WO2016207880A1 - Système de test de rail amélioré - Google Patents

Système de test de rail amélioré Download PDF

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Publication number
WO2016207880A1
WO2016207880A1 PCT/IL2016/050652 IL2016050652W WO2016207880A1 WO 2016207880 A1 WO2016207880 A1 WO 2016207880A1 IL 2016050652 W IL2016050652 W IL 2016050652W WO 2016207880 A1 WO2016207880 A1 WO 2016207880A1
Authority
WO
WIPO (PCT)
Prior art keywords
water
sled
rail
subsystem
ultrasonic
Prior art date
Application number
PCT/IL2016/050652
Other languages
English (en)
Inventor
Ofer Sela
Avner DE-SWANN
Michael Bron
Original Assignee
Scanmaster Systems (Irt) Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Scanmaster Systems (Irt) Ltd. filed Critical Scanmaster Systems (Irt) Ltd.
Priority to PCT/IL2016/050652 priority Critical patent/WO2016207880A1/fr
Priority to US15/739,807 priority patent/US11161531B2/en
Publication of WO2016207880A1 publication Critical patent/WO2016207880A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/043—Analysing solids in the interior, e.g. by shear waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654—Imaging
    • G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/262—Linear objects
    • G01N2291/2623—Rails; Railroads

Definitions

  • Defects or flaws in rails are a source of concern in the railways industry. Such flaws may be an artifact of the manufacturing processes or they may subsequently develop during use through fatigue processes and the like. Depending on their size and their location within the rail profile, a flaw may be categorized as critical or as non-critical.
  • a railway track with flaws may be used by trains carrying passengers and freight as long as the sizes of all flaws in the rails remain below a critical size.
  • the inspection of railway tracks for defects should be performed periodically, and where necessary, detected flaws should be repaired or sections of the railway track should be replaced.
  • a wagon carrying appropriate rail inspection apparatus travels along the track whilst an ultrasonic transducer is kept in sonic contact with the upper surface of the rail. Ultrasonic signals are reflected by the track and defects detected are analyzed and characterized. Such an apparatus can continuously perform ultrasonic inspection of the rails as the wagon passes over them.
  • US Patent No. 4,044,594 discloses a rail testing device by means of only one transducer located in a wheel, which necessitates a complex regulating system to correct the lateral and angular variations of the wheel resulting from irregularities of the rail surface. Reliable usage of such devices requires relatively low travelling speeds.
  • US 4,235,112 describes a sled that includes a laterally movable ultrasonic transducer comprising the sensor of a rail fault detection transducer wherein the sensor is automatically centered in response to differences in the ultrasound echoes received by transducers fore and aft of the sensor.
  • Scanmaster has developed and patented technology for mapping flaws in work pieces usirg ultrasound. See for example, US 6.070.466 to Taran et al. V, titled “Device for Ultrasonic Inspection of a Multi-Laver Metal Workpiece.”
  • the ultrasonic waves of such ultrasound systems require a transmission medium or coupling fluid, and, when used for examining railway rails, water is used as the coupling fluid.
  • the large quantity of water consumed as the sled is pulled over the rails has to be carried on board the train, and this affects the ability of the system to inspect rails over long distances with high reliability.
  • the water used up in this manner is not available for further use and thus there is both an economical and an ecological cost Furthermore, in some regions, such refilling stations are simply not available
  • An aspect of the present invention is directed to providing An ultrasonic inspection apparatus for an ultrasonic inspection system for inspecting a railway track, the ultrasonic inspection system for attaching to a bogie travelling over the railway track, comprising a framework for attaching to the bogie, a sled for inspecting a rail, the sled carrying an array of ultrasonic transducers for detecting flaws in the rail, the system further comprising a water subsystem for ensuring fluid coupling between the sled and the rail, automatic lateral position rectification subsystem for keeping the sleds centered over the railway tracks as the train moves along the track, the ultrasonic transducers in data communication with a computing system in a wagon over the bogie for analyzing and mapping the flaws in the rail, wherein at least one pair of ultrasonic transducers is mounted in the same housing thereby shortening the length of the sled to be irrigated.
  • the ultrasonic inspection system further comprises a GPS for mapping the location of each detected flaw.
  • the automatic lateral position rectification subsystem comprises magnets for aligning the sled with the center of the head of the rail.
  • the automatic lateral position rectification subsystem comprises a magnet at each end of the sled
  • the system comprises a pair of sleds for simultaneously examining a pair of rails of the railway track.
  • the water supply subsystem is configured to provide sufficient water in use to allow continuous fluid contact between the transducers and the rail, but to minimize water consumpti on.
  • the water supply subsystem includes a water tank for storing a reservoir of water, water pumps, a water flow regulator, 4x3 water control valves, an integrate water manifold in the sled, a water filter and a conduit draining system.
  • the water tank has a mi ni mum capacity of 20001 iters.
  • the water tank is i ntegrated i nto the wagon.
  • the water tank comprises outlets and inlets of 3/4 BSP on both left and right sides, and an opening for water filling.
  • the water pumps are membrane type water pumps.
  • the water pumps have automatic pump shutoff when water flow is blocked beyond the pump.
  • the sled incl udes a water chamber and the water subsystem further comprises vacuum pumps for controlling the pressure inside the water chamber to a minimal amount above atmospheric pressure
  • superfluous pumped water is filtered and recycled back to the tank.
  • Some embodiments include an advanced water flow regulator that includes internal electromechanical feedback.
  • the system further comprises an operator console within the wagon and enabJ es an operator to control water consumpti on from the operator consol e withi n the wagoa
  • the water flow subsystem is configured to suck back excess water down track from the sled for reuse
  • the water flow subsystem comprises hydraulic 4x3 control valves for the sucking back of the excess water.
  • water sucked up via the vacuum pumps is filtered through a filter before reenteri ng i nto the tank.
  • the hydraulic 4x3 control valves enable changing water flow direction so that the water provided to the rail is provided in front of the sled and the vacuum suction to recycle excess water is to rear of sled regardless of which direction the wagon travels.
  • the hydraulic 4x3 control valves are configured to assume a shutoff mode in a middle position when the wagon is stationary.
  • the transducer housing of the sled comprises an internal manifold for ensuring stable wetting of the transducers' contact surface whilst using a minimal pressure above atmospheric pressure
  • the system further comprises a filter provided upstream of the pump for fi Iteri ng the water before it enters the pump.
  • system further comprises a conduit drainage system for drying the conduits by forcing compressed air into the conduits to actively drain the conduits.
  • Fig. 1 is a schematic isometric projection of the bogie wheels of a bogie (not shown), with an adjustable framework for supporting the ultrasonic testing apparatus.
  • Fig. 2 is a schematic side view of the adjustable framework.
  • Fig. 3 is a schematic illustration of the adjustable framework without the bogie
  • Fig. 4 is a photograph of the bar of the adjustable framework attached between a pair of bogi e wheels and showi ng the si ed.
  • Fig. 5 shows the sled assembly over a rail, not showing the framework or the bogie
  • Fig. 6 is a more detailed view of part of an embodiment of the sled, showing the magnets centering device, and
  • FIG 7 is a schematic illustration of the water system of a preferred embodiment A consistent numbering scheme is generally used throughout the Figures and associated text
  • the present invention is directed to an improved system and sled for the ultrasonic examination of the rails of railway tracks.
  • the improved apparatus described herein is part of a comprehensive automatic inspection system that detects flaws in the rail using conventional ultrasonic methodology, identifies the location of the flaw when detected, and records the location of the detected flaws for further analysis, after which the rail will either be approved for further use as is, or repaired or replaced as necessary.
  • comprehensive automatic inspection systems are well-knowa and are described, for example, in AU621939, US 5,020,371, US 5,522,265, US 5,574,224 and US 6,070,466 to Taran et al.
  • the improvements include
  • a support frame that is attachable to the bogie wheels of any bogie that may be used to support a wagon housing the computers and other systems of the inspection system.
  • the frame is adjustable to bogie wheels of different sizes and separation and to different railway gages.
  • the sled is connected between a pair of bogie wheels of an inspection wagon (known in the US as a rail car) which travels along a rail.
  • the connection of the sled to the bogie wheels is accomplished in a flexible way that allows the sled to bed coupled to a wide range of bogie wheels of a rail bound vehicle which is typically some type of rolling stock which serves as the inspection vehicle.
  • the sled does not alter the bogie structure
  • the track gauge i.e. the spacing between the two rails of a railway track varies between countries and may vary between railway tracks in the same country. All such railway tracks need to be monitored for flaws and so bogie mounted sleds are preferably able to be connected to bqgies having different gages without major and complicated reconfigurations. In countries with railways of different gages, the same inspection equipment should be easily mountable onto different bogies with different gages. The sled connection should, therefore, be flexible enough to be able to be easily and quickly mounted to bogie wheels of each gaga
  • an adjustable support frame 100 is shown coupled to the bogie axle bearing caps 11, 13 of a bogie 10 in the rails 20, 22 of a railway track.
  • the wagon carried by the bogie 10 is not shown.
  • the term wagon used herein refers to what is commonly referred to in the UK as a bogie wagon, and in the US as a rail car or freight car.
  • the frame 100 comprises a pair of lengthwise bars 102, 104 that are each designed to span between two adjacent bogie wheels 102, 104 (106, 108).
  • the lengthwise bars 102, 104 of the framework 100 is connected to the wheel bearing covers 11, 13 of the bogie axles 9, 19 by 4x4 bolts.
  • a pair of sockets 101, 103 (105, 107) are adjustably fixed to each lengthwise bar 102 (104).
  • the separation of the sockets 101, 103 (105, 107) may be adjusted by sliding the sockets 101, 103 (105, 107) along the lengthwise bars 102 (104), and in this manner, the lengthwise bars 102 (104) may be correctly adjusted in effective length and thereby sized for different bogie wheels 12, 14(16, 18) of different diameters and different separations.
  • the two lengthwise bars 102 (104) are coupled together by a pair of widthwise separator bars 106, 108.
  • the coupling between the lengthwise bars 102, 104 and the separator bars 106, 108 can be adjusted to fit railway tracks 20-22 of different gages.
  • the entire framework 100 is bolted together and bolted to the bearing caps 11, 13 of the bogie wheels 102, 104, 106, 108.
  • the sleds, described hereinbelow, are bolted to the adjustable support frame 100.
  • the adjustable support frame 100 can be dismantled into separate bars 102, 104, 106, 108 for storage and shipping, and easily and quickly configured to a specific set of bogie wheels 102, 104, 106, 108 and to an appropriate gaga This feature drastically reduces the time required to set up an ultrasonic inspection system for a particular railway line, it being appreciated that even withi n the same country, there may be different gage rai I ways, each with its own gaga
  • Fig. 4 shows a lengthwise bar 102' of the adjustable framework support in situ, attached by the sockets 101, 103 to the to the wheel bearing covers 11, 13 of the bogie axles (9, 19 - Fig. 2) by 4x4 bolts.
  • Fig. 4 also shows a sled 120 of the ultrasonic inspection system attached thereto.
  • a sled 120 In a system for the examination of railway rails 20, 22 by ultrasound, a sled 120 (122) is used on each rail 20 (22). With reference to Fig. 5, such a sled, carrying an array of ultrasonic transducers is shown hovering over a section of track. The sled is kept in fluid contact with the rail by the layer of water providing a dynamic floating regime.
  • the overall length of the transducer array has been significantly reduced. This reduces the length of sled to be kept irrigated with the coupl i ng f i I m of water and further reduces the water requi rements.
  • automatic lateral position rectifiers 130, 132 comprising magnets are provided on each side of the sled 120. These serve to keep the sled positioned over the head 24 of the rail 20 despite the winding path of the rails 20, 22.
  • the sled 120 includes a transducer housing assembly 124 for ultrasonic transducers 126, automatic lateral position rectifiers 130, 132 for keeping the sled 120 centered over the rail 20, and a water system, described hereinbelow, for keeping the sled 120 in contact with the head 24 of the underlying rail 120 by a water film coupling layer that performs as an ultrasonic transmission medium between the transmitting/receiving head of the transducers 126 and the underlying rail 120.
  • the transducers to be used and their location are determined by the characteristics of the defects to be detected. During the testing it is important that each transducer remains always precisely positioned with respect to the rail under test
  • the sled 120 includes a self-centering mechanism that utilizes automatic lateral position rectifiers 130, 132 comprising magnets which may be fixed or electromagnets, that keeps the ultrasonic beam of the zero degree transducer working in a pulse-echo mode, along a beam axis into the head 124 of the underlying rail 120 in the vertical longitudinal median plane of the rail. The rest of the ultrasonic transducer array of the sled follows this position.
  • a particular feature of the ultrasonic inspection system described herein is directed to a water supply subsystem 200 that provides the sufficient water to allow reliable inspection but minimizes water consumption.
  • the water supply subsystem 200 i ncl udes a water tank 201 for stori rtg a reservoi r of water that serves as a coupl i ng medium between the transducers 106 and the rail head 24.
  • the water supply subsystem 200 also includes water pumps 202, vacuum pumps 203, a water flow regulator 204, 4x3 water control valves 205, an integrated water manifold 206 in the sled 120 (122), a water filter 207 and a conduit drai ni ng system 208.
  • the water supply subsystem 200 is designed to enable sufficient water to be released onto the rails 20, 22 to form a continuous film that serves as a coupling layer between the transducers 126 and the rail head 24, yet maintaining minimal water consumption.
  • the water tank 201 typically has a capacity of at least 2000 liters and is integrated into the structure of the wagon carried by the bogie 10.
  • the tank 201 includes outlets and inlets openings of 3/4 BSP on both left and right sides, and an opening for water filling.
  • the water pumps 202 may be of the membrane type with integrated pump shutoff when the flow is blocked beyond the water pump 202.
  • the vacuum pumps 203 enable the controlling of the pressure inside a water chamber NUM within the sled body 120 (122) so that the pressure will be a minimal amount above the atmospheric pressure to keep good UT (ultrasonic testing) coupling while avoiding unnecessary water leaks. This is a very different solution than the typically 10-15 bar water pressure of the prior art which results in significantly greater water usage
  • the pumped water from down-track of the sleds 200, 202 is filtered through filters 207, 207'and recycled back to the tank 201.
  • Advanced water flow regulators 204, 204' that include internal electromechanical feedback are provided in both the left and right rail examination systems. These enables controlling of the water consumption from the operator console to within e5%.
  • Hydraulic 4x3 control valves are provided for this purpose.
  • the hydraulic 4x3 control valves enable changing the flow direction so that the water provided to the rail 20 will be provided in front of the sled 120 and the vacuum suction to recycle some of the excess water will be in the rear, whichever direction the train is travelling ia
  • the hydraulic 4x3 control valves 202, 203 are configured to assume a shutoff mode in a middle position when the train is not moving.
  • the internal construction of the transducer housing of the sleds 120, 122 include an internal manifold 206, 206' to ensure stable wetting of the transducers contact surface whilst usi ng a mi ni mal pressure above atmospheri c pressure.
  • a filter 207 is provided upstream of the pump 202, and the water is filtered by the filter 207 before entering into the pump 202. Recycled water sucked up using the vacuum pumps 203 is also filtered before reentering into the tank 20 .
  • a conduit drainage system 208 is provided. This system may include a manual ball valve and enables the drying of the conduits 210 by forcing compressed air into the conduits near the tank 201 outlets to actively drain the system when there is a risk of freezing or when the system is not in use

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Acoustics & Sound (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

L'invention concerne un appareil d'inspection à ultrasons destiné à un système d'inspection à ultrasons pour l'inspection d'une voie ferrée, le système d'inspection à ultrasons pouvant être relié à un bogie destiné à être tracté sur la voie ferrée, comprenant un châssis destiné à être fixé sur le bogie, un chariot destiné à inspecter un rail, le chariot comprenant un ensemble de transducteurs à ultrasons destinés à détecter des défauts sur le rail, le système comprenant en outre un sous-système d'eau destiné à garantir un raccordement fluide entre le chariot et le rail, un sous-système de rectification automatique de position latérale destiné à maintenir les chariots centrés sur la voie ferrée pendant que le train se déplace le long de la voie, les transducteurs à ultrasons étant en communication de données avec un système informatique installé dans un wagon sur le bogie afin d'analyser et de cartographier les défauts présents sur le rail, au moins une paire de transducteurs à ultrasons étant montée dans le même boîtier afin de réduire la longueur du chariot à irriguer.
PCT/IL2016/050652 2015-06-19 2016-06-19 Système de test de rail amélioré WO2016207880A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/IL2016/050652 WO2016207880A1 (fr) 2015-06-23 2016-06-19 Système de test de rail amélioré
US15/739,807 US11161531B2 (en) 2015-06-19 2016-06-19 Rail testing system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US62/182,226 2015-06-23
PCT/IL2016/050652 WO2016207880A1 (fr) 2015-06-23 2016-06-19 Système de test de rail amélioré

Publications (1)

Publication Number Publication Date
WO2016207880A1 true WO2016207880A1 (fr) 2016-12-29

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2653663C1 (ru) * 2017-04-26 2018-05-11 Открытое акционерное общество "Радиоавионика" Устройство электромагнитно-акустического контроля рельсов
RU189379U1 (ru) * 2019-02-15 2019-05-21 Акционерное общество "Фирма ТВЕМА" Искательное устройство мобильного ультразвукового дефектоскопа
CN110632273A (zh) * 2019-10-11 2019-12-31 龙游岛式智能科技有限公司 一种轨道底部裂纹检测装置
WO2020161691A1 (fr) * 2019-02-10 2020-08-13 Scanmaster Systems (Irt) Ltd Sonde de surveillance de rail à maintenance réduite
CN112834613A (zh) * 2020-12-22 2021-05-25 中铁隧道集团二处有限公司 一种tbm隧道电瓶车铁轨探伤预警机器人系统

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3028753A (en) * 1959-07-13 1962-04-10 Ivan L Joy Apparatus for wetting surfaces for ultrasonic testing
FR2635066A1 (fr) * 1988-08-03 1990-02-09 Sncf Procede et dispositif de guidage le long d'un plan median d'un rail

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3028753A (en) * 1959-07-13 1962-04-10 Ivan L Joy Apparatus for wetting surfaces for ultrasonic testing
FR2635066A1 (fr) * 1988-08-03 1990-02-09 Sncf Procede et dispositif de guidage le long d'un plan median d'un rail

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2653663C1 (ru) * 2017-04-26 2018-05-11 Открытое акционерное общество "Радиоавионика" Устройство электромагнитно-акустического контроля рельсов
WO2020161691A1 (fr) * 2019-02-10 2020-08-13 Scanmaster Systems (Irt) Ltd Sonde de surveillance de rail à maintenance réduite
US20220097739A1 (en) * 2019-02-10 2022-03-31 Scanmaster Systems (Irt) Ltd. Low maintenance rail monitoring probe
RU189379U1 (ru) * 2019-02-15 2019-05-21 Акционерное общество "Фирма ТВЕМА" Искательное устройство мобильного ультразвукового дефектоскопа
RU189379U9 (ru) * 2019-02-15 2019-06-03 Акционерное общество "Фирма ТВЕМА" Искательное устройство мобильного ультразвукового дефектоскопа
CN110632273A (zh) * 2019-10-11 2019-12-31 龙游岛式智能科技有限公司 一种轨道底部裂纹检测装置
CN110632273B (zh) * 2019-10-11 2020-11-10 义乌国信土地规划咨询有限公司 一种轨道底部裂纹检测设备
CN112834613A (zh) * 2020-12-22 2021-05-25 中铁隧道集团二处有限公司 一种tbm隧道电瓶车铁轨探伤预警机器人系统
CN112834613B (zh) * 2020-12-22 2022-07-26 中铁隧道集团二处有限公司 一种tbm隧道电瓶车铁轨探伤预警机器人系统

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