A rail transit line comprehensive inspection vehicle

Abstract

The present invention relates to the field of track detection technology, and in particular to a rail transit line comprehensive inspection vehicle, comprising an autonomous motion chassis, an image recognition detection module and a geometric dimension measurement module. The geometric dimension measurement module comprises a track measurement robot connected to the autonomous motion chassis, and the track measurement robot at least comprises a working wheel assembly for moving on a track and a transfer wheel assembly for flat ground transportation, which reduces the weight that the autonomous motion chassis of the inspection vehicle needs to bear. During flat ground transportation, the support wheels are extended for moving on the flat ground. Each line scan camera provided in the image recognition detection module is started synchronously and respectively connected to a high-speed storage device, so as to improve the image clarity and the acquisition, transmission and storage speed, thereby improving the efficiency and accuracy of tunnel condition detection.

Description

Technical Field

[0001] The present invention relates to the technical field of track detection, and in particular to a comprehensive inspection vehicle for rail transit lines. Background Art

[0002] At present, the daily inspection of urban rail transit is carried out by manual and detection instruments. This inspection method is greatly affected by factors such as the experience and sense of responsibility of the inspectors, and the detection efficiency is extremely low. It cannot meet the needs of the rail line maintenance department. At the same time, it also has the disadvantages of large workload, low degree of informatization, and high management cost. In response to this problem, the prior art uses an inspection vehicle that integrates multiple detection equipment for inspection. For example, the "A railway line comprehensive detection device" disclosed in the Chinese patent literature, with the publication number CN218477502U, includes an electric platform that can run along the rails, and 7 detection devices integrated on the electric platform, including a track plate / sleeper disease detection device at the front end of the electric platform, a rail profile detection device at the rear end of the electric platform, and a mobile three-dimensional detection device installed on the top of the rail profile detection device. The utility model integrates all functional modules on the inspection vehicle, which makes the equipment on the inspection vehicle too heavy and requires high chassis strength and stability of the inspection vehicle. When some detection devices are set on the additional platform, it is necessary to set additional wheels for running on the track for the additional platform. The wheels are easily damaged during transportation on flat ground, which increases the maintenance cost. The integration of various detection modules on the inspection vehicle leads to excessive vehicle mass, which is difficult to transfer and cannot be flexibly transported, resulting in high workload for personnel, which does not meet the requirements of flexible transportation and rapid cross-platform detection in urban rail transit.

[0003] In addition, when performing image-based intelligent detection of tunnel appearance, it is usually necessary to scan the tunnel surface through a line scan camera, and then further analyze the scanned image. However, in the prior art, in order to improve the scanning accuracy and improve the accuracy of detection, it is necessary to continuously improve the scanning accuracy and image resolution of the line scan camera. The high-precision and high-resolution image acquisition also brings about the problems of large image data volume, slow transmission speed, and inability to perform synchronous transmission, storage and analysis, which greatly limits the efficiency of detection. On the other hand, with the increasing requirements for scanning accuracy and image resolution, a single line scan camera can no longer meet the image acquisition requirements. When multiple line scan cameras are used for synchronous scanning, not only does it bring about the problem of synchronous transmission and storage of huge amounts of image data, but it also puts forward higher requirements for the synchronization of images collected by each line scan camera. If the triggering time of each line scan camera collecting images is inconsistent, it will bring about the problem of image splicing and processing analysis in the subsequent image processing, affecting the detection effect. However, the existing conventional control method is difficult to meet the synchronization requirements of the images collected by each line scan camera. Summary of the invention

[0004] The first invention purpose of the present invention is to solve the problem that the chassis of existing inspection vehicles is too heavy to bear due to excessive integration. The second invention purpose is to solve the problem that the existing inspection vehicles are inconvenient to be transported on flat ground after the rollers that run on the track are set on the functional modules, and to provide a comprehensive inspection vehicle for rail transit lines that is light in weight and easy to transport.

[0005] The technical solution provided by the present invention is as follows: a rail transit line comprehensive inspection vehicle, including an autonomous motion chassis, an image recognition detection module and a geometric dimension measurement module, the geometric dimension measurement module including a track measurement robot connected to the autonomous motion chassis, the track measurement robot including at least an assembly component, a working wheel assembly for moving on the track and a transfer wheel group for flat ground transfer, the working wheel assembly and the transfer wheel group are connected to the assembly component, the transfer wheel group includes a retractable assembly and a support wheel; the retractable assembly includes a fixed bracket and a mobile bracket connected in a sliding manner, the mobile bracket is fixedly connected to the support wheel, the fixed bracket is provided with at least an upper limit hole and a lower limit hole, and the mobile bracket is provided with a limit assembly inserted into the upper limit hole or the lower limit hole to complete the fixation.

[0006] The track measuring robot used for geometric dimension measurement is connected to the autonomous motion chassis and is provided with a working wheel assembly for moving on the track, which reduces the weight that the autonomous motion chassis of the inspection vehicle needs to bear, improves the stability of the autonomous motion chassis, and reduces the load on the power system of the inspection vehicle.

[0007] In addition, in order to reduce the wear of the working wheel assembly during flat ground transportation, a retractable assembly connected to the support wheel is set up. During operation, the support wheel is retracted to prevent interference with the working wheel assembly. During flat ground transportation, the support wheel is extended to move on the flat ground.

[0008] When the limit assembly is inserted into the upper limit hole, the movable bracket and the support wheel are in a retracted state to prevent the support wheel from interfering with the movement of the working wheel assembly on the track during detection; when it is necessary to transport on flat ground, the limit assembly is pulled out to make it disengage from the upper limit hole, and the movable bracket is slid so that the limit assembly is inserted into the lower limit hole to complete the fixation. At this time, the movable bracket and the support wheel are in an extended state, which is used for transportation on flat ground to avoid wear of the working wheel assembly.

[0009] Preferably, the fixed bracket is fixedly connected to the assembly component, the movable bracket is sleeved in the fixed bracket, and the limiting component is movably disposed in the movable bracket.

[0010] Preferably, the limit assembly includes a fixed sleeve that passes horizontally through the movable bracket and a limit plunger that slides in the fixed sleeve, one end of the limit plunger is provided with a head that cooperates with the upper limit hole or the lower limit hole, and the other end is always partially located outside the fixed sleeve, and the fixed bracket is provided with a sliding groove for cooperating with the limit assembly to slide up and down relative to the fixed bracket.

[0011] Preferably, a limiting member is provided on the side of the sliding groove close to the supporting wheel to prevent the movable bracket from directly escaping from the fixed bracket.

[0012] Preferably, the limit assembly further comprises a handle connected to one end of the limit plunger outside the fixed sleeve, and an elastic member for connecting the limit plunger and the fixed sleeve. The head of the limit plunger is pulled out from the upper limit hole or the lower limit hole by the handle, and the elastic member can directly enter and complete the fixation when the head is facing the upper limit hole or the lower limit hole, which is convenient for operation.

[0013] Preferably, the limit plunger is provided with a limit structure which cannot move up and down in the sliding groove, and the sliding groove is provided with an enlarged hole corresponding to the upper limit hole and / or the lower limit hole that cooperates with the limit structure. When the head is located in the upper limit hole or the lower limit hole, the limit structure is located in the corresponding enlarged hole, further limiting the up and down sliding of the limit plunger when in the retracted state or the extended state, reducing the pressure and wear on the head; when the limit plunger is pulled out, the limit structure moves out of the enlarged hole without affecting the up and down sliding of the movable bracket and the limit plunger.

[0014] Preferably, a sliding nylon component is provided between the fixed bracket and the movable bracket. The sliding nylon component has good self-lubrication and avoids direct contact of metal materials, thereby reducing wear and improving service life.

[0015] Preferably, the retractable and unfolding assembly also includes a position monitoring proximity sensor, which includes a proximity switch, and the proximity switch is fixed on the outside of the fixed bracket. The mobile bracket has a circular hole position reserved at the corresponding position when the limit plunger is facing the upper limit hole. When the limit plunger is facing the upper limit hole, the proximity switch is facing the circular hole position. At this time, the position monitoring proximity sensor is not triggered. When the support wheel slides down or is not installed in place, the proximity switch will detect the wall of the mobile bracket. At this time, the sensor is triggered, and the status of the support wheel is informed to the user through the status indicator light.

[0016] Preferably, the image recognition module includes a tunnel surface defect detection module, a ballast and fastener defect detection module and a rail flaw detection module.

[0017] Preferably, the tunnel surface defect detection module includes an image acquisition module and a bracket for fixing the image acquisition module to the autonomous motion chassis, the image acquisition module includes an acquisition module body, a plurality of line scan cameras installed on the side of the acquisition module body, a circuit board installed in the acquisition module body, and a power heavy-duty connector, a transmission heavy-duty connector and a heavy-duty connector installed on the acquisition module body, and a high-speed storage device is also provided on the autonomous motion chassis; the circuit board includes a signal board, a power distribution board, a light board and a trigger, the power distribution board is connected to the main power supply through the power heavy-duty connector to take power, and distributes power to each line scan camera, signal board, light board and trigger, the trigger is used to receive an external encoder signal and generate a trigger signal to send to the signal board and the heavy-duty connector, the signal board generates a synchronous control signal based on the trigger signal and sends it to each line scan camera to synchronously start the camera; each line scan camera is connected to the high-speed storage device through the communication optical fiber and the transmission heavy-duty connector.

[0018] Preferably, the line scan camera includes two narrow-viewing angle line scan cameras and four wide-viewing angle line scan cameras, the two narrow-viewing angle line scan cameras are symmetrically arranged at the lower positions on the left and right sides of the side of the acquisition module body, and the four wide-viewing angle line scan cameras are arranged in sequence on the side of the acquisition module body and at an upper position relative to the narrow-viewing angle line scan cameras, and the field of view edge lines of adjacent line scan cameras intersect at a preset distance, so that the field of view angles of each line scan camera can completely cover the preset scanning area of ​​the tunnel surface to be inspected after superposition.

[0019] Preferably, an encoder for recording mileage is provided on the autonomous motion chassis, and the encoder generates an encoder signal and transmits it to each trigger to ensure the synchronization of camera startup and image acquisition. The encoder is used to record the relative displacement change of the inspection vehicle, and at the same time, the absolute mileage information of the inspection vehicle on the track is calibrated through the RFID reader to eliminate the accumulation of mileage errors, thereby ensuring the accuracy of mileage positioning for on-site defect identification.

[0020] Preferably, the autonomous motion chassis is provided with a fixing assembly and a supporting assembly for installing the roadbed and fastener defect detection module, the roadbed and fastener defect detection module is provided with a connecting assembly cooperating with the fixing assembly, the supporting assembly is arranged at the lower part of the roadbed and fastener defect detection module, the supporting assembly is hinged to the autonomous motion chassis and is provided with a horizontal fixing position.

[0021] Preferably, the rail flaw detection module comprises a detection wheel and a support wheel assembly, and the support wheel assembly is connected to the autonomous motion chassis.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The track measurement robot for geometric dimension measurement is connected to the autonomous motion chassis and is provided with a working wheel assembly for moving on the track, which reduces the weight that the autonomous motion chassis of the inspection vehicle needs to bear, improves the stability of the autonomous motion chassis, and reduces the load on the power system of the inspection vehicle;

[0024] The retractable assembly connected to the support wheel retracts the support wheel during operation to prevent interference with the working wheel assembly, and extends the support wheel during flat ground transportation to move on the flat ground, thereby reducing wear on the working wheel assembly during flat ground transportation;

[0025] The edge lines of the field of view angles of adjacent line scan cameras intersect at a preset distance, so that the field of view angles of each line scan camera can completely cover the preset scanning area of ​​the tunnel surface to be inspected after being superimposed;

[0026] Each line scan camera is connected to a high-speed storage device through a communication optical fiber via the transmission heavy-duty connector, which greatly improves the speed of image acquisition, transmission and storage, thereby laying a foundation for improving the efficiency and accuracy of tunnel condition detection;

[0027] By independently setting up the signal board, power distribution board and trigger, the trigger synchronization of each line scan camera is guaranteed, thus meeting the synchronization requirements of multiple camera image acquisition, laying the foundation for subsequent image stitching and analysis processing;

[0028] Different detection modules are used according to different detection objects. Each detection module is independent of each other and does not interfere with each other. It can be detected separately or simultaneously, which greatly improves the flexibility of product use.

[0029] The total weight of the system equipment is distributed to multiple modules, which can be easily carried by two people and easy to assemble. After the modules are disassembled, they can be placed on a trolley for easy transportation on the ground and in and out of the elevator. This can effectively reduce the frequency of transportation and work intensity of inspection personnel, and meet the needs of flexible transportation and rapid cross-platform inspection of urban rail transit. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an overall three-dimensional schematic diagram of the first embodiment of the present invention;

[0031] Figure 2 It is an exploded stereoscopic schematic diagram of the first embodiment of the present invention;

[0032] Figure 3 for Figure 2 The enlarged schematic diagram of point B in the middle;

[0033] Figure 4 It is a three-dimensional schematic diagram of the transfer wheel set 22 in the folded state according to the first embodiment of the present invention;

[0034] Figure 5It is a cross-sectional schematic diagram of the transfer wheel set 22 in the retracted state according to the first embodiment of the present invention;

[0035] Figure 6 It is a three-dimensional schematic diagram of the transfer wheel set 22 in the extended state according to the first embodiment of the present invention;

[0036] Figure 7 It is an exploded three-dimensional schematic diagram of the transfer wheel set 22 according to the first embodiment of the present invention;

[0037] Figure 8 It is an exploded three-dimensional schematic diagram of the limiting assembly 222 according to the first embodiment of the present invention;

[0038] Fig. 9 It is an overall three-dimensional schematic diagram of another angle of the first embodiment of the present invention;

[0039] Fig.10 for Fig. 9 The enlarged schematic diagram of point A in the middle;

[0040] Fig.11 It is a three-dimensional schematic diagram of a rail flaw detection module 6 according to the first embodiment of the present invention;

[0041] Fig.12 It is a partial three-dimensional schematic diagram of the first embodiment of the present invention;

[0042] Fig.13 for Fig.12 The enlarged schematic diagram of the center C;

[0043] Fig.14 It is a three-dimensional schematic diagram of the ballast bed and fastener defect detection module 4 according to the first embodiment of the present invention;

[0044] Fig.15 It is a three-dimensional schematic diagram of a tunnel surface defect detection module 3 according to the first embodiment of the present invention;

[0045] Fig.16 Schematic diagram of the distribution and viewing angle of the line scan camera according to the first embodiment of the present invention;

[0046] Fig.17 This is a working diagram of the tunnel surface defect detection module 3 according to the first embodiment of the present invention;

[0047] Fig.18 FIG. 1 is a schematic diagram of circuit connections of the image acquisition module 31 according to the first embodiment of the present invention.

[0048] Description of the accompanying drawings: autonomous motion chassis 1, fixing assembly 11, supporting assembly 12, encoder 13, flaw detection fixing bracket 14, front chassis 15, walking wheel group 151, carrying handle 152, front obstacle detection radar 153, rear chassis 16, rear obstacle detection radar 161, rear seat 17, front seat 18, center console 19, track measurement robot 2, working wheel assembly 21, transfer wheel group 22, supporting wheel 221, limiting assembly 222, fixing sleeve 2221, limiting plunger 2222, head 2223, elastic member 2224, limiting structure 2225, handle 2226, limiting retaining spring 2227, fixing bracket 223, sliding groove 2231, enlarged hole 2232, mobile bracket 224, upper limit hole 225, lower limit hole 226, limit piece 227, sliding nylon component 228, position monitoring proximity sensor 229, proximity switch 2291, assembly component 23, tunnel surface defect detection module 3, image acquisition module 31, acquisition module body 311, narrow viewing angle line scan camera 312, wide viewing angle line scan camera 313, power supply heavy-duty connector 314, transmission heavy-duty connector 315, bracket 32, roadbed and fastener defect detection module 4, connection component 41, main power supply 5, rail flaw detection module 6, detection wheel 601, autonomous turnout component 602, support wheel component 603, module support component 604, high-speed storage device 7. DETAILED DESCRIPTION

[0049] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0050] Embodiment 1, as Figure 1-Figure 18 As shown, a rail transit line comprehensive inspection vehicle comprises:

[0051] Autonomous motion chassis 1, autonomous motion chassis 1 is provided with a manned frame, drive system, brake system, obstacle avoidance system, central control system, power management, etc. The manned frame has four seats and is equipped with seat belts; the drive system is independently driven by four wheel hub motors, and the front-wheel dual-drive and four-wheel drive can be freely switched through the central control system; the obstacle avoidance radar of the obstacle avoidance system is deployed in front and behind the motion frame, which can realize emergency obstacle avoidance deceleration and even parking when running in different directions; the central control system is mainly used for motion control of the manned frame;

[0052] A main power supply 5 detachably connected to the autonomous motion chassis 1 ;

[0053] The high-speed storage device 7 is an independent module that supports quick disassembly and installation, so that after the equipment inspection is completed on site, the inspection data can be taken back to the control background for review and report output as soon as possible; the high-speed storage device is placed in the middle of the rear seat, and the power supply, communication and other data transmission and implementation are realized through the heavy-duty connector. The high-speed storage device 7 has a large-capacity storage space and high-performance data processing capabilities, which can ensure the integrity and security of the data. At the same time, the high-speed storage device 7 also has data backup and recovery functions to prevent data loss or damage. The high-speed storage device 7 includes a server host, a hard disk group with multiple interfaces, a high-speed signal receiving unit and a power module.

[0054] Image recognition detection module, the image recognition module includes a tunnel surface defect detection module 3, a ballast and fastener defect detection module 4 and a rail flaw detection module 6, each module is independent of each other and can be detachably installed on the autonomous motion chassis 1;

[0055] The roadbed and fastener defect detection module 4 uses a high-precision line scan camera or a structured light camera to collect data, and the collection range at least covers the entire roadbed area, and then uses image recognition technology to perform defect detection;

[0056] The geometric dimension measurement module includes a track measurement robot 2 connected to the autonomous motion chassis 1. The track measurement robot 2 is mainly responsible for the related functions of high-precision geometric dimension measurement, including but not limited to track geometric dimension measurement, rail wear measurement, third rail geometric dimension measurement, vehicle clearance detection, rigid contact network geometric dimension measurement, etc. Track geometric dimension measurement and third rail geometric dimension measurement use high-precision structured light cameras, rail wear uses high-precision structured light cameras, combined with point cloud processing and template matching for rail profile detection, vehicle clearance detection, rigid contact network geometric dimension measurement uses high-frequency and high-precision laser radar to obtain point cloud information of the surrounding environment and targets, and then outputs the results in combination with point cloud processing technology. The track measurement robot 2 is connected to the autonomous motion chassis 1 through a tow rod, and can also be connected by other locking methods. Each measurement function has an independent detection system, which can detect and measure its own functional modules separately, or can be connected for comprehensive detection of all functional modules, with high flexibility in use.

[0057] The track measurement robot 2 can be connected to the autonomous motion chassis 1 for power supply via a waterproof quick-release power supply connector, or it can be directly powered by the main power supply 5. At the same time, the track measurement robot 2 and the autonomous motion chassis 1 are configured with communication plugs for sharing detection data and equipment status information.

[0058] The track measurement robot 2 is provided with an assembly component 23, a working wheel component 21 for moving on the track, and a transport wheel assembly 22 for flat land transport. Figure 2-Figure 8As shown, the working wheel assembly 21 and the transfer wheel assembly 22 are connected to the assembly assembly 23, and the transfer wheel assembly 22 includes a retracting assembly, a supporting wheel 221 and a limiting assembly 222; the retracting assembly includes a fixed bracket 223 and a movable bracket 224, the movable bracket 224 is fixedly connected to the supporting wheel 221, the fixed bracket 223 is fixedly connected to the assembly assembly 23, the movable bracket 224 is sleeved in the fixed bracket 223, the fixed bracket 223 is provided with at least an upper limit hole 225 and a lower limit hole 226, the limiting assembly 222 includes a fixed sleeve 2221 that crosses the movable bracket 224 and a limiting plunger 2222 arranged in the fixed sleeve 2221, the fixed bracket 223 is provided with a sliding groove 2231 for cooperating with the limiting plunger 2222 to slide up and down relative to the fixed bracket 223, and the end of the limiting plunger 2222 is provided with a head 2223 that cooperates with the upper limit hole 225 or the lower limit hole 226.

[0059] According to the detection characteristics of different detection objects, the comprehensive inspection vehicle is mainly divided into two parts: the equipment on the autonomous motion chassis 1 is mainly responsible for image recognition data collection and recognition, as well as manned and motion; the track measurement robot 2 is mainly used to meet the detection needs of refined measurement.

[0060] The track measuring robot 2 for geometric dimension measurement is connected to the autonomous motion chassis 1 and is provided with a working wheel assembly 21 for moving on the track, which reduces the weight that the autonomous motion chassis 1 of the inspection vehicle needs to bear, improves the stability of the autonomous motion chassis 1, and reduces the load on the power system of the inspection vehicle.

[0061] In addition, in order to reduce the wear of the working wheel assembly 21 during flat ground transportation, a retractable assembly connected to the support wheel 221 is provided. During operation, the support wheel 221 is retracted to prevent interference with the working wheel assembly 21. During flat ground transportation, the support wheel 221 is extended to move on the ground.

[0062] When the limit plunger 2222 is facing the upper limit hole 225, the movable bracket 224 and the support wheel are in a retracted state to prevent the support wheel 221 from interfering with the movement of the working wheel assembly 21 on the track during detection; when it is necessary to transport on flat ground, the limit plunger 2222 is pulled out to make the head 2223 disengage from the upper limit hole 225, and the movable bracket 224 is slid so that the limit plunger 2222 is facing the lower limit hole 226, and the head 2223 enters the lower limit hole 226 to complete the fixation. At this time, the movable bracket 224 and the support wheel 221 are in an extended state.

[0063] A limiting member 227 is disposed on one side of the sliding groove 2231 close to the supporting wheel 221 to prevent the movable bracket from directly escaping from the fixed bracket.

[0064] The limiting assembly 222 also includes a handle 2226 connected to one end of the limiting plunger 2222 located outside the fixing sleeve 2221, and an elastic member 2224 for connecting the limiting plunger 2222 and the fixing sleeve 2221. The head of the limiting plunger is pulled out from the upper limit hole 225 or the lower limit hole 226 by the handle, and the elastic member can directly enter and fix when the head 2223 is facing the upper limit hole 225 or the lower limit hole 226, which is convenient for operation.

[0065] A limiting structure 2225 is provided on the limiting plunger 2222, which cannot move up and down in the sliding groove 2231. The sliding groove 2231 is provided with an enlarged hole 2232 corresponding to the upper limiting hole 225 and the lower limiting hole 226 to cooperate with the limiting structure 2225. When the head 2223 is located in the upper limiting hole 225 or the lower limiting hole 226, the limiting structure 2225 is located in the corresponding enlarged hole 2232, further limiting the up and down sliding of the limiting plunger 2222 when in the retracted state or the extended state, reducing the pressure and wear on the head. When the limiting plunger is pulled out, the limiting structure moves out of the enlarged hole 2232, and does not affect the up and down sliding of the movable bracket 224 and the limiting plunger 2222.

[0066] A limiting clamping spring 2227 is also sleeved outside the fixed sleeve 2221 , which is used to be clamped between the fixed sleeve 2221 and the movable bracket 224 to prevent the fixed sleeve 2221 from axially moving relative to the movable bracket 224 .

[0067] A sliding nylon component 228 is provided between the fixed bracket 223 and the movable bracket 224. The sliding nylon component 228 has good self-lubrication and avoids direct contact of metal materials, thereby reducing wear and tear and increasing service life.

[0068] The retracting and extending component also includes a position monitoring proximity sensor 229, which includes a proximity switch 2291. The proximity switch 2291 is fixed to the outside of the fixed bracket 223. The mobile bracket 224 has a circular hole reserved at the corresponding position when the limit plunger 2222 is facing the upper limit hole 225. When the limit plunger 2222 is facing the upper limit hole 225, the proximity switch 2291 is facing the circular hole. At this time, the position monitoring proximity sensor 229 is not triggered. When the support wheel 221 slides down or is not installed in place, the proximity switch 2291 will detect the wall of the mobile bracket 224. At this time, the sensor is triggered and the status of the support wheel 221 is informed to the user through the status indicator light.

[0069] The tunnel surface defect detection module 3 comprises an image acquisition module 31 and a bracket 32 ​​for fixing the image acquisition module 31 to the autonomous motion chassis 1. The bracket 32 ​​is a dovetail-shaped bracket.

[0070] The image acquisition module 31 includes an acquisition module body 311, a plurality of line scan cameras installed on the side of the acquisition module body 311, a circuit board installed in the acquisition module body 311, and a power heavy-duty connector 314, a transmission heavy-duty connector 315 and a heavy-duty connector installed on the acquisition module body 311. A high-speed storage device 7 is also provided on the autonomous motion chassis 1; the circuit board includes a signal board, a power distribution board, a light board and a trigger, such as Fig.18 As shown, the power distribution board is connected to the main power supply via the power heavy-duty connector 314, and distributes the power to each line scan camera, signal board, light board and trigger. The trigger is used to receive the external encoder signal and generate a trigger signal to send to the signal board and the heavy-duty connector. The heavy-duty connector is used to confirm whether the signal is sent normally. The signal board generates a synchronization control signal based on the trigger signal and sends it to each line scan camera to start the camera synchronously; each line scan camera is connected to the high-speed storage device 7 through the communication optical fiber and the transmission heavy-duty connector 315.

[0071] In addition, the synchronous control signal generated by the signal board is sent to each line scan camera to synchronously start the camera, and is also sent to the light board to start the lighting on the light board to increase the brightness of the tunnel. That is, the light board and the line scan camera are started and shut down synchronously, which is easy to operate and saves energy.

[0072] The line scan cameras include two narrow-viewing angle line scan cameras 312 and four wide-viewing angle line scan cameras 313. Fig.15 As shown, two narrow-viewing angle line scan cameras 312 are symmetrically arranged at the lower positions on the left and right sides of the side of the acquisition module body 311, and four wide-viewing angle line scan cameras 313 are arranged in sequence on the side of the acquisition module body 311 and at the upper position relative to the narrow-viewing angle line scan camera 312, and the field of view edge lines of adjacent line scan cameras intersect at a preset distance, so that the field of view angles of each line scan camera can completely cover the preset scanning area of ​​the tunnel surface to be detected after superposition, as shown in FIG. Fig.16 As shown. Two narrow-angle line scan cameras 312 are responsible for scanning the tunnel at the bottom, with a field of view of 23.5°. Due to the short distance, the camera resolution only needs to be 4K, which reduces the camera cost. Four wide-angle line scan cameras 313 are responsible for scanning the tunnels on both sides and the top, with a field of view of 60° and a resolution of 16K. Six line scan cameras achieve full coverage detection of the inner wall of the tunnel at an angle of 270°. The working principle of the line scan camera is to scan the surface of the inner wall of the tunnel line by line through linear scanning, and convert the scanned image data into digital signals for processing. The field of view of each line scan camera is controlled so that each line scan camera has a detection accuracy of 0.2mm, and can accurately identify subtle defects on the inner wall of the tunnel. The module has only two heavy-duty connectors, one is the interface for power and trigger signals, and the other is a high-speed transmission interface, which connects the data transmission module. The separate design ensures that the power signal will not interfere with the high-speed signal, while meeting the quick-disassembly design.

[0073] The autonomous motion chassis 1 is also provided with an external electrical port and a communication port, which can realize power supply to the track measurement robot and shared transmission of various data. The high-speed storage device 7 is also provided with a communication interface, and the high-speed storage device 7 and the acquisition module body 311 are connected through the data transmission module. The power heavy-duty connector 314 is the interface of the power supply and the trigger signal, and the transmission heavy-duty connector 315 is a high-speed transmission interface, which is connected to the data transmission module. The power heavy-duty connector 314 and the transmission heavy-duty connector 315 are separated to ensure that the power signal will not interfere with the high-speed signal, and at the same time meet the quick-disassembly design.

[0074] The autonomous motion chassis 1 is provided with an RFID (Radio Frequency Identification System) reader and an encoder 13 for calibrating the mileage accumulation error. The encoder 13 is provided on the running wheel set 151, and encodes and records the mileage by calculating the number of revolutions of the running wheel set 151. The RFID reader calibrates the mileage accumulation error by scanning the tags on the railway and corrects the encoder 13. The encoder 13 generates an encoder signal and transmits it to the trigger, which sends a signal to the signal board through the trigger, triggering the two narrow-viewing angle line scan cameras 312 and the four wide-viewing angle line scan cameras 313 to start synchronously.

[0075] The working process of tunnel surface defect detection module 3 is as follows: Fig.17 As shown, the main power supply 5 supplies power to the image acquisition module 31 and the high-speed storage device, the encoder 13 sends a signal, and the synchronous trigger module triggers the narrow-viewing angle line scan camera 312 and the wide-viewing angle line scan camera 313 to synchronously scan and take pictures to obtain an image, and the image is transmitted to the high-speed storage device 7 through the data transmission module for storage or synchronous analysis.

[0076] The autonomous motion chassis 1 is provided with a fixing component 11 and a supporting component 12 for installing the roadbed and fastener defect detection module 4. The roadbed and fastener defect detection module 4 is provided with a connecting component 41 that cooperates with the fixing component 11. The supporting component 12 is arranged at the lower part of the roadbed and fastener defect detection module 4. The supporting component 12 is hinged to the autonomous motion chassis 1 and is provided with a horizontal fixing position. In this embodiment, the connecting component 41 is a downward plug plate arranged at the rear end of the roadbed and fastener defect detection module 4. The fixing component 11 includes an upward U-shaped plate for the plug plate and a locking component for pressing the plug plate against the U-shaped plate. The supporting component 12 can be fixed in a horizontal position to support the roadbed and fastener defect detection module 4. When the roadbed and fastener defect detection module 4 is removed, the supporting component 12 can be rotated and retracted to reduce space occupation.

[0077] The rail flaw detection module 6 includes a probe wheel 601, an autonomous switch assembly 602, a support wheel assembly 603 and a module support assembly 604, and the support wheel assembly 603 is connected to the autonomous motion chassis 1. The probe wheel 601 can be adjusted left and right and at an angle of inclination through an electric push rod. The rail flaw detection module 6 is fixed to the flaw detection fixed bracket 14 of the autonomous motion chassis 1 through the support wheel assembly 603, and a set of rail flaw detection modules 6 are installed on the left and right sides respectively, so that flaw detection of the left and right rails can be realized at the same time.

[0078] The autonomous motion chassis 1 adopts a modular design, and each module adopts mechanical positioning and is locked and connected with buckles, including a front chassis 15, a rear chassis 16, a rear seat 17, a front seat 18 and a center console 19. The autonomous motion chassis 1 is mainly composed of high-strength titanium alloy welding, which has high strength and light weight. The front chassis 15 of the autonomous motion chassis 1 is equipped with a running wheel group 151, a carrying handle 152, a front obstacle detection radar 153 and an encoder 13, and the encoder 13 is arranged on the running wheel group 151. The autonomous motion chassis 1 is provided with a control system and a processing system, and the control system and the processing system are distributed inside the front chassis 15. The running wheel group 151 adopts an independently controlled wheel hub motor. The rear chassis 16 is provided with a running wheel group 151 and a rear obstacle detection radar 161. The rear seat 17 includes two leather seats, and is equipped with a seat belt. The high-speed storage device 7 is directly placed in the middle of the two rear seats 17, and a limit hole is arranged at the bottom to prevent the high-speed storage device 7 from moving. The high-speed storage device 7 adopts a detachable design, which makes it easier to mount and disassemble the module on the comprehensive inspection vehicle, and the stored data can be taken to the background for analysis at any time; the front seat 18 also includes two leather seats and is equipped with seat belts. The center console 19 includes laser headlights, which support switching in different states to meet the needs of lighting and status display. The rail flaw detection module 6 is equipped with a monitoring computer, which is a portable military computer and is directly placed on the center console 19.

[0079] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

Claims

1. A rail transit line comprehensive inspection vehicle, comprising an autonomous motion chassis (1), an image recognition detection module and a geometric dimension measurement module, characterized in that: The geometric dimension measurement module comprises a track measurement robot (2) connected to an autonomous motion chassis (1), the track measurement robot (2) comprising at least an assembly component (23), a working wheel component (21) for moving on a track, and a transfer wheel group (22) for transporting on flat ground, the working wheel component (21) and the transfer wheel group (22) being connected to the assembly component (23), and the transfer wheel group (22) comprising a retractable component and a support wheel (221);The retractable assembly comprises a fixed bracket (223) and a movable bracket (224) which are slidably connected, the movable bracket (224) being fixedly connected to the support wheel (221), the fixed bracket (223) being provided with at least an upper limit hole (225) and a lower limit hole (226), the movable bracket (224) being provided with a limit component (222) inserted into the upper limit hole (225) or the lower limit hole (226) to complete fixation, the fixed bracket (223) being fixedly connected to the assembly assembly (23), the movable bracket (224) being sleeved in the fixed bracket (223), and the limit component (222) being movably inserted into the upper limit hole (225) or the lower limit hole (226). The movable bracket (224) is provided with a limiting assembly (222) comprising a fixed sleeve (2221) that crosses the movable bracket (224) and a limiting plunger (2222) that is slidably connected to the fixed sleeve (2221); one end of the limiting plunger (2222) is provided with a head (2223) that cooperates with the upper limit hole (225) or the lower limit hole (226); the other end is always partially located outside the fixed sleeve (2221); the fixed bracket (223) is provided with a sliding groove (2231) that is used to cooperate with the limiting assembly (222) to slide up and down relative to the fixed bracket (223); the limiting assembly (222) also includes The invention comprises a handle (2226) connected to one end of the limit plunger (2222) located outside the fixed sleeve (2221), and an elastic member (2224) used to connect the limit plunger (2222) and the fixed sleeve (2221); the limit plunger (2222) is provided with a limit structure (2225) that cannot move up and down in the sliding groove (2231); the sliding groove (2231) is provided with an enlarged hole (2232) that matches the limit structure (2225) at a position corresponding to the upper limit hole (225) and / or the lower limit hole (226); the head (2223) is located at the upper limit hole (225) or the lower limit hole (226), the limiting structure (2225) is just located in the corresponding enlarged hole (2232), the retractable assembly further comprises a position monitoring proximity sensor (229), the position monitoring proximity sensor (229) comprises a proximity switch (2291), the proximity switch (2291) is fixed to the outside of the fixed bracket (223), the movable bracket (224) is reserved with a circular hole at a corresponding position when the limiting plunger (2222) faces the upper limit hole (225), and the proximity switch (2291) faces the circular hole when the limiting plunger (2222) faces the upper limit hole (225). ; 2. The rail transit line comprehensive inspection vehicle according to claim 1, characterized in that: A limiting member (227) is provided on one side of the sliding groove (2231) close to the supporting wheel (221).

3. The rail transit line comprehensive inspection vehicle according to claim 1, characterized in that: A sliding nylon component (228) is provided between the fixed bracket (223) and the movable bracket (224).

4. The rail transit line comprehensive inspection vehicle according to any one of claims 1 to 3, characterized in that: The image recognition module comprises a tunnel surface defect detection module (3), a ballast and fastener defect detection module (4) and a rail flaw detection module (6).

5. The rail transit line comprehensive inspection vehicle according to claim 4, characterized in that: The tunnel surface defect detection module (3) comprises an image acquisition module (31) and a bracket (32) for fixing the image acquisition module (31) to the autonomous motion chassis (1); the image acquisition module (31) comprises an acquisition module body (311), a plurality of line scan cameras installed on the side of the acquisition module body (311), a circuit board installed in the acquisition module body (311), and a power supply heavy-duty connector (314), a transmission heavy-duty connector (315) and a heavy-duty connector installed on the acquisition module body (311); and a high-speed storage device (314) is also provided on the autonomous motion chassis (1). The circuit board comprises a signal board, a power distribution board, a light board and a trigger. The power distribution board is connected to a power source via the power heavy-duty connector (314) to obtain power and distributes the power to each line scan camera, the signal board, the light board and the trigger. The trigger is used to receive an external encoder signal and generate a trigger signal to send to the signal board and the heavy-duty connector. The signal board generates a synchronous control signal based on the trigger signal and sends it to each line scan camera to synchronously start the camera operation. Each line scan camera is connected to a high-speed storage device (7) via a communication optical fiber via the transmission heavy-duty connector (315).

6. The rail transit line comprehensive inspection vehicle according to claim 4, characterized in that: The tunnel surface defect detection module (3) comprises an image acquisition module (31), the image acquisition module (31) comprising an acquisition module body (311) and a plurality of line scan cameras installed on the side of the acquisition module body (311), the line scan cameras comprising two narrow-viewing angle line scan cameras (312) and four wide-viewing angle line scan cameras (313), the two narrow-viewing angle line scan cameras (312) being symmetrically arranged at lower positions on the left and right sides of the side of the acquisition module body (311), the four wide-viewing angle line scan cameras (313) being arranged in sequence on the side of the acquisition module body (311) and at upper positions relative to the narrow-viewing angle line scan cameras (312), and the field of view edge lines of adjacent line scan cameras intersecting at a preset distance, so that the field of view angles of the various line scan cameras can completely cover a preset scanning area of ​​the tunnel surface to be detected after being superimposed.

7. The rail transit line comprehensive inspection vehicle according to claim 5, characterized in that: An encoder (13) for recording mileage is provided on the autonomous motion chassis (1), and the encoder (13) generates an encoder signal which is transmitted to a trigger.

8. The rail transit line comprehensive inspection vehicle according to claim 4, characterized in that: The autonomous motion chassis (1) is provided with a fixing component (11) and a supporting component (12) for mounting a ballast and fastener defect detection module (4); the ballast and fastener defect detection module (4) is provided with a connecting component (41) cooperating with the fixing component (11); the supporting component (12) is arranged at the bottom of the ballast and fastener defect detection module (4); the supporting component (12) is hinged to the autonomous motion chassis (1) and is provided with a horizontal fixing position.

9. The rail transit line comprehensive inspection vehicle according to claim 4, characterized in that: The rail flaw detection module (6) comprises a detection wheel (601) and a support wheel assembly (603), and the support wheel assembly (603) is connected to the autonomous motion chassis (1).

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