CN113442957A - Track inspection vehicle - Google Patents
Track inspection vehicle Download PDFInfo
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- CN113442957A CN113442957A CN202110720500.2A CN202110720500A CN113442957A CN 113442957 A CN113442957 A CN 113442957A CN 202110720500 A CN202110720500 A CN 202110720500A CN 113442957 A CN113442957 A CN 113442957A
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- image
- track
- controller
- acquisition device
- rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
The embodiment of the disclosure discloses a rail patrol vehicle. One specific embodiment of this track inspection vehicle includes: the device comprises a wheel set, a vehicle body, a power supply, a controller, a first image acquisition device and a second image acquisition device, wherein the wheel set is rotatably arranged on two sides of the vehicle body and is used for driving the vehicle body to move along a track; the vehicle body is used for bearing a power supply, a controller, a first image acquisition device and a second image acquisition device; the power supply is electrically connected with the controller, the first image acquisition device and the second image acquisition device; the first image acquisition device is used for acquiring a three-dimensional image of the track and sending the three-dimensional image to the controller; the second image acquisition device is used for acquiring a plane image of the track and sending the plane image to the controller; the controller is preset with an image recognition module for recognizing the received image. The automatic operation of track detection can be realized, and the working efficiency can be effectively improved.
Description
Technical Field
The embodiment of the disclosure relates to the field of machinery, in particular to the field of rail equipment, and particularly relates to a rail patrol vehicle.
Background
The rail is an important component of a railway line, and because the rail is exposed to severe natural environment for a long time, the rail can bear damage of rain, dew, frost, wind, sand and the like on one hand, and can be impacted and abraded by vehicles running on the rail on the other hand, the state of the rail can be changed, and rail detection is an important link for ensuring safe operation of the railway.
In the related art, the track detection method includes the following two methods: one is traditional manual work; the other type is that the staff pushes the track detector along the track, and the static parameters of the track are detected by the track detector.
Disclosure of Invention
The embodiment of the disclosure provides a rail patrol vehicle.
In a first aspect, an embodiment of the present disclosure provides a rail inspection vehicle, including: the device comprises a wheel set, a vehicle body, a power supply, a controller, a first image acquisition device and a second image acquisition device, wherein the wheel set is rotatably arranged on two sides of the vehicle body and is used for driving the vehicle body to move along a track; the vehicle body is used for bearing a power supply, a controller, a first image acquisition device and a second image acquisition device; the power supply is electrically connected with the controller, the first image acquisition device and the second image acquisition device; the first image acquisition device is used for acquiring a three-dimensional image of the track and sending the three-dimensional image to the controller; the second image acquisition device is used for acquiring a plane image of the track and sending the plane image to the controller; the controller is preset with an image recognition module for recognizing the received image.
In some embodiments, the first image capturing device is a stereoscopic image capturing device comprising an image processing unit and two monocular cameras symmetrically distributed with respect to a vertical center plane of the side wheel, the monocular cameras being configured to capture images of the rail from a side of the rail, the image processing unit being configured to generate a stereoscopic image of the rail based on the images captured by the two monocular cameras; the three-dimensional image acquisition device is in communication connection with the controller and used for sending the three-dimensional image to the controller.
In some embodiments, a stereo image acquisition device is respectively arranged above the wheels on two sides of the vehicle body.
In some embodiments, the stereoscopic image capturing device is further covered with a camera hood, a lower end of the camera hood is provided with an opening which diverges outward, and a divergence angle of the opening is determined based on the field angles of the two monocular cameras.
In some embodiments, the second image acquisition device is a line camera, the line camera is fixed on the vehicle body, and a lens of the line camera is inclined downwards to acquire a plane image of the track in front of or behind the vehicle body; the linear array camera is in communication connection with the controller and used for sending the acquired planar image to the controller.
In some embodiments, one line camera is arranged above each wheel on two sides of the vehicle body.
In some embodiments, the vehicle body is also provided with a position sensor, and the position sensor is in communication connection with the controller; the controller is further configured to determine position information of the rail inspection vehicle at a current time based on the signal of the position sensor, and record the position information of the rail inspection vehicle at various times.
In some embodiments, the controller is further configured to: acquiring a time stamp of the image with the defect in response to identifying the image with the defect; acquiring the position information of the track inspection vehicle at the time indicated by the timestamp; and outputting the image with the defect and the position information of the rail patrol car at the time indicated by the time stamp.
In some embodiments, the vehicle body is further provided with an attitude sensor, and the attitude sensor is in communication connection with the controller; the controller is further configured to: and determining the attitude information of the track inspection vehicle at the current moment based on the signal of the attitude sensor, and determining the track inclination angle at the current moment based on the attitude information of the track inspection vehicle.
In some embodiments, the control is further configured to: responding to the track inclination angle being larger than a preset threshold value, and determining a timestamp of the track inclination angle; acquiring the position information of the track inspection vehicle at the time indicated by the timestamp; and outputting the track inclination angle and the position information of the track patrol vehicle at the time indicated by the timestamp.
The rail inspection vehicle provided by the embodiment of the disclosure drives the vehicle body to move along a rail through the wheel set, and in the moving process, the first image acquisition device acquires a three-dimensional image of the rail, the second image acquisition device acquires a planar image of the rail, and the image identification module in the controller identifies the acquired image to determine whether the rail has defects, so that the rail inspection automation operation can be realized, and the working efficiency can be effectively improved.
Drawings
Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the general construction of one embodiment of the rail inspection vehicle of the present disclosure;
FIG. 2 is a schematic top view of the general structure of one embodiment of the rail inspection vehicle of the present disclosure;
fig. 3 is a schematic structural diagram of a first image acquisition device and a second image acquisition device in one embodiment of the rail inspection vehicle of the present disclosure;
fig. 4 is an external structural schematic diagram of a first image acquisition device and a second image acquisition device in one embodiment of the rail inspection vehicle of the present disclosure;
FIG. 5 is a schematic illustration of a wheel set and body configuration for one embodiment of a rail inspection vehicle according to the present disclosure;
FIG. 6 is a schematic illustration of the structure of support wheels in one embodiment of the rail inspection vehicle of the present disclosure;
FIG. 7 is a schematic diagram of a suspension wheel in one embodiment of the rail inspection vehicle of the present disclosure;
reference numerals: 1-wheel set; 2-a vehicle body; 3-a controller; 4-a power supply; 5-a second image acquisition device; 6-a first image acquisition device; 7-orbit;
20-a support wheel; 21-a suspension wheel; 30-a position sensor;
60-an image processing unit; 61-monocular camera; 62-a camera lens hood;
200-a first scaffold; 201-a first wheel; 210-a second scaffold; 211-suspension spring; 212-second wheel.
Detailed Description
The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. The front end and the rear end in the present disclosure are determined according to the traveling direction of the rail patrol car.
Referring to fig. 1 and 2, fig. 1 shows an overall structure of an embodiment of the rail patrol car of the present disclosure, and fig. 2 is a plan view of the overall structure of an embodiment of the rail patrol car of the present disclosure. As shown in fig. 1 and 2, the rail patrol vehicle of the present embodiment includes: a rail inspection side comprising: the device comprises a wheel set 1, a vehicle body 2, a power supply 4, a controller 3, a first image acquisition device 6 and a second image acquisition device 5, wherein the wheel set 1 is rotatably arranged on two sides of the vehicle body 2 and is used for driving the vehicle body 2 to move along a rail 7; the vehicle body 2 is used for bearing a power supply 4, a controller 3, a first image acquisition device 6 and a second image acquisition device 5; the power supply 4 is electrically connected with the controller 3, the first image acquisition device 6 and the second image acquisition device 5; the first image acquisition device 6 is used for acquiring a three-dimensional image of the track 7 and sending the three-dimensional image to the controller 3; the second image acquisition device 5 is used for acquiring a plane image of the track 7 and sending the plane image to the controller 3; the controller 3 is preset with an image recognition module for recognizing the received image.
Generally, a double-track trolley is arranged on the track inspection side, the wheel set 1 comprises four wheels distributed at the front end and the rear end of the trolley body 2 in pairs, and the circumferential surfaces of the wheels are in surface contact with the track 7; the inner side of each wheel is also provided with a guide wheel, the rotating shaft of the guide wheel is in a vertical direction, and the peripheral surface of the guide wheel is in rolling contact with the inner side of the track 7 so as to guide the moving direction of the track inspection side on the track 7.
In some optional implementations of the present embodiment, the rail inspecting side further includes a driving device (not shown in the figure), and the driving device is cooperatively connected with the wheel set 1, electrically connected with the power source 4, and configured to move the rail inspecting side along the rail 7. Therefore, the rail patrol side can be moved by self without the help of external traction equipment, and the flexibility of the rail patrol side in practical application can be further improved.
In the present embodiment, the first image capturing device 6 may be, for example, a structured light 3D camera, a coded light 3D camera, or a tof (time of flight) camera, and by setting the capturing posture of the first image capturing device 6, the first image capturing device 6 may capture a stereoscopic image of the rail 7 below the vehicle body 2 and transmit the captured stereoscopic image to the controller 3. The second image capturing device 5 may be disposed at a front end or a rear end of the vehicle body 2, and the second image capturing device 5 may capture a plane image of the rail 7 in front of or behind the vehicle body 2 by adjusting a capturing posture of the second image capturing device 5, and transmit the captured plane image to the controller 3.
In this embodiment, the controller 3 is preset with an image recognition module, for example, CNN (Convolutional Neural Networks), ResNet (residual error network), densnet, etc. The image recognition module can recognize the collected images (including a stereo image and a plane image), and if the rail 7 or the sleeper in the images has defects, the images are output.
The track inspection vehicle provided by the embodiment of the disclosure drives the vehicle body to move along the track 7 through the wheel set, collects a three-dimensional image of the track through the first image collection device, collects a plane image of the track through the second image collection device, and identifies the collected image through the image identification module in the controller 3 so as to determine whether the track has defects or not, so that the automatic operation of track detection can be realized, and the working efficiency can be effectively improved.
Referring next to fig. 3, fig. 3 illustrates the structure of a first image capturing device and a second image capturing device in one embodiment of the rail inspection side of the present disclosure. As shown in fig. 3, the first image capturing device 6 is a stereo image capturing device, which includes an image processing unit and two monocular cameras symmetrically distributed with respect to a vertical center plane of the side wheel, the monocular cameras being configured to capture an image of the rail 7 from a side of the rail 7, the image processing unit being configured to generate a stereo image of the rail 7 based on the images captured by the two monocular cameras; the stereo image acquisition device is in communication connection with the controller 3 and is used for sending stereo images to the controller 3.
In the present embodiment, the stereo image capturing device may capture side images of the rail 7 from two sides by the two monocular cameras 61, and the image processing unit 60 synthesizes the two side images into a stereo image of the rail 7, where the stereo image is an image including depth information, and may not only capture image information of the side of the rail 7, but also more accurately depict possible defects of the rail 7 (for example, a hollow caused by impact or abrasion). Therefore, defects of the track 7 can be comprehensively checked, and the inspection accuracy of the track 7 is further improved.
As an example, the stereo image capturing device may be fixed in the area of the vehicle body between the wheels on the same side, with the lens of the stereo image capturing device facing downward, capturing a stereo image of the rail from above the rail 7.
In an optional implementation manner of this embodiment, a stereo image capturing device is respectively disposed above the wheels on both sides of the vehicle body 2. Therefore, each stereo image acquisition device only acquires the stereo image of the rail 7 on the side, and can acquire the stereo images of the rails 7 on the two sides simultaneously, so that the accuracy and the efficiency of image acquisition can be improved.
With further reference to fig. 4, fig. 4 shows an external structure diagram of the first image capturing device and the second image capturing device, the external of the stereoscopic image capturing device is further covered with a camera hood 62, a lower end of the camera hood 62 is provided with an opening which diverges outwards, and a divergence angle of the opening is determined based on the field angles of the two monocular cameras.
In the present embodiment, the divergence angle of the opening of the camera mask 62 is determined based on the field angles of the two monocular cameras 61, ensuring that the acquisition area of the monocular camera 61 is not disturbed by the camera mask 62. As an example, if the field angles of the two monocular cameras 61 are 45 ° and the lens angles of the two monocular cameras 61 are 45 °, respectively, the acquisition regions of the two monocular cameras 61 may be determined to be fan-shaped regions of 90 ° in front, and at this time, the divergence angle of the opening of the camera hood 62 may be set to be not less than 90 °.
The camera shade 62 can prevent external light from interfering with the image capturing accuracy of the monocular camera 61, and can prevent external environment from affecting the stereo image capturing device, for example, it can prevent dust.
In some optional implementations of one or more of the embodiments described above, the second image capturing device 5 is a line camera, the line camera is fixed on the vehicle body 2, and a lens of the line camera is tilted downward to capture a plane image of the track 7 in front of or behind the vehicle body 2; the line scan camera is in communication connection with the controller 3 and is used for sending the acquired planar image to the controller 3.
The line cameras have high resolution, can be accurate to the micron level, and are commonly used for detecting continuous materials such as metal, plastic, paper, fiber and the like in practice. The image collected by the linear array camera is a linear two-dimensional image, the length of the image can reach thousands of pixels, and the width of the image is only a few pixels. The linear array camera and the object to be detected move relatively at a constant speed, and the linear array camera can continuously scan the surface of the object to be detected line by line in the process. And then processing the acquired images line by line or processing an area array image consisting of a plurality of lines of images at one time.
In this embodiment, the line camera can acquire the plane images of the track 7 and the sleeper at the same time, so that the controller 3 can identify the defects of the track 7 from the plane images and can also identify the defects of the sleeper, thereby improving the detection precision of the track 7.
In a specific example, a line camera may be disposed in a middle area of the front end of the vehicle body 2, and then the front end of the vehicle body 2 is connected to an external tractor, and the tractor drags the track inspection side to travel at a constant speed along the track 7. In the driving process, the linear array camera continuously acquires plane images of the track 7 and the sleeper in front of the vehicle body 2 and sends the acquired plane images to the controller 3.
In some alternative implementations of the embodiment, the car body 2 is provided with one line camera above each side rail 7 for acquiring images of the sleepers and the rails 7 on the same side as the line camera. So, can improve image acquisition's the degree of accuracy, help improving the degree of accuracy that track 7 patrolled and examined.
Further, a line camera is respectively arranged above the wheels at two sides of the vehicle body 2. Each line camera is used to acquire images of the sleeper and the track 7 on the same side as the line camera. So, can improve image acquisition's the degree of accuracy, help improving the degree of accuracy that track 7 patrolled and examined.
In a specific example, a linear array camera and a stereoscopic image acquisition device are respectively arranged above the wheels on two sides of the rail inspection side, so that a planar image and a stereoscopic image of the rails 7 on two sides can be acquired simultaneously, and the accuracy and efficiency of acquiring the images are further improved.
Referring next to fig. 5, 6 and 7, fig. 5 is a schematic structural diagram of a wheel set 1 and a vehicle body 2 in an embodiment of the rail inspection vehicle of the present disclosure, fig. 6 is a schematic structural diagram of a support wheel 20 in an embodiment of the rail inspection vehicle of the present disclosure, and fig. 7 is a schematic structural diagram of a suspension wheel 21 in an embodiment of the rail inspection vehicle of the present disclosure. As shown in fig. 5, the wheel set 1 includes a support wheel 20 and a suspension wheel 21 with adjustable height, as shown in fig. 6, the support wheel 20 includes a first bracket 200 and a first wheel 201, the first bracket 200 is fixed to a side surface of the front end of the vehicle body 2, and a rotating shaft of the first wheel 201 is rotatably connected to the first bracket 200; as shown in fig. 7, the suspension wheel 21 includes a second bracket 210, a suspension spring 211 and a second wheel 212, the second bracket 210 is fixed to a side surface of the rear end of the vehicle body 2, one end of the suspension spring 211 is fixedly connected to the second bracket 210, and the other end is perpendicularly connected to a rotating shaft of the second wheel 212, so that the suspension spring 211 is compressed between the second bracket 210 and the rotating shaft of the wheel.
In the embodiment, the suspension spring 211 is compressed between the second wheel 212 and the second bracket 210, so that the suspension wheel 21 has adaptive adjusting force, and the pretightening force of the suspension spring 211 can improve the buffering capacity of the vehicle body 2 and the adhesion degree of the second wheel 212 and the rail. In addition, the first wheel 201 of the support wheel 20 is rigidly connected with the first bracket 200, so that the rigidity of the rail inspection vehicle can be ensured. Therefore, the rail patrol vehicle can give consideration to both rigidity and self-adaptive adjustment capability, so that the rail patrol vehicle can be more stable when running along the rail.
Then returning to fig. 5, a position sensor 30 is further arranged on the vehicle body 2, and the position sensor 30 is in communication connection with the controller 3; the controller 3 is also configured to determine the position information of the rail inspecting vehicle at the present time based on the signal of the position sensor 30 and record the position information of the rail inspecting vehicle at various times.
As an example, an encoder may be used as the position sensor 30, and the encoder may record the rotation angle of the wheelset 1, so that the travel distance of the rail inspection vehicle can be derived, and the position information of the rail inspection vehicle can be determined. For another example, a GPS (Global Positioning System) module may be provided on the vehicle body 2, and the position of the track inspection vehicle may be represented by GPS coordinates of the vehicle body 2.
The controller 3 determines the position information of the rail inspecting vehicle at the current time based on the signal of the position sensor 30, and records the position information of the rail inspecting vehicle at each time. The operator can transfer the moving record of the rail patrol car so as to backtrack the operation process of the rail patrol car.
Further, the controller 3 is also configured to: acquiring a time stamp of the image with the defect in response to identifying the image with the defect; acquiring the position information of the track inspection vehicle at the time indicated by the timestamp; and outputting the image with the defect and the position information of the rail patrol car at the time indicated by the time stamp.
In this embodiment, the time stamp of the image represents the acquisition time of the image, and the controller 3 can determine the position of the track patrol vehicle when acquiring the image according to the time stamp, so as to help the operator to more conveniently and more accurately position the defect of the track.
In some optional implementation manners of the present embodiment, an attitude sensor is further disposed on the vehicle body 2, and the attitude sensor is in communication connection with the controller 3; the controller 3 is further configured to: and determining the attitude information of the track inspection vehicle at the current moment based on the signal of the attitude sensor, and determining the track inclination angle at the current moment based on the attitude information of the track inspection vehicle.
In practice, there may be a phenomenon that the track is inclined due to the damaged roadbed, and this phenomenon may not be reflected in the image, so in this implementation, the attitude sensor (for example, a gyroscope) is used to collect the attitude signal of the track inspection vehicle, and then the controller 3 determines the attitude information of the track inspection vehicle at the current time according to the attitude signal, and derives the track inclination angle at the current time from the attitude information of the track inspection vehicle. A worker can determine whether the track is inclined through the track inclination angle, so that the defect that the image information does not describe the track posture is overcome, the dimensionality for detecting the track defect is expanded, and the accuracy of track detection is further improved.
Further, the control is further configured to: responding to the track inclination angle being larger than a preset threshold value, and determining a timestamp of the track inclination angle; acquiring the position information of the track inspection vehicle at the time indicated by the timestamp; and outputting the track inclination angle and the position information of the track patrol vehicle at the time indicated by the timestamp.
In this embodiment, the operator may preset a threshold according to practical experience, and if the track inclination angle is greater than the threshold, it indicates that the track has a defect of over-tilting. The controller 3 may determine whether the track has a defect of over-tilting by comparing the track inclination angle with the threshold value.
And the time stamp of the track inclination angle represents the acquisition time of the attitude information corresponding to the track inclination angle. When the controller 3 detects that the track inclination angle is larger than the threshold value, the position information of the track inspection vehicle at the moment can be determined through the timestamp of the track inclination angle, so that the position corresponding to the track inclination angle can be determined, the position of the track defect can be more accurately positioned by a worker, and the intelligent degree of track inspection operation is improved.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (10)
1. A rail inspection vehicle comprising: wheel set, vehicle body, power supply, controller, first image acquisition device and second image acquisition device,
the wheel sets are rotatably arranged on two sides of the vehicle body and are used for driving the vehicle body to move along a track;
the vehicle body is used for bearing the power supply, the controller, the first image acquisition device and the second image acquisition device; the power supply is electrically connected with the controller, the first image acquisition device and the second image acquisition device;
the first image acquisition device is used for acquiring a three-dimensional image of the track and sending the three-dimensional image to the controller;
the second image acquisition device is used for acquiring a plane image of the track and sending the plane image to the controller;
the controller is preset with an image recognition module for recognizing the received image.
2. The rail inspection vehicle according to claim 1, wherein the first image acquisition device is a stereoscopic image acquisition device comprising an image processing unit and two monocular cameras symmetrically distributed with respect to a vertical center plane of the side wheels, the monocular cameras being configured to acquire images of a rail from a side of the rail, the image processing unit being configured to generate a stereoscopic image of the rail based on the images acquired by the two monocular cameras;
the stereo image acquisition device is in communication connection with the controller and is used for sending the stereo image to the controller.
3. The rail inspection side according to claim 2, wherein one of the stereoscopic image capturing devices is disposed above each of the wheels on both sides of the vehicle body.
4. The rail inspection vehicle according to claim 2, wherein the exterior of the stereo image acquisition device is further covered with a camera hood, a lower end of the camera hood is provided with an outwardly diverging opening, and a divergence angle of the opening is determined based on the field angles of the two monocular cameras.
5. The track inspection vehicle according to one of claims 1 to 4, wherein the second image acquisition device is a line camera fixed on the vehicle body, and a lens of the line camera is inclined downward to acquire a planar image of the track in front of or behind the vehicle body; the linear array camera is in communication connection with the controller and used for sending the acquired planar image to the controller.
6. The rail inspection side of claim 5, wherein one line camera is arranged above each wheel on two sides of the vehicle body.
7. The rail inspection vehicle of claim 1, further comprising a position sensor disposed on the vehicle body, the position sensor being in communication with the controller;
the controller is further configured to determine position information of the rail inspection vehicle at a current time based on the signal of the position sensor, and record the position information of the rail inspection vehicle at various times.
8. The rail inspection vehicle of claim 7, the controller further configured to:
in response to identifying the defective image, acquiring a timestamp of the defective image;
acquiring the position information of the track inspection vehicle at the time indicated by the timestamp;
and outputting the image with the defect and the position information of the rail patrol car at the time indicated by the time stamp.
9. The rail inspection vehicle according to claim 7, wherein an attitude sensor is arranged on the vehicle body, and the attitude sensor is in communication connection with the controller;
the controller is further configured to: and determining the attitude information of the track patrol vehicle at the current moment based on the signal of the attitude sensor, and determining the track inclination angle at the current moment based on the attitude information of the track patrol vehicle.
10. The rail inspection vehicle of claim 9, the control further configured to:
determining a timestamp of the track inclination angle in response to the track inclination angle being greater than a preset threshold;
acquiring the position information of the track inspection vehicle at the time indicated by the timestamp;
and outputting the track inclination angle and the position information of the track patrol vehicle at the time indicated by the timestamp.
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| CN202110720500.2A CN113442957A (en) | 2021-06-28 | 2021-06-28 | Track inspection vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114889671A (en) * | 2022-02-14 | 2022-08-12 | 浙江省农业科学院 | Multi-parameter measuring device suitable for hills and mountains track |
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| CN209624409U (en) * | 2018-10-12 | 2019-11-12 | 成都精工华耀科技有限公司 | A kind of track visualization inspection two dimension and three-dimensional fusion imaging device |
| US20200156676A1 (en) * | 2018-11-15 | 2020-05-21 | Avante International Technology, Inc. | Image-based monitoring and detection of track/rail faults |
| CN210123276U (en) * | 2019-05-23 | 2020-03-03 | 洛阳双瑞橡塑科技有限公司 | Vehicular rail wear detection system |
| CN210391129U (en) * | 2019-09-17 | 2020-04-24 | 陈少鹏 | Railway track inspection trolley |
| CN111210534A (en) * | 2020-03-05 | 2020-05-29 | 成都精工华耀科技有限公司 | Visual system of patrolling and examining of track |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114889671A (en) * | 2022-02-14 | 2022-08-12 | 浙江省农业科学院 | Multi-parameter measuring device suitable for hills and mountains track |
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