An orbit detection method

Abstract

The present invention relates to a track detection method, and the present invention relates to the field of track detection vehicles. In the present invention, first, the front wheel set and the drive wheel set of the detection vehicle are placed on the upper surface of the track, and the side wheel set A and the side wheel set B are cooperated on the side surface of the track by rotating the turnbuckle bolts. Furthermore, the wheels A and B provided in the track measurement group A, the track measurement group B, the track measurement group C, the track measurement group D, the track measurement group E, and the track measurement group F are attached to the top surface and the side surface of the track; the outside of the track is detected, and the data is transmitted into the GNSS receiver through the wire rope encoder, and then the actual track line and the relevant parameters of the track are calculated; inclination sensors are fixedly installed on the inclination plate A and the inclination plate B. When the detection vehicle detects the outside of the track and there is an inclination or a slope, the GNSS receiver is corrected by the motor A and the motor B to improve the detection accuracy, making the detection vehicle more stable and reliable in use.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection vehicles, and particularly to a track inspection method. Background Art

[0002] The spatial geometric state of the tracks of track-type equipment in large-scale amusement facilities is crucial for the safe operation of track-type amusement equipment. The geometric state of the tracks when not in operation objectively reflects the actual state of the tracks. The track inspection vehicle measures the geometric parameters of the tracks in this state, thereby obtaining various parameters of the track geometric state.

[0003] The track inspection vehicle is an automated inspection device. After the operator completes the initial settings, the subsequent measurement process requires no manual intervention, automatically completes the measurement and analysis of the track accuracy, and automatically outputs various data of the tracks through the man-machine interaction interface.

[0004] After the on-site tracks are installed, using a track inspection vehicle to measure the tracks can timely analyze the accuracy of the tracks and the construction quality, and take corresponding corrective measures, ensuring the construction quality of the project and the safety and reliability of the equipment operation.

[0005] However, the existing track inspection vehicles are not perfect enough, only having scattered inspection tools and simple measuring tools such as positioning plates for detecting the gauge, angle measuring instruments for sporadically detecting the inclination angle of the track walking line, and angle measuring instruments for sporadically detecting the inclination angle of the track side: they can only perform single-axis detection on the on-site tracks, and the detection accuracy is insufficient, so the construction quality of the project and the reliability of the equipment operation cannot be guaranteed. Summary of the Invention

[0006] Technical Problems to be Solved

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art, meet the actual needs, and provide a track inspection vehicle to solve the above technical problems.

[0008] Technical Solution

[0009] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is as follows:

[0010] An orbital inspection vehicle, comprising a vehicle frame, a front wheel set, an orbital measurement set A, a side wheel set A, a driving wheel set, an orbital measurement set B, an orbital measurement set C, an orbital measurement set D, an orbital measurement set E, an orbital measurement set F, a side wheel set B, a vertical frame and an adaptive balancing mechanism, characterized in that a vertical frame is fixedly installed in the middle of the upper end of the vehicle frame; an adaptive balancing mechanism is fixedly installed at the upper end of the vertical frame; a front wheel set is fixedly installed on one side of the lower end of the vehicle frame; a driving wheel set is fixedly installed on the side of the lower end of the vehicle frame away from the front wheel set; a side wheel set A is fixedly installed on the side of the vehicle frame where the front wheel set is provided; a side wheel set B is fixedly installed on the side of the vehicle frame where the driving wheel set is provided.

[0011] An orbital measurement set A is fixedly installed at a quarter position on one side of the vehicle frame; an orbital measurement set B is fixedly installed at the middle position on one side of the vehicle frame; an orbital measurement set C is fixedly installed at three-quarters position on one side of the vehicle frame; the orbital measurement set D is fixedly installed at a quarter position on one side of the vehicle frame, and the orbital measurement set D is symmetrically arranged with the orbital measurement set A; the orbital measurement set E is fixedly installed at the middle position of the vehicle frame, and the orbital measurement set E is symmetrically arranged with the orbital measurement set B; the orbital measurement set F is fixedly installed at three-quarters position on one side of the vehicle frame, and the orbital measurement set F is symmetrically arranged with the orbital measurement set C.

[0012] Furthermore, the adaptive balancing mechanism includes an upper support plate, an inclination plate A support, an inclination plate A motor bracket, a motor A, an inclination plate A, an inclination plate B support, an inclination plate B motor bracket, a motor B, an inclination plate B, a GNSS receiver and an inclination sensor; an inclination plate A support is fixedly installed on one side of the upper end of the upper support plate, and an inclination plate A motor bracket is fixedly installed on the side of the upper end of the upper support plate away from the inclination plate A support; an inclination plate A is arranged between the inclination plate A support and the inclination plate A motor bracket; one end of the inclination plate A is movably connected with the inclination plate A support through a bearing, and the other end of the inclination plate A passes through the inclination plate A motor bracket and is connected with the motor A; the motor A is fixedly installed on one side of the inclination plate A motor bracket; an inclination sensor is fixedly installed on one side of the upper end of the inclination plate A.

[0013] Furthermore, an inclination plate B support is fixedly installed on one side of the upper end of the inclination plate A, and an inclination plate B motor bracket is fixedly installed on the side of the upper end of the inclination plate A away from the inclination plate B support; an inclination plate B is arranged between the inclination plate B support and the inclination plate B motor bracket; one end of the inclination plate B is movably connected with the inclination plate B support through a bearing, and the other end of the inclination plate B passes through the inclination plate B motor bracket and is connected with the motor B; the motor B is fixedly installed on one side of the inclination plate B motor bracket; an inclination sensor is fixedly installed on one side of the lower end of the inclination plate B; a GNSS receiver is fixedly installed on the upper end of the inclination plate B.

[0014] Further, the front wheel set includes a cross frame, a rotating support A, a rotating support B, a wheel frame, a fixing plate, a wheel seat, a front wheel, a fixing shaft, and an inclination sensor; the cross frame is fixedly installed at the upper end of the vehicle frame, and the rotating support A is fixedly installed at the lower end of the cross frame; a wheel frame is arranged at the lower end of the cross frame and is arranged at the lower end of the vehicle frame; the rotating support B is fixedly installed at the upper end of the wheel frame; the rotating support B is cooperatively connected with the rotating support A; fixing plates are fixedly installed at both ends of the wheel frame; a wheel seat is fixedly installed inside the fixing plate; a front wheel is arranged inside the wheel seat, and the front wheel is movably connected with the wheel seat through a fixing shaft; the inclination sensor is fixedly installed at the upper end of the cross frame.

[0015] Further, the drive wheel set includes a stepping motor, a rear wheel seat, a rear wheel, a shaft, a belt pulley, and a belt; the stepping motor is fixedly installed on one side of the upper end of the vehicle frame through bolts; the rear wheel seat is fixedly installed at the lower end of the vehicle frame through bolts; the shaft is movably installed inside the rear wheel seat through a bearing; the shaft has two sections, and the two sections are connected through a coupling; the rear wheels are fixedly installed at both ends of the shaft; the belt pulley is fixedly installed at one-third of the outer side of the shaft; the belt pulley is connected with the stepping motor through a belt.

[0016] Further, the side wheel set A and the side wheel set B are arranged in the same way, and each includes a side wheel support, a movable frame A, a movable frame B, a turnbuckle bolt, a tension spring, a side wheel, and a fixing frame; there are two side wheel supports, which are fixedly installed inside the vehicle frame through bolts; the movable frame A and the movable frame B are respectively movably installed inside the two side wheel supports through movable shafts; the fixing frame is fixedly installed inside the movable frame A and the movable frame B; the side wheel is movably installed between the fixing frame and the movable frame A and the movable frame B through a bearing; the turnbuckle bolt is fixedly installed at the upper end of the movable frame A; the tension spring is fixedly installed at the upper end of the movable frame B; the tension spring is fixedly connected with the turnbuckle bolt.

[0017] Further, the track measurement group A, the track measurement group B, the track measurement group C, the track measurement group D, the track measurement group E, and the track measurement group F are arranged in the same way, and each includes a mounting bracket, a linear bearing assembly, a transverse guide shaft, a movable frame, a longitudinal guide shaft, a compression spring, a wire rope encoder, a top plate, a wheel set frame, a wheel support plate, a wheel A, and a wheel B; the mounting bracket is fixedly installed at the upper end of the vehicle frame through bolts; a linear bearing assembly is fixedly installed on one side of the mounting bracket through bolts; the transverse guide shaft is slidably installed inside the linear bearing assembly, and one end of the transverse guide shaft passes through the mounting bracket and is connected with the top plate; the top plate is arranged on one side of the mounting bracket; a compression spring is arranged between the top plate and the mounting bracket, and the compression spring is sleeved outside the transverse guide shaft; the wire rope encoder is fixedly installed on one side of the mounting bracket close to the top plate; the detection end of the wire rope encoder passes through the mounting bracket.

[0018] Further, a movable frame is fixedly installed at one end of the lateral guiding shaft away from the top plate; a linear bearing assembly is fixedly installed at the upper end of the movable frame, and a longitudinal guiding shaft is movably installed in the linear bearing assembly; one end of the longitudinal guiding shaft passes through the movable frame and is connected to the top plate; the top plate is arranged at the upper end of the movable frame, and a wire-pulling encoder is fixedly installed at the upper end of the top plate; the detection end of the wire-pulling encoder passes through the movable frame.

[0019] Further, a wheel set frame is fixedly installed at one end of the longitudinal guiding shaft away from the top plate; a compression spring is arranged between the wheel set frame and the movable frame, and the compression spring is sleeved outside the longitudinal guiding shaft; a plurality of wheel support plates are fixedly installed inside the wheel set frame, and a wheel A and a wheel B are movably installed between the plurality of wheel support plates and the movable frame through bearings; the wheel A and the wheel B are arranged at 90°.

[0020] Further, the plurality of wire-pulling encoders and inclination sensors are electrically connected to the GNSS receiver.

[0021] (3) Beneficial effects:

[0022] A. In the present invention, inclination sensors are fixedly installed on the inclination plate A and the inclination plate B. When the inspection vehicle detects the outside of the track and there is an inclination or slope, the GNSS receiver is corrected through the motor A and the motor B. The actual track line and relevant parameters of the track are calculated through the GNSS receiver, improving the detection accuracy and making the inspection vehicle more stable and reliable in use;

[0023] B. In the present invention, with the setting of the driving wheel set, the stepping motor drives the belt pulley to rotate through the belt, so that the shaft drives the rear wheels to move on the track, greatly improving the practicability of the equipment and enabling the inspection vehicle to realize automatic detection;

[0024] C. In the present invention, with the setting of the wheel set A and the side wheel set B, the side wheel set A and the side wheel set B cooperate on both sides of the track to ensure that the inspection vehicle is more stable during operation. The tension springs and the turnbuckles provided on the side wheel set A and the side wheel set B enable the inspection vehicle to closely fit the track, improving the detection accuracy;

[0025] D. In the present invention, with the multiple settings of the track measurement group A, the track measurement group B, the track measurement group C, the track measurement group D, the track measurement group E and the track measurement group F, the data of the track can be analyzed more accurately. Then, the wire-pulling encoder transmits the detected data into the GNSS receiver. Furthermore, by combining the data fed back by the inclination sensors of the inspection vehicle and through coordinate coefficient value conversion, the coordinates of each point in the vehicle body coordinate system are converted into the coordinates in the initial coordinate system, so as to obtain the three-dimensional coordinates of the track center. Through data processing and calculation, the track center line is fitted;

[0026] E. In the present invention, the front wheel set is provided to better ensure the movement of the inspection vehicle on the track. Moreover, the front wheel set can ensure the balance of the vehicle frame through the rotating support B and the rotating support A, making the equipment more stable during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the track inspection vehicle of the present invention;

[0028] Figure 2 is a schematic structural diagram of the front wheel set of the track inspection vehicle of the present invention;

[0029] Figure 3 is a schematic structural diagram of the drive wheel set of the track inspection vehicle of the present invention;

[0030] Figure 4 is a schematic structural diagram of the track measurement group of the track inspection vehicle of the present invention;

[0031] Figure 5 is a schematic structural diagram of the adaptive balance mechanism of the track inspection vehicle of the present invention;

[0032] Figure 6 is a schematic structural diagram of the side wheel set of the track inspection vehicle of the present invention;

[0033] Figure 7 is a top view of the track inspection vehicle of the present invention.

[0034] The reference signs are as follows:

[0035] Vehicle frame 1, front wheel set 2, track measurement group A 3, side wheel set A 4, drive wheel set 5, track measurement group B 6, track measurement group C 7, track measurement group D 8, track measurement group E 9, track measurement group F 10, side wheel set B 11, vertical frame 12, adaptive balance mechanism 13, cross frame 14, rotating support A 15, rotating support B 16, wheel frame 17, fixing plate 18, wheel seat 19, front wheel 20, fixed shaft 21, mounting bracket 22, linear bearing assembly 23, transverse guide shaft 24, movable frame 25, longitudinal guide shaft 26, compression spring 27, wire rope encoder 28, top plate 29, wheel set frame 30, wheel support plate 31, wheel A 32, wheel B 33, side wheel support 34, movable frame A 35, movable frame B 36, turnbuckle 37, tension spring 38, side wheel 39, fixed frame 40, stepping motor 41, rear wheel seat 42, rear wheel 43, shaft 44, belt pulley 45, belt 46, upper support plate 47, tilt plate A support 48, tilt plate A motor bracket 49, motor A 50, tilt plate A 51, tilt plate B support 52, tilt plate B motor bracket 53, motor B 54, tilt plate B 55, GNSS receiver 56, tilt sensor 57. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following is combined with the attachedFigure 1-7 The following examples are used to further illustrate the present invention:

[0037] An orbit detection vehicle, comprising a vehicle frame 1, a front wheel set 2, an orbit measurement set A 3, a side wheel set A 4, a driving wheel set 5, an orbit measurement set B 6, an orbit measurement set C 7, an orbit measurement set D 8, an orbit measurement set E 9, an orbit measurement set F 10, a side wheel set B 11, a vertical frame 12 and an adaptive balance mechanism 13, characterized in that a vertical frame 12 is fixedly installed in the middle of the upper end of the vehicle frame 1; the adaptive balance mechanism 13 is fixedly installed at the upper end of the vertical frame 12; a front wheel set 2 is fixedly installed on one side of the lower end of the vehicle frame 1; a driving wheel set 5 is fixedly installed on the side of the lower end of the vehicle frame 1 away from the front wheel set 2; a side wheel set A 4 is fixedly installed on the side of the vehicle frame 1 where the front wheel set 2 is provided; a side wheel set B 11 is fixedly installed on the side of the vehicle frame 1 where the driving wheel set 5 is provided.

[0038] An orbit measurement set A 3 is fixedly installed at a quarter position on one side of the vehicle frame 1; an orbit measurement set B 6 is fixedly installed at the middle position on one side of the vehicle frame 1; an orbit measurement set C 7 is fixedly installed at three - quarter position on one side of the vehicle frame 1; the orbit measurement set D 8 is fixedly installed at a quarter position on one side of the vehicle frame 1, and the orbit measurement set D 8 is symmetrically arranged with the orbit measurement set A 3; the orbit measurement set E 9 is fixedly installed at the middle position of the vehicle frame 1, and the orbit measurement set E 9 is symmetrically arranged with the orbit measurement set B 6; the orbit measurement set F 10 is fixedly installed at three - quarter position on one side of the vehicle frame 1, and the orbit measurement set F 10 is symmetrically arranged with the orbit measurement set C 7.

[0039] In this embodiment, the adaptive balance mechanism 13 includes an upper support plate 47, an inclination plate A support 48, an inclination plate A motor bracket 49, a motor A 50, an inclination plate A 51, an inclination plate B support 52, an inclination plate B motor bracket 53, a motor B 54, an inclination plate B 55, a GNSS receiver 56 and an inclination sensor 57. On one side of the upper end of the upper support plate 47, the inclination plate A support 48 is fixedly installed, and on the side of the upper end of the upper support plate 47 away from the inclination plate A support 48, the inclination plate A motor bracket 49 is fixedly installed. An inclination plate A 51 is arranged between the inclination plate A support 48 and the inclination plate A motor bracket 49. One end of the inclination plate A 51 is movably connected to the inclination plate A support 48 through a bearing, and the other end of the inclination plate A 51 passes through the inclination plate A motor bracket 49 and is connected to the motor A 50. The motor A 50 is fixedly installed on one side of the inclination plate A motor bracket 49. On one side of the upper end of the inclination plate A 51, the inclination sensor 57 is fixedly installed. On one side of the upper end of the inclination plate A 51, the inclination plate B support 52 is fixedly installed, and on the side of the upper end of the inclination plate A 51 away from the inclination plate B support 52, the inclination plate B motor bracket 53 is fixedly installed. An inclination plate B 55 is arranged between the inclination plate B support 52 and the inclination plate B motor bracket 53. One end of the inclination plate B 55 is movably connected to the inclination plate B support 52 through a bearing, and the other end of the inclination plate B 55 passes through the inclination plate B motor bracket 53 and is connected to the motor B 54. The motor B 54 is fixedly installed on one side of the inclination plate B motor bracket 53. On one side of the lower end of the inclination plate B 55, the inclination sensor 57 is fixedly installed. On the upper end of the inclination plate B 55, the GNSS receiver 56 is fixedly installed.

[0040] By adopting the above technical solution, by fixedly installing the inclination sensors 57 on the inclination plate A 51 and the inclination plate B 55, when the inspection vehicle detects the outside of the track and there is an inclination or slope, the motor A 50 and the motor B 54 are used to correct the GNSS receiver 56, and the actual track line and relevant parameters of the track are calculated by the GNSS receiver 56, improving the detection accuracy and making the inspection vehicle more stable and reliable in use.

[0041] In this embodiment, the front wheel set 2 includes a cross frame 14, a rotating support A 15, a rotating support B 16, a wheel frame 17, a fixing plate 18, a wheel seat 19, a front wheel 20, a fixing shaft 21, and an inclination sensor 57. The cross frame 14 is fixedly installed at the upper end of the vehicle frame 1, and the rotating support A 15 is fixedly installed at the lower end of the cross frame 14. The wheel frame 17 is arranged at the lower end of the cross frame 14 and is also located at the lower end of the vehicle frame 1. The rotating support B 16 is fixedly installed at the upper end of the wheel frame 17. The rotating support B 16 is cooperatively connected with the rotating support A 15. Fixing plates 18 are fixedly installed at both ends of the wheel frame 17. The wheel seat 19 is fixedly installed inside the fixing plate 18. The front wheel 20 is arranged inside the wheel seat 19, and the front wheel 20 is movably connected to the wheel seat 19 through the fixing shaft 21. The inclination sensor 57 is fixedly installed at the upper end of the cross frame 14.

[0042] By adopting the above technical solution, the setting of the front wheel set 2 can better ensure that the inspection vehicle travels on the track, and the front wheel set 2 can ensure the balance of the vehicle frame 1 through the rotating support B 16 and the rotating support A 15, making the equipment more stable during use.

[0043] In this embodiment, the drive wheel set 5 includes a stepper motor 41, a rear wheel seat 42, rear wheels 43, a shaft 44, a belt pulley 45, and a belt 46. The stepper motor 41 is fixedly installed on one side of the upper end of the vehicle frame 1 through bolts. The rear wheel seat 42 is fixedly installed at the lower end of the vehicle frame 1 through bolts. The shaft 44 is movably installed inside the rear wheel seat 42 through bearings. The shaft 44 has two sections, which are connected by a coupling. The rear wheels 43 are fixedly installed at both ends of the shaft 44. The belt pulley 45 is fixedly installed at the outer one-third of the shaft 44. The belt pulley 45 is connected to the stepper motor 41 through the belt 46.

[0044] By adopting the above technical solution, the setting of the drive wheel set 5 enables the stepper motor 41 to drive the belt pulley 45 to rotate through the belt 46, causing the shaft 44 to drive the rear wheels 43 to move on the track, greatly improving the practicality of the equipment and enabling the inspection vehicle to achieve automated inspection.

[0045] In this embodiment, the side wheel sets A4 and B11 are arranged identically. They include side wheel brackets 34, movable frame A35, movable frame B36, turnbuckle 37, tension spring 38, side wheels 39, and fixed frames 40. There are two side wheel brackets 34, which are fixedly installed on the inner side of the vehicle frame 1 by bolts. The movable frame A35 and the movable frame B36 are respectively movably installed on the inner sides of the two side wheel brackets 34 through movable shafts. Fixed frames 40 are fixedly installed on the inner sides of the movable frame A35 and the movable frame B36. Side wheels 39 are movably installed between the fixed frames 40 and the movable frame A35 and the movable frame B36 through bearings. A turnbuckle 37 is fixedly installed at the upper end of the movable frame A35. A tension spring 38 is fixedly installed at the upper end of the movable frame B36. The tension spring 38 is fixedly connected to the turnbuckle 37.

[0046] By adopting the above technical solution, the arrangement of the side wheel sets A4 and B11 enables the side wheel sets A4 and B11 to cooperate on both sides of the track, ensuring that the inspection vehicle runs more stably during operation. The tension spring 38 and the turnbuckle 37 provided on the side wheel sets A4 and B11 enable the inspection vehicle to closely fit the track, improving the inspection accuracy.

[0047] In this embodiment, the track measurement groups A3, B6, C7, D8, E9, and F10 are identically configured. They include a mounting bracket 22, a linear bearing assembly 23, a lateral guide shaft 24, a movable frame 25, a longitudinal guide shaft 26, a compression spring 27, a wire rope encoder 28, a top plate 29, a wheel set bracket 30, a wheel support plate 31, a wheel A32, and a wheel B33. The mounting bracket 22 is fixedly installed at the upper end of the vehicle frame 1 by bolts. On one side of the mounting bracket 22, a linear bearing assembly 23 is fixedly installed by bolts. The lateral guide shaft 24 is slidably installed within the linear bearing assembly 23, and one end of the lateral guide shaft 24 passes through the mounting bracket 22 and is connected to the top plate 29. The top plate 29 is disposed on one side of the mounting bracket 22. A compression spring 27 is provided between the top plate 29 and the mounting bracket 22, and the compression spring 27 is sleeved outside the lateral guide shaft 24. A wire rope encoder 28 is fixedly installed on the side of the mounting bracket 22 close to the top plate 29. The detection end of the wire rope encoder 28 passes through the mounting bracket 22. A movable frame 25 is fixedly installed at the end of the lateral guide shaft 24 remote from the top plate 29. A linear bearing assembly 23 is fixedly installed at the upper end of the movable frame 25, and a longitudinal guide shaft 26 is movably installed within the linear bearing assembly 23. One end of the longitudinal guide shaft 26 passes through the movable frame 25 and is connected to the top plate 29. The top plate 29 is disposed at the upper end of the movable frame 25, and a wire rope encoder 28 is fixedly installed at the upper end of the top plate 29. The longitudinal guide shaft 26 at the detection end of the wire rope encoder 28 passes through the movable frame 25, and a wheel set bracket 30 is fixedly installed at the end of the longitudinal guide shaft 26 remote from the top plate 29. A compression spring 27 is provided between the wheel set bracket 30 and the movable frame 25, and the compression spring 27 is sleeved outside the longitudinal guide shaft 26. A plurality of wheel support plates 31 are fixedly installed inside the wheel set bracket 30, and a wheel A32 and a wheel B33 are movably installed between the plurality of wheel support plates 31 and the movable frame 25 by bearings. The wheel A32 and the wheel B33 are arranged at 90°.

[0048] By adopting the above technical solution, the multiple track measurement groups A3, B6, C7, D8, E9, and F10 can perform more accurate data analysis on the track, so that the wire rope encoder 28 transmits the detected data into the GNSS receiver 56. Then, in combination with the data fed back by the inclination sensor 57 of the inspection vehicle, through coordinate coefficient value conversion, the coordinates of each point in the vehicle body coordinate system are converted into the coordinates in the initial coordinate system, thereby obtaining the three-dimensional coordinates of the track center. Through data processing and calculation, the track center line is fitted.

[0049] In this embodiment, the multiple wire rope encoders 28 and the inclination sensors 57 are electrically connected to the GNSS receiver 56.

[0050] The working principle of the present invention includes the following processes:

[0051] First, place the front wheel set 2 and the drive wheel set 5 of the inspection vehicle on the upper surface of the track. By rotating the turnbuckle bolt 37, the side wheel set A4 and the side wheel set B11 are fitted to the sides of the track. Then, the wheel A32 and the wheel B33 provided by the track measurement group A3, the track measurement group B6, the track measurement group C7, the track measurement group D8, the track measurement group E9, and the track measurement group F10 are in contact with the top and side surfaces of the track; the outside of the track is detected, and data is transmitted into the GNSS receiver 56 through the wire-drawing encoder 28, and then the actual track line and relevant parameters of the track are calculated; inclination sensors 57 are fixedly installed on the inclination plate A51 and the inclination plate B55. When the inspection vehicle detects the outside of the track and there is an inclination or slope, the GNSS receiver 56 is corrected through the motor A50 and the motor B54, improving the detection accuracy and making the inspection vehicle more stable and reliable in use; the drive wheel set 5 is provided. The stepping motor 41 drives the pulley 45 to rotate through the belt 46, so that the shaft 44 drives the rear wheel 43 to move on the track, greatly improving the practicability of the equipment and enabling the inspection vehicle to realize automatic detection; the front wheel set A4 and the side wheel set B11 are provided. The side wheel set A4 and the side wheel set B11 are fitted to both sides of the track, ensuring that the inspection vehicle is more stable during operation. The tension springs 38 and the turnbuckle bolts 37 provided on the side wheel set A4 and the side wheel set B11 enable the inspection vehicle to be closely attached to the track, improving the detection accuracy; the multiple track measurement groups A3, B6, C7, D8, E9, and F10 can analyze the track data more accurately, so that the wire-drawing encoder 28 transmits the detected data into the GNSS receiver 56, and then, combined with the data fed back by the inclination sensor 57 of the inspection vehicle, through coordinate coefficient value conversion, the coordinates of each point in the vehicle body coordinate system are converted into the coordinates in the initial coordinate system, thereby obtaining the three-dimensional coordinates of the track center. Through data processing and calculation, the track center line is fitted. Two coordinate systems need to be established in the track precision measurement system: the initial coordinate system and the vehicle body coordinate system. The initial coordinate system is set by the GNSS receiver 56 when the inspection vehicle is in the initial measurement position and is used for calculating the actual track line and other relevant parameters of the track finally. The vehicle body coordinate system takes the GNSS receiver 56 as the origin, the running direction of the inspection vehicle along the track as the X direction, the lateral direction as the Y direction, and the direction perpendicular to the frame surface as the Z direction.

[0052] The beneficial effects of the present invention:

[0053] In the present invention, inclination sensors 57 are fixedly installed on the inclination plate A51 and the inclination plate B55. When the inspection vehicle detects the outside of the track and there is an inclination or slope, the GNSS receiver 56 is corrected by the motor A50 and the motor B54. The actual track line and related parameters of the track are calculated by the GNSS receiver 56, improving the detection accuracy and making the inspection vehicle more stable and reliable in use;

[0054] In the present invention, the drive wheel set 5 is provided. The stepping motor 41 drives the belt pulley 45 to rotate through the belt 46, so that the shaft 44 drives the rear wheel 43 to move on the track, greatly improving the practicability of the equipment and enabling the inspection vehicle to realize automatic detection;

[0055] In the present invention, the wheel set A4 and the side wheel set B11 are provided. The side wheel set A4 and the side wheel set B11 cooperate on both sides of the track to ensure that the inspection vehicle is more stable during operation. The tension springs 38 and the turnbuckles 37 provided on the side wheel set A4 and the side wheel set B11 enable the inspection vehicle to closely fit the track, improving the detection accuracy;

[0056] In the present invention, multiple sets of track measurement groups A3, B6, C7, D8, E9 and F10 are provided, which can more accurately analyze the data of the track. Thus, the wire rope encoder 28 transmits the detected data into the GNSS receiver 56. Furthermore, by combining the data fed back by the inclination sensor 57 of the inspection vehicle and through coordinate coefficient value conversion, the coordinates of each point in the vehicle body coordinate system are converted into the coordinates in the initial coordinate system, thereby obtaining the three-dimensional coordinates of the track center. Through data processing and calculation, the track center line is fitted;

[0057] In the present invention, the front wheel set 2 is provided, which can better ensure that the inspection vehicle travels on the track. Moreover, the front wheel set 2 can ensure the balance of the vehicle frame 1 through the rotating support B16 and the rotating support A15, making the equipment more stable in use.

Claims

1. An orbit detection method, characterized in that: First, place the front wheel set (2) and the drive wheel set (5) of the inspection vehicle on the top of the orbit, and cooperate the side wheel set A (4) and the side wheel set B (11) on the side of the orbit by rotating the turnbuckle (37). Then, the wheel A (32) and the wheel B (33) provided by the orbit measurement group A (3), the orbit measurement group B (6), the orbit measurement group C (7), the orbit measurement group D (8), the orbit measurement group E (9), and the orbit measurement group F (10) are attached to the top and side of the orbit; detect the outside of the orbit, and transmit the data to the GNSS receiver (56) through the wire-wound encoder (28), and then calculate the actual line of the orbit and the relevant parameters of the orbit; An inclination sensor (57) is fixedly installed on the inclination plate A (51) and the inclination plate B (55). When the inspection vehicle detects the outside of the orbit and there is an inclination or slope, the GNSS receiver (56) is corrected by the motor A (50) and the motor B (54).

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