Track inspection equipment and system

Abstract

The utility model provides track inspection equipment. The track inspection equipment comprises a vehicle body, and a steel rail detection device, a fastener detection device, an evacuation platform detection device, a ballast bed detection device, a drainage ditch detection device, a synchronous positioning system and a main control unit which are arranged on the vehicle body, wherein the steel rail detection device, the fastener detection device, the evacuation platform detection device, the ballast bed detection device and the drainage ditch detection device are all in communication connection with the main control unit, and the main control unit is in communication connection with the synchronous positioning system. According to the utility model, steel rails, fasteners, evacuation platforms, ballast beds and drainage ditches around the vehicle body are detected according to image information, the detection content is more, the accuracy is high, the daily public work detection content of urban rail transit is basically covered, the labor intensity is effectively reduced, and the detection efficiency is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of track detection, in particular to a track inspection device. Background Art

[0002] With the continuous increase in railway speed and the rapid development of urban rail, track diseases have increased sharply. Therefore, timely detection of track diseases and maintenance are the top priorities for protecting the safe operation of railways or urban rails.

[0003] At present, track inspection mainly focuses on the detection of rail surface scratches, fastener anomalies, sleeper block loss, roadbed bulges, and foreign objects on the track. Track inspectors are required to conduct manual inspections and check the track status with their eyes. However, the time that inspectors can work effectively without vehicles is getting shorter and shorter, and the inspection efficiency is low. The inspection method based on manual on-site inspection can no longer meet the inspection requirements of modern rail transit. Therefore, during the time when the train is stopped, track inspection vehicles are usually used to sectionally inspect whether the track meets safety requirements. Using portable track inspection vehicles for daily line inspections can reduce the labor intensity of inspection workers and is an inevitable trend in railway or urban rail engineering inspections.

[0004] Usually, the track inspection vehicle is equipped with the inspection module of the corresponding project. For example, the Chinese utility model patent CN206984011U discloses a railway track fastener and roadbed integrated component inspection equipment, including a track trolley, the car body is equipped with a power supply system, a control system, an industrial control tablet computer, a laser scanning sensor assembly, a positioning system, an encoder, and an audio-visual alarm device. The inspection equipment can simultaneously inspect the fastening state of the railway spring clip fasteners and the cracks in the track roadbed and the gap between the track plate and the mud layer. In the field of urban rail transit engineering, manual inspections of tracks and lines not only include inspections of the roadbed and fasteners, but also inspections of equipment and facilities such as the rail surface, drainage ditches and evacuation platforms. Therefore, the function of the inspection equipment is relatively single. At the same time, the inspection equipment is triggered by an encoder, and the laser scanning sensor assembly detects the roadbed and fasteners. There are problems such as frame loss and large positioning errors caused by factors such as car body slippage and speed change, resulting in missed detection and false detection, and low detection accuracy. Summary of the invention

[0005] In order to overcome the above-mentioned shortcomings, the purpose of the utility model is to provide a track inspection equipment with rich detection content, wide content coverage, high detection accuracy, and can effectively improve the detection efficiency of urban rail transit engineering professional.

[0006] In order to achieve the above-mentioned invention object, the technical solution adopted by the utility model is as follows:

[0007] In a first aspect, the utility model provides a track inspection device, including a vehicle body and a rail detection device, a fastener detection device, an evacuation platform detection device, a ballast bed detection device, a drainage ditch detection device, a synchronous positioning system and a main control unit arranged on the vehicle body; wherein the rail detection device, the fastener detection device, the evacuation platform detection device, the ballast bed detection device and the drainage ditch detection device are all connected to the main control unit for communication, and the main control unit is connected to the synchronous positioning system for communication;

[0008] The rail detection device, fastener detection device, evacuation platform detection device, roadbed detection device and drainage ditch detection device all include: a camera and a light source, wherein the camera is used to obtain image information and the light source is used to fill in light;

[0009] The main control unit is used to control the cameras and light sources of the rail detection device, fastener detection device, evacuation platform detection device, ballast bed detection device and drainage ditch detection device respectively to obtain image information, and detect the rail surface, fasteners, evacuation platform, ballast bed and drainage ditch according to the image information. The synchronous positioning system is used to position the vehicle body.

[0010] The triggering methods of various detection devices and light sources of the track inspection equipment include distance trigger devices composed of encoders and rollers, and time triggers based on NTP (Network Time Protocol) network timing. Among them, the distance trigger device can generate high-frequency trigger signals, which are suitable for high-frequency working devices (such as 3D cameras or linear array cameras); the time trigger device can output stable non-high-frequency trigger signals, which are suitable for non-high-frequency working devices (such as area array cameras).

[0011] Preferably, the above-mentioned rail detection device and drainage ditch detection device both include: a first camera, a first light source, a second camera and a second light source, the first camera and the first light source are arranged on the left side of the vehicle body, the second camera and the second light source are arranged on the right side of the vehicle body, the first camera is used to obtain image information of the rail surface or drainage ditch on the left side of the vehicle body, and the first light source is used to perform fill light when the first camera obtains the image information; the second camera is used to obtain image information of the rail surface or drainage ditch on the right side of the vehicle body, and the second light source is used to perform fill light when the second camera obtains the image information.

[0012] Preferably, the above-mentioned evacuation platform detection device includes a linear array camera and a light source; the linear array camera and the light source are arranged on the same side of the vehicle body; the linear array camera is used to obtain image information of the evacuation platform in the tunnel, and the light source is used to provide fill light when the linear array camera obtains image information.

[0013] Preferably, the above-mentioned fastener detection device and roadbed detection device both include: a first 2D camera, a second 2D camera, a first 3D camera, a second 3D camera, a first light source and a second light source, and the first 2D camera, the first 3D camera and the first light source are all arranged on the left side of the vehicle body, the second 2D camera, the second 3D camera and the second light source are all arranged on the right side of the vehicle body, and the first 2D camera, the second 2D camera, the first 3D camera and the second 3D camera are all used to obtain image information of fasteners or roadbeds.

[0014] Preferably, the track inspection equipment described above further includes a track inspection instrument and a flaw detector; the track inspection instrument and the flaw detector are arranged at the bottom of the vehicle body; the track inspection instrument and the flaw detector are both connected to the main control unit for communication. The track inspection instrument is used to detect track geometric parameters, such as level, triangular pit, superelevation, and positive vector; the flaw detector is used to detect whether the rail weld is qualified.

[0015] Preferably, the above-mentioned synchronous positioning system includes a mileage calculation unit and a mileage mark recognition unit; the mileage calculation unit includes a walking roller, a connecting mechanism and an encoder; the connecting mechanism is installed on the vehicle body; the connecting mechanism is provided with a walking roller; the encoder is connected to the walking roller shaft; the mileage mark recognition unit includes a table array camera for photographing the mileage marks in the tunnel.

[0016] Preferably, the above-mentioned synchronous positioning system also includes a binocular detection unit; the binocular detection unit is two array cameras and a light source; the two array cameras are arranged at the center of the bottom of the vehicle body, and are used to continuously shoot the roadbed area; the light source is used to fill in the light when the array camera obtains image information. The two array cameras are used to continuously shoot the roadbed area, and binocular vision calculation is performed based on the configuration of parameters such as pixel equivalent, depth of field, focal length, etc. to obtain the moving distance of the vehicle body, thereby realizing accurate positioning of the vehicle body.

[0017] Preferably, the above-mentioned connecting mechanism includes a mounting seat, a motor, a rotating rod I and a rotating rod II; the mounting seat is provided with a sliding groove, and the sliding groove is provided with a sliding block that can move along the sliding groove; the motor is connected to the screw rod through a coupling; the screw rod is threadedly connected to the sliding block; the bottom of the sliding block is connected to a pair of rotating rods I; the rotating rod II is arranged under the mounting seat through a fixed plate; the end of the pair of rotating rods I away from the sliding block is rotatably connected to the rotating rod II; the end of the rotating rod II away from the fixed plate is movably connected to the connecting rod; a tension spring is provided between the rotating rod II and the connecting rod; and a walking roller is installed on the connecting rod.

[0018] When the encoder on the walking roller needs to work, the motor drives the lead screw to rotate, and the lead screw drives the sliding block to move horizontally along the sliding groove. The sliding block drives the movement of the rotating rod I and then drives the rotating rod II to rotate around the connection point with the fixed plate; so that the connecting rod connected to the rotating rod II swings downward until the walking roller contacts the track. When the vehicle body moves, the walking roller rotates at the same time. At this time, the encoder enters the working state, and the mileage of the train can be obtained by calculating the output signal of the encoder; under the action of the tension spring, the walking roller and the track are kept in a pressed state to prevent the walking roller from slipping and ensure the normal operation of the encoder; when the encoder on the walking roller is not needed to work, the motor is controlled to rotate in the opposite direction to lift and retract the walking roller from the track.

[0019] In a second aspect, the utility model also provides a track inspection system, comprising a processor and a track inspection device as described in any one of the above; the processor is used to receive the inspection results of rails, fasteners, evacuation platforms, roadbeds and drainage ditches obtained by at least one track inspection device, and extract the disease or defect data of the rails, fasteners, evacuation platforms, roadbeds and drainage ditches.

[0020] Using any of the above detection methods for track inspection equipment,

[0021] Collect image information of rail surface, fasteners, evacuation platform, ballast bed and drainage ditch.

[0022] Collect and process encoder and mileage identification information for vehicle positioning;

[0023] Detect, analyze and process image information to extract disease or defect data;

[0024] The extracted image data of the disease or defect is combined with the positioning information to determine the actual location of the disease or defect.

[0025] The utility model has the beneficial effects:

[0026] 1. The utility model detects the rails, fasteners, evacuation platforms, roadbeds and drainage ditches around the vehicle body based on image information. The detection content is rich and the accuracy is high. It basically covers the daily engineering inspection content of urban rail transit, effectively reduces the labor intensity and has high detection efficiency.

[0027] 2. Aiming at the characteristics of urban rail transit, the utility model integrates an evacuation platform detection module, which can obtain complete image information above and below the evacuation platform, which is helpful to find abnormal conditions such as broken supporting structures, missing nuts, broken binding belts, etc. issued by the evacuation platform, and can effectively detect the structural firmness of the evacuation platform.

[0028] 3. The ballast bed detection device and fastener detection device of the utility model both adopt a method of jointly collecting two-dimensional images and three-dimensional images, and obtain a three-dimensional image of height while obtaining a two-dimensional image of the target object data, thereby realizing the combination of spatial information and plane information of the same target object, and can effectively avoid the misidentification caused by stains in the simple two-dimensional image acquisition, or the omission of defects caused by frame loss due to the triggering method of three-dimensional image acquisition, etc., which is helpful to discover abnormal conditions such as ballast bed bulge, ballast bed foreign matter, fastener spring bar detachment, spring bar breakage, nut damage, etc., and effectively improve the detection accuracy of the ballast bed or fasteners.

[0029] 4. Each detection device of the utility model adopts camera + light source for image acquisition, which can realize fill light, especially when detecting in the tunnel, the quality of the image is guaranteed, which is convenient for subsequent image processing and analysis, thereby realizing detection automation.

[0030] 5. The utility model adopts a synchronous positioning system that uses multiple positioning technologies that combine encoders, mileage mark recognition and calibration, and binocular vision positioning. It solves the problem of large positioning errors caused by encoder slippage, speed change and other factors. The encoder determines the current position of the comprehensive inspection vehicle in real time, generates relative position coordinates, and performs positioning calibration every 100 meters or every 200 meters based on mileage mark recognition, eliminating cumulative errors. The moving distance of the vehicle body is obtained through binocular vision positioning technology, and the precise positioning of the vehicle body is achieved, which can accurately locate the disease, help align the previous detection data of the disease, and effectively monitor the development of the disease.

[0031] 6. The utility model changes the traditional way of installing encoders on the wheels of the vehicle body, and installs the encoder through a connecting mechanism to make it independent. There is no need to modify the vehicle body carrying the track inspection equipment, and the impact of the vehicle body on the encoder in the synchronous positioning system when turning or changing speed is reduced; at the same time, the walking roller on the connecting mechanism can maintain a tight state with the track under the action of the tension spring to prevent the walking roller from slipping, ensuring the normal operation of the encoder connected to it, further improving the mileage calculation accuracy of the vehicle body and ensuring the trigger continuity, and effectively improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The utility model is a schematic diagram of the structure of a track inspection device.

[0033] Figure 2 It is a partial top view of a track inspection device of the utility model.

[0034] Figure 3 This is another partial top view of a track inspection device of the present utility model.

[0035] Figure 4 It is a structural schematic diagram of the mileage calculation unit of the utility model.

[0036] Figure 5 The figure is a schematic diagram of the motion trajectory of the mileage calculation unit of the present invention.

[0037] Figure 6 It is a structural schematic diagram of the rail detection device of the utility model.

[0038] Figure 7 This is a schematic diagram of the structure of the drainage ditch detection device of the utility model

[0039] Figure symbols: 1-mileage calculation unit, 101-motor, 102-coupling, 103-screw, 104-sliding block, 105-travel roller, 106-encoder, 107-tension spring, 108-rotating rod II, 109-rotating rod I;

[0040] 2- evacuation platform detection device, 3- fastener detection device, 4- mileage mark identification unit, 5- ballast bed detection device, 6- drainage ditch detection device, 7- flaw detector, 8- binocular detection unit, 9- rail detection device; DETAILED DESCRIPTION

[0041] The technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In order to make the implementation process of the utility model clearer, it will be described in detail below with reference to the accompanying drawings.

[0044] In the first aspect, the utility model provides a track inspection device, including a vehicle body and a rail detection device 9, a fastener detection device 3, an evacuation platform detection device 2, a roadbed detection device 5, a drainage ditch detection device 6, a synchronous positioning system and a main control unit arranged on the vehicle body; wherein the rail detection device 9, the fastener detection device 3, the evacuation platform detection device 2, the roadbed detection device 5 and the drainage ditch detection device 6 are all connected to the main control unit for communication, and the main control unit is connected to the synchronous positioning system for communication;

[0045] The rail detection device 9, fastener detection device 3, evacuation platform detection device 2, roadbed detection device 5 and drainage ditch detection device 6 all include: a camera and a light source, wherein the camera is used to obtain image information and the light source is used to fill in light;

[0046] The main control unit is used to control the cameras and light sources of the rail detection device 9, fastener detection device 3, evacuation platform detection device 2, ballast bed detection device 5 and drainage ditch detection device 6 respectively to obtain image information, and detect the rail surface, fasteners, evacuation platform, ballast bed and drainage ditch according to the image information. The synchronous positioning system is used to position the vehicle body.

[0047] The triggering methods of various detection devices and light sources of the track inspection equipment include distance trigger devices composed of encoders and rollers, and time triggers based on NTP (Network Time Protocol) network timing. Among them, the distance trigger device can generate high-frequency trigger signals, which are suitable for high-frequency working devices (such as linear array cameras or 3D cameras); the time trigger device can output stable non-high-frequency trigger signals, which are suitable for non-high-frequency working devices (such as area array cameras).

[0048] In actual application, the train runs on rails. Since there are generally two rails, it is generally necessary to obtain image information on both sides of the rails when obtaining the safety parameters of the running environment of the rails. The device for obtaining the image information may include a rail detection device 9, a fastener detection device 3, an evacuation platform detection device 2, a ballast bed detection device 5 and a gutter detection device 6, wherein the rail detection device 9 is used to obtain image information of the rails of the rails, the fastener detection device 3 is used to obtain image information of the fasteners in the rails, the evacuation platform detection device 2 is used to detect image information of the evacuation platform around the rails, the ballast bed detection device 5 is used to detect image information corresponding to the ballast bed of the rails, and the gutter detection device 6 is used to detect image information of the gutter on both sides of the rails.

[0049] Since the objects acquired by the rail detection device 9, fastener detection device 3, evacuation platform detection device 2, roadbed detection device 5 and drainage ditch detection device 6 are all image information, the rail detection device 9, fastener detection device 3, evacuation platform detection device 2, roadbed detection device 5 and drainage ditch detection device 6 all include cameras, and since trains often travel inside tunnels, it is necessary to fill in the light at the position where the camera is photographed, so the above-mentioned devices also include a light source for fill in the light. The camera used by each device is selected according to the actual situation, without uniform requirements, and no specific limitation is made without specific description.

[0050] In actual applications, the synchronous positioning system controls the cameras and light sources of the rail detection device 9, the fastener detection device 3, the evacuation platform detection device 2, the ballast bed detection device 5 and the drainage ditch detection device 6 in the main control unit to obtain image information, and locates the vehicle body when detecting the rails, fasteners, evacuation platforms, ballast beds and drainage ditches around the vehicle body based on the image information.

[0051] For further explanation, the structures and functions of the rail detection device 9, the fastener detection device 3, the evacuation platform detection device 2, the roadbed detection device 5 and the drainage ditch detection device 6 are described one by one in turn.

[0052] Optionally, the rail detection device 9 includes a first camera, a first light source, a second camera and a second light source. The first camera and the first light source are arranged on the left side of the vehicle body, and the second camera and the second light source are arranged on the right side of the vehicle body. The first camera is used to obtain image information of the rails on the left side of the vehicle body, and the first light source is used to perform fill light when the first camera obtains image information. The second camera is used to obtain image information of the rails on the right side of the vehicle body, and the second light source is used to perform fill light when the second camera obtains image information.

[0053] Since the train runs on rails, the detection of rails is particularly important. Therefore, it is necessary to detect the image information of the rails through the rail detection device 9, and since the train needs two rails during the running process, it is necessary to obtain the image information corresponding to the rails on the left and right sides during the running of the train. In practical applications, the object to be detected is to detect whether there is a fracture disease of more than 1mm on the surface of the rail, surface peeling or a disease of more than 1cm².

[0054] Alternatively, if Figure 6 As shown, the first camera in the rail detection device 9 is a linear array camera, and the first camera and the first light source are packaged together with a modular structure to form a first packaging structure, and the second camera and the second light source are packaged together to form a second packaging structure. In the first packaging structure and the second packaging structure, the camera is perpendicular to the direction of the rail, the light source and the camera form a certain angle, the fill light is effective, and the field of view of the first camera in the first packaging structure includes the rail on the left side of the train, and the position irradiated by the first light source is the position of the rail on the left side of the train. The field of view of the second camera in the second packaging structure includes the rail on the right side of the train, and the second light source irradiates the position of the rail on the right side of the train.

[0055] Optionally, the fastener detection device 3 includes: a first 2D camera, a second 2D camera, a first 3D camera, a second 3D camera, a first light source and a second light source, and the first 2D camera, the first 3D camera and the first light source are all arranged on the left side of the vehicle body, the second 2D camera, the second 3D camera and the second light source are all arranged on the right side of the vehicle body, and the first 2D camera, the second 2D camera, the first 3D camera and the second 3D camera are all used to obtain image information of the fastener; wherein the first 2D camera and the second 2D camera both adopt area array cameras and are triggered by time; the first 3D camera and the second 3D camera are triggered by distance.

[0056] Since there are a large number of fasteners on the track for fixing various structures on the track, it is necessary to detect the image information corresponding to the fasteners when detecting the fasteners of the track. In order to make the detection result more accurate, the 3D camera plus 2D camera mode can be used to obtain the image information corresponding to the fasteners, which is helpful to detect abnormal conditions such as fastener spring bar detachment, spring bar breakage, nut damage, etc.

[0057] Optionally, the evacuation platform detection device 2 includes a linear array camera and a light source; the linear array camera and the light source are arranged on the same side of the vehicle body; the linear array camera is used to obtain image information of the evacuation platform in the tunnel, the light source is used to provide fill light when the linear array camera obtains image information, and the linear array camera is triggered by distance.

[0058] The evacuation platform is a safe passage in an emergency. There are evacuation platforms on the side walls of rail transit tunnels such as urban rail transit and urban rail transit. The evacuation platform is also an important part of the rail, so it is also necessary to obtain image information of the evacuation platform. The image information of the evacuation platform beside the rail is obtained by using the area array camera, and the image beside the rail is analyzed to obtain the driving environment safety parameters of the evacuation platform.

[0059] In practical applications, the inspection content of the evacuation platform is mainly to detect the broken support structure, broken lashing belt, missing nuts and other defects under the evacuation platform. By obtaining image information above and below the evacuation platform and analyzing and processing the image information, it can be determined whether there are broken support structures, broken lashing belts, missing nuts and other defects on the evacuation platform.

[0060] Optionally, the roadbed detection device 5 includes: a first 2D camera, a second 2D camera, a first 3D camera, a second 3D camera, a first light source and a second light source, and the first 2D camera, the first 3D camera and the first light source are all arranged on the left side of the vehicle body, the second 2D camera, the second 3D camera and the second light source are all arranged on the right side of the vehicle body, and the first 2D camera, the second 2D camera, the first 3D camera and the second 3D camera are all used to obtain roadbed information; wherein the first 2D camera and the second 2D camera both adopt area array cameras and are triggered by time; the first 3D camera and the second 3D camera are triggered by distance.

[0061] The roadbed mainly refers to the area between the rails on the left and right sides of the train. Therefore, when inspecting the roadbed, it is also necessary to mainly detect abnormalities in the middle area of ​​the roadbed. Therefore, a combination of 3D cameras and 2D cameras is used to capture the roadbed data in two dimensions while obtaining a three-dimensional image of the height, which helps to detect roadbed bulges, foreign objects in the roadbed, and other defects.

[0062] Optionally, the drainage ditch detection device 6 includes a first camera, a first light source, a second camera, and a second light source. The first camera and the first light source are arranged on the left side of the vehicle body, and the second camera and the second light source are arranged on the right side of the vehicle body. The first camera is used to obtain the image information of the drainage ditch on the left side of the vehicle body, and the first light source is used to perform fill light when the first camera obtains the image information. The second camera is used to obtain the image information of the drainage ditch on the right side of the vehicle body, and the second light source is used to perform fill light when the second camera obtains the image information. The first camera and the second camera described in the detection device are area array cameras.

[0063] The drainage ditch mainly exists in the middle or on both sides of the measuring track bed. The first camera and the second camera are photographed in a 2D array manner, and since the drainage ditch exists in a large area, the first camera and the second camera need to be set up separately to obtain the image information of the drainage ditch.

[0064] The image information of the drainage ditch mainly shows whether the drainage ditch is blocked, whether there are foreign objects, etc. By detecting the image information of the drainage head, the specific parameter information of the drainage ditch is obtained, and it is analyzed whether the drainage ditch is blocked, whether there are foreign objects, etc.

[0065] Optionally, the track inspection equipment described above further includes a track inspection instrument and a flaw detector; the track inspection instrument and the flaw detector are arranged at the bottom of the vehicle body; the track inspection instrument and the flaw detector are both connected to the main control unit for communication. The track inspection instrument is used to detect track geometric parameters, such as level, triangular pit, superelevation, and positive vector; the flaw detector is used to detect whether the rail weld is qualified. The track inspection instrument and the flaw detector can be commercially available products, thereby further expanding the detection function of the track inspection equipment.

[0066] The synchronous positioning system includes a mileage calculation unit 1 and a mileage mark identification unit 4; the mileage calculation unit 1 includes a walking roller, a connecting mechanism and an encoder; the connecting mechanism is installed on the vehicle body; a walking roller is provided on the connecting mechanism; the encoder is connected to the walking roller shaft; the mileage mark identification unit 4 includes a table array camera for photographing mileage marks in the tunnel.

[0067] The encoder is used to determine the current position of the vehicle in real time, generate relative position coordinates, and then use the array camera to collect the mileage marks on the tunnel surface in real time. After shooting the mileage marks, the mileage mark characters are read and recognized through OCR technology to generate the absolute position of the vehicle. The use of encoder and mileage mark recognition calibration for dual positioning technology solves the problem of large positioning errors caused by encoder slippage, speed change and other factors. Positioning calibration is performed every 100 meters or every 200 meters to eliminate cumulative errors, thereby accurately locating the disease, which helps to align the disease detection data and effectively monitor the development of the disease.

[0068] Optionally, the synchronous positioning system further includes a binocular detection unit 8; the binocular detection unit 8 is two array cameras and a light source; the two array cameras are arranged at the center of the bottom of the vehicle body, and are used to continuously shoot the roadbed area; the light source is used to fill in the light when the array camera acquires image information. The two array cameras are used to continuously shoot the roadbed area, and binocular vision calculation is performed based on the configuration of parameters such as pixel equivalent, depth of field, and focal length to obtain the moving distance of the vehicle body, and the encoder and mileage mark recognition calibration technology are combined to achieve accurate positioning of the vehicle body.

[0069] Optional, such as Figure 4 , Figure 5As shown, the above-mentioned connecting mechanism includes a mounting seat, a motor 101, a rotating rod I104 and a rotating rod II108; the mounting seat is provided with a sliding groove, and a sliding block 109 which can move along the sliding groove is provided in the sliding groove; the motor 101 is connected to the screw rod 103 through a coupling 102; the screw rod 103 is threadedly connected to the sliding block 109; the bottom of the sliding block 109 is connected to a pair of rotating rods I104; the rotating rod II108 is arranged under the mounting seat through a fixed plate; the end of the pair of rotating rods I104 away from the sliding block 109 is rotatably connected to the rotating rod II108; the end of the rotating rod II108 away from the fixed plate is movably connected to the connecting rod; a tension spring 107 is provided between the rotating rod II108 and the connecting rod; and a walking roller 105 is installed on the connecting rod. When the encoder 106 on the walking roller 105 needs to work, the motor 101 drives the screw rod 103 to rotate, and the screw rod 103 drives the sliding block 109 to move horizontally along the sliding groove. The sliding block 109 drives the movement of the rotating rod I 104 and then drives the rotating rod II 108 to rotate around the connection point with the fixed plate; thereby, the connecting rod connected to the rotating rod II 108 swings downward until the walking roller 105 contacts the track. When the vehicle body moves, the walking roller 105 rotates at the same time. At this time, the encoder 106 enters the working state, and the mileage of the train can be obtained by calculating the output signal of the encoder 106; under the action of the tension spring 107, the walking roller 105 and the track are kept in a pressed state to prevent the walking roller 105 from slipping and ensure the normal operation of the encoder 106; when the encoder 106 on the walking roller 105 is not needed to work, the motor 101 is controlled to rotate in the opposite direction so that the walking roller 105 is lifted and retracted from the track.

[0070] The main control unit is used to control each detection device and receive the data obtained by each device. The main control unit has built-in processing software, which covers field collection and data processing links, including parameter configuration, raw data acquisition, data analysis (analysis → ring division → tangent), section analysis, disease analysis, report generation and other functions.

[0071] Specifically, the main control unit of the present application can be used to detect rails, fasteners, evacuation platforms, roadbeds, and drainage ditches around the vehicle body based on image information.

[0072] Optionally, enter the scanning parameters according to the job requirements, then the software starts the scanner and automatically acquires and processes the data in the background. In the disease analysis phase, the software can automatically identify the disease and issue a real-time alarm. After the identification is completed, manual inspection can be performed and the disease can be marked after the inspection is correct. After the data processing is completed, the software provides one-click report generation, and the report template can be customized according to actual user needs.

[0073] In the embodiment of the present application, the left and right side image acquisition methods are used to realize the detection of rails, fasteners, roadbeds, and drainage ditches, and at the same time realize the detection of evacuation platforms, and realize the comprehensive detection of track lines and trackside equipment and facilities. The collected images cover the entire detection range and have high detection efficiency, so that the determination of the safety parameters of the driving environment of the train is more accurate and more timely.

[0074] In a second aspect, the utility model also provides a track inspection system, comprising a processor and the track inspection equipment described above; the processor is used to receive the inspection results of rails, fasteners, evacuation platforms, roadbeds and drainage ditches obtained by at least one track inspection equipment, and extract the disease or defect data of the rails, fasteners, evacuation platforms, roadbeds and drainage ditches.

[0075] Using the detection method of a track inspection device described above,

[0076] Collect image information of rail surface, fasteners, evacuation platform, ballast bed and drainage ditch.

[0077] Collect and process encoder and mileage identification information for vehicle positioning;

[0078] Detect, analyze and process image information to extract disease or defect data;

[0079] The extracted image data of the disease or defect is combined with the positioning information to determine the actual location of the disease or defect.

[0080] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A track inspection device, characterized in that: The vehicle comprises a vehicle body and a rail detection device, a fastener detection device, an evacuation platform detection device, a roadbed detection device, a drainage ditch detection device, a synchronous positioning system, and a main control unit provided on the vehicle body; wherein the rail detection device, the fastener detection device, the evacuation platform detection device, the roadbed detection device, and the drainage ditch detection device are all communicatively connected to the main control unit, and the main control unit is communicatively connected to the synchronous positioning system; The rail detection device, fastener detection device, evacuation platform detection device, roadbed detection device and drainage ditch detection device all include: a camera and a light source, wherein the camera is used to obtain image information and the light source is used to fill in the light; The main control unit is used to control the cameras and light sources of the rail detection device, fastener detection device, evacuation platform detection device, roadbed detection device and drainage ditch detection device respectively to obtain image information, and detect the rail surface, fasteners, evacuation platform, roadbed and drainage ditch according to the image information. The synchronous positioning system is used to locate the vehicle body; The synchronous positioning system includes a mileage calculation unit and a mileage marker identification unit; the mileage calculation unit includes a running roller, a connecting mechanism, and an encoder; the connecting mechanism is mounted on the vehicle body; the running roller is provided on the connecting mechanism; the encoder is connected to the running roller shaft; the mileage marker identification unit includes an area array camera for photographing mileage markers in the tunnel; The connecting mechanism includes a mounting seat, a motor, a rotating rod I and a rotating rod II; the mounting seat is provided with a sliding groove, in which a sliding block that can move along the sliding groove is provided; the motor is connected to the screw rod through a coupling; the screw rod is threadedly connected to the sliding block; the bottom of the sliding block is connected to a pair of rotating rods I; the rotating rod II is arranged below the mounting seat through a fixed plate; the ends of the pair of rotating rods I away from the sliding block are rotatably connected to the rotating rod II; the end of the rotating rod II away from the fixed plate is movably connected to the connecting rod; a tension spring is provided between the rotating rod II and the connecting rod; and a walking roller is installed on the connecting rod; The synchronous positioning system also includes a binocular detection unit; the binocular detection unit consists of two area array cameras and a light source; the two area array cameras are arranged at the center of the bottom of the vehicle body and are used to continuously shoot the roadbed area; the light source is used to provide fill light when the area array camera obtains image information.

2. The track inspection equipment according to claim 1, characterized in that: The rail detection device and the drainage ditch detection device both include: a first camera, a first light source, a second camera and a second light source. The first camera and the first light source are arranged on the left side of the vehicle body, and the second camera and the second light source are arranged on the right side of the vehicle body. The first camera is used to obtain image information of the rail surface or drainage ditch on the left side of the vehicle body, and the first light source is used to provide fill light when the first camera obtains the image information; the second camera is used to obtain image information of the rail surface or drainage ditch on the right side of the vehicle body, and the second light source is used to provide fill light when the second camera obtains the image information.

3. The track inspection equipment according to claim 1, characterized in that: The evacuation platform detection device includes a linear array camera and a light source; the linear array camera and the light source are arranged on the same side of the vehicle body; the linear array camera is used to obtain image information of the evacuation platform in the tunnel, and the light source is used to provide fill light when the linear array camera obtains image information.

4. The track inspection equipment according to claim 1, characterized in that: The fastener detection device and the track bed detection device both include: a first 2D camera, a second 2D camera, a first 3D camera, a second 3D camera, a first light source, and a second light source, and the first 2D camera, the first 3D camera, and the first light source are all arranged on the left side of the vehicle body, and the second 2D camera, the second 3D camera, and the second light source are all arranged on the right side of the vehicle body, and the first 2D camera, the second 2D camera, the first 3D camera, and the second 3D camera are all used to obtain image information of the fastener or the track bed.

5. The track inspection equipment according to claim 1, characterized in that: It also includes a track inspection instrument and a flaw detector; the track inspection instrument and flaw detector are arranged at the bottom of the vehicle body; the track inspection instrument and flaw detector are both communicatively connected to the main control unit.

6. A track inspection system, characterized in that: The invention comprises a processor and the track inspection device according to any one of claims 1 to 5; the processor is used to receive the inspection results of rails, fasteners, evacuation platforms, roadbeds and drainage ditches obtained by at least one track inspection device, and extract the disease or defect data of the rails, fasteners, evacuation platforms, roadbeds and drainage ditches.

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