Rail flaw detection device for rail transit based on visual identification

Abstract

The application discloses a rail flaw detection device for rail transit based on visual identification, which comprises a moving structure, a pair of balance structures and a marking structure; the pair of balance structures are symmetrically arranged on the two sides of the moving structure, and the balance structures can move relative to each other; and the marking structure is fixedly arranged in the middle of the moving structure; the application relates to the technical field of rail detection equipment, and has the advantages of high adaptability, wide application range, accurate fitting to rails with different widths, improved universality of the equipment, stable movement of the equipment, adaptation to complex road conditions, smooth turning along a curve, avoidance of deviation or lag, comprehensive and accurate detection, reduction of missed detection, wide-angle imaging detection of the upper wall and the inner and outer side walls of the rail through angle adjustment of the arms of the symmetrically arranged cameras, great reduction of the missed detection and misjudgment rates, improved subsequent efficiency after automatic marking and positioning, significant saving of labor cost and improvement of subsequent processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of track inspection equipment technology, specifically to a rail flaw detection device for rail transit based on visual recognition. Background Technology

[0002] As a core component of the modern transportation system, the safe operation of rail transit relies heavily on the structural integrity of the rails. During long-term service, rails must continuously withstand the repeated impacts of train loads, the erosion of environmental factors (such as rainwater, humidity, and corrosive substances), and the thermal expansion and contraction stress caused by temperature changes. These multiple effects can easily lead to various structural defects in the rails, such as cracks, surface wear, and localized deformation.

[0003] If such defects are not detected and properly addressed in a timely manner, they will continue to expand over time. At best, they will affect the smoothness and comfort of train operation; at worst, they may cause major safety accidents such as track breakage and train derailment, posing a serious threat to passenger safety, the order of rail transit operations, and public property. Therefore, regular, efficient, and accurate flaw detection of rails is a crucial link in ensuring the safe operation of rail transit.

[0004] Currently, rail flaw detection in the industry mainly relies on traditional manual inspection methods, which require staff to walk along the track for inspection. This method has significant limitations: First, it is labor-intensive, requiring staff to walk outdoors for extended periods, especially during long-distance track inspections, resulting in significant physical exertion. Second, it is inefficient, as the speed of manual inspection is limited by the staff's walking speed and operational proficiency, making it difficult to meet the demands of large-scale, high-frequency inspections. Third, the inspection accuracy is unstable, affected by subjective factors such as the staff's experience level, visual fatigue, and concentration, which can easily lead to missed detections (such as failing to identify minute cracks) and false detections (such as misjudging normal wear as defects), thus failing to guarantee the reliability of the inspection results.

[0005] Given the shortcomings of traditional inspection methods, the industry needs a rail flaw detection technology solution that can achieve automated inspection, adapt to different track scenarios, and improve inspection accuracy and efficiency, in order to solve the pain points of manual inspection and ensure the comprehensiveness and timeliness of rail inspection in rail transit. Summary of the Invention

[0006] The purpose of this invention is to provide a rail flaw detection device for rail transit based on visual recognition, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a rail flaw detection device for rail transit based on visual recognition, comprising a moving structure, a pair of balancing structures, and a marking structure; the pair of balancing structures are symmetrically arranged on both sides of the moving structure, and the balancing structures are movable relative to each other; the marking structure is fixedly arranged in the middle of the moving structure; wherein the moving structure provides power for moving along the track, the balancing structure is used to fit tracks of different widths and to maintain the balance of the moving structure by adjusting the turning limit of curves, the balancing structure performs imaging detection on the corresponding track, and the marking structure is used to mark the detection area, improving the positioning accuracy of subsequent manual inspection, while also providing power and control.

[0008] Preferably, the movable structure includes a base, a shaft frame, a power shaft, a motor, a pulley, a belt, a pair of adjusting shafts, a pair of first movable rollers, a roller frame, and a second movable roller. The base has sliding grooves at the center of both ends. The shaft frame is fixedly mounted on the center of the lower wall of the base. The power shaft has two ends that movably pass through both ends of the shaft frame, and the center of the power shaft is H-shaped. The center of both ends of the power shaft has rod grooves. The motor is fixedly mounted on the shaft frame, and the motor drive end movably passes through the shaft frame. The pulley is fixedly mounted on the motor drive end and is located inside the shaft frame, above the power shaft. The belt has two ends that movably fit onto the pulley and the center of the power shaft, respectively. One end of each pair of adjusting shafts is detachably inserted into both ends of the power shaft and is relatively parallel. The adjusting shafts are fixed to both ends of the power shaft by bolts. The pair of first movable rollers are movably mounted on the adjusting shafts, and the power shaft can move left and right on the adjusting shafts. The roller frame is fixedly mounted on the upper rear wall of the base. The second movable roller is movably mounted on the roller frame, and the second movable roller corresponds to the first movable roller on the same plane.

[0009] Preferably, the balancing structure includes a movable seat, a connecting pad, an electric push rod, a support frame, an arm, a camera, and a limiting unit; the movable seat is H-shaped, and the movable seat is movably mounted in the sliding groove of the base; one end of the connecting pad is fixedly disposed on the upper wall of the movable seat; the electric push rod is fixedly disposed on the upper wall of the middle part of the base, and the telescopic end of the electric push rod is fixedly connected to the other end of the connecting pad; the support frame is concave, and one end is shorter than the other end; the upper wall of one end of the support frame is fixedly disposed on the lower wall of the movable seat, and a bearing is disposed in the middle of one end of the support frame; one end of the support frame is movably connected to one end of the first movable roller through the bearing; the other end of the support frame is provided with a swing opening; one end of the arm is movably disposed at the swing opening of the other end of the support frame, and the arm can be rotated to adjust the angle; the arm is fixed by bolts; the camera is fixedly disposed on the other end of the arm, and the camera is located on the rear side of the support frame; the limiting unit is movably disposed on the other end of the support frame.

[0010] Preferably, the limiting unit includes a telescopic frame, a pair of telescopic rods, a pair of springs, a wheel frame, and a pair of rollers; one end of the telescopic frame movably passes through the middle of the other end of the support frame, one end of each pair of telescopic rods movably passes through the other end of the support frame, and the other end of the telescopic rods is connected to the other end of the telescopic frame, the pair of springs are movably mounted on the telescopic rods, and the two ends of the springs are respectively attached to the support frame and the side wall of the telescopic frame, the wheel frame is V-shaped, the middle of the wheel frame is movably mounted on the lower wall of the other end of the telescopic frame through a pin, and the wheel frame is located below the first moving roller, and the pair of rollers are movably mounted on both ends of the wheel frame and are symmetrical to each other.

[0011] Preferably, the marking structure includes a control box, a controller group, a battery, a partition, a material tank, a liquid pump, a spray frame, and a pair of nozzles; the control box is fixedly installed in the middle of the upper wall of the base, and the control box is located between the electric push rods; the controller group is fixedly installed on the upper wall of the control box, and is located at the front end; the battery is fixedly installed on the lower inner wall of the control box, near the right end; the right side wall of the control box is provided with a charging port connected to the battery; the partition is fixedly installed on the right inner wall of the control box, and the partition is located above the battery; the material tank is fixedly installed on the lower left inner wall of the control box, and the liquid filling port of the material tank penetrates through the left side wall of the control box; the liquid pump is fixedly installed on the partition, and the liquid inlet of the liquid pump is connected to the bottom of the material tank through a pipe; the spray frame is fixedly installed on the upper wall of the control box, and is located behind the controller group; the spray frame is concave; a pair of nozzles are respectively fixedly installed at both ends of the spray frame, and a pair of nozzles are respectively connected to the liquid outlet of the liquid pump through pipes.

[0012] Preferably, both the liquid pump and the motor are powered by a storage battery and started by a controller group.

[0013] Preferably, the electric push rod drives the support frame to move left and right, and the support frame drives the first moving roller to move on the adjusting shaft.

[0014] Preferably, the rollers are subjected to force that enables the telescopic frame and telescopic rod to move and adjust through the support frame.

[0015] The rail flaw detection device for rail transit based on visual recognition disclosed in this invention effectively solves the shortcomings of traditional manual inspection through the coordinated design of "moving structure, balancing structure and marking structure", and has the following beneficial effects:

[0016] 1. The device drives the moving seat to move along the sliding groove of the base through the electric push rod in the balancing structure. This can drive the first moving roller to adjust the spacing left and right on the adjusting shaft. At the same time, it can simultaneously adjust the contact distance between the limiting unit and the side wall of the rail. It can accurately fit rails of different widths (such as subway tracks, mainline railway tracks, etc.) without the need to customize equipment for different tracks. This greatly improves the versatility of the device and reduces the equipment investment cost for track inspection.

[0017] 2. The moving structure adopts a three-point support design of "first moving roller and second moving roller", which fits tightly against the upper wall of the rail to ensure the stability of the device when moving along the straight track and avoid tilting or shaking. The limiting unit in the balance structure provides elastic buffer through springs. Combined with the flip-out design of the V-shaped wheel frame, the roller can always fit against the side wall of the rail. When the device enters a curve, it can adaptively adjust its position and angle according to the curvature of the rail, effectively avoiding device deviation or jamming, ensuring smooth movement under complex road conditions, and meeting the detection requirements of different track lines (including multi-curved lines).

[0018] 3. The symmetrically arranged cameras on both sides of the device can achieve multi-dimensional detection coverage through arm angle adjustment: one side camera can image the upper and outer walls of the rail on the same side, while the other side camera can image the inner wall of the rail on the opposite side, forming a blind-spot-free detection field of view of the entire rail surface (upper wall and inner / outer walls); at the same time, the application of visual recognition technology avoids the subjective error of manual inspection, can accurately identify defects such as cracks, wear, and deformation on the rail surface, significantly reduce the rate of missed detection and false detection, and improve the reliability of the detection results.

[0019] 4. After the camera detects a defect, the marking structure triggers the liquid pump via the controller group to precisely spray the marking liquid in the tank onto the vicinity of the defect (such as between rails or on the outside of the rail, without affecting the normal use of the rail), thus automatically marking the defect location and avoiding errors from manual recording. During subsequent manual review, staff can quickly locate the defect using the markings, eliminating the need for a full inspection of the entire line, significantly shortening review time and improving subsequent processing efficiency. At the same time, the automated detection mode of the device replaces traditional manual foot inspection, significantly reducing manpower input, lowering labor intensity, and saving long-term inspection labor costs.

[0020] In summary, this invention is highly adaptable and widely applicable, accurately fitting tracks of varying widths, thus enhancing the equipment's versatility. The equipment moves stably, adapting to complex road conditions, and can smoothly turn along curves without deviation or jamming. The detection is comprehensive and accurate, reducing missed detections. The symmetrically arranged cameras, adjustable via the arm angle, can perform all-around imaging detection of the track's upper and inner / outer walls, significantly reducing missed and false detection rates. Automatic marking and positioning improve subsequent efficiency, significantly saving labor costs and increasing post-processing efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the assembly structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the disassembled movable structure of the present invention;

[0023] Figure 3This is a schematic diagram of the split structure of the balance structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the split structure of the marking structure of the present invention;

[0025] Figure 5 for Figure 2 A magnified schematic diagram of the structure at point A in the diagram;

[0026] Figure 6 for Figure 3 A magnified schematic diagram of the structure at point B in the diagram;

[0027] Figure 7 for Figure 2 A magnified schematic diagram of the structure at point C.

[0028] In the diagram: 1. Moving structure; 10. Base; 11. Shaft frame; 12. Power shaft; 13. Motor; 14. Pulley; 15. Belt; 16. Adjusting shaft; 17. First moving roller; 18. Roller frame; 19. Second moving roller; 2. Balancing structure; 21. Moving seat; 22. Adapter pad; 23. Electric push rod; 24. Bearing frame; 25. Arm; 26. Camera; 27. Limiting unit; 271. Telescopic frame; 272. Telescopic rod; 273. Spring; 274. Wheel frame; 275. Roller; 3. Marking structure; 31. Control box; 32. Controller group; 33. Battery; 34. Partition plate; 35. Material box; 36. Liquid pump; 37. Spray frame; 38. Nozzle; 4. Sliding groove; 5. Rod groove; 6. Swinging port. Detailed Implementation

[0029] The following will refer to the appendices in the embodiments of the present invention. Figures 1-7 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] like Figure 1As shown, the present invention provides a technical solution: a rail flaw detection device for rail transit based on visual recognition, comprising a moving structure 1, a pair of balancing structures 2, and a marking structure 3; the pair of balancing structures 2 are symmetrically arranged on both sides of the moving structure 1, and the balancing structures 2 are movable relative to each other, while the marking structure 3 is fixedly arranged in the middle of the moving structure 1; wherein the moving structure 1 is used to provide power for moving along the track, the balancing structures 2 are used to fit tracks of different widths and to maintain the balance of the moving structure 1 by adjusting the turning limit of curves, the balancing structures 2 respectively perform imaging detection on the corresponding tracks, and the marking structure 3 is used to mark the detection parts, improving the positioning accuracy of subsequent manual inspection, while also providing power and control.

[0031] like Figure 2 , Figure 5 and Figure 7 As shown, as a preferred embodiment, the movable structure 1 further includes a base 10, a shaft frame 11, a power shaft 12, a motor 13, a pulley 14, a belt 15, a pair of adjusting shafts 16, a pair of first moving rollers 17, a roller frame 18, and a second moving roller 19. Sliding grooves 4 are provided at the center of both ends of the base 10. The shaft frame 11 is fixedly mounted on the center of the lower wall of the base 10. The two ends of the power shaft 12 movably pass through both ends of the shaft frame 11, and the center of the power shaft 12 is H-shaped. Rod grooves 5 are provided at the center of both ends of the power shaft 12. The motor 13 is fixedly mounted on the shaft frame 11, and the driving end of the motor 13 movably passes through the shaft frame 11. The pulley 14 is fixedly mounted on the driving end of the motor 13, and the pulley 14 is located inside the shaft frame 11, above the power shaft 12. The belt 15... The two ends are respectively movably mounted on the pulley 14 and the middle of the power shaft 12. One end of each of the two adjusting shafts 16 is detachably inserted into the two ends of the power shaft 12 and is relatively parallel. The adjusting shafts 16 are fixed to the two ends of the power shaft 12 by bolts. A pair of first moving rollers 17 are respectively movably mounted on the adjusting shafts 16, and the power shaft 12 can move left and right on the adjusting shafts 16. The roller frame 18 is fixedly set on the upper rear wall of the base 10. The second moving roller 19 is movably set on the roller frame 18, and the second moving roller 19 and the first moving roller 17 are corresponding to each other on the same plane. When the motor 13 is started, the power shaft 12 is driven to rotate on the shaft frame 11 by the transmission of the pulley 14 and the belt 15, which in turn drives the adjusting shafts 16 to rotate, thereby realizing the rotation of the first moving rollers 17 and realizing the movement of the equipment.

[0032] More specifically, when the device needs to move along the track, the motor 13 is started. The drive end of the motor 13 drives the pulley 14 to rotate. The pulley 14 drives the power shaft 12 to rotate synchronously under the support of the shaft frame 11 through the belt 15. When the power shaft 12 rotates, the adjusting shafts 16 at both ends of it rotate together, thereby driving the first moving roller 17 mounted on the adjusting shaft 16 to rotate. The first moving roller 17 contacts the top surface of the track to generate friction, driving the entire device to move along the track. At the same time, the second moving roller 19 contacts the top surface of the track, forming a stable support system with the first moving roller 17.

[0033] like Figure 3 As shown, as a preferred embodiment, the balancing structure 2 further includes a movable seat 21, a connecting pad 22, an electric push rod 23, a support frame 24, an arm 25, a camera 26, and a limiting unit 27. The movable seat 21 is H-shaped and is movably fitted into the sliding groove 4 of the base 10. One end of the connecting pad 22 is fixedly mounted on the upper wall of the movable seat 21. The electric push rod 23 is fixedly mounted on the upper wall of the middle part of the base 10, and the telescopic end of the electric push rod 23 is fixedly connected to the other end of the connecting pad 22. The support frame 24 is concave, and one end is shorter than the other end. The upper wall of one end of the support frame 24 is fixedly mounted on the lower wall of the movable seat 21, and a bearing is provided in the middle of one end of the support frame 24. One end of the support frame 24 is movably connected to the first movable roller through the bearing. On one end of the support frame 24, a swing opening 6 is provided at the other end. One end of the arm 25 is movably disposed at the swing opening 6 at the other end of the support frame 24, and the arm 25 can be flipped to adjust the angle. The arm 25 is fixed by bolts. The camera 26 is fixedly disposed on the other end of the arm 25, and the camera 26 is located on the rear side of the support frame 24. The limiting unit 27 is movably disposed on the other end of the support frame 24. The electric push rod 23 drives the moving seat 21 to move, adjusting the distance between the support frame 24 and the first moving seat 21 to fit different width tracks. At the same time, the movement of the support frame 24 adjusts the distance of the limiting unit 27 to fit different width tracks for limiting. The flipping of the arm 25 enables the camera 26 to perform image detection.

[0034] More specifically, the balancing structure 2 can adapt to tracks of different widths and curved terrains, and can also achieve precise imaging detection of the track surface through the camera 26. At the same time, it works with the moving structure 1 to maintain the overall balance of the device, improving detection stability and adaptability. Furthermore, the symmetrical and relatively tilted nature of the camera 26 allows it to not only photograph the outer and upper walls of the corresponding track, but also the inner wall of the other track, achieving comprehensive detection.

[0035] like Figure 3 and Figure 6As shown, as a preferred embodiment, the limiting unit 27 further includes a telescopic frame 271, a pair of telescopic rods 272, a pair of springs 273, a wheel frame 274, and a pair of rollers 275. One end of the telescopic frame 271 movably passes through the middle of the other end of the support frame 24. One end of each pair of telescopic rods 272 movably passes through the other end of the support frame 24, and the other end of each telescopic rod 272 is connected to the other end of the telescopic frame 271. The pair of springs 273 are movably fitted onto the telescopic rods 272, and both ends of each spring 273 are respectively attached to the side walls of the support frame 24 and the telescopic frame 271. The wheel frame 274 is V-shaped, and its middle part is movably mounted on the lower wall of the other end of the telescopic frame 271 via a pin. Located below the first moving roller 17, a pair of rollers 275 are movably mounted on both ends of the wheel frame 274 and are symmetrical to each other. The rollers 275 are limited by contact with the side wall of the track. The wheel frame 274 can be flipped on the telescopic frame 271 to match the turning of the track during movement, ensuring that the rollers 275 are in contact with the track. The elastic force of the spring 273 is used to assist the telescopic frame 271 and the telescopic rod 272 to move with the turning force. The limiting unit 27 can maintain the stable guidance of the device on the straight track, and can adapt to the lateral changes of the curved track through elastic extension and the flipping of the wheel frame 274, so as to prevent the device from jamming or deviating when turning. At the same time, it works with the balance structure 2 to improve the overall stability of the detection.

[0036] The controller group 32 of the marking structure 3 in the device sends a start signal to the electric push rods 23 of the two sets of balancing structures 2, controlling the telescopic ends of the electric push rods 23 to extend and retract synchronously. When the width of the rail to be tested is large, the telescopic end of the electric push rod 23 is extended, and the moving seat 21 is pushed along the sliding groove 4 of the base 10 to move away from the center of the base 10 through the adapter pad 22. When the width of the rail to be tested is small, the telescopic end of the electric push rod 23 is retracted, and the moving seat 21 is pulled along the sliding groove 4 to move closer to the center of the base 10 through the adapter pad 22.

[0037] During the movement of the movable seat 21, the support frame 24 fixed on its lower wall moves synchronously with the movable seat 21. Since the shorter end of the support frame 24 is movably connected to the first moving roller 17 through a bearing, the support frame 24 will drive the first moving roller 17 to move left and right along the axial direction on the adjusting shaft 16 of the movable structure 1, thereby realizing the adjustment of the distance between the first moving rollers 17 in the two sets of balancing structures 2, so that the contact position between the first moving roller 17 and the upper wall of the rail is adapted to the width of the rail, ensuring the support stability when the device moves.

[0038] As the support frame 24 moves, the limiting unit 27 at its longer end moves synchronously with it, adjusting the distance between the limiting units 27 in the two sets of balancing structures 2. During the adjustment process, the contact status between the roller 275 in the limiting unit 27 and the outer wall of the rail needs to be observed in real time until the roller 275 is in close contact with the outer wall of the rail without excessive compression. At this point, the extension and retraction of the electric push rod 23 is stopped, and the position of the extension and retraction end of the electric push rod 23 is locked through the controller group 32, completing the adaptation of the balancing structure 2 to the current rail width.

[0039] After the balancing structure 2 completes the track width adaptation, the angle of the boom 25 is adjusted to enable the camera 26 to perform image detection and judgment on different parts of the rail. The specific operation is as follows:

[0040] Depending on the inspection requirements of the rail to be inspected, such as the upper wall, inner wall, or outer wall of the rail, loosen the fixing bolts at the connection between the boom 25 and the support frame 24. At this time, the boom 25 can rotate around the pin within the swing opening 6. Manually push the boom 25 to adjust the lens orientation of the camera 26: if the upper wall of the rail needs to be inspected, rotate the boom 25 downward so that the lens of the camera 26 is perpendicular to the upper wall of the rail; if the outer wall of the rail needs to be inspected, rotate the boom 25 outward so that the lens is facing the outer wall of the rail; if the inner wall of the rail needs to be inspected, rotate the boom 25 of one of the two sets of balancing structures 2 inward so that the lens is facing the inner wall of the opposite rail.

[0041] After the camera 26 is adjusted to the target detection angle, the fixing bolts at the connection between the boom 25 and the support frame 24 are tightened to ensure that the angle of the boom 25 is locked and to prevent the angle of the camera 26 from shifting during the movement of the device. Subsequently, the camera 26 is started by the controller group 32. As the device moves along the rail through the moving structure 1, the camera 26 continuously images and captures images of the target detection area and transmits the captured image data to the controller group 32 in real time. The image recognition algorithm built into the controller group 32 analyzes and processes the images to determine whether there are defects such as cracks, wear, and deformation in the rail, thus realizing the camera-based detection of the rail.

[0042] Throughout the entire process of the device moving and detecting along the rail, the balancing structure 2 and the moving structure 1 work together: In the moving structure 1, the motor 13 drives the power shaft 12, the adjusting shaft 16, and the first moving roller 17 to rotate through the pulley 14 and the belt 15, providing the device with the power to move; In the balancing structure 2, the rollers 275 of the two sets of limiting units 27 are always in contact with the outer wall of the rail, limiting the lateral displacement of the device when it moves along the straight track, ensuring the stability of the movement direction; When the device enters the curved track, the curvature of the outer wall of the rail changes, and the rollers 275 are pushed by the force to extend and retract the telescopic frame 271 along the mounting hole of the bearing frame 24. At the same time, the wheel frame 274 rotates around the pin on the lower wall of the telescopic frame 271. With the elastic buffering effect of the spring 273, it is ensured that the rollers 275 are always in close contact with the outer wall of the rail, avoiding jamming or displacement of the device when moving on the curve. Meanwhile, the camera 26 continuously maintains a stable image of the rail, realizing stable movement and accurate detection of the device under complex road conditions.

[0043] like Figure 4 As shown, as a preferred embodiment, the marking structure 3 further includes a control box 31, a controller assembly 32, a battery 33, a partition 34, a material tank 35, a liquid pump 36, a spray frame 37, and a pair of spray nozzles 38. The control box 31 is fixedly installed in the middle of the upper wall of the base 10, and the control box 31 is located between the electric push rods 23. The controller assembly 32 is fixedly installed on the upper wall of the control box 31, and is located at the front end. The battery 33 is fixedly installed on the lower inner wall of the control box 31, near the right end. A charging port for connecting the battery 33 is provided on the right side wall of the control box 31. The partition 34 is fixedly installed on the right inner wall of the control box 31, and the partition 34 is located above the battery. The material tank 35 is fixedly installed on the lower left inner wall of the control box 31, and the liquid filling port of the material tank 35 penetrates through the left side wall of the control box 31. The liquid pump 36 is fixedly installed on the partition 34, and the liquid inlet of the liquid pump 36 is connected to the bottom of the material tank 35 through a pipe. The spray frame 37 is fixedly installed in the control box. The upper wall of the control box 31 is located behind the controller group 32. The spray frame 37 is concave, and a pair of nozzles 38 are fixedly installed at both ends of the spray frame 37. The pair of nozzles 38 are connected to the outlet of the liquid pump 36 through pipes. Powered by the storage battery 33, the device is driven by the controller group 32. The liquid pump 36 draws paint from the material box 35 and sprays it with the nozzles 38 to mark the detection position, which is convenient for subsequent personnel to reach the position. The marking structure 3 can accurately mark the defect at the same time as the defect is detected. The marked detection part is in the middle or outside of the track, not on the track, to avoid affecting the track. During subsequent manual review, the defect can be quickly located by visual recognition, which greatly improves the efficiency of secondary inspection. At the same time, the integrated design of the control box 31 centralizes the power supply and control functions and simplifies the wiring layout of the device. The liquid pump 36 and the motor 13 are both powered by the storage battery 33 and controlled by the controller group 32 to start for control needs.

[0044] Open the sealing cap of the liquid filling port of the material box 35 on the left side wall of the control box 31, inject sufficient marking paint into the material box 35, and tighten the sealing cap after filling; check the power of the battery 33 through the operation panel of the controller group 32 to ensure that the power is sufficient; at the same time, start the liquid pump 36 to perform a test spray, observe the spraying status of the nozzle 38, and adjust the angle of the nozzle 38 so that the paint can be accurately sprayed to the middle or outer side of the track (without contacting the rail body) to avoid the paint contaminating the rail and affecting the train operation.

[0045] After the equipment is started, motor 13 drives the equipment to move along the rail. Camera 26 of the balancing structure 2 collects images of the rail in real time and transmits them to controller group 32. When controller group 32 detects a rail defect, it automatically triggers the start of liquid pump 36. Liquid pump 36 draws paint from the bottom of material box 35 through liquid inlet pipe and delivers it to nozzles 38 at both ends of spray frame 37 through liquid outlet pipe. The nozzles 38 atomize the paint and spray it onto the middle or outer side of the rail near the defect, forming obvious visual marks such as red dots or stripes. After marking is completed, controller group 32 automatically records the defect location information, such as the distance from the detection starting point, and stores it in the built-in memory for easy retrieval later.

[0046] After the testing is completed, turn off the power to the equipment, open the liquid filling port of the material tank 35, and check the remaining amount of paint. If the remaining amount is insufficient, replenish it in time. If the equipment will not be used for a long time, the remaining paint in the material tank 35 should be emptied, and clean water should be pumped out through the liquid pump 36 to flush the pipes and nozzles 38 to prevent the paint from solidifying and clogging the pipes. At the same time, charge the battery 33 through the charging port on the right side wall of the control box 31 until it is fully charged to ensure that the equipment has sufficient power for the next use.

[0047] As a preferred option, the electric push rod 23 drives the support frame 24 to move left and right, and the support frame 24 drives the first moving roller 17 to move on the adjusting shaft 16 to fit tracks of different widths.

[0048] As a preferred option, the roller 275, when subjected to force, can drive the telescopic frame 271 and the telescopic rod 272 to move and adjust through the support frame 24, in order to adapt to changes in the curve and maintain the stability of the limit position.

[0049] Its detailed connection method is a well-known technology in this field. The following mainly introduces the working principle and process, and the specific work is as follows.

[0050] First, the equipment is placed on the upper wall of the track by the first moving roller 17 and the second moving roller 19 in the moving structure 1. Then, powered by the battery 33, the controller group 32 drives the balance structure 2 in the equipment to start the electric push rod 23 to retract. With the connection of the adapter pad 22, the moving seat 21 is moved at the sliding groove 4 of the base 10, so as to drive the symmetrically arranged first moving roller 17 and the limiting unit 27 to move relative to each other.

[0051] This causes the first moving roller 17 to move on the adjusting shaft 16 to adjust the distance, while the roller 275 contacts and clamps the side wall of the track to ensure the stability of the equipment. In particular, the contact between the roller 275 and the side wall limits the turning movement of the equipment.

[0052] When the equipment moves and turns, the roller 275 is subjected to force and rotates at a certain angle on the telescopic frame 271 with the help of the wheel frame 274. The force on the roller 275 passes through the telescopic frame 271 and the telescopic rod 272 through the support frame 24 and the compression spring 273 is subjected to force. The force of the spring 273 keeps the roller 275 in full contact with the side wall of the track and matches the turn of the track for limiting. Thus, the equipment can be limited to turn during movement.

[0053] The movement of the equipment is achieved by starting the motor 13 to drive the pulley 14 to rotate. The pulley 14 is connected to the power shaft 12 in the moving structure 1 through the belt 15 to realize transmission. The power shaft 12 rotates on the shaft frame 11 and drives the adjusting shaft 16 installed in the rod groove 5 to rotate. In turn, the force is adjusted to drive the first moving roller 17 to rotate to provide power for movement. The second moving roller 19 is supported by the roller frame 18 and rotates with the movement of the equipment.

[0054] As the equipment moves along the track, the camera 26 on the boom 25 performs imaging detection, and the boom 25 can be flipped and adjusted within the swing opening 6 to achieve relative setting of the camera 26. As the equipment moves forward, the camera 26 can perform imaging detection on the upper wall and outer wall of the corresponding track below, and at the same time, the camera 26 can also perform imaging detection on the inner wall of the track on the other side, achieving comprehensive detection of the track.

[0055] When a problem is detected on the track, since the camera 26 detects along the front of the moving equipment, when the equipment moves to the location of the problem, the liquid pump 36 on the partition 34 can be activated. The liquid pump 36 draws pigment from the control box 31 and the material box 35 and supplies it to the two nozzles 38 on the spray frame 37. The pigment is then sprayed through the nozzles 38 to the area between the tracks or the outer part of the tracks (the width of the spray frame 37 can be set according to the requirements) to prevent it from affecting the tracks. This achieves marking of the marking structure 3 during movement, which is convenient for manual location later and saves detection time.

[0056] When the equipment moves on a curve, since the first moving roller 17 and the second moving roller 19 cannot turn, the equipment is clamped to the outside of the track by the limiting unit 27 in the balance structure 2. The limiting unit 27 contacts and engages with the track to turn and limit the movement, so that the first moving roller 17 and the second moving roller 19 can maintain contact with the upper wall of the track to apply force and drive the movement.

[0057] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rail flaw detection device for rail transit based on visual recognition, characterized in that, It includes a moving structure (1), a pair of balancing structures (2) and a marking structure (3); the pair of balancing structures (2) are symmetrically arranged on both sides of the moving structure (1) and the balancing structures (2) can move relative to each other, and the marking structure (3) is fixedly arranged in the middle of the moving structure (1); The moving structure (1) is used to provide power for moving along the track. The balancing structure (2) is used to fit tracks of different widths and to maintain the balance of the moving structure (1) by turning limit. The balancing structure (2) performs imaging detection on the corresponding tracks respectively. The marking structure (3) is used to mark the detection parts, improve the positioning accuracy of subsequent manual detection, and provide power and control. The movable structure (1) includes a base (10), a shaft frame (11), a power shaft (12), a pair of adjusting shafts (16), a pair of first movable rollers (17), a roller frame (18), and a second movable roller (19). The base (10) has sliding grooves (4) at the middle of both ends. The shaft frame (11) is fixedly set in the middle of the lower wall of the base (10). The two ends of the power shaft (12) are respectively movably inserted through the two ends of the shaft frame (11), and the middle of the power shaft (12) is H-shaped. One end of a pair of adjustment shafts (16) is respectively detachably inserted into the two ends of the power shaft (12) and is relatively parallel. The adjustment shaft (16) is fixed to the two ends of the power shaft (12) by bolts. A pair of first moving rollers (17) are respectively movably mounted on the adjustment shafts (16), and the first moving rollers (17) can move left and right on the adjustment shafts (16). The roller frame (18) is fixedly set in the upper wall of the rear end of the base (10). The second moving roller (19) is movably set in the roller frame (18), and the second moving roller (19) and the first moving roller (17) are corresponding to each other in the same plane. The balancing structure (2) includes a movable seat (21), a support frame (24), and a limiting unit (27). The movable seat (21) is H-shaped and is movably mounted in the sliding groove (4) of the base (10). The upper wall of one end of the support frame (24) is fixedly set on the lower wall of the movable seat (21), and a bearing is provided in the middle of one end of the support frame (24). One end of the support frame (24) is movably connected to one end of the first movable roller (17) through the bearing. The limiting unit (27) is movably set on the other end of the support frame (24).

2. The rail flaw detection device for rail transit based on visual recognition according to claim 1, characterized in that, The moving structure (1) also includes a motor (13), a pulley (14), and a belt (15); The power shaft (12) has a rod groove (5) at the middle of both ends. The motor (13) is fixedly mounted on the shaft frame (11), and the driving end of the motor (13) moves through the shaft frame (11). The pulley (14) is fixedly mounted on the driving end of the motor (13), and the pulley (14) is located inside the shaft frame (11). The pulley (14) is located above the power shaft (12). The two ends of the belt (15) are respectively movably fitted onto the pulley (14) and the middle of the power shaft (12).

3. The rail flaw detection device for rail transit based on visual recognition according to claim 2, characterized in that, The balancing structure (2) also includes an adapter pad (22), an electric push rod (23), an arm (25), and a camera (26). One end of the adapter pad (22) is fixedly mounted on the upper wall of the movable seat (21), the electric push rod (23) is fixedly mounted on the upper wall of the middle part of the base (10), and the telescopic end of the electric push rod (23) is fixedly connected to the other end of the adapter pad (22). The support frame (24) is concave, and one end is shorter than the other end. The other end of the support frame (24) is provided with a swing opening (6). One end of the arm (25) is movably mounted at the swing opening (6) at the other end of the support frame (24), and the arm (25) can be flipped to adjust the angle. The arm (25) is fixed by bolts. The camera (26) is fixedly mounted on the other end of the arm (25), and the camera (26) is located on the rear side of the support frame (24).

4. The rail flaw detection device for rail transit based on visual recognition according to claim 3, characterized in that, The limiting unit (27) includes a telescopic frame (271), a pair of telescopic rods (272), a pair of springs (273), a wheel frame (274), and a pair of rollers (275). One end of the telescopic frame (271) is movably inserted through the middle of the other end of the support frame (24). One end of each of the two telescopic rods (272) is movably inserted through the other end of the support frame (24), and the other end of the telescopic rods (272) is connected to the other end of the telescopic frame (271). A pair of springs (273) are movably mounted on the telescopic rods (272), and the two ends of the springs (273) are respectively attached to the side walls of the support frame (24) and the telescopic frame (271). The wheel frame (274) is V-shaped. The middle part of the wheel frame (274) is movably mounted on the lower wall of the other end of the telescopic frame (271) through a pin shaft. The wheel frame (274) is located below the first moving roller (17). A pair of rollers (275) are movably mounted on both ends of the wheel frame (274) and are symmetrical to each other.

5. A rail flaw detection device for rail transit based on visual recognition according to claim 4, characterized in that, The marking structure (3) includes a control box (31), a controller group (32), a battery (33), a partition (34), a material box (35), a liquid pump (36), a spray frame (37), and a pair of nozzles (38); The control box (31) is fixedly installed in the middle of the upper wall of the base (10), and the control box (31) is located between the electric push rods (23). The controller group (32) is fixedly installed on the upper wall of the control box (31) and located at the front end. The storage battery (33) is fixedly installed on the lower inner wall of the control box (31) and close to the right end. The right side wall of the control box (31) is provided with a charging port connected to the storage battery (33). The partition (34) is fixedly installed on the right inner wall of the control box (31) and the partition (34) is located above the storage battery. The material box (35) is fixedly installed on the upper wall of the base (10). The lower left wall of the control box (31) and the liquid filling port of the material box (35) penetrate the left side wall of the control box (31). The liquid pump (36) is fixedly installed on the partition (34). The liquid inlet of the liquid pump (36) is connected to the bottom of the material box (35) through a pipe. The spray frame (37) is fixedly installed on the upper wall of the control box (31) and located behind the controller group (32). The spray frame (37) is concave. A pair of nozzles (38) are fixedly installed at both ends of the spray frame (37). A pair of nozzles (38) are connected to the liquid outlet of the liquid pump (36) through pipes.

6. A rail flaw detection device for rail transit based on visual recognition according to claim 5, characterized in that, The liquid pump (36) and the motor (13) are both powered by the storage battery (33) and started by the controller group (32).

7. A rail flaw detection device for rail transit based on visual recognition according to claim 6, characterized in that, The electric push rod (23) drives the support frame (24) to move left and right, and the support frame (24) drives the first moving roller (17) to move on the adjusting shaft (16).

8. A rail flaw detection device for rail transit based on visual recognition according to claim 7, characterized in that, The roller (275) under force can drive the telescopic frame (271) and telescopic rod (272) to move and adjust through the support frame (24).

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