Urban rail maintenance vehicle-mounted intelligent inspection system

Abstract

The invention relates to the technical field of urban rail inspection equipment, in particular to a vehicle-mounted intelligent inspection system for urban rail maintenance. The urban rail maintenance vehicle-mounted intelligent inspection system comprises an inspection vehicle, an inspection beam assembly arranged below the inspection vehicle, and a vehicle speed sensor, a rail cleaning module, a plurality of 2D modules and a plurality of 3D modules which are arranged on the inspection beam assembly, the inspection vehicle is internally provided with a processing host, the processing host is electrically connected with the vehicle speed sensor, the rail cleaning module, the plurality of 2D modules and the plurality of 3D modules, the rail cleaning module comprises a plurality of injection pipes, the injection pipes are communicated with a gas source and / or a water source in the inspection vehicle, the inspection operation efficiency and accuracy can be effectively improved, and the manual labor intensity is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of urban rail inspection equipment, in particular to a kind of urban rail maintenance vehicle-mounted intelligent inspection system. BACKGROUND

[0002] At present, the inspection of track state in China mainly relies on traditional manual step inspection, which mainly depends on manual and hand-held tools for data collection, such as static detection and manual inspection, etc. The speed is low, the missed detection pressure is large, the working environment is poor, and the problems of aging of detection personnel and difficulty in recruitment are prominent. In addition, with the increase of operation pressure, the time compression of window period, the detection of rail transit facilities is becoming increasingly difficult; During the inspection process, it is necessary to check whether there are foreign matters in the inspection section, check the rails, rail joints, switches, car stops, fasteners, sleepers, roadbeds, line signs, drainage ditches, etc. It is also necessary to carry a wrench, an inspection hammer, a tape measure, etc. The inspection equipment is much, the carrying tool material is much, and the manual inspection has high labor cost and high labor intensity. SUMMARY

[0003] The present application aims to provide a kind of urban rail maintenance vehicle-mounted intelligent inspection system, which can effectively improve the inspection efficiency and accuracy, and reduce the labor intensity.

[0004] In order to solve the above technical problems, the present application provides the following technical solutions: The present application provides a kind of urban rail maintenance vehicle-mounted intelligent inspection system, which comprises an inspection vehicle, an inspection beam assembly arranged below the inspection vehicle, and a vehicle speed sensor, a rail cleaning module, a plurality of 2D modules and a plurality of 3D modules arranged on the inspection beam assembly. The inspection vehicle has a processing host, which is electrically connected with the vehicle speed sensor, the rail cleaning module, the plurality of 2D modules and the plurality of 3D modules, respectively. The rail cleaning module comprises a plurality of blowing pipes, which are in communication with the air source and / or water source in the inspection vehicle.

[0005] By adopting the above technical solutions, when the track state is inspected, the inspection vehicle moves on the track, the vehicle speed sensor can record the speed and position of the inspection vehicle to determine the section of the track where the inspection vehicle is located. The plurality of 2D modules and the plurality of 3D modules are used to collect planar and stereoscopic images of the track, and send the collected planar and stereoscopic images to the processing host. The processing host can transmit the images to the ground data center through the transmission module, and form the final conclusion and record through the ground data center. The presence or absence of cracks or looseness in the rail, fastener, sleeper and other parts can be identified manually or automatically. The garbage or weather conditions can also be identified by establishing a machine learning model, so that corresponding measures can be taken, thereby effectively improving the inspection efficiency and accuracy, and reducing the labor intensity.

[0006] Optionally, the urban rail maintenance vehicle-mounted intelligent inspection system further comprises a dust removal module located at the 2D module and / or the 3D module, the dust removal module comprising an outer shell arranged on the inspection beam assembly, the outer shell being through from front to back and being provided with a plurality of light transmission holes through from top to bottom, a moving plate being slidably arranged in the outer shell, a plurality of transparent dust blocking cover plates being embedded in the moving plate, and a driving pull rod being connected to one end of the moving plate, the driving pull rod extending out of the outer shell and being connected with a driving cylinder.

[0007] By adopting the above technical scheme, the light transmission holes and the dust blocking cover plates can be used for the 2D module and / or the 3D module to collect track images without being blocked. The dust blocking cover plates can also block dust, and when the driving cylinder drives the moving plate to move through the driving pull rod, the position of the dust can be shifted, so that the clean dust blocking cover plates are moved to the 2D module and / or the 3D module.

[0008] Optionally, a wiping plate is arranged in the outer shell, and wiping cloth is laid on the inner side of the wiping plate.

[0009] By adopting the above technical scheme, the wiping cloth can wipe the dust blocking cover plates.

[0010] Optionally, a shielding assembly is arranged on the inspection beam assembly, and the shielding assembly is located on both sides of the track.

[0011] By adopting the above technical scheme, the shielding assembly can shield light, rain and snow, etc., and avoid rigid collision with the external environment, etc.

[0012] Optionally, the urban rail maintenance vehicle-mounted intelligent inspection system further comprises a foreign matter detection assembly, the foreign matter detection assembly comprising an adjusting rod and a detection camera, the adjusting rod being rotationally connected to the inspection beam assembly, a driving member being rotationally connected to the middle section of the adjusting rod, and the detection camera being arranged on the adjusting rod.

[0013] By adopting the above technical scheme, the detection camera can be aligned with the gap below the corresponding side rail, so as to find foreign matters on the track bed.

[0014] Optionally, a bumper is arranged at the lower part of the front end of the inspection vehicle, a limiting block and an abutting block being arranged below, the limiting block and the abutting block being located in front of and behind the bumper respectively, a travel switch and a pushing spring being connected in the abutting block, the pushing spring being controlled to move forward and backward to adjust the tightness through an adjusting screw, the pushing spring pushing the bumper to keep it vertical and abutting on the limiting block, and the lower end of the bumper being not lower than the detection camera.

[0015] By adopting the above technical scheme, when the bumper collides with garbage or sundries on the track bed, the travel switch is touched backward to control the adjusting rod to rotate upward in advance.

[0016] In summary, the present application at least includes the following beneficial technical effects: The inspection beam assembly is installed on the inspection vehicle, and the planar and stereoscopic images of the track are collected through the 2D module and the 3D module, the dust outside the lens of the 2D module and / or the 3D module is removed through the dust removal module, the accuracy of imaging in the way is ensured, and part of the artificial inspection is replaced; the detection camera in the 2D module is arranged to monitor the abnormality of the gap position below the track, further facilitating the inspection, and a physical safety device is arranged to facilitate the detection camera to avoid obstacles in the corresponding position of the track bed; the detection accuracy is further improved through the track cleaning module and the shielding assembly, the monitoring accuracy under different weather and environment is ensured, the inspection continuity, safety and accuracy are improved, and the inspection range is wide. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic diagram of a city rail maintenance vehicle-mounted intelligent inspection system of the present application; Figure 2 is a schematic diagram of the inspection beam assembly part of the city rail maintenance vehicle-mounted intelligent inspection system of the present application; Figure 3 is a schematic diagram of the dust removal module part of the city rail maintenance vehicle-mounted intelligent inspection system of the present application; Figure 4 is a schematic diagram of the bumper part of the city rail maintenance vehicle-mounted intelligent inspection system of the present application.

[0018] Reference signs: 1, inspection beam assembly; 2, dust removal module; 21, outer shell; 22, moving plate; 221, dust blocking cover plate; 23, driving pull rod; 3, blowing pipe; 4, shielding assembly; 5, adjusting rod; 51, detection camera; 6, bumper; 61, travel switch; 62, abutting block; 63, limiting block; 64, pushing spring. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0020] The terms used in the following description of the application are for the purpose of describing particular embodiments only and are not intended to be limiting of the application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It also will be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Thus, a "first" and / or "second" feature could be one or more than one, and can be combined with existing or later features, unless the context clearly indicates otherwise.

[0021] The embodiment of the application provides a kind of urban rail maintenance vehicle-mounted intelligent inspection system.

[0022] Reference Figure 1 And Figure 2 A kind of urban rail maintenance vehicle-mounted intelligent inspection system, comprising: inspection car, inspection beam assembly 1 being arranged below inspection car, and vehicle speed sensor, a plurality of 2D modules and a plurality of 3D modules being arranged on inspection beam assembly 1.

[0023] In the embodiment of the application, the direction of the movement of the inspection car is defined as the front, and the bottom of the inspection car is the lower. The inspection car can be an existing car body structure such as an electric passenger car. The vehicle speed sensor uses high-precision positioning mileage technology, and the mileage error is not more than two thousandths. It can also be replaced by an encoder or the like to determine the position information of the inspection car and record it.

[0024] The inspection car has a processing host, which is electrically connected with the vehicle speed sensor, a plurality of 2D modules and a plurality of 3D modules. The 2D module and the 3D module are respectively used to collect the planar and stereoscopic images of the track, and send the collected planar and stereoscopic images to the processing host. The processing host can transmit the collected planar and stereoscopic images to the ground data center through a transmission module, and form the final conclusion and record through the ground data center. Whether the rail, fastener, sleeper and the like have cracks or looseness and the like can be identified manually or automatically. The garbage or weather condition can also be identified by establishing a machine learning model, so that corresponding measures can be taken conveniently.

[0025] In an optional embodiment, laser three-dimensional measurement and image recognition technology (deep learning + historical data comparison + template matching) can be used to realize qualitative identification and quantitative measurement of visible defects of the track, so as to record the position, type, size and other key information of the defects.

[0026] The 2D module includes a linear array camera above the corresponding rail, and an LED light source can be configured. In this embodiment, two are provided, each of which acquires images of the track and the sleeper on the side, with a measurement accuracy of 0.3 mm and an output of a picture.

[0027] The 3D module adopts laser three-dimensional imaging. In this embodiment, three are provided, each of which acquires a stereo image of the corresponding track and the middle sleeper, with a measurement accuracy of 1 mm in the horizontal and vertical directions and 0.5 mm in the vertical direction, and an output of a point cloud. The 3D module can also be replaced in whole or in part by a stereo imaging mode such as binocular camera imaging. The 3D module can more accurately obtain defects such as pits on the track, and it can also improve the accuracy and comprehensiveness of the inspection through ultrasonic flaw detection and other methods.

[0028] With reference to Figure 2 and Figure 3 , the inspection beam assembly 1 is also provided below with a dust removal module 2 for removing dust outside the lens of the 3D module to solve the problem of obstruction or inaccurate identification of the lens position due to dust or mud spots during long-term driving, and to perform corresponding cleaning work in real time or periodically. It can also be provided at the corresponding 2D module.

[0029] The dust removal module 2 can be a back-and-forth moving cleaning device to complete the cleaning. In this embodiment, the dust removal module 2 includes a shell 21 provided on the inspection beam assembly 1, the shell 21 being through from front to back, a plurality of light transmission holes (circular holes) being formed in the shell 21 and being through from top to bottom for the lens of the corresponding 3D module to shoot, and a moving plate 22 being provided in the shell 21 and having symmetrical sliding blocks on the lower side and corresponding sliding grooves being formed in the shell 21 to guide the straight-line sliding movement. A plurality of transparent dust blocking cover plates 221 (strip-shaped plates) are embedded in the moving plate 22, corresponding to the positions of the 3D modules, and the moving plate 22 drives the different positions of the dust blocking cover plates 221 to pass below the lenses of the corresponding 2D modules and / or 3D modules.

[0030] A wiping plate can also be connected inside the shell 21 and a wiping cloth can be laid on the inside of the wiping plate to wipe the dust blocking cover plates 221 when they move. One end of the moving plate 22 is integrally connected with a driving pull rod 23, the driving pull rod 23 extends out of the shell 21 and is connected with an electric driving cylinder, the driving cylinder is fixed below the inspection vehicle and drives the moving plate 22 to slide in the shell 21, so as to realize the movement of the dust blocking cover plates 221 and transfer the dirty positions on the line.

[0031] With reference to Figure 2The track cleaning module is arranged in front of the 3D module (the driving cylinder is arranged at the rear of the 3D module to avoid interference), and the track cleaning module is used to clean the track in front, thereby facilitating subsequent collection by the 3D module.

[0032] In the embodiment, the track cleaning module comprises a plurality of pairs of spray pipes 3, the spray pipes 3 are used to spray gas and / or liquid to the corresponding side track, a gas source and / or a water source are arranged in the inspection vehicle and connected to the spray pipes 3, and the spray mode is selected according to the weather, season and the like, so that the track is cleaned by using the water first and then the compressed air or only the compressed air to remove water in rainy days.

[0033] It should be understood that the above-mentioned gas source and / or water source are gas source and / or water source devices, which can be electrically connected to the processing host to automatically control the spraying. In an alternative embodiment, the spray pipes 3 can be replaced by a laser rust removal device or the like to better display the surface of the track and avoid the influence of mud or rain and snow on the inspection accuracy.

[0034] As shown in Figure 2 , the inspection beam assembly 1 is further provided with a shielding assembly 4 arranged on both sides of the track, the shielding assembly 4 comprises one or a plurality of rubber plates or rubber strips to achieve the effects of light shielding, rain and snow shielding and the like, and to avoid rigid collision with the external environment and the like, and the shielding assembly 4 can also be replaced by a rigid plate according to the need.

[0035] The inspection vehicle is further connected with a foreign matter detection assembly, the foreign matter detection assembly is used to detect whether there is foreign matter in the gap between the track and the ballast bed, and specifically comprises an adjusting rod 5 which is detachably connected to the middle part of the inspection beam assembly 1, the adjusting rod 5 is arranged in front of or behind the 3D module, and the upper end and the lower end of the adjusting rod 5 are connected to the inspection beam assembly 1 and a detection camera 51 respectively by screws, different lengths of the adjusting rod can be replaced according to the need, and the detection camera 51 is provided with two symmetrical detection cameras 51 which are arranged in alignment with the gaps below the corresponding side tracks to achieve the discovery of the foreign matter in the ballast bed.

[0036] As shown in Figure 2 and Figure 4 , in order to avoid the detection camera 51 from colliding with the garbage or sundries on the ballast bed and improve the service life of the detection camera 51, the upper end of the adjusting rod 5 is hinged to the lower side of the inspection vehicle, and a driving member such as a pneumatic cylinder or an electric cylinder is hinged between the inspection vehicle and the lower end of the adjusting rod 4 to drive the adjusting rod 5 to be folded upward.

[0037] The garbage or sundries on the ballast bed can be identified by the 2D module or other monitoring devices, or can be inducted by sensors and the like. In the embodiment, mechanical control is adopted, and specifically includes a bumper 6 hinged to the lower part of the front end of the inspection vehicle, a limiting block 63 fixed below the inspection vehicle, and an abutting block 62 located behind the bumper 6 and in front of the limiting block 63. The abutting block 62 is connected with a travel switch 61 and a push spring 64, the push spring 64 controls the forward and backward movement and tightness by adjusting screws, the push spring 64 pushes the bumper 6 to keep vertical and abut against the limiting block 63, the lower end of the bumper 6 is not lower than the detection camera 51, and when the bumper 6 collides with the garbage or sundries on the ballast bed, the travel switch 61 (or other distance sensors and the like) is touched backward to control the adjusting rod 5 to rotate upward in advance. The bumper 6 includes two sections hinged to each other, the front side of the upper section is connected with the limiting block 63 downward, and the lower section is driven by a torsion spring to abut against the limiting block 63 (the lower section can be a fork-shaped structure to cover the width direction of the detection camera 51 at the lower end), so that the lower section keeps in line with the upper section in the normal state, the elastic adjustment of the push spring 64 is to make the bumper 6 rotate backward as a whole and touch the travel switch 61 first when colliding, and then the lower section of the bumper 6 continues to rotate backward to overcome the action force of the torsion spring, so as to ensure the stable and continuous triggering of the travel switch 61 and the avoidance of the lower section of the bumper 6 during the presence of obstacles, and the adjusting rod 5 is controlled to reset after a set time after the bumper 6 is reset.

[0038] It should be understood that the inspection beam assembly 1 or the inspection vehicle is connected with a power supply, the power supply is electrically connected with the processing host, the vehicle speed sensor, the 2D module, the 3D module and the like to realize power supply. The driving member, the travel switch 61, and the detection camera 51 are electrically connected with the processing host.

[0039] The above-described embodiments are only used to specifically introduce the technical solutions of the present application, and the above-described descriptions are only used to help understand the method and the core idea of the present application, and should not be understood as limitations on the present application. Those skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An urban rail maintenance vehicle-mounted intelligent inspection system, characterized in that: include: An inspection vehicle, an inspection beam assembly (1) arranged below the inspection vehicle, and a vehicle speed sensor, a track cleaning module, a plurality of 2D modules, and a plurality of 3D modules arranged on the inspection beam assembly (1); a processing host is provided in the inspection vehicle, the processing host is electrically connected to the vehicle speed sensor, the track cleaning module, the plurality of 2D modules, and the plurality of 3D modules respectively, the track cleaning module includes a plurality of blowing pipes, and the blowing pipes are connected to an air source and / or a water source in the inspection vehicle.

2. The urban rail maintenance vehicle-mounted intelligent inspection system according to claim 1, characterized in that: The invention also includes a dust removal module (2) located at the 2D module and / or the 3D module, wherein the dust removal module (2) includes an outer shell (21) arranged on the inspection beam assembly (1), the outer shell (21) is through-through from front to back and has a plurality of light-transmitting holes through-through from top to bottom, a movable plate (22) is slidably provided in the outer shell (21), a plurality of transparent dust shielding covers (221) are embedded in the movable plate (22), one end of the movable plate (22) is connected to a driving rod (23), the driving rod (23) extends out of the outer shell (21) and is connected to a driving cylinder.

3. The urban rail maintenance vehicle-mounted intelligent inspection system according to claim 2, characterized in that: A wiping plate is provided in the outer shell (21), and a wiping cloth is laid on the inner side of the wiping plate.

4. The urban rail maintenance vehicle-mounted intelligent inspection system according to claim 1, characterized in that: The inspection beam assembly (1) is provided with a shielding component (4), and the shielding component (4) is located on both sides of the track.

5. The urban rail maintenance vehicle-mounted intelligent inspection system according to claim 1, characterized in that: The invention also includes a foreign body detection component, which includes an adjustment rod (5) and a detection camera (51). The adjustment rod (5) is rotatably connected to the inspection beam assembly (1). The middle section of the adjustment rod (5) is rotatably connected to a driving member. The detection camera (51) is arranged on the adjustment rod (5).

6. The urban rail maintenance vehicle-mounted intelligent inspection system according to claim 5, characterized in that: A safety bar (6) is provided at the lower front end of the inspection vehicle, and a limit block (63) and an abutment block (62) are provided below the safety bar (6); the limit block (63) and the abutment block (62) are respectively located in front of and behind the safety bar (6); a travel switch (61) and a push spring (64) are connected to the abutment block (62); the push spring (64) is controlled by an adjusting screw to move forward and backward to adjust the tightness; the push spring (64) pushes the safety bar (6) to remain vertical and abut against the limit block (63) forward, and the lower end of the safety bar (6) is not lower than the detection camera (51).

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