CN114593674B - Railway switch track detection system and method - Google Patents
Railway switch track detection system and method Download PDFInfo
- Publication number
- CN114593674B CN114593674B CN202210220449.3A CN202210220449A CN114593674B CN 114593674 B CN114593674 B CN 114593674B CN 202210220449 A CN202210220449 A CN 202210220449A CN 114593674 B CN114593674 B CN 114593674B
- Authority
- CN
- China
- Prior art keywords
- structure laser
- line structure
- processor
- track
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims description 18
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 241001669679 Eleotris Species 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 8
- 229910052744 lithium Inorganic materials 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 239000000758 substrate Substances 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 210000000709 aorta Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
Abstract
The application provides a railway switch track detection system and a railway switch track detection method. The walking unit is used for walking on the two rails along the extending direction of the rails. The detection unit comprises a base body, a processor, a linear structure laser sensor, an inertial measurement unit, a camera and a battery module, wherein the processor, the linear structure laser sensor, the inertial measurement unit, the camera and the battery module are arranged on the base body, and the base body is connected with the walking unit; the processor is electrically connected with the line structure laser sensor, the inertia measurement unit, the camera and the battery module at the same time; the line structure laser sensor is used for scanning the track to acquire track cross-section profile data; the camera is used for acquiring images of sleepers carrying the track; the inertial measurement unit is used for providing positioning and attitude determination state data and acceleration information for the linear structure laser sensor. The automatic degree is high, the efficiency is high, the detection data is comprehensive, and the accuracy of the detection result is high.
Description
Technical Field
The invention relates to the technical field of track detection, in particular to a railway turnout track detection system and method.
Background
The railway is an important infrastructure, national economy aorta and popular transportation means, and plays an irreplaceable global supporting role for the good and rapid development of the national society economy and national defense. The turnout is used as a weak link of a track structure, and the safety is relatively low. On the line, once the switch breaks down, the operation of the railway is seriously affected, and even disastrous accidents occur. At present, no effective detection means for the turnout exists in China, and the daily maintenance and fault detection of the turnout are mostly completed by manpower.
The inventor researches find that the existing turnout track structure detection system has the following defects:
the manual detection is low in efficiency and large in error.
Disclosure of Invention
The invention aims to provide a railway turnout track detection system and a railway turnout track detection method, which can improve the automation degree, the detection efficiency and the accuracy of detection results, and further improve the use safety of a turnout track system.
Embodiments of the present invention are implemented as follows:
in a first aspect, the present invention provides a railway switch track detection system comprising:
the walking unit is used for walking on the two rails along the extending direction of the rails;
the detection unit comprises a base body, a processor, a linear structure laser sensor, an inertial measurement unit, a camera and a battery module, wherein the processor, the linear structure laser sensor, the inertial measurement unit, the camera and the battery module are arranged on the base body, and the base body is connected with the walking unit; the processor is electrically connected with the line structure laser sensor, the inertia measurement unit, the camera and the battery module at the same time; the line structure laser sensor is used for scanning the track to acquire track cross-section profile data; the camera is used for acquiring images of sleepers bearing the track; wherein the cross section is a section perpendicular to the extending direction of the rail.
In an alternative embodiment, a plurality of line structure laser sensors are provided, wherein the line structure laser sensors are all arranged on the base body and are electrically connected with the processor, and the line structure laser sensors are used together to acquire cross-section profile data of the sleeper and the two tracks.
In an alternative embodiment, the plurality of line structure laser sensors comprises at least two first line structure laser sensors, at least one second line structure laser sensor and at least two third line structure laser sensors, the at least one second line structure laser sensor being located between the at least two first line structure laser sensors and the at least two third line structure laser sensors; the at least two first line structure laser sensors are used for acquiring cross-sectional profile data of one of the two tracks; the at least two first line structure laser sensors, the at least one second line structure laser sensor and the at least two third line structure laser sensors are matched together to acquire cross-sectional profile data of the sleeper; the at least two third line structure laser sensors are used to acquire cross-sectional profile data of the other of the two tracks.
In an alternative embodiment, a plurality of cameras are provided, a plurality of cameras are all arranged on the base body and are electrically connected with the processor, and a plurality of cameras are matched together to acquire images of the sleeper.
In an alternative embodiment, the battery module comprises a lithium battery and an overload overvoltage protection circuit structure electrically connected with the lithium battery, and the lithium battery is electrically connected with the processor.
In an alternative embodiment, the walking unit comprises a frame and walking wheels which are connected, and the walking wheels are used for walking on the two rails; the base body is detachably connected with the frame.
In an alternative embodiment, the detection unit further comprises an alarm, the alarm is arranged on the substrate, and the alarm is in communication connection with the processor and is used for sending out an alarm when the parameter information acquired by the processor is out of compliance.
In an alternative embodiment, the detection unit further comprises a global navigation satellite system, which is provided on the base and is in communication with the processor.
In an alternative embodiment, the detection unit further comprises an odometer, wherein the odometer is arranged on the base body and is in communication connection with the processor, and the odometer is used for acquiring the walking path of the walking unit.
In a second aspect, the present invention provides a method for detecting a railroad switch track, which is applicable to the railroad switch track detection system according to any one of the foregoing embodiments, and the method includes:
in the process that the detection unit walks along the extending direction of the track under the drive of the walking unit, the line structure laser sensor is utilized to acquire the cross section profile data of the track and transmit the cross section profile data to the processor, and the camera is utilized to acquire the image of the sleeper and transmit the image data to the processor.
The embodiment of the invention has the beneficial effects that:
in summary, the railway switch track detection system provided in this embodiment adopts the high-precision three-dimensional laser technology and the computer processing technology to scan all parts of the switch in real time and synchronously, obtain three-dimensional point cloud data, perform efficient, rapid and reliable analysis through software, extract all component inspection items, solve inspection results, and simultaneously, perform real-time acousto-optic alarm prompt on abnormal conditions, store and output detection results, and provide basis for daily maintenance of the switch in a digital manner. In the detection process, the walking unit can be driven by manpower or mechanical equipment to walk along the extending direction of the rail, in the walking process, the detection unit moves along with the walking unit, the detection module on the detection unit can effectively detect the turnout structure in real time, the automation degree is high, the efficiency is high, and the accuracy of the detection result is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a view angle structure of a railroad switch track detection system according to an embodiment of the present invention;
FIG. 2 is a schematic view of another view of a railroad switch track detection system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a detecting unit according to an embodiment of the present invention;
FIG. 4 is a control flow chart of a detection unit according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a part of a detection unit according to an embodiment of the invention.
Icon:
100-walking units; 110-a frame; 120-travelling wheels; 130-armrests; 200-a detection unit; 210-substrate; 220-a processor; 230-line structured laser sensor; 231-a first sensor; 232-a second sensor; 233-a third sensor; 234-fourth sensor; 235-a fifth sensor; 236-a sixth sensor; 237-seventh sensor; 238-eighth sensor; 240-an inertial measurement unit; 250-camera; 260-a battery module; 270-mileometer; 280-GNSS; 290-alarm.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
At present, when carrying out railway switch track detection, mainly by two modes, first is to adopt artifical handheld instrument to detect, when the parameter of the different positions of need detecting the switch, need change different check out test set, complex operation, inefficiency. The second is to directly provide the detection system on the turnout as an accessory part of the turnout, and the method can realize automatic monitoring, but can only be used for detecting local parameters, and has a large limitation.
In view of the above, a designer designs a railway turnout track detection system with high automation degree and high efficiency; meanwhile, the states of all parts of the turnout can be comprehensively and rapidly detected, and the turnout inspection quality is improved.
It should be understood that a switch structure includes a sleeper and two rails disposed on the sleeper, the types of rails including, but not limited to, stock rails, switch rails, and wing rails. The two tracks are arranged at intervals.
Referring to fig. 1 to 5, in the present embodiment, the railway switch track detection system includes a walking unit 100 and a detection unit 200. The traveling unit 100 is used for traveling on two rails along the extending direction of the rails. The detection unit 200 includes a base 210, a processor 220 provided on the base 210, a line structure laser sensor 230, an inertial measurement unit 240, a camera 250, and a battery module 260, the base 210 being connected to the walking unit 100; the processor 220 is electrically connected with the line structure laser sensor 230, the inertial measurement unit 240, the camera 250 and the battery module 260 at the same time; the line structure laser sensor 230 is used to scan the track to obtain track cross-sectional profile data; the camera 250 is used to capture images of ties carrying the track; the inertial measurement unit 240 is configured to provide positioning and attitude status data and acceleration information (where the acceleration may be linear acceleration or angular acceleration) for the line structure laser sensor 230; wherein the cross section is a section perpendicular to the extending direction of the rail.
The number of line-structured laser sensors 230 and cameras 250 is set as needed, and for example, in this embodiment, the number of line-structured laser sensors 230 is eight, and the number of cameras 250 is three. The line-structured laser sensors 230 are a first sensor 231, a second sensor 232, a third sensor 233, a fourth sensor 234, a fifth sensor 235, a sixth sensor 236, a seventh sensor 237, and an eighth sensor 238, respectively.
In this embodiment, optionally, the walking unit 100 includes a frame 110, an armrest 130, and a walking wheel 120, where the frame 110 is a metal frame, and the frame 110 is provided with an assembly groove for clamping the base 210. The armrest 130 is coupled to the frame 110. The number of the walking wheels 120 is four, and the two walking wheels 120 are one group, wherein one group of the walking wheels 120 walks on a first track in the two tracks, and the other group of the walking wheels 120 walks on a second track in the two tracks. During the detection process, the operator pulls the armrest 130 to drive the carriage 110 to move.
In this embodiment, alternatively, the base 210 may be configured as a rectangular strip, and the base 210 is embedded in the assembly groove, and the length direction of the base 210 is consistent with the extending direction of the assembly groove. The base 210 may be detachably coupled to the frame 110 by bolts or screws, etc. In this way, the base 210 can be separated from the frame 110 before the detection, so that the device is convenient to store, carry and transport. Further, the base 210 is provided with eight mounting holes, the eight line structure laser sensors 230 are connected with the base 210, the eight line structure laser sensors 230 are respectively penetrating through the eight mounting holes, and the laser emission port of each line structure laser sensor 230 can emit laser from the mounting hole, so that the base 210 is prevented from blocking the laser beam. Further, the eight mounting holes are arranged in a straight line in the length direction of the substrate 210, and are a first mounting hole, a second mounting hole, a third mounting hole, a fourth mounting hole, a fifth mounting hole, a sixth mounting hole, a seventh mounting hole and an eighth mounting hole in sequence in the arrangement direction, wherein the axes of the first mounting hole, the second mounting hole, the third mounting hole, the sixth mounting hole, the seventh mounting hole and the eighth mounting hole extend along the height direction of the substrate 210; the axes of the fourth mounting hole and the fifth mounting hole have an acute angle or an obtuse angle with respect to the height direction of the base 210, and the end of the fourth mounting hole from which the laser beam exits is closer to the third mounting hole than the other end, and the end of the fifth mounting hole from which the laser beam exits is closer to the sixth mounting hole than the other end, in other words, the distance between the axes of the fourth mounting hole and the fifth mounting hole gradually decreases from the end from which the laser beam exits to the other end. In this way, the emitted laser beams of the first sensor 231 mounted in the first mounting hole, the second sensor 232 mounted in the second mounting hole, the third sensor 233 mounted in the third mounting hole, the sixth sensor 236 mounted in the sixth mounting hole, the seventh sensor 237 mounted in the seventh mounting hole, and the eighth sensor 238 mounted in the eighth mounting hole are emitted in the height direction of the base 210 and are fan-shaped, and the laser beams emitted from the adjacent line structure laser sensors 230 may be partially overlapped. In this way, the first sensor 231, the second sensor 232, and the third sensor 233 cooperate to acquire cross-sectional profile data of the first track, and the sixth sensor 236, the seventh sensor 237, and the eighth sensor 238 cooperate to acquire cross-sectional profile data of the second track, so as to acquire parameters such as a point rail reduction value, a wing rail elevation value, a rim channel width, a back guard distance, and a search interval. The fourth sensor 234 and the inertial measurement unit 240 cooperate to obtain geometric parameters of the first track, such as track gauge, elevation, direction, level, triangle pit, etc. The fifth sensor 235 and the inertial measurement unit 240 cooperate to obtain geometric parameters of the second track, such as track gauge, elevation, direction, level, triangle pit, etc.
It should be appreciated that in other embodiments, the number and arrangement of line structure laser sensors 230 is not limited to those described in the above embodiments, and that acquisition of cross-sectional profile data for a tie carrying a track can be achieved by cooperation of a plurality of line structure laser sensors 230.
In addition, when the walking unit 100 is mounted on two rails, the length direction of the base 210 is along the two rails, and the height direction of the base 210 is perpendicular to the length direction and is vertical, that is, the height direction of the base 210 is consistent with the height direction of the rails.
In this embodiment, three cameras 250 are arranged at intervals along the length direction of the substrate 210, and the three cameras 250 cooperate to obtain images of the sleeper, so as to identify the sleeper status, for example, the surface quality, cracks, and chipping of the sleeper can be obtained through the acquired images.
In this embodiment, the processor 220 may alternatively be configured as an embedded computer.
In this embodiment, the battery module 260 includes two lithium batteries, and both lithium batteries are detachably connected to the base 210.
In this embodiment, the detection unit 200 further includes an odometer 270, a GNSS280 (Global Navigation Satellite System global navigation satellite system) and an alarm 290, all communicatively coupled to the processor 220. The odometer 270 provides mileage position information for the traveling unit 100, and obtains a distance traveled by the traveling unit 100. The GNSS280 obtains GPS or Beidou positioning information to provide positioning and time reference data for the line structure laser sensor 230. The alarm 290 is used to sound an alarm when the parameter information acquired by the processor 220 is not satisfactory. That is, in the switch detection process, the detection data is transmitted to the processor 220 in real time for processing, when the detection result obtained by the processor 220 does not meet the preset condition, that is, the switch has a quality defect, the processor 220 immediately controls the alarm 290 to be started, thereby reminding operators to perform defect investigation in time, and being more efficient.
It should be appreciated that the alarm 290 may be an audible and visual device capable of emitting both sound and light.
The railway turnout track detection system provided by the embodiment adopts a high-precision three-dimensional laser technology and a computer processing technology to perform real-time and synchronous scanning on each part of the turnout to obtain three-dimensional point cloud data, performs high-efficiency, rapid and reliable analysis through software, extracts each part inspection item, solves the inspection result, simultaneously can perform real-time audible and visual alarm prompt on abnormal conditions, stores and outputs the detection result, and provides basis for daily maintenance of the turnout in a digital mode. In the detection process, the walking unit 100 can be driven by manual or mechanical equipment to walk on the track along the extending direction of the track, in the walking process, the detection unit 200 moves along with the walking unit 100, the detection module on the detection unit 200 can effectively detect the turnout structure in real time, the automation degree is high, the efficiency is high, and the accuracy of the detection result is high.
Meanwhile, the line structure light sensor collects profile data of all components of the switch rail, the core rail, the stock rail and the wing rail area, the inertia measurement unit 240 collects posture and position calculation data of the inspection instrument, the GNSS280 collects time information data, and the odometer 270 collects mileage data. According to factory calibration, the line structure laser sensors 230 are unified into the same coordinate system, the central position of the data collected by the line structure laser sensors 230 at each moment is obtained according to the position data, then all the collected data are fused into the same coordinate system, the three-dimensional profile data of the whole turnout is obtained, each part is identified by software, relevant parameters are detected, the accuracy of detection results is high, and the detection quality of the turnout is improved.
The present embodiment also provides a method for detecting a railroad switch track, in which the line laser sensor 230 is used to acquire track cross-section profile data and transmit the track cross-section profile data to the processor 220, and the camera 250 is used to acquire an image of a sleeper and transmit the image data to the processor 220, in the process that the detection unit 200 is driven by the running unit 100 to run along the extending direction of the track. The detection method has the advantages of high automation degree, high efficiency and high accuracy of detection results.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A railroad switch track detection system, comprising:
the walking unit is used for walking on the two rails along the extending direction of the rails;
the detection unit comprises a base body, a processor, a linear structure laser sensor, an inertial measurement unit, a camera and a battery module, wherein the processor, the linear structure laser sensor, the inertial measurement unit, the camera and the battery module are arranged on the base body, and the base body is connected with the walking unit; the processor is electrically connected with the line structure laser sensor, the inertia measurement unit, the camera and the battery module at the same time; the line structure laser sensor is used for scanning the track to acquire track cross-section profile data; the camera is used for acquiring images of sleepers bearing the track; wherein the cross section is a section perpendicular to the extending direction of the track;
the line structure laser sensors are arranged in a plurality, are all arranged on the base body and are electrically connected with the processor, and the line structure laser sensors work together to obtain cross section profile data of the sleeper and the two tracks;
the plurality of line structure laser sensors includes at least two first line structure laser sensors, at least one second line structure laser sensor and at least two third line structure laser sensors, the at least one second line structure laser sensor being located between the at least two first line structure laser sensors and the at least two third line structure laser sensors; the at least two first line structure laser sensors are used for acquiring cross-sectional profile data of one of the two tracks; the at least two first line structure laser sensors, the at least one second line structure laser sensor and the at least two third line structure laser sensors are matched together to acquire cross-sectional profile data of the sleeper; the at least two third line structure laser sensors are used to acquire cross-sectional profile data of the other of the two tracks.
2. The railroad switch track detection system of claim 1, wherein:
the camera is arranged in a plurality of, a plurality of cameras are arranged on the base body and are electrically connected with the processor, and the cameras are matched together to acquire images of the sleeper.
3. The railroad switch track detection system of claim 1, wherein:
the battery module comprises a lithium battery and an overload and overvoltage protection circuit structure electrically connected with the lithium battery, and the lithium battery is electrically connected with the processor.
4. The railroad switch track detection system of claim 1, wherein:
the walking unit comprises a frame and walking wheels which are connected, and the walking wheels are used for walking on the two rails; the base body is detachably connected with the frame.
5. The railroad switch track detection system of claim 1, wherein:
the detection unit further comprises an alarm which is arranged on the substrate and is in communication connection with the processor, and the alarm is used for giving an alarm when the parameter information acquired by the processor does not meet the requirements.
6. The railroad switch track detection system of claim 1, wherein:
the detection unit further comprises a global navigation satellite system which is arranged on the base body and is in communication connection with the processor.
7. The railroad switch track detection system of claim 1, wherein:
the detection unit further comprises an odometer, wherein the odometer is arranged on the base body and is in communication connection with the processor, and the odometer is used for acquiring the walking path of the walking unit.
8. A method of railroad switch track detection adapted for use in a railroad switch track detection system as set forth in any one of claims 1-7, the method comprising:
in the process that the detection unit walks along the extending direction of the track under the drive of the walking unit, the line structure laser sensor is utilized to acquire the cross section profile data of the track and transmit the cross section profile data to the processor, and the camera is utilized to acquire the image of the sleeper and transmit the image data to the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210220449.3A CN114593674B (en) | 2022-03-08 | 2022-03-08 | Railway switch track detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210220449.3A CN114593674B (en) | 2022-03-08 | 2022-03-08 | Railway switch track detection system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114593674A CN114593674A (en) | 2022-06-07 |
| CN114593674B true CN114593674B (en) | 2024-02-23 |
Family
ID=81815480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210220449.3A Active CN114593674B (en) | 2022-03-08 | 2022-03-08 | Railway switch track detection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114593674B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103061219A (en) * | 2013-01-14 | 2013-04-24 | 武汉汉宁科技有限公司 | Method and device for automatically checking fastening states of railway fasteners and spring fasteners |
| CN106400628A (en) * | 2016-08-31 | 2017-02-15 | 武汉汉宁轨道交通技术有限公司 | Model resolving method, control unit, control system and railway turnout detection method |
| CN106441091A (en) * | 2016-08-31 | 2017-02-22 | 武汉汉宁轨道交通技术有限公司 | Steel rail automatic detection device and method |
| CN206954227U (en) * | 2017-05-18 | 2018-02-02 | 武汉汉宁轨道交通技术有限公司 | Track plates detect car and system |
| CN108974043A (en) * | 2018-08-09 | 2018-12-11 | 铁路愿景欧洲有限公司 | Railroad track survey system |
| CN211877797U (en) * | 2020-03-10 | 2020-11-06 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Automatic detector for concrete sleeper appearance quality |
| EP3740410A1 (en) * | 2018-02-06 | 2020-11-25 | Matisa Matériel Industriel SA | Methods for locating points or lines of interest on a railway track, positioning and driving an intervention machine on a railway track |
| CN112172862A (en) * | 2020-09-04 | 2021-01-05 | 天津津航技术物理研究所 | Multifunctional track detection system |
| CN213008144U (en) * | 2020-07-31 | 2021-04-20 | 湖北国铁轨道交通研究院有限公司 | Track detection vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8958079B2 (en) * | 2004-06-30 | 2015-02-17 | Georgetown Rail Equipment Company | System and method for inspecting railroad ties |
-
2022
- 2022-03-08 CN CN202210220449.3A patent/CN114593674B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103061219A (en) * | 2013-01-14 | 2013-04-24 | 武汉汉宁科技有限公司 | Method and device for automatically checking fastening states of railway fasteners and spring fasteners |
| CN106400628A (en) * | 2016-08-31 | 2017-02-15 | 武汉汉宁轨道交通技术有限公司 | Model resolving method, control unit, control system and railway turnout detection method |
| CN106441091A (en) * | 2016-08-31 | 2017-02-22 | 武汉汉宁轨道交通技术有限公司 | Steel rail automatic detection device and method |
| CN206954227U (en) * | 2017-05-18 | 2018-02-02 | 武汉汉宁轨道交通技术有限公司 | Track plates detect car and system |
| EP3740410A1 (en) * | 2018-02-06 | 2020-11-25 | Matisa Matériel Industriel SA | Methods for locating points or lines of interest on a railway track, positioning and driving an intervention machine on a railway track |
| CN108974043A (en) * | 2018-08-09 | 2018-12-11 | 铁路愿景欧洲有限公司 | Railroad track survey system |
| CN211877797U (en) * | 2020-03-10 | 2020-11-06 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Automatic detector for concrete sleeper appearance quality |
| CN213008144U (en) * | 2020-07-31 | 2021-04-20 | 湖北国铁轨道交通研究院有限公司 | Track detection vehicle |
| CN112172862A (en) * | 2020-09-04 | 2021-01-05 | 天津津航技术物理研究所 | Multifunctional track detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114593674A (en) | 2022-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2545154C (en) | Railroad surveying and monitoring system | |
| US7539596B2 (en) | Diagnosis and state monitoring of junctions, crossings, crossroads or rail joints by means of a rail vehicle | |
| CN105416097A (en) | Contact screen detecting and overhauling car and method based on laser radar | |
| RU2521095C1 (en) | Railway line diagnosis method | |
| CN106192634A (en) | A kind of railroad track elastic bar fastener condition automatic detection device and method | |
| CN109583407B (en) | Track detection positioning system based on combination of NFC technology and machine vision | |
| CN207850304U (en) | A kind of electrification railway contact net detecting system | |
| CN110006396A (en) | A kind of tunnel cross-section and limit scanning detection apparatus and method | |
| CN106400628B (en) | Models computed method, control unit, control system and railway switch detection method | |
| CN111122602B (en) | Three-dimensional camera-based straddle type monorail finger-shaped plate abnormity detection system and method | |
| CN205097980U (en) | Contact net detects tool car based on laser radar | |
| CN113085948B (en) | Track comprehensive detection system | |
| CN205951992U (en) | Railway tunnel boundary limit dynamic inspection system based on laser scanning distance measurement appearance | |
| CN209639708U (en) | A kind of tunnel cross-section and limit scanning detection apparatus | |
| CN202124809U (en) | Track geometry detecting complete system device | |
| RU2474505C1 (en) | Method of rails diagnostics | |
| CN206847600U (en) | A kind of tunnel structure detecting system based on High Performance Unmanned Aerial Vehicle | |
| CN111619608A (en) | Track detection assembly | |
| CN114593674B (en) | Railway switch track detection system and method | |
| CN113334406A (en) | Track traffic vehicle side inspection robot system and detection method | |
| JP3179254B2 (en) | Approaching tree separation detector | |
| CN215037536U (en) | Track traffic vehicle side patrols and examines robot system | |
| CN215701728U (en) | Rail transit vehicle bottom inspection robot system | |
| CN115035087A (en) | Novel railway line image detection method and system | |
| CN116331069A (en) | Portable bow net detection track inspection vehicle detection system with power |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |