Track monitoring method and monitoring device

Abstract

The invention provides a track monitoring method and device.The track monitoring method specifically comprises the steps that the track monitoring device is installed at the tops of two longitudinal beams of a construction auxiliary beam, and the track monitoring device comprises a walking track and a monitoring trolley capable of reciprocating along the walking track; the monitoring trolley comprises a controller, a laser sensor and a camera, a monitoring prism is arranged on the monitoring trolley, and a total station is arranged on the high ground near the construction auxiliary beam; the monitoring trolley is used for monitoring the rail state, the fastening state of rail fastener bolts and the settlement and spacing of rails, and when the controller monitors abnormal data, the controller gives an alarm. The monitoring method is carried out on the basis of the monitoring device arranged on the construction auxiliary beam, normal running of the track is not affected, unattended monitoring can be carried out on multiple items such as the track state, the fastening state of track fastener bolts, track settlement and track spacing through the monitoring method, and the monitoring range is wide.

Description

Technical Field

[0001] The present invention relates to the field of track monitoring, in particular to a track monitoring method and a monitoring device. Background Art

[0002] When rail transit trains are running, the tracks will be worn and vibrated, causing the track position to change. In order to ensure the normal operation of rail transit trains, it is usually necessary to regularly inspect the tracks, such as inspecting the center line of the track and the wear of the track surface. Especially for the construction of railway underpasses, it is necessary to focus on monitoring the track status of this construction section to ensure driving safety. In response to the demand for track inspection, a number of track inspection equipment have emerged that are specifically used for track inspection. During measurement, the track inspection equipment is set up on the track and then pushed to move along the track.

[0003] At present, conventional track inspection equipment mainly includes track inspection trolleys, which are convenient tools for detecting static track unevenness. It uses advanced detection and data processing equipment such as electrical sensors and dedicated portable computers to detect track unevenness parameters such as height, level, distortion, and track direction. For example, the Chinese invention patent with publication number CN109281238A discloses a track detector that uses a main beam mounted on the track and a walking wheel assembly that slides along the track to detect track data. The Chinese invention patent with publication number CN108466633A discloses a track inspection robot that can walk on a single track and maintain stability.

[0004] However, the track detection trolley in the prior art has the following technical problems: (1) The detection trolley is moving on the track. When there is a vehicle on the track, the monitoring device needs to be removed, resulting in low monitoring efficiency; (2) The inspection items are relatively single, which reduces the inspection efficiency of the track; (3) When the track vehicle vibrates, it will interfere with the monitoring accuracy; (4) It is impossible to monitor the track status of the construction section in real time; (5) Most of the equipment requires human supervision, and its practicality and convenience are poor. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a track monitoring method and a monitoring device. The monitoring method is carried out by relying on a monitoring device arranged on a construction temporary beam, and will not affect the normal operation of the track. The monitoring method can perform unattended monitoring of multiple items such as the track state, the fastening state of the track fastener bolts, the settlement of the track, and the track spacing, and has a wide monitoring range.

[0006] In order to achieve the above object, the specific scheme adopted by the present invention is: On the one hand, the present invention provides a track monitoring method, which can monitor the track placed on the crossbeam of the construction beam, and mainly includes the following steps: S1. A track monitoring device is installed on the top of two longitudinal beams of the construction beam, wherein the track is arranged between the two longitudinal beams, and the extension direction of the track is consistent with the extension direction of the longitudinal beam. The track monitoring device comprises a running track laid along the extension direction of the longitudinal beam, and a monitoring trolley capable of reciprocating along the running track, wherein the monitoring trolley is capable of monitoring the track, and the monitoring trolley comprises a controller including a receiving and processing module, and a laser displacement sensor connected to the controller that uses a first mechanical arm to perform multi-degree-of-freedom motion, and a camera that uses a second mechanical arm to perform multi-degree-of-freedom motion; S2. The monitoring vehicle can be used to monitor the track in any of the following situations: (1) After the monitoring vehicle moves to the monitoring location, the laser displacement sensor is adjusted to the target position using the first mechanical arm. The laser displacement sensor collects three-dimensional spatial data of the track. The controller receives the three-dimensional spatial data of the track and processes the data to obtain the track data, so as to monitor the status of the track. (2) After the monitoring vehicle moves to the monitoring location, the laser displacement sensor is adjusted to the target position using the first mechanical arm, and the camera is adjusted to the target position using the second mechanical arm. The laser displacement sensor collects the three-dimensional spatial data of the track, and the camera captures the image of the track fastener bolts. After the controller receives the three-dimensional spatial data of the track and the image of the track fastener bolts, it processes the data and obtains the judgment data of the tightening state of the track fastener bolts, so as to monitor the tightening state of the track fastener bolts. (3) A prism is arranged on the monitoring trolley, and a total station is arranged on a high ground near the construction beam, wherein the total station is connected to a controller; the two monitoring trolleys travel in the same direction at the same time and arrive at the corresponding monitoring location, and the laser displacement sensor measures the height of the monorail on the same side and / or the distance from the monorail to the laser displacement sensor on the same side. The total station can automatically track the prism and thus measure the position data of the monitoring trolley, and the camera can photograph the two tracks. The controller integrates the received height of the monorail on the same side and / or the distance from the monorail to the laser displacement sensor on the same side, and the position data of the monitoring trolley, and then integrates the track change data obtained by processing the image and the first integration result for a second time to obtain the track settlement and / or track spacing data, thereby being able to monitor the track settlement and / or track spacing; S3. If abnormal data is detected, an alarm will be activated to alert relevant departments.

[0007] On the other hand, the present invention provides a track monitoring device, including a running track laid on the top of the two longitudinal beams along the extension direction of the two longitudinal beams, and a monitoring cart capable of reciprocating along the running track, the two monitoring carts are arranged opposite to each other, and the monitoring cart includes a controller containing a receiving and processing module, a prism, and a laser displacement sensor connected to the controller that uses a first mechanical arm to perform multi-degree-of-freedom rotation, and a camera that uses a second mechanical arm to perform multi-degree-of-freedom rotation.

[0008] Furthermore, the monitoring vehicle comprises a bottom plate, and the first mechanical arm, the second mechanical arm and the prism are all arranged on the bottom plate.

[0009] Furthermore, the running track is a rack track, and a running gear that can mesh with the running track is provided under the base plate, and the running gear is connected to the running drive motor; a gear circle number sensor is provided around the running gear, and the gear circle number sensor can record the number of circles rotated by the running gear and transmit it to the controller. The controller can calculate the displacement distance of the monitoring trolley, obtain the real-time position information of the monitoring trolley, and determine whether the monitoring trolley has arrived at the monitoring location.

[0010] Furthermore, the second mechanical arm is arranged on a movable boss, and the movable boss can move laterally and longitudinally relative to the base plate.

[0011] Furthermore, a transverse driving assembly is provided on the upper surface of the base plate, a longitudinal driving assembly is provided on the transverse driving assembly, the movable boss is mounted on the longitudinal driving assembly, and the second robotic arm can be moved by the transverse driving assembly and the longitudinal driving assembly.

[0012] Furthermore, the transverse drive assembly and the longitudinal drive assembly both adopt motor screw modules.

[0013] Furthermore, limiting rails are laid parallel to both sides of the running rails on the top of the longitudinal beam, and limiting wheels are provided on both sides of the running gear on the monitoring trolley. The limiting wheels cooperate with the limiting rails to limit the movement of the monitoring trolley along the extension direction of the cross beam.

[0014] Beneficial effects: (1) The monitoring method of the present invention can monitor multiple items including the track status, the tightening status of the track fastener bolts, the track settlement, and the track spacing, and has a wide monitoring range.

[0015] (2) The track monitoring device of the present invention is arranged on the longitudinal beams on both sides of the track, which will not affect the normal operation of the track and there is no need to remove the monitoring device.

[0016] (3) The track monitoring device of the present invention further includes a total station and a prism, which can eliminate the error caused by the deformation of the longitudinal beam when monitoring the settlement of the track and the track spacing, thereby improving the monitoring accuracy.

[0017] (4) The track monitoring device of the present invention includes a laser displacement sensor and a camera, which cooperate with each other to monitor the tightening status of the track fastener bolts even in bad weather.

[0018] (5) When monitoring track settlement and track spacing, the present invention uses information collected by a laser displacement sensor to obtain initial track settlement and track gauge data, uses a camera to capture images to obtain track change values, and uses the two sets of data to perform mutual correction to improve the monitoring accuracy of track gauge and track settlement.

[0019] (6) When the present invention detects abnormal data, it can issue an alarm, prevent the occurrence and expansion of disasters and accidents, reduce losses, and realize automatic monitoring and unmanned operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the location of the construction beam and the monitoring device in the present invention.

[0021] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0022] Figure 3 for Figure 1 Top view of point A in the middle.

[0023] Figure 4 Schematic diagram of the meshing of the running track and the running gear.

[0024] Icon markings: 1. longitudinal beam, 2. cross beam, 3. track, 4. laser displacement sensor, 5. first rotating joint, 6. hydraulic telescopic rod, 7. second rotating joint, 8. first cross bar, 9. third rotating joint, 10. second cross bar, 11. first vertical bar, 12. third rotating joint, 13. prism, 14. gear circle number sensor, 15. running gear, 16. limiting wheel, 17. limiting track, 18. running track, 19. running drive motor, 20. bottom plate, 21. camera, 22. third cross bar, 23. fourth rotating joint, 24. fourth cross bar, 25. second vertical bar, 26. moving boss, 27. longitudinal drive assembly, 28. transverse drive assembly.

[0025] in, Figure 1 The restricted area refers to the driving area or the area that may be affected during driving. No device can invade this restricted area. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] In the description of the present invention, it is necessary to understand that the terms "upper" and "lower" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0028] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0029] The present invention provides a track monitoring method and a monitoring device, wherein the track monitoring device is installed on two longitudinal beams 1 of a construction beam (such as a D20 type construction beam) and can move relative to the longitudinal beam 1. Under the action of the track monitoring device, the track 3 mounted on the cross beam 2 in the construction beam can be monitored, and the monitoring range includes track status monitoring, track fastener bolt tightening status monitoring, track 3 settlement monitoring, and track spacing monitoring. The track monitoring device and the monitoring method are described in detail below.

[0030] <Track monitoring device> Please refer to Figures 1 to 3The track monitoring device includes a running track 18 laid on the top of the longitudinal beam 1 along the extension direction of the longitudinal beam 1, and a monitoring trolley that can reciprocate along the running track 18. The monitoring trolley includes a bottom plate 20, and a running gear 15 is provided below the bottom plate 20, and the running gear 15 is connected to a running drive motor 19; the running track 18 is a rack track, and the running gear 15 and the running track 18 are in gear rack meshing contact. The bottom plate 20 is provided with a controller, a prism 13, a first mechanical arm and a second mechanical arm, and the distal ends of the first mechanical arm and the second mechanical arm are respectively connected to a laser displacement sensor 4 and a camera 21, and the laser displacement sensor 4 and the camera 21 are provided on the inner side of the two longitudinal beams 1, and are both connected to the controller; under the action of the first mechanical arm, the laser displacement sensor 4 can be moved to the target position; under the action of the second mechanical arm, the camera 21 can be moved to the target position.

[0031] Among them, a gear rotation number sensor 14 is provided around the running gear 15, and the gear rotation number sensor 14 can record the number of rotations of the running gear 15 and transmit it to the controller. The controller can calculate the displacement distance of the monitoring trolley and determine whether the monitoring trolley has reached the monitoring location.

[0032] It should be noted that the monitoring trolley is also provided with a prism 13, and a total station (not shown in the figure) is set on the high ground near the construction beam, and the total station is connected to the controller. After the monitoring trolley reaches the specified position, it is stopped and stationary for a predetermined time to ensure the stability of the measurement data. During the stationary period of the monitoring trolley, the total station is used in conjunction with the prism to accurately measure the position data of the monitoring trolley. The controller receives the position data of the monitoring trolley measured by the total station and processes it. Based on the measurement principle of the total station, the controller can calculate the precise coordinates of the monitoring trolley when it is stationary. Since the position of the monitoring trolley is known and there is a fixed geometric relationship between it and the longitudinal beam (track support structure), the controller can calculate the coordinates of the longitudinal beam through geometric transformation or mathematical model. Afterwards, the controller can integrate the data collected by the laser displacement sensor with the longitudinal beam coordinates calculated previously. By comparing and analyzing the integrated data, the controller can identify and eliminate the errors caused by the deformation of the longitudinal beam. Due to the combination of the high-precision measurement capability of the total station and the real-time performance of the laser displacement sensor 4, the track monitoring device of the present invention performs well in eliminating the longitudinal beam deformation error, thereby significantly improving the monitoring accuracy.

[0033] Preferably, a limiting track 17 is laid in parallel on both sides of the running track 18 at the top of the longitudinal beam 1, and limiting wheels 16 are provided on both sides of the running gear 15 on the monitoring trolley, and the limiting wheels 16 cooperate with the limiting track 17 to limit the movement of the monitoring trolley along the extension direction of the cross beam 2. Specifically, the limiting wheels 16 are smooth wheels and are in smooth contact with the limiting track 17.

[0034] The specific structure of the first mechanical arm is described in detail below. The first mechanical arm includes a first rotating joint 5, a hydraulic telescopic rod 6, a second rotating joint 7, a first cross bar 8, a third rotating joint 9, a second cross bar 10, a first vertical bar 11, and a third rotating joint 12. The laser displacement sensor 4 is connected to the hydraulic telescopic rod 6 through the first rotating joint 5, the hydraulic telescopic rod 6 is connected to the first cross bar 8 through the second rotating joint 7, the first cross bar 8 is connected to the second cross bar 10 through the third rotating joint 9, the second cross bar 10 is connected to the first vertical bar 11 through bolts, the first vertical bar 11 is connected to the third rotating joint 12, and the third rotating joint 12 is installed on the bottom plate 20 of the monitoring trolley. The first mechanical arm can be retracted when not in use and adjusted to a position above the monitoring trolley.

[0035] Furthermore, the specific structure of the second robotic arm is explained. The second robotic arm includes a third cross bar 22, a fourth rotating joint 23, a fourth cross bar 24, and a second vertical bar 25. The camera 21 is connected to the third cross bar 22, the third cross bar 22 is connected to the fourth cross bar 24 through the fourth rotating joint 23, the fourth cross bar 24 is connected to the second vertical bar 25 through bolts, and the second vertical bar 25 is connected to the movable boss 26 through a fifth rotating joint (not shown in the figure).

[0036] The movable boss 26 can move laterally and longitudinally relative to the base plate 20. Specifically, a transverse drive assembly 28 is provided on the upper end surface of the base plate 20, and a longitudinal drive assembly 27 is provided on the transverse drive assembly 28. The movable boss 26 is installed on the longitudinal drive assembly 27, and the second mechanical arm can be moved by the transverse drive assembly 28 and the longitudinal drive assembly 27. The second mechanical arm can rotate by itself, and the cooperation of the transverse drive assembly 28 and the longitudinal drive assembly 26 makes the adjustable range of the camera 21 wider. Among them, both the transverse drive assembly 28 and the longitudinal drive assembly 27 can adopt a motor screw module.

[0037] The controller in the present invention needs to include at least the following modules and functional components: (1) a displacement calculation module and a displacement judgment module, which are used to judge whether the monitoring vehicle has moved to the designated monitoring location. (2) a mechanical arm control module: controls the movement of the first mechanical arm and the second mechanical arm, and adjusts the position of the laser displacement sensor and the camera to the target position. (3) a data acquisition module: receives the raw data from the laser displacement sensor and the camera. (4) a data processing module: processes the received three-dimensional spatial data of the track and the image of the track fastener bolts, and extracts useful track information and the tightening status of the track fastener bolts. (5) a data integration module: integrates data from different sensors, including data from the laser displacement sensor, position data from the total station, image data from the camera, etc. (6) a track state monitoring module: judges the state of the track (such as track deformation, track settlement, track spacing change, etc.) and the tightening status of the fastener bolts based on the processed data. (7) an alarm module: when the controller analyzes the monitoring data in real time through the built-in algorithm and identifies an abnormal track state (such as the track state exceeds the threshold, the fastener bolts are loose, or the track settles, etc.), it will immediately trigger the alarm module. At this time, the alarm module will start the preset alarm program and send a conspicuous alarm signal to the surrounding people through various means such as sound and light. In addition, the alarm module also has a remote communication function. When the track status abnormality reaches or exceeds the preset severity level, the alarm module will automatically send the alarm information to the remote track maintenance management center through the wireless network. In this way, even if the maintenance personnel are not on site, they can immediately receive the alarm and take corresponding countermeasures. (7) Communication module: realize the communication between the controller and various sensors, actuators and remote monitoring centers. (8) Power management module: provide a stable power supply for the controller and its various modules, and monitor the power status. Of course, other modules can also be set as needed.

[0038] <Monitoring methods> The monitoring method mainly includes the following steps: S1. Installation preparation The running track 18 and the limit track 17 are laid parallel to the extension direction of the longitudinal beam 1 to the top of the longitudinal beam 1, and the monitoring trolley is installed on the track to ensure that the monitoring trolley can move along the track; it should be noted that if the settlement of the track 3 and / or the track spacing need to be monitored synchronously, a prism 13 needs to be installed on the monitoring trolley, and a total station needs to be set on the high ground near the construction beam; S2. Move the monitoring car to the target position The number of revolutions of the running gear 15 is recorded by the gear revolution sensor 14 and transmitted to the controller, which can calculate the displacement distance of the monitoring trolley and obtain the real-time position information of the monitoring trolley so that the monitoring trolley can reach the monitoring location; S3. Monitor track 3 The monitoring vehicle can be used to monitor the track 3 in any of the following situations: (a) After the monitoring vehicle moves to the monitoring location, the laser displacement sensor 4 is adjusted to the target position by using the first mechanical arm, and the laser displacement sensor 4 collects the three-dimensional spatial data of the track. The controller receives the three-dimensional spatial data of the track and processes the data to obtain the track data, so as to monitor the state of the track. It should be noted that when the weather is bad and the laser displacement sensor 4 alone cannot accurately monitor the state of the track 3, the laser displacement sensor 4 and the camera 21 can also be used in combination. The specific method can be referred to the following (b); (b) After the monitoring vehicle moves to the monitoring location, the laser displacement sensor 4 is adjusted to the target position by the first mechanical arm, and the camera 21 is adjusted to the target position by the second mechanical arm. The laser displacement sensor 4 collects the three-dimensional spatial data of the track, and the camera 21 captures the image of the track fastener bolts. After the controller receives the three-dimensional spatial data of the track and the image of the track fastener bolts, it processes the data and obtains the judgment data of the tightening state of the track fastener bolts, so as to monitor the tightening state of the track fastener bolts; (c) A prism 13 is arranged on the monitoring trolley, and a total station is arranged on a high ground near the construction beam, wherein the total station is connected to a controller; the two monitoring trolleys travel in the same direction at the same time and arrive at the corresponding monitoring location, and the laser displacement sensor 4 measures the height of the monorail on the same side and / or the distance from the monorail to the laser displacement sensor 4 on the same side, and the total station can automatically track the prism 13 and thus measure the position data of the monitoring trolley, and the camera 21 can photograph the two tracks, and the controller integrates the received height of the monorail on the same side and / or the distance from the monorail to the laser displacement sensor on the same side, as well as the position data of the monitoring trolley, and then integrates the track change data obtained by processing the image and the first integration result for a second time to obtain the track settlement and / or track spacing data, thereby being able to monitor the track settlement and / or track spacing; S4. If abnormal data is detected, an alarm will be activated to alert relevant departments.

[0039] Preferably, when monitoring whether the rail fastener bolts are loose, monitoring marks can be added to the bolts and nuts to facilitate monitoring.

[0040] Among them, in step S3 (b), the camera 21 is used to capture images of rail fastener bolts. These image information includes the shape and position of the fastener bolts, as well as whether there are any abnormal conditions such as looseness or damage, which is the key basis for judging the tightening state of the fastener bolts. The camera captures the image of the rail fastener bolts through an optical lens and converts it into a digital signal for storage and processing. The image processing algorithm can further extract feature information in the image, such as edges, contours, etc., to facilitate subsequent tightening state judgment. After receiving the three-dimensional spatial data of the track collected by the laser displacement sensor and the image of the rail fastener bolts taken by the camera, the controller performs data fusion and processing, and then obtains the judgment data of the tightening state of the rail fastener bolts.

[0041] Among them, in step S3 (c), the camera 21 can capture images of the track and its surrounding environment. These images contain geometric features of the track 3, such as track edges, sleepers, fasteners, etc. Through image processing algorithms, such as edge detection and feature matching, the geometric features of the track 3 can be extracted from the image, and the displacement or deformation of these features at different time points can be calculated. These displacements or deformations represent the settlement of the track 3 and the change in the track gauge. The laser displacement sensor 4 can accurately measure the displacement or deformation of the surface of the track 3 by emitting a laser beam and receiving reflected light. This sensor has the characteristics of high sensitivity, high precision and non-contact measurement, and is suitable for real-time monitoring of track settlement and track gauge. During the monitoring process, the laser displacement sensor 4 first collects the initial settlement and track gauge data of the track 3, which are used as reference values, and then the position information of the monitoring trolley is measured by a total station, and the reference values ​​are corrected once using the position information of the monitoring trolley. Then, the track change value extracted by the camera is secondary fused with the data after the primary correction using the model. For example, if the image analysis of camera 21 shows that the track settlement is large, while the measurement result of laser displacement sensor 4 is relatively small, there may be sensor measurement errors or interference from environmental factors. At this time, the measurement results of laser displacement sensor 4 can be corrected using the data of camera 21 to eliminate or reduce the error. By correcting each other's data, the monitoring accuracy of track settlement and track gauge can be significantly improved. This method not only utilizes the high-precision measurement capability of laser displacement sensor 4, but also combines the macro-monitoring advantages of camera image acquisition technology to achieve more comprehensive and accurate track status monitoring.

[0042] The following is a detailed description of the alarm conditions of each detection item in step S4. (1) The status monitoring of track 3 is a crucial link. In order to ensure the safe operation of the track, a series of carefully calculated and set track thresholds must first be accurately stored in the controller. These thresholds represent the upper or lower limits of various parameters when the track is operating normally, and are the key basis for judging whether the track status is normal. When monitoring, the controller will collect the monitoring data of the track in real time and compare these data with the pre-stored thresholds. If the monitored data exceeds the set threshold range, it means that track 3 may be in an abnormal state. At this time, the controller will immediately trigger the alarm mechanism and send an alarm to the relevant departments through various means such as sound and light to remind them to pay attention to the current state of the track so that they can take timely measures to deal with it. (2) Before monitoring the tightening state of the rail fastener bolts, it is necessary to preset a reasonable threshold according to the standards or industry requirements for the tightening state of the bolts. During the monitoring process, the controller will also compare the collected bolt tightening state data with the preset threshold. Once the data exceeds the threshold, it means that the bolt may be loose or insufficiently tightened. At this time, an alarm will also be triggered to ensure that the relevant departments can promptly discover and deal with potential safety hazards. (3) The complexity and importance of monitoring track settlement and track gauge are self-evident. Before conducting these two monitoring operations, detailed finite element model modification and finite element analysis must be performed on the track in accordance with relevant technical specifications and standards to accurately simulate the stress conditions and deformation trends of the track during actual operation, thereby providing a scientific basis for the subsequent setting of multi-level alarm thresholds. The setting of multi-level alarm thresholds is a key link in track settlement and track gauge monitoring. These thresholds are arranged in order from small to large, forming a complete alarm system. When the monitored track settlement or track gauge data reaches or exceeds a certain level of threshold, the system will immediately trigger an alarm of the corresponding level, reminding the relevant departments to pay attention to the deformation of the track and take corresponding measures to intervene and repair it. Such an alarm mechanism not only helps to timely discover and deal with abnormal conditions of the track, but also provides strong data support for track maintenance and management.

[0043] It should be noted that all parts not described in detail in the present invention belong to the prior art.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any equivalent changes or modifications made according to the essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A track monitoring method capable of monitoring a track (3) mounted on a crossbeam (2) in a construction beam, characterized in that: The main steps are as follows: S1. A track monitoring device is installed on the top of two longitudinal beams (1) of the construction beam, wherein the track (3) is arranged between the two longitudinal beams (1), and the extension direction of the track (3) is consistent with the extension direction of the longitudinal beam (1). The track monitoring device includes a running track (18) laid along the extension direction of the longitudinal beam (1), and a monitoring trolley capable of reciprocating along the running track (18), wherein the monitoring trolley is capable of monitoring the track (3), and the monitoring trolley includes a controller including a receiving and processing module, and a laser displacement sensor (4) connected to the controller and using a first mechanical arm to perform multi-degree-of-freedom motion, and a camera (21) using a second mechanical arm to perform multi-degree-of-freedom motion; S2. The monitoring vehicle can be used to monitor the track (3) in any of the following situations: (1) After the monitoring vehicle moves to the monitoring location, the laser displacement sensor is adjusted to the target position using the first mechanical arm. The laser displacement sensor collects three-dimensional spatial data of the track. The controller receives the three-dimensional spatial data of the track and processes the data to obtain the track data, so as to monitor the status of the track. (2) After the monitoring vehicle moves to the monitoring location, the laser displacement sensor is adjusted to the target position using the first mechanical arm, and the camera is adjusted to the target position using the second mechanical arm. The laser displacement sensor collects the three-dimensional spatial data of the track, and the camera captures the image of the track fastener bolts. After the controller receives the three-dimensional spatial data of the track and the image of the track fastener bolts, it processes the data and obtains the judgment data of the tightening state of the track fastener bolts, so as to monitor the tightening state of the track fastener bolts. (3) A prism is arranged on the monitoring trolley, and a total station is arranged on a high ground near the construction beam, wherein the total station is connected to a controller; the two monitoring trolleys travel in the same direction at the same time and arrive at the corresponding monitoring location, and the laser displacement sensor measures the height of the monorail on the same side and / or the distance from the monorail to the laser displacement sensor on the same side. The total station can automatically track the prism and thus measure the position data of the monitoring trolley, and the camera can photograph the two tracks. The controller integrates the received height of the monorail on the same side and / or the distance from the monorail to the laser displacement sensor on the same side, and the position data of the monitoring trolley, and then integrates the track change data obtained by processing the image and the first integration result for a second time to obtain the track settlement and / or track spacing data, thereby being able to monitor the track settlement and / or track spacing; S3. If abnormal data is detected, an alarm will be activated to alert relevant departments.

2. A track monitoring device, characterized in that: The invention comprises a running track (18) laid on the top of the longitudinal beam (1) along the extension direction of the two longitudinal beams (1), and a monitoring trolley capable of reciprocating along the corresponding running track (18), the two monitoring trolleys being arranged opposite to each other, the monitoring trolley comprising a controller including a receiving and processing module, a prism (13), a laser displacement sensor (4) connected to the controller and capable of performing multi-degree-of-freedom rotation using a first mechanical arm, and a camera (21) capable of performing multi-degree-of-freedom rotation using a second mechanical arm.

3. A track monitoring device according to claim 2, characterized in that: The monitoring vehicle comprises a bottom plate (20), and the first mechanical arm, the second mechanical arm and the prism (13) are all arranged on the bottom plate (20).

4. A track monitoring device according to claim 3, characterized in that: The running track (18) is a rack track. A running gear (15) capable of meshing with the running track (18) is provided below the bottom plate (20). The running gear (15) is connected to a running drive motor (19). A gear revolution sensor (14) is provided around the running gear (15). The gear revolution sensor (14) is capable of recording the number of revolutions of the running gear (15) and transmitting the information to a controller. The controller is capable of calculating the displacement distance of the monitoring trolley, obtaining the real-time position information of the monitoring trolley, and determining whether the monitoring trolley has arrived at the monitoring location.

5. A track monitoring device according to claim 3, characterized in that: The second mechanical arm is arranged on a movable boss (26), and the movable boss (26) is capable of moving laterally and longitudinally relative to the base plate (20).

6. A track monitoring device according to claim 5, characterized in that: The upper end surface of the base plate (20) is provided with a transverse driving assembly (28), a longitudinal driving assembly (27) is provided on the transverse driving assembly (28), the movable boss (26) is mounted on the longitudinal driving assembly (27), and the second mechanical arm can be moved by the transverse driving assembly (28) and the longitudinal driving assembly (27).

7. A track monitoring device according to claim 6, characterized in that: The transverse drive assembly (28) and the longitudinal drive assembly (27) both adopt motor lead screw modules.

8. A track monitoring device according to claim 4, characterized in that: Limiting rails (17) are laid parallel to both sides of the running rails (18) on the top of the longitudinal beam (1), and limiting wheels (16) are provided on both sides of the running gear (15) on the monitoring trolley. The limiting wheels (16) cooperate with the limiting rails (17) to limit the movement of the monitoring trolley along the extension direction of the cross beam (2).

Images