Comprehensive Detection Device and System for Spatial Geometric Parameters of Rail Transit Contact Rails

Abstract

The present invention provides a comprehensive detection device and system for the spatial position parameters of a rail transit contact rail, including a mechanical body, a first information acquisition module, a second information acquisition module, a third information acquisition module, and a main control module; one end of the mechanical body is used to connect to a special carrying platform. During detection, the mechanical body is connected to the special carrying platform, and the special carrying platform runs along the running rail; the first information acquisition module, the second information acquisition module, and the third information acquisition module are sequentially fixed on the mechanical body, and the main control module is communicatively connected to the first information acquisition module, the second information acquisition module, and the third information acquisition module. The present invention can achieve accurate measurement of the contact rail height and the pull-out value, as well as high-definition video monitoring of the appearance state of the fastening connectors on the lower surface of the contact rail and the surrounding insulating brackets.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit contact rail detection, and particularly to a comprehensive detection device and system for the spatial geometric parameters of rail transit contact rails. Background Art

[0002] At present, the detection of rail contact rails can be mainly divided into contact type and non-contact type. Among them, contact type detection is manually measured by a contact rail measuring ruler, and currently most subway companies use such equipment to detect contact rails. The contact type detection method not only requires a large amount of manpower and time, and it is difficult to guarantee the measurement accuracy, but also when operating, the detection equipment contacts the contact rail, which is easy to cause equipment wear.

[0003] Non-contact detection is mainly based on the principle of computer vision, and is a non-contact dynamic detection method that combines technologies such as CCD, structured light, and computer vision. By using a camera acquisition device to photograph the contact rail, contour data is obtained, and further digital image processing is performed to calculate the spatial coordinates of the contact rail.

[0004] The non-contact method overcomes the disadvantages of contact type detection such as low efficiency, low accuracy, and easy wear, and has the advantages of high reliability, high automation, and high precision. It is the current development trend of contact rail detection. However, such systems also have some other defects, such as being easily affected by factors such as environmental light and optical distortion.

[0005] At present, the existing non-contact detection systems in China include the third rail detection system of the subway comprehensive inspection vehicle jointly developed by Guangzhou Metro and Italian company Mer Mec, and the CRM-1 type contact rail detection device developed by Chengdu Tangyuan Electric Co., Ltd. However, both of the above two detection systems have disadvantages that affect the actual use of on-site maintenance personnel, such as low stability, high equipment manufacturing cost, and low efficiency. Summary of the Invention

[0006] The purpose of the present invention is to provide a comprehensive detection device and system for the spatial geometric parameters of rail transit contact rails that is fast, efficient, and easy to use, so as to meet the needs of the rapidly developing urban rail transit.

[0007] In order to achieve the above purpose, the present invention is realized through the following technical solutions:

[0008] A comprehensive detection device for the spatial geometric parameters of rail transit contact rails includes a mechanical body, a first information acquisition module, a second information acquisition module, a third information acquisition module, and a main control module;

[0009] One end of the mechanical body is used to connect to a special carrying platform. During detection, the mechanical body is connected to the special carrying platform, and the special carrying platform runs along the running rail;

[0010] The first information acquisition module, the second information acquisition module, and the third information acquisition module are sequentially fixed on the mechanical body. During detection, the height of the first information acquisition module matches the height of the insulating support housing, and is used to acquire the first image / video information of the insulating support housing. The height of the second information acquisition module is lower than that of the contact rail and close to the inner side of the contact rail, and is used to acquire the second image / video information of the contact rail. The height of the third information acquisition module is lower than that of the contact rail and is located directly below the contact rail, and is used to acquire the third image / video information of the lower surface of the contact rail and the top bolts of the insulating support, acquire the fourth image / video information of the bottom bolts of the insulating support, measure the vertical height value between the contact rail and the third information acquisition module, and measure the distance between the insulating support and the third information acquisition module.

[0011] The main control module is communicatively connected to the first information acquisition module, the second information acquisition module, and the third information acquisition module, and is used to identify the positioning point number information according to the first image / video information, analyze the spatial coordinate information of the contact rail and calculate the contact rail pull-out value according to the second image / video information, calculate the contact rail elevation value according to the vertical height value between the contact rail and the third information acquisition module, determine whether there is an insulating support at the current position according to the distance between the insulating support and the third information acquisition module, and obtain the surface wear state of the contact rail, the appearance and connection fastening state of the insulating support connection components and corresponding fasteners around the contact rail according to the third image / video information and the fourth image / video information.

[0012] Further, the third information acquisition module includes a first image acquisition device, a second image acquisition device, a first laser ranging sensor, and a second laser ranging sensor;

[0013] The first image acquisition device faces upward and is used to acquire the third image / video information of the lower surface of the contact rail and the top bolts of the insulating support;

[0014] The second image acquisition device faces downward and is used to acquire the fourth image / video information of the bottom bolts of the insulating support;

[0015] The first laser ranging sensor faces upward and is used to measure the vertical height value between the contact rail and the third information acquisition module;

[0016] The second laser ranging sensor faces the outer side of the contact rail and is used to measure the distance between the insulating support and the third information acquisition module.

[0017] Further, the second information acquisition module is a 3D profile camera.

[0018] Further, the main control module analyzes the spatial position of the contact rail relative to the second information acquisition module from the second image / video information, and then combines the relative position between the second information acquisition module and the dedicated mounting platform, as well as the distance between the dedicated mounting platform and the center of the running rail surface, to calculate the contact rail pull-out value, wherein the distance between the dedicated mounting platform and the center of the running rail surface is obtained by calculating through the snake-shaped running compensation device of the dedicated mounting platform.

[0019] Further, the main control module adds the vertical height value of the contact rail and the third information acquisition module to the height value of the third information acquisition module relative to the plane connecting the tops of the running rails to obtain the contact rail guide height value.

[0020] Further, the mechanical body includes a skeleton structure, mechanical connection ports, and a limiting device. The mechanical connection ports and the limiting device are fixedly installed at the ends of the skeleton structure. The mechanical body is fixedly connected to the dedicated mounting platform under the combined action of the mechanical connection ports and the limiting device.

[0021] Further, the detection device further includes a power management module, which is installed inside the skeleton structure and provides power for all electrical equipment on the detection device;

[0022] The mechanical body further includes a power supply interface, which is arranged at the end of the skeleton structure and is connected to the power management module. When the detection device is connected to the dedicated mounting platform, the power supply interface is automatically connected to the discharge port of the dedicated mounting platform.

[0023] Further, the detection device further includes a communication module, which is installed inside the skeleton structure and is communicatively connected to the main control module;

[0024] The mechanical body further includes a communication interface, which is arranged at the end of the skeleton structure. The communication module is connected to the communication interface to realize the network communication between the main control module and the dedicated mounting platform.

[0025] Further, the mechanical body further includes a skin, which covers the outside of the skeleton structure.

[0026] A comprehensive detection system for the spatial geometric parameters of a rail transit contact rail, characterized in that it includes a dedicated mounting platform and the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail as described above. The comprehensive detection device for the spatial geometric parameters of the rail transit contact rail is installed on the dedicated mounting platform. The dedicated mounting platform runs along the running rail, driving the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail to travel along the contact rail to measure the spatial geometric parameters of the contact rail.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] After the development of the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail, through combination with a dedicated carrying platform, it can conduct real-time detection of the contact rail height and pull-out value, the wear state of the contact rail surface, the appearance and connection fastening state of the insulation support connection components and corresponding fasteners around the contact rail during any manual maintenance window period. It can effectively ensure the accuracy of the detection results, improve the detection operation efficiency, reduce the detection labor intensity, and also realize the scientific management and in-depth mining analysis of the detection data and video materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for description will be briefly introduced below. Obviously, the drawings in the following description are an embodiment of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0030] Figure 1 It is a schematic structural diagram of the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail provided by an embodiment of the present invention;

[0031] Figure 2 It is a front view of the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail provided by an embodiment of the present invention;

[0032] Figure 3 It is a rear view of the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail provided by an embodiment of the present invention;

[0033] Figure 4 It is a structural diagram of the mechanical body of the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail provided by an embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of the working state of the comprehensive detection device for the spatial geometric parameters of the rail transit contact rail provided by an embodiment of the present invention;

[0035] Figure 6 It is a schematic diagram of the third information acquisition module from one perspective provided by an embodiment of the present invention;

[0036] Figure 7 It is a schematic diagram of the third information acquisition module from another perspective provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The following further elaborates on the solution proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are in a very simplified form and use non-precise scales, only for conveniently and clearly assisting in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features, and advantages of the present invention more obvious and understandable, please refer to the accompanying drawings. It should be known that the structures, scales, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical substantive significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the efficacy that the present invention can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed by the present invention.

[0038] As Figure 1-7 shown, the comprehensive detection device 10 for the spatial geometric parameters of the rail transit contact rail provided by the present invention is applicable to the contact rail 30 with the rail head facing downwards, and includes: a mechanical body 100, a first information acquisition module 200, a second information acquisition module 300, a third information acquisition module 400, and a main control module 500. It may also include a power management module 600 and a communication module 700.

[0039] One end of the mechanical body 100 is used to connect with the special carrying platform 20. During detection, the mechanical body 100 is connected to the special carrying platform 20, and the special carrying platform 20 runs along the running rail 40. The structure of the mechanical body 100 is as Figure 4 shown, including a frame structure 110, a mechanical connection port 120, and a limiting device 130. The frame structure 110 serves as the main load-bearing structure of the detection device 10. The mechanical connection port 120 and the limiting device 130 are fixedly installed at the end of the frame structure 110. The detection device is fixedly connected to the special carrying platform 20 under the combined action of the mechanical connection port 120 and the limiting device 130. The power management module 600 is installed inside the frame structure 110 to provide power for all electrical devices on the detection device 10. Correspondingly, the mechanical body further includes a power supply interface 140, which is arranged at the end of the frame structure 110 and is connected to the power management module 600. When the detection device 10 is connected to the special carrying platform 20, the power supply interface 140 is automatically connected to the discharge port of the special carrying platform 20. The communication module 700 is installed inside the frame structure 110 and is communicatively connected to the main control module 500. Correspondingly, the mechanical body 100 further includes a communication interface 150, which is arranged at the end of the frame structure 110. The communication module 700 is connected to the communication interface 150 to realize the network communication between the main control module 500 and the special carrying platform 20.

[0040] Further, the mechanical body 100 further includes a skin 160 covering the outside of the skeleton structure 110 for protecting the internal main control module 500, power management module 600 and communication module 700. The mechanical body 100 further includes a carrying device 170 fixed at the center of gravity position of the skeleton structure 110 close to the detection device 10 for facilitating the carrying of the detection device 10.

[0041] The first information collection module 200, the second information collection module 300, and the third information collection module 400 are sequentially fixed on the mechanical body 100. The main control module 500 is communicatively connected to the first information collection module 200, the second information collection module 300, and the third information collection module 400 for processing the data collected by the first information collection module 200, the second information collection module 300, and the third information collection module 400.

[0042] Specifically, the first information collection module 200 mainly includes an image collection device and its supplementary lighting device. As Figure 5 shown, during detection, its height matches that of the insulating support housing, so as to be able to collect the first image / video information of the insulating support housing and transmit it to the main control module 500 for identifying the positioning point number information on the insulating support housing according to the first image / video information.

[0043] The main device of the second information collection module 300 is a 3D profile camera. As Figure 5 shown, during detection, its height is lower than that of the contact rail 30 and it is close to the inner side of the contact rail 30, so as to be able to collect the second image / video information of the contact rail 30 and transmit it to the main control module 500 for parsing the spatial coordinate information of the contact rail 30 and calculating the pull-out value of the contact rail 30 according to the second image / video information. Specifically, after the detection device 10 is installed on the dedicated carrying platform 20, the relative position between the second information collection module 300 and the dedicated carrying platform 20 is determined. Therefore, the main control module 500 can parse the spatial position of the contact rail 30 relative to the second information collection module 300 according to the second image / video information, and then combine the relative position between the second information collection module 300 and the dedicated carrying platform 20, and the distance between the dedicated carrying platform 20 and the center of the running rail 40 rail surface to calculate the pull-out value of the contact rail 30. Among them, the distance between the dedicated carrying platform 20 and the center of the running rail 40 rail surface can be obtained by calculating through the snake-shaped running compensation device of the dedicated carrying platform 20.

[0044] As Figure 5As shown in the figure, during detection, the height of the third information acquisition module 400 is lower than that of the contact rail 30 and is directly below the contact rail 30, so as to be able to collect the third image / video information of the lower surface of the contact rail 30 and the top bolts of the insulating support, collect the fourth image / video information of the bottom bolts of the insulating support, measure the vertical height value between the contact rail 30 and the third information acquisition module 400, measure the distance between the insulating support and the third information acquisition module 400, and transmit it to the main control module 500. Calculate the guide height value of the contact rail 30 according to the vertical height value between the contact rail 30 and the third information acquisition module 400, judge whether there is an insulating support at the current position according to the distance between the insulating support and the third information acquisition module 400, and obtain the surface wear state of the contact rail 30, the appearance and connection fastening state of the insulating support connection components and corresponding fasteners around the contact rail 30 according to the third image / video information and the fourth image / video information. Specifically, after the detection device 10 is installed on the special carrying platform 20, the height value of the third information acquisition module 400 relative to the plane connecting the top surfaces of the running rails 40 is a fixed value. Adding the vertical height value between the contact rail 30 and the third information acquisition module 400 to the height value of the third information acquisition module 400 relative to the plane connecting the top surfaces of the running rails 40 can obtain the guide height value of the contact rail 30; after the detection device 10 is installed on the special carrying platform 20, the distance from the third information acquisition module 400 to the insulating support is a fixed value. Whether there is an insulating support at the current position can be judged according to the real-time distance value between the insulating support and the third information acquisition module 400 collected; image recognition is performed on the third image / video information and the fourth image / video information, so as to obtain the surface wear state of the contact rail 30, the appearance and connection fastening state of the insulating support connection components and corresponding fasteners around the contact rail 30.

[0045] As Figure 6 , 7 As shown in the figure, the third information acquisition module 400 includes a first image acquisition device 410 and its supplementary light lamp groups 411 / 412 / 413, a second image acquisition device 420 and its supplementary light device, a first laser ranging sensor 430, and a second laser ranging sensor 440;

[0046] The first image acquisition device 410 faces upward and is used to collect the third image / video information of the lower surface of the contact rail 30 and the top bolts of the insulating support;

[0047] The second image acquisition device 420 faces downward and is used to collect the fourth image / video information of the bottom bolts of the insulating support;

[0048] The first laser ranging sensor 430 faces upward and is used to measure the vertical height value between the contact rail 30 and the third information acquisition module 400;

[0049] The second laser distance measuring sensor 440 faces the outside of the contact rail 30 and is used to measure the distance between the insulating support and the third information acquisition module 400.

[0050] As Figure 5 As shown, the detection device 10 travels along the contact rail 30 driven by the dedicated carrying platform 20 to measure the spatial shape and position parameters of the contact rail 30. After the main control module 500 processes the collected data, the detection results can be viewed through the interaction terminal 21 of the dedicated carrying platform 20, and the detection results can be uploaded to the cloud server.

[0051] Based on the same inventive concept, the present invention also provides a comprehensive detection system for the spatial shape and position parameters of a rail transit contact rail, including a dedicated carrying platform and the comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail as described above. The comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail is installed on the dedicated carrying platform. The dedicated carrying platform runs along the running rail, drives the comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail to travel along the contact rail, and measures the spatial shape and position parameters of the contact rail.

[0052] In summary, after the comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail provided by the present invention is developed, through combination with the dedicated carrying platform, it can, within any manual maintenance window period, perform real-time detection on the contact rail height and pull-out value, the wear state of the contact rail surface, the appearance and connection fastening state of the insulating support connection components and corresponding fasteners around the contact rail, effectively ensure the accuracy of the detection results, improve the detection operation efficiency, reduce the detection labor intensity, and can also realize the scientific management and in-depth mining and analysis of the detection data and video materials.

[0053] After the comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail is developed, it is expected to be applied to all rail transit lines using contact rail power supply at home and abroad to achieve high-efficiency and high-precision comprehensive detection of the contact rail parameters and service status.

[0054] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0055] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and alternatives to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. An integrated detection device for the spatial geometric parameters of a rail transit contact rail, characterized in that, it includes a mechanical body, a first information acquisition module, a second information acquisition module, a third information acquisition module and a main control module; One end of the mechanical body is used to connect with a special carrying platform. During detection, the mechanical body is connected to the special carrying platform, and the special carrying platform runs along the running rail; The first information acquisition module, the second information acquisition module, and the third information acquisition module are sequentially fixed on the mechanical body. During detection, the height of the first information acquisition module matches the height of the insulating support housing, and is used to acquire the first image / video information of the insulating support housing. The height of the second information acquisition module is lower than that of the contact rail and is close to the inner side of the contact rail, and is used to acquire the second image / video information of the contact rail. The height of the third information acquisition module is lower than that of the contact rail and is located directly below the contact rail, and is used to acquire the third image / video information of the lower surface of the contact rail and the top bolts of the insulating support, acquire the fourth image / video information of the bottom bolts of the insulating support, measure the vertical height value between the contact rail and the third information acquisition module, and measure the distance between the insulating support and the third information acquisition module; The main control module is communicatively connected to the first information acquisition module, the second information acquisition module, and the third information acquisition module, and is used to identify the positioning point number information according to the first image / video information, analyze the spatial coordinate information of the contact rail according to the second image / video information and calculate the contact rail pull-out value, calculate the contact rail elevation value according to the vertical height value between the contact rail and the third information acquisition module, judge whether there is an insulating support at the current position according to the distance between the insulating support and the third information acquisition module, and obtain the wear state of the contact rail surface, the appearance and connection fastening state of the insulating support connection components and corresponding fasteners around the contact rail according to the third image / video information and the fourth image / video information.

2. The integrated detection device for the spatial geometric parameters of a rail transit contact rail according to claim 1, characterized in that, the third information acquisition module includes a first image acquisition device, a second image acquisition device, a first laser ranging sensor, and a second laser ranging sensor; The first image acquisition device faces upward and is used to acquire the third image / video information of the lower surface of the contact rail and the top bolts of the insulating support; The second image acquisition device faces downward and is used to acquire the fourth image / video information of the bottom bolts of the insulating support; The first laser ranging sensor faces upward and is used to measure the vertical height value between the contact rail and the third information acquisition module; The second laser ranging sensor faces the outside of the contact rail and is used to measure the distance between the insulating support and the third information acquisition module.

3. The integrated detection device for the spatial geometric parameters of a rail transit contact rail according to claim 1, characterized in that, the second information acquisition module is a 3D profile camera.

4. The integrated detection device for the spatial geometric parameters of a rail transit contact rail according to claim 1, characterized in that, The master control module analyzes the spatial position of the contact rail relative to the second information acquisition module from the second image / video information, and then calculates the contact rail pull-out value in combination with the relative position between the second information acquisition module and the dedicated mounting platform, and the distance between the dedicated mounting platform and the center of the running rail surface, wherein the distance between the dedicated mounting platform and the center of the running rail surface is obtained by calculating through the snake-shaped running compensation device of the dedicated mounting platform.

5. The comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail as described in claim 1, characterized in that, the master control module adds the vertical height value of the contact rail and the third information acquisition module to the height value of the third information acquisition module relative to the plane connecting the tops of the running rails to obtain the contact rail guide height value.

6. The comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail as described in claim 1, characterized in that, the mechanical body includes a frame structure, a mechanical connection port and a limiting device. The mechanical connection port and the limiting device are fixedly installed at the end of the frame structure. The mechanical body is fixedly connected to the dedicated mounting platform under the combined action of the mechanical connection port and the limiting device.

7. The comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail as described in claim 6, characterized in that, the detection device further includes a power management module, which is installed inside the frame structure and provides power for all electrical devices on the detection device; the mechanical body further includes a power supply interface, which is arranged at the end of the frame structure and is connected to the power management module. When the detection device is connected to the dedicated mounting platform, the power supply interface is automatically connected to the discharge port of the dedicated mounting platform.

8. The comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail as described in claim 6, characterized in that, the detection device further includes a communication module, which is installed inside the frame structure and is communicatively connected to the master control module; the mechanical body further includes a communication interface, which is arranged at the end of the frame structure. The communication module is connected to the communication interface to realize network communication between the master control module and the dedicated mounting platform.

9. The comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail as described in claim 6, characterized in that, the mechanical body further includes a skin, which covers the outside of the frame structure.

10. A comprehensive detection system for the spatial shape and position parameters of the rail transit contact rail, characterized in that, it includes a dedicated mounting platform and the comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail as described in any one of claims 1 to 9. The comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail is installed on the dedicated mounting platform. The dedicated mounting platform runs along the running rail, drives the comprehensive detection device for the spatial shape and position parameters of the rail transit contact rail to travel along the contact rail, and measures the spatial shape and position parameters of the contact rail.

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