CN115675566B - Track monitoring system and monitoring method - Google Patents

Abstract

The invention provides a track monitoring system and a track monitoring method, wherein the track monitoring system comprises the following components: the on-rail sensor system is used for acquiring deformation data of the outer side of the rail; the rail car detection system is used for acquiring deformation data of the inner side of the rail; the cloud end can transmit detection data attached with geographic position information on the inner side and the outer side of the track to the cloud end through the communication module and store the detection data to be backed up; the detection center comprises a central processing unit and can receive detection data, which is sent by the cloud, of geographic position information attached to the inner side and the outer side of the track in real time; and the unmanned aerial vehicle detection system performs close-range graph and/or video acquisition on the position of the deformation abnormality under the control instruction of the detection center. The track monitoring system provided by the invention realizes intelligent and accurate detection of the track, simplifies data processing capacity, has a smaller structure, is low in cost and sensitive in response, can rapidly and accurately judge whether deformation of the track is abnormal, and effectively ensures driving safety.

Description

Track monitoring system and monitoring method

Technical Field

The invention relates to the technical field of railway track engineering monitoring, in particular to a track monitoring system and a track monitoring method.

Background

Locomotives have evolved from earlier wood or coal burning locomotives to larger and more powerful steam, diesel and electric locomotives early 20 years and by the present century all operating locomotives have been deployed on substantially the same track.

In recent years, the railways in China undergo six large-scale speed increases, the speed increasing line reaches 16500 km, the running quantity of the trains is gradually increased while the speeds of the trains are continuously increased, and the rail traffic in China still takes passenger-cargo collineation as the main, so that the density of locomotives is high in the first world. These factors all put higher demands on the safety and security system for operation of several vehicles. The rail is used as the basis of driving and directly bears the load of locomotives and vehicles, and the state of the rail directly influences the transportation capacity and driving safety of urban rail vehicles, so that the monitoring of the urban rail is particularly important.

At present, the rail state monitoring at home and abroad mainly comprises the following modes:

and (3) a step of: and (5) manual inspection. The method is random and flexible in inspection, but is easy to judge by people, requires the inspection personnel to have strong work responsibility and has good professional capability. In addition, manual inspection occupies a large amount of human resources, and inspection quality is difficult to ensure in areas with severe natural or climatic conditions.

And II: video detection trains and the like. The existing detection vehicle has shown great superiority in the aspects of detection efficiency, personal safety of patrol personnel and the like, but has the following disadvantages: most monitoring trains are subjected to data analysis in a high-speed continuous shooting mode, which can cause the condition of huge inspection data volume; meanwhile, the situation that dirt, rain, snow and the like shield a camera lens or a detected part often occurs in the detection process, so that accurate data information cannot be obtained, and the detection result is affected.

Thirdly,: and (5) detecting the professional equipment on site. The method has strong purposefulness and specialization, is suitable for finding out the deep cause of the problem, and is convenient for symptomatic medication. However, the method is time-consuming and labor-consuming to detect, cannot monitor for a long time and provides an early warning effect.

The rail safety monitoring method has the advantages of dead zones and defects, poor rail safety monitoring precision or low rail safety monitoring efficiency, and serious potential safety hazards. Therefore, providing a track monitoring system and method with simple implementation, low cost and low power consumption is a technical problem that needs to be solved at present.

Disclosure of Invention

In view of the above, the present invention is directed to a track monitoring system and a track monitoring method, so as to solve the problems of low monitoring accuracy and high cost in the track monitoring process in the prior art.

In order to achieve the above purpose, the technical scheme of the invention is realized as follows:

a track monitoring system, comprising:

the on-rail sensor system is used for acquiring deformation data of the outer side of the rail and comprises a spotlight transmitting unit and a reflecting unit, wherein the spotlight transmitting unit can transmit a laser spotlight to the reflecting unit and receive a spotlight signal returned by the reflecting unit, and the on-rail sensor system is arranged on the outer side of the rail;

the rail car detection system is used for acquiring deformation data of the inner side of the rail and comprises a rail car body, wherein a camera module is arranged below the rail car body and can shoot graphics and/or animation of the inner side of the rail;

the cloud end is provided with a large-capacity cloud disk database, the on-rail sensor system and the railcar detection system are combined with a geographic information system GIS, detection data of geographic position information attached to the inner side and the outer side of a rail can be transmitted to the cloud end through a communication module and stored for backup, and deformation threshold value data of the inner side and the outer side of the rail are stored in the cloud end;

the detection center comprises a central processing unit and can receive detection data of geographic position information attached to the inner side and the outer side of the track sent by the cloud in real time and judge whether the detected deformation data exceeds deformation threshold data or not;

Unmanned aerial vehicle detecting system, including at least one unmanned aerial vehicle, be provided with video acquisition unit on unmanned aerial vehicle, under detection center's control command, unmanned aerial vehicle detecting system carries out closely figure and/or video acquisition to the position of deformation abnormality, and the data information that unmanned aerial vehicle gathered is uploaded to the high in the clouds and is obtained by detection center through communication module.

Further, the first rail and the second rail in the track all comprise a plurality of track slab units, the sensor system on the track comprises a plurality of groups of sensor devices, each group of sensor devices comprises a spotlight transmitting unit and a reflecting unit, a group of sensor devices are arranged on each track slab unit and/or the joint of every two track slab units, wherein the sensor devices arranged at the joint of the two track slab units are connected, the spotlight transmitting unit is arranged on one track slab unit, and the reflecting unit is arranged on the other track slab unit.

Further, the spot lamp transmitting unit comprises a first mounting bracket, a first mounting plate and a second mounting plate are arranged on one side of the first mounting bracket, an induction receiving device, an information processing module and a light source module are arranged between the first mounting plate and the second mounting plate, the induction receiving device, the information processing module and the light source module are electrically connected, a power supply and a laser spot lamp are arranged in the light source module, and the induction receiving device is arranged in a vertical mode; the reflection unit comprises a second mounting bracket, a third mounting plate and a fourth mounting plate are arranged on one side of the second mounting bracket, a reflection module is arranged between the third mounting plate and the fourth mounting plate, the reflection module is opposite to the induction receiving device, the light source module emits a laser spotlight to the reflection module and is reflected to the induction receiving device by the reflection module, the induction receiving device feeds back the received position information of the reflection laser spotlight to the information processing module, and the information processing module uploads the position information to the cloud through the communication module.

Further, the light source module is fixed on the upper surface of the second mounting plate, the second mounting plate is arranged in an inclined mode, the included angle between the upper surface of the second mounting plate and the horizontal plane is alpha, and the value range of alpha is 0.2-5 degrees.

Further, the information processing module is installed the lower surface of first mounting panel, response receiving arrangement includes take-up plate and first support frame, first support frame is used for supporting fixedly take-up plate, the take-up plate sets up first support frame is close to on the side of reflecting unit, the position that first support frame is close to the lower extreme sets up the third connecting plate, the third connecting plate cover is established on the light source module the outside at the opposite both ends in third connecting plate below sets up the bottom support plate, the backup pad butt is in the upper surface of second mounting panel, the right-hand member butt of light source module is on the take-up plate correspond the position setting of laser shot-light on the take-up plate and dodge the hole, the laser shot-light passes dodge the hole sends shot-light towards the reflecting module.

Further, the first mounting plate comprises a first plate body, a guide groove is formed in the lower surface of the first plate body, a guide column is correspondingly arranged at the upper end of the first support frame, the guide column can be inserted into the guide groove to conduct guiding sliding, and the guide column is fixedly connected with the first plate body through a third connecting bolt.

Further, a temperature detection unit is arranged on the first connecting plate below the first mounting plate, and the information processing module, the light source module and the temperature detection unit are connected through a wire passing pipe.

Further, the lower surface of third mounting panel sets up first spout the upper surface of fourth mounting panel sets up the second spout, the reflection module includes reflecting plate body and second support frame, the second support frame is used for supporting the reflecting plate body, the reflecting plate body sets up be close to on the side of shot-light transmitting unit on the second support frame, the upper and lower both ends of reflecting plate body stretch into respectively first spout, second spout are interior to slide the upper end of second support frame with form between the lower surface of third mounting panel and dodge the space, and similarly, form between the lower extreme of second support frame with the upper surface of fourth mounting panel dodge the space intussuseption is filled with the elasticity stopper.

Further, the rail car body runs on first rail, second rail through two sets of rail wheels respectively first rail with be provided with the connection crossbeam between the second rail the lower extreme of connection crossbeam central point puts sets up the mounting bracket, the mounting bracket is isosceles triangle and arranges, the module of making a video recording includes first module of making a video recording and second module of making a video recording, first module of making a video recording the second module of making a video recording sets up respectively two isosceles sides of mounting bracket, first module of making a video recording the second module of making a video recording is used for detecting first rail, the inboard figure and/or the animation data of second rail respectively.

Compared with the prior art, the track monitoring system provided by the invention has the following advantages:

(1) According to the track monitoring system, the track sensor system and the track car detection system are arranged, and the unmanned aerial vehicle in the unmanned aerial vehicle detection system is confirmed quickly, so that the track deformation abnormality detection precision can be greatly improved, the manual auxiliary participation degree is reduced, the intelligent operation of the track monitoring system is greatly improved, and the driving safety is ensured.

(2) The track monitoring system provided by the invention realizes intelligent and accurate detection of the track, reduces the additional laying cost of communication and power cables, simplifies the data processing capacity, has a smaller structure and sensitive response, can rapidly and accurately judge whether the deformation of the track is abnormal, greatly reduces the cost of the track monitoring system, and effectively ensures the driving safety.

Another object of the present invention is to provide a track monitoring method, which is applied to the track monitoring system as described above, and includes the following steps:

s1: when the track is empty, the sensor devices arranged on each track plate unit upload detection data to the cloud end at regular time, the detection center judges whether deformation data on the outer side of the track is larger than deformation threshold data according to the processed data, if yes, the track is marked and enters S5, and if not, the track enters S2;

S2, when the operation train passes through the track, starting a sensor device arranged at the joint of the two track plate units connected and uploading detection data to the cloud end, and judging whether deformation data on the outer side of the track is larger than deformation threshold data or not by the detection center according to the processed data, if so, marking and entering S5, otherwise, entering S3;

s3, according to a rail car detection system arranged on an operation train or a rail car, an image pickup module in the rail car detection system shoots images of the inner side of a rail at multiple angles in the running process and uploads the images to a cloud end, a detection center judges whether deformation data of the inner side of the rail is larger than deformation threshold data according to processed graphic information, if so, the image is marked and enters S5, otherwise, the image enters S4;

s4: judging that the track deformation is normal, and entering S1 again;

s5: the detection center acquires the position of the marked deformation node, starts the unmanned aerial vehicle in the unmanned aerial vehicle detection system, shoots images of the marked nodes in multiple angles and uploads the images to the cloud end, judges whether deformation data of the inner side and the outer side of the track are larger than deformation threshold data according to processed graphic information, if so, sends out correction reminding, and if not, enters S4.

Compared with the prior art, the track monitoring method has the following advantages:

according to the track monitoring method, the track sensor system on the track in the idle and operating stages is used for detecting deformation data on the outer side of the track, the unmanned aerial vehicle detection system is started to carry out quick inspection on abnormal nodes when an abnormal notification is sent, and the track sensor system on the track is used for detecting normal nodes and further accurately judging the normal nodes through the track vehicle detection system, so that the track safety monitoring efficiency and accuracy are greatly improved, the working efficiency is improved, the intelligent and networked operation of the track monitoring method is guaranteed, and the operation safety of a train is guaranteed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a schematic diagram of a track monitoring system according to an embodiment of the present invention;

FIG. 2 is a schematic side view of an on-rail sensor system according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an on-rail sensor system according to an embodiment of the present invention in a front view;

FIG. 4 is a schematic view of a part of the enlarged structure of the portion A in FIG. 3;

FIG. 5 is a schematic front view of a structure of a reflector lamp emitting unit according to an embodiment of the present invention;

FIG. 6 is a schematic side view of a reflector lamp emitting unit according to an embodiment of the present invention;

FIG. 7 is a schematic side view of a second view of a reflector lamp emitting unit according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a right-side view of a reflector lamp emitting unit according to an embodiment of the present invention;

FIG. 9 is an enlarged schematic view of a part of the structure of the portion B in FIG. 8;

FIG. 10 is a schematic front view of a reflection unit according to an embodiment of the present invention;

FIG. 11 is a schematic side view of a reflection unit according to an embodiment of the invention;

FIG. 12 is a schematic side view of a second view of a reflection unit according to an embodiment of the present invention;

FIG. 13 is a schematic cross-sectional view of a railcar inspection system according to an embodiment of the present invention;

reference numerals illustrate:

1-an on-rail sensor system; 11-a spotlight emission unit; 1101-first mounting bracket; 11011-a first connection plate; 11012—a first connection hole; 11013-a first positioning hole; 1102-a first mounting plate; 11021-a first plate; 11022-guide slots; 1103-a second mounting plate; 1104-an inductive receiving device; 11041-receiving plate; 11042-a third connecting plate; 11043-dodging holes; 11044-a first connecting bolt; 11045-a second connecting bolt; 11046-a first support frame; 11047-bottom support plate; 11048-guide post; 11049-a third connecting bolt; 1105-an information processing module; 1106-a light source module; 1107-wire passing tube; 1108-a temperature detection unit; 12-a reflection unit; 1201-a second mounting bracket; 12011-a second connection plate; 12012-a second connection hole; 12013-second locating holes; 1202-a third mounting plate; 12021-a first chute; 1203-fourth mounting plate; 12031-a second chute; 1204-a reflection module; 12041-reflecting plate body; 12042-a second support frame; 1205-avoiding space; 1206-a resilient plug; 2-a railcar detection system; 21-a rail car body; 22-rail wheels; 23-connecting the cross beam; 24-mounting frame; 25-a camera module; 2501-a first camera module; 2502-a second camera module; 3-cloud; 4-a detection center; 5-unmanned aerial vehicle detection system; 6-track; 601-track plate units; 61-a first rail; 62-second rail.

Detailed Description

In order to facilitate understanding of the technical means, objects and effects of the present invention, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

It is to be noted that all terms used for directional and positional indication in the present invention, such as: "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", "top", "low", "lateral", "longitudinal", "center", etc. are merely used to explain the relative positional relationship, connection, etc. between the components in a particular state (as shown in the drawings), and are merely for convenience of description of the present invention, and do not require that the present invention must be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; 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.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Example 1

As shown in fig. 1 to 13, a track monitoring system according to the present invention includes:

the on-rail sensor system 1 is used for acquiring deformation data of the outer side of the track 6, the on-rail sensor system 1 comprises a spotlight transmitting unit 11 and a reflecting unit 12, the spotlight transmitting unit 11 can transmit a laser spotlight to the reflecting unit 12 and receive a spotlight signal returned by the reflecting unit 12, and the on-rail sensor system 1 is arranged on the outer side of the track 6;

the track car detection system 2 is used for acquiring deformation data of the inner side of the track 6, the track car detection system 2 comprises a track car body 21, an image pickup module 25 is arranged below the track car body 21, and the image pickup module 25 can pick up images and/or animations of the inner side of the track 6;

The cloud end 3 is provided with a large-capacity cloud disk database, the on-rail sensor system 1 and the railcar detection system 2 are combined with the geographic information system GIS, detection data of geographic position information attached to the inner side and the outer side of the rail 6 can be transmitted to the cloud end 3 through the communication module and stored for backup, and deformation threshold value data of the inner side and the outer side of the rail 6 are stored in the cloud end 3;

the detection center 4 comprises a central processing unit, and can receive detection data of geographic position information attached to the inner side and the outer side of the track 6 sent by the cloud 3 in real time and judge whether the detected deformation data exceeds deformation threshold data or not;

unmanned aerial vehicle detecting system 5, including at least one unmanned aerial vehicle, be provided with video acquisition unit on unmanned aerial vehicle, under the control command of detecting center 4, unmanned aerial vehicle detecting system 5 carries out closely figure and/or video acquisition to the position of deformation abnormality, and the data information that unmanned aerial vehicle gathered is uploaded to 3 and is obtained by detecting center 4 through communication module.

The conventional rail locomotive generally ballast a rail car body 21 on a rail 6, and the rail 6 generally comprises two parallel first rails 61 and second rails 62, wherein a section in a locomotive traveling direction ascends, a portion between the first rails 61 and the second rails 62 is called an inner side of the rail 6, a side of the first rails 61 away from the second rails 62, and a side of the second rails 62 away from the first rails 61 is called an outer side of the rail 6. In the prior art, deformation conditions of a track are generally detected through a fiber grating array stress optical cable or a high-speed camera, but as is well known, when a track car body 21 ballasts on the track 6, the joint state of a track plate, a mortar interlayer state, temperature and environment change information are considered, when the track car body 21 ballasts pass, the compression deformation conditions of the track 6 are very complex, no matter whether the deformation detection is carried out by utilizing the fiber grating array stress optical cable or the high-speed camera to detect the track, the problems of higher system cost or higher system maintenance cost and complex operation exist, and the deformation abnormal detection also has certain errors, misjudgment often occurs, the detection precision is lower, and serious safety accidents are caused seriously.

According to the track monitoring system, the sensor system 1 on the track is arranged on the outer side of the track 6 and is used for detecting deformation parameter information of the track 6 in a static or dynamic mode, the railcar detection system 2 is arranged on the railcar body 21 and is used for detecting deformation parameter information of the track 6 when the railcar body 21 ballasts on the track 6 to travel, the cloud 3 can acquire the detection information and transmit the detection information to the detection center 4 in combination with the geographic information system GIS, the detection center 4 processes the detection data and compares the detection data with pre-stored deformation threshold value data, the deformation detection data are judged to be abnormal in deformation when the deformation detection data exceed the deformation threshold value data, management personnel are reminded of timely correction, the management personnel of the detection center 4 can start at least one unmanned aerial vehicle detection system 5 at the same time, and the abnormal point is quickly and accurately confirmed, so that the accuracy of deformation abnormal detection of the track 6 is guaranteed, invalid maintenance is avoided by personnel of the detection center, and meanwhile, the maintenance efficiency can be accurately and quickly maintained when the deformation abnormality occurs.

According to the track monitoring system, the track sensor system 1 and the track car detection system 2 are arranged, and the unmanned aerial vehicle in the unmanned aerial vehicle detection system 5 is subjected to rapid confirmation, so that the deformation abnormality detection precision of the track 6 can be greatly improved, the manual auxiliary participation degree is reduced, the intelligent operation of the track monitoring system is greatly improved, and the driving safety is ensured.

As a preferred example of the present invention, the first rail 61 and the second rail 62 in the track 6 each comprise a plurality of track slab units 601, the sensor system 1 on the track comprises a plurality of sensor units, each sensor unit comprises a spotlight emitter unit 11 and a reflection unit 12, and a group of sensor units is arranged on each track slab unit 601 and/or at the joint of every two track slab units 601, wherein the sensor units arranged at the joint of the two track slab units 601 are connected, the spotlight emitter unit 11 is arranged on one track slab unit 601, and the reflection unit 12 is arranged on the other track slab unit 601.

This arrangement further ensures the accuracy of the sensor device for detecting the static or dynamic deformation information of the rail 6.

As a preferred example of the present invention, the spot light emitting unit 11 includes a first mounting bracket 1101, a first mounting plate 1102 and a second mounting plate 1103 are disposed on one side of the first mounting bracket 1101, an induction receiving device 1104, an information processing module 1105, and a light source module 1106 are disposed between the first mounting plate 1102 and the second mounting plate 1103, the induction receiving device 1104, the information processing module 1105, and the light source module 1106 are electrically connected, a power supply and a laser spot light are disposed in the light source module 1106, and the induction receiving device 1104 is disposed in a vertical shape; the reflection unit 12 includes a second mounting bracket 1201, a third mounting plate 1202 and a fourth mounting plate 1203 are disposed on one side of the second mounting bracket 1201, a reflection module 1204 is disposed between the third mounting plate 1202 and the fourth mounting plate 1203, the reflection module 1204 is opposite to the induction receiving device 1104, the light source module 1106 emits a laser spot light to the reflection module 1204 and is reflected to the induction receiving device 1104 by the reflection module 1204, the induction receiving device 1104 feeds back the received reflected laser lamp position information to the information processing module 1105, and the information processing module 1105 uploads the position information to the cloud 3 through the communication module. As an example of the present invention, the first mounting bracket 1101 and the second mounting bracket 1201 are mounted on the rail web of the rail 6, the first mounting bracket 1101 and the second mounting bracket 1201 are disposed in a plane shape near the plane of the rail web of the rail 6, the first mounting plate 1102 and the second mounting plate 1103 are disposed on the plane of the first mounting bracket 1101 away from the rail web of the rail 6, and the third mounting plate 1202 and the fourth mounting plate 1203 are disposed on the plane of the second mounting bracket 1201 away from the rail web of the rail 6. Preferably, the power source in the light source module 1106 is any one or a combination of several of a storage battery, a lithium battery, a power storage unit, a wind power generation power supply module, a solar power supply module and a power grid system power supply module, the laser spotlight in the light source module 1106 is an infrared laser spotlight, and the induction receiving device 1104 determines the receiving point position through the temperature change of the reflected infrared laser light source. Through the sensor system 1 on the rail web of the rail 6, the structure is reasonable, after the construction of the rail 6 is completed and the traffic is checked and accepted, the spotlight transmitting unit 11 and the reflecting unit 12 in the sensor system 1 on the rail are correspondingly arranged on the rail 6, reflection lamp source information received by the induction receiving device 1104 is determined during initial operation, deformation standard information of the rail is obtained, and then deformation threshold value data on the outer side of the rail 6 is determined according to experience parameters. In actual operation, when the track 6 is deformed by bending, twisting, concave-convex deformation and the like caused by long-term use or external damage of the track 6, the receiving position of the reflection lamp source changes when the light source emitted by the spotlight transmitting unit 11 is reflected to the induction receiving device 1104 by the reflecting unit 12, the position, the transmitting angle, the position and the distance of the reflecting module 1204 and the induction receiving device 1104 of the laser spotlight are combined, the detecting center 4 calculates the change value of the track 6 by a computing system, and whether the receiving position on the induction receiving device 1104 is within the preset receiving threshold range is determined, if yes, the deformation of the track 6 meets the safety requirement, otherwise, the deformation of the track 6 is abnormal.

The sensor system 1 on the rail has reasonable structure, small structure, low cost and sensitive response, can rapidly and accurately judge whether the deformation of the rail 6 is abnormal or not by utilizing the condensation of the spotlight light source and the reflection of the spotlight light source, greatly reduces the cost of a rail monitoring system and improves the reliable monitoring of driving safety.

As a preferred example of the present invention, the light source module 1106 is fixed on the upper surface of the second mounting plate 1103, the second mounting plate 1103 is arranged in an inclined manner, the included angle between the upper surface of the second mounting plate 1103 and the horizontal plane is α, and the value of α ranges from 0.2 ° to 5 °. Preferably, the upper surface of the second mounting plate 1103 is disposed in an upward slope along the emitting direction of the laser spot light, the value range of α is 0.5 ° to 1.2 °, and the horizontal distance between the reflection module 1204 and the induction receiving device 1104 is 50mm to 1000mm.

This arrangement further improves the accuracy of the on-rail sensor system 1 for deformation anomaly detection of the rail 6 by transmitting the laser spot light in the light source module 1106 in an initial transmission state, i.e., in an inclined manner.

As a preferred example of the present invention, the information processing module 1105 is mounted on the lower surface of the first mounting board 1102, the induction receiving device 1104 includes a receiving board 11041 and a first supporting frame 11046, the first supporting frame 11046 is used for supporting and fixing the receiving board 11041, the receiving board 11041 is disposed on a side surface of the first supporting frame 11046 near the reflecting unit 12, a third connecting board 11042 is disposed at a position of the first supporting frame 11046 near the lower end, the third connecting board 11042 is sleeved on the light source module 1106, bottom supporting boards 11047 are disposed at outer sides of opposite ends below the third connecting board 11042, the supporting boards 11047 are abutted against the upper surface of the second mounting board 1103, a right end of the light source module 1106 is abutted against the receiving board 11041, a dodging hole 11043 is disposed at a position corresponding to the laser spotlight on the receiving board 11041, and the laser spotlight emits spotlight light toward the reflecting module 1204 through the dodging hole 11043. As a specific example of the present invention, the first support 11046 includes ribs arranged in a grid shape, the upper end of the first support 11046 is fixedly connected to the information processing module 1105 through a first connection bolt 11044, and the third connection plate 11042 is connected to the light source module 1106 through a second connection bolt 11045. This arrangement ensures the structural strength of the induction receiving device 1104 and its connection stability, further improving the detection accuracy of the on-rail sensor system 1.

Preferably, the first mounting plate 1102 includes a first plate body 11021, a guide groove 11022 is provided on a lower surface of the first plate body 11021, a guide post 11048 is provided at an upper end of the first support frame 11046, the guide post 11048 can be inserted into the guide groove 11022 to guide and slide, and the guide post 11048 is fixedly connected with the first plate body 11021 through a third connecting bolt 11049. As an example of the present invention, the guide groove 11022 and the guide post 11048 are provided in an arc shape or a semicircular shape in a vertical section along a sliding direction of the guide post 11048. This arrangement facilitates the mounting and fixing of the induction receiving device 1104 and further improves the connection stability of the induction receiving device 1104.

As a preferred example of the present invention, the first mounting bracket 1101 includes a first connection plate 11011, and a first connection hole 11012 and a first positioning hole 11013 are provided on the first connection plate 11011 above the first mounting plate 1102. As an example of the present invention, two first positioning holes 11013 are provided above the first connecting hole 11012, the center of the first connecting hole 11012 is provided on the center line of the first connecting plate 11011 in the vertical direction, and the two first positioning holes 11013 and the first connecting hole 11012 are arranged in an isosceles triangle. Preferably, the diameter of the first coupling hole 11012 is greater than the diameter of the first positioning hole 11013.

This arrangement ensures the convenience of the first mounting bracket 1101 and the rail 6 mounting and the stability of the connection, thereby achieving the rapid vertical-like fixation of the first mounting bracket 1101.

As a preferred example of the present invention, a temperature detection unit 1108 is provided on the first connection board 11011 below the first mounting board 1102, and the information processing module 1105, the light source module 1106, and the temperature detection unit 1108 are connected by a wire pipe 1107. The setting is used for detecting the environment where the sensor system 1 is located on the rail, combining the weight of the temperature influence factors stored in the cloud 3, adjusting the deformation threshold value data under the corresponding temperature, and avoiding the influence of thermal expansion and cold contraction deformation caused by the temperature on the rail 6. Preferably, the temperature detecting unit 1108 can abut on the rail web of the rail 6 through the first connecting plate 11011. This arrangement enables the temperature detection unit 1108 to directly detect the temperature of the track 6, further ensuring that temperature factors affect the reliability of correction of the deformation of the track 6.

According to the on-rail sensor system 1, the induction receiving device 1104, the information processing module 1105, the light source module 1106 and the temperature detection unit 1108 are arranged between the first mounting plate 1102 and the second mounting plate 1103, so that the reliability of the use of the electrical components is further ensured, the influence caused by rain, snow and weather is avoided, and the service life of the on-rail sensor system is effectively prolonged.

As a preferred example of the present invention, the light source module 1106 and the information processing module 1105 are provided with a plurality of signal indicators, including, for example, a power supply quantity indicator, a working signal indicator, etc., so as to facilitate signal recognition in a fast detection process of the unmanned aerial vehicle in the unmanned aerial vehicle detection system.

As a preferred example of the present invention, a first sliding groove 12021 is disposed on the lower surface of the third mounting plate 1202, a second sliding groove 12031 is disposed on the upper surface of the fourth mounting plate 1203, the reflective module 1204 includes a reflective plate 12041 and a second supporting frame 12042, the second supporting frame 12042 is used for supporting the reflective plate 12041, the reflective plate 12041 is disposed on a side surface of the second supporting frame 12042 near the spot light emitting unit 11, the upper and lower ends of the reflective plate 12041 respectively extend into the first sliding groove 12021 and the second sliding groove 12031 to slide, an avoidance space 1205 is formed between the upper end of the second supporting frame 12042 and the lower surface of the third mounting plate 1202, and similarly, an avoidance space 1205 is formed between the lower end of the second supporting frame 12042 and the upper surface of the fourth mounting plate 1203, and an elastic plug 1206 is filled in the avoidance space 1205.

The setting discloses a structure and mounting means of reflection module 1204, simple structure, it is convenient to install, connects stably, and the structure of second support frame 12042 is similar with the structure of first support frame 11046, avoids reflection plate 12041 to lead to structural deformation because of long-time suspension setting when using to guarantee the precision of data acquisition when sensor system 1 uses on the rail.

As a preferred example of the present invention, the second mounting bracket 1201 includes a second connection plate 12011, the fourth mounting plate 1203 is disposed at a lower end of the second connection plate 12011, the third mounting plate 1202 is disposed at a position near a middle of the second connection plate 12011, and a second connection hole 12012 and a second positioning hole 12013 are disposed on the second connection plate 12011 above the third mounting plate 1202. The arrangement positions and structures of the second connecting holes 12012 and the second positioning holes 12013 on the second connecting plate 12011 are the same as the arrangement results of the first positioning holes 11013 and the first connecting holes 11012 on the first connecting plate 11011, and the detailed description thereof will not be repeated.

As a preferred example of the present invention, the rail car body 21 runs on a first rail 61 and a second rail 62 through two sets of rail wheels 22, a connecting beam 23 is disposed between the first rail 61 and the second rail 62, a mounting frame 24 is disposed at a lower end of a central position of the connecting beam 23, the mounting frame 24 is arranged in an isosceles triangle, the camera module 25 includes a first camera module 2501 and a second camera module 2502, the first camera module 2501 and the second camera module 2502 are respectively disposed on two isosceles sides of the mounting frame 24, and the first camera module 2501 and the second camera module 2502 are respectively used for detecting graphics and/or animation data inside the first rail 61 and the second rail 62. Preferably, the shooting angle of the shooting module 25 covers the contact position of the rail wheel 22 and the rail 6 and the connection position of the rail 6 and the sleeper.

As a preferable example of the invention, the third camera module is arranged on the unmanned aerial vehicle, and preferably, the unmanned aerial vehicle can adopt unmanned aerial vehicles with a range of about 100km, such as MantaRay40, and the unmanned aerial vehicle can hover at any position of the track 6 under the instruction of the control center. The information processing module 1105 in the sensor system 1 on the rail, the camera module 25 in the railcar detection system 2 and the third camera module in the unmanned aerial vehicle are all connected with the cloud 3 through wireless communication modules.

Through adopting unmanned aerial vehicle to carry out the quick confirmation of deformation constant point on the track 6, because unmanned aerial vehicle flight system speed is very fast, and based on 5G communication system and beidou navigation system's rapid development, for unmanned aerial vehicle's flight route accurate guidance and shoot video's quick transmission and provide reliable assurance to confirm and quick correction fast for the track deformation is unusual.

As an example of the present invention, the plurality of groups of camera modules 25 are disposed at the lower end of the connecting beam 23 along the length direction, each group of camera modules 25 performs a fixed angle shooting of the graphics and/or animation of the inner side of the track 6 during the traveling process of the rail car, the plurality of groups of camera modules 25 complete a multi-angle shooting of the image of the inner side of the track 6, and a third camera module on the unmanned aerial vehicle performs a multi-angle shooting and extraction of the deformation normal point under the effect of the emperor viewing angle.

When the image shot by the shooting module 25 and the third shooting module on the unmanned aerial vehicle is transmitted to the detection center 4 for data processing, the images shot at multiple angles are combined, the images are sequenced according to the exposure intensity, the intermediate value is selected as the basis of exposure compensation of other images, after the exposure intensity is adjusted to be the same, the original standard track 6 structure is used as the background, the background elimination is realized by utilizing the binarization technology, the gradient filter is used for edge detection, the gray value on the right side of the adjacent point is used for detecting the gray value on the left side of the adjacent point and is used as the gray value of the point, and if the gray value of the detection point and the gray value in the background have large difference, the deformation abnormality of the point is indicated.

According to the track monitoring system, the novel image anomaly detection means is adopted, so that the data volume processed during judgment and calculation is greatly reduced, the detection and judgment efficiency is improved, and the detection accuracy is ensured to be accurate and reliable.

As an example of the present invention, the rail car detection system 2 may be installed on a rail car to detect, or may be installed on a partially operated train to detect, where the operated train uploads an image captured during the running process to the cloud 3 by setting the rail car detection system 2, and then correspondingly transmits the image to the corresponding detection center 4 to process, so that abnormal rail deformation monitoring may be completed during the running process of the operated car, further reducing the cost of the rail monitoring system, and improving the reliability of running safety monitoring.

The invention also discloses a track monitoring method which is applied to the track monitoring system and comprises the following steps:

s1: when the track 6 is empty, each sensor device arranged on the track board unit 601 uploads detection data to the cloud 3 at regular time, the detection center 4 judges whether deformation data on the outer side of the track 6 is larger than deformation threshold data according to the processed data, if yes, the track is marked and enters S5, and if not, the track enters S2;

s2, when an operation train passes through the track 6, starting a sensor device arranged at the joint of the two track plate units 601 and uploading detection data to the cloud 3, and judging whether deformation data on the outer side of the track 6 is larger than deformation threshold data or not by the detection center 4 according to the processed data, if so, marking and entering S5, otherwise, entering S3;

s3, according to a rail car detection system 2 arranged on an operation train or a rail car, a camera module 25 in the rail car detection system 2 shoots images of the inner side of a rail 6 at multiple angles in the running process and uploads the images to a cloud 3, a detection center 4 judges whether deformation data of the inner side of the rail 6 are larger than deformation threshold data according to processed graphic information, if yes, the images are marked and enter S5, otherwise, the images enter S4;

S4: judging that the deformation of the track 6 is normal, and entering S1 again;

s5: the detection center 4 acquires the marked deformation node position, starts the unmanned aerial vehicle in the unmanned aerial vehicle detection system 5, shoots images of the marked nodes at multiple angles and uploads the images to the cloud 3, the detection center 4 judges whether deformation data of the inner side and the outer side of the track 6 are larger than deformation threshold data according to processed graphic information, if so, correction reminding is sent out, and if not, S4 is entered.

According to the track monitoring method, the track sensor system 1 on the track 6 in the idle and operating stages is used for detecting the deformation data of the outer side of the track, the unmanned aerial vehicle detection system 5 is started to carry out quick inspection on abnormal nodes when an abnormal notification is sent, and the track sensor system on the track is used for detecting normal nodes and further accurately judging the normal nodes through the track vehicle detection system, so that the track safety monitoring efficiency and accuracy are greatly improved, the working efficiency is improved, the intelligent and networked operation of the track monitoring method is ensured, and the operation safety of a train is ensured.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (9)

1. A track monitoring system, comprising:

the on-rail sensor system (1) is used for acquiring deformation data of the outer side of the track (6), the on-rail sensor system (1) comprises a spotlight transmitting unit (11) and a reflecting unit (12), the spotlight transmitting unit (11) can transmit laser spotlight to the reflecting unit (12) and receive spotlight signals returned by the reflecting unit (12), and the on-rail sensor system (1) is arranged on the outer side of the track (6);

the track car detection system (2) is used for acquiring deformation data of the inner side of the track (6), the track car detection system (2) comprises a track car body (21), an image pickup module (25) is arranged below the track car body (21), and the image pickup module (25) can pick up images and/or animations of the inner side of the track (6);

the cloud end (3) is provided with a large-capacity cloud disk database, the on-rail sensor system (1) and the railcar detection system (2) are combined with the Geographic Information System (GIS), detection data with geographic position information attached to the inner side and the outer side of the rail (6) can be transmitted to the cloud end (3) through the communication module and stored in a storage mode, and deformation threshold value data of the inner side and the outer side of the rail (6) are stored in the cloud end (3);

the detection center (4) comprises a central processing unit, can receive detection data with geographic position information attached to the inner side and the outer side of the track (6) sent by the cloud (3) in real time, and judges whether the detected deformation data exceeds deformation threshold data or not;

The unmanned aerial vehicle detection system (5) comprises at least one unmanned aerial vehicle, a video acquisition unit is arranged on the unmanned aerial vehicle, the unmanned aerial vehicle detection system (5) acquires close-range graphics and/or video of the position with abnormal deformation under the control instruction of the detection center (4), and data information acquired by the unmanned aerial vehicle is uploaded to the cloud end (3) through the communication module and is acquired by the detection center (4);

the spot lamp emitting unit (11) comprises a first mounting bracket (1101), a first mounting plate (1102) and a second mounting plate (1103) are arranged on one side of the first mounting bracket (1101), an induction receiving device (1104), an information processing module (1105) and a light source module (1106) are arranged between the first mounting plate (1102) and the second mounting plate (1103), the induction receiving device (1104), the information processing module (1105) and the light source module (1106) are electrically connected, a power supply and a laser spot lamp are arranged in the light source module (1106), and the induction receiving device (1104) is vertically arranged; the reflection unit (12) comprises a second mounting bracket (1201), a third mounting plate (1202) and a fourth mounting plate (1203) are arranged on one side of the second mounting bracket (1201), a reflection module (1204) is arranged between the third mounting plate (1202) and the fourth mounting plate (1203), the reflection module (1204) is just opposite to the induction receiving device (1104), the light source module (1106) emits a laser spot lamp to the reflection module (1204) and is reflected to the induction receiving device (1104) by the reflection module (1204), the induction receiving device (1104) feeds back the received position information of the reflection laser lamp to the information processing module (1105), and the information processing module (1105) uploads the position information to the cloud (3) through the communication module.

2. Track monitoring system according to claim 1, characterized in that the first rail (61) and the second rail (62) in the track (6) each comprise a number of track slab units (601), the sensor system (1) on the track comprises a number of groups of sensor devices, each group of sensor devices comprising a spot light emitting unit (11), a reflection unit (12), a group of sensor devices being provided on each of the track slab units (601) and/or on the junction of every two track slab units (601), wherein the sensor devices being provided on the junction of two track slab units (601) are connected, the spot light emitting unit (11) being provided on one track slab unit (601), and the reflection unit (12) being provided on the other track slab unit (601).

3. The track monitoring system according to claim 1 or 2, wherein the light source module (1106) is fixed on the upper surface of the second mounting plate (1103), the second mounting plate (1103) is arranged in an inclined manner, the included angle between the upper surface of the second mounting plate (1103) and the horizontal plane is α, and the value range of α is 0.2 ° to 5 °.

4. A rail monitoring system according to claim 3, characterized in that the information processing module (1105) is mounted on the lower surface of the first mounting plate (1102), the induction receiving device (1104) comprises a receiving plate (11041) and a first supporting frame (11046), the first supporting frame (11046) is used for supporting and fixing the receiving plate (11041), the receiving plate (11041) is arranged on the side surface of the first supporting frame (11046) close to the reflecting unit (12), a third connecting plate (11042) is arranged at the position of the first supporting frame (11046) close to the lower end, the third connecting plate (11042) is sleeved on the light source module (1106), a bottom supporting plate (11047) is arranged on the outer side of the opposite ends below the third connecting plate (11042), the bottom supporting plate (11047) is abutted against the upper surface of the second mounting plate (1103), the right end of the light source module (1106) is abutted against the receiving plate (11041), a laser beam (11043) is arranged at the position of the receiving plate (11041) close to the lower end, and the position of the light source module (11043) is arranged to avoid the laser beam (1204) towards the reflecting hole.

5. The rail monitoring system according to claim 4, wherein the first mounting plate (1102) includes a first plate body (11021), a guide groove (11022) is provided on a lower surface of the first plate body (11021), correspondingly, a guide post (11048) is provided on an upper end of the first support frame (11046), the guide post (11048) can be inserted into the guide groove (11022) to guide and slide, and the guide post (11048) is fixedly connected with the first plate body (11021) through a third connecting bolt (11049).

6. The track monitoring system according to claim 5, characterized in that a temperature detection unit (1108) is provided on a first connection plate (11011) below the first mounting plate (1102), the information processing module (1105), the light source module (1106), the temperature detection unit (1108) being connected by a conduit (1107).

7. The track monitoring system according to claim 6, wherein a first chute (12021) is provided on a lower surface of the third mounting plate (1202), a second chute (12031) is provided on an upper surface of the fourth mounting plate (1203), the reflection module (1204) includes a reflection plate body (12041) and a second support frame (12042), the second support frame (12042) is used for supporting the reflection plate body (12041), the reflection plate body (12041) is provided on a side surface of the second support frame (12042) close to the spot light emission unit (11), upper and lower ends of the reflection plate body (12041) respectively extend into the first chute (12021) and the second chute (12031), an avoidance space (1205) is formed between an upper end of the second support frame (12042) and a lower surface of the third mounting plate (1202), and similarly, an avoidance space (1205) is formed between a lower end of the second support frame (12042) and an upper surface of the fourth mounting plate (1203), and the elastic plug (1205) is filled in the avoidance space (1205).

8. The track monitoring system according to claim 7, wherein the track car body (21) runs on a first rail (61) and a second rail (62) through two groups of track wheels (22), a connecting cross beam (23) is arranged between the first rail (61) and the second rail (62), a mounting frame (24) is arranged at the lower end of the central position of the connecting cross beam (23), the mounting frame (24) is arranged in an isosceles triangle shape, the camera module (25) comprises a first camera module (2501) and a second camera module (2502), the first camera module (2501) and the second camera module (2502) are respectively arranged on two isosceles sides of the mounting frame (24), and the first camera module (2501) and the second camera module (2502) are respectively used for detecting graphics and/or animation data on the inner sides of the first rail (61) and the second rail (62).

9. A track monitoring method, characterized by being applied to the track monitoring system as claimed in any one of claims 1 to 8, comprising the steps of:

s1: when the track is empty, the sensor devices arranged on each track plate unit upload detection data to the cloud end at regular time, the detection center judges whether deformation data on the outer side of the track is larger than deformation threshold data according to the processed data, if yes, the track is marked and enters S5, and if not, the track enters S2;

S2, when the operation train passes through the track, starting a sensor device arranged at the joint of the two track plate units connected and uploading detection data to the cloud end, and judging whether deformation data on the outer side of the track is larger than deformation threshold data or not by the detection center according to the processed data, if so, marking and entering S5, otherwise, entering S3;

s3, according to a rail car detection system arranged on an operation train or a rail car, an image pickup module in the rail car detection system shoots images of the inner side of a rail at multiple angles in the running process and uploads the images to a cloud end, a detection center judges whether deformation data of the inner side of the rail is larger than deformation threshold data according to processed graphic information, if so, the image is marked and enters S5, otherwise, the image enters S4;

s4: judging that the track deformation is normal, and entering S1 again;

s5: the detection center acquires the position of the marked deformation node, starts the unmanned aerial vehicle in the unmanned aerial vehicle detection system, shoots images of the marked nodes in multiple angles and uploads the images to the cloud end, judges whether deformation data of the inner side and the outer side of the track are larger than deformation threshold data according to processed graphic information, if so, sends out correction reminding, and if not, enters S4.

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