Comprehensive track detection equipment

Abstract

The invention provides a track data acquisition device which comprises a device main body and a moving mechanism, can be loaded on a track and move along the track, and acquires track data in the moving process, and because a plurality of high-precision line laser scanners and a plurality of cameras are arranged in two main body units of the device main body, the track data can be acquired. One of the main body units is also provided with an inclinometer, two gyroscopes and a GPS module, so that the equipment can collect track multi-source data, including contour data, image data, angle information, angular velocity information and geographic position information, and can basically and comprehensively cover a large number of track detection items of a main track and a turnout based on the multi-source data; and during use, manual detection is not required, or other detection equipment is not required to be additionally configured, so that the operation is more convenient. The multi-source data can also be mutually referenced, for example, data collected by one or more types of detection parts can be used for compensating and correcting data collected by other detection parts, so that more accurate detection data can be obtained.

Description

Technical Field

[0001] The invention belongs to the technical field of track detection equipment, and in particular relates to a comprehensive track detection equipment. Background Art

[0002] In order to ensure the stability and safety of rail train operation, it is necessary to conduct multiple inspections on the track regularly to timely discover and eliminate various track diseases. At the same time, timely discovering problems and making adjustments through inspections are also conducive to protecting track components and extending their service life. Track inspection projects include track geometry inspection, rail surface state inspection, inspection of various track components, etc., and there are many specific inspection projects. In order to improve the efficiency and accuracy of inspections, reduce the burden on inspection personnel, and reduce the length of track line reduction inspection and maintenance, more and more automated inspection equipment is being used. For example, for the inspection of track geometry, a T-type track detector is currently used more often. Its frame is T-shaped, with three running wheels, a fixed side wheel is set on one side of the frame, and two spring side wheels are set on the other side. The frame is equipped with inclinometers, laser rangefinders and other detection devices. When in use, its three running wheels are respectively placed on the rails on both sides, and the fixed side wheels and spring side wheels are respectively pressed against the inner side of the rails. The inspection personnel push the inspection vehicle to move along the track. During the movement, data is collected through the on-board detection device, and then the required track geometry data is calculated based on the collected data.

[0003] The above-mentioned T-type track detector has improved the efficiency of track detection to a certain extent, but there are still many problems. The most important problem is that the track detection items that the T-type track detector can cover are very limited. For many other detection items, such as various geometric dimension detection at the turnout, visual detection of the rail surface status, etc., it is necessary to manually use tools such as rail gauges for measurement, or use other track detection equipment for measurement. This is caused by many reasons. On the one hand, the side wheels of the T-type detector need to be close to the inside of the rail to measure more accurate track geometry data. This contact method causes the T-type detector to be unable to walk stably and smoothly at turnouts with complex structures. For example, it is easily disturbed by impact and vibration when passing through complex track areas such as rail joints, point rails, and heart rails, which leads to abnormal fluctuations in the roll angle measurement, resulting in poor accuracy of the measured horizontal parameters and no reference value. On the other hand, the T-type detector usually only has detection devices such as inclinometers and laser rangefinders. The data collected based on these devices can only cover a small number of detection items.

[0004] At present, with the development of technology, the requirements and standards related to track inspection are also constantly improving, and with the increase in railway lines, train numbers and transportation requirements, the efficiency of track inspection is also increasingly required. Therefore, in order to meet the above requirements, a comprehensive track inspection equipment is needed that can cover multiple inspection items as comprehensively as possible. Summary of the invention

[0005] The present invention is made to solve the above problems, and aims to provide a comprehensive track detection device that can fully cover multiple detection items of line tracks and turnouts and is more lightweight as a whole. The present invention adopts the following technical solutions:

[0006] The present invention provides a comprehensive track detection device, which has the following technical features: the device comprises: a device body; and a moving mechanism, which is arranged on the device body, and the device body can be movably arranged on the track through the moving mechanism, wherein the device body comprises two main body units, and when the device body is arranged on the track, the two main body units are respectively located above two rails of the track, and the two main body units respectively comprise: a plurality of line laser scanners, which are arranged along the circumference of the corresponding rails and are all facing the rails, and are used to collect track profile data on the corresponding side; a plurality of cameras, which are used to collect track images on the corresponding side; one of the main body units further comprises: an inclinometer, which is used to collect angle information of the device during its movement along the track; two gyroscopes with different axes, which are respectively used to collect angular velocity information of the device during its movement along the track; and a GPS module, which is used to obtain geographic location information of the device, and the moving mechanism comprises a plurality of side wheel assemblies, which are used to laterally limit the device when the device moves along the track, and the side wheel assemblies only comprise fixed side wheel assemblies.

[0007] The integrated track detection equipment provided by the present invention may also have such technical features, wherein the mobile mechanism includes two mobile units, which are respectively arranged on the two main units, and the two mobile units respectively include: a connecting bracket connected to the main unit; and two walking wheel assemblies, which are respectively arranged at both ends of the connecting bracket, and include coaxially arranged walking wheels and auxiliary cone wheels, wherein the connecting bracket of one of the mobile units is fixedly connected to the main unit, and the inclinometer, the gyroscope and the GPS module are all arranged in the mobile unit, and the other mobile unit further has a floating connection assembly, and its connecting bracket is rotatably connected to the main unit through the floating connection assembly.

[0008] The integrated track detection equipment provided by the present invention may also have such a technical feature, wherein, in each of the main units, there are three line laser scanners, all of which are arranged at the top of the main unit, and are respectively arranged at the outer end and the inner end of the main unit, wherein the inclination direction of one of the line laser scanners arranged at the outer end is different from the inclination direction of the two line laser scanners arranged at the inner end, and in each of the unit bodies, there are three cameras, which are respectively arranged below the line laser scanner at the outer end, in the middle of the main unit, and below one of the line laser scanners arranged at the inner end, and in the main unit where the connecting bracket is fixedly connected, the inclinometer is arranged at the inner end of the unit body, and the two gyroscopes are respectively arranged on the upper surface and a side surface of the connecting bracket, and their axes are perpendicular to each other, and the GPS module is arranged at the outer end of the main unit.

[0009] The integrated track detection equipment provided by the present invention may also have such technical features, wherein the main unit also includes: a unit frame; and a unit shell, which is covered on the unit frame, has an opening at the bottom, and has through holes on both sides, the two through holes are aligned in the width direction of the main unit, the connecting bracket is through a pair of through holes, and in the main unit connected with the floating connection component, the size of the through hole is larger than the cross-sectional size of the connecting bracket, the unit frame is an aluminum alloy frame, the connecting bracket is an aluminum alloy bracket, and both have a triangular grid structure, and the unit shell includes multiple side panels and a top panel, and the side panels and the top panel are both carbon fiber panels.

[0010] The comprehensive track detection equipment provided by the present invention may also have such technical features, wherein the running wheel includes a hub part and a wheel surface part covered on the outer periphery of the hub part, the hub part is made of POM material in one piece, and its outer periphery has multiple annular glue injection grooves, the wheel surface part is made of ceramic material and is bonded and fixed to the hub part, and the auxiliary cone wheel is made of POM material in one piece.

[0011] The integrated track detection equipment provided by the present invention may also have such technical features, wherein the main unit also includes a sealing assembly, which includes: a plurality of pressure strips, each pressure strip having two sides respectively fixed on the edge of the side panel and the corresponding edge of the top panel, and each pressure strip having a sealing strip groove on the inner side; and a plurality of sealing strips, respectively arranged in each of the sealing strip grooves, which are pressed between the edge of the side panel and the corresponding edge of the top panel by the corresponding pressure strips, thereby sealing the gap between the two.

[0012] The integrated track detection equipment provided by the present invention may also have such technical features, wherein the side panels are two pieces, the top panel is one piece and has a bending portion, the two side panels and one top panel form a four-sided surrounding structure, one corner of the side panel is rounded, the bending portion of the top panel is arc-shaped, the multiple pressure strips include multiple straight pressure strips and multiple curved pressure strips, the curved pressure strips are used to be arranged at the rounded corners of the side panels, and the cross-sections of the straight pressure strips and the curved pressure strips in the extension direction are both L-shaped.

[0013] The integrated track detection equipment provided by the present invention may also have such technical features, wherein the width of one end of the straight pressure strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for installing the upper end handle; the width of one end of the curved pressure strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for installing the outer end handle; the walking wheel assembly also includes a walking wheel bracket, one end of which is fixedly connected to one end of the connecting bracket, and the other end is in the shape of a semi-closed shell for connecting and accommodating the walking wheel, and the walking wheel bracket is provided with a wheel end handle.

[0014] The integrated track detection equipment provided by the present invention may also have such a technical feature, the equipment also includes: a detection auxiliary mechanism, which includes: a shading component, including a plurality of shading plates, arranged below the unit body; and a fill light component, including a plurality of lamp tubes, respectively arranged in the lower inner part of the unit body, for fill light for the camera and the line laser scanner, wherein in each of the unit bodies, the lamp tubes are at least four, two of which are arranged along the width direction of the unit body, respectively arranged below the line laser scanner at the outer end and below one of the line laser scanners at the inner end, and are staggered in the horizontal direction with the camera on the corresponding side, and the other two lamp tubes extend along the length direction of the main unit, respectively arranged inside the two sides of the width direction of the main unit, and their lengths are such that the lamp tubes do not interfere with the line lasers projected by the line laser scanners on both sides.

[0015] The integrated track detection equipment provided by the present invention may also have such technical features, the equipment also includes: an external battery, which is arranged on the outer surface of one of the main units, wherein the outer surface of the main unit also has a plurality of spring slots, and the external battery is box-shaped and is detachably arranged on the outer surface of the main unit through the plurality of spring slots.

[0016] Functions and Effects of the Invention

[0017] The comprehensive track detection equipment provided by the present invention includes a device body and a mobile mechanism, which can be placed on the track and move along the track, and collect track data during the movement. Since the two main units of the device body have multiple high-precision line laser scanners and multiple cameras, and one of the main units also has an inclinometer, two gyroscopes and a GPS module, the device can collect track multi-source data, including profile data, image data, angle information, angular velocity information, and geographic location information. Based on multi-source data, a large number of track detection items of line tracks and turnouts can be basically and comprehensively covered. When in use, there is no need to perform manual detection or configure other detection equipment, which is more convenient to operate. Multi-source data can also refer to each other. For example, the data collected by one or more types of detection components can be used to compensate and correct the data collected by other detection components, so as to obtain more accurate detection data.

[0018] Moreover, since the device only has a plurality of fixed side wheel assemblies but does not have lateral clamping mechanisms such as spring side wheels, it is possible to avoid the influence of the clamping contact mode on the movement of the device at the switch, so that the device can move more stably and smoothly at the switch, thereby improving the accuracy of data collection at the switch. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional diagram of the integrated track detection device in this embodiment;

[0020] Figure 2 is a side view of the integrated track detection device and the track in this embodiment;

[0021] Figure 3 is a three-dimensional diagram of the main unit in this embodiment;

[0022] Figure 4 is a three-dimensional diagram of the skeleton plate in the main unit of this embodiment;

[0023] Figure 5 is a stereoscopic diagram of the skeleton connecting rod in the main unit of this embodiment;

[0024] Figure 6 is a three-dimensional diagram of one end of a straight layering strip in this embodiment;

[0025] Figure 7 is a three-dimensional diagram of the curved layering strip in this embodiment;

[0026] Figure 8 is a schematic diagram of the position distribution of the detection components in the device body in this embodiment;

[0027] Fig. 9 is a three-dimensional diagram of the mobile unit in this embodiment;

[0028] Fig.10is a three-dimensional diagram of the traveling wheel assembly in this embodiment;

[0029] Fig.11 is a structural exploded view of the traveling wheel in this embodiment;

[0030] Fig.12 It is a cross-sectional view of a partial structure of the traveling wheel assembly in this embodiment.

[0031] Reference numerals:

[0032] Comprehensive track detection equipment 100; equipment body 10; main unit 11; unit frame 111; frame plate 1111; triangular through hole 11111; first solid plate portion 11112; power key hole 11112a; display screen hole 11112b; second solid plate portion 11113; through hole 11113a; frame connecting rod 1112; unit housing 112; side plate 1121; top plate 1122; connecting end plate 1123; connecting plate portion 11231; docking hole 11231a; straight pressure strip 1 124; first straight plate portion 11241; sealing strip groove 11251a; mounting plate portion 11241b; fixing hole 11241c; second straight plate portion 11242; curved pressure strip 1125; first curved plate portion 11251; second curved plate portion 11252; sealing strip groove 11251a; mounting plate portion 11242b; fixing hole 11242c; upper end handle 1131; outer end handle 1132; line laser scanner 1141-1146; two-dimensional camera 1151-1156; inclinometer 1161; gyroscope 1171, 1172; GPS module 1181; mobile mechanism 20; mobile unit 21; connecting bracket 211; walking wheel assembly 212; walking wheel bracket 2125; rotating shaft 2121; bearing 2122; walking wheel 2123; wheel hub 21231; glue injection groove 21231a; wheel surface 21232; auxiliary cone wheel 2124; fixed side wheel assembly 213; side wheel bracket 2131; main side wheel 2132; auxiliary side wheel 2133; mileage detection assembly 214 ; Component housing 2141; mileage detector 2142; detector pad 2143; floating connection component 215; fixed bracket 2151; connecting shaft 2152; wheel end handle 216; pushing mechanism 30; push rod 31; angle adjustment component 32; detection auxiliary mechanism 40; shading block 41; side shielding plate 411; end shading plate 412; shading cloth 413; fill light component 42; side shielding plate 411; end shading plate 412; electronic control component 50; external battery 51; computing device 52. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the comprehensive track detection equipment of the present invention is specifically described below in conjunction with embodiments and drawings.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0035] <Example>

[0036] Figure 1 is a three-dimensional diagram of the integrated track detection device in this embodiment, Figure 2 It is a side view of the integrated track detection device and the track in this embodiment.

[0037] like Figure 1 and Figure 2 As shown, the integrated track detection equipment 100 is an H-shaped integrated track detection equipment (detection vehicle), which includes: an equipment body 10, a moving mechanism 20, a pushing mechanism 30, a shading mechanism 40, and an electronic control component 50.

[0038] The device body 10 is generally in the shape of a long rectangular parallelepiped, and includes two main body units 11. Each main body unit 11 is also generally in the shape of a rectangular parallelepiped, and one end of the main body units 11 in the length direction is connected to form a whole.

[0039] Figure 3 is a stereogram of the main unit in this embodiment, Figure 4 is a three-dimensional diagram of the skeleton plate in the main unit in this embodiment, Figure 5 It is a stereoscopic diagram of the skeleton connecting rod in the main unit in this embodiment.

[0040] like Figures 3 to 5 As shown, each main unit 11 includes a unit frame 111, a unit shell 112, an upper handle 113, a sealing assembly 114, and a plurality of detection components.

[0041] The unit frame 111 is an aluminum alloy frame, including two frame plates 1111 and a plurality of frame connecting rods 1112. Figure 4As shown, the skeleton plate 1111 is a long strip frame plate, on which there are multiple rows of rounded triangular through holes 11111, and multiple triangular through holes in each row are arranged in turn with the sharp corners facing upward and downward, and a support strip with uniform width is formed between two adjacent triangular through holes, that is, a triangular grid structure is formed, so the skeleton plate 1111 is very light and has sufficient structural strength. The skeleton plate 1111 also has multiple mounting holes, and the two skeleton plates 1111 are parallel to each other and aligned in the thickness direction. The skeleton connecting rod 1112 is a hollow square column as a whole, and the four sides also have a triangular grid structure, and the size of the triangular through hole on the skeleton connecting rod 1112 is smaller than the size of the triangular through hole on the skeleton plate 1111, and the two ends of each skeleton connecting rod 1112 are solid plates, which are respectively fixed at the corresponding mounting holes on the two skeleton plates 1111, so that the two skeleton plates 1111 are fixedly connected by multiple skeleton connecting rods 1112 to form an overall skeleton (frame). In addition, the skeleton connecting rod 1112 is also used as a mounting rod for multiple detection components.

[0042] The skeleton plate 1111 has a first solid plate portion 11112 on one side in the length direction, and a second solid plate portion 11113 on the other side in the middle portion in the length direction, and there are no through holes in the solid plate portion. A power button hole 11112a and a display screen hole 11112b are provided on the first solid plate portion 11112 of one of the main units 11. A through hole 11113a that is roughly a rounded rectangular shape is provided on the second solid plate portions 11113 of both main units 11.

[0043] The unit shell 112 is wrapped around the unit frame 111, and includes two parallel and oppositely arranged side panels 1121, a bent top panel 1122, and a connecting end panel 1123. Except for the connecting end panel 1123, the other three panels are carbon fiber panels. The four panels are combined to form a five-sided enclosed structure. The bottom of the main unit 11 is open, and is used for the detection components inside the unit body 11 to detect the track below through the bottom opening. The bending part of the top panel 1122 is in an arc shape, so that one end of the upper part of the main unit 11 is arc-shaped (that is, when viewed from the side, one corner is rounded). The thickness of the end panel 1123 is greater than that of the side panel and the top panel. The connecting end panels 1123 of the two main units 11 are assembled facing each other and fixed by multiple fasteners. Multiple holes and grooves are provided on the end panel 1123 to facilitate the routing of multiple detection components in the two unit bodies 11. The connecting end plate 1123 has two outwardly protruding connecting plate portions 11231 on both sides in the width direction. The outer end portions of the connecting plate portions 11231 are arc-shaped and have docking holes 11231a. When installed on the skeleton, the multiple connecting plate portions 11231 on both sides are located outside the unit shell 112 in the width direction of the unit main body 11. Therefore, docking bolts can be easily installed outside the shell to connect the two main units 11, which is more convenient to operate.

[0044] The unit housing 112 also includes a sealing assembly, including a plurality of straight beading strips 1124, a plurality of curved beading strips 1125, and a plurality of sealing strips (not shown in the figure). The straight beading strips 1124 are used to seal the straight edges of the unit housing 112; the curved beading strips 1125 are used to seal the curved edges of the unit housing 112 (the curved portions of the top plate 1122).

[0045] Figure 6 It is a three-dimensional diagram of one end of the straight layering strip in this embodiment.

[0046] like Figure 6 As shown, the straight pressure strip 1124 is in the shape of a long straight strip as a whole, and its cross section in the extension direction is L-shaped. The straight pressure strip 1124 has a first straight plate portion 11241 and a second straight plate portion 11242 that are approximately perpendicular to each other, and a plurality of mounting holes are respectively provided on the two straight plate portions, which are used to cooperate with the corresponding mounting holes on the side plate and the top plate for fixing. Among them, the thickness of the first straight plate portion 11241 is greater than the thickness of the second straight plate portion 11242, and the width of one end of the first straight plate portion 11241 is larger, forming a mounting plate portion 11241a, one end of which has a rounded edge, and a fixing hole 11241c with a larger aperture than other mounting holes on the pressure strip is formed on the mounting plate portion 11241b, which is used to fix the pressure strip and to install the upper handle 1131. The inner side of the first straight plate portion 11241 (the side facing the second straight plate portion 11242) has a sealing strip groove 11241a, which is a groove with a rectangular cross-section. Its extension direction is consistent with the extension direction of the first straight plate portion 11241, and its groove depth is less than the diameter of the sealing strip.

[0047] Figure 7 It is a three-dimensional diagram of the curved layering strip in this embodiment.

[0048] like Figure 7 As shown, the bent strip 1125 is generally in the shape of a rounded L, with one side of the L being shorter and used to connect with the straight strip 1124 on the upper part of the unit shell 112, and the two together seal a horizontal edge at the upper end of the unit shell 112; the other side of the L is relatively long and used to seal a vertical edge on the side of the unit shell 112.

[0049] The cross section of the curved beading strip 1125 in the extension direction is also L-shaped. The curved beading strip 1125 has a first curved plate portion 11251 and a second curved plate portion 11252 that are substantially perpendicular to each other. The first curved plate portion 11251 is bent along its thickness direction, and the second curved plate portion 11252 is bent along its width direction. A plurality of mounting holes are respectively provided on the two curved plate portions. The inner side of the first curved plate portion 11251 (i.e., the side facing the second curved plate portion 11252) has a sealing strip groove 11251a, which is a groove with a rectangular cross section. Its extension direction is consistent with the extension direction of the first curved plate portion 11251, and its groove depth is less than the diameter of the sealing strip. At one end of the long side of the curved pressure strip 1125, the width of the first curved plate portion 11251 increases to form a mounting plate portion 11251b, one end of which has a rounded edge, and a fixing hole 11251c having a larger hole diameter than other mounting holes on the pressure strip is formed on the mounting plate portion 11251b. The fixing hole 11251c is also used to install the end handle 1132. In addition, the thickness at both ends of the first curved plate portion 11251 is less than the thickness of the middle section, so that the two ends can be installed in coordination with other structures of the main unit 11.

[0050] In this embodiment, the material of the molding is POM, and the material of the sealing strip is silicone foam material. The sealing strip has a circular cross-section and is embedded in the sealing strip groove of each molding. After the molding is installed on the outer shell plate and pressed, the sealing strip is compressed and the cross-section becomes a rounded rectangle, thereby sealing the gap between the side plate and the top plate.

[0051] The sealing assembly can be used to seal the connection between the side panel and the top panel of the unit housing 112, mainly to prevent rainwater from entering the interior of the housing through the gap between the side panel and the top panel, thereby affecting the internal detection components, electrical equipment, wires, etc.

[0052] The upper handle 1131 is arranged above one end of the unit shell 112 having the end plate 1123, and the outer handle 1132 is arranged at the lower outer end of the unit shell 112. After the two unit bodies 11 are combined, the two upper handles 1131 are respectively located in the middle of the upper end of the entire equipment body 10, and the two outer handles 1132 are respectively located at the lower ends of the entire equipment body 10 in the length direction, so as to facilitate the inspection personnel to carry the equipment.

[0053] The multiple detection components include multiple line laser scanners, multiple two-dimensional cameras, an inclinometer, at least one gyroscope, and a GPS module.

[0054] Figure 8 It is a schematic diagram of the position distribution of the detection components in the device body in this embodiment.

[0055] In this embodiment, six high-precision line laser scanners 1141 - 1146 , six two-dimensional cameras 1151 - 1156 , an inclinometer 1161 , two high-precision fiber optic gyroscopes 1171 and 1172 , and a GPS module 1181 are provided.

[0056] like Figure 8 As shown, in the unit body 11 on one side (right side in the figure), three line laser scanners 1141 to 1143 , three cameras 1151 to 1153 , two gyroscopes 1171 and 1172 , and a GPS module 1181 are provided.

[0057] Among them, the three line laser scanners are all arranged near the top of the main unit 11, wherein the line laser scanner 1411 is fixed at the outer end of the unit main body 11 in the length direction and is arranged obliquely, the line laser scanner 1412 is fixed at the middle of the unit main body 11 in the length direction and is arranged obliquely, and the inclination angle is smaller than that of the line laser scanner 1141, and the line laser scanner 1143 is fixed at the inner end of the unit main body 11 in the length direction and is also arranged obliquely, and the inclination direction is different from that of the other two line laser scanners. When the device is placed on the track in the turnout area, the line laser scanner 1411 is inclined toward The outside of the basic rail 9 can cover part of the outer side surface and top surface of the basic rail 9, as well as part of the outer side surface and top surface of the rail member outside the basic rail (if any, the same below), such as the above-mentioned position of the pointed rail 8 in the figure; the line laser scanner 1412 is slightly inclined toward the top surface of the rail, and can completely cover the top surface and part of the inner side surface of the basic rail 9, as well as part of the top surface of the rail member outside the basic rail 9, and the top surface of the rail member inside the basic rail 9; the line laser scanner 1143 is inclined toward the inside of the rail, and can basically completely cover the top surface and part of the inner side surface of the basic rail 9, as well as the top surface and part of the inner side surface of the rail member inside the basic rail 9.

[0058] The three cameras 1151 to 1153 are respectively arranged in the middle of the height direction of the main unit 11, and are all arranged vertically, with their detection ends facing vertically downward. Among them, camera 1151 is arranged at the outer end of the main unit 11 in the length direction, just below the line laser scanner 1411. Camera 1152 is arranged in the middle of the length direction of the main unit 11. Camera 1153 is arranged at the inner end of the main unit 11 in the length direction, below the line laser scanner 1142. At the line track, the three cameras can cover the rails on one side and the fasteners beside the rails and other rail components; at the turnout, the three cameras can cover the basic rails on one side, the point rails or guard rails beside the basic rails and other rail components. In addition, the installation positions of the three cameras will not affect the laser lines projected by the three line laser scanners.

[0059] The inclinometer 1161 is disposed at the lower portion of the main body unit 11 and at the inner end portion of the main body unit 11 in the length direction, and is used to detect angle changes of the device.

[0060] The two fiber optic gyroscopes 1171 and 1172 are respectively arranged in the middle of the length direction and the middle of the height direction of the main unit 11, and the axes of the two are perpendicular to each other, and are respectively used to detect the height and track direction of the track.

[0061] The GPS module 1181 is disposed on the top of the main unit 11 and is located at the outer end of the main unit 11 in the length direction, and is used to obtain the geographic location of the device.

[0062] In the unit body 11 on the other side (the left side in the figure), there are three laser scanners 1144~1146 and three identical detection components 1154~1156, and their distribution is very similar to the distribution of the corresponding detection components in the unit body 11 on one side mentioned above. The only difference is that these detection components in the two unit bodies 11 are roughly mirror-distributed along the midline in the length direction of the entire device body 10.

[0063] The moving mechanism 20 includes two moving units 21 for allowing the device to be placed on the track and to move (travel) along the track.

[0064] Fig. 9 is a perspective view of the moving unit in this embodiment.

[0065] like Fig. 9 As shown, one of the mobile units 21 includes a connecting bracket 211, two walking wheel assemblies 212, a fixed side wheel assembly 213, a mileage detection assembly 214, a floating connection assembly 215, and a wheel end handle 216.

[0066] The connecting bracket 211 is also a square column-shaped aluminum alloy frame, and its cross section in the extension direction is rectangular and also has the above-mentioned triangular grid structure. The cross-sectional size of the connecting bracket 211 is slightly smaller than the size of the through hole 11113a on the unit housing 112, and the connecting bracket 211 is penetrated in the through hole 11113a, and the two ends of the connecting bracket 211 extend out of the housing. The two running wheel assemblies 212 are fixedly mounted on the two ends of the connecting bracket 211.

[0067] Fig.10 is a three-dimensional diagram of the traveling wheel assembly in this embodiment, Fig.11 : is a structural exploded view of the traveling wheel in this embodiment, Fig.12 is a cross-sectional view of a portion of the structure of the traveling wheel assembly in this embodiment, Fig.12 Structures such as the travel wheel bracket and wheel end handles are omitted.

[0068] like Figures 10 to 12As shown, the travel wheel assembly 212 includes a travel wheel bracket 2125 , a rotating shaft 2121 , a pair of bearings 2122 , a travel wheel 2123 , and an auxiliary cone wheel 2124 .

[0069] The walking wheel bracket 2125 includes an extension bracket portion 21251 and a wheel body receiving portion 21252. The extension bracket portion 21251 is used to be fixed to the connecting bracket 211. After being fixed, the extension bracket portion 21251 extends outwardly at an angle relative to the connecting bracket 211. The extension bracket portion 21251 also has a triangular network structure. The wheel body receiving portion 21252 is formed at the outer end of the extension bracket portion 21251, which is in the shape of a semi-enclosed shell that matches the cylindrical wheel and has a locking hole, a pair of shaft mounting holes and other structures.

[0070] A pair of bearings 2122 are respectively installed in the shaft mounting holes at the ends of the walking wheel bracket 2125. The shaft 2121 is arranged at the ends of the walking wheel bracket 2125 through a pair of bearings, and one end of the shaft 2121 extends out of one side of the bracket. The shaft 2121 includes a main rod and two transmission rods arranged on the main rod and perpendicular to the main rod. The two transmission rods respectively drive the walking wheel and the auxiliary cone wheel to rotate.

[0071] The travel wheel 2123 includes a hub part 21231 and a wheel surface part 21232, wherein the hub part 21231 is integrally formed by POM material, and the overall shape is roughly cylindrical, with a plurality of fan-shaped lightening holes extending along its axial direction and distributed along its circumference, a plurality of locking matching holes 21231a are distributed on its circumferential edge, and a rotating shaft connecting hole is provided in the middle. In addition, a plurality of mutually parallel annular glue injection grooves 21231b are provided on the outer circumference of the hub part 21231, and the cross-section of the glue injection grooves 21231b in the circumferential direction is roughly rectangular. The wheel surface part 21232 is made of ceramic material, cylindrical, and relatively thin, and is mounted on the outer circumference of the hub part 21231, and the two are bonded and fixed by providing adhesive in the glue injection grooves 21231b.

[0072] The auxiliary bevel wheel 2124 is an integrally formed part, which is integrally processed and formed by POM material. Its overall shape is a truncated cone, and it also has a plurality of fan-shaped lightening holes extending along its axial direction and distributed along its circumference, and a shaft connecting hole in the middle.

[0073] The running wheel 2123 is mounted on the rotating shaft 2121, and the upper part of the running wheel 2123 is accommodated in the wheel body accommodating portion 21252 of the running wheel bracket 2125, which protects it. The auxiliary cone wheel 2124 is also mounted on the rotating shaft 2121 and is located outside one side of the wheel body accommodating portion 21252. The running wheel 2123 is closer to the middle of the entire equipment than the corresponding auxiliary cone wheel 2124. The large end of the auxiliary cone wheel 2124 faces the running wheel 2123, and the small end faces outward, which is used to play an auxiliary role when the equipment passes through the fork of the turnout.

[0074] The travel wheel 2123 has load-bearing and traveling functions and is relatively more susceptible to wear. Therefore, the use of a POM hub component in combination with a wheel surface component made of ceramic material can reduce the wear rate of the travel wheel, while also meeting the insulation requirements and making the overall weight of the travel wheel lighter.

[0075] When the equipment passes through the fork of the turnout, especially the fork of the turnout that is severely worn, if there is no auxiliary cone wheel 2124, the running wheel 2123 may be stuck in the harmful space of the fork. The auxiliary cone wheel 2124 can protect the running wheel 2123 from falling into the harmful space. Since the auxiliary cone wheel 2124 is not used frequently, it will not wear very much. Therefore, POM plastic material is used, which can meet the insulation requirements and has a certain degree of wear resistance, which can meet its use requirements.

[0076] Optionally, the walking wheel assembly 212 may also include a locking piece (not shown in the figure), which is arranged on one side of the unit bracket 211, and its locking end can pass through the locking hole on the wheel body accommodating portion 2111 and embed into a locking matching hole on the walking wheel 2123, so that the walking wheel 2123 can be locked, so that the equipment can be stably parked on the track.

[0077] The fixed side wheel assembly 213 is arranged on the end of the unit bracket 211 and is located next to the corresponding running wheel assembly 212, and is closer to the middle of the overall equipment relative to the running wheel assembly 212. The fixed side wheel assembly 213 includes a side wheel bracket 2131, a main side wheel 2132 and two auxiliary side wheels 2133. The side wheels are all olive-shaped and are also arranged on the side wheel bracket through a rotating shaft and a bearing. The diameter of the main side wheel 2132 is larger than the diameter of the auxiliary side wheel 2133. The size and installation position of the side wheel enable the edge of the side wheel to be attached to the effective edge of the rail 16 mm below the rail surface when the equipment is placed on the track and the running wheel contacts the rail surface.

[0078] It is worth noting that, considering the movement and detection needs of the device at the turnout, the device of this embodiment does not have lateral clamping mechanisms such as spring side wheels, but only has four fixed side wheel assemblies. And after modeling analysis and repeated test adjustments, a suitable installation position is designed for the four fixed side wheel assemblies so that the device can pass through the center rail area normally. The installation of lateral clamping mechanisms such as spring side wheels will affect the walking and detection accuracy of the equipment at the turnout. The following are a few examples to illustrate this:

[0079] For example, due to the gap between the wing rail and the center rail, when passing through this position, the gap may cause the spring side wheel to lose support, causing the device to deviate or jam.

[0080] In the front area of ​​the heart rail, there is a certain height difference between the top surface of the base rail and the top surface of the heart rail. The spring side wheels may not be able to adapt to the change in height difference due to elastic force limitations, causing the overall center of gravity of the device to shift or jump, thus affecting the detection accuracy; it may also cause the overall instability of the device and make it unable to continue moving along the track.

[0081] The width of the tip of the heart rail gradually narrows. When the spring side wheels are used to press the track components on both sides, the spring side wheels or fixed side wheels may interfere with the track components near the gauge point, resulting in unstable walking and affecting the detection accuracy.

[0082] Since the tip of the heart rail is relatively sharp, the side wheels will not be in sufficient contact with the track. Therefore, the spring side wheels cannot apply uniform pressure when passing through the pointed rail part, causing the entire device to drift or misalign relative to the track, thereby affecting the detection accuracy.

[0083] In the discontinuous area where the point rail and the heart rail transition, the side wheels become suspended or lose support, causing the device to be unable to maintain a stable posture.

[0084] Therefore, the device of this embodiment does not have lateral clamping mechanisms such as spring side wheels. Instead, the device is able to move stably and smoothly in the turnout area through fixed side wheel assemblies in modeled and designed installation positions. When the device is running on the track, under the action of multiple fixed side wheel assemblies, the device always keeps running near the center of the track without deviating too far. When the device passes through the heart rail area, the side wheels of the two fixed side wheel assemblies on one side will abut against the guard rail, providing lateral restraint force, thereby laterally limiting the device and ensuring that the device can pass through the heart rail area stably and normally without having to carry the device in the heart rail area.

[0085] The mileage detection component 214 is arranged at one or more of the running wheels 2123, and is used to detect the wheel rotation angle of the running wheel when the device moves along the track, so as to obtain the mileage data of the device moving along the track. The mileage detection component 214 includes a component housing 2141, a mileage detector (mileage encoder) 2142, a detector pad 2143, etc. The component housing 2141 is fixed to the outside of one side of the wheel body accommodating portion 21252 of the running wheel bracket 2125 (the side close to the middle of the device), and the mileage detector 2142 is arranged inside the housing, and its detection end is connected to the rotating shaft of the running wheel.

[0086] The floating connection assembly 215 includes a fixed bracket 2151, a connecting shaft 2152 and two bearings. The structure of the fixed bracket 2151 is basically the same as the above-mentioned connecting bracket 211, and its two ends are respectively fixed on the two frame plates 1111 of the main unit 11, and are installed on one side of the through hole 11113a. The connecting shaft 2152 is cylindrical, one end is fixed to the middle of the connecting bracket 211, and the other end is set on the fixed bracket 2151 through two bearings, so that the connecting bracket 211 can rotate relative to the fixed bracket 2151, and the rotation of the connecting bracket 211 is limited by the through hole 11113a, and can only rotate slightly, that is, the two running wheels 2123 on this side can be slightly offset relative to the equipment body 10, so that the four running wheels 2123 can adapt to a certain degree of track structure changes through this structural design during the equipment walking along the track, so that the four running wheels 2123 can be kept as close to the rail surface as possible.

[0087] The structure of the other mobile unit 21 is similar to the above mobile unit 21, and the only difference is that the other mobile unit 21 does not have the floating connection component 215, and its connection bracket 211 passes through the through hole 11113a and is fixedly connected to the unit body 11. In other words, there will be no relative displacement between the detection component on this side and the running wheel, that is, the detection component on this side is more stable relative to the track below, so in some track detection projects, the track data collected by the detection component on this side is used as the benchmark, and the track data on the other side is calculated from the benchmark, or a certain compensation correction is performed based on the benchmark.

[0088] During use, when transporting or moving the equipment, the above-mentioned fixed bracket 2151 and connecting bracket 211 can be pre-assembled in the equipment main body 10, and the equipment main body 10 (or two main body units 11 respectively) equipped with these brackets and the four walking wheel assemblies 212 can be transported and moved separately, and then the four walking wheel assemblies 212 can be assembled from the outside of the equipment main body 10 for use.

[0089] The pushing mechanism 30 includes a push rod 31 and an angle adjustment component 32. The angle adjustment component 32 is arranged in the middle of the length direction of the device body 10 and close to the bottom of the device body 10. The push rod 31 is T-shaped, and one end is connected to the middle and lower part of the device body 10 through the angle adjustment component 32. Its angle relative to the device body 10 is adjustable. After the adjustment is completed, the angle can be locked by the corresponding locking member. The push rod 31 is a multi-section nested structure, and its overall length can also be adjusted.

[0090] The detection auxiliary mechanism 40 includes a light-shielding member 41 and a fill-light component 42 .

[0091] The light shielding member 41 is disposed below the device body 10 to shield the external ambient light, thereby reducing the impact of changes in the external ambient light on the two-dimensional camera and the line laser sensor, and improving the quality of collected data. The light shielding assembly 41 includes four side shielding plates 411 and two end shielding plates 412, and the shielding plates are all in the shape of rectangular plates with rounded corners.

[0092] One end of the side shielding plate 411 in the width direction is connected to the lower edge of the side plate 1121, and the side shielding plate 411 is tilted outward relative to the side plate 1211, and the other end of the side shielding plate 411 in the width direction extends to approximately the rotation axis of the running wheel 2123. Therefore, when the equipment is placed on the track, the distance between the lower end of the side shielding plate 411 and the rail is very small, and while ensuring that it does not interfere with the rail and other track components, it can achieve as large an area as possible of shading. One end of the end shading plate 412 is connected to the lower edge of the top plate 1122, and the end shading plate 412 is tilted outward relative to the vertical plate portion of the top plate 1122, and its width is substantially consistent with the width of the side shielding plate 411.

[0093] Optionally, the light-shielding member 41 may further include a plurality of light-shielding cloths 413. The light-shielding cloths 413 are generally in the shape of trapezoidal sheets, shielding between the adjacent side shielding plates 411 and the end shielding plates 412, and fixed to the shielding plates on both sides by adhesive strips or straps, so as to further shield the external light below the corners of the device body 10.

[0094] In an alternative embodiment, the shading block 41 may also be other enclosure structures, such as a skirt shape surrounded on three sides and open on one side, that is, an overall shape similar to that formed by multiple side shielding plates 411, an end shading plate 412 and two shading cloths 413 under a unit body 11.

[0095] In this embodiment, in order to reduce the weight of the whole device, the size of the main unit 11 is relatively small, especially the overall height is only slightly larger than the height of the internal detection components in the vertical direction, so the detection ends of the internal camera and line laser scanner are relatively closer to the bottom opening of the unit housing 112, and are more susceptible to external light. Therefore, it is very necessary to set up a shielding component.

[0096] The fill light assembly 42 includes a plurality of lamp tubes 421. In the present embodiment, four lamp tubes are provided in each main body unit 11, wherein the length direction of two lamp tubes 421 is consistent with the width direction of the main body unit 11 (hereinafter referred to as longitudinal direction), and the length direction of the other two lamp tubes 421 is consistent with the length direction of the main body unit 11 (hereinafter referred to as transverse direction). Taking a main body unit 11 as an example, the first lamp tube 421 is longitudinally arranged and arranged below the line laser scanner 1141, and is closer to the middle of the device body 10 relative to the two-dimensional camera 1151. The second lamp tube 421 is longitudinally arranged and arranged below the line laser scanner 1142, and is closer to the outer end of the length direction of the device body 10 relative to the camera 1152. The third and fourth lamp tubes 421 are transversely arranged at the lower part of the two side panels 1211, respectively, and are both located below the connecting bracket 211, and both ends of the length direction of the third and fourth lamp tubes 421 do not interfere with the laser line planes of the line laser scanners 1141 and 1142 on both sides.

[0097] Therefore, multiple light tubes 421 can provide fill light for shooting and scanning, and the light tubes 421 make full use of the space outside the detection range of multiple detection components for setting, and their installation position will not affect the camera shooting and the scanning of the line laser sensor.

[0098] The electric control assembly 50 includes an external battery 51, a computing device 52 (laptop computer), a data acquisition unit, a switch, and a plurality of fans.

[0099] A plurality of spring slots are also installed on the top plate of one of the unit bodies 11, four in this embodiment, for fixing the external battery 51. The external battery 51 is in the shape of a square box as a whole, and is detachably arranged on the top plate of the unit body 11. A power display screen is arranged on the external battery 51 or on the device body 10, which can display the approximate remaining power of the external battery 51. After the battery is placed externally, the battery can be easily replaced to continue the test during long-term testing and when the power is insufficient, and when the equipment is transported and moved, the rest of the equipment and the battery can also be transported and moved separately, or the battery can be installed after the equipment is transported and placed on the track, which is more flexible.

[0100] A plurality of spring lock brackets and spring locks are also installed on the top plate of the other main body unit 11, which are used to fix the computing device 52 (laptop computer). The computing device 52 is detachably arranged on the main body unit 11, and the computing device 52 is respectively connected to each detection component through a data acquisition device and corresponding wires, etc., and can obtain corresponding detection data from each detection component through the data acquisition device, and then further calculate and analyze it.

[0101] In addition, an electric control accommodating portion (box structure) is separated by a partition plate at the inner end of one or both of the main units 11, and the above-mentioned inclinometer, switch, fan, etc. are arranged in the electric control accommodating portion.

[0102] In addition, in order to reduce the weight of the equipment as much as possible, in the equipment of this embodiment, the overall size of the equipment body 10 is designed to be as small as possible, and the line laser scanners 1141 and 1146 are respectively installed at the two ends of the equipment body 10, that is, the total length of the equipment body 10 is roughly the distance between the two line laser scanners plus the width of the pressure strips on both sides; the total width of the equipment body 10 is close to the width of the line laser scanner; the height of the equipment body 10 is slightly greater than the height of the line laser scanner in the vertical direction after installation. In this embodiment, the overall size of the equipment is: length 2300-2400mm, width 700-780mm, height 550-600mm, among which the size of the above-mentioned equipment body 10 is only: length 2200-2300mm, width 320-360mm, height 240-270mm.

[0103] By reducing the overall size, especially the size of the main body of the device, and using the above-mentioned triangular grid structure of the aluminum alloy frame, the outer side plate of carbon fiber, the above-mentioned walking wheel assembly structure and materials, and externalizing the device battery, the overall weight of the device can be greatly reduced. In this embodiment, the overall weight of the device (excluding the battery) is only 50 to 60 kg, which is much lower than the overall weight of similar devices. For example, compared with the track detection equipment of CN116923474A previously applied for by the applicant, the overall weight of the equipment in this embodiment is reduced by more than 20 kg.

[0104] Functions and Effects of the Embodiments

[0105] The comprehensive track detection equipment provided according to the present embodiment includes a device body and a moving mechanism, which can be placed on the track and move along the track, and collect track data during the movement. Since the two main units of the device body have multiple high-precision line laser scanners and multiple cameras, and one of the main units also has an inclinometer, two gyroscopes and a GPS module, the device can collect track multi-source data, including contour data, image data, angle information, angular velocity information, and geographic location information. Based on multi-source data, a large number of track detection items of line tracks and switches can be basically and comprehensively covered. When in use, there is no need for manual detection, or additional configuration of other detection equipment, and the operation is more convenient. Multi-source data can also be used as a reference for each other. For example, the data collected by one or more types of detection components can be used to compensate and correct the data collected by other detection components, so as to obtain more accurate detection data.

[0106] Moreover, since the device only has a plurality of fixed side wheel assemblies but does not have lateral clamping mechanisms such as spring side wheels, it is possible to avoid the influence of the clamping contact mode on the movement of the device at the switch, so that the device can move more stably and smoothly at the switch, thereby improving the accuracy of data collection at the switch.

[0107] In the embodiment, the overall size of the equipment body is designed to be as small as possible, with the overall length being only slightly larger than the distance between the two outermost line laser scanners, the overall width being only slightly larger than the width of one line laser scanner, and the overall height being only slightly larger than the vertical height of the line laser scanner after installation. Therefore, a compact body structure can be formed, greatly reducing the overall weight of the equipment.

[0108] Furthermore, the frame and wheel brackets of the equipment body are made of aluminum alloy material and triangular grid structure, and are matched with carbon fiber shell plates, POM plastic material running wheel hub parts and auxiliary cone wheels, thereby further reducing the overall weight of the equipment.

[0109] Furthermore, the battery of the device is improved to a removable and replaceable external battery. In this way, not only is the overall weight of the device lighter after the battery is removed, but also when the detection is long and the battery is insufficient, another external battery can be easily replaced to continue the detection. The external battery of the corresponding capacity can also be selected in advance according to the corresponding detection task requirements, which is more flexible. In addition, when transporting and moving the equipment, the other parts of the equipment and the external battery can be transported and moved separately, which is more convenient and particularly suitable for detection scenarios such as elevated track detection where transportation and transportation are relatively more difficult. Compared with similar track detection equipment previously designed by the applicant, the equipment of the embodiment is more than 20kg lighter, which can greatly reduce the burden of detection personnel in carrying and cart detection. It is also more convenient when moving the equipment and is less likely to cause bumps and the like.

[0110] Furthermore, the wheel bracket on one side of the equipment is fixed to the unit body, and the other side is connected to the unit body in a floating (slightly rotatable) manner through a floating connection assembly. Therefore, when the equipment passes through a position where the track is uneven, the four running wheels can be adaptively adjusted through the floating connection assembly, so that the four running wheels can maintain contact with the track surface as much as possible, making the equipment movement more stable and the collected data more accurate.

[0111] Furthermore, the inclinometer, two gyroscopes, and GPS module are all arranged in a unit body fixed to the wheel bracket, which can prevent their detection from being affected by floating, and the multiple detection components and detection results on one side can be used as a benchmark to infer the corresponding detection data on the other side, or the benchmark can be used to make corresponding compensation corrections to the detection results on the other side, thereby improving the detection accuracy.

[0112] Furthermore, the main body of the device is also provided with a sealing assembly, including a plurality of pressure strips and sealing strips. The sealing strips are assembled and compressed through the sealing strip grooves on the pressure strips to seal the gap between the side panel and the top panel, thereby preventing rainwater from the outside from entering the interior of the housing through the gap and affecting or even damaging the internal live parts. Since the equipment is usually used in an open-air environment, it is inevitable to encounter rain, snow and other conditions. The equipment sealing assembly can effectively protect the high-precision detection components with higher internal costs, thereby extending the service life of the equipment. In addition, by wrapping the sealing strip inside with a pressure strip, not only the appearance is more beautiful, but also the sealing strip can be protected to prevent the sealing strip from being degraded and failing after a period of use due to exposure.

[0113] Furthermore, a shading component and a fill light component are provided under the main body of the device. The shading component includes a plurality of inclined shading plates and may also include corner shielding cloths. The shading plates are designed in accordance with the wheel bracket structure and have a large area, extending all the way to the center axis of the running wheel. Therefore, they can effectively block most of the external ambient light, thereby avoiding the influence of excessive external ambient light or light changes on the camera and line laser scanner, and then cooperate with a plurality of light tubes for fill light so that there is sufficient light, so that both detection components can collect more accurate data.

[0114] Furthermore, in each main unit, three cameras are set up using the space not covered by the laser lines of the three line laser scanners, and multiple light tubes are set up using the space not covered by the laser lines of the three line laser scanners and that is not within the field of view of the three cameras. Therefore, although the overall size of the main unit is greatly reduced, the internal space is very limited, and a large number of detection components are arranged inside, through reasonable layout, multiple detection components, light tubes, etc. will not interfere with each other and can all work normally. In addition, the main unit has a compact structure, which is more convenient for transportation and handling.

[0115] The above embodiments are only used to illustrate the specific implementation of the present invention, and the present invention is not limited to the description scope of the above embodiments. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A comprehensive track detection device, characterized in that: include: Equipment body; as well as A moving mechanism is arranged on the device body, and the device body can be movably arranged on the track by the moving mechanism, The equipment body includes two main body units. When the equipment body is arranged on the track, the two main body units are respectively located above two rails of the track. The two main units respectively include: A plurality of line laser scanners are arranged along the circumference of the corresponding rail and are all facing the rail, and are used to collect track profile data on the corresponding side; Multiple cameras for collecting images of the track on the corresponding side; One of the main units further comprises: An inclinometer, used to collect angle information of the device during its movement along the track; Two gyroscopes with different axes are used to collect angular velocity information of the device during its movement along the track; and GPS module, used to obtain the geographical location information of the device, The moving mechanism includes a plurality of side wheel assemblies for laterally limiting the device when the device moves along the track, and the side wheel assemblies only include fixed side wheel assemblies.

2. The integrated track detection device according to claim 1, Features: Wherein, the moving mechanism comprises two moving units, which are respectively arranged on the two main body units. The two mobile units include: A connecting bracket connected to the main unit; and Two running wheel assemblies are respectively arranged at both ends of the connecting bracket, and include a coaxially arranged running wheel and an auxiliary cone wheel. The connecting bracket of one of the mobile units is fixedly connected to the main unit, and the inclinometer, the gyroscope and the GPS module are all arranged in the mobile unit. The other mobile unit further has a floating connection assembly, and its connection bracket is rotatably connected to the main unit through the floating connection assembly.

3. The integrated track detection device according to claim 2, characterized in that: in, In each of the main body units, there are three line laser scanners, all of which are arranged at the top of the main body unit and at the outer end and the inner end of the main body unit, respectively, wherein the inclination direction of one of the line laser scanners arranged at the outer end is different from the inclination directions of the two line laser scanners arranged at the inner end. In each unit body, there are three cameras, which are respectively arranged below the line laser scanner at the outer end, in the middle of the main unit, and below one of the line laser scanners at the inner end. The connecting bracket is fixedly connected to the main unit, the inclinometer is arranged at the inner end of the unit body, the two gyroscopes are respectively arranged on the upper surface and a side surface of the connecting bracket, and their axes are perpendicular to each other, and the GPS module is arranged at the outer end of the main unit.

4. The integrated track detection device according to claim 2, Features: Wherein, the main unit also includes: unit skeleton; and The unit shell is covered on the unit frame, has an opening at the bottom, and has through holes on both sides, and the two through holes are aligned in the width direction of the main unit. The connecting bracket is inserted into a pair of the insertion holes. In the main unit connected with the floating connection assembly, the size of the through hole is larger than the cross-sectional size of the connection bracket. The unit frame is an aluminum alloy frame, and the connecting bracket is an aluminum alloy bracket, and both have a triangular grid structure. The unit shell includes a plurality of side panels and a top panel, and both the side panels and the top panel are carbon fiber panels.

5. The integrated track detection device according to claim 4, characterized in that: in, The travel wheel comprises a hub component and a wheel tread component covering the outer periphery of the hub component. The hub part is made of POM material in one piece, and has multiple annular glue injection grooves on its outer circumference. The wheel face part is made of ceramic material and is bonded and fixed to the hub part. The auxiliary cone wheel is made of POM material in one piece.

6. The integrated track detection device according to claim 4, Features: Wherein, the main unit further includes a sealing component, The sealing assembly comprises: A plurality of pressure strips, each pressure strip having two sides respectively fixed to the edge of the side plate and the corresponding edge of the top plate, and each pressure strip having a sealing strip groove on the inner side; and A plurality of sealing strips are respectively arranged in each of the sealing strip grooves, and are pressed by the corresponding pressure strips between the edge of the side plate and the corresponding edge of the top plate, so as to seal the gap between the two.

7. The integrated track detection device according to claim 6, characterized in that: in, The side panels are two pieces, the top panel is one piece and has a bent portion, and the two side panels and the top panel form a four-sided surrounding structure. One corner of the side plate is rounded, and the bent portion of the top plate is arc-shaped. The plurality of beading strips include a plurality of straight beading strips and a plurality of curved beading strips, wherein the curved beading strips are used to be arranged at the rounded corners of the side panels. The cross-sections of the straight bead and the curved bead in the extending direction are both L-shaped.

8. The integrated track detection device according to claim 7, characterized in that: in, The width of one end of the straight pressure strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for mounting the upper handle. The width of one end of the curved strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for mounting an outer end handle. The walking wheel assembly also includes a walking wheel bracket, one end of which is fixedly connected to one end of the connecting bracket, and the other end is in the shape of a semi-enclosed shell for connecting and accommodating the walking wheel. The walking wheel bracket is provided with a wheel end handle.

9. The integrated track detection device according to claim 3, characterized in that: Also includes: Detection auxiliary mechanism, which includes: A shading assembly, comprising a plurality of shading plates, arranged below the unit body; and A fill light assembly includes a plurality of light tubes, which are respectively arranged at the lower part of the unit body and are used to provide fill light for the camera and the line laser scanner. Wherein, in each of the unit bodies, there are at least four lamp tubes. Two of the light tubes are arranged along the width direction of the unit body, respectively arranged below the line laser scanner at the outer end and below one of the line laser scanners at the inner end, and are staggered in the horizontal direction with the cameras on the corresponding sides. The other two lamp tubes extend along the length direction of the main unit and are respectively arranged inside the two sides of the main unit in the width direction. The lengths of the lamp tubes are such that the line lasers projected by the line laser scanners on both sides do not interfere with each other.

10. The integrated track detection device according to claim 1, characterized in that: Also includes: an external battery, arranged on an outer surface of one of the main units, The outer surface of the main unit also has a plurality of spring slots. The external battery is box-shaped and is detachably arranged on the outer surface of the main unit through a plurality of spring clamping grooves.

Images