CN112945259A - Multifunctional intelligent measuring trolley and operation method - Google Patents

Abstract

The invention discloses a multifunctional intelligent measuring trolley and an operation method, and the multifunctional intelligent measuring trolley comprises a control module, an advancing module, a basic operation module, a code spraying module, a mileage module, a vision module and a measuring module, wherein the control module controls command issuing and information processing, the advancing module controls the trolley to operate, the basic operation module trolley is prevented from collision and gives an alarm for abnormal conditions, the mileage module records mileage data, the vision module performs positioning and records advancing distance when no GPS signal exists, and the measuring module detects electrical parameters on a track; an adjusting mechanism is designed in the code spraying module, and the adjusting mechanism adjusts the planar degree of freedom of the nozzle, so that the plane of the nozzle is kept parallel to the surface of the sleeper, and the code spraying effect is ensured; the adjusting mechanism adopts a spring or a telescopic rod for adjusting, and has simple structure and simple and convenient operation.

Description

Multifunctional intelligent measuring trolley and operation method

Technical Field

The invention belongs to the field of industrial intelligence, and relates to a multifunctional intelligent measuring trolley and an operation method.

Background

Railway infrastructure has always been the key construction project of the country, and railway construction has promoted the development of each industry. And when the 5G construction is accelerated, the railway informatization, intelligentization and digitization processes can be further promoted. Therefore, the railway is intelligentized to be a hot topic, wherein the strengthening of the digital informatization construction in the railway construction can not only realize later-stage comprehensive management and control and optimized scheduling, but also improve the operation efficiency and the stability of the equipment safety; and the intelligent machine replaces manual work to enhance the automation degree of equipment, so that the labor input cost of railway informatization digital construction is reduced, the data accuracy is improved, the work efficiency is further improved, and the method has important significance for the rapid development of the high-speed railway.

Disclosure of Invention

The invention provides a multifunctional intelligent measuring trolley and an operation method thereof, aiming at overcoming the defects of the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a multi-functional intelligent measurement dolly which characterized in that: including control module, the module of marcing, basic operation module, spout a yard module, mileage module, vision module and measuring module, control module control command is given and information processing, and the module control dolly of marcing moves, and basic operation module dolly anticollision is reported to the police to the abnormal conditions, and mileage module record mileage data, and vision module fixes a position and takes notes the distance of marcing when not having the GPS signal, and measuring module detects the electrical parameter on the track.

Further, the method comprises the following steps of; the control module comprises a main controller, a device body touch screen, a motor controller and a remote control handle, wherein the device body touch screen is in wired connection with the main controller for signal transmission, and is used for adjusting and selecting relevant parameters and indexes when an initialization device performs corresponding work and calling and checking device main control data when the device fails; the remote control handle is in wireless connection with the main controller for signal transmission, and is used for the remote pipe connecting device of an operator to act according to special conditions and special requirements; the motor controller and the main controller are connected through wires for signal transmission, and are used for controlling different rotating speeds of the wheel motors on the two sides when the main controller issues a turning instruction to the advancing module.

Further, the method comprises the following steps of; the advancing module comprises a bearing frame and an advancing mechanism, the advancing mechanism comprises a driving assembly and a driven driving assembly, the driving assembly is driven by an advancing motor, the advancing motor is connected with a motor controller through a circuit, the motor controller controls the rotating speed of the advancing motor, a photoelectric encoder is arranged on the advancing motor, the photoelectric encoder is connected with the advancing motor through a circuit, and the mechanical geometric displacement of the rotation of the advancing motor is converted into a digital quantity.

Further, the method comprises the following steps of; the basic operation module comprises a lithium ion battery, a power converter, an anti-collision mechanism and a security mechanism; the power converter establishes data connection with the main control unit and adopts circuit connection with the lithium ion battery, the anticollision institution includes anticollision radar, anticollision roof beam and limit switch, anticollision radar fixes in the bearer frame both sides, and be located the both sides of dolly direction of travel, anticollision radar establishes data connection with the main control unit, be used for responding to whether the dolly has the obstacle and accomplishes and keeps away the obstacle or stop the action around the direction of travel, the anticollision roof beam is fixed in the bearer frame both sides, and be located the both sides of dolly direction of travel, be used for urgent mechanical anticollision, limit switch sets firmly the both sides at the anticollision roof beam, and establish data connection with the main control unit, be used for feel after the impact force that the anticollision roof beam received feedback to main control unit and assign instruction control module of travel urgent stopping.

Further, the method comprises the following steps of; the safety mechanism comprises an alarm device and an emergency stop device, the alarm device and the emergency stop device are respectively in data connection with the main controller, the alarm device is triggered when internal data return abnormal signals are detected, and the emergency stop device is located outside the trolley body and used for manually closing the device by an operator when the running trolley breaks down and the signals are received abnormally or in an emergency.

Further, the method comprises the following steps of; the code spraying module comprises a character code spraying device, an ink box, a dustproof shell, a steering engine, a dust blowing mechanism, a fixed base mechanism and a moving mechanism; the ink box is inserted into the character code spraying device, so that the ink box is convenient to replace, and the character code spraying device is in data connection with the main controller; the bottom of the character code spraying device is fixedly provided with a nozzle, code spraying is carried out through the nozzle, the base fixing mechanism is positioned at the bottom of the character code spraying device, and the dustproof shell wraps the bottom of the nozzle of the character code spraying device and the base fixing mechanism; the bottom of the dustproof shell is provided with a limiting plate, the limiting plate is fixedly provided with a limiting groove, a nozzle of the character code spraying device penetrates through the limiting groove, two groups of connecting parts extend out of two sides of the limiting plate respectively, each group of connecting parts is provided with a penetrating hole, a base fixing mechanism penetrates through the penetrating hole and is rotatably connected with the connecting parts, the base fixing mechanism comprises a plane roller, a pressure sensor and a counter, two groups of end surfaces of the plane roller are provided with bulges along the central axis direction and penetrate through the penetrating hole to enable the plane roller to rotate around a shaft, the pressure sensor and the counter are positioned in the plane roller and are in, the moving mechanism comprises a translational moving mechanism and a lifting moving mechanism, the translational moving mechanism drives the character code spraying device to move in a translational mode, and the lifting moving mechanism drives the character code spraying device to move in a lifting mode.

Further, the method comprises the following steps of; the adjusting mechanism adjusts the planar degree of freedom of the nozzle, so that the plane of the nozzle is parallel to the surface of the sleeper.

Further, the method comprises the following steps of; the measuring module is used for automatically measuring the electrical parameters of the track, the electrical parameters comprise circuit voltage, current, carrier frequency and compensation capacitance, the measuring module comprises a vehicle-mounted frequency shift testing device, a first connecting wire, a second connecting wire, a first automatic jacking mechanism, a first detection probe and a second detection probe, the first automatic jacking mechanism and the first automatic jacking mechanism are of the same structure, the first detection probe and the second detection probe are of the same structure, the first automatic jacking mechanism is fixedly connected with the first detection probe, the first automatic jacking mechanism is fixedly connected with the second detection probe, and the first automatic jacking mechanism are symmetrically and fixedly arranged on the left side and the right side of the bearing frame.

The method for operating the multifunctional intelligent measuring trolley comprises the following steps of operating the multifunctional intelligent measuring trolley, controlling a traveling module to drive the trolley to move to a code spraying position of a sleeper through a control module, and spraying a two-dimensional code on the sleeper through a code spraying module, wherein the method comprises the following steps:

s1, a control module controls a traveling module to drive a trolley to move straight or rotate;

s2, the vision module confirms the position of the trolley;

s3, spraying a code on the sleeper by using a code spraying module;

s4, recording the mileage data of the trolley by the odometer;

s5, calibrating the mileage data of the trolley by the RTK positioning system/the three-dimensional scanner;

s6, the visual module records trackside data;

and S7, measuring the track parameters by the measuring module.

Further, the method comprises the following steps of; the spraying of the sleeper comprises

S31, opening a door curtain at the bottom of the door curtain by a steering engine;

s32, cleaning a nozzle by a dust blowing mechanism;

s33, the main controller starts to control the lifting driving motor to move the character code spraying device to a position where the plane roller contacts with the sleeper and a pressure value corresponding to the sleeper is obtained, and then the character code spraying device stops moving, and the adjusting mechanism levels the plane where the nozzle is located and the plane where the sleeper is located;

s34, the main controller starts to control the translation driving motor to drive the plane roller to roll on the sleeper, and a calculation formula is set to confirm that the plane where the nozzle is located is parallel to the plane where the sleeper is located;

and S34, the main controller controls the character code spraying device to finish spraying of the two-dimensional code from the left and right direction or the front and back direction.

In conclusion, the invention has the advantages that:

1. according to the invention, the control module is adopted to control the relevant modules, so that the synchronous control and the control accuracy are ensured.

2. The first spring hydraulic mechanism is designed for buffering, so that stable operation of an electronic device is guaranteed, the first connecting part, the second connecting part, the first wheel connecting part and the first spring hydraulic mechanism are connected end to end in pairs through bolts to form a similar triangular mechanism, and the operation stability of the active driving assembly is effectively improved; and the rail-bound iron wheels or the trackless rubber wheels are adopted according to the use occasions, so that the trolley can be used in different occasions.

3. The anti-collision mechanism is adopted to sense whether the front position and the rear position of the trolley in the advancing direction have obstacles or not and complete obstacle avoidance or stopping action, so that the trolley has an anti-collision function, and the running safety of the trolley is improved; meanwhile, the anti-collision beam is designed, so that the emergency mechanical anti-collision is prevented when the anti-collision radar cannot prevent a high-speed moving object from colliding, and the running safety of the trolley is further improved.

4. According to the invention, the code spraying module is adopted to realize code spraying of the sleepers, and the translation motion and the lifting motion are combined through the moving mechanism, so that the character code spraying device is moved to a specified code spraying position; an adjusting mechanism is designed in the code spraying module, and the adjusting mechanism adjusts the planar degree of freedom of the nozzle, so that the plane of the nozzle is kept parallel to the surface of the sleeper, and the code spraying effect is ensured; the adjusting mechanism adopts a spring or a telescopic rod for adjusting, and has simple structure and simple and convenient operation.

5. The invention adopts the mileage module to measure the mileage, thereby simultaneously and indirectly measuring the track laying distance and the track laying route by the recording device in the running process of the trolley; and an RTK positioning system is adopted to calibrate the mileage data measured by the mileage meter, so that the accuracy of the mileage data is ensured.

6. The invention automatically switches the on-off of the line according to the test items, and realizes the functions of measuring voltage in an open circuit and measuring current in a short circuit; the function of continuous work after the temporary interruption of the work of the trolley is achieved.

Drawings

FIG. 1 is a schematic view of the apparatus of the present invention.

Fig. 2 is a schematic view of the direction a in fig. 1.

Fig. 3 is a schematic view in the direction B in fig. 1.

Fig. 4 is a schematic view in the direction C in fig. 1.

FIG. 5 is a schematic view of an active driving assembly according to the present invention.

FIG. 6 is a schematic view of the driven drive assembly of the present invention.

Fig. 7 is a schematic view of a lower connection portion of the present invention.

Fig. 8 is a schematic diagram of a code spraying module according to the present invention.

Fig. 9 is a bottom view of the inkjet printing module of the present invention.

FIG. 10 is a schematic view of an adjustment mechanism according to a second embodiment of the present invention.

Fig. 11 is a schematic view of the dust blowing mechanism of the present invention.

Fig. 12 is a schematic view of the motion mechanism of the present invention.

FIG. 13 is a schematic view of a measurement module of the present invention.

FIG. 14 is a schematic view of an adjusting mechanism according to a second embodiment of the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

All directional indicators (such as up, down, left, right, front, rear, lateral, longitudinal … …) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture, and if the particular posture is changed, the directional indicator is changed accordingly.

The first embodiment is as follows:

as shown in fig. 1-13, a multi-functional intelligent measuring trolley, including control module, the module of marcing, basic operation module, spout a yard module, mileage module, vision module and measuring module, control module control command is issued and information processing, the module of marcing control trolley operation, basic operation module dolly anticollision is reported to the police to the abnormal conditions, mileage module record mileage data, vision module fixes a position and takes notes the distance of marcing when not having the GPS signal, measuring module detects the electrical parameter on the track.

The control module comprises a main controller 11, a device body touch screen 12, a motor controller 13 and a remote control handle (not shown in the figure), wherein the device body touch screen 12 and the main controller 11 are in wired connection for signal transmission, and are used for adjusting and selecting relevant parameters and indexes when an operator initializes the device to perform corresponding work, and calling and checking device main control data when the device fails; the remote control handle is in wireless connection with the main controller 11 for signal transmission, and particularly can adopt RF (radio frequency) communication for signal transmission so as to be used for the remote control of an operator to take over the actions of the device to meet special conditions and special requirements; the motor controller 13 and the main controller 11 are connected by wire for signal transmission, and are used for controlling different rotating speeds of the wheel motors on two sides to realize differential turning when the main controller 11 issues a turning instruction to the advancing module.

As shown in fig. 5-7, the traveling module includes a carrying frame 21 and a traveling mechanism 22, the carrying frame 21 is used as a carrying part for carrying other modules, the traveling mechanism 22 is provided with two sets and symmetrically connected to two sides of the carrying frame 21, the traveling mechanism 22 includes a driving component 221 and a driven driving component 222, the driving component 221 is driven by a traveling motor 23, the traveling motor 23 is in circuit connection with a motor controller 13, the motor controller 13 controls the rotating speed of the traveling motor 23 so as to control the rotating speed of the wheel, a photoelectric encoder 24 is provided on the traveling motor 23, the photoelectric encoder 24 is in circuit connection with the traveling motor 23, and converts the mechanical geometric displacement of the traveling motor 23 into a digital quantity; the driving component 221 and the driven driving component 222 may adopt the same structure or different structures, as long as the traveling function is achieved, and in this embodiment, the driving component 221 and the driven driving component 222 adopt different structures.

As shown in fig. 5, the active driving assembly 221 includes an active bracket structure and an active wheel structure, the active bracket structure includes a first bracket fixing plate 2211, a first connecting portion 2212, a second connecting portion 2213, a first wheel connecting portion 2214 and a second wheel connecting portion 2215, the first bracket fixing plate 2211 is fixed on the lower end surface of the carrying frame 21, and the first connecting portion 2212 is fixedly provided with a first suspension portion 2217 for suspension placement of a spare tire; in order to buffer during the process of traveling and ensure the stable operation of the electronic device, the active driving assembly 221 further includes a first spring hydraulic mechanism 2216 for buffering, and the first connecting portion 2212, the second connecting portion 2213, the first wheel connecting portion 2214 and the first spring hydraulic mechanism 2216 are connected end to end by two bolts to form a similar triangular mechanism, so that the operation stability of the active driving assembly 221 is effectively improved.

The active wheel structure comprises a rail iron wheel 2221 and a trackless rubber wheel 2222, the rail iron wheel 2221 and the trackless rubber wheel 2222 are coaxially connected, specifically, the inside of the trackless rubber wheel 2222 is of a rigid frame structure, a rubber wheel rotating rod 22221 is fixedly arranged at the center of the rigid frame structure, an annular protrusion 22212 is fixedly arranged on the rail iron wheel 2221, the annular protrusion 22212 is attached to a rail to play a limiting role, an iron wheel rotating rod 22211 penetrates through the center of the rail iron wheel 2221, the rubber wheel rotating rod 22221 and the iron wheel rotating rod 22211 are coaxially arranged, and the rail iron wheel 2221 and the trackless rubber wheel 2222 are fixedly connected through bolts to realize synchronous movement of the rail iron wheel 2221 and the trackless rubber wheel 2222; of course, the connection can also be realized by other methods, for example, the rigid frame structure of the trackless rubber wheel 2222 and the railed iron wheel 2221 are integrally formed by stretching, so that the railed iron wheel 2221 and the trackless rubber wheel 2222 form an integrated structure, the rigidity and hardness are excellent, and the situations of loosening, cracking, aging and the like of the connection part cannot be caused; the rail-bound iron wheels 2221 and the trackless rubber wheels 2222 are alternatively used according to the use occasion, and specifically, when the trolley travels on the rail section, the trolley travels by the relative movement of the rail-bound iron wheels 2221 and the rail; when the trolley travels on the trackless road section, the trolley travels through the relative movement of the trackless rubber wheel 2222 and the ground.

As shown in fig. 7, the first wheel connecting portion 2214 is composed of an upper connecting portion 22141 and a lower connecting portion 22142, which are fixedly connected by a first fastener, the upper connecting portion 22141 is connected to the first spring hydraulic mechanism 2216 and the second connecting portion 2213, the lower connecting portion 22142 includes a hollow through hole 22144, a through hole fixing member 22145 is fixedly arranged in the through hole 22144, and the output shaft of the traveling motor 23 is connected to the iron wheel rotating rod 22211 and is fixedly connected to the through hole fixing member 22145 by a second fastener.

As shown in fig. 6, the driven driving assembly 223 includes a driven bracket structure and a driven wheel structure, the driven bracket structure includes a second bracket fixing plate 2231, a third connecting portion 2232, a fourth connecting portion 2233, a second wheel connecting portion 2234 and a fourth wheel connecting portion 2235, the second bracket fixing plate 2231 is fixed on the lower end surface of the second bracket fixing plate 2231, and a second suspension portion 2237 is fixedly arranged on the third connecting portion 2232 for suspension of the spare tire; in order to perform buffering during the traveling process and ensure stable operation of the electronic devices, the driven driving assembly 223 further includes a second spring hydraulic mechanism 2236 for buffering, a second bracket fixing plate 2231, a third connecting portion 2232, a fourth connecting portion 2233 and the second spring hydraulic mechanism 2236 are respectively connected by bolts, the second wheel connecting portion 2234 is a Z-shaped structure, one end of the second wheel connecting portion 2234 is connected to the fourth connecting portion 2233 and the second spring hydraulic mechanism 2236, the other end of the second wheel connecting portion 2235 is connected to the fourth wheel connecting portion 2235, the fourth wheel connecting portion 2235 is a gate-shaped structure, the fourth wheel connecting portion 2235 is fixedly connected to the upper end of the wheel connecting portion 2235, two sets of side plates of the wheel connecting portion 2235 are connected to the driven wheel structure, in this embodiment, the driven wheel structure and the driving wheel structure are connected in the same manner, a region formed by the two sets of side plates of the wheel connecting portion 2235 limits the rail-, and the side plates are connected with the iron wheel rotating rod 22211.

The basic operation module comprises a lithium ion battery 31, a power converter 32, an anti-collision mechanism 33 and a security mechanism 34; the power converter 32 is in data connection with the main controller 11 and is in circuit connection with the lithium ion battery 31 to achieve the purpose that the lithium ion battery 31 performs conversion between output current and output voltage according to instructions of the main controller 11, the collision avoidance mechanism 33 comprises collision avoidance radars 331, collision avoidance beams 332 and limit switches 333, the collision avoidance radars 331 are fixed on two sides of the bearing frame 21 and are positioned on two sides of the traveling direction of the trolley, the collision avoidance radars 331 are in data connection with the main controller 11 and are used for sensing whether obstacles exist at the front and rear positions of the traveling direction of the trolley and completing obstacle avoidance or stopping, the collision avoidance radars 331 can adopt existing equipment, such as millimeter wave radars, the collision avoidance beams 332 are fixed on two sides of the bearing frame 21 and are positioned on two sides of the traveling direction of the trolley to prevent emergency mechanical collision avoidance when the collision avoidance radars 331 cannot prevent a high-speed moving object from colliding, and establishes data connection with the main controller 11, and is used for feeding back to the main controller 11 after sensing the impact force applied to the anti-collision beam 332 and issuing an instruction to control the traveling module to stop emergently; the security mechanism 34 includes an alarm device 341 and an emergency stop device 342, the alarm device 341 and the emergency stop device 342 establish data connection with the main controller 11, respectively, and trigger the alarm device 341 when detecting that the internal data returns an abnormal signal, and the emergency stop device 342 is located outside the trolley body and is used for manually closing the device by an operator when the running trolley has a fault and the signal reception is abnormal or an emergency occurs.

The code spraying module comprises a character code spraying device 41, an ink box 42, a dustproof shell 43, a steering engine 44, a dust blowing mechanism 45, a fixed base mechanism 46 and a moving mechanism 47; the ink box 42 is inserted into the character code spraying device 41, and an insertion port of the character code spraying device 41 is positioned at the side edge, so that the replacement is convenient, and the character code spraying device 41 establishes data connection with the main controller 11; the bottom of the character code spraying device 41 is fixedly provided with a nozzle 411, code spraying is carried out through the nozzle 411, a base fixing mechanism 46 is positioned at the bottom of the character code spraying device 41, the dustproof shell 43 wraps the bottom of the nozzle 411 of the character code spraying device 41 and the base fixing mechanism 46, the dustproof shell 43 is connected with a fixing plate 48 and is connected with a moving mechanism 47 through the fixing plate 48, the dustproof shell 43 is connected with the character code spraying device 41, namely the moving mechanism 47 controls the movement of the character code spraying device 41 by controlling the movement of the dustproof shell 43, so that the character code spraying device 41 is moved to a specified code spraying position; a bottom door curtain 431 is fixedly arranged on the side surface of the dustproof shell 43, and the steering engine 44 is positioned on the inner side of the bottom door curtain 431, is linked with the bottom door curtain 431 through a transmission mechanism, is in data connection with the main controller 11, and is used for opening and closing the bottom door curtain 431 and completing the operation of confirming the opening and closing; the bottom of the dustproof shell 43 is provided with a limiting plate 432, a limiting groove 4321 is fixedly arranged on the limiting plate 432, the nozzle 411 of the character code spraying device 41 penetrates through the limiting groove 4321, two groups of connecting parts 433 extend from two sides of the limiting plate 432 respectively, a penetrating hole 434 is arranged on each group of connecting parts 433, and the base fixing mechanism 46 penetrates through the penetrating hole 434 and is rotatably connected with the connecting parts 433.

The base fixing mechanism 46 includes a planar roller 461, a pressure sensor and a counter, two sets of end faces of the planar roller 461 are provided with protrusions along the central axis direction and penetrate through the penetrating hole 434 to realize the axial rotation of the planar roller 461, and the pressure sensor and the counter are located inside the planar roller 461 and establish data connection with the main controller 11 to determine the stable action of the planar roller 461 on the surface of the sleeper so as to ensure the spraying reference surface of the nozzle 411 of the character code spraying device 41.

The dust blowing mechanism 45 comprises a compressed air pump 451, an air pipe 452 and an air blowing nozzle 453, the compressed air pump 451 is connected with the air blowing nozzle 453 through the air pipe 452, compressed air is sprayed out of the air blowing nozzle 453 to clean dust at the nozzle 411 of the character code spraying device 41, and the compressed air pump 451 is in data connection with the main controller 11.

The motion mechanism 47 includes translational motion mechanism 471 and elevating motion mechanism 472, translational motion mechanism 471 includes translation lead screw framed bent 4711 and translation driving motor 4713, translation lead screw framed bent 4711's both ends have set firmly translation base block 4715, translation lead screw framed bent 4711 bottom surface has set firmly the translation slide rail 4712 of two sets of symmetry settings, the length direction of translation slide rail 4712 is unanimous with the length direction of translation lead screw framed bent 4711, translation driving motor 4713 sets firmly at translation base block 4715, translation driving motor 4713's output shaft and lead screw 4716 set firmly, translation lead screw 4716's the other end and translation base block 4715 rotate to be connected, screwed connection has the translation slider 4714 with translation slide rail 4712 sliding connection on the lead screw 4716, translation driving motor 4713 drives translation slider 4714 along translation slide rail 4712 translational motion.

The lifting motion mechanism 471 comprises a lifting lead screw row frame 4721 and a lifting driving motor 4723, wherein lifting base blocks 4725 are fixedly arranged at two ends of the lifting lead screw row frame 4721, two groups of lifting slide rails 4722 which are symmetrically arranged are fixedly arranged at the bottom surface of the lifting lead screw row frame 4721, the length direction of the lifting slide rails 4722 is consistent with that of the lifting lead screw row frame 4721, the lifting driving motor 4723 is fixedly arranged on the lifting base block 4725, an output shaft of the lifting driving motor 4723 is fixedly arranged with a lead screw 4726, the other end of the lifting lead screw 4726 is rotatably connected with the lifting base block 4725, a lifting slide block 4724 which is slidably connected with the lifting slide rails 4722 is spirally connected on the lead screw 4726, the lifting driving motor 4723 drives the lifting slide block 4724 to move up and down along the lifting slide rails 4722, in the embodiment, the lifting base block 4725 is fixedly connected with a translation slide block 4714, a dustproof shell 43 is fixedly connected with the lifting slide block 47, moving the character code spraying device 41 to a specified position for code spraying operation; the translation driving motor 4713 and the lifting driving motor 4723 are respectively in data connection with the main controller 11.

As shown in fig. 10, further, in order to avoid distortion of the code sprayed by the character code spraying device 41 caused by inclination of the sleeper, the code spraying module further includes an adjusting mechanism 49, and the adjusting mechanism 49 adjusts the planar degree of freedom of the nozzle 411, so that the plane of the nozzle 411 and the surface of the sleeper are kept parallel, and the code spraying effect is ensured.

The adjusting mechanism 49 comprises two groups of adjusting springs 491, one ends of the two groups of adjusting springs 491 are symmetrically and fixedly arranged at two sides of the limiting plate 432, the other ends of the two groups of adjusting springs 491 are connected with the dustproof shell 43, and the connection mode of the two is adopted, so that the movement of the adjusting springs 491 can not drive the movement of the dustproof shell 43, the character code spraying device 41 is connected with the limiting plate 432 and synchronously moves along with the movement of the limiting plate 432, the nozzle 411 and the plane of the limiting plate 432 are kept on the same plane, the plane of the nozzle 411 and the surface of the sleeper are kept parallel, and by the structure, the dustproof shell 43 and the character code spraying device 41 can independently move without interference.

The contact is produced with the sleeper plane to plane gyro wheel 461, on the sleeper of slope, leads to the atress of two sets of adjusting spring 491 different, and then influences two sets of adjusting spring 491 degree of contraction, and the adjusting spring 491 of different degree of contraction gives the pressure different with limiting plate 432, and then control limiting plate 432 slope to drive the character and spout the surface of sign indicating number device 41 laminating slope sleeper, guarantee to spout the effect of sign indicating number.

The mileage module comprises an odometer 51, an RTK satellite positioning device I52 and an RTK satellite positioning device II 53, wherein the odometer 51, the RTK satellite positioning device I52 and the RTK satellite positioning device II 53 are respectively and fixedly arranged on the bearing frame 21, meanwhile, after data connection is established between the odometer 51 and the RTK satellite positioning device I52, data connection is jointly established with the main controller 11, and the odometer 51 and the photoelectric encoder 24 are in data connection.

The mileage measurement adopts an odometer 51 or/and an RTK positioning system, the odometer 51 records traveling distance data and traveling route data (mileage measurement), and calculates and stores the data, the RTK positioning system comprises an RTK satellite positioning device I52, an RTK satellite positioning device II 53 and a reference station, the reference station transmits an observed value and coordinate information of the measuring station to the trolley through a data chain, and the RTK positioning system calibrates the data recorded by the odometer 51 to ensure the accuracy of the data.

The vision module comprises a tripod head 61, a first two-dimensional camera 62, a second two-dimensional camera 63, a third two-dimensional camera 64, a fourth two-dimensional camera 65 and a three-dimensional scanner 66, the tripod head 61 is installed at the front end of the trolley and fixedly arranged on the bearing frame 21 through an installation frame, the three-dimensional scanner 66 is fixed on the tripod head 61, the first two-dimensional camera 62 is located at the front end of the trolley and below the tripod head 61, the second two-dimensional camera 63 and the third two-dimensional camera 64 are located at the left end and the right end of the trolley and fixedly arranged on the bearing frame 21, the fourth two-dimensional camera 65 is fixedly arranged on the dustproof shell 43 and opposite to the nozzle 411 of the code spraying machine, so that whether the nozzle 411 of the code spraying machine is located at an appointed code spraying position can be conveniently confirmed, the three-dimensional scanner 61, the first two-dimensional camera 62, the second two-dimensional camera 63, the third two-dimensional camera 64 and the fourth two-dimensional camera 65 are respectively in data connection with the main controller 11 According to the connection; the method comprises the following steps that a three-dimensional scanner 66 and an RTK satellite positioning device II 53 are used for measuring mileage in a tunnel, and an odometer 51 and an RTK satellite positioning device I52 are used for measuring mileage outside the tunnel; of course, in a tunnel with dark light and weak signal, the three-dimensional scanner 66 is preferably used to optimize and calibrate the mileage measured by the odometer 51.

The measuring module automatically measures the electrical parameters of the track, the electrical parameters include circuit voltage, current, carrier frequency and compensation capacitance, the measuring module includes a vehicle-mounted frequency shift testing device 71, a first connecting wire 72, a second connecting wire 73, a first automatic pressing mechanism 74, a first automatic pressing mechanism 75, a first detecting probe 76 and a second detecting probe 77, in this embodiment, the first automatic pressing mechanism 74 and the first automatic pressing mechanism 75 adopt the same structure, the first detecting probe 76 and the second detecting probe 77 adopt the same structure, the first automatic pressing mechanism 74 and the first detecting probe 76 are fixedly connected, the first automatic pressing mechanism 75 and the second detecting probe 77 are fixedly connected, the first automatic pressing mechanism 74 and the first automatic pressing mechanism 75 are symmetrically and fixedly arranged at the left and right sides of the bearing frame 21, the first automatic pressing mechanism 75 and the second detecting probe 77 are taken as an example for explanation, the first automatic jacking mechanism 75 comprises an L-shaped connecting frame 751, a mounting platform 752, a jacking motor 753 and a telescopic connecting rod 754, wherein the L-shaped connecting frame 751 is fixedly arranged on the bearing frame 21, the mounting platform 752 is fixed at the bottom end of the L-shaped connecting frame 751, the jacking motor 753 and the telescopic connecting rod 754 are mounted on the mounting platform 752, and a driving rod of the jacking motor 753 is connected with the telescopic connecting rod 754 to realize the up-and-down movement of the telescopic connecting rod 754; second test probe 77 includes connection platform 771, connecting bolt 772 and test probe 773, connection platform 771 is fixed in telescopic link 754's bottom, connection platform 771 and telescopic link 754 adopt insulating mode to be connected or connection platform 771 itself is insulating material, test probe 773 and connecting bolt 772 adopt the non-insulating connected mode of terminal surface to realize electrically conductive integral type and connect, test probe 773 passes through connecting bolt 772 and connecting platform 771 fixed connection, realize reliable contact and stable data's collection, roof pressure motor 753 control test probe 773 shifts up to appointed measuring position and realizes the measurement to the parameter, appointed measuring position specifically does: where the detection probe 773 pierces the surface oxide layer of the rail to make sufficient contact with the actual material portion.

In this embodiment, the detection probes 773 are provided with multiple groups to ensure reliable contact between the probes and the track and to realize electrical signal measurement; the vehicle-mounted frequency shift testing device 71 is in circuit connection with the first detection probe 76 through the first connecting lead 72 and in circuit connection with the second detection probe 77 through the second connecting lead 73, specifically, one end of the first connecting lead 72 is connected with a voltage access end of the vehicle-mounted frequency shift testing device 71, the other end of the first connecting lead 72 is connected with a connecting bolt of the first detection probe 76, a contact connection part of the first connecting lead 72 is pressed through the connecting bolt, one end of the second connecting lead 73 is connected with a voltage access end of the vehicle-mounted frequency shift testing device 71, the other end of the second connecting lead 73 is connected with a connecting bolt 772 of the second detection probe 77, a contact connection part of the second connecting lead 73 is pressed through the connecting bolt 772, measurement of open-circuit voltage is realized through the structure, the vehicle-mounted frequency shift testing device 71 is further provided with the clamp meter 78, the clamp meter 78 is connected with a current access end of the vehicle-mounted frequency shift testing device 71 to realize measurement of short-circuit current, the vehicle-mounted frequency shift testing device 71 is in data connection with the main controller 11, which can adopt bluetooth communication connection, and the jacking motors in the first automatic jacking mechanism 74 and the first automatic jacking mechanism 75 are in data connection with the main controller 11, wherein a plurality of detection probes 773 are arranged on the detection probe to ensure that the probes are reliably contacted with the track and realize electrical signal measurement.

In order to prevent the trolley from generating data deviation due to fuzzy scanning pictures of the three-dimensional scanner 66 or shaking of the whole scanning picture and influence of shaking of the trolley body on stable operation of electronic equipment when the trolley encounters an uneven road surface or an uneven track in the travelling process, a damping mechanism (not shown) is arranged on the trolley and used for counteracting shaking in the travelling process of the trolley, the damping mechanism can adopt a spring damper, the spring damper is arranged on the bearing frame 21, or an upper supporting cross beam and a lower supporting cross beam are arranged on the bearing frame 21, a hard rubber gasket with certain elasticity and softness is arranged between the two supporting cross beams, preferably, the hard rubber gasket is adopted for damping, the hard rubber gasket can absorb vibration energy and has no rebound phenomenon, and the precision of three-dimensional data acquired by the three-dimensional scanner 66 and the construction of a virtual three-dimensional model in a later-stage system are further ensured.

In this embodiment, the character code spraying device 41, the three-dimensional scanner 66 and the vehicle-mounted frequency shift testing device 71 are installed in a modularized manner, which is convenient to detach, so as to adapt to corresponding measurement tasks and execution tasks in different working scenes, the modularized installation of the trolley realizes the loading and unloading of corresponding functional modules, so as to achieve the purpose of reducing the weight as much as possible, in addition, the number of the lithium ion batteries 31 in the basic operation module can be adjusted, and the power supply of part of the modules is turned off.

In this embodiment, the three-dimensional scanner 66 measures the distance from the trackside signal equipment and contact line to the center of the track.

In this embodiment, the first two-dimensional camera 62, the second two-dimensional camera 63, and the third two-dimensional camera 64 identify and acquire information of the device, so that signal devices on two sides of the rail are identified, and the purpose of automatically checking and updating device position information is achieved.

In this embodiment, besides the safety of the anti-collision mechanism 33 and the security mechanism 34, the first two-dimensional camera 62, the second two-dimensional camera 63 and the third two-dimensional camera 64 can be used for detecting obstacles and people within 1 meter of the travelling direction of the trolley, and when the obstacles and people exist within 1 meter, the trolley automatically stops and gives an alarm, so that the constructors are prevented from being injured due to the fact that the constructors do not intend to walk on the rails; in addition, the vehicle can be stopped reliably in a mode of deadlock of the motor and blocking of the mechanical brake, unnecessary accidents caused by sliding of the vehicle on a rail with higher inclination are prevented, and the running safety is further ensured.

In the embodiment, the on-off of the line can be automatically switched according to the test items, so that the functions of measuring the voltage in an open circuit and measuring the current in a short circuit are realized.

In this embodiment, the purpose that the trolley continues to work after the trolley temporarily stops working is achieved through the device body, the remote control handle, the two-dimensional camera four 65 and the RTK positioning system on the touch screen 102.

In the data importing and exporting functions, the railway signal engineering data in the Exce l format can be imported into the device, and the functions of automatic positioning, measuring and marking of the trolley are realized according to the data table information. The data can also be exported from the device interface through the USB flash disk and docked to a data platform of the intelligent construction site.

Example two

As shown in fig. 14, the present embodiment is different from the first embodiment in that the adjusting mechanism 49 adjusts the degree of freedom of the plane of the spout 411 by contraction of the spring, and in the present embodiment,

the adjusting mechanism 49 comprises two groups of telescopic rods 492, one end of each group of telescopic rods 492 is symmetrically and fixedly arranged on two sides of the limiting plate 432, the other end of each group of telescopic rods 492 is connected with a mechanical motor or a hydraulic machine, the telescopic rods are driven by the mechanical motor or the hydraulic machine to stretch and retract, the mechanical motor or the hydraulic machine is fixed on the dustproof shell 43, the character code spraying device 41 is connected with the limiting plate 432 and synchronously moves along with the movement of the limiting plate 432, the nozzle 411 and the plane of the limiting plate 432 are kept on the same plane, and the plane of the nozzle 411 and the surface of the sleeper.

The plane roller 461 is in contact with the plane of the sleeper, pressure values on two sides measured by the pressure sensor 462 in the plane roller 461 are different on the inclined sleeper, the length of the telescopic rod 492 is adjusted through a mechanical motor or a hydraulic machine until the pressure values on two sides measured by the pressure sensor are the same, the limiting plate 432 is inclined at the moment, the character code spraying device 41 is driven to be attached to the surface of the inclined sleeper, and the code spraying effect is guaranteed.

The invention also provides an operation method of the multifunctional intelligent measuring trolley, the method controls the traveling module to move to the code spraying position of the sleeper through the control module in the intelligent measuring trolley, and the code spraying module carries out two-dimensional code spraying operation on the sleeper.

According to the invention, the specific operating method is as follows:

s1, a control module controls a traveling module to drive a trolley to move straight or rotate;

s2, the vision module confirms the position of the trolley;

s3, spraying a code on the sleeper by using a code spraying module;

s4, recording the mileage data of the trolley by the odometer 51;

s5, calibrating the mileage data of the trolley by the RTK positioning system/three-dimensional scanner 66;

s6, the visual module records trackside data;

and S7, measuring the track parameters by the measuring module.

Wherein the trolley rotation in the step of S1 comprises the following steps:

s11, the main controller 101 issues a corresponding fixed rotating speed instruction to the motor controller 13;

s12, the motor controller 13 issues a fixed rotating speed command to the advancing motor 23 of the driving wheel structure on one side, and issues a fixed rotating speed command to the advancing motor 23 of the driving wheel structure on the other side.

The step of confirming the position of the trolley in the step S2 comprises the following steps:

s21, determining the position of a sleeper needing to be sprayed with a code at the bottom of the trolley through the two-dimensional camera IV 605;

s22, the traveling module controls the trolley to move to the position of the sleeper in the step S21 determined by the four two-dimensional camera 605;

and S23, the main controller 11 controls the traveling motor 23 to realize electric self-locking, and the trolley is stopped at the position in S22.

Wherein the sleeper spraying in S3 comprises the following steps:

s31, a steering engine 44 opens a door curtain 431 at the bottom of the door curtain;

s32, cleaning a nozzle 411 by a dust blowing mechanism 45;

s33, the main controller 11 starts to control the lifting driving motor 4723 to move the character code spraying device 41 to a position where the plane roller 461 is in contact with the sleeper and a pressure value corresponding to the sleeper is obtained, and then the character code spraying device stops, and the adjusting mechanism 49 levels the plane where the nozzle 411 is located and the plane where the sleeper is located;

s34, the main controller 11 starts to control the translation driving motor 4713 to drive the plane roller 461 to roll on the sleeper, and a calculation formula is set to confirm that the plane where the nozzle 411 is located is parallel to the plane where the sleeper is located;

s34, the main controller 11 controls the character code spraying device 41 to spray the two-dimensional code from the left and right direction or the front and back direction.

Wherein the dust blowing mechanism 45 cleaning the nozzle 411 in the step S32 includes the following steps:

s321, the main controller 11 starts the compression air pump 451 to generate compressed air;

s322, the gas pipe 452 transmits the compressed gas to the air blowing nozzle 453, and the cleaning work of the nozzle 4011 is completed through the air blowing nozzle 453.

Wherein the pressure value in the step S33 is set to be 5-50Pa, in the first embodiment, the leveling step of the adjusting mechanism 49 includes:

s331, the motion mechanism 47 controls the plane roller 461 to contact with a sleeper plane;

s332, the two groups of adjusting springs 491 are stressed to contract, the contraction amount of the adjusting springs 491 is converted into the pressure value of the limiting plate 432, and the two groups of adjusting springs 491 adjust the contraction amount until the contraction amount is consistent, so that the leveling is finished.

In the second embodiment, the leveling step of the adjusting mechanism 49 includes:

s333, driving a telescopic rod 492 to control a plane roller 461 to be in contact with a sleeper plane by a mechanical motor or a hydraulic machine;

s334, measuring pressure values in different directions by a pressure sensor, feeding the pressure values back to the main controller 11, converting a pressure difference value into adjustment quantities of the two telescopic rods 492 by a built-in calculation formula, and transmitting the adjustment quantities to the mechanical motor or the hydraulic machine to drive the telescopic rods 492 to adjust;

and S335, measuring the adjusted pressure values in different directions through the pressure sensor, feeding the pressure values back to the main controller 11, and finishing leveling if the pressure difference value is within the range of the pressure values.

In step S34, the translation distance is set to be l, and the number of rolling turns of the planar roller 461 is set to be R; the number of rotation times recorded by the counter is n, and a motor torque transmission loss coefficient mu is set, wherein mu takes a value of 0.98; k is set as the threshold value of the coefficient, k takes the value of 0.05, and the calculation formula is set as:

since the counter is installed in the plane roller 461, the value n is equal to the value R in the formula, and the calculation formula is used to compare whether the rolling turns and the translation distance of the plane roller 461 correspond to each other, if so, it is determined that the distance between the nozzle 411 of the character code-spraying device 41 and the sleeper is proper and the plane where the nozzle 411 is located is parallel to the plane where the sleeper is located, so that the stable spraying of the two-dimensional code can be realized.

Wherein the step of recording the car mileage data in the step of S4 comprises the following steps:

s41, the photoelectric encoder 24 records the mechanical geometric displacement of the traveling motor 23 and converts the mechanical geometric displacement into a digital quantity, namely mileage;

and S42, transmitting the digital quantity in the step S41 to the odometer 51 through data communication, and collecting, calculating and storing data by the odometer 51.

In the step S5, car mileage data is calibrated by different methods on different use occasions, specifically, an RTK positioning system is used for calibration in scenes with enough light and signals, and the method comprises the following steps:

s51, the reference station transmits the observed value and coordinate information of the observation station to the trolley;

s52, the trolley adopts an RTK positioning system to process the formed differential observation values in real time and give centimeter-level positioning results.

In the scene of dark light and weak signal in the tunnel, the method of three-dimensional laser scanner modeling and positioning is adopted to optimize and calibrate the measurement of the odometer 51, and specifically the method comprises the following steps:

s53, the three-dimensional scanner 66 carries out full-section non-contact scanning measurement on the tunnel space, and point cloud data are obtained and stored, wherein the point cloud data comprise a mass point cloud data set which is used for describing the space distribution of a target entity and the spectral characteristics of the target surface of the entity under the same space coordinate system or reference system;

and S54, obtaining a three-dimensional entity model of a space through digital informatization processing such as point cloud splicing, filtering analysis and the like, realizing measurement of the distance between any two points, and calculating the relative displacement.

Wherein the trackside data recorded in the step of S6 includes the steps of:

s61, measuring the distance from the trackside signal equipment and the contact line to the center of the track;

and S62, identifying trackside signal equipment.

The step of S61 is to measure by a limit measurement method, which comprises the following steps:

s611, when the trolley reaches the equipment installation position, after the trolley is stopped manually or automatically, the trolley starts measuring signal equipment limit data;

s612, the three-dimensional scanner 66 emits measuring laser beams in different directions, and data analysis and calculation are carried out through the reflected laser beams to obtain limit measuring data of the trackside signal equipment;

and S613, automatically recording limit information of the equipment higher than the rail surface by the trolley, wherein the limit information comprises the distance between the equipment and the center of the rail and the height between the equipment and the rail surface of the rail.

And in the step S62, identification is carried out in a manual mode or an automatic mode:

the manual mode specifically comprises the following steps:

s621, the trolley moves to signal equipment to be retested/checked;

s922, remotely controlling parking manually by using the remote control handle and sending a command to the main controller 11 to operate and update the actual position information of the signal equipment;

the automatic mode specifically comprises the following steps:

s623 that the trolley moves to trackside signal equipment to enter a two-dimensional camera two 63 shooting range

And S624, the two-dimensional camera II 63 identifies trackside signal equipment and automatically updates the position information of the equipment.

The position information in the step S62 includes RTK positioning data and mileage data, and the purpose of automatically checking and updating the position information of the device is achieved by recognizing the trackside signal device.

The measuring of the track parameters in the step S7 includes the steps of:

s71, stopping the trolley on the track by the traveling motor 23, and descending the first detection probe 76 and the second detection probe 77 to specified measurement positions by the first automatic jacking mechanism 74 and the first automatic jacking mechanism 75 on the two sides;

s72, acquiring electrical signal data by the first detection probe 76 and the second detection probe 77, and conducting signals to the vehicle-mounted frequency shift testing device 71 by the first connecting wire 72 and the second connecting wire 73;

and S73, the vehicle-mounted frequency shift testing device 71 measures voltage signals in the track and transmits the voltage signals to the main controller 11 through Bluetooth, and the set normal voltage signals are compared to judge whether the track electrical signals are abnormal.

In order to realize that the trolley continues to work after the temporary interruption of work, the method also comprises the step of S8 restarting the work, and specifically comprises the following steps:

s81, before the trolley is moved away from the track, manually clicking on the touch screen 102 of the device body or the remote control handle 1 to pause the work operation;

s82, recording current RTK longitude and latitude coordinate information and mileage values through an RTK positioning system and a mileometer 51, and spraying pause mark points on the sleepers through a character code spraying device 41;

and S83, when the trolley needs to continue to work, manually moving the trolley to the position close to the mark point sprayed in the step S82, after manual triggering, identifying the pause mark point sprayed last time by the trolley through the two-dimensional camera IV 65 or automatically driving the trolley to the pause position of the last work by comparing the RTK longitude and latitude coordinates or the mileage value interrupted last time.

It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all 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.

Claims (10)

1. The utility model provides a multi-functional intelligent measurement dolly which characterized in that: including control module, the module of marcing, basic operation module, spout a yard module, mileage module, vision module and measuring module, control module control command is given and information processing, and the module control dolly of marcing moves, and basic operation module dolly anticollision is reported to the police to the abnormal conditions, and mileage module record mileage data, and vision module fixes a position and takes notes the distance of marcing when not having the GPS signal, and measuring module detects the electrical parameter on the track.

2. The multifunctional intelligent measuring trolley according to claim 1, characterized in that: the control module comprises a main controller, a device body touch screen, a motor controller and a remote control handle, wherein the device body touch screen is in wired connection with the main controller for signal transmission, and is used for adjusting and selecting relevant parameters and indexes when an initialization device performs corresponding work and calling and checking device main control data when the device fails; the remote control handle is in wireless connection with the main controller for signal transmission, and is used for the remote pipe connecting device of an operator to act according to special conditions and special requirements; the motor controller and the main controller are connected through wires for signal transmission, and are used for controlling different rotating speeds of the wheel motors on the two sides when the main controller issues a turning instruction to the advancing module.

3. The multifunctional intelligent measuring trolley according to claim 1, characterized in that: the advancing module comprises a bearing frame and an advancing mechanism, the advancing mechanism comprises a driving assembly and a driven driving assembly, the driving assembly is driven by an advancing motor, the advancing motor is connected with a motor controller through a circuit, the motor controller controls the rotating speed of the advancing motor, a photoelectric encoder is arranged on the advancing motor, the photoelectric encoder is connected with the advancing motor through a circuit, and the mechanical geometric displacement of the rotation of the advancing motor is converted into a digital quantity.

4. The multifunctional intelligent measuring trolley according to claim 1, characterized in that: the basic operation module comprises a lithium ion battery, a power converter, an anti-collision mechanism and a security mechanism; the power converter establishes data connection with the main control unit and adopts circuit connection with the lithium ion battery, the anticollision institution includes anticollision radar, anticollision roof beam and limit switch, anticollision radar fixes in the bearer frame both sides, and be located the both sides of dolly direction of travel, anticollision radar establishes data connection with the main control unit, be used for responding to whether the dolly has the obstacle and accomplishes and keeps away the obstacle or stop the action around the direction of travel, the anticollision roof beam is fixed in the bearer frame both sides, and be located the both sides of dolly direction of travel, be used for urgent mechanical anticollision, limit switch sets firmly the both sides at the anticollision roof beam, and establish data connection with the main control unit, be used for feel after the impact force that the anticollision roof beam received feedback to main control unit and assign instruction control module of travel urgent stopping.

5. The multifunctional intelligent measuring trolley according to claim 4, characterized in that: the safety mechanism comprises an alarm device and an emergency stop device, the alarm device and the emergency stop device are respectively in data connection with the main controller, the alarm device is triggered when internal data return abnormal signals are detected, and the emergency stop device is located outside the trolley body and used for manually closing the device by an operator when the running trolley breaks down and the signals are received abnormally or in an emergency.

6. The multifunctional intelligent measuring trolley according to claim 1, characterized in that: the code spraying module comprises a character code spraying device, an ink box, a dustproof shell, a steering engine, a dust blowing mechanism, a fixed base mechanism and a moving mechanism; the ink box is inserted into the character code spraying device, so that the ink box is convenient to replace, and the character code spraying device is in data connection with the main controller; the bottom of the character code spraying device is fixedly provided with a nozzle, code spraying is carried out through the nozzle, the base fixing mechanism is positioned at the bottom of the character code spraying device, and the dustproof shell wraps the bottom of the nozzle of the character code spraying device and the base fixing mechanism; the bottom of the dustproof shell is provided with a limiting plate, the limiting plate is fixedly provided with a limiting groove, a nozzle of the character code spraying device penetrates through the limiting groove, two groups of connecting parts extend out of two sides of the limiting plate respectively, each group of connecting parts is provided with a penetrating hole, a base fixing mechanism penetrates through the penetrating hole and is rotatably connected with the connecting parts, the base fixing mechanism comprises a plane roller, a pressure sensor and a counter, two groups of end surfaces of the plane roller are provided with bulges along the central axis direction and penetrate through the penetrating hole to enable the plane roller to rotate around a shaft, the pressure sensor and the counter are positioned in the plane roller and are in, the moving mechanism comprises a translational moving mechanism and a lifting moving mechanism, the translational moving mechanism drives the character code spraying device to move in a translational mode, and the lifting moving mechanism drives the character code spraying device to move in a lifting mode.

7. The multifunctional intelligent measuring trolley according to claim 6, characterized in that: the adjusting mechanism adjusts the planar degree of freedom of the nozzle, so that the plane of the nozzle is parallel to the surface of the sleeper.

8. The multifunctional intelligent measuring trolley according to claim 1, characterized in that: the measuring module is used for automatically measuring the electrical parameters of the track, the electrical parameters comprise circuit voltage, current, carrier frequency and compensation capacitance, the measuring module comprises a vehicle-mounted frequency shift testing device, a first connecting wire, a second connecting wire, a first automatic jacking mechanism, a first detection probe and a second detection probe, the first automatic jacking mechanism and the first automatic jacking mechanism are of the same structure, the first detection probe and the second detection probe are of the same structure, the first automatic jacking mechanism is fixedly connected with the first detection probe, the first automatic jacking mechanism is fixedly connected with the second detection probe, and the first automatic jacking mechanism are symmetrically and fixedly arranged on the left side and the right side of the bearing frame.

9. An operation method of the multifunctional intelligent measuring trolley, which is used for operating the multifunctional intelligent measuring trolley as claimed in any one of claims 1 to 8, wherein the control module controls the traveling module to drive the trolley to move to a code spraying position of a sleeper, and the code spraying module sprays a two-dimensional code on the sleeper, and the method specifically comprises the following steps:

s1, a control module controls a traveling module to drive a trolley to move straight or rotate;

s2, the vision module confirms the position of the trolley;

s3, spraying a code on the sleeper by using a code spraying module;

s4, recording the mileage data of the trolley by the odometer;

s5, calibrating the mileage data of the trolley by the RTK positioning system/the three-dimensional scanner;

s6, the visual module records trackside data;

and S7, measuring the track parameters by the measuring module.

10. The method of claim 9, wherein the step of spraying the crosstie comprises the steps of:

s31, opening a door curtain at the bottom of the door curtain by a steering engine;

s32, cleaning a nozzle by a dust blowing mechanism;

s33, the main controller starts to control the lifting driving motor to move the character code spraying device to a position where the plane roller contacts with the sleeper and a pressure value corresponding to the sleeper is obtained, and then the character code spraying device stops moving, and the adjusting mechanism levels the plane where the nozzle is located and the plane where the sleeper is located;

s34, the main controller starts to control the translation driving motor to drive the plane roller to roll on the sleeper, and a calculation formula is set to confirm that the plane where the nozzle is located is parallel to the plane where the sleeper is located;

and S34, the main controller controls the character code spraying device to finish spraying of the two-dimensional code from the left and right direction or the front and back direction.

Images