CN112103840A - Railway contact net inspection robot - Google Patents
Railway contact net inspection robot Download PDFInfo
- Publication number
- CN112103840A CN112103840A CN202010972144.9A CN202010972144A CN112103840A CN 112103840 A CN112103840 A CN 112103840A CN 202010972144 A CN202010972144 A CN 202010972144A CN 112103840 A CN112103840 A CN 112103840A
- Authority
- CN
- China
- Prior art keywords
- camera
- frame
- side wheel
- contact net
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a railway contact net inspection robot, which comprises a frame, wherein a driving assembly, a track gauge measuring device, a binocular distance measuring device, an electric bin and an inclination angle sensor are arranged on the frame, the binocular distance measuring device comprises two camera bases arranged transversely at intervals and a line laser arranged between the two camera bases, and cameras and camera adjusting devices for adjusting the positions of the cameras so as to enable the axes of lenses of the two cameras to be coplanar with the rays of the line laser are respectively arranged on the two camera bases, and the invention has the beneficial effects that: the railway contact net inspection robot can automatically walk on a railway track to operate, so that the inspection efficiency is improved, and the cost of manual inspection is reduced; a camera adjusting device is additionally arranged in the binocular distance measuring device for measuring the leading and the pulling values of the overhead contact system, so that the error of the measuring result is reduced; the side wheel assembly is arranged, so that the robot can keep running straight when the robot patrols and examines by oneself, and the track gauge measuring result is more accurate.
Description
Technical Field
The invention belongs to the field of railway inspection, and particularly relates to a railway contact net inspection robot.
Background
In recent years, the railway traffic network in China is rapidly increased, a large number of railway traffic infrastructures enter a maintenance period one after another, and the pressure for line safety and monitoring is gradually increased. At present, railway traffic line inspection is mainly completed in a mode of manual static inspection and a small number of dynamic inspection vehicles as assistance, namely, a mode of 'manual + rail vehicle' integration. The traditional manual inspection mode has the defects of high labor intensity, low working efficiency, scattered detection data, insufficient precision, long line occupation time, particularly 'skylight period' which needs to be reserved and the like.
Disclosure of Invention
In order to solve the problems, the invention provides a railway contact net inspection robot which can detect the height and the pull-out value of a railway contact net and the track gauge, the height and other data of a track in real time, and the scheme is as follows:
the utility model provides a railway contact net patrols and examines robot, includes the frame be provided with drive assembly, gauge length measuring device, two mesh range units, electrical bin and angular transducer on the frame, two mesh range units include the camera frame that two horizontal intervals set up and set up in two line laser in the middle of the camera frame is two thereby be equipped with the camera on the camera frame respectively and be used for adjusting the camera position and make two the camera axis of camera and the coplane camera adjusting device of line laser's ray, the drive assembly provides power for the robot, gauge length measuring device is used for measuring orbital distance, two mesh range units are used for measuring the lead height and the pullout value of contact net, the electrical bin is used for installing electrical components such as battery, control panel and driver, angular transducer is used for measuring the railway superelevation.
Further, camera adjusting device includes translation adjusting device, translation adjusting device including set firmly in follow on the camera frame the first linear guide rail that the fore-and-aft direction of frame set up slide on the first linear guide rail and be provided with first slider upper end fixedly connected with adjusts the fixing base adjust and set firmly the edge on the fixing base the swash plate that the frame fore-and-aft direction was placed, camera parallel arrangement in on the swash plate adjust the fixing base around both ends be equipped with respectively and shelter from the end plate of terminal surface around the first slider, two it is provided with translation adjusting screw to correspond on the end plate the terminal surface is provided with translation fastening screw respectively about first slider, simple structure, and the adjustment is convenient.
The camera adjusting device further comprises an angle adjusting device, the angle adjusting device comprises a camera fixing seat which is rotatably arranged on the inclined plate, the camera is fixedly arranged on the camera fixing seat, the lower end of the camera fixing seat is fixedly connected with a disc parallel to the inclined plate, the front end and the rear end of the inclined plate are respectively extended with a flat plate, and two angle adjusting screws are correspondingly arranged on the flat plates.
Further, the track gauge measuring device comprises a displacement sensor and a side wheel assembly capable of keeping the vehicle frame perpendicular to the steel rail.
Furthermore, the side wheel assembly comprises a fixed side wheel assembly and a movable side wheel assembly which are respectively arranged at the two transverse ends of the frame, the fixed side wheel assembly comprises two fixed side wheel brackets which are arranged at intervals in the front-back direction, the lower end of the fixed side wheel bracket is rotatably provided with a cambered side wheel, the movable side wheel component comprises two second linear guide rails which are fixedly arranged on the frame at intervals in parallel, the second linear guide rails (223) are arranged along the left and right direction, a second slide block is arranged on the second linear guide rail in a sliding way, a movable side wheel bracket is fixedly connected at the lower end of the second slide block, the lower end of the movable side wheel bracket is rotatably provided with a cambered side wheel, the movable side wheel bracket is elastically connected with the frame through a tension spring, and a measuring rod of the displacement sensor is fixedly connected to one of the movable side wheel brackets, and the axis of the measuring rod is parallel to the second linear guide rail.
Furthermore, the driving assembly comprises a motor, a reduction gearbox, a transmission shaft and two driving wheels arranged at two ends of the transmission shaft.
Furthermore, the frame is also provided with two driven wheels which assist the driving wheel to support the frame, so that the robot can run more stably.
Furthermore, an encoder is arranged on one driven wheel, the shaft end of the encoder is connected to a rotating shaft core of the driven wheel, and the encoder is used for measuring the driving mileage.
Furthermore, the frame is further provided with a laser obstacle avoidance device and a monitoring camera, the laser obstacle avoidance device is used for detecting an obstacle in the walking process of the robot so as to avoid the obstacle from colliding, and the monitoring camera is used for monitoring the environment in the running process of the robot so as to find abnormality in time.
In conclusion, the beneficial effects of the invention are as follows: the railway contact net inspection robot can automatically walk on a railway track to operate, so that the inspection efficiency is improved, and the cost of manual inspection is reduced; a camera adjusting device is additionally arranged in the binocular distance measuring device for measuring the leading and the pulling values of the overhead contact system, so that the error of the measuring result is reduced; the inspection robot is provided with the side wheel assembly capable of keeping the frame perpendicular to the steel rail, so that the robot can keep running in a straight line during self-running operation, and meanwhile, the rail gauge measuring result is more accurate.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a schematic structural diagram of a camera adjustment apparatus according to the present invention;
fig. 4 is a schematic structural diagram of a camera fixing base according to the present invention.
Description of reference numerals: 1. a drive assembly; 11. a motor; 12. a reduction gearbox; 13. a driving wheel; 14. a drive shaft; 15. a driven wheel; 2. a gauge measuring device; 21. a displacement sensor; 22. a side wheel assembly; 22-1, fixing the edge wheel assembly; 22-2, a movable side wheel assembly; 221. fixing the side wheel bracket; 222. a cambered surface side wheel; 223. a second linear guide; 224. a second slider; 225. a movable side wheel support; 226. a tension spring; 3. a binocular ranging device; 31. a camera stand; 32. a line laser; 33. a camera; 34. a camera adjustment device; 34-1, a translation adjusting device; 34-2, an angle adjusting device; 341. a first linear guide rail; 342. a first slider; 343. Adjusting the fixed seat; 344. a sloping plate; 345. an end plate; 346. a translation adjusting screw; 347. translating the fastening screw; 348. a camera fixing base; 349. a disc; 340. an angle adjustment screw; 35. A protective cover; 4. an electric bin; 5. a tilt sensor; 6. an encoder; 7. a laser obstacle avoidance device; 8. a surveillance camera; 100. a vehicle frame.
Detailed Description
The following detailed description provides many different embodiments or examples for implementing the invention. Of course, these are merely embodiments or examples and are not intended to be limiting. In addition, repeated reference numbers, such as repeated numbers and/or letters, may be used in various embodiments. These iterations are for simplicity and clarity of describing the present invention and are not intended to represent a particular relationship between the various embodiments and/or configurations discussed.
Furthermore, spatially relative terms, such as "below" … "," below "," inside-out "," above "," upper "and the like, may be used herein to facilitate describing the relationship of one element(s) or feature(s) to another element(s) or feature(s) in the drawings and may encompass different orientations of the device in use or operation and the orientation depicted in the drawings. The devices may be turned to different orientations (0 degrees of rotation or other orientations) and the spatially relative descriptors used therein should also be interpreted as such and are not to be construed as limiting the invention, and the terms "first" and "second" are used for descriptive purposes only and are not intended to indicate or imply relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
The invention will be further described with reference to the following description and embodiments in conjunction with the accompanying drawings:
as shown in fig. 1 to 4, the railway contact net inspection robot comprises a frame 100, wherein a driving assembly 1, a track gauge measuring device 2, a binocular distance measuring device 3, an electrical cabin 4, an inclination angle sensor 5, a laser obstacle avoidance device 7 and a monitoring camera 8 are arranged on the frame 100. The drive assembly 1 provides power for the robot, gauge measuring device 2 is used for measuring orbital distance, binocular range unit 3 is used for measuring the lead height and the pullout value of contact net, electrical storage device 4 is used for installing electrical components such as battery, control panel and driver, inclination sensor 5 is used for measuring the railway superelevation.
As shown in fig. 1, the driving assembly 1 mainly includes a motor 11, a reduction box 12, a transmission shaft 14 and two driving wheels 13 disposed at two ends of the transmission shaft 14, the motor 11 and the reduction box 12 are disposed at the middle portion of the frame 100, and the two driving wheels 13 are disposed at the left and right ends of the frame 100 respectively and are used for being placed on the steel rail. Meanwhile, the frame 100 is also provided with a pair of driven wheels 15 for assisting the driving wheels 13 to support the frame 100, so that the robot can walk stably. A measuring shaft of an encoder 6 is connected to the rotating shaft center of one driven wheel 15, and the encoder 6 is used for measuring the travel distance of the robot.
As shown in fig. 1 and 2, the track gauge measuring device 2 includes a displacement sensor 21 and a side wheel assembly 22 capable of keeping the vehicle frame 100 perpendicular to the rail, the side wheel assembly 22 includes a fixed side wheel assembly 22-1 and a movable side wheel assembly 22-2 respectively disposed at the left and right ends of the vehicle frame 100, the fixed side wheel assembly 22-1 includes two fixed side wheel brackets 221 disposed at intervals in the front-rear direction, an arc-shaped side wheel 222 is rotatably mounted at the lower end of the fixed side wheel bracket 221, the movable side wheel assembly 22-2 includes two second linear guide rails 223 fixedly disposed in parallel at intervals on the vehicle frame 100, the second linear guide rails (223) are disposed in the left-right direction, a second slide block 224 is slidably mounted on the second linear guide rails 223, a movable side wheel bracket 225 is fixedly connected to the lower end of the second slide block 224, an arc-shaped side wheel 222 is rotatably mounted at the lower end of the movable side wheel bracket 225, the equal vertical setting of axis of rotation of cambered surface side wheel 222, activity side wheel support 100 is through a tension spring 226 elastic connection frame 100, tension spring 226 is on a parallel with second linear guide 223 sets up, the pulling force of tension spring enables second slider 224 to drive the cambered surface of its cambered surface side wheel 222 of lower extreme and supports and lean on the rail medial surface, displacement sensor 21's measuring stick fixed connection is in one of it on the activity side wheel support 225 and its axis with second linear guide 223 is parallel. In the running process of the robot, the two cambered side wheels 222 of the fixed side wheel assembly 22-1 abut against the inner side of one steel rail, and the two cambered side wheels 222 of the movable side wheel assembly 22-2 always abut against the inner side of the other steel rail under the action of the tension spring 226, so that the robot is guaranteed to run linearly along the guide rail, the displacement sensor 21 can accurately detect the variation of the rail gauge, and the rail gauge is obtained.
The camera adjustment device 34 includes a translation adjustment device 34-1 and an angle adjustment device 34-2. As shown in fig. 3, the translational adjustment device 34-1 includes a first linear guide 341 fixed on the camera base 31 and arranged along the front-back direction of the frame 100, a first slider 342 slidably arranged on the first linear guide 341, an adjusting fixing seat 343 fixedly connected to an upper end of the first slider 342, a tilted plate 344 fixed on the adjusting fixing seat 343 and arranged along the front-back direction of the frame 100, the camera 33 arranged on the tilted plate 344, end plates 345 respectively arranged at front and back ends of the adjusting fixing seat 343 and covering front and back end surfaces of the first slider 342, translational adjustment screws 346 correspondingly arranged on the two end plates 345, translational fastening screws 347 respectively arranged on left and right end surfaces of the first slider 342, the first slider 342 being able to drive the camera 33 to translate back and forth by rotating the translational adjustment screws 346, when the camera is in a proper position, the translational set screw 347 is tightened.
The angle adjusting device 34-2 can adjust a swing inclination angle of the camera 33 in a front-back direction, as shown in fig. 3 and 4, the angle adjusting device includes a camera fixing seat 348 rotatably disposed on the inclined plate 344, the camera 33 is fixedly disposed on the camera fixing seat 348, a disc 349 parallel to the inclined plate 344 is fixedly connected to a lower end of the camera fixing seat 348, flat plates respectively extend from front and back ends of the inclined plate 344, the disc 349 is disposed between the two flat plates, and angle adjusting screws 340 are correspondingly disposed on the two flat plates. By adjusting the two angle adjusting screws 340, the disc 349 drives the camera fixing seat 348 to rotate relative to the inclined plate 344, so as to adjust the direction of the lens axis of the camera 33, so that the lens axis of the camera 33 is kept parallel to the ray of the laser, and the accuracy of the measurement result is improved.
As shown in fig. 2, a laser obstacle avoidance device 7 and a monitoring camera 8 are further arranged on the vehicle frame 100, the laser obstacle avoidance device 7 is used for detecting an obstacle in the walking process of the robot so as to prevent the robot from colliding with the obstacle, and the monitoring camera 8 is used for monitoring the environment in the running process of the robot so as to find abnormality in time. The inspection robot and the inspection robot guarantee the safety of automatic inspection.
While there have been shown and described the fundamental principles and principal features of the invention and advantages thereof, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration of the principles of the invention, but is susceptible to various changes and modifications without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a railway contact net patrols and examines robot, includes frame (100), its characterized in that: be provided with drive assembly (1), gauge measuring device (2), binocular range unit (3), electronic storehouse (4) and tilt sensor (5) on frame (100), binocular range unit (3) include two horizontal interval set up camera frame (31) and set up in two line laser (32) in the middle of camera frame (31) two thereby be equipped with camera (33) on camera frame (31) respectively and be used for adjusting camera (33) position and make two the camera axis of camera (33) and the coplane camera adjusting device of ray (34) of line laser (32).
2. The railway contact net inspection robot according to claim 1, wherein the camera adjusting device (34) comprises a translation adjusting device (34-1), the translation adjusting device (34-1) comprises a first linear guide rail (341) fixedly arranged on the camera base (31) and arranged along the front-rear direction of the frame (100), a first sliding block (342) is arranged on the first linear guide rail (341) in a sliding manner, an adjusting fixing base (343) is fixedly connected to the upper end of the first sliding block (342), a sloping plate (344) arranged along the front-rear direction of the frame (100) is fixedly arranged on the adjusting fixing base (343), the camera (33) is arranged on the sloping plate (344), end plates (345) for shielding the front-rear end surfaces of the first sliding block (342) are respectively arranged at the front end and the rear end of the adjusting fixing base (343), translation adjusting screws (346) are correspondingly arranged on the two end plates (345), and translation fastening screws (347) are respectively arranged on the left end surface and the right end surface of the first sliding block (342).
3. The railway contact net inspection robot according to claim 2, wherein the camera adjusting device (34) further comprises an angle adjusting device (34-2), the angle adjusting device (34-2) comprises a camera fixing seat (348) rotatably arranged on the inclined plate (344), the camera (33) is fixedly arranged on the camera fixing seat (348), a disc (349) parallel to the inclined plate (344) is fixedly connected to the lower end of the camera fixing seat (348), flat plates respectively extend from the front end to the rear end of the inclined plate (344), the disc (349) is located between the two flat plates, and angle adjusting screws (340) are correspondingly arranged on the two flat plates.
4. The railway catenary inspection robot according to claim 1, wherein the gauge measuring device (2) comprises a displacement sensor (21) and a side wheel assembly (22) capable of keeping the frame (100) perpendicular to the rails.
5. The railway contact net inspection robot according to claim 4, wherein the side wheel assembly (22) comprises a fixed side wheel assembly (22-1) and a movable side wheel assembly (22-2) which are respectively arranged at the left end and the right end of the frame (100), the fixed side wheel assembly (22-1) comprises two fixed side wheel brackets (221) which are arranged at intervals in the front-rear direction, an arc-shaped side wheel (222) is rotatably installed at the lower end of each fixed side wheel bracket (221), the movable side wheel assembly (22-2) comprises two second linear guide rails (223) which are fixedly arranged on the frame (100) at intervals in parallel, the second linear guide rails (223) are arranged along the left-right direction, a second sliding block (224) is slidably installed on the second linear guide rails (223), and a movable side wheel bracket (225) is fixedly connected to the lower end of the second sliding block (224), cambered surface side wheel (222) is installed in the rotation of activity side wheel support (225) lower extreme, the equal vertical setting of axis of rotation of cambered surface side wheel (222), activity side wheel support (100) are through a extension spring (226) elastic connection frame (100), displacement sensor (21)'s measuring stick fixed connection in one of them on activity side wheel support (225) and its axis with second linear guide (223) are parallel.
6. The railway contact net inspection robot according to claim 1, wherein the driving assembly (1) comprises a motor (11), a reduction gearbox (12), a transmission shaft (14) and two driving wheels (13) arranged at two ends of the transmission shaft (14).
7. The railway overhead line inspection robot according to claim 6, wherein the frame (100) is further provided with two driven wheels (15) for assisting the driving wheel (12) in supporting the frame (100).
8. The railway contact net inspection robot according to claim 7, wherein an encoder (6) is arranged on one driven wheel (13), and the shaft end of the encoder (6) is connected to the rotating shaft core of the driven wheel (13).
9. The railway contact net inspection robot according to claim 1, wherein a laser obstacle avoidance device (7) and a monitoring camera (8) are further arranged on the frame (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010972144.9A CN112103840B (en) | 2020-09-16 | 2020-09-16 | Railway contact net inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010972144.9A CN112103840B (en) | 2020-09-16 | 2020-09-16 | Railway contact net inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112103840A true CN112103840A (en) | 2020-12-18 |
| CN112103840B CN112103840B (en) | 2022-02-25 |
Family
ID=73759812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010972144.9A Active CN112103840B (en) | 2020-09-16 | 2020-09-16 | Railway contact net inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112103840B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114346991A (en) * | 2021-12-09 | 2022-04-15 | 浙江高信技术股份有限公司 | Track cleaning system based on track inspection robot |
| CN115524336A (en) * | 2022-09-26 | 2022-12-27 | 湖南科天健光电技术有限公司 | Pipeline inner wall detection robot |
| CN117928386A (en) * | 2024-03-22 | 2024-04-26 | 四川拓及轨道交通设备股份有限公司 | Portable binocular contact net geometric parameter detection system and method |
| CN117928386B (en) * | 2024-03-22 | 2024-05-31 | 四川拓及轨道交通设备股份有限公司 | Portable binocular contact net geometric parameter detection system and method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH103109A (en) * | 1996-06-14 | 1998-01-06 | Asahi Koyo Kk | Aerial wire photographing device and its method |
| JP2009234338A (en) * | 2008-03-26 | 2009-10-15 | Railway Technical Res Inst | Integrity diagnostic system for trolley line of railway |
| KR101165969B1 (en) * | 2011-04-27 | 2012-07-18 | 목포대학교산학협력단 | Position measuring device having distance and angle measuring function |
| CN104191124A (en) * | 2014-06-30 | 2014-12-10 | 浙江吉利控股集团有限公司 | Automobile threshold welding positioning device and positioning method |
| CN104748685A (en) * | 2015-04-17 | 2015-07-01 | 上海铁路局科学技术研究所 | Dynamic measurement method of geometric parameters of overhead contact system |
| CN105644572A (en) * | 2016-03-01 | 2016-06-08 | 绵阳市铁人电气设备有限责任公司 | Self-walking intelligent tour inspection equipment for overhead line system |
| CN110160477A (en) * | 2019-06-10 | 2019-08-23 | 山东交通学院 | Contact net based on monocular vision leads high and pull-out value detection device and method |
| CN110231008A (en) * | 2019-06-10 | 2019-09-13 | 山东交通学院 | High and pull-out value measurement mechanism and method are led based on the contact net being imaged twice |
| CN110360413A (en) * | 2019-07-15 | 2019-10-22 | 北京迈格威科技有限公司 | Array camera adjusts device and method of adjustment |
| CN110401138A (en) * | 2019-08-14 | 2019-11-01 | 吉林省中业光电技术有限公司 | A kind of high-power Non-water-cooled miniaturization laser is removed obstacles equipment and its application method |
| CN209879338U (en) * | 2019-05-24 | 2019-12-31 | 北京海益同展信息科技有限公司 | Track inspection robot |
| CN110955254A (en) * | 2020-02-24 | 2020-04-03 | 广州普华灵动机器人技术有限公司 | Intelligent inspection robot and use method thereof |
| CN111366082A (en) * | 2020-04-16 | 2020-07-03 | 青岛地铁集团有限公司运营分公司 | Movable contact rail detection device and application method thereof |
| CN111408493A (en) * | 2020-04-02 | 2020-07-14 | 宁波大学 | Automatic paint spraying equipment capable of being adjusted at multiple angles |
-
2020
- 2020-09-16 CN CN202010972144.9A patent/CN112103840B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH103109A (en) * | 1996-06-14 | 1998-01-06 | Asahi Koyo Kk | Aerial wire photographing device and its method |
| JP2009234338A (en) * | 2008-03-26 | 2009-10-15 | Railway Technical Res Inst | Integrity diagnostic system for trolley line of railway |
| KR101165969B1 (en) * | 2011-04-27 | 2012-07-18 | 목포대학교산학협력단 | Position measuring device having distance and angle measuring function |
| CN104191124A (en) * | 2014-06-30 | 2014-12-10 | 浙江吉利控股集团有限公司 | Automobile threshold welding positioning device and positioning method |
| CN104748685A (en) * | 2015-04-17 | 2015-07-01 | 上海铁路局科学技术研究所 | Dynamic measurement method of geometric parameters of overhead contact system |
| CN105644572A (en) * | 2016-03-01 | 2016-06-08 | 绵阳市铁人电气设备有限责任公司 | Self-walking intelligent tour inspection equipment for overhead line system |
| CN209879338U (en) * | 2019-05-24 | 2019-12-31 | 北京海益同展信息科技有限公司 | Track inspection robot |
| CN110160477A (en) * | 2019-06-10 | 2019-08-23 | 山东交通学院 | Contact net based on monocular vision leads high and pull-out value detection device and method |
| CN110231008A (en) * | 2019-06-10 | 2019-09-13 | 山东交通学院 | High and pull-out value measurement mechanism and method are led based on the contact net being imaged twice |
| CN110360413A (en) * | 2019-07-15 | 2019-10-22 | 北京迈格威科技有限公司 | Array camera adjusts device and method of adjustment |
| CN110401138A (en) * | 2019-08-14 | 2019-11-01 | 吉林省中业光电技术有限公司 | A kind of high-power Non-water-cooled miniaturization laser is removed obstacles equipment and its application method |
| CN110955254A (en) * | 2020-02-24 | 2020-04-03 | 广州普华灵动机器人技术有限公司 | Intelligent inspection robot and use method thereof |
| CN111408493A (en) * | 2020-04-02 | 2020-07-14 | 宁波大学 | Automatic paint spraying equipment capable of being adjusted at multiple angles |
| CN111366082A (en) * | 2020-04-16 | 2020-07-03 | 青岛地铁集团有限公司运营分公司 | Movable contact rail detection device and application method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 王延华等: "基于双目视觉的接触网磨耗在线检测研究", 《计算机工程与应用》 * |
| 王者胜等: "基于双目视觉的接触线几何参数测量方法", 《机械与电子》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114346991A (en) * | 2021-12-09 | 2022-04-15 | 浙江高信技术股份有限公司 | Track cleaning system based on track inspection robot |
| CN114346991B (en) * | 2021-12-09 | 2023-10-27 | 浙江高信技术股份有限公司 | Track cleaning system based on track inspection robot |
| CN115524336A (en) * | 2022-09-26 | 2022-12-27 | 湖南科天健光电技术有限公司 | Pipeline inner wall detection robot |
| CN115524336B (en) * | 2022-09-26 | 2023-08-08 | 湖南科天健光电技术有限公司 | Pipeline inner wall detection robot |
| CN117928386A (en) * | 2024-03-22 | 2024-04-26 | 四川拓及轨道交通设备股份有限公司 | Portable binocular contact net geometric parameter detection system and method |
| CN117928386B (en) * | 2024-03-22 | 2024-05-31 | 四川拓及轨道交通设备股份有限公司 | Portable binocular contact net geometric parameter detection system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112103840B (en) | 2022-02-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11359945B2 (en) | Inspection device and method for subway tunnels based on three-dimensional laser scanning | |
| CN112103840B (en) | Railway contact net inspection robot | |
| CN113944073A (en) | Track detection trolley | |
| CN216237923U (en) | Track detection trolley | |
| CN210180409U (en) | Canopy limit measuring device for existing railway line platform | |
| CN110057272A (en) | A kind of railroad platform robot measurement | |
| CN213681824U (en) | High-speed measuring device with warning function | |
| CN213632699U (en) | Ultrathin image acquisition device suitable for rail transit vehicle | |
| CN205280000U (en) | Portable train tire tread profile detection device | |
| CN103292702A (en) | Geometric dimension measuring instrument of silicon rod | |
| CN208530590U (en) | A kind of band remotely monitors and the rail of wireless data transmission function examines instrument | |
| CN214423160U (en) | A roughness detection device for construction of highway bridge floor | |
| CN112503325A (en) | 3D camera support convenient to adjust | |
| CN220356314U (en) | Overhead automatic linear displacement platform | |
| CN220647513U (en) | Portal frame and automobile production line detection frame body thereof | |
| CN210638603U (en) | Expansion joint assembling device | |
| CN110208006B (en) | Simulated vehicle combined rack for perception test of parking system | |
| CN209774604U (en) | Toolbox for building detection | |
| CN219116117U (en) | Construction project management informationized management device | |
| CN212458278U (en) | Automatic detection system for gauge and level of high-speed railway | |
| CN218141510U (en) | Rail detection device for railway engineering maintenance | |
| CN216721251U (en) | Intelligent monitoring device for photovoltaic panel | |
| CN216115907U (en) | Four-wheel aligner convenient to adjust length for new energy automobile | |
| CN219065518U (en) | Suspension type safety inspection follower | |
| CN216834078U (en) | Intelligent instrument panel of electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |