligent detection system comprises a radar anti-collision subsystem of a front laser radar and a rear laser radar which are arranged on the walking detection platform (1);
the intelligent detection system comprises a field video monitoring subsystem for monitoring cameras at the front and rear positions of the walking detection platform (1);
the intelligent detection system comprises an upper host system for receiving and processing information interaction and processing among the command center subsystem, the on-site video monitoring subsystem, the collision avoidance system and the command center subsystem;
the intelligent detection system comprises a track bed inspection subsystem for continuously sensing and detecting the states of the track and the peripheral surface under a dynamic condition;
each first longitudinal mounting base plate (7) faces a second transverse mounting base plate (8) and a third transverse mounting base plate (9) of the I-shaped rail (2);
a second end side longitudinal cavity (10) is formed in the end side of the second transverse mounting substrate (8);
a pair of second pressure sensors (12) is symmetrically arranged in the second end side longitudinal cavity (10);
a second inner movable plate (13) and a second outer movable plate (14) are movably arranged in the second end side longitudinal cavity (10);
the second internal movable plate (13) is in contact connection with a second pressure sensor (12);
a second adjusting spring (15) is arranged between the second inner movable plate (13) and the second outer movable plate (14);
one side of the second external movable plate (14) is provided with a movable rolling body (16) protruding out of the longitudinal cavity (10) at the second end side;
a third upper side plate (18) and a third lower side plate (20) are fixedly connected to the end side of the third transverse mounting base plate (9);
a third longitudinal infrared sensor (19) which senses longitudinally downwards is arranged on the third upper side plate (18);
a third transverse infrared sensor (21) which is used for sensing transversely inwards is arranged on the third lower side plate (20);
and a third lateral angle infrared sensor (22) for sensing inclination is arranged on the third transverse mounting substrate (9).
2. The unmanned-based track comprehensive detection device according to claim 1, characterized in that:
a high-definition wide-angle camera device (6) is arranged right below the walking detection platform (3);
and an ultrasonic flaw detector (5) positioned on two sides of the high-definition wide-angle camera device (6) is arranged below the walking detection platform (3).
3. The unmanned-based track comprehensive detection device according to claim 1, characterized in that:
a second inner middle plate (11) is fixedly arranged at the middle position of the second end side longitudinal cavity (10);
a pair of second pressure sensors (12) is symmetrically and fixedly arranged on two sides of the second inner middle plate (11).
4. The unmanned-based track comprehensive detection device according to claim 1, characterized in that:
the I-shaped rail (2) comprises an I-shaped inner lower side surface (201) and an I-shaped inner upper side surface (202);
the movable rolling body (16) at the lower side is in extrusion contact with the lower side surface (201) of the I-shaped inner part;
the upper movable roller (16) is in pressing contact with the upper side (202) of the I-shaped inner part.
5. The unmanned-based track comprehensive detection device according to claim 1, characterized in that:
the third edge angle infrared sensor (22) is located between the third longitudinal infrared sensor (19) and the third transverse infrared sensor (21);
the I-shaped rail (2) comprises an I-shaped upper plate upper side surface (203), an I-shaped upper plate edge side surface (204) and an I-shaped upper part corner position (205) located between the I-shaped upper plate upper side surface (203) and the I-shaped upper plate edge side surface (204);
the sensing detection direction of the third longitudinal infrared sensor (19) is matched with the upper side surface (203) of the I-shaped upper plate;
the sensing detection direction of the third transverse infrared sensor (21) is matched with the side surface (204) of the I-shaped upper plate edge;
and the sensing detection direction of the third edge angle infrared sensor (22) is matched with the upper edge angle position (205) of the I-shaped part.
6. The unmanned-based track comprehensive detection device according to claim 1, characterized in that:
in the pair of second pressure sensors (12) in the second end side longitudinal cavity (10), the standard parameter threshold value detected by the second pressure sensor (12) on the upper side is larger than that detected by the second pressure sensor (12) on the lower side.
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| CN113247043A (en) * | 2021-05-20 | 2021-08-13 | 中国十七冶集团有限公司 | Movable track crack detection device and use method |
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