Rail inspection device and method for rail transit

Abstract

The application provides a track inspection device for rail transit, which comprises a drone, a first sliding groove cover used for being slidably sleeved on a rail head of one side rail and having a part of the rail head exposed, the first sliding groove cover being connected to the bottom of the drone through a first spring device, a second sliding groove cover used for being slidably sleeved on a rail head of the other side rail and having a part of the rail head exposed, the second sliding groove cover being connected to the bottom of the drone through a second spring device, a first pressure sensor arranged between the first spring device and the first sliding groove cover, a second pressure sensor arranged between the second spring device and the second sliding groove cover, a first mounting plate arranged on the bottom of the drone, and a first pair of ultrasonic ranging sensors arranged on the first mounting plate and used for respectively measuring the exposed parts of the rail heads of the two side rails. The application can conveniently, efficiently and accurately inspect the track.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of track inspection, in particular to a track inspection device and method for rail transit. BACKGROUND

[0002] Rail transit refers to a kind of traffic tool or transportation system whose vehicle needs to run on a specific track. The vehicle is generally of steel wheel and steel rail system, and the running safety requires high track deformation. When there is a large construction disturbance near the track (such as adjacent foundation pit excavation, shield tunneling, etc.), it is necessary to regularly and timely inspect the safety state of the track to prevent track settlement, excessive deformation and other causes of engineering accidents and even engineering disasters. The track also needs to be regularly inspected in daily life.

[0003] The conventional inspection method mainly depends on the visual inspection of technical personnel, supplemented by level measurement. Such a method largely depends on personal experience and has certain subjectivity, and has problems of low accuracy, low inspection efficiency and low reliability. For the increasingly stringent deformation protection standard, the safety inspection completely relying on experience cannot meet the current requirements. Therefore, it is necessary to have a more convenient, efficient and accurate track inspection device and method. SUMMARY

[0004] The present application provides a track inspection device and method for rail transit, which can conveniently, efficiently and accurately inspect the track.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] A track inspection device for rail transit, comprising:

[0007] a drone;

[0008] a first sliding groove cover for slidingly sleeving on the rail head of one side rail with part of the rail head exposed, the first sliding groove cover being connected to the bottom of the drone through a first spring device;

[0009] a second sliding groove cover for slidingly sleeving on the rail head of the other side rail with part of the rail head exposed, the second sliding groove cover being connected to the bottom of the drone through a second spring device;

[0010] a first pressure sensor arranged between the first spring device and the first sliding groove cover;

[0011] a second pressure sensor arranged between the second spring device and the second sliding groove cover;

[0012] a first mounting plate arranged at the bottom of the drone;

[0013] A first pair of ultrasonic ranging sensors are arranged on the first mounting plate and used for measuring the exposed portions of the rail heads of the two side rails respectively.

[0014] The third spring device, the third pressure sensor and the fourth spring device are sequentially connected between the first chute cover and the second chute cover.

[0015] In some embodiments, the track inspection device for rail transit further comprises:

[0016] A second pair of ultrasonic ranging sensors are arranged on the first mounting plate and used for measuring the rail waists of the two side rails respectively.

[0017] In some embodiments, the track inspection device for rail transit further comprises:

[0018] A third pair of ultrasonic ranging sensor groups are arranged on the first mounting plate and used for measuring the rail bottoms and the sleepers of the two side rails respectively.

[0019] In some embodiments, the track inspection device for rail transit further comprises:

[0020] A fourth pair of ultrasonic ranging sensors are arranged on the first mounting plate and used for measuring the first nuts of the two side sleepers respectively.

[0021] The sleepers are fixed to the ground through the first nuts and the first bolts.

[0022] In some embodiments, the track inspection device for rail transit further comprises:

[0023] A fifth pair of ultrasonic ranging sensors are arranged on the first mounting plate and used for measuring the second nuts of the two side sleepers respectively.

[0024] The rails are fixed to the sleepers through the second nuts, the second bolts and the rail pressing pieces.

[0025] In some embodiments, the track inspection device for rail transit further comprises:

[0026] A second mounting plate is arranged at the bottom of the unmanned aerial vehicle and located on the side of the first chute cover away from the second chute cover.

[0027] A third mounting plate is arranged at the bottom of the unmanned aerial vehicle and located on the side of the second chute cover away from the first chute cover.

[0028] A sixth pair of ultrasonic ranging sensors are arranged on the second mounting plate and the third mounting plate respectively and used for measuring the first chute cover and the second chute cover respectively.

[0029] The second mounting plate and the third mounting plate are symmetrically arranged with the first mounting plate as the center.

[0030] A track inspection method for rail transit is realized by the track inspection device for rail transit, and the method comprises the following steps of:

[0031] S1. The first chute cover and the second chute cover are respectively sleeved on the rail head of the two side rails, and the unmanned aerial vehicle is controlled to slide along the rail;

[0032] S2. The first pressure data, the second pressure data and the third pressure data are respectively detected by the first pressure sensor, the second pressure sensor and the third pressure sensor;

[0033] S3. The first pair of distance data is detected by the first pair of ultrasonic ranging sensors;

[0034] S4. The first pair of distance data, the first pressure data, the second pressure data and the third pressure data are collectively used as the inspection result.

[0035] In some embodiments, the track inspection method for rail transit further comprises:

[0036] The second pair of distance data and the third pair of distance data are respectively detected by the second pair of ultrasonic ranging sensors and the third pair of ultrasonic ranging sensors;

[0037] The second pair of distance data and the third pair of distance data are also used as the inspection result.

[0038] In some embodiments, the track inspection method for rail transit further comprises:

[0039] The fourth pair of distance data and the fifth pair of distance data are respectively detected by the fourth pair of ultrasonic ranging sensors and the fifth pair of ultrasonic ranging sensors;

[0040] The fourth pair of distance data and the fifth pair of distance data are also used as the inspection result.

[0041] In some embodiments, the track inspection method for rail transit further comprises:

[0042] The sixth pair of distance data is detected by the sixth pair of ultrasonic ranging sensors;

[0043] The sixth pair of distance data is also used as the inspection result.

[0044] In summary, the present application has at least the following beneficial effects:

[0045] The track inspection device and method for track inspection of rail transit of the present application has a shorter detection time for track inspection, a simpler detection process, and only needs to control the unmanned aerial vehicle to slide along the steel rail to fly; and has a smaller detection cost, only needs the unmanned aerial vehicle capable of carrying each component (such as each sensor) involved in the present application and the corresponding unmanned aerial vehicle control system; and is more suitable for detecting the track in daily inspection, and can conveniently, efficiently and accurately inspect the track. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0047] Figure 1 The structure diagram of the track inspection device for track inspection of rail transit involved in the present application.

[0048] Figure 2 The schematic diagram of the main control chip U1 involved in the present application.

[0049] Figure 3 The schematic diagram of the timer chip U2 involved in the present application.

[0050] Figure 4 The schematic diagram of the inverter involved in the present application.

[0051] Figure 5 The schematic diagram of the amplifier U3 involved in the present application.

[0052] Reference signs:

[0053] 1, unmanned aerial vehicle; 11, first sliding groove cover; 111, first pressure sensor; 112, first spring device; 12, second sliding groove cover; 121, second pressure sensor; 122, second spring device; 13, third spring device; 14, third pressure sensor; 15, fourth spring device; 16, first mounting plate; 17, second mounting plate; 18, third mounting plate;

[0054] 2, first steel rail; 21, first rail head; 22, first rail waist; 23, first rail bottom;

[0055] 3, first sleeper; 31, first a nut; 32, first a bolt; 33, second a nut; 34, second a bolt; 35, first rail pressing piece;

[0056] 4, second steel rail; 41, second rail head; 42, second rail waist; 43, second rail bottom;

[0057] 5, second sleeper; 51, first b nut; 52, first b bolt; 53, second b nut; 54, second b bolt; 55, second rail pressing member;

[0058] 61, first a ultrasonic ranging sensor; 62, first b ultrasonic ranging sensor; 63, second a ultrasonic ranging sensor; 64, second b ultrasonic ranging sensor;

[0059] 71, third a ultrasonic ranging sensor; 72, third b ultrasonic ranging sensor; 73, third c ultrasonic ranging sensor; 74, third d ultrasonic ranging sensor;

[0060] 81, fourth a ultrasonic ranging sensor; 82, fourth b ultrasonic ranging sensor; 83, fifth a ultrasonic ranging sensor; 84, fifth b ultrasonic ranging sensor; 85, sixth a ultrasonic ranging sensor; 86, sixth b ultrasonic ranging sensor;

[0061] 91, ground ultrasonic ranging sensor; 92, ultrasonic ranging sensor. DETAILED DESCRIPTION

[0062] In the following, only certain exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the embodiments of the present application. Therefore, the drawings and the description are considered to be exemplary in nature and not limiting.

[0063] The following disclosure provides many different embodiments, or examples, for implementing different structures of the embodiments of the present application. For the purpose of simplifying the present application, the components and settings of specific examples are described in the following. Of course, they are only examples, and the purpose is not to limit the embodiments of the present application. In addition, the embodiments of the present application can refer to the same reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0064] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0065] As Figure 1 shown, the present embodiment provides a rail inspection device for rail transit, comprising:

[0066] a drone 1;

[0067] a first sliding chute cover 11 for slidingly sleeving on the rail head of one side rail with part of the rail head exposed, the first sliding chute cover 11 being connected to the bottom of the drone 1 by a first spring device 112;

[0068] A second chute cover 12 is arranged to slide on the head of the other side rail and partially expose the head, and the second chute cover 12 is connected to the bottom of the unmanned aerial vehicle 1 by a second spring device 122;

[0069] A first pressure sensor 111 is arranged between the first spring device 112 and the first chute cover 11;

[0070] A second pressure sensor 121 is arranged between the second spring device 122 and the second chute cover 12;

[0071] A first mounting plate 16 is arranged at the bottom of the unmanned aerial vehicle 1;

[0072] A first pair of ultrasonic ranging sensors is arranged on the first mounting plate 16 and used to measure the exposed portions of the heads of the two side rails, respectively;

[0073] The first chute cover 11 and the second chute cover 12 are sequentially connected with a third spring device 13, a third pressure sensor 14, and a fourth spring device 15.

[0074] It should be understood that the unmanned aerial vehicle 1 and its control system are prior art and will not be repeated here; the first pressure sensor 111, the second pressure sensor 121, the first pair of ultrasonic ranging sensors, the third spring device 13, the third pressure sensor 14, and the fourth spring device 15 can use existing devices or refer to the schemes described below. The internal chute of the first chute cover 11 and the second chute cover 12 only needs to be matched according to the actual structure of the rail head, so that the unmanned aerial vehicle 1 can slide along the rail under the guidance of the first chute cover 11 and the second chute cover 12.

[0075] It can be understood that the present embodiment does not improve each component of the track, and each component of the track and its scheme for forming the track are prior art and will not be repeated here; in order to facilitate description, the two side rails are respectively named as a first rail 2 and a second rail 4, the sleeper corresponding to the first rail 2 is named as a first sleeper 3, and the corresponding accessories of the first sleeper 3 are respectively named as a first a nut 31, a first a bolt 32, a second a nut 33, a second a bolt 34, and a first rail pressing member 35; the sleeper corresponding to the second rail 4 is named as a second sleeper 5, and the corresponding accessories of the second sleeper 5 are respectively named as a first b nut 51, a first b bolt 52, a second b nut 53, a second b bolt 54, and a second rail pressing member 55; accordingly, the first rail 2 includes a first rail head 21, a first rail waist 22, and a first rail bottom 23, and the second rail 4 includes a second rail head 41, a second rail waist 42, and a second rail bottom 43.

[0076] The first pair of ultrasonic ranging sensors refers to two first ultrasonic ranging sensors, namely a first ultrasonic ranging sensor 61 and a first ultrasonic ranging sensor 62.

[0077] During the inspection, the first chute cover 11 and the second chute cover 12 are respectively sleeved on the rail heads of the two side rails, and the unmanned aerial vehicle 1 is controlled to slide along the rails; the first pressure sensor 111, the second pressure sensor 121, and the third pressure sensor 14 respectively detect the first pressure data, the second pressure data, and the third pressure data; the first pair of ultrasonic ranging sensors detects the first pair of distance data; and the first pair of distance data, the first pressure data, the second pressure data, and the third pressure data are collectively used as the inspection result.

[0078] Since the unmanned aerial vehicle 1 is in a flight state, no matter how the rails change (deform), under the elastic action of the first spring device 112 and the second spring device 122, the rails will not affect the flight attitude of the unmanned aerial vehicle 1; therefore, when the first chute cover 11 or the second chute cover 12 deviates in any direction, the corresponding first spring device 112 or second spring device 122 will inevitably be compressed or stretched, thereby causing the first pressure data and the second pressure data detected by the first pressure sensor 111 and the second pressure sensor 121 to change, so that through the changes of the first pressure data and the second pressure data, it is inferred that the rail heads of the two side rails have changed in displacement, which may be due to the deformation of the rail heads themselves, changes in the rail waist, or changes in the rail bottom.

[0079] It is clear that the first chute cover 11, the third spring device 13, the third pressure sensor 14, the fourth spring device 15, and the second chute cover 12 are connected in sequence, and when the first chute cover 11 or the second chute cover 12 deviates in any direction, the corresponding third spring device 13 or fourth spring device 15 will inevitably be compressed or stretched, thereby causing the third pressure data detected by the third pressure sensor 14 to change, so that through the changes of the third pressure data, it is inferred that the rail heads of the two side rails have changed in displacement, which may be due to the deformation of the rail heads themselves, changes in the rail waist, or changes in the rail bottom.

[0080] The first a ultrasonic ranging sensor 61 measures the exposed part of the first rail head 21 to obtain first a distance data; the first b ultrasonic ranging sensor 62 measures the exposed part of the second rail head 41 to obtain first b distance data; the first a distance data and the first b distance data are the first pair of distance data. Comparing the first pair of distance data of the same detection point in the first and second inspections, if the first pair of distance data is inconsistent, the distance between the first rail head 21 and the second rail head 41 changes; At this time, compare the first a distance data or the first b distance data of the same detection point in the first and second inspections, if the first a distance data is inconsistent, the first rail head 21 changes; if the first b distance data is inconsistent, the second rail head 41 changes. Similarly, the rail head changes, which may be due to the deformation of the rail head itself, or may be due to the change of the rail waist, or may be due to the change of the rail bottom.

[0081] In some embodiments, the track inspection device for rail transit further comprises:

[0082] The second pair of ultrasonic ranging sensors are arranged on the first mounting plate 16 and are used to measure the rail waists of the two steel rails respectively.

[0083] In this embodiment, the second pair of ultrasonic ranging sensors refers to two second ultrasonic ranging sensors, namely the second a ultrasonic ranging sensor 63 and the second b ultrasonic ranging sensor 64; the first rail waist 22 is measured by the second a ultrasonic ranging sensor 63 to obtain second a distance data; the second rail waist 42 is measured by the second b ultrasonic ranging sensor 64 to obtain second b distance data; the second a distance data and the second b distance data are the second pair of distance data. Comparing the second pair of distance data of the same detection point in the first and second inspections, if the second pair of distance data is inconsistent, the distance between the first rail waist 22 and the second rail waist 42 changes; At this time, compare the second a distance data or the second b distance data of the same detection point in the first and second inspections, if the second a distance data is inconsistent, the first rail waist 22 changes; if the second b distance data is inconsistent, the second rail waist 42 changes.

[0084] In combination with the comparison of the first pressure data, the second pressure data, the third pressure data and the first pair of distance data, if the second pair of distance data is consistent, the rail waist does not change, that is, the possibility that the rail head changes due to the change of the rail waist can be ruled out; Similarly, the rest can be inferred according to the conventional logic. That is, the second pair of distance data, the first pressure data, the second pressure data, the third pressure data and the first pair of distance data are a data control group.

[0085] In some embodiments, the track inspection device for rail transit further comprises:

[0086] The third pair of ultrasonic ranging sensor groups are arranged on the first mounting plate 16 and used for measuring the distances of the rail bases and the sleepers of the two side rails respectively.

[0087] In this embodiment, the third pair of ultrasonic ranging sensor groups refers to four third ultrasonic ranging sensors, i.e., the third a ultrasonic ranging sensor 71, the third b ultrasonic ranging sensor 72, the third c ultrasonic ranging sensor 73, and the third d ultrasonic ranging sensor 74. The first rail base 23 is measured by the third a ultrasonic ranging sensor 71 to obtain third a distance data. The second rail base 43 is measured by the third b ultrasonic ranging sensor 72 to obtain third b distance data. The first sleeper 3 is measured by the third c ultrasonic ranging sensor 73 to obtain third c distance data. The second sleeper 5 is measured by the third d ultrasonic ranging sensor 74 to obtain third d distance data. The third a distance data and the third b distance data are the rail base distance data, and the third c distance data and the third d distance data are the sleeper distance data. The rail base distance data and the sleeper distance data are the third pair of distance data groups.

[0088] The rail base distance data of the same detection point in the two inspections are compared. If the rail base distance data are inconsistent, the distance between the first rail base 23 and the second rail base 43 has changed. At this time, the third a distance data or the third b distance data of the same detection point in the two inspections are compared. If the third a distance data are inconsistent, the first rail base 23 has changed. If the third b distance data are inconsistent, the second rail base 43 has changed.

[0089] The sleeper distance data of the same detection point in the two inspections are compared. If the sleeper distance data are inconsistent, the distance between the first sleeper 3 and the second sleeper 5 has changed. At this time, the third c distance data or the third d distance data of the same detection point in the two inspections are compared. If the third c distance data are inconsistent, the first sleeper 3 has changed. If the third d distance data are inconsistent, the second sleeper 5 has changed.

[0090] If the rail base distance data are inconsistent and the sleeper distance data are consistent, the sleeper has not changed, and the change of the rail base is that the rail base itself has changed (deformed), which excludes the possibility that the change of the rail base is caused by the change of the sleeper.

[0091] In combination with the comparison of the first pressure data, the second pressure data, the third pressure data, the first pair of distance data and the second pair of distance data, if the third pair of distance data is consistent, the rail bottom and the sleeper do not change, that is, the possibility that the rail waist changes due to the change of the rail bottom or the sleeper can be excluded; similarly, the rest can be inferred according to the conventional logic. That is, the third pair of distance data, the first pressure data, the second pressure data, the third pressure data, the first pair of distance data and the second pair of distance data are a data control group.

[0092] In some embodiments, the track inspection device for rail transit further comprises:

[0093] A fourth pair of ultrasonic ranging sensors is arranged on the first mounting plate 16 and used for measuring the distance of the first nut of the sleeper on both sides.

[0094] The sleeper (the first sleeper 3 and the second sleeper 5) is fixed to the ground through the first nut (the first a nut 31 and the first b nut 51) and the first bolt (the first a bolt 32 and the first b bolt 52).

[0095] In this embodiment, the fourth pair of ultrasonic ranging sensors refers to two fourth ultrasonic ranging sensors, namely the fourth a ultrasonic ranging sensor 81 and the fourth b ultrasonic ranging sensor 82. The fourth a ultrasonic ranging sensor 81 is used for measuring the distance of the first a nut 31 to obtain the fourth a distance data, and the fourth b ultrasonic ranging sensor 82 is used for measuring the distance of the first b nut 51 to obtain the fourth b distance data. The fourth a distance data and the fourth b distance data are the fourth pair of distance data.

[0096] The fourth pair of distance data of the same detection point in the first and second inspections is compared. If the fourth pair of distance data is inconsistent, the distance between the first a nut 31 and the first b nut 51 changes. At this time, the fourth a distance data or the fourth b distance data of the same detection point in the first and second inspections is compared. If the fourth a distance data is inconsistent, the first a nut 31 changes. If the fourth b distance data is inconsistent, the first b nut 51 changes.

[0097] In combination with the comparison of the first, second, third pressure data, the first, second, third distance data group, if the fourth distance data is consistent, it indicates that the distance between the first a nut 31 and the first b nut 51 does not change, and it can be side-proved that the nut does not loosen, and the sleeper does not change, that is, the possibility that the rail waist or rail bottom changes due to the change of the sleeper can be ruled out; similarly, the rest can be inferred according to the conventional logic. That is, the fourth distance data, the first, second, third pressure data, the first, second, third distance data group are the data control group.

[0098] In some embodiments, the track inspection device for rail transit further comprises:

[0099] The fifth pair of ultrasonic ranging sensors are arranged on the first mounting plate 16 and used for measuring the distance of the second nut of the sleeper on both sides.

[0100] The steel rail (the first steel rail 2 and the second steel rail 4) is fixed on the sleeper (the first sleeper 3 and the second sleeper 5) through the second nut (the second a nut 33 and the second b nut 53), the second bolt (the second a bolt 34 and the second b bolt 54), and the rail pressing piece (the first rail pressing piece 35 and the second rail pressing piece 55).

[0101] In this embodiment, the fifth pair of ultrasonic ranging sensors refers to two fifth ultrasonic ranging sensors, namely the fifth a ultrasonic ranging sensor 83 and the fifth b ultrasonic ranging sensor 84. The fifth a ultrasonic ranging sensor 83 is used for measuring the distance of the second a nut 33 to obtain the fifth a distance data. The fifth b ultrasonic ranging sensor 84 is used for measuring the distance of the second b nut 53 to obtain the fifth b distance data. The fifth a distance data and the fifth b distance data are the fifth distance data. The fifth distance data of the same detection point in the first and second inspections is compared. If the fifth distance data is inconsistent, the distance between the second a nut 33 and the second b nut 53 changes. At this time, the fifth a distance data or the fifth b distance data of the same detection point in the first and second inspections is compared. If the fifth a distance data is inconsistent, the second a nut 33 changes. If the fifth b distance data is inconsistent, the second b nut 53 changes.

[0102] In combination with the comparison of the first pressure data, the second pressure data, the third pressure data, the first pair of distance data, the second pair of distance data, the third pair of distance data group and the fourth pair of distance data, if the fifth pair of distance data is consistent, it indicates that the distance between the second a nut 33 and the second b nut 53 does not change, and it can be side-proved that the nut is not loose and the sleeper does not change, that is, the possibility that the rail waist or the rail bottom changes due to the change of the sleeper can be ruled out; similarly, the rest can be inferred according to the conventional logic. That is, the fifth pair of distance data, the first pressure data, the second pressure data, the third pressure data, the first pair of distance data, the second pair of distance data, the third pair of distance data group and the fourth pair of distance data are a data control group.

[0103] In some embodiments, the track inspection device for rail transit further comprises:

[0104] The second mounting plate 17 is arranged at the bottom of the unmanned aerial vehicle 1 and located on the side of the first sliding groove cover 11 away from the second sliding groove cover 12.

[0105] The third mounting plate 18 is arranged at the bottom of the unmanned aerial vehicle 1 and located on the side of the second sliding groove cover 12 away from the first sliding groove cover 11.

[0106] The sixth pair of ultrasonic ranging sensors are arranged on the second mounting plate 17 and the third mounting plate 18 respectively for measuring the distance of the first sliding groove and the second sliding groove cover 12 respectively.

[0107] The second mounting plate 17 and the third mounting plate 18 are symmetrically arranged with the first mounting plate 16 as the center.

[0108] In this embodiment, the sixth pair of ultrasonic ranging sensors refers to two sixth ultrasonic ranging sensors, namely the sixth a ultrasonic ranging sensor 85 and the sixth b ultrasonic ranging sensor 86. The sixth a ultrasonic ranging sensor 85 measures the distance of the first sliding groove to obtain the sixth a distance data, and the sixth b ultrasonic ranging sensor 86 measures the distance of the second sliding groove cover 12 to obtain the sixth b distance data. The sixth a distance data and the sixth b distance data are the sixth pair of distance data. Comparing the sixth pair of distance data of the same detection point in the first and second inspections, if the sixth pair of distance data is inconsistent, the distance between the first sliding groove and the second sliding groove cover 12 changes. At this time, comparing the sixth a distance data or the sixth b distance data of the same detection point in the first and second inspections, if the sixth a distance data is inconsistent, the first rail head 21 changes; if the sixth b distance data is inconsistent, the second rail head 41 changes.

[0109] In combination with the above comparison of the first pressure data, the second pressure data, the third pressure data, the first pair of distance data, the second pair of distance data, the third pair of distance data group, the fourth pair of distance data and the fifth pair of distance data, if the sixth pair of distance data is consistent, it indicates that the distance between the first chute and the second chute cover 12 does not change, and it can be proved that the distance between the first rail head 21 and the second rail head 41 does not change; similarly, the rest can be inferred according to the conventional logic. That is, the sixth pair of distance data and the first pressure data, the second pressure data, the third pressure data, the first pair of distance data, the second pair of distance data, the third pair of distance data group, the fourth pair of distance data and the fifth pair of distance data are a data control group.

[0110] In summary, through the mutual comparison between the first pressure data, the second pressure data, the third pressure data, the first pair of distance data, the second pair of distance data, the third pair of distance data group, the fourth pair of distance data, the fifth pair of distance data and the sixth pair of distance data, the state of the track can be accurately judged in daily inspection, such as the state change of the rail (rail head, rail waist, rail bottom), sleeper, first nut and second nut.

[0111] Therefore, a plurality of ultrasonic ranging sensors 92 can be installed on the second mounting plate 17 and the third mounting plate 18 to measure the distance of the rail waist, rail bottom, rail sleeper, first nut and second nut on the outside, and a plurality of ground ultrasonic ranging sensors 91 can also be installed to measure the distance to the ground, and the distance to the ground can be used to determine whether the track is raised or sunken. The data obtained by these detections are also a data control group with the above-mentioned various pressure data and distance data, and are mutually compared.

[0112] Further, the unmanned aerial vehicle 1 is provided with a gyroscope to obtain the rotation angle during distance measurement and pressure detection; that is, the first pressure data, the second pressure data, the third pressure data, the first pair of distance data, the second pair of distance data, the third pair of distance data group, the fourth pair of distance data, the fifth pair of distance data and the sixth pair of distance data correspond to a rotation angle, and by comparing the rotation angles corresponding to the data of the first and second inspections, if the rotation angles are inconsistent, it indicates that the unmanned aerial vehicle 1 is not in the same flight attitude during detection, and then the reliability of the corresponding data is not high, and the corresponding data can not be used as the inspection result, but only as data record.

[0113] In some embodiments, the first pair of ultrasonic ranging sensors and / or the second pair of ultrasonic ranging sensors and / or the third pair of ultrasonic ranging sensors and / or the fourth pair of ultrasonic ranging sensors and / or the fifth pair of ultrasonic ranging sensors and / or the sixth pair of ultrasonic ranging sensors and / or the ground ultrasonic ranging sensor 91 are configured with ultrasonic ranging circuit.

[0114] AsFigures 2 to 5 As shown, the ultrasonic ranging circuit includes a master chip U1, a crystal oscillator Y1, a timer chip U2, an amplifier U3, an inverter U4A, an inverter U4B, an inverter U4C, an inverter U4D, an inverter U4E, an inverter U4F, a transmitting crystal LS1, a receiving crystal LS2, a diode D1, a diode D2, a transistor Q1, a transistor Q2, a transistor Q3, a transistor Q4, a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5, a capacitor C6, a capacitor C7, a capacitor C8, a capacitor C9, a capacitor C10, a capacitor C11, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, a resistor R9, a resistor R10, a resistor R11, a resistor R12, and a resistor R13.

[0115] Pin 18 of the master chip U1 is connected to one end of the crystal oscillator Y1 and a ground capacitor C1, pin 19 of the master chip U1 is connected to the other end of the crystal oscillator Y1 and a ground capacitor C2, pin 27 of the master chip U1 is connected to one end of the resistor R1, the other end of the resistor R1 is connected to the base of the transistor Q1, the collector of the transistor Q1 is externally connected to a voltage terminal VCC, the emitter of the transistor Q1 is connected to one end of the resistor R3, pin 4 and pin 8 of the timer chip U2, the other end of the resistor R3 is connected to one end of the resistor R2 and pin 7 of the timer chip U2, the other end of the resistor R2 is connected to a ground capacitor C4, pin 2 and pin 6 of the timer chip U2, pin 5 of the timer chip U2 is connected to a ground capacitor C3, and pin 3 of the timer chip U2 is connected to the input terminal of the inverter U4F.

[0116] The output terminal of the inverter U4F is connected to the input terminal of the inverter U4E, the input terminal of the inverter U4C, and the input terminal of the inverter U4D, the output terminal of the inverter U4E is connected to the input terminal of the inverter U4A and the input terminal of the inverter U4B, the output terminal of the inverter U4A is connected to the output terminal of the inverter U4B, one end of the resistor R5, and one end of the transmitting crystal LS1, the output terminal of the inverter U4C is connected to the output terminal of the inverter U4D, one end of the resistor R4, and the other end of the transmitting crystal LS1, the other end of the resistor R5 is connected to the other end of the resistor R4, and then externally connected to a voltage terminal VCC.

[0117] One end of the receiving crystal LS2 is connected with one end of the capacitor C5 and pin 1 of the amplifier U3, pin 2 of the amplifier U3 is connected with one end of the resistor R8, the other end of the resistor R8 is connected with the positive pole of the capacitor C6, pin 3 of the amplifier U3 is connected with the positive pole of the capacitor C7, pin 5 of the amplifier U3 is connected with one end of the resistor R9, pin 6 of the amplifier U3 is connected with one end of the capacitor C8, pin 7 of the amplifier U3 is connected with one end of the resistor R6 and one end of the resistor R7, pin 8 of the amplifier U3 is connected with the other end of the resistor R7 and the other end of the resistor R9 and then connected with the voltage terminal VCC, the other end of the receiving crystal LS2 is connected with the other end of the capacitor C5, the negative pole of the capacitor C6, the negative pole of the capacitor C7, pin 4 of the amplifier U3, the other end of the capacitor C8 and one end of the capacitor C9 and then connected with the ground, the other end of the resistor R6 is connected with the other end of the capacitor C9, one end of the resistor R10 and the base of the triode Q2.

[0118] The collector of the triode Q2 is connected with the other end of the resistor R10, one end of the resistor R11 and one end of the capacitor C10, the other end of the capacitor C10 is connected with one end of the resistor R13 and the base of the triode Q3, the other end of the resistor R13 is connected with one end of the resistor R12, one end of the capacitor C11 and the collector of the triode Q3, the other end of the resistor R11 is connected with the other end of the resistor R12 and then connected with the voltage terminal VCC, the other end of the capacitor C11 is connected with the negative pole of the diode D1 and the positive pole of the diode D2, the negative pole of the diode D2 is connected with the base of the triode Q4, the emitter of the triode Q2 is connected with the emitter of the triode Q3, the positive pole of the diode D1 and the emitter of the triode Q4 and then connected with the ground, the collector of the triode Q4 is connected with pin 12 of the main control chip U1.

[0119] In the embodiment, the devices, connection relationship and model parameters not described are referred to Figures 2 to 5 Yes;The setting of each voltage terminal can be set according to actual needs;When working, the main control chip U1 controls the timer chip U2 to work, the timer chip U2 transmits voltage signals to the transmitting crystal LS1 through multiple inverters, the transmitting crystal LS1 emits ultrasonic waves to the detection point, the ultrasonic waves are reflected on the surface of the detection point to form echo signals, the echo signals are received by the receiving crystal LS2, the echo signals are firstly amplified by the amplifier U3, then are amplified by the triode Q2, the triode Q3 and the triode Q4 in multiple stages, and finally the amplified signals are transmitted to the main control chip U1.

[0120] The timer chip U2 can perform timed (intermittent) ultrasonic ranging, which can adapt to the special working requirements of the third pair of ultrasonic ranging sensor groups and the ground ultrasonic ranging sensor 91. Because of the particularity of the track ground, only the ground where the two sleepers are located together in the transverse direction (the transverse direction refers to the direction perpendicular to the length direction of the steel rail) is relatively flat cement ground, and along the length direction of the steel rail, the ground between the front and rear sleepers is mostly gravel ground, so the ground ultrasonic ranging sensor 91 needs to be detected in a timed (intermittent) manner, that is, the ground ultrasonic ranging sensor 91 only performs ranging when it is aligned with the cement ground.

[0121] Similarly, along the length direction of the steel rail, because the sleeper rail blocks the sleeper bottom, the third a ultrasonic ranging sensor 71 and the third b ultrasonic ranging sensor 72 perform timed (intermittent) ranging on the sleeper bottom between the front and rear sleepers, and the third c ultrasonic ranging sensor 73 and the third d ultrasonic ranging sensor 74 perform timed (intermittent) ranging on the sleeper rail.

[0122] A track inspection method for rail transit, realized by the track inspection device for rail transit described in any one of the above, the method comprising:

[0123] S1. The first chute cover 11 and the second chute cover 12 are respectively sleeved on the rail head of the two steel rails, and the unmanned aerial vehicle 1 is controlled to slide along the steel rail;

[0124] S2. The first pressure sensor 111, the second pressure sensor 121, and the third pressure sensor 14 are used to respectively detect the first pressure data, the second pressure data, and the third pressure data;

[0125] S3. The first pair of ultrasonic ranging sensors are used to detect the first pair of distance data;

[0126] S4. The first pair of distance data, the first pressure data, the second pressure data, and the third pressure data are collectively used as the inspection result.

[0127] In some embodiments, the track inspection method for rail transit further comprises:

[0128] The second pair of ultrasonic ranging sensors and the third pair of ultrasonic ranging sensors are used to respectively detect the second pair of distance data and the third pair of distance data;

[0129] The second pair of distance data and the third pair of distance data are also used as the inspection result.

[0130] In some embodiments, the track inspection method for rail transit further comprises:

[0131] The fourth pair of ultrasonic ranging sensors and the fifth pair of ultrasonic ranging sensors are used to respectively detect the fourth pair of distance data and the fifth pair of distance data;

[0132] The fourth pair of distance data and the fifth pair of distance data are also taken as the inspection result.

[0133] In some embodiments, the rail inspection method for rail transit further comprises:

[0134] The sixth pair of distance data is detected by the sixth pair of ultrasonic ranging sensors;

[0135] The sixth pair of distance data is also taken as the inspection result.

[0136] In summary, the first pressure data, the second pressure data, the third pressure data, the first pair of distance data, the second pair of distance data, the third pair of distance data, the fourth pair of distance data, the fifth pair of distance data, and the sixth pair of distance data in the rail inspection method for rail transit are described above.

[0137] The above-described embodiments are used to illustrate the present application, and are not intended to limit the present application. Therefore, the change of example values or the replacement of equivalent elements should still belong to the scope of the present application.

[0138] From the above detailed description, it is clear to those skilled in the art that the present application can achieve the above-mentioned purposes, and has met the requirements of the Patent Law.

[0139] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present application. The above description is only for the preferred embodiments of the present application and is not intended to limit the present application. It should be noted that any modification, equivalent replacement, and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

[0140] It should be noted that the above description of the process is only for example and illustration, and does not limit the scope of the present application. Those skilled in the art can make various modifications and changes to the process under the guidance of the present application. However, these modifications and changes are still within the scope of the present application.

[0141] The above has described the basic concept, and it is obvious that the above-mentioned application disclosure is only as an example and does not constitute a limitation on the present application for those skilled in the art after reading this application. Although it is not explicitly stated here, those skilled in the art can make various modifications, improvements, and corrections to the present application. Such modifications, improvements, and corrections are suggested in the present application, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0142] Also, certain terminology can also be used in the description for the purpose of reference only, and thus are not necessarily limiting. For example, the terms "one embodiment" or "an embodiment" (and the like) mean that a particular feature, structure, or characteristic described follows with respect to one or more embodiments. The appearances of the phrase "in one embodiment" or "in an embodiment" in various places in the specification are not necessarily referring to the same embodiment. Further, some embodiments can be described as a process, which is presented substantially sequentially. However, some operations can be performed in parallel or concurrently. Furthermore, some embodiments described herein can be implemented using software having a plurality of code sections interpreted by one or more processors. In implementation

[0143] Furthermore, those of ordinary skill in the art will appreciate that the various aspects of the present application can be implemented in any of a variety of contexts or contexts, including any new and useful processes, machines, articles of manufacture, or compositions of matter, or any new and useful improvements thereof. Thus, the various aspects of the present application can be embodied in hardware alone, in software alone, or in a combination of hardware and software. The above described hardware and software can be referred to as a "unit", "module" or "system". Furthermore, the various aspects of the present application can take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

[0144] The computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, conventional procedural programming languages, such as the C programming language, Visual Basic, Fortran 2103, Perl, COBOL 2102, PHP, ABAP, dynamic programming languages, such as Python, Ruby and Groovy, or another programming language. The program code can execute entirely on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any network, such as a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider), or in a cloud computing environment, or as a service, such as Software as a Service (SaaS).

[0145] Furthermore, the order of processing elements or sequences, or the use or appearance of certain terminology, throughout the above description should not be construed as limiting the application. Other steps, components, or configurations can be determined and implemented in a manner most beneficial to a particular application. For example, although the implementation of the various components described above can be embodied in hardware devices, it can also be implemented as a pure software solution, for example, as an installation on an existing server or mobile device.

[0146] Similarly, it is to be noticed that the term "comprising", used in the description, should not be interpreted as being restricted to the means listed thereafter; it does not exclude other elements or steps. It is thus to be interpreted as specifying the presence of the stated features, integers, steps or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps or components, or groups thereof. Furthermore, the description of the application is not intended to limit the application to the form disclosed herein. Various modifications and changes can be made without departing from the spirit and scope of the application as set forth in the following claims.

Claims

1. A track inspection device for rail transit, characterized in that, The unmanned aerial vehicle comprises: an unmanned aerial vehicle; a first sliding cover for slidingly sleeving a rail head of a first rail and exposing a part of the rail head, wherein the first sliding cover is connected to the bottom of the unmanned aerial vehicle through a first spring device; a second sliding cover for slidingly sleeving a rail head of a second rail and exposing a part of the rail head, wherein the second sliding cover is connected to the bottom of the unmanned aerial vehicle through a second spring device; a first pressure sensor arranged between the first spring device and the first sliding cover; a second pressure sensor arranged between the second spring device and the second sliding cover; a first mounting plate arranged on the bottom of the unmanned aerial vehicle; a first pair of ultrasonic ranging sensors arranged on the first mounting plate for respectively measuring the exposed parts of the rail heads of the two rails; wherein the first sliding cover and the second sliding cover are sequentially connected with a third spring device, a third pressure sensor and a fourth spring device; a second mounting plate arranged on the bottom of the unmanned aerial vehicle and located on a side of the first sliding cover away from the second sliding cover; a third mounting plate arranged on the bottom of the unmanned aerial vehicle and located on a side of the second sliding cover away from the first sliding cover; a sixth pair of ultrasonic ranging sensors respectively arranged on the second mounting plate and the third mounting plate for respectively measuring the first sliding cover and the second sliding cover; wherein the second mounting plate and the third mounting plate are symmetrically arranged with the first mounting plate as the center; a gyroscope arranged on the unmanned aerial vehicle for obtaining the rotation angle during the distance measurement and pressure detection. Further comprising:

2. The track inspection device for rail transit according to claim 1, characterized in that, a second pair of ultrasonic ranging sensors arranged on the first mounting plate for respectively measuring the rail waists of the two rails. Further comprising:

3. The track inspection device for rail transit according to claim 1, characterized in that, a third pair of ultrasonic ranging sensor groups arranged on the first mounting plate for respectively measuring the rail bottoms and rail sleepers of the two rails. Further comprising:

4. The track inspection device for rail transit according to claim 1, characterized in that, a fourth pair of ultrasonic ranging sensors arranged on the first mounting plate for respectively measuring the first nuts of the two rail sleepers; wherein the rail sleepers are fixed to the ground through the first nuts and first bolts. Further comprising:

5. The track inspection device for rail transit according to claim 1, characterized in that, a fifth pair of ultrasonic ranging sensors arranged on the first mounting plate for respectively measuring the second nuts of the two rail sleepers; wherein the rails are fixed to the rail sleepers through the second nuts, second bolts and rail pressing members. The rail inspection device for rail transit according to any one of claims 1 to 5 is used to implement a method comprising:

6. A rail inspection method for rail transit, characterized in that, S1. sleeving the first sliding cover and the second sliding cover on the rail heads of the two rails respectively, and controlling the unmanned aerial vehicle to fly along the rails; S2. respectively detecting the first pressure data, the second pressure data and the third pressure data through the first pressure sensor, the second pressure sensor and the third pressure sensor; S3. detecting the first pair of distance data through the first pair of ultrasonic ranging sensors; S4. taking the first pair of distance data, the first pressure data, the second pressure data and the third pressure data as the inspection result. Further comprising:

7. The track inspection method for rail transit according to claim 6, wherein, respectively detecting the second pair of distance data and the third pair of distance data through the second pair of ultrasonic ranging sensors and the third pair of ultrasonic ranging sensors. ​ The second pair of distance data and the third pair of distance data are also taken as the inspection result.

8. The track inspection method for rail transit according to claim 6, wherein, Further comprising: The fourth pair of distance data and the fifth pair of distance data are detected by the fourth pair of ultrasonic ranging sensors and the fifth pair of ultrasonic ranging sensors respectively; The fourth pair of distance data and the fifth pair of distance data are also taken as the inspection result.

9. The track inspection method for rail transit according to claim 6, wherein, Further comprising: The sixth pair of distance data is detected by the sixth pair of ultrasonic ranging sensors; The sixth pair of distance data is also taken as the inspection result.

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