An intelligent vehicle for quality inspection of limit grooves on ballastless track

Abstract

The present invention relates to an intelligent trolley for quality inspection of the limit groove of ballastless track, comprising a box, a roller and a control console, wherein the roller is arranged at the bottom of the box, the control console is installed on the box, the bottom of the box is sequentially connected with a mounting block, a third motor, a turntable and a sensor array, the sensor array is installed on the side of the turntable, the sensor array comprises a plurality of thin film pressure sensors, and the third motor drives and connects the turntable; a camera is arranged at the front end of the box, and the third motor, the sensor array and the camera are all connected to the control console; the control console evaluates the quality of the limit groove according to the contact rebound pressure detection result collected by the sensor array, obtains the groove image through the camera, and loads the groove image into a pre-built and trained neural network model after pre-processing to perform groove defect detection. Compared with the prior art, the present invention has the advantages of convenient quality inspection, high efficiency and high reliability.

Description

Technical Field

[0001] The invention relates to the technical field of quality detection of limit grooves of ballastless track, and in particular to an intelligent vehicle for quality detection of limit grooves of ballastless track. Background Art

[0002] With the continuous improvement of the modern transportation system, higher requirements are placed on the operating speed and comfort of high-speed railways. According to the different terrain and environment in my country, my country has designed different types of ballastless track structures to meet transportation needs. Unitized ballastless tracks are being laid in large quantities on newly built lines in my country due to their advantages such as stable structure, high safety and relatively low cost.

[0003] The main structures for transmitting force between the track slab (roadbed slab) and the beam body in the unitized ballastless track are the limiting grooves and bosses. After on-site investigation, it was found that the limiting groove structure was affected by the hydration heat of concrete during construction, and was prone to structural defects such as cracking and falling off if the maintenance measures were improper. At the same time, premature demoulding or improper demoulding measures would cause the initial structural deformation of the limiting groove, resulting in uneven force between the boss and the groove, causing structural damage under the action of trains and temperature loads in the later stage, causing longitudinal and lateral displacements of the track slab, greatly affecting the safety of the track structure.

[0004] At present, the construction quality monitoring of limit grooves mainly relies on the visual inspection of safety and quality monitoring personnel. Not only does it often lead to missed detection and false detection, but it is also time-consuming and labor-intensive, highly subjective, and is not conducive to objectively evaluating the safety of the track structure. In addition, the completeness data of the limit grooves cannot be well recorded and preserved. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent vehicle for quality inspection of limit grooves of ballastless track in order to overcome the defects of the above-mentioned prior art that the construction quality monitoring of limit grooves mainly relies on visual inspection by safety and quality monitoring personnel, which is time-consuming, labor-intensive and highly subjective.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An intelligent trolley for quality inspection of limit grooves of ballastless track, comprising a box, a roller and a control console, wherein the roller is arranged at the bottom of the box, the control console is mounted on the box, the bottom of the box is sequentially connected with a mounting block, a third motor, a turntable and a sensor array, the sensor array is mounted on the side of the turntable, the sensor array comprises a plurality of thin film pressure sensors, and the third motor is driven to connect the turntable; a camera is arranged at the front end of the box, and the third motor, the sensor array and the camera are all connected with the control console;

[0008] The console evaluates the quality of the limiting groove according to the contact rebound pressure detection results collected by the sensor array, obtains the groove image through the camera, and pre-processes the groove image and loads it into a pre-built and trained neural network model to perform groove defect detection.

[0009] Furthermore, the mounting block is mounted on the bottom of the box body through a plurality of springs distributed in a ring array, and a brush is provided at the bottom of the turntable.

[0010] The brush at the lower end of the box can rotate and clean the surface of the lower track under the action of the third motor and the spring. The spring can make the brush close to the ground, and it can also have a good cleaning effect when encountering a depression, which is convenient and more effective.

[0011] Furthermore, the camera is connected to a camera drive assembly, which includes a second motor, a rotating column, a rotating block, a first motor and a mounting plate. A third mounting groove is provided inside the front end of the box, and the second motor is installed in the third mounting groove. One end of the rotating column is connected to the driving end of the second motor, and the other end is rotatably connected to the rotating block. The first motor is installed on the rotating column and driven to be connected to the rotating block. The mounting plate is connected to one end of the rotating block away from the rotating column, and the camera is installed on the mounting plate. The first motor and the second motor are both connected to the console.

[0012] The first motor drives the rotating block to rotate, so as to realize the angle change of the camera. The camera can take pictures in an omnidirectional space under the drive of the second motor and the first motor.

[0013] Furthermore, a first lamp body is disposed on the front end surface of the box body, and second lamp bodies are disposed on both side surfaces of the box body, and both the first lamp body and the second lamp body are connected to the console.

[0014] The first lamp body and the second lamp body can provide lighting effects.

[0015] Furthermore, the intelligent vehicle is also provided with a debris removal device, which is installed on the inner side of the box body. A through hole is provided at the bottom of the box body, and a rotatable rotating door is provided on the outside of one side of the box body. The through hole is opposite to the suction end of the debris removal device, and the rotating door is opposite to the debris discharge end of the debris removal device. The debris removal device is connected to the console.

[0016] The debris removal device can suck the debris in the groove at the lower end of the box body through the through hole, and the debris can be collected and processed by opening the rotating door.

[0017] Furthermore, a top plate is provided on the top of the box, a solar panel is provided on the upper end of the top plate, the bottom of the top plate is installed on the top of the box through a plurality of brackets, and the solar panel is connected to the console.

[0018] The solar panel can effectively provide shade for the box and can make full use of solar energy to drive the operation of other electrical devices in the device.

[0019] Furthermore, a handle is provided at the rear end of the box body, and the handle is convenient for the user to push the box body.

[0020] Furthermore, the roller is a self-driven roller, and the roller is connected to the console.

[0021] Furthermore, the console includes a control panel, a motor drive module, a wireless network module and a voltage-stabilized power supply module, and the control panel is connected to the motor drive module, the wireless network module and the voltage-stabilized power supply module respectively.

[0022] Furthermore, a battery for supplying power to the entire smart car is provided inside the box.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] (1) The present invention uses a thin film pressure sensor and image processing method to replace manual inspection. However, traditional image processing methods are easily affected by factors such as the lighting environment. Therefore, a convolutional neural network is selected to process image problems. Compared with manual inspection methods and traditional image processing methods, this method can accurately complete quality inspection by simply importing pictures.

[0025] (2) The solar panel provided in the present invention can effectively provide shade for the box body and can make full use of solar energy to drive the operation of other electrical devices in the device. The brush at the lower end of the box body can rotate and clean the surface of the lower end track under the action of the third motor and the spring. The spring can make the brush close to the ground, and it can also have a good cleaning effect when encountering a concave place, which is convenient and more effective for detection.

[0026] (3) The debris removal device provided in the present invention can suck in the debris on the detection surface at the lower end of the box through the through hole, and the garbage can be collected and processed by opening the rotating door.

[0027] (4) The first lamp body and the second lamp body arranged on the outside of the box body of the present invention can provide a lighting effect and provide sufficient light source for image collection, thereby avoiding the poor reliability of the detection result caused by factors such as light and shadow during image processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1A three-dimensional schematic diagram of an intelligent vehicle for quality inspection of a ballastless track limit groove provided in an embodiment of the present invention;

[0029] Figure 2 It is a schematic front view of an intelligent vehicle for quality inspection of limiting grooves of ballastless track provided in an embodiment of the present invention;

[0030] Figure 3 A bottom-up schematic diagram of an intelligent vehicle for quality inspection of a ballastless track limit groove provided in an embodiment of the present invention;

[0031] Figure 4 A schematic top view of an intelligent vehicle for quality inspection of limiting grooves of ballastless track provided in an embodiment of the present invention;

[0032] Figure 5 A side view schematic diagram of an intelligent vehicle for quality inspection of a ballastless track limit groove provided in an embodiment of the present invention;

[0033] In the figure, 1, box body, 2, handle, 3, control console, 4, first motor, 5, camera, 6, mounting plate, 7, rotating block, 8, first lamp body, 9, rotating column, 10, second lamp body, 11, second mounting groove, 12, roller, 13, third mounting groove, 14, second motor, 15, turntable, 16, brush, 17, mounting block, 18, through hole, 19, rotating door, 20, impurity removal device, 21, groove, 22, spring, 23, first mounting groove, 24, third motor, 25, top plate, 26, bracket, 27, solar cell panel, 28, sensor array. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0037] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0038] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0040] Example 1

[0041] The present embodiment provides an intelligent trolley for quality inspection of limit grooves of ballastless track, comprising a box body 1, a roller 12 and a control console 3, wherein the roller 12 is arranged at the bottom of the box body 1, the control console 3 is mounted on the box body 1, the bottom of the box body 1 is sequentially connected with a mounting block 17, a third motor 24, a turntable 15 and a sensor array 28, the sensor array 28 is mounted on the side of the turntable 15, the sensor array 28 comprises a plurality of thin film pressure sensors, and the third motor 24 is driven to connect the turntable 15; a camera 5 is arranged at the front end of the box body 1, and the third motor 24, the sensor array 28 and the camera 5 are all connected to the control console 3;

[0042] The console 3 evaluates the quality of the limiting groove according to the contact rebound pressure detection results collected by the sensor array 28, takes a defect image of the limiting groove through the camera 5, and converts it into a matrix pixel value for preprocessing, and then loads it into a pre-built and trained neural network model for groove defect detection.

[0043] The sensor array is distributed on both sides of the retractable cylinder. After the turntable extends into the groove to be tested, the two sides expand to perform contact rebound pressure detection on the inner wall of the groove, and the quality of the limit groove is evaluated by the measured value.

[0044] The groove image is obtained through a camera connected to the console 3, the image is preprocessed, and finally the CNN model is trained and defect detection is performed.

[0045] This solution uses a thin film pressure sensor and image processing method to replace manual inspection. However, traditional image processing methods are easily affected by factors such as lighting environment. Therefore, convolutional neural networks are selected to process image problems. Compared with manual inspection methods and traditional image processing methods, this method can accurately complete quality inspection by simply importing pictures.

[0046] As a preferred embodiment, the mounting block 17 is mounted on the bottom of the box body 1 through a plurality of springs 22 distributed in a ring array, and a brush 16 is provided at the bottom of the turntable 15 .

[0047] The brush 16 at the lower end of the box body 1 can rotate and clean the surface of the lower track under the action of the third motor 24 and the spring 22. The spring 22 allows the brush 16 to be close to the ground, and it can also have a good cleaning effect when encountering a recess, which is convenient and more effective for detection.

[0048] As a preferred embodiment, the camera 5 is connected to a camera 5 driving assembly, which includes a second motor 14, a rotating column 9, a rotating block 7, a first motor 4 and a mounting plate 6. A third mounting groove 13 is provided inside the front end of the box body 1, and the second motor 14 is installed in the third mounting groove 13. One end of the rotating column 9 is connected to the driving end of the second motor 14, and the other end is rotatably connected to the rotating block 7. The first motor 4 is installed on the rotating column 9 and drives the rotating block 7. The mounting plate 6 is connected to one end of the rotating block 7 away from the rotating column 9. The camera 5 is installed on the mounting plate 6, and the first motor 4 and the second motor 14 are both connected to the console 3.

[0049] The first motor 4 drives the rotating block 7 to rotate, so as to change the angle of the camera. The camera 5 can take pictures in an omnidirectional space under the drive of the second motor 14 and the first motor 4.

[0050] As a preferred embodiment, a first lamp body 8 is disposed on the front end surface of the box body 1 , and second lamp bodies 10 are disposed on both side surfaces of the box body 1 . Both the first lamp body 8 and the second lamp body 10 are connected to the console 3 .

[0051] The first lamp body 8 and the second lamp body 10 can provide a lighting effect and provide sufficient light source for image collection, thereby avoiding poor reliability of detection results due to factors such as light and shadow during image processing.

[0052] As a preferred embodiment, the intelligent vehicle is also provided with a debris removal device 20, which is installed on the inner side of the box body 1. A through hole 18 is provided at the bottom of the box body 1, and a rotatable rotating door 19 is provided on the outside of one side of the box body 1. The through hole 18 is opposite to the suction end of the debris removal device 20, and the rotating door 19 is opposite to the debris discharge end of the debris removal device 20. The debris removal device 20 is connected to the control console 3.

[0053] The debris removal device 20 can suck the debris in the groove at the lower end of the box body 1 through the through hole 18, and the debris can be collected and processed by opening the rotating door 19.

[0054] As a preferred embodiment, a top plate 25 is provided on the top of the box body 1 , a solar panel 27 is provided on the upper end of the top plate 25 , the bottom of the top plate 25 is installed on the top of the box body 1 through a plurality of brackets 26 , and the solar panel 27 is connected to the console 3 .

[0055] The solar panel 27 can effectively provide shade for the box 1 and can fully utilize solar energy to drive the operation of other electrical devices in the device.

[0056] As a preferred embodiment, a handle 2 is provided at the rear end of the box body 1 .

[0057] The handle 2 is convenient for the user to push the box 1 .

[0058] As a preferred implementation, the roller 12 is a self-driven roller, and the roller 12 is connected to the console 3 .

[0059] As a preferred implementation, the console 3 includes a control board, a motor drive module, a wireless network module and a voltage-stabilized power supply module, and the control board is connected to the motor drive module, the wireless network module and the voltage-stabilized power supply module respectively.

[0060] In this embodiment, the wireless network module is a 5G wireless network module, and 5G is used to upload data to the railway cloud faster. The control board is a Raspberry Pi control board, which is loaded with an ARM-based Linux operating system, and can use python to control the GPIO port; the motor drive module is an L298N module, and the Raspberry Pi uses the L298N module to drive the motor, and can achieve speed regulation through PWM control ENAENB, thereby controlling the speed of the car; the 5G wireless network module module is used to upload data to the railway cloud database; the voltage-stabilized power supply module is used to power each module; the camera is an industrial USB camera, which is set at the upper end of the mounting plate and connected to the Raspberry Pi, and is used to acquire images of the limit groove and input artificial intelligence deep learning for classification; a battery is provided inside the box 1 to power the entire smart car.

[0061] Any combination of the above preferred implementations can result in a better implementation. An optimal implementation is described below.

[0062] like Figure 1-5As shown, the present embodiment provides an intelligent trolley for quality inspection of limit grooves of ballastless track, including a box body 1, a control console 3, a first motor 4, a camera 5, a rotating column 9, a second motor 14, a mounting block 17, a debris removal device 20 and a sensor array 28. A first mounting groove 23 is arranged at the front end of the box body 1, a first lamp body 8 is arranged inside the first mounting groove 23, second mounting grooves 11 are arranged on both sides of the box body 1, a second lamp body 10 is arranged inside the second mounting groove 11, the first lamp body 8 and the second lamp body 10 can provide lighting effects, a control console 3 is arranged at the upper end of the box body 1, a handle 2 is arranged on one side of the upper surface of the control console 3, the handle 2 is convenient for the user to push the box body 1, a rotating column 9 is arranged on one side of the control console 3, and the rotating column 9 is arranged on one side of the control console 3. A rotating block 7 is provided at the upper end of the column 9, and a first motor 4 is provided on one side of the upper end of the rotating column 9. The first motor 4 is adapted to the rotating block 7, and the first motor 4 drives the rotating block 7 to rotate, so as to realize the angle change of the camera 5. A mounting plate 6 is provided at the upper end of the rotating block 7, and a camera 5 is provided at the upper end of the mounting plate 6. A third mounting groove 13 is provided inside the box body 1, and a second motor 14 is provided inside the third mounting groove 13. The second motor 14 is connected to the lower end of the rotating column 9. A groove 21 is provided at the lower end of the middle part of the box body 1, and a mounting block 17 is provided inside the groove 21. Springs 22 distributed in a ring array are provided between the mounting block 17 and the groove 21. The number of the springs 22 is three, and the springs 22 can ensure that the brush 16 is in close contact with the ground. When encountering a concave place, the concave wall and the concave bottom can also be cleaned. A third motor 24 is arranged at the lower end of the mounting block 17, a turntable 15 is arranged at the lower end of the third motor 24, a brush 16 is arranged at the lower end of the turntable 15, a bracket 26 is arranged at the upper end of the box body 1, a top plate 25 is arranged at the upper end of the bracket 26, a solar cell panel 27 is arranged at the upper end of the top plate 25, and sensor arrays 28 are arranged on both sides of the turntable 15. The solar cell panel 27 can effectively shade the box body 1 and can make full use of solar energy to drive the operation of other electrical devices in the device. The sensor arrays 28 are distributed on both sides of the cylinder. After the turntable 15 extends into the area to be detected, the two sides can expand to detect the inner wall of the groove. The two sides of the lower end of the box body 1 A roller 12 is provided, and the roller 12 is adapted to the control console 3. A brush 16 can clean the inspection ground. The roller 12 facilitates the movement of the box 1. The roller 12 is driven by the control console 3 via electric remote control. A through hole 18 is provided on one side of the lower surface of the box 1, and a debris removal device 20 is provided on the upper end of the through hole 18. A rotating door 19 is provided on the outer wall of one side of the box 1, and the rotating door 19 is adapted to the debris removal device 20. The debris removal device 20 can suck in the debris in the groove at the lower end of the box 1 through the through hole 18, and the debris can be collected and processed by opening the rotating door 19. As is well known to those skilled in the art, the motor structures of the first motor 4, the second motor 14 and the third motor 24 belong to conventional means or common knowledge, and will not be repeated here.

[0063] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An intelligent vehicle for detecting the quality of a ballastless track limit groove, comprising a box (1), a roller (12) and a control console (3), wherein the roller (12) is arranged at the bottom of the box (1), and the control console (3) is installed on the box (1), characterized in that: The bottom of the box (1) is connected in sequence with a mounting block (17), a third motor (24), a turntable (15) and a sensor array (28); the sensor array (28) is installed on the side of the turntable (15); the sensor array (28) includes a plurality of thin film pressure sensors; the third motor (24) is driven to connect the turntable (15); a camera (5) is provided at the front end of the box (1); the third motor (24), the sensor array (28) and the camera (5) are all connected to the console (3); The sensor arrays (28) are distributed on both sides of the retractable cylinder. After the rotating disk (15) extends into the groove to be detected, the sensor arrays (28) on both sides expand to perform contact rebound pressure detection on the inner wall of the groove to be detected. The control console (3) evaluates the quality of the limiting groove according to the contact rebound pressure detection results collected by the sensor array (28), obtains the groove image through the camera (5), and pre-processes the groove image and loads it into a pre-built and trained neural network model to perform groove defect detection.

2. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: The mounting block (17) is mounted on the bottom of the box (1) via a plurality of springs (22) distributed in a ring array, and a brush (16) is provided at the bottom of the rotating disk (15).

3. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: The camera (5) is connected to a camera driving assembly, which comprises a second motor (14), a rotating column (9), a rotating block (7), a first motor (4) and a mounting plate (6). A third mounting groove (13) is provided inside the front end of the housing (1), and the second motor (14) is mounted in the third mounting groove (13). One end of the rotating column (9) is connected to the driving end of the second motor (14), and the other end is rotatably connected to the rotating block (7). The first motor (4) is mounted on the rotating column (9) and is drivingly connected to the rotating block (7). The mounting plate (6) is connected to one end of the rotating block (7) away from the rotating column (9). The camera (5) is mounted on the mounting plate (6). The first motor (4) and the second motor (14) are both connected to the console (3).

4. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: A first lamp body (8) is provided on the front end surface of the box body (1), and second lamp bodies (10) are provided on both side surfaces of the box body (1); the first lamp body (8) and the second lamp body (10) are both connected to the console (3).

5. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: The intelligent vehicle is also provided with a debris removal device (20), which is installed on the inner side of the box body (1). A through hole (18) is provided at the bottom of the box body (1), and a rotatable rotating door (19) is provided on the outside of one side of the box body (1). The through hole (18) is opposite to the suction end of the debris removal device (20), and the rotating door (19) is opposite to the debris discharge end of the debris removal device (20). The debris removal device (20) is connected to the control console (3).

6. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: A top plate (25) is provided on the top of the box body (1), a solar panel (27) is provided on the upper end of the top plate (25), the bottom of the top plate (25) is mounted on the top of the box body (1) via a plurality of brackets (26), and the solar panel (27) is connected to the console (3).

7. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: A handle (2) is provided at the rear end of the box body (1).

8. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: The roller (12) is a self-driven roller, and the roller (12) is connected to the console (3).

9. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1 is characterized in that: The console (3) comprises a control panel, a motor drive module, a wireless network module and a voltage-stabilized power supply module, and the control panel is connected to the motor drive module, the wireless network module and the voltage-stabilized power supply module respectively.

10. The intelligent vehicle for quality inspection of ballastless track limit grooves according to claim 1, characterized in that: A battery for supplying power to the entire intelligent vehicle is arranged inside the box (1).

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