Electric drive type comprehensive detection vehicle and track inspection method

Abstract

The invention discloses an electric drive type comprehensive detection vehicle and a track inspection method, and the detection vehicle comprises a walking unit, and a control unit, a seat unit, a power supply unit, an overhead line system detection unit and a track inspection unit which can be quickly disassembled and assembled on the walking unit, the power supply unit is electrically connected with the walking unit, the control unit, the contact network detection unit and the track inspection unit and provides working power for all the units, the control unit is arranged at the front end of the walking unit and comprises a control board, an industrial personal computer and an electric control system, the industrial personal computer and the electric control system are integrated in the control board, and the industrial personal computer is electrically connected with the contact network detection unit and the track inspection unit. And the electric control system receives and processes the image data, is electrically connected with the walking unit, and controls the walking unit to work under the control of the control console. Modular design is adopted in the overall structure, assembly and disassembly of upper and lower tracks can be achieved in a short time, carrying is convenient, the applicable scene is expanded, rapid and real-time automatic non-contact detection is achieved, the overhauling efficiency is greatly improved, and safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of track inspection, and in particular to an electric-driven comprehensive inspection vehicle and a track inspection method. Background Art

[0002] With the extension of rail line operating mileage and the construction of complex environment lines, the reliability requirements for rail line health status inspection are becoming more and more stringent. At the same time, with the continuous increase in rail line mileage and inspection frequency, higher requirements are placed on the convenience and efficiency of the entire process of rail inspection and maintenance.

[0003] At present, the mainstream inspection method at home and abroad is a combination of manual inspection and large-scale inspection vehicles. The main objects of daily track inspection include sleepers / track plates, rails, fasteners, contact networks and other key points that affect the safe operation of trains. Existing large-scale inspection vehicles mainly include high-speed comprehensive inspection trains, comprehensive track inspection vehicles, etc. Although various types of detection devices can be selected according to needs, the detection accuracy is generally low, and they only have data collection and simple automatic identification functions. The final track inspection results still rely mainly on manual re-judgment. The time for disease discovery and treatment is long, and it cannot be handled in time. At the same time, it takes up a lot of human resources and skylight (vehicle downtime); in addition, due to the high procurement cost of large-scale inspection vehicles, the number of equipment is relatively small, which restricts the inspection frequency. As a supplementary means of large-scale vehicle inspection, manual inspection has problems such as low efficiency, high labor intensity, and some inspection points cannot be covered.

[0004] In view of the shortcomings of large vehicles and manual measurement, some domestic companies have gradually begun to explore inspection vehicles based on lightweight small vehicles, such as the Chinese patents with authorization announcement numbers CN 221418254 U, CN 221251162 U and CN 115303303 B. These inspection vehicles are all self-contained structures with a large overall size. They require special equipment and special channels to be transported to the site, which is inconvenient to use. Summary of the invention

[0005] The purpose of the present invention is to propose an electric-driven comprehensive inspection vehicle and a track inspection method in view of the shortcomings of the prior art, which can realize real-time inspection of the track line. At the same time, the overall structure adopts a modular design, simplifies the equipment structure, can be disassembled and assembled on and off the track in a short time, is easy to carry, and expands the applicable scenarios. Operators can combine and install various detection systems according to work requirements, quickly and automatically perform non-contact detection in real time, and discover diseases and defects in time, greatly improve maintenance efficiency, and improve safety.

[0006] The technical solution to achieve the purpose of the present invention is:

[0007] An electric-drive comprehensive inspection vehicle comprises a running unit and an operating unit that can be quickly disassembled and assembled on the running unit, a seat unit, a power supply unit, a contact network detection unit and a track inspection unit. The power supply unit is electrically connected to the running unit, the operating unit, the contact network detection unit and the track inspection unit to provide working power for each unit. The operating unit is arranged at the front end of the running unit, and comprises an operating console and an industrial computer and an electronic control system integrated in the operating console. The industrial computer is electrically connected to the contact network detection unit and the track inspection unit to receive and process image data. The electronic control system is electrically connected to the running unit to control the running unit to work under the operation of the operating console.

[0008] Furthermore, the seat unit and the operating table are provided with first positioning tubes at both ends in the length direction of the bottom, the first positioning tubes are provided with locking buckles, and the upper surface of the running unit is provided with first positioning columns corresponding to the first positioning tubes, and the first positioning tubes are fixed and locked by the locking buckles after being inserted into the corresponding first positioning columns.

[0009] Furthermore, a second positioning tube is provided at the bottom of the seat unit, and the second positioning tube and the first positioning tube are respectively located at both ends of the width direction of the seat unit; a second positioning column corresponding to the second positioning tube is provided on the running unit, and the second positioning column is inserted in the second positioning tube; a quick clamp is provided at the front end of the running unit, and the bottom front end of the operating table is fixedly connected to the running unit through the quick clamp.

[0010] Furthermore, the upper surface of the running unit is provided with a limiting area and a positioning area respectively adapted to the power supply unit and the contact network detection unit, the power supply unit is inserted in the limiting area and the edge is tightly fitted with the edge of the limiting area, the bottom of the contact network detection unit is in contact with the positioning area and is connected to the running unit by a handle screw.

[0011] Furthermore, the limiting area is surrounded by a plurality of limiting protrusions fixedly mounted on the running unit.

[0012] Furthermore, the running unit includes a running platform assembled from a base frame and a support plate, the bottom of the running platform is provided with a driven system and a driving system respectively located at the front and rear ends, the driving system is provided with a braking system, the first positioning tube, the second positioning tube and the quick clamp are all arranged on the base frame, and the bottom of the contact network detection unit is connected to the base frame and the support plate at the same time.

[0013] Furthermore, the drive system is a drive bridge structure, including a drive motor, a differential reducer and two drive shafts with drive wheels mounted on the outer ends respectively, and the inner ends of the two drive shafts are connected to the drive motor via the differential reducer.

[0014] Furthermore, the driven system is a semi-axle structure, including two driven shafts with driven wheels on the outside, one of which is equipped with an encoder on the inside, and the encoder is signal-connected to the industrial computer, the contact network detection unit and the track inspection unit.

[0015] Furthermore, the driving wheel and the driven wheel are made of aluminum alloy hubs, which are in the shape of standard LM treads and are wrapped with a layer of polyurethane on the outside to enhance the adhesion coefficient and insulation.

[0016] Furthermore, the braking system includes a brake pedal installed on the traveling platform and a brake disc and a brake caliper installed on the driving shaft.

[0017] Furthermore, the brake pedal includes a foot brake and a hand brake, which respectively realize driving brake and parking brake.

[0018] Furthermore, the seat unit includes three positions arranged in a single row, which are respectively used by a driver, a safety officer and an inspector to meet actual work needs.

[0019] Furthermore, the control console is integrated with a human-machine interaction interface for real-time viewing of relevant parameters such as driving speed, remaining battery power, and real-time current.

[0020] Furthermore, the track inspection unit is a 3D track inspection system, and a first mounting frame is symmetrically provided at the front end of the operating unit. The 3D track inspection system includes a 3D track detection component detachably mounted on the first mounting frame. The 3D track detection component consists of a laser and a laser profiler, which is signal-connected to the running unit and electrically connected to the industrial computer. The work is triggered by the start of the running unit and the collected data is sent to the industrial computer.

[0021] Furthermore, the track inspection unit is a 2D track inspection system, the front end of the control unit is symmetrically provided with a second mounting frame, the bottom of the running unit is symmetrically provided with a third mounting frame, the 2D track inspection system includes four groups of area array detection components and two groups of linear array detection components, the area array detection components are detachably and symmetrically arranged at both ends of the two second mounting frames, and are horizontally arranged perpendicular to the forward direction of the electric drive comprehensive inspection vehicle, the linear array detection components are detachably arranged on the third mounting frame, the area array detection components and the linear array detection components are both connected to the running unit signal and electrically connected to the industrial computer, the work is triggered by the start of the running unit and the collected data is sent to the industrial computer.

[0022] Furthermore, the area array detection component includes four laser light sources and a group of area array cameras. When the traveling unit moves forward, the encoder sends a trigger signal to the area array camera, the area array camera performs image acquisition and transmits the image data to the industrial computer. The industrial computer fits the track plane image data and outputs a two-dimensional plane map of the actual track state to realize non-contact track inspection.

[0023] Furthermore, the linear array detection component includes a second laser light source and a group of linear array cameras. The lens of the linear array camera is facing the top of the rail. When the running unit moves forward, the encoder sends a trigger signal to the linear array detection component. The linear array detection component acquires an image and transmits the image data to the industrial computer. The industrial computer fits the image data of the top of the rail and outputs a two-dimensional plane map of the actual top of the rail for non-contact track inspection.

[0024] Furthermore, the area array detection component, the line array detection component and the 3D track detection component are all equipped with a heat dissipation system.

[0025] Furthermore, the industrial computer is loaded with an image processing system, which includes image acquisition, damage identification, cache queue setting and reader-writer model. The data collected by the area array detection component is transmitted to the industrial computer, stored by the cache unit and enters the application cache queue. After damage identification processing, the reader-writer model merges the image data in the memory and stores them in batches on the hard disk.

[0026] Furthermore, the frames of the running unit, the operating unit and the seat unit are all welded from high-strength aluminum alloy pipes.

[0027] Furthermore, it also includes the notebook display. The operating table is provided with a mounting table compatible with the notebook display. The notebook display is placed on the mounting table and connected to the industrial computer and the power supply unit, and can display the detection results of the contact network detection unit and the track inspection unit in real time under the operating status.

[0028] Furthermore, the power supply unit is a lithium battery, which can achieve long-distance detection mileage and longer operating time.

[0029] Furthermore, a headlamp is provided at the front end of the control unit, a horn is provided at the front end of the running unit, and a clearance light is provided at the rear end.

[0030] A track inspection method, using the electric drive integrated inspection vehicle as described above, comprises the following steps:

[0031] Step S1: transport the running unit to the track, assemble the control unit, the seat unit, the power supply unit, the contact network detection unit and the track inspection unit on the running unit, and complete the assembly of the whole vehicle;

[0032] Step S2: The driver controls the control unit to control the forward, backward and cruise of the inspection vehicle. The driving wheel of the running unit is equipped with an encoder connected to the contact network inspection unit and the track inspection unit. The encoder sends a trigger signal to the contact network inspection unit and the track inspection unit to collect data in real time.

[0033] Step S3: The overhead line detection unit and the track inspection unit transmit the collected image data to the industrial computer for fitting, output a two-dimensional plane map or a three-dimensional depth map of the actual track state, and detect abnormalities in real time.

[0034] By adopting the above technical solution, the present invention has the following beneficial effects:

[0035] (1) The present invention adopts a modular structure design for the traditional integrated inspection vehicle. Each functional module can be quickly disassembled and assembled in a short time, which is convenient for transportation and expands the applicable scenarios. Operators can combine and install various inspection systems according to work requirements, and quickly and automatically perform non-contact inspection in real time to detect diseases and defects in time, greatly improving inspection efficiency and safety.

[0036] (2) The present invention can realize the assembly of the operating unit, the seat unit and the running unit through a simple positioning and locking structure, which is convenient for assembly and disassembly.

[0037] (3) The present invention further improves the installation firmness of the control unit and the seat unit by adding a quick clamp and a positioning structure composed of a second positioning tube and a second positioning column.

[0038] (4) The present invention limits the power supply unit through the limiting area, which not only ensures the stability of the power supply unit when placed on the running unit, but also facilitates the charging and replacement. The contact network detection unit can be quickly installed through the handle screws. The structure is simple and can be quickly assembled.

[0039] (5) The present invention cleverly designs the position of the positioning and locking structure, which can not only realize the positioning and locking of the corresponding unit, but also enable the chassis with greater structural strength to bear the weight of the main module, and reinforce the overall structure through the seat unit, control unit and contact network detection unit, thereby improving the stability of the overall structure.

[0040] (6) The present invention adopts a 2D or 3D track inspection system. When a 2D track inspection system is adopted, the cost is lower, and when a 3D track inspection system is adopted, the structure is more concise. When a 2D track inspection system is adopted, four groups of area array detection components are combined with two groups of linear array detection components. The overall cost is reduced by at least half compared with a 3D track inspection system composed of two groups of 3D track detection components.

[0041] (7) The present invention optimizes the traditional image processing method, adds a cache unit for applying a cache queue, and optimizes the simple data→memory model in the traditional detection vehicle image processing method to a data→cache→memory model, thereby solving the problem of writing extremely large amounts of data to the area array detection component under high-speed cruising conditions, and can achieve real-time detection at a maximum speed of 15 km / h.

[0042] (8) The main structure of the present invention is made of high-strength aluminum alloy pipes, which ensures the strength requirements while being lighter. The weight of the entire vehicle including all units does not exceed 180kg, and the heaviest module is 65kg, which is easy to carry. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein:

[0044] Figure 1 It is a structural schematic diagram of Example 1;

[0045] Figure 2 This is a schematic diagram of the main viewing direction structure of Example 1 (the track inspection unit is omitted in the figure);

[0046] Figure 3 This is a schematic diagram of the structure of the running unit of Example 1;

[0047] Figure 4 is a simplified structural diagram of the driving system of Example 1;

[0048] Figure 5 This is a schematic diagram of the structure of Example 2.

[0049] The reference numerals in the accompanying drawings are:

[0050] Traveling unit 1, traveling platform 1-1, chassis 1-1-1, support plate 1-1-2, driven system 1-2, driven wheel 1-2-1, driven shaft 1-2-2, encoder 1-2-3, drive system 1-3, drive motor 1-3-1, differential reducer 1-3-2, drive wheel 1-3-3, drive shaft 1-3-4, brake system 1-4, brake pedal 1-4-1, brake disc 1-4-2, brake caliper 1-4-3, horn 1-5, clearance light 1-6, control unit 2, control panel 2-1, installation Platform 2-1-1, human-computer interaction interface 2-1-2, industrial computer 2-2, electronic control system 2-3, headlight 2-4, seat unit 3, power supply unit 4, contact network detection unit 5, track inspection unit 6, area array detection component 6-1, two sets of linear array detection components 6-2, notebook display 7, first positioning tube 8, lock 9, first positioning column 10, quick clamp 11, second positioning tube 12, second positioning column 13, limit area 14, positioning area 15, first mounting frame 16, second mounting frame 17, third mounting frame 18. DETAILED DESCRIPTION

[0051] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] (Example 1)

[0053] like Figures 1 to 4 The electric drive comprehensive inspection vehicle shown adopts a modular structure design, including a running unit 1, a control unit 2, a seat unit 3, a power supply unit 4, a contact network detection unit 5 and a track inspection unit 6 that can be quickly assembled together, wherein the power supply unit 4 is electrically connected to the running unit 1, the control unit 2, the contact network detection unit 5 and the track inspection unit 6 to provide working power for each unit. The control unit 2 is arranged at the front end of the running unit 1, including a control panel 2-1 and an industrial computer 2-2 and an electric control system 2-3 integrated in the control panel 2-1. The industrial computer 2-2 is electrically connected to the contact network detection unit 5 and the track inspection unit 6 to receive and process the collected image data. The electric control system 2-3 is electrically connected to the running unit 1 to control the running unit 1 to work under the control of the control panel 2-1. By optimizing the traditional integrated inspection vehicle into a modular structure design, each functional module can be quickly disassembled, and can be disassembled and assembled in a short time, which is convenient for transportation and expands the applicable scenarios. Operators can combine and install various inspection systems according to work requirements, and perform rapid and real-time automatic non-contact inspection to detect diseases and defects in time, greatly improve maintenance efficiency and improve safety.

[0054] Specifically, the frames of the running unit 1, the operating unit 2 and the seat unit 3 are all welded from high-strength aluminum alloy pipes, which ensure the strength requirements while being lighter. The weight of the whole vehicle including all units does not exceed 180kg, and the heaviest module is 65kg. The overall dimensions are 225x175x140mm in length, width and height, which is easy to carry.

[0055] The running unit 1 includes a running platform 1-1, a driven system 1-2, a driving system 1-3 and a braking system 1-4. The running platform 1-1 is assembled by a rectangular structure chassis 1-1-1 and a support plate 1-1-2 by screws. A speaker 1-5 is provided at the front end of the running platform 1-1, and a clearance light 1-6 is provided at the rear end. The driven system 1-2 and the driving system 1-3 are arranged in parallel and are respectively mounted at the front end and the rear end of the bottom of the running unit 1 to realize rear-wheel drive. The driving system 1-3 is a driving bridge structure, including a driving motor 1-3-1, a differential reducer 1-3-2 and two driving shafts 1-3-4 with driving wheels 1-3-3 respectively mounted at the outer ends. The inner ends of the two driving shafts 1-3-4 are connected to the driving motor 1-3-1 through the differential reducer 1-3-2. The driven system 1-2 is a semi-axle structure, including two driven shafts 1-2-2 with driven wheels 1-2-1 installed on the outside, and an encoder 1-2-3 is installed on the inside of one of the driven shafts 1-2-2. The encoder 1-2-3 is connected to the industrial computer 2-2, the contact network detection unit 5 and the track inspection unit 6. The driving wheel 1-3-3 and the driven wheel 1-2-1 are both made of aluminum alloy wheels, with a standard LM tread shape, and a layer of polyurethane wrapped on the outside to enhance the adhesion coefficient and improve the running stability of the inspection vehicle. The braking system 1-4 includes a brake pedal 1-4-1 installed on the running platform 1-1, a brake disc 1-4-2 and a brake caliper 1-4-3 installed on the driving shaft 1-3-4. The brake pedal 1-4-1 includes a foot brake and a hand brake, which respectively realize driving brake and parking brake.

[0056] In order to facilitate real-time observation of the detection structure, this embodiment is provided with a notebook display 7. A mounting table 2-1-1 compatible with the notebook display 7 is provided on the control panel 2-1. The notebook display 7 is placed on the mounting table 2-1-1 and connected to the industrial computer 2-2 and the power supply unit 4, so as to display the detection results of the contact network detection unit and the track inspection unit in real time. A headlight 2-4 is provided at the front end of the control panel 2-1, which can improve driving safety and provide lighting for the detection unit, thereby improving image clarity. The control panel 2-1 is also integrated with a human-machine interaction interface 2-1-2 for real-time viewing of relevant parameters such as the driving speed, remaining battery power, and real-time current of the detection vehicle.

[0057] The first positioning tubes 8 are provided at both ends of the bottom length direction of the seat unit 3 and the control panel 2-1. The first positioning tubes 8 are sleeved with lock buckles 9. The upper surface of the running platform 1-1 is provided with first positioning columns 10 located on the base frame 1-1-1. The first positioning tubes 8 correspond to the first positioning columns 10 and are plugged one by one. By tightening the lock buckles 9, they are quickly fixed on the running unit 1. The front end of the base frame 1-1-1 is also provided with a quick clamp 11. The bottom front end of the control panel 2-1 is fixedly connected to the running unit 1 through the quick clamp 11 to improve the connection firmness. The seat unit 3 is located at the rear side of the control unit 2, including 3 positions arranged in a single row, which are used by the driver, safety officer and inspector respectively to meet the actual operation needs. A second positioning tube 12 is provided at both ends of the bottom length direction of the seat unit 3. The second positioning tube 12 and the first positioning tube 8 are respectively located at both ends of the width direction of the seat unit 3. The walking platform 1-1 is provided with a second positioning column 13 corresponding to the second positioning tube 12. The second positioning column 13 is located on the base frame 1-1-1 and inserted into the second positioning tube 12, so that the installation of the seat unit 3 is more stable.

[0058] The upper surface of the running platform 1-1 is also provided with a limiting area 14 and a positioning area 15 respectively adapted to the power supply unit 4 and the contact network detection unit 5. The power supply unit 4 is a lithium battery with a cubic structure, which can achieve long-distance detection mileage and a longer operating time. The limiting area 14 is surrounded by four limiting protrusions of an L-shaped structure fixedly installed on the running platform 1-1. The power supply unit 4 is inserted into the limiting area 14 and the corners are tightly fitted with the inner sides of the four limiting protrusions respectively, so that the power supply unit 4 can be quickly assembled, which not only ensures the stability of the power supply unit 4 placed on the running unit 1, but also facilitates charging and replacement. The bottom of the contact network detection unit 5 fits with the positioning area, and is connected to the base frame 1-1-1 and the support plate 1-1-2 and fixed to the running platform 1- through handle screws to achieve quick assembly. By cleverly designing the position of the positioning and locking structure, the corresponding unit can be positioned and locked, and the base frame with greater structural strength can bear the weight of the main module. The overall structure is reinforced by the seat unit 3, the operating unit 2 and the contact network detection unit 5 to improve the stability of the overall structure.

[0059] The contact network detection unit 5 includes a laser and a laser profiler. The laser and the laser profiler are connected to the industrial computer 2-2. When the detection vehicle moves forward, the laser receives the trigger signal sent by the encoder 1-2-3 and emits a laser line to the contact network. The laser profiler collects the contact network image data formed by the laser line and transmits the image data to the industrial computer 2-2. The industrial computer 2-2 fits the contact network image data and outputs a three-dimensional contact network image in the actual state to realize non-contact contact network detection.

[0060] The track inspection unit 6 is a 3D track inspection system. A first mounting frame 16 is symmetrically provided at the front end of the operating console 2-1. The 3D track inspection system includes a 3D track detection component detachably mounted on the first mounting frame 16. The 3D track detection component consists of a laser and a laser profiler, and is equipped with a heat dissipation system. It is signal-connected to the running unit 1 and electrically connected to the industrial computer. It has the same detection principle as the contact network detection unit 5. It is triggered by the start of the running unit and the collected data is sent to the industrial computer to achieve real-time detection.

[0061] The method for performing track inspection using the above-mentioned electric drive comprehensive inspection vehicle comprises the following steps:

[0062] Step S1: transport the running unit 1 to the track, assemble the control unit 2, the seat unit 3, the power supply unit 4, the contact network detection unit 5 and the track inspection unit 6 on the running unit, and complete the assembly of the whole vehicle;

[0063] Step S2: The driver controls the control unit 2 to control the forward, backward and cruise control of the inspection vehicle, and the encoder sends a trigger signal to the contact network inspection unit and the track inspection unit to collect data in real time;

[0064] Step S3: The overhead line detection unit and the track inspection unit transmit the collected image data to the industrial computer for fitting, output a three-dimensional plane map of the actual track state, and detect abnormalities in real time.

[0065] This embodiment adopts a modular structure design for the traditional integrated inspection vehicle. Each functional module can be quickly disassembled, and can be disassembled and assembled in a short time, which is convenient for transportation and expands the applicable scenarios. Operators can combine and install various inspection systems according to work requirements, and perform rapid and real-time automatic non-contact inspection to detect diseases and defects in time, greatly improve maintenance efficiency, and improve safety.

[0066] (Example 2)

[0067] This embodiment is similar to Embodiment 1, except that the track inspection unit 6 uses a 2D track inspection system to replace a 3D track inspection system, which reduces the cost by at least half. Figure 5As shown, the front end of the control unit 2 is symmetrically provided with a second mounting frame 17, and the bottom of the running unit 1 is symmetrically provided with a third mounting frame 18. The 2D track inspection system includes four groups of area array detection components 6-1 and two groups of linear array detection components 6-2. The area array detection components are detachably symmetrically arranged at both ends of the two second mounting frames 17, connected by mutually matching slots, and arranged horizontally along a direction perpendicular to the forward direction of the electric drive integrated inspection vehicle. The linear array detection components 6-2 are detachably arranged on the third mounting frame 18, and are also connected by mutually matching slots. The area array detection components and the linear array detection components are both connected to the running unit signal and electrically connected to the industrial control computer. The encoder triggers the work and sends the collected data to the industrial control computer. The area array detection components and the linear array detection components are both equipped with a heat dissipation system.

[0068] Specifically, the area array detection component 6-1 includes four laser light sources and a group of area array cameras. When the running unit moves forward, the encoder sends a trigger signal to the area array camera, the area array camera performs image acquisition and transmits the image data to the industrial computer. The industrial computer fits the track plane image data and outputs a two-dimensional plane map of the actual track status to realize non-contact track inspection.

[0069] The linear array detection component includes a laser light source and a group of linear array cameras. The lens of the linear array camera is facing the top of the rail. When the running unit moves forward, the encoder sends a trigger signal to the linear array detection component. The linear array detection component acquires the image and transmits the image data to the industrial computer. The industrial computer fits the image data of the top of the rail and outputs a two-dimensional plane map of the actual top of the rail for non-contact track inspection.

[0070] Taking into account the large amount of data collected by the area array camera, the traditional industrial computer 1 cannot meet the requirements of real-time image processing under high-speed conditions. In this embodiment, an image processing system is installed in the industrial computer 1. The image processing system includes image acquisition, damage recognition, cache queue setting and reader-writer model. The data collected by the area array detection component is transmitted to the industrial computer, stored by the cache unit and enters the application cache queue. After damage recognition processing, the reader-writer model merges the image data in the memory and stores them in batches on the hard disk.

[0071] Although the cost of area array cameras is lower, the data volume is 4-5 times that of linear array cameras. The performance of existing industrial computers cannot support the direct storage of image data into hard disks. Therefore, similar 2D detection systems previously only used linear array cameras. The linear array detection system needs to be implemented through array modules of multiple linear array cameras. The modules are large in size and need to be more than 1500mm in length, which is inconvenient to store. Limited by the difficulty of writing data, two methods are often used: real-time recognition with a few cameras and post-recognition with multiple cameras. The real-time recognition mode with a few cameras has the disadvantages of low detection accuracy, poor imaging quality, and an unsmooth human-computer interaction interface under high-speed cruising conditions. Post-recognition with multiple cameras cannot achieve real-time maintenance, and the improvement of maintenance efficiency is limited. This embodiment adopts a solution of packaging four area array camera modules, and designs an application cache queue → reader-writer model → merges image data in memory → reduces system call frequency. It changes the simple data → memory model to a data → cache → memory model, thereby solving the problem of writing extremely large amounts of data for area array cameras under high-speed cruising conditions, realizing real-time recognition of multiple cameras, greatly improving maintenance efficiency, and the imaging quality of the area array detection system is higher, the human-computer interaction interface is smoother, the detection efficiency is higher, and the size of a single module is greatly reduced.

[0072] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric drive comprehensive inspection vehicle, characterized in that: It includes a running unit and an operating unit that can be quickly disassembled and assembled on the running unit, a seat unit, a power supply unit, a contact network detection unit and a track inspection unit. The power supply unit is electrically connected to the running unit, the operating unit, the contact network detection unit and the track inspection unit to provide working power for each unit. The operating unit is arranged at the front end of the running unit, and includes an operating console and an industrial computer and an electronic control system integrated in the operating console. The industrial computer is electrically connected to the contact network detection unit and the track inspection unit to receive and process image data. The electronic control system is electrically connected to the running unit to control the operation of the running unit under the operation of the operating console.

2. The electric drive comprehensive inspection vehicle according to claim 1, characterized in that: The seat unit and the operating table are provided with first positioning tubes at both ends in the length direction of the bottom, and the first positioning tubes are provided with locking buckles. The upper surface of the running unit is provided with first positioning columns corresponding to the first positioning tubes. The first positioning tubes are fixed and locked by the locking buckles after being inserted into the corresponding first positioning columns.

3. The electric drive comprehensive inspection vehicle according to claim 2, characterized in that: A second positioning tube is provided at the bottom of the seat unit, and the second positioning tube and the first positioning tube are respectively located at the two ends of the width direction of the seat unit; a second positioning column corresponding to the second positioning tube is provided on the running unit, and the second positioning column is inserted in the second positioning tube; a quick clamp is provided at the front end of the running unit, and the bottom front end of the operating table is fixedly connected to the running unit through the quick clamp.

4. The electric drive comprehensive inspection vehicle according to claim 3, characterized in that: The upper surface of the running unit is provided with a limiting area and a positioning area which are respectively adapted to the power supply unit and the contact network detection unit. The power supply unit is inserted in the limiting area and its edge is tightly fitted with the edge of the limiting area. The bottom of the contact network detection unit is in contact with the positioning area and is connected to the running unit by a handle screw.

5. The electric drive comprehensive inspection vehicle according to claim 4, characterized in that: The traveling unit includes a traveling platform assembled by a base frame and a support plate. The bottom of the traveling platform is provided with a driven system and a driving system respectively located at the front and rear ends. The driving system is provided with a braking system. The first positioning tube, the second positioning tube and the quick clamp are all arranged on the base frame. The bottom of the contact network detection unit is connected to the base frame and the support plate at the same time.

6. The electric drive comprehensive inspection vehicle according to claim 1, characterized in that: The track inspection unit is a 3D track inspection system. A first mounting frame is symmetrically provided at the front end of the operating unit. The 3D track inspection system includes a 3D track detection component detachably mounted on the first mounting frame. The 3D track detection component consists of a laser and a laser profiler, which is connected to the running unit signal and electrically connected to the industrial computer. The running unit is started to trigger the work and send the collected data to the industrial computer.

7. The electric drive comprehensive inspection vehicle according to claim 1, characterized in that: The track inspection unit is a 2D track inspection system. A second mounting frame is symmetrically provided at the front end of the operating unit, and a third mounting frame is symmetrically provided at the bottom of the running unit. The 2D track inspection system includes four groups of area array detection components and two groups of linear array detection components. The area array detection components are detachably and symmetrically provided at both ends of the two second mounting frames, and the linear array detection components are detachably provided on the third mounting frame. The area array detection components and the linear array detection components are both connected to the running unit signal and electrically connected to the industrial control computer. The work is triggered by the start of the running unit and the collected data is sent to the industrial control computer.

8. The electric drive comprehensive inspection vehicle according to claim 7, characterized in that: The industrial computer is equipped with an image processing system, which includes image acquisition, damage identification, cache queue setting and reader-writer model. The data collected by the area array detection component is transmitted to the industrial computer, stored by the cache unit and enters the application cache queue. After damage identification processing, the reader-writer model merges the image data in the memory and stores them in batches on the hard disk.

9. The electric drive comprehensive inspection vehicle according to claim 1, characterized in that: The frames of the running unit, the operating unit and the seat unit are all welded from high-strength aluminum alloy pipes.

10. A track inspection method, using the electric drive integrated inspection vehicle according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1: transport the running unit to the track, assemble the control unit, the seat unit, the power supply unit, the contact network detection unit and the track inspection unit on the running unit, and complete the assembly of the whole vehicle; Step S2: The driver controls the control unit to control the forward, backward and cruise of the inspection vehicle. The driving wheel of the running unit is equipped with an encoder connected to the contact network inspection unit and the track inspection unit. The encoder sends a trigger signal to the contact network inspection unit and the track inspection unit to collect data in real time. Step S3: The overhead line detection unit and the track inspection unit transmit the collected image data to the industrial computer for fitting, output a two-dimensional plane map or a three-dimensional depth map of the actual track state, and detect abnormalities in real time.

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