CN112945264B - Portable intelligent measurement dolly that possesses travel record function - Google Patents
Portable intelligent measurement dolly that possesses travel record function Download PDFInfo
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- CN112945264B CN112945264B CN202110113017.8A CN202110113017A CN112945264B CN 112945264 B CN112945264 B CN 112945264B CN 202110113017 A CN202110113017 A CN 202110113017A CN 112945264 B CN112945264 B CN 112945264B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
Abstract
The invention discloses a portable intelligent measuring trolley with a travel recording function, which comprises a control module, a traveling 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 traveling module controls the trolley to operate, the mileage module records mileage data, the vision module positions and records traveling distance when no GPS signal exists, and the measuring module detects the track electrification parameters.
Description
Technical Field
The invention belongs to the field of industrial intelligence, and relates to a portable intelligent measuring trolley with a travel recording function.
Background
Railway construction is always a national important construction project, and the construction of railways promotes the development of various industries. While accelerating the promotion of 5G construction, the process of railway informatization, intellectualization and digitalization is further promoted. Therefore, the railway intellectualization becomes a hot spot problem, wherein the digital informatization construction is enhanced in the railway construction, so that the later comprehensive control and optimal scheduling can be realized, and the operation efficiency and the equipment safety stability can be improved; and the automation degree of the equipment can be enhanced by replacing manual operation with an intelligent machine, so that the manual input cost of railway informatization and digital construction is reduced, the data accuracy is improved, the operation efficiency is further improved, and the intelligent machine has important significance for the rapid development of a high-speed railway.
Disclosure of Invention
The invention provides a portable intelligent measuring trolley with a travel recording function, which aims to overcome the defects of the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the utility model provides a possess portable intelligent measurement dolly of travel record function which characterized in that: the system comprises a control module, a traveling module, a code spraying module, a mileage module, a vision module and a measurement module, wherein the control module controls command issuing and information processing, the traveling module controls the trolley to operate, the mileage module records mileage data, the vision module positions and records traveling distance when no GPS signal exists, and the measurement module detects power-on parameters of a track.
Further; 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 related parameters and indexes when an initializing device performs corresponding work and for calling and checking device main control data when the device breaks down; the remote control handle is in wireless connection with the main controller for signal transmission, and is used for an operator to remotely take over the action of the device to cope with special conditions and special demands; the motor controller is in wired connection with the main controller for signal transmission, and is used for controlling different rotating speeds of the wheel motors at two sides when the main controller gives a turning instruction to the traveling module.
Further; 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 advancing motor is converted into digital quantity.
Further; the code spraying module comprises a character code spraying device, an ink box, a dustproof shell, a steering engine, a dust blowing mechanism, a base fixing mechanism and a movement 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, the nozzle is used for spraying codes, the base fixing mechanism is positioned at the bottom of the character code spraying device, and the dust-proof shell wraps the bottom of the nozzle of the character code spraying device and the base fixing mechanism; the dustproof shell bottom is provided with the limiting plate, the limiting plate is last to have set firmly the spacing groove, the spout of character spouts a yard device passes the limiting groove, two sets of connecting portions of extension respectively in limiting plate both sides, be provided with the through-hole on every connecting portion, the stationary mechanism passes the through-hole and rotates with the connecting portion and be connected, the stationary mechanism includes plane gyro wheel, pressure sensor and counter, two sets of terminal surfaces of plane gyro wheel are provided with the arch along the axis direction and pass the through-hole and make the winding axle rotation of plane gyro wheel, pressure sensor and counter are located the inside of plane gyro wheel and establish data connection with main control unit, be used for confirming the plane gyro wheel and paste the spraying reference surface of the spout of face action assurance character spouts a yard device on the sleeper plane, movement mechanism includes translational motion mechanism and elevating motion mechanism, translational motion mechanism drive character spouts a yard device translational motion, elevating motion mechanism drive character spouts a yard device elevating motion.
Further; the device also comprises an adjusting mechanism, wherein the adjusting mechanism adjusts the plane freedom degree of the nozzle, so that the plane of the nozzle is parallel to the surface of the sleeper.
Further; the visual module comprises a holder, a first two-dimensional camera, a second two-dimensional camera, a third two-dimensional camera, a fourth two-dimensional camera and a three-dimensional scanner, wherein the holder is arranged at the front end of the trolley, the three-dimensional scanner is fixed on the holder, the first two-dimensional camera is positioned at the front end of the trolley and below the holder, the second two-dimensional camera and the third two-dimensional camera are positioned at the left end and the right end of the trolley and fixedly arranged on the bearing frame, the fourth two-dimensional camera is fixedly arranged on the dustproof shell and is opposite to the position of the nozzle of the ink jet printer, whether the nozzle of the ink jet printer is positioned at the appointed position of the ink jet printer is conveniently confirmed, the data connection is established between the three-dimensional scanner, the first two-dimensional camera, the second two-dimensional camera, the third two-dimensional camera and the fourth two-dimensional camera and the main controller, and the three-dimensional scanner and the second RTK satellite positioning device establish data connection together.
Further; the three-dimensional scanner and the odometer measure mileage, the odometer records travel distance data and travel route data, the data are calculated and stored, and the three-dimensional scanner optimizes and calibrates the mileage measured by the odometer.
Further; the measuring module automatically measures 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 adopt the same structure, the first detection probe and the second detection probe adopt 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.
Further; the three-dimensional scanner measures the distance of the trackside signal device and the contact line to the center of the track.
Further; and the two-dimensional camera I, the two-dimensional camera II and the two-dimensional camera III are used for identifying and acquiring information of the trackside equipment.
In summary, the invention has the following advantages:
1. the invention adopts the control module to control the related modules, thereby ensuring synchronous control and control accuracy.
2. According to the invention, the first spring hydraulic mechanism is designed to buffer, so that stable operation of electronic devices is ensured, and the first connecting part, the second connecting part, the first wheel connecting part and the first spring hydraulic mechanism are connected end to end through bolts to form a triangle-like mechanism, so that the operation stability of the active driving assembly is effectively improved; and a rail iron wheel or a trackless rubber wheel is adopted according to the use occasion, so that the trolley can be used in different occasions.
3. According to the invention, the three-dimensional scanner is adopted to emit measuring laser beams in different directions, and the reflected laser beams are used for carrying out data analysis and calculation to obtain the limit measuring data of the trackside signal equipment, so that the comprehensiveness and accuracy of data acquisition are improved.
4. The invention adopts the code spraying module to realize the code spraying of the sleeper, and combines the translational motion and the lifting motion through the moving mechanism, so that the character code spraying device is moved to a designated code spraying position; the code spraying module is internally provided with an adjusting mechanism, and the plane freedom degree of the nozzle is adjusted by the adjusting mechanism, 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 adjustment, and has simple structure and convenient operation.
5. The mileage is measured by adopting the mileage module, so that the travelling distance and the travelling route of the recording device in the running process of the trolley are indirectly measured at the same time; and the RTK positioning system is adopted to calibrate the mileage data measured by the odometer, so that the accuracy of the mileage data is ensured.
6. According to the invention, the on-off of the circuit is automatically switched according to the test item, so that the functions of measuring the voltage by an open circuit and measuring the current by a short circuit are realized; the device has the function of continuously working after the temporary interruption of the work of the loading trolley.
7. The invention adopts the vision module to record the positioning and the travelling distance without GPS signals, thereby ensuring the accuracy of mileage data.
8. The invention adopts a manual mode or an automatic mode to identify and acquire the information of the equipment through the two-dimensional camera, and automatically updates the position information of the equipment.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention.
Fig. 2 is a schematic diagram of the direction a in fig. 1.
Fig. 3 is a schematic view of the direction B in fig. 1.
Fig. 4 is a schematic view of the direction C in fig. 1.
FIG. 5 is a schematic diagram of an active driving device according to the present invention.
Fig. 6 is a schematic view of a driven drive assembly according to the present invention.
Fig. 7 is a schematic view of the lower connecting 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 code spraying module of the present invention.
Fig. 10 is a schematic diagram of a second adjusting mechanism according to an embodiment of the invention.
FIG. 11 is a schematic view of a dust blowing mechanism according to the present invention.
Fig. 12 is a schematic view of a movement mechanism according to the present invention.
FIG. 13 is a schematic diagram of a measurement module according to the present invention.
Fig. 14 is a schematic view of a second adjusting mechanism according to an embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
All directional indications (such as up, down, left, right, front, rear, lateral, longitudinal … …) in embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture, and if the particular gesture changes, the directional indication changes accordingly.
Embodiment one:
as shown in fig. 1-13, a portable intelligent measurement trolley with a travel recording function comprises a control module, a traveling module, a code spraying module, a mileage module, a vision module and a measurement module, wherein the control module controls command issuing and information processing, the traveling module controls the trolley to operate, the mileage module records mileage data, the vision module performs positioning and records traveling distance when no GPS signal exists, and the measurement module detects track electrification parameters.
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), wherein the device body touch screen 12 is in wired connection with the main controller 11 for signal transmission, and is used for adjusting and selecting related parameters and indexes when an initializing device performs corresponding work, and for 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 that the remote control handle and the main controller are used for an operator to remotely take over the action of the device to cope with special situations and special demands; the motor controller 13 is in wired connection with the main controller 11 for signal transmission, and is used for controlling different rotation speeds of wheel motors at two sides to realize differential turning when the main controller 11 gives a turning command to the traveling module.
As shown in fig. 5-7, the travelling module comprises a bearing frame 21 and a travelling mechanism 22, the bearing frame 21 is used as a bearing component for bearing other modules, the travelling mechanism 22 is provided with two groups and is symmetrically connected to two sides of the bearing frame 21, the travelling mechanism 22 comprises a driving component 221 and a driven driving component 222, the driving component 221 is driven by a travelling motor 23, the travelling motor 23 is connected with a motor controller 13 by adopting a circuit, the control of the rotating speed of the travelling motor 23 is realized by the motor controller 13 so as to realize the control of the rotating speed of wheels, the travelling motor 23 is provided with a photoelectric encoder 24, and the photoelectric encoder 24 is connected with the travelling motor 23 by adopting a circuit so as to convert the mechanical geometric displacement of the rotation of the travelling motor 23 into digital quantity; the driving component 221 and the driven driving component 222 may have the same structure or different structures, so long as the travelling function is achieved, and in this embodiment, the driving component 221 and the driven driving component 222 have 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 connection portion 2212, a second connection portion 2213, a first wheel connection portion 2214 and a second wheel connection portion 2215, the first bracket fixing plate 2211 is fixed on a lower end surface of the bearing frame 21, and a first suspension portion 2217 is fixedly provided on the first connection portion 2212 for suspension placement of the spare tire; in order to buffer in the running process and ensure the stable operation of the electronic device, the active driving component 221 further comprises 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 through bolts to form a triangle-like mechanism, so that the operation stability of the active driving component 221 is effectively improved.
The driving wheel structure comprises a rail iron wheel 2221 and a trackless rubber wheel 2222, wherein the rail iron wheel 2221 and the trackless rubber wheel 2222 are coaxially connected, specifically, the interior of the trackless rubber wheel 2222 is a rigid frame structure, the center of the rigid frame structure is fixedly provided with a rubber wheel rotating rod 22221, the rail iron wheel 2221 is fixedly provided with an annular bulge 22212, the annular bulge 22212 is attached to a track, the limiting effect is achieved, the center of the rail iron wheel 2221 is penetrated with an iron wheel rotating rod 22211, 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, so that the synchronous movement of the rail iron wheel 2221 and the trackless rubber wheel 2222 is realized; of course, other modes can be adopted to realize connection, for example, the rigid frame structure of the trackless rubber wheel 2222 and the trackless iron wheel 2221 adopt an integral stretching forming process, so that the trackless iron wheel 2221 and the trackless rubber wheel 2222 form an integral structure, the rigidity and the hardness are excellent, and the conditions of loosening, cracking, aging and the like of a connecting part are avoided; the rail iron wheel 2221 and the trackless rubber wheel 2222 are used alternatively according to the use occasion, specifically, when the trolley travels on the rail section, the travelling of the trolley is realized through the relative movement of the rail iron wheel 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 connection portion 2214 is composed of an upper connection portion 22141 and a lower connection portion 22142, which are fixedly connected by a first fastener, the upper connection portion 22141 is connected with the first spring hydraulic mechanism 2216 and the second connection portion 2213, the lower connection portion 22142 includes a hollow through hole 22144, a through hole fixing member 22145 is fixedly arranged in the through hole 22144, and an output shaft of the travelling motor 23 is connected with the iron wheel rotating rod 22211 and is fixedly connected with 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 connection portion 2232, a fourth connection portion 2233, a second wheel connection portion 2234, and a fourth wheel connection portion 2235, the second bracket fixing plate 2231 is fixed to a lower end surface of the second bracket fixing plate 2231, and a second suspension portion 2237 is fixedly provided on the third connection portion 2232 for suspension placement of the spare tire; in order to buffer during the running process and ensure the stable running of the electronic device, the driven driving assembly 223 further includes a second spring hydraulic mechanism 2236 for buffering, the second bracket fixing plate 2231, the third connecting portion 2232, the fourth connecting portion 2233 and the second spring hydraulic mechanism 2236 are respectively connected through bolts, the second wheel connecting portion 2234 is provided with a Z-shaped structure, one end of the second bracket fixing plate is connected with the fourth connecting portion 2233 and the second spring hydraulic mechanism 2236, the other end of the second bracket fixing plate is connected with the fourth wheel connecting portion 2235, the fourth wheel connecting portion 2235 adopts a door-shaped structure, the fourth wheel connecting portion 2235 is fixedly connected with the upper end of the wheel connecting portion 2235, two groups of side plates of the wheel connecting portion 2235 are connected with a driven wheel structure, in this embodiment, the driven wheel structure and the driving wheel structure adopt the same connecting mode, the region formed by two groups of side plates of the wheel connecting portion 2235 is limited inside by the iron wheel 2221, and the side plates are connected with the iron wheel rotating rod 22211.
The trolley further comprises a basic operation module, wherein the basic operation module is used for preventing collision and alarming abnormal conditions, and comprises a lithium ion battery 31, a power converter 32, an anti-collision mechanism 33 and a security mechanism 34; the power converter 32 establishes data connection with the main controller 11 and is connected with the lithium ion battery 31 by adopting a circuit to realize the purpose of converting output current and output voltage of the lithium ion battery 31 along with the instruction of the main controller 11, the anti-collision mechanism 33 comprises anti-collision radars 331, anti-collision beams 332 and limit switches 333, the anti-collision radars 331 are fixed on two sides of the bearing frame 21 and are positioned on two sides of the travelling direction of the trolley, the anti-collision radars 331 establish data connection with the main controller 11 and are used for sensing whether the front and back positions of the trolley are blocked and completing obstacle avoidance or stopping actions, the anti-collision radars 331 can adopt the existing equipment such as millimeter wave radars, the anti-collision beams 332 are fixed on two sides of the bearing frame 21 and are positioned on two sides of the travelling direction of the trolley, the emergency mechanical anti-collision adopted when the anti-collision radars 331 fail to prevent a high-speed moving object from collision occurs is prevented, the limit switches 333 are fixedly arranged on two sides of the anti-collision beams 332, and establish data connection with the main controller 11, are used for feeding back to the main controller 11 after sensing the impact force received by the anti-collision beams 332 and issuing instructions to control module for emergency stopping; 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 are respectively connected with the main controller 11 in a data mode, the alarm device 341 is triggered when internal data is detected to return an abnormal signal, the emergency stop device 342 is located outside the trolley body, and the emergency stop device 342 is used for manually closing the device when the running trolley breaks down and the signal is received abnormally 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 base fixing mechanism 46 and a moving mechanism 47; the ink box 42 is inserted into the character code spraying device 41, and the insertion opening 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 and the main controller 11 are in data connection; the bottom of the character code spraying device 41 is fixedly provided with a nozzle 411, the nozzle 411 is used for spraying codes, the fixed base mechanism 46 is positioned at the bottom of the character code spraying device 41, the dust-proof shell 43 wraps the bottom of the nozzle 411 of the character code spraying device 41 and the fixed base mechanism 46, the dust-proof shell 43 is connected with a fixed plate 48 and is connected with the moving mechanism 47 through the fixed plate 48, the dust-proof 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 dust-proof shell 43, so that the character code spraying device 41 is moved to a designated code spraying position; the side surface of the dustproof shell 43 is fixedly provided with a bottom door curtain 431, the steering engine 44 is positioned at the inner side of the bottom door curtain 431, is linked with the bottom door curtain 431 through a transmission mechanism, and is in data connection with the main controller 11, and is used for opening and closing the bottom door curtain 431 and completing the opening and closing confirmation operation; 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 are respectively extended on two sides of the limiting plate 432, penetrating holes 434 are formed in each group of connecting parts 433, and the base fixing mechanism 46 penetrates through the penetrating holes 434 and is rotationally connected with the connecting parts 433.
The setting mechanism 46 comprises a plane roller 461, a pressure sensor and a counter, wherein two groups of end surfaces of the plane roller 461 are provided with bulges along the central axis direction and pass through the penetrating holes 434 to realize the rotation of the plane roller 461 around the shaft, the pressure sensor and the counter are positioned in the plane roller 461 and establish data connection with the main controller 11, and are used for determining the stable action of the plane roller 461 on the sleeper plane and further ensuring the spraying reference surface of the nozzle 411 of the character code spraying device 41.
The dust blowing mechanism 45 comprises a compression air pump 451, an air pipe 452 and an air blowing nozzle 453, wherein the compression 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, dust at the nozzle 411 of the character code spraying device 41 is cleaned, and the compression air pump 451 is in data connection with the main controller 11.
The motion mechanism 47 includes translation motion mechanism 471 and elevating motion mechanism 472, translation motion mechanism 471 includes translation lead screw frame 4711 and translation driving motor 4713, translation base block 4715 has been set firmly at the both ends of translation lead screw frame 4711, translation slide rail 4712 that two sets of symmetries set firmly in translation lead screw frame 4711 bottom surface, the length direction of translation slide rail 4712 is unanimous with the length direction of translation lead screw frame 4711, translation driving motor 4713 sets firmly at translation base block 4715, translation driving motor 4713's output shaft is fixed with lead screw 4716, translation sliding block 4714 of translation lead screw 4716's the other end and translation base block 4715 swivelling joint, screwed connection has on the lead screw 4716 with translation sliding block 4712 sliding connection's translation sliding block 4714, translation driving motor 4713 drive translation sliding block 4714 moves along translation slide rail 4712.
The lifting motion mechanism 471 comprises a lifting screw rod traveling frame 4721 and a lifting driving motor 4723, lifting base blocks 4725 are fixedly arranged at two ends of the lifting screw rod traveling frame 4721, two groups of symmetrically arranged lifting slide rails 4722 are fixedly arranged on the bottom surface of the lifting screw rod traveling frame 4721, the length direction of the lifting slide rails 4722 is consistent with that of the lifting screw rod traveling frame 4721, the lifting driving motor 4723 is fixedly arranged on the lifting base blocks 4725, an output shaft of the lifting driving motor 4723 is fixedly arranged on a screw rod 4726, the other end of the lifting screw rod 4726 is rotationally connected with the lifting base blocks 4725, a lifting slide block 4724 which is in sliding connection with the lifting slide rails 4722 is spirally connected on the screw rod 4726, the lifting driving motor 4723 drives the lifting slide blocks 4724 to move up and down along the lifting slide rails 4722, in this embodiment, the lifting base blocks 4725 are fixedly connected with the lifting slide blocks 4714, and the dustproof shell 43 is fixedly connected with the lifting slide blocks 4724 through a fixing plate 48, so that the translation motion and the lifting motion are combined, and the character code spraying device 41 is moved to a designated position for code spraying operation; the translation driving motor 4713 and the elevation driving motor 4723 respectively establish data connection with the main controller 11.
As shown in fig. 10, further, in order to avoid distortion of the code spraying of the character code spraying device 41 caused by the inclination of the sleeper, the code spraying module further comprises an adjusting mechanism 49, and the adjusting mechanism 49 adjusts the plane freedom degree 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 includes two sets of adjusting springs 491, one ends of the two sets of adjusting springs 491 are symmetrically fixed on two sides of the limiting plate 432, the other ends of the two sets of adjusting springs 491 are connected with the dustproof shell 43, and the two sets of adjusting springs 491 are connected in a connecting mode, so that the movement of the adjusting springs 491 can not drive the dustproof shell 43 to move, 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 plane of 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 a sleeper are kept parallel, and through the structure, the dustproof shell 43 and the character code spraying device 41 can independently move, and the movement of the two cannot interfere.
The plane roller 461 is contacted with the plane of the sleeper, and the two groups of adjusting springs 491 are stressed differently on the inclined sleeper, so that the contraction degree of the two groups of adjusting springs 491 is influenced, the adjusting springs 491 with different contraction degrees apply different pressures to the limiting plate 432, and the limiting plate 432 is controlled to incline, so that the character code spraying device 41 is driven to be attached to the surface of the inclined sleeper, and the code spraying effect is ensured.
The mileage module comprises an odometer 51, a first RTK satellite positioning device 52 and a second RTK satellite positioning device 53, wherein the odometer 51, the first RTK satellite positioning device 52 and the second RTK satellite positioning device 53 are respectively and fixedly arranged on the bearing frame 21, and simultaneously the odometer 51 and the first RTK satellite positioning device 52 are in data connection with the main controller 11 and then are in data connection with the photoelectric encoder 24.
The mileage measurement adopts an odometer 51 or/and an RTK positioning system, the odometer 51 records travelling distance data and travelling route data (mileage measurement), and calculates and stores the data, the RTK positioning system comprises a first RTK satellite positioning device 52, a second RTK satellite positioning device 53 and a reference station, the reference station transmits the observed value and station coordinate information of the reference station to the trolley through a data link, 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 cradle 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, wherein the cradle head 61 is arranged at the front end of the trolley and is fixedly arranged on the bearing frame 21 through a mounting frame, the three-dimensional scanner 66 is fixed on the cradle head 61, the first two-dimensional camera 62 is positioned at the front end of the trolley and is positioned below the cradle head 61, the second two-dimensional camera 63 and the third two-dimensional camera 64 are positioned at the left end and the right end of the trolley and are fixedly arranged on the bearing frame 21, the fourth two-dimensional camera 65 is fixedly arranged on the dustproof shell 43 and is opposite to the position of the nozzle 411 of the code spraying machine, whether the nozzle 411 of the code spraying machine is positioned at a designated code spraying position is 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 respectively establish data connection with the main controller 11, and the third two-dimensional scanner 66 establishes data connection with the RTK satellite positioning device 53 and then establishes data connection with the main controller 11 together; the three-dimensional scanner 66 and the RTK satellite positioning device II 53 are adopted to conduct mileage measurement in the tunnel, and the odometer 51 and the RTK satellite positioning device I52 are adopted to conduct mileage measurement outside the tunnel; of course, in tunnels with dark light and weak signals, the mileage measured by the odometer 51 is preferably optimized and calibrated by the three-dimensional scanner 66.
The measuring module automatically measures the electrical parameters of the track, wherein the electrical parameters comprise circuit voltage, current, carrier frequency and compensation capacitance, the measuring module comprises a vehicle-mounted frequency shift testing device 71, a first connecting wire 72, a second connecting wire 73, a first automatic jacking mechanism 74, a first detection probe 76 and a second detection probe 77, in the embodiment, the first automatic jacking mechanism 74 and the first automatic jacking mechanism 75 adopt the same structure, the first detection probe 76 and the second detection probe 77 adopt the same structure, the first automatic jacking mechanism 74 is fixedly connected with the first detection probe 76, the first automatic jacking mechanism 75 and the second detection probe 77 are fixedly connected, the first automatic jacking mechanism 74 and the first automatic jacking mechanism 75 are symmetrically and fixedly arranged on the left side and the right side of the bearing frame 21, the first automatic jacking mechanism 75 and the second detection probe 77 are taken as an example, 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, the L-shaped connecting frame 751 is fixedly arranged on the bearing frame 21, the mounting platform 752 is fixedly arranged on the L-shaped connecting frame 752, the bottom end of the L-shaped connecting rod 753 is fixedly arranged on the bearing frame 754, and the telescopic connecting rod 753 is fixedly connected with the telescopic connecting rod 754, and the telescopic rod is arranged under the driving platform 753; the second detection probe 77 comprises a connection platform 771, a connection bolt 772 and a detection probe 773, wherein the connection platform 771 is fixed at the bottom end of the telescopic connecting rod 754, the connection platform 771 is connected with the telescopic connecting rod 754 in an insulating mode or the connection platform 771 is made of insulating materials, the detection probe 773 is connected with the connection bolt 772 in a conductive integrated mode in a non-insulating mode through an end face, the detection probe 773 is fixedly connected with the connection platform 771 through the connection bolt 772, reliable contact and stable data acquisition are achieved, the jacking motor 753 controls the detection probe 773 to move upwards to a specified measurement position to achieve parameter measurement, and the specified measurement position is specifically: where the detection probes 773 pierce the surface oxide layer of the rail and make sufficient contact with the actual material site.
In this embodiment, the detection probes 773 are provided with multiple groups, ensuring reliable contact of the probes with the track and realizing electrical signal measurement; the on-vehicle frequency shift testing device 71 is connected with the first detection probe 76 through the first connecting wire 72 in a circuit manner, the on-vehicle frequency shift testing device 71 is connected with the second detection probe 77 through the second connecting wire 73 in a circuit manner, specifically, one end of the first connecting wire 72 is connected with the voltage access end of the on-vehicle frequency shift testing device 71, the other end of the first connecting wire 72 is connected with the connecting bolt of the first connecting wire 72, the contact connection position of the on-vehicle frequency shift testing device 71 is pressed through the connecting bolt, one end of the second connecting wire 73 is connected with the connecting bolt 772 of the second detecting probe 77, the contact connection position of the second connecting wire 73 is pressed through the connecting bolt 772, the measurement of open circuit voltage is realized through the structure, the on-vehicle frequency shift testing device 71 is further provided with a clamp meter 78, the clamp meter 78 is connected with the current access end of the on-vehicle frequency shift testing device 71 to realize the measurement of short circuit current, wherein, the on-vehicle frequency shift testing device 71 and the main controller 11 are connected in a data manner, the Bluetooth communication connection can be adopted, the first automatic jacking mechanism 74, the jacking mechanism 75 and the jacking motor 11 in the first automatic jacking mechanism are connected with the main controller 11 in a data connection manner, and the detection probes are connected with the main controller in a plurality of detection probes in a data manner, and the detection probes are arranged on the track, the track can be in order to realize the measurement and the signal reliable connection.
In order to prevent the influence of data deviation and trolley body shake on the stable running of the electronic equipment caused by the blurring of the scanning image or the shaking of the whole scanning image of the three-dimensional scanner 66 when the trolley encounters an uneven road surface or an uneven track in the running process, a damping mechanism (not shown) is arranged on the trolley to counteract the shaking in the running process of the device, the damping mechanism can adopt a spring damper to install the spring damper on the bearing frame 21 or arrange an upper supporting beam and a lower supporting beam on the bearing frame 21, and a hard rubber gasket with certain elasticity and softness is arranged between the two supporting beams, preferably, the hard rubber gasket is used for damping, and can absorb the shaking energy and has no rebound phenomenon, thereby further ensuring the precision of the three-dimensional data acquired by the three-dimensional scanner 66 and the construction of a virtual three-dimensional model in a later system.
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 modular manner so as to adapt to measurement tasks and execution tasks corresponding to different working scenes, and the modular installation of the trolley achieves the purpose of reducing weight as much as possible by loading and unloading corresponding functional modules, and in addition, the number of lithium ion batteries 31 in the basic operation modules can be adjusted, and the power supply of part of the modules can be closed.
In this embodiment, the three-dimensional scanner 66 measures the trackside signaling device and the distance of the contact line from 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 equipment, so as to identify the signal equipment beside the track and achieve the purposes of automatically checking and updating the position information of the equipment.
In this embodiment, in addition to 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 in the range of 1 meter in the travelling direction of the trolley, and when the obstacles and people in the range of 1 meter automatically park and give an alarm, the constructor is prevented from being injured by walking on the rail unintentionally; in addition, the vehicle can be reliably stopped in a mode of deadlock of the motor and locking of the mechanical brake, unnecessary accidents caused by sliding of the vehicle on rails with higher gradient are prevented, and running safety is further guaranteed.
In this embodiment, the functions of measuring the voltage in an open circuit and measuring the current in a short circuit can be realized by automatically switching the on/off of the circuit according to the test item.
In this embodiment, the purpose that the trolley continues to work after temporarily interrupting the work is achieved through the device body touch screen 102, the remote control handle, the two-dimensional camera four 65 and the RTK positioning system.
In this embodiment, in the function of importing and exporting data, the railway signal engineering data importing device in the appearance l format can implement the functions of automatic positioning, measurement and marking of the trolley according to the information of the data table. The data can be exported from the device interface through the USB flash disk and is connected to a data platform of the intelligent construction site in a butt joint mode.
Example two
As shown in fig. 14, this embodiment differs from the first embodiment in that in the first embodiment, the adjustment mechanism 49 adjusts the planar degree of freedom of the spout 411 by contraction of the spring, whereas in this embodiment,
the adjusting mechanism 49 comprises two groups of telescopic rods 492, one ends of the two groups of telescopic rods 492 are symmetrically fixed on two sides of the limiting plate 432, the other ends of the two groups of telescopic rods 492 are 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, so that the plane of 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 a sleeper are kept parallel.
The plane roller 461 is contacted with the plane of the sleeper, on the inclined sleeper, the pressure values of the two sides measured by the pressure sensor 462 in the plane roller 461 are different, the length of the telescopic rod 492 is adjusted by a mechanical motor or a hydraulic machine until the pressure values of the two sides measured by the pressure sensor are the same, at the moment, the limiting plate 432 is inclined, the character code spraying device 41 is driven to be attached to the surface of the inclined sleeper, and the code spraying effect is ensured.
The invention also provides an operation method of the multifunctional intelligent measuring trolley, which comprises the step of controlling the running module to move to the code spraying position of the sleeper through the control module in the intelligent measuring trolley, and performing two-dimensional code spraying operation on the sleeper by the code spraying module.
According to the invention, the specific operation 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, the crosstie is sprayed with codes by the code spraying module;
s4, the odometer 51 records trolley mileage data;
s5, calibrating trolley mileage data by the RTK positioning system/three-dimensional scanner 66;
s6, the vision module records data beside the track;
s7, a measuring module measures track parameters.
Wherein the step S1 of the cart rotation comprises the following steps:
s11, the main controller 101 gives a corresponding fixed rotating speed instruction to the motor controller 13;
s12, the motor controller 13 issues a fixed rotating speed command to the traveling motor 23 of the one-side driving wheel structure, and issues a fixed rotating speed command to the traveling motor 23 of the other-side driving wheel structure.
The step of confirming the position of the trolley in S2 includes the steps of:
s21, determining the sleeper position of the bottom of the trolley, which needs code spraying, through a two-dimensional camera IV 605;
S22, the travelling module controls the trolley to move to a two-dimensional camera four 605 to determine the sleeper position in the step S21;
s23, the main controller 11 controls the travelling motor 23 to realize electric self-locking, and the trolley is stopped at the position in S22.
Wherein the spraying of the sleeper in S3 comprises the steps of:
s31, a steering engine 44 opens a door curtain 431 at the bottom of the door curtain;
s32, cleaning a nozzle 411 by the dust blowing mechanism 45;
s33, the main controller 11 starts the lifting driving motor 4723 to move the character code spraying device 41 to a position where the plane roller 461 contacts with the sleeper and corresponds to the pressure value of the sleeper, and then stops, and the adjusting mechanism 49 levels the plane of the nozzle 411 and the plane of the sleeper;
s34, the main controller 11 starts a translational driving motor 4713 to drive a plane roller 461 to roll on the sleeper, and a calculation formula is set to confirm that the plane of the nozzle 411 is parallel to the plane of the sleeper;
s34, the main controller 11 controls the character code spraying device 41 to finish spraying of the two-dimensional code from the left-right direction or the front-back direction.
Wherein in the step S32, the dust blowing mechanism 45 cleans the nozzle 411, which includes the steps of:
s321, the main controller 11 starts the compressed air pump 451 to generate compressed air;
s322, the air pipe 452 transmits compressed air to the air blowing nozzle 453, and cleaning of the nozzle 4011 is completed through the air blowing nozzle 453.
Wherein the range of the pressure value in step S33 is set to 5 to 50Pa, in the first embodiment, the leveling step of the adjusting mechanism 49 includes:
s331, controlling a plane roller 461 of a motion mechanism 47 to be in plane contact with a sleeper;
s332, the two groups of adjusting springs 491 are stressed and contracted, 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 are regulated to be contracted until the contraction amount is kept consistent, so that leveling is finished.
In the second embodiment, the leveling step of the adjustment mechanism 49 includes:
s333, driving a telescopic rod 492 by a mechanical motor or a hydraulic machine to control a plane roller 461 to be in plane contact with the sleeper;
s334, measuring pressure values in different directions by using a pressure sensor, feeding the pressure values back to the main controller 11, converting the pressure difference value into adjustment amounts of two telescopic rods 492 through a built-in calculation formula, and delivering the adjustment amounts to the mechanical motor or the hydraulic machine to drive the telescopic rods 492 for adjustment;
s335, measuring the pressure values of the adjusted different directions through the pressure sensor, feeding back to the main controller 11, and finishing leveling if the pressure difference value is in the pressure value range.
In the step S34, the translation distance is set to be l, and the number of rolling turns of the plane roller 461 is set to be R; the rotation times recorded by the counter is n, and the torque transmission loss coefficient mu of the motor is set, and the mu takes a value of 0.98; k is set as the threshold value of the coefficient, k takes a value of 0.05, and a calculation formula is set as follows:
Since the counter is installed in the plane roller 461, in the formula, the n value is equal to the R value, the number of rolling turns of the plane roller 461 is compared with the translation distance by the calculation formula, if the rolling turns correspond to the translation distance, the distance between the nozzle 411 of the character code spraying device 41 and the sleeper is determined to be proper, the plane of the nozzle 411 is parallel to the plane of the sleeper, and stable spraying of the two-dimensional code can be realized.
Wherein, the recording of the trolley mileage data in the step S4 comprises the following steps:
s41, the photoelectric encoder 24 records the mechanical geometric displacement of the travelling motor 23 and converts the mechanical geometric displacement into digital quantity, namely mileage;
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, the trolley mileage data is calibrated by adopting different methods under different use occasions, specifically, the calibration is performed by adopting an RTK positioning system in the scene of sufficient light and signals, and the method comprises the following steps:
s51, the reference station transmits the observation value and the coordinate information of the measuring station to the trolley;
s52, the trolley processes the composition difference observed value in real time by adopting an RTK positioning system, and a centimeter-level positioning result is given.
The method for modeling and positioning by adopting a three-dimensional laser scanner in the scene of dark light and weak signal of the tunnel is used for optimizing and calibrating the measurement of the odometer 51, and specifically comprises the following steps:
S53, carrying out full-section non-contact scanning measurement on the tunnel space by the three-dimensional scanner 66, and acquiring and storing point cloud data, wherein the point cloud data comprise massive point cloud data sets of entities describing the spatial distribution of target entities and the spectral characteristics of the target surface under the same spatial coordinate system or reference system;
s54, obtaining a space three-dimensional solid model through digital informatization processing such as point cloud splicing, filtering analysis and the like, measuring the distance between any two points, and calculating relative displacement.
Wherein the trackside data recorded in step S6 includes the steps of:
s61, measuring the distance from the trackside signal equipment and the contact line to the center of the track;
s62, identifying the trackside signal equipment.
The step S61 adopts a limit measurement method to measure, and comprises the following steps:
s611, when the trolley reaches the equipment installation position, the trolley starts measurement of the limit data of the signal equipment after stopping in a manual or automatic mode;
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;
s613, automatically recording limit information of 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.
In the step S62, the identification is performed manually or automatically:
the manual mode specifically comprises the following steps:
s621, the trolley moves to signal equipment to be retested/checked;
s922, the remote control handle manually remotely controls the parking and sends an instruction 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 the trolley moves to the trackside signal equipment to enter the two-dimensional camera two 63 shooting range
S624, the two-dimensional camera II 63 identifies the trackside signal equipment and automatically updates the equipment position information.
The position information in the step S62 comprises RTK positioning data and mileage data, and the purpose of automatically checking and updating the position information of the equipment is achieved by identifying the trackside signal equipment.
The step S7 of measuring the track parameter includes the steps of:
s71, stopping the trolley on a track by a travelling motor 23, and lowering a first detection probe 76 and a second detection probe 77 to a specified measurement position through a first automatic jacking mechanism 74 and a first automatic jacking mechanism 75 on two sides;
s72, acquiring electric signal data by a first detection probe 76 and a second detection probe 77, and transmitting signals to a vehicle-mounted frequency shift testing device 71 by a first connecting wire 72 and a second connecting wire 73;
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 electrical signals of the track are abnormal.
In order to realize that the trolley continues to work after temporarily interrupting the work, the method further comprises an S8 restarting working step, and specifically comprises the following steps:
s81, before the trolley is moved away from the track, manually clicking and suspending the working operation on the touch screen 102 of the device body or the remote control handle 1;
s82, recording current RTK longitude and latitude coordinate information and mileage values through an RTK positioning system and an odometer 51, and spraying pause mark points on the sleeper through a character code spraying device 41;
s83, when the operation needs to be continued, the trolley is manually moved to the vicinity of the sprayed marking point in the step S82, after the manual triggering, the trolley identifies the last sprayed pause marking point through the four-dimensional camera 65 or automatically moves to the last work pause position through comparing the longitude and latitude coordinates or the mileage value of the last interrupted RTK, and then the operation is resumed.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Claims (9)
1. The utility model provides a possess portable intelligent measurement dolly of travel record function which characterized in that: the system comprises a control module, a traveling module, a code spraying module, a mileage module, a vision module and a measurement module, wherein the control module controls command issuing and information processing, the traveling module controls the trolley to operate, the mileage module records mileage data, the vision module positions and records traveling distance when no GPS signal exists, the measurement module detects track electrification parameters, and 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 movement 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, the nozzle is used for spraying codes, the base fixing mechanism is positioned at the bottom of the character code spraying device, and the dust-proof shell wraps the bottom of the nozzle of the character code spraying device and the base fixing mechanism; the dustproof shell bottom is provided with the limiting plate, the limiting plate is last to have set firmly the spacing groove, the spout of character spouts a yard device passes the limiting groove, two sets of connecting portions of extension respectively in limiting plate both sides, be provided with the through-hole on every connecting portion, the stationary mechanism passes the through-hole and rotates with the connecting portion and be connected, the stationary mechanism includes plane gyro wheel, pressure sensor and counter, two sets of terminal surfaces of plane gyro wheel are provided with the arch along the axis direction and pass the through-hole and make the winding axle rotation of plane gyro wheel, pressure sensor and counter are located the inside of plane gyro wheel and establish data connection with main control unit, be used for confirming the plane gyro wheel and paste the spraying reference surface of the spout of face action assurance character spouts a yard device on the sleeper plane, movement mechanism includes translational motion mechanism and elevating motion mechanism, translational motion mechanism drive character spouts a yard device translational motion, elevating motion mechanism drive character spouts a yard device elevating motion.
2. The portable intelligent measurement trolley with a travel recording function according to claim 1, wherein: 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 related parameters and indexes when an initializing device performs corresponding work and for calling and checking device main control data when the device breaks down; the remote control handle is in wireless connection with the main controller for signal transmission, and is used for an operator to remotely take over the action of the device to cope with special conditions and special demands; the motor controller is in wired connection with the main controller for signal transmission, and is used for controlling different rotating speeds of the wheel motors at two sides when the main controller gives a turning instruction to the traveling module.
3. The portable intelligent measurement trolley with a travel recording function according to claim 1, wherein: 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 advancing motor is converted into digital quantity.
4. The portable intelligent measurement trolley with a travel recording function according to claim 1, wherein: the device also comprises an adjusting mechanism, wherein the adjusting mechanism adjusts the plane freedom degree of the nozzle, so that the plane of the nozzle is parallel to the surface of the sleeper.
5. The portable intelligent measurement trolley with a travel recording function according to claim 1, wherein: the visual module comprises a holder, a first two-dimensional camera, a second two-dimensional camera, a third two-dimensional camera, a fourth two-dimensional camera and a three-dimensional scanner, wherein the holder is arranged at the front end of the trolley, the three-dimensional scanner is fixed on the holder, the first two-dimensional camera is positioned at the front end of the trolley and below the holder, the second two-dimensional camera and the third two-dimensional camera are positioned at the left end and the right end of the trolley and fixedly arranged on the bearing frame, the fourth two-dimensional camera is fixedly arranged on the dustproof shell and is opposite to the position of the nozzle of the ink jet printer, whether the nozzle of the ink jet printer is positioned at the appointed position of the ink jet printer is conveniently confirmed, the data connection is established between the three-dimensional scanner, the first two-dimensional camera, the second two-dimensional camera, the third two-dimensional camera and the fourth two-dimensional camera and the main controller, and the three-dimensional scanner and the second RTK satellite positioning device establish data connection together.
6. The portable intelligent measurement trolley with a travel recording function according to claim 5, wherein: the three-dimensional scanner and the odometer measure mileage, the odometer records travel distance data and travel route data, the data are calculated and stored, and the three-dimensional scanner optimizes and calibrates the mileage measured by the odometer.
7. The portable intelligent measurement trolley with a travel recording function according to claim 1, wherein: the measuring module automatically measures 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 second automatic jacking mechanism, a first detection probe and a second detection probe, the first automatic jacking mechanism and the second automatic jacking mechanism adopt the same structure, the first detection probe and the second detection probe adopt the same structure, the first automatic jacking mechanism is fixedly connected with the first detection probe, the second automatic jacking mechanism is fixedly connected with the second detection probe, and the first automatic jacking mechanism and the second automatic jacking mechanism are symmetrically and fixedly arranged on the left side and the right side of the bearing frame.
8. The portable intelligent measurement trolley with a travel recording function according to claim 5, wherein: the three-dimensional scanner measures the distance of the trackside signal device and the contact line to the center of the track.
9. The portable intelligent measurement trolley with a travel recording function according to claim 5, wherein: and the two-dimensional camera I, the two-dimensional camera II and the two-dimensional camera III are used for identifying and acquiring information of the trackside equipment.
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| CN113503896A (en) * | 2021-06-24 | 2021-10-15 | 浙江大学台州研究院 | Mileage calibration method of railway measuring trolley based on positioning system |
| CN116124174B (en) * | 2023-04-14 | 2023-06-20 | 中铁建电气化局集团第三工程有限公司 | Railway signal vehicle mileage fixed measurement and verification system and method |
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