Railway line detection intelligent robot

Abstract

The invention relates to the technical field of robots, in particular to a railway line detection intelligent robot which comprises a main body, and the main body is provided with a walking mechanism used for driving the robot to walk; the image acquisition module is used for acquiring railroad sleepers, railroad sleeper spike bolt images, oil coating processes, steel rail surface profiles and the like; the intelligent sensing system is used for acquiring railway detection information; the detection information comprises identification and accurate positioning of railroad sleeper spikes and bolts, detection of positions and states of the railroad sleeper spikes and bolts, measurement of rail gauges and surface profiles and the like; the intelligent control technology management platform is used for receiving the detection information of the intelligent sensing system and the image data transmitted by the image acquisition module and carrying out statistical analysis; and the oil coating mechanism is used for synchronously carrying out oil coating operation on the railway sleeper spike bolt. According to the railway sleeper spike bolt oiling device, the railway sleeper spike bolt oiling efficiency and quality are improved, multi-directional detection and image acquisition of a steel rail are achieved, and the automation degree is high.

Description

Technical Field

[0001] The present invention relates to the technical field of railway detection, and in particular to an intelligent robot for railway line detection. Background Art

[0002] The strength and wear resistance of existing rails have been greatly improved compared with the past, but the defects are still not completely avoided. For example, the railroad sleeper spike bolts are unable to be disassembled or fail due to long-term corrosion. Railway safety cannot be ignored. In order to ensure the safe use of rails, it is necessary to regularly inspect the corrosion status of railroad sleeper spike bolts, the surface profile size of the rails, and the size and depth of damage to the surface of the rail profile.

[0003] The initial detection method was manual measurement through visual inspection and simple and inaccurate tools. The labor intensity of the operators was high, and the rust prevention of spike bolts was also done by manual oiling, which was inefficient and the quality of oiling could not be controlled, which easily resulted in waste of rust-proof oil. With the continuous development of technology, railway line detection devices can be used to detect railway lines, but the existing detection devices cannot accurately locate railway sleeper bolts, and it is difficult to quickly detect the rust status of railway sleeper spike bolts and accurately oil them. In addition, it is impossible to obtain the surface profile size of the rail and the size and depth of the damage on the rail profile surface in a timely manner, resulting in delays and interference in railway maintenance work. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and propose to design an intelligent robot for railway line inspection, which can realize the detection of the rust state of railway sleeper spike bolts and accurate oiling, as well as obtain the surface profile size of the rail and the size and depth of the damage on the rail profile surface, with diverse functions and high degree of automation.

[0005] The technical solution adopted by the present invention to solve the technical problem is: A railway line detection intelligent robot comprises a main body, on which is provided: Walking mechanism, used to drive the robot to walk on the rails; An image acquisition module is used to collect image data, including images of railway sleepers, images of railway sleeper spike bolts and the oiling process, and the surface profile of the rails; The oiling mechanism is used to carry out quantitative oiling operation on railway sleeper spike bolts synchronously; The intelligent sensing system is used to obtain railway inspection information; specifically, the inspection information includes identifying and accurately locating railway sleeper spike bolts, detecting the position and status of railway sleeper spike bolts, measuring the rail gauge and gauge change, detecting the surface profile size of the rail (rail damage) and the size and depth of rail profile surface damage, measuring the level, height, direction, and distortion of the rails, detecting the track structure status, roadbed settlement and structural status, etc.

[0006] The intelligent control technology management platform is used to receive the detection information of the intelligent perception system and the image data transmitted by the image acquisition module, and provide statistical analysis by means of machine learning, machine vision, etc. It is also used to control the walking mechanism and the oiling mechanism. It is intelligently controlled by the intelligent control technology management platform and has the functions of intelligent identification and precise positioning of railway sleeper spikes and bolts, and intelligent quantitative oiling. The oiling mechanism comprises: A mounting plate 1, fixed on the main body; Motor 1, fixed on mounting plate 1; The oil absorbing body, the center position of which is connected to the output end of the motor 1, the height of the oil absorbing body and the top of the sleeper bolt is adjusted, the motor 1 drives the oil absorbing body to rotate, and the oil absorbing body contacts, rolls and squeezes the top of the sleeper bolt to achieve synchronous quantitative oiling of the railway sleeper spike bolts; A protective cover is arranged above the oil absorbing body and fixed on a mounting plate; The oil tank is fixed on the main body and is used to supply oil to the oil absorbing body. The oil absorbing body absorbs lubricating oil and is driven by a motor to rotate and contact or squeeze the railway sleeper spike bolts. The oil absorbing body evenly applies oil to the railway sleeper spike bolts while rolling, and the working efficiency is high.

[0007] Furthermore, the main body includes a crossbeam and a frame, the frames are installed at both ends of the crossbeam, the walking mechanism and the oiling mechanism are installed at the bottom of the frame, and the intelligent control technology management platform and the oil tank are installed on the crossbeam.

[0008] Furthermore, the walking mechanism includes a driving wheel, a driving wheel bracket and a second motor; the driving wheel is mounted on the driving wheel bracket, the driving wheel bracket is mounted on the bottom of the frame, the second motor is mounted on the driving wheel bracket, and its output end is connected to the driving wheel to drive the driving wheel to rotate, so that the driving wheel runs on the track, thereby driving the entire device to run on the track.

[0009] Furthermore, the image acquisition module includes several cameras.

[0010] Furthermore, the intelligent sensing system includes: Laser radar, used to detect three-dimensional topographic maps such as the track structure status and roadbed settlement structure status; A laser distance meter to measure the distance between the insides of two rails; The attitude sensor is used to measure whether the crossbeam is perpendicular to the rail, as well as the horizontal state, height and direction of the rail, so as to monitor the inclination change of the track in real time; 3D line laser scanning sensor is used to measure the rail surface profile size (rail damage) and the size and depth of rail profile surface damage.

[0011] Furthermore, a driving wheel flexible side pressure mechanism is installed on the frame, and the driving wheel flexible side pressure mechanism includes: A driving wheel bracket, fixed on the frame; A driving wheel, mounted on a driving wheel bracket; The clamping wheel fixing plate is an inverted L-shape, the upper end surface of the clamping wheel fixing plate is fixed to the upper end surface of the driving wheel bracket, and the side surface is connected to the side surface of the driving wheel bracket through a guide column; A clamping wheel mounting plate is sleeved on the guide column; Spring 1, sleeved on the guide post between the clamping wheel mounting plate and the clamping wheel fixing plate; The clamping wheel is horizontally arranged and mounted on the clamping wheel mounting plate through a clamping wheel bracket. Under the action of spring 1, it is squeezed on the inner side of the guide rail. On the one hand, it provides a guiding function for the intelligent robot. On the other hand, it can adapt to different track gauges to ensure the stability of the intelligent robot during driving.

[0012] Furthermore, the intelligent robot also includes a track gauge measuring component for measuring the distance between the inner sides of two tracks.

[0013] Furthermore, the track gauge measurement assembly includes a mounting bracket, and the mounting bracket is provided in two groups, which are respectively installed on the frames on both sides; the mounting bracket includes a vertical part and a horizontal part, and the vertical part is detachably installed on the frame, and the horizontal part is provided in two groups, which are sequentially installed on the vertical part from top to bottom, and a laser rangefinder is installed on each horizontal part. The two laser rangefinders located at the bottom are both located at a specified distance from the upper surface of the track, and the laser rangefinder located at the bottom left is used to measure the distance L1 between the laser light source emission point of the left laser rangefinder and the railway track on the left, and the laser rangefinder located at the bottom right is used to measure the distance L2 between the laser light source emission point of the right laser rangefinder and the railway track on the right, and the two laser rangefinders located at the top are both used to measure the distance L3 between the laser light source emission points of the two laser rangefinders. The sum of L1, L2 and L3 is the track gauge between the tracks on both sides.

[0014] Furthermore, the track gauge measurement assembly includes a distance measuring adjustment plate, a bearing seat pad, a distance measuring shaft, a laser rangefinder and a downward pressure spring. The bearing seat pad is provided in two groups, located below the distance measuring adjustment plate and distributed on both sides below the distance measuring adjustment plate. A bolt runs through the top of each group of bearing seat pads and the distance measuring adjustment plate, and nuts are fixed at both ends of the bolts. A downward pressure spring is sleeved on the outer periphery of the bolt, and the downward pressure spring is located between the bearing seat pad and the distance measuring adjustment plate, and the bearing seat pad is pressed downward through the distance measuring adjustment plate and the downward pressure spring. The distance measuring shaft runs through the bottom of the two groups of bearing seat pads, and the distance measuring shaft is arranged parallel to the crossbeam. Both ends of the distance measuring shaft are equipped with magnetic distance measuring wheels, and the distance measuring wheels are placed on the railway track, can be close to the track surface and can rotate relative to the distance measuring shaft, so that the distance measuring shaft can follow the intelligent robot on the railway track. Each group of bearing seat pads is connected to a group of laser rangefinders through a connecting rod. The laser rangefinder is located below the rangefinder shaft. The rangefinder wheel can always fit on the rail under the pressure of the downward spring, ensuring that the laser rangefinder is always located at a specified distance from the upper surface of the track to ensure the accuracy of the track gauge measurement. The left laser rangefinder is used to measure the distance M1 between the laser light source emission point of the left laser rangefinder and the left track, and the right laser rangefinder is used to measure the distance M2 between the laser light source emission point of the right laser rangefinder and the right track. The distance between the two tracks is the sum of M1, M2 and the distance M3 between the laser light source emission points of the two laser rangefinders.

[0015] Furthermore, the top of the distance measuring adjustment plate is connected to the distance measuring bracket through the distance measuring rotating shaft, and the distance measuring bracket is connected to the crossbeam; a group of guide wheel mechanisms are also installed at both ends of the distance measuring shaft, and the guide wheel mechanism includes a guide wheel fixing plate and a guide wheel, the guide wheel is installed on the guide wheel fixing plate, and fits with the inner side of the track, the guide wheel fixing plate is sleeved on the distance measuring shaft, and a baffle fixed on the distance measuring shaft is provided on one side of the guide wheel fixing plate, and a pressure measuring spring is provided between the baffle and the guide wheel fixing plate, and the pressure measuring spring is sleeved on the distance measuring shaft so that the distance measuring shaft can be perpendicular to the track. A posture sensor is provided on the distance measuring adjustment plate to transmit back the horizontal direction parameters of the distance measuring adjustment plate, and a laser rangefinder for measuring the height of the track is installed on the guide wheel fixing plate, so as to detect the horizontal state of the distance measuring shaft and whether the guide wheel rotates close to the track during the track gauge measurement.

[0016] Technical effects of the present invention: Compared with the prior art, the railway line detection intelligent robot of the present invention has the following advantages: 1. The present invention can effectively prevent the railway sleeper spike bolts from rusting by intelligently applying oil to the railway sleeper spike bolts, thus providing protection for railway driving safety; 2. The present invention adopts modular design, and realizes regular detection of the corrosion state of railway sleeper spike bolts, rail surface profile size, rail profile surface damage size and depth through various functional modules, which is more intelligent, digital and information-based; 3. The present invention can accurately locate railway sleeper spike bolts, automatically complete intelligent quantitative oiling operations, and automatically generate image data of railway sleeper spike bolts before and after oiling.

[0017] The present invention is easy to maintain, can greatly reduce the labor intensity of operators, avoids the waste of rust-proofing oil in the manual operation mode, improves the efficiency and quality of oiling of railway sleeper spike bolts, and can effectively prevent the railway sleeper spike bolts from rusting through intelligent oiling protection of railway sleeper spike bolts, thereby providing protection for railway driving safety, and realizing multi-directional detection and image acquisition of rails with a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural block diagram of the railway line detection intelligent robot of the present invention; Figure 2 This is a working state diagram of the railway line detection intelligent robot of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the railway line detection intelligent robot of the present invention; Figure 4 It is a schematic diagram of the structure of the frame of the present invention and the parts installed on the frame; Figure 5 This is a schematic diagram of the structure of the oiling mechanism of the present invention; Figure 6 This is an exploded view of the protective cover structure of the present invention; Figure 7 This is a schematic diagram of the structure of the flexible side pressure mechanism of the driving wheel of the present invention; Figure 8 This is a schematic diagram of the structure of a railway track gauge measurement assembly according to Embodiment 1 of the present invention; Fig. 9 This is a schematic diagram of the structure of a railway line gauge measurement component according to Embodiment 2 of the present invention; Fig.10 This is a schematic diagram of the installation structure of the railway line gauge measurement component according to Example 2 of the present invention.

[0019] In the figure, 1, frame; 2, oil absorption body; 3, motor 1; 4, mounting plate 1; 5, protective cover; 501, outer side; 502, protective cover body; 6, mounting plate 2; 7, reinforcing ribs; 8, gasket; 9, camera; 10, connecting ear; 11, screw; 12, nut; 13, crossbeam; 14, laser radar; 15, attitude sensor; 16, 3D line laser scanning sensor; 17, laser rangefinder; 18, battery; 19, driving wheel; 20, driving wheel bracket; 21, motor 2; 22, fuel tank; 23, clamping wheel fixing Fixed plate; 24. Guide column; 25. Clamping wheel mounting plate; 26. Spring 1; 27. Clamping wheel; 28. Clamping wheel bracket; 29. ​​Mounting bracket; 2901. Vertical part; 2902. Horizontal part; 30. Distance measuring adjustment plate; 31. Bearing seat pad; 32. Distance measuring shaft; 33. Distance measuring shaft; 34. Downward pressure spring; 35. Connecting rod; 36. Distance measuring wheel; 37. Distance measuring bracket; 38. Oil pump; 39. Intelligent control technology management platform; 40. Guide wheel fixing plate; 41. Guide wheel; 42. Baffle; 43. Pressure measuring spring. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention is clearly and completely described below in conjunction with the accompanying drawings.

[0021] Embodiment 1: like Figure 1 and 2 As shown, the present embodiment involves an intelligent robot for railway line inspection, including a main body and a walking mechanism, an oiling mechanism, an intelligent sensing system, an image acquisition module, a power management module and an intelligent control technology management platform 39 arranged on the main body.

[0022] like Figure 1 As shown, the main body includes a crossbeam 13 and a frame 1 , and the frames 1 are installed at both ends of the crossbeam 13 .

[0023] like Figure 3 and 7 As shown, the walking mechanism is used to drive the entire robot to walk on the rail. Specifically, the walking mechanism includes a driving wheel 19, a driving wheel bracket 20 and a second motor 21; the driving wheel 19 is mounted on the driving wheel bracket 20, the driving wheel bracket 20 is mounted on the bottom of the frame 1, the second motor 21 is mounted on the driving wheel bracket 20, and its output end is connected to the driving wheel 19, the second motor 21 drives the driving wheel 19 to rotate, the driving wheel 19 travels on the track, and drives the intelligent robot to travel on the track.

[0024] like Figure 4 , Figure 5 and Figure 6As shown, the oiling mechanism is used to synchronously and quantitatively oil the four railway sleeper spike bolts on the sleeper. Specifically, the oiling mechanism includes an oil absorbing body 2, a motor 1 3, a mounting plate 1 4, a protective cover 5, a mounting plate 2 6, a reinforcing rib 7, a gasket 8, a camera 9, a connecting ear 10, a screw 11, and a nut 12. A group of oil absorbing bodies 2 are arranged on both sides of each frame 1, so that the bolts on both sides of the sleeper can be oiled at the same time. Specifically, the longitudinal section of the oil absorbing body 2 is circular, and its center position is connected to the output end of the motor 1 3. The motor 1 3 drives the oil absorbing body 2 to rotate, and the oil absorbing body 2 contacts or squeezes the railway sleeper spike bolts. The oil absorbing body 2 rolls and uniformly oils the railway sleeper spike bolts; gaskets 8 are arranged on both sides of the oil absorbing body 2. The motor 1 3 is fixed on the mounting plate 1 4, and a protective cover 5 is arranged above the oil absorbing body 2. The protective cover 5 is fixed to the mounting plate 1 4 by bolts; the mounting plate 1 4 is fixed to the frame 1. A mounting plate 26 is provided on the side of the oil absorbing body 2 opposite to the motor 13, and the bottom of the mounting plate 26 is connected to the protective cover 5. The top of the mounting plate 26 is connected to the top of the mounting plate 14 through a connecting plate, and the connecting plate is fixed to the frame 1 by bolts. Preferably, the mounting plate 26 and the mounting plate 14 are both connected to the connecting plate in an integral manner. A reinforcing rib 7 is also provided between the mounting plate 14 and the mounting plate 26.

[0025] Figure 3 As shown, the oil absorbing body 2 is connected to the oil tank 22 through an oil pipe and an oil pump 38, and the oil in the oil tank 22 is pumped into the oil absorbing body 2 through the oil pipe by the oil pump 38. Specifically, the oil tank 22 is fixed on the crossbeam 13. In order to prevent the oil tank 22 from leaking due to the production process or accidental collision, the oil tank 22 is made of metal one-time forming technology. The oil pump 38 adopts an intelligent oil pump to supply oil, and is connected to the intelligent control technology management platform 39, so that the oil supply speed and oil supply amount can be adjusted, and the intelligent quantitative oiling of the railway sleeper spike bolts can be realized. For example, an oil pipe is arranged just above the oil absorbing body 2, and the oil pipe passes through the protective cover 5, and the connection between the oil pipe and the protective cover 5 is sealed and fixed, and the oil pipe is connected to the oil tank 22. The oil absorbing body 2 adopts one of oil-absorbing cotton, oil-absorbing paper, oil-absorbing sponge, and oil-absorbing towel. The lubricating oil adsorbed on the oil absorbing body 2 can be liquid or semi-solid. When in use, the height of the oil absorbing body 2 and the top of the sleeper bolt is adjusted, and the motor 3 drives the oil absorbing body 2 to rotate. The oil absorbing body 2 rolls the top of the sleeper bolt and the oil absorbing body 2 rotates to achieve synchronous quantitative oiling of the railway sleeper spike bolts.

[0026] like Figure 5 and Figure 6As shown, the protective cover 5 includes a protective cover body 502 and an outer side surface 501. The outer side surface 501 of the protective cover 5 is detachably connected to the protective cover body 502 of the protective cover 5. Specifically, a connecting ear 10 is provided inside the protective cover body 502 of the protective cover 5, and a screw 11 is provided on the connecting ear 10. The outer side surface 501 of the protective cover 5 is connected to the connecting ear 10 through the screw 11 and the nut 12. This connection method makes it easy to remove the outer side surface 501 of the protective cover 5 and replace the oil absorption body 2.

[0027] The oil absorbing body 2 can cover the area of ​​the sleeper bolts and adapt to the shape and arrangement of the bolts. As a storage and distribution unit for lubricating oil, it can evenly distribute the oil to the sleeper bolts. In order to further improve the oiling efficiency, a plurality of corresponding oil absorbing bodies 2 can be set on the frame 1 according to the actual distribution of the sleepers. When the present invention is in use, the frame 1 is placed on the sleeper. When the oil absorbing body 2 is located at the sleeper bolt, oil is poured into the oil absorbing body 2, and the motor 3 is started at the same time. The motor 3 drives the oil absorbing body 2 to roll. While the oil absorbing body 2 rolls, the lubricating oil is squeezed and evenly applied to the sleeper bolts, which can effectively prevent the sleeper bolts from rusting and corrosion, and improve the safety and reliability of the railway. While the intelligent robot moves forward, it can drive the oiling mechanism to move forward and oil the sleeper bolts in turn.

[0028] The image acquisition module includes a plurality of cameras 9, which are installed at one end and the bottom of the frame 1 and one side of the crossbeam 13, and are used to collect images of railway sleepers, railway sleeper spike bolts, and rail surfaces, as well as to shoot and record the image data such as the oiling process of railway sleeper spike bolts, and upload the above data information to the intelligent control technology management platform 39 installed on the crossbeam 13. Specifically, Figure 4 As shown, the camera 9 is installed at the bottom of the frame 1 through a camera bracket and is located on one side of the oil absorbing body 2, and is used to shoot and record the oiling process of the railway sleeper spike bolts. A camera 9 (such as Figure 4 As shown, two cameras 9 can be arranged on the same side of the crossbeam 13 (as shown in FIG. Figure 3 As shown in the figure), it is used to collect images of railway sleepers, railway sleeper spike bolts and rail surfaces, thus expanding the monitoring scope.

[0029] The intelligent sensing system is used to obtain railway detection information; the detection information includes identifying and accurately locating railway sleeper spike bolts, detecting the position and status of railway sleeper spike bolts (whether they are intact), measuring the rail gauge and the rate of change of the rail gauge, detecting the surface profile of the rail (rail damage), the size and depth of the surface damage of the rail profile, measuring the level, height, direction, and distortion of the rail, detecting the track structure status, roadbed settlement and structure status, etc., and has the characteristics of stable performance and high accuracy. Specifically, the intelligent sensing system includes a laser radar 14, a posture sensor 15, a 3D line laser scanning sensor 16, a laser rangefinder 17, etc.

[0030] like Figure 3 As shown, the laser radar 14 is installed on the frame 1 and is used to detect three-dimensional topographic maps such as the track structure status and the roadbed settlement structure status.

[0031] like Figure 3 As shown, a posture sensor 15 is installed on the crossbeam 13, and the posture sensor 15 is used to measure whether the crossbeam 13 is perpendicular to the rail to ensure the measurement accuracy of the gauge measurement component when measuring the gauge. At both ends of the frame 1, posture sensors 15 are set to measure the dynamic inclination of the rail level, height, rail direction, etc., so as to realize the height difference value detection of the two rails.

[0032] like Figure 4 As shown, the 3D line laser scanning sensor 16 is installed at the other end of the frame 1 and is used to measure the surface profile size of the rail (rail damage) of the track.

[0033] like Figure 3 As shown, the laser rangefinder 17 is installed on the inner side of the frame 1, between the two rails, and is located at a specified distance from the upper surface of the rail, and is used to measure the distance between the inner sides of the two rails. To further ensure the accuracy of the track gauge measurement, a height laser rangefinder is installed on the frame 1 and directly above the rail. The height laser rangefinder is used to measure the height of each point on the rail relative to the robot and the dynamic runout data of its driving wheels 19 on the rail surface during operation, to ensure the fit between the four driving wheels 19 of the railway line inspection intelligent robot and the rail surface. When the driving wheels 19 fit on the rail surface, the track gauge measurement data is valid.

[0034] The power management module is used to supply power to the entire robot, for example, the battery 18 can be used for power supply. Figure 4 As shown, it is installed on the frame 1, located on one side of the laser radar 14. In order to ensure the safe use of the power management module, a battery monitoring system can be configured for the power management module.

[0035] Two sets of the driving wheel flexible side pressure mechanisms are installed on each set of frames 1, such as Figure 7As shown, the driving wheel flexible side pressure mechanism includes a clamping wheel fixing plate 23, a guide column 24, a clamping wheel mounting plate 25, a spring 26, a clamping wheel 27, and a clamping wheel bracket 28. The clamping wheel fixing plate 23 is an inverted L-shape, the upper end surface of the clamping wheel fixing plate 23 is fixed to the upper end surface of the driving wheel bracket 20 by bolts, and the side surface is connected to the side surface of the driving wheel bracket 20 by the guide column 24. The clamping wheel mounting plate 25 is sleeved on the guide column 24, and three guide columns 24 are provided to improve the stability of the clamping wheel mounting plate 25. The spring 26 is sleeved on the guide column 24 between the clamping wheel mounting plate 25 and the clamping wheel fixing plate 23. Preferably, two clamping wheels 27 are provided, both of which are arranged horizontally. The clamping wheels 27 are installed on the clamping wheel mounting plate 25 through the clamping wheel bracket 28 by bolts. Under the action of the spring 26, they are squeezed on the inner side of the guide rail and always press the inner side of the rail. This not only provides guidance for the intelligent robot, but also ensures the operating stability of the intelligent robot on the rail and the ability to adapt to different track gauge changes (straight or curved).

[0036] The intelligent robot also includes a track gauge measuring component for measuring the distance between the inner sides of two tracks.

[0037] As one of the feasible implementation methods, Figure 3 and Figure 8 As shown, the track gauge measurement assembly includes a mounting bracket 29, and the mounting bracket 29 is provided in two groups, which are respectively installed on the frames 1 on both sides. Specifically, the mounting bracket 29 includes a vertical portion 2901 and a horizontal portion 2902. The vertical portion 2901 is an inverted U-shaped structure, and the top is installed on the frame 1 by bolts. Two horizontal portions 2902 are provided, which are installed on the vertical portion 2901 in sequence from top to bottom. Each horizontal portion 2902 includes two horizontal plates, and the laser rangefinder 17 is installed between the two horizontal plates. The two laser rangefinders 17 located at the bottom are both located 16 mm away from the upper surface of the track. The laser rangefinder 17 located on the lower left side is used to measure the distance L1 between the laser light source emission point of the left laser rangefinder 17 and the railway track on the left, the laser rangefinder 17 located on the lower right side is used to measure the distance L2 between the laser light source emission point of the right laser rangefinder 17 and the railway track on the right, and the two laser rangefinders 17 located above are used to measure the distance L3 between the laser light source emission points of the two laser rangefinders 17. When the distances measured by the two laser rangefinders 17 above are the same, the measurement data is valid. The sum of L1, L2 and L3 is the track gauge between the two tracks. The mounting bracket 29 can move with the intelligent robot to realize dynamic detection of the track gauge and improve the accuracy and stability of the measurement.

[0038] As another feasible implementation method, Fig. 9 and Fig.10As shown, the track gauge measurement assembly includes a distance measuring adjustment plate 30, a bearing seat pad 31, a distance measuring shaft 33, a laser rangefinder 17 and a pressing spring 34. The bearing seat pad 31 is provided with two groups, which are located below the distance measuring adjustment plate 30 and distributed on both sides below the distance measuring adjustment plate 30. A bolt is passed through the top of each group of bearing seat pads 31 and the distance measuring adjustment plate 30, and nuts are fixed at both ends of the bolts. A pressing spring 34 is sleeved on the outer periphery of the bolt, and the pressing spring 34 is located between the bearing seat pad 31 and the distance measuring adjustment plate 30. The bearing seat pad 31 is pressed downward through the distance measuring adjustment plate 30 and the pressing spring 34. The distance measuring shaft 33 passes through the bottom of the two groups of bearing seat pads 31, and the distance measuring shaft 33 is arranged parallel to the crossbeam 13. Both ends of the distance measuring shaft 33 are equipped with distance measuring wheels 36. The distance measuring wheels 36 are placed on the railway track, can be close to the track surface and can rotate relative to the distance measuring shaft 33, so that the distance measuring shaft 33 can follow the intelligent robot on the railway track. Each group of the bearing seat pads 31 is connected to a group of laser rangefinders 17 through a connecting rod 35. The laser rangefinders 17 are located below the distance measuring shaft 33. The distance measuring wheels 36 can always fit on the rails under the pressure of the downward spring 34, ensuring that the laser rangefinders 17 are always located 16 mm from the upper surface of the track, ensuring the accuracy of the track gauge measurement. The left laser rangefinder 17 is used to measure the distance M1 between the laser light source emission point of the left laser rangefinder 17 and the left track, and the right laser rangefinder 17 is used to measure the distance M2 between the laser light source emission point of the right laser rangefinder 17 and the right track. The distance between the two tracks is the sum of M1, M2 and the distance M3 between the laser light source emission points of the two laser rangefinders 17.

[0039] like Fig. 9 and Fig.10As shown, the top of the distance measuring adjustment plate 30 is connected to the distance measuring bracket 37 through the distance measuring rotating shaft 32, and the distance measuring bracket 37 is connected to the crossbeam 13. In this embodiment, the laser distance meter 17 is fixed on the bearing seat cushion block 31 through the connecting rod 35, and the downward pressure spring 34 presses the bearing seat cushion block 31 downward, so that the distance measuring wheels 36 at both ends of the distance measuring shaft 33 are always attached to the rail, so that the laser distance meter 17 is always located 16 mm away from the upper surface of the track, thereby improving the accuracy and stability of the measurement and realizing dynamic detection of the track gauge. A set of guide wheel mechanisms are also installed at both ends of the distance measuring shaft 33, and the guide wheel mechanism includes a guide wheel fixing plate 40 and a guide wheel 41. The guide wheel 41 is installed on the guide wheel fixing plate 40 and fits the inner side of the track. The guide wheel fixing plate 40 is sleeved on the distance measuring shaft 33. A baffle 42 fixed on the distance measuring shaft 33 is provided on one side of the guide wheel fixing plate 40. A pressure measuring spring 43 is provided between the baffle 42 and the guide wheel fixing plate 40. The pressure measuring spring sleeve 43 is provided on the distance measuring shaft 33, which can squeeze the guide wheel fixing plate 40 so that it is always squeezed on the inner side of the track, which is conducive to making the distance measuring shaft 33 perpendicular to the track and improving the accuracy and precision of the track gauge measurement. The distance measuring adjustment plate 30 is provided with a posture sensor 15 to return the horizontal parameters of the distance measuring adjustment plate 30. The guide wheel fixing plate 40 is installed with a laser rangefinder 17 for measuring the track height, so as to detect the horizontal state of the distance measuring shaft 33 and whether the guide wheel 41 rotates close to the track during the track gauge measurement. During the operation of the intelligent robot, the intelligent control technology management platform 39 is used to receive the image data transmitted by the high-speed camera in the image acquisition module, and use image recognition technology to obtain and analyze the image of the rail surface contour to determine the state of the rail surface damage and disease (degree: high, medium, low): 1. Wear: Long-term use and train operation will cause the rail surface to wear, which is manifested as a smooth surface, with the rail head and rail waist being worn flat, and there may be depressions or protrusions; 2. Fatigue cracks: Fatigue cracks may appear on the rail surface due to long-term train loads. These cracks are usually curved and extend along the rail head or rail waist, gradually expanding and deepening. 3. Indentation: When a train passes, the wheels exert great pressure on the surface of the rail, which may cause depressions or indentations on the surface. These indentations are usually local depressions in the rail head or rail waist. 4. Corrosion: The surface of the rail may be attacked by oxidation, corrosion or chemicals, causing rust, corrosion or color changes on the surface.

[0040] 5. Rust: If the rail surface is not properly protected, rust may occur. This rust can be localized or cover the entire rail surface. 6. Shedding: If the coating or protective layer on the rail surface is not well adhered, it may fall off. This detached coating may cause the surface to be exposed and susceptible to other diseases.

[0041] The above are common manifestations of rail surface defects. Timely detection and repair of these defects are very important to ensure safe and smooth railway operation.

[0042] Laser rangefinders 17 are set at multiple locations on the robot. On the one hand, during the operation of the intelligent robot, the intelligent control technology management platform 39 is used to receive the surface contour dimensions of the rail measured in real time by the laser rangefinder 17 in the intelligent perception system to obtain the contour geometric dimension data information of the rail surface, which is used to judge the state of the rail surface disease. On the other hand, during the operation of the intelligent robot, the inner side of the specified height position of the two rails is measured in real time by the laser rangefinder 17 to obtain the rail gauge geometric change information.

[0043] During the driving process of the present invention, the intelligent sensing system identifies the railroad sleeper spike bolts on both sides of the rail, and the intelligent control technology management platform 39 controls the traveling mechanism to move forward or stop, and sends instructions to the intelligent oil pump, and the oil pump 38 first quantitatively supplies oil to the oil absorbing body 2, and completes the automatic oiling operation by contacting and rolling the top of the rail sleeper bolt and the driving wheel 19 rolling at the same time. After the oiling operation is completed, there is no need to lift the oil absorbing body 2, and the intelligent control technology management platform 39 controls the traveling mechanism to continue to travel. The above process is performed by the image acquisition module to collect images, and sent to the intelligent control technology management platform 39 in real time for data processing and storage.

[0044] When the robot is walking, when the sensor identifies an obstacle within L meters (0.5-3 meters, such as 1.5 meters, 2 meters, 2.2 meters) in front of the robot, or when the distance between the operator behind the robot and the robot is greater than M meters, the intelligent sensing system sends information to the intelligent control technology management platform 39, and the intelligent control technology management platform 39 controls the walking mechanism to stop walking. The intelligent control technology management platform controls the walking mechanism to stop walking, which can avoid collision with obstacles on the one hand, and can also achieve human-machine following on the other hand. When the human-machine separation is L meters (0.5-3 meters, such as 1.5 meters, 2 meters), it automatically stops.

[0045] The present invention uses an intelligent sensing system, with four railway sleeper spike bolts as a group, to accurately locate the railway sleeper spike bolts and automatically complete intelligent quantitative oiling; intelligent movement (custom travel speed and oiling speed) to achieve human-machine following (such as automatically stopping when the human-machine separation is 1.5 meters); automatically obtain image data of the railway sleeper spike bolts before and after oiling through an image acquisition module, and perform statistical analysis on the oiling quality; the present invention is also equipped with an internal oil tank 22, which is supplied with oil through an intelligent oil pump to achieve intelligent quantitative oiling, which not only improves the efficiency and quality of the railway sleeper spike bolt oiling, greatly reduces the labor intensity of operating employees, but also avoids the waste of anti-rust oil in the manual operation mode.

[0046] The present invention can meet various functions of railway sleeper spike bolt oiling, subvert the existing oiling working mode, and make the traditional oiling operation mode intelligent, digital, electric, lightweight and efficient.

[0047] The above-mentioned specific implementation modes are only specific cases of the present invention. The patent protection scope of the present invention includes but is not limited to the above-mentioned specific implementation modes. Any appropriate changes or modifications made thereto by any ordinary technician in the technical field in accordance with the claims of the present invention shall fall within the patent protection scope of the present invention.

Claims

1. A railway line detection intelligent robot, characterized in that: The invention comprises a main body, on which is arranged: Walking mechanism, used to drive the robot to walk on the rails; The oiling mechanism is used to carry out quantitative oiling operation on railway sleeper spike bolts synchronously; An image acquisition module, used to collect image data, the image data including images of railway sleepers, railway sleeper spike bolts and oiling process, and rail surface profile; Intelligent sensing system, used to obtain railway detection information; the detection information includes identifying and accurately locating railway sleeper spike bolts, detecting the position and status of railway sleeper spike bolts, measuring rail gauge, detecting rail surface profile dimensions and rail profile surface damage size and depth, measuring rail level, height and track direction, detecting track structure status, roadbed settlement and structure status; Intelligent control technology management platform, used to receive the detection information of the intelligent sensing system and the image data transmitted by the image acquisition module, and perform statistical analysis to control the walking mechanism and oiling mechanism; The oiling mechanism comprises: A mounting plate 1, fixed on the main body; Motor 1, fixed on mounting plate 1; An oil absorbing body, wherein the center of the oil absorbing body is connected to the output end of the motor 1, the motor 1 drives the oil absorbing body to rotate, the oil absorbing body contacts or squeezes the railway sleeper spike bolts, and the oil absorbing body evenly applies oil to the railway sleeper spike bolts while rolling; A protective cover is arranged above the oil absorbing body and fixed on a mounting plate; The oil tank is fixed on the main body and supplies oil to the oil absorbing body.

2. The railway line detection intelligent robot according to claim 1 is characterized in that: The main body comprises a crossbeam and a frame. The frames are installed at both ends of the crossbeam. The walking mechanism and the oiling mechanism are installed at the bottom of the frame. The intelligent control technology management platform and the oil tank are installed on the crossbeam.

3. The railway line detection intelligent robot according to claim 2 is characterized in that: The walking mechanism includes a driving wheel, a driving wheel bracket and a second motor; the driving wheel is mounted on the driving wheel bracket, the driving wheel bracket is mounted on the bottom of the frame, the second motor is mounted on the driving wheel bracket, and the output end of the second motor is connected to the driving wheel.

4. The railway line detection intelligent robot according to claim 2 is characterized in that: The image acquisition module includes several cameras.

5. The railway line detection intelligent robot according to claim 2, characterized in that: The intelligent sensing system comprises: Laser radar, used to detect the status of track structure and roadbed settlement structure; A laser distance meter to measure the distance between the insides of two rails; The attitude sensor is used to measure whether the crossbeam is perpendicular to the rail, and to measure the horizontal state, high and low values ​​and rail direction of the rail; 3D line laser scanning sensor is used to measure the rail surface profile size and the size and depth of rail profile surface damage.

6. The railway line detection intelligent robot according to claim 2, characterized in that: The frame is provided with a driving wheel flexible side pressure mechanism, and the driving wheel flexible side pressure mechanism comprises: A driving wheel bracket, fixed on the frame; A driving wheel, mounted on a driving wheel bracket; The clamping wheel fixing plate is an inverted L-shape, the upper end surface of the clamping wheel fixing plate is fixed to the upper end surface of the driving wheel bracket, and the side surface is connected to the side surface of the driving wheel bracket through a guide column; A clamping wheel mounting plate is sleeved on the guide column; Spring 1, sleeved on the guide post between the clamping wheel mounting plate and the clamping wheel fixing plate; The clamping wheel is arranged horizontally and is mounted on the clamping wheel mounting plate through a clamping wheel bracket.

7. The railway line detection intelligent robot according to claim 2, characterized in that: The intelligent robot also includes a track gauge measuring component for measuring the distance between the inner sides of two tracks.

8. The railway line detection intelligent robot according to claim 7, characterized in that: The track gauge measuring assembly includes a mounting bracket, and two groups of the mounting brackets are respectively mounted on the frames on both sides; the mounting bracket includes a vertical portion and a horizontal portion, and the vertical portion is detachably mounted on the frame; two horizontal portions are provided, and are sequentially mounted on the vertical portion from top to bottom; a laser rangefinder is mounted on each horizontal portion, and the laser rangefinder located on the lower left side is used to measure the distance L1 between the laser light source emission point of the left laser rangefinder and the railway track on the left side, and the laser rangefinder located on the lower right side is used to measure the distance L2 between the laser light source emission point of the right laser rangefinder and the railway track on the right side, and the two laser rangefinders located on the upper side are both used to measure the distance L3 between the laser light source emission points of the two laser rangefinders, and the sum of L1, L2 and L3 is the track gauge between the tracks on both sides.

9. The railway line detection intelligent robot according to claim 7, characterized in that: The track gauge measurement assembly includes a distance measuring adjustment plate, a bearing seat pad, a distance measuring shaft, a laser distance meter and a downward pressure spring; the bearing seat pad is provided in two groups, which are located below the distance measuring adjustment plate and distributed on both sides below the distance measuring adjustment plate, and bolts are passed through the top of each group of bearing seat pads and the distance measuring adjustment plate, nuts are fixed at both ends of the bolts, and downward pressure springs are sleeved on the outer periphery of the bolts, and the downward pressure springs are located between the bearing seat pad and the distance measuring adjustment plate; the distance measuring shaft passes through the bottom of the two groups of bearing seat pads, the distance measuring shaft is arranged parallel to the crossbeam, and magnetic distance measuring wheels are installed at both ends of the distance measuring shaft. The wheel is placed on the railway track, can be in close contact with the track surface and can rotate relative to the ranging axis; each group of the bearing seat pads is connected to a group of laser rangefinders through a connecting rod, and the laser rangefinders are located below the ranging axis. The left laser rangefinder is used to measure the distance M1 between the laser light source emission point of the left laser rangefinder and the left track, and the right laser rangefinder is used to measure the distance M2 between the laser light source emission point of the right laser rangefinder and the right track. The distance between the two tracks is the sum of M1, M2 and the distance M3 between the laser light source emission points of the two laser rangefinders.

10. The railway line detection intelligent robot according to claim 9, characterized in that: The top of the distance measuring adjustment plate is connected to the distance measuring bracket through the distance measuring rotating shaft, and the distance measuring bracket is connected to the crossbeam; a group of guide wheel mechanisms are also installed at both ends of the distance measuring shaft, and the guide wheel mechanism includes a guide wheel fixing plate and a guide wheel, the guide wheel is installed on the guide wheel fixing plate and fits with the inner side of the track, the guide wheel fixing plate is sleeved on the distance measuring shaft, a baffle fixed on the distance measuring shaft is provided on one side of the guide wheel fixing plate, a pressure measuring spring is provided between the baffle and the guide wheel fixing plate, and the pressure measuring spring is sleeved on the distance measuring shaft; a posture sensor is arranged on the distance measuring adjustment plate, and a laser rangefinder is installed on the guide wheel fixing plate.

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