An air-ground linkage inspection system

Abstract

This utility model relates to the field of rail transit inspection technology, and particularly to an air-ground integrated inspection system. It includes a drone and an inspection vehicle operating along the track, and a seismic displacement monitoring device installed on bridges along the track. The seismic displacement monitoring device is installed at the bridge bearings or the ends of the main beams of the bridge. The inspection vehicle is equipped with sensors and an onboard workstation. The sensors include at least one of a lidar, a 3D linear array camera, and an inertial navigation system. The onboard workstation is wirelessly connected to the drone and wirelessly connected to the seismic displacement monitoring device. This air-ground integrated inspection system combines aerial inspection by drones with ground inspection by inspection vehicles, forming a mobile defect detection system covering a "low-altitude + wide-area track space." It can simultaneously achieve large-scale inspection of the track and its surrounding environment, and can be used to quickly assess the safety of railway infrastructure in daily operations or after earthquakes.

Description

Technical Field

[0001] This utility model relates to the field of rail transit inspection technology, and in particular to an air-ground joint inspection system. Background Technology

[0002] Railway line maintenance is a crucial link in ensuring the safe and efficient operation of railway transportation. It mainly includes daily inspections, periodic maintenance, and special maintenance. Traditionally, railway inspections were mainly carried out manually. With the advancement of technology, inspection railcars are increasingly being used for track inspections. Inspection railcars can run along the track and are equipped with various inspection devices to inspect and collect information about the track and its surrounding environment. The travel speed of inspection railcars is faster than that of manual walking, and the various inspection devices on them can conduct a more comprehensive inspection of the track, resulting in a significant improvement in inspection efficiency. However, since the inspection equipment is all installed on the inspection railcar, the inspection range is relatively limited. For example, it is impossible to observe hidden parts with obstructed visibility, such as bridge piers or obscured slope support structures. Utility Model Content

[0003] The purpose of this utility model is to overcome the problem that the existing inspection railcars have a relatively limited inspection range when inspecting rails, since the inspection equipment is all installed on the inspection railcars, and to provide an air-ground linkage inspection system.

[0004] This utility model provides an air-ground joint inspection system, including a drone and an inspection vehicle running along a track, and an earthquake displacement monitoring device installed on bridges along the track. The seismic displacement monitoring device is installed at the end of the bridge bearing or the main beam of the bridge. The inspection vehicle is equipped with sensors and an on-board workstation. The sensors include at least one of a lidar, a three-dimensional linear array camera, and an inertial navigation system. The on-board workstation is wirelessly connected to the UAV and wirelessly connected to the seismic displacement monitoring device.

[0005] The air-ground integrated inspection system described in this utility model combines aerial inspection by drones with ground inspection by inspection vehicles, forming a mobile defect inspection system covering a "low-altitude + wide-area track space." It can simultaneously conduct large-scale inspections of the track and surrounding environment, and can be used to quickly assess the safety of railway infrastructure in daily operations or after earthquakes. The drones can fly in front of the inspection vehicles, reducing the probability of safety accidents caused by the inspection vehicles failing to detect road damage in time. By using seismic displacement monitoring devices to monitor the displacement response of bridges during earthquakes, it can assist engineering personnel in targeted inspection of hidden bridge structures, improving inspection efficiency and quality.

[0006] Preferably, the inspection vehicle is equipped with a drone remote control system, which is capable of remotely controlling the drone.

[0007] Preferably, the UAV is equipped with an image acquisition device and a wireless transmission device. The image acquisition device is used to acquire image information of the track and the surrounding environment, and the wireless transmission device is used to transmit the image information.

[0008] Preferably, the air-to-ground joint inspection system includes at least two drones, which are capable of flying in front of the inspection vehicle.

[0009] Preferably, the inspection vehicle is equipped with a positioning system, which is used to locate the mileage position of the inspection vehicle.

[0010] Preferably, the sensor is communicatively connected to the positioning system.

[0011] Preferably, the lidar is used to collect tunnel lining information and track surrounding environment information.

[0012] Preferably, the three-dimensional linear array camera is used to acquire track surface information and catenary status information.

[0013] Preferably, the inertial navigation system is used to collect the attitude changes of the inspection vehicle.

[0014] Preferably, the positioning system includes an antenna, which is disposed on the top of the inspection vehicle.

[0015] Preferably, the lidar is mounted on the top of the front of the inspection vehicle.

[0016] Preferably, the three-dimensional line array camera includes at least three camera units, which are respectively disposed at the bottom, middle and top of the inspection vehicle, and the three camera units are located on the same cross-section of the inspection vehicle.

[0017] Preferably, the inertial navigation system is located at the bottom of the front of the inspection vehicle.

[0018] Preferably, the seismic displacement monitoring device is used to monitor the bridge displacement response and issue over-limit signals.

[0019] Preferably, the inspection vehicle is equipped with a sunroof on its top, through which the drone can enter and exit the inspection vehicle.

[0020] Preferably, the inspection vehicle is towed with a trailer platform, and the drone can take off and land on the trailer platform.

[0021] Preferably, the vehicle-mounted workstation is communicatively connected to the sensor and is used to receive information collected by the sensor.

[0022] Preferably, the vehicle-mounted workstation is equipped with a processor and a memory. The processor can process the information collected by the drone and sensors in real time or offline according to the inspection requirements, and the memory can store the information collected by the drone and sensors.

[0023] Preferably, the vehicle-mounted workstation is communicatively connected to a server for uploading information collected by the drone and sensors.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows: The air-ground integrated inspection system described in this utility model combines aerial inspection by drones with ground inspection by inspection vehicles, forming a mobile defect inspection system covering a "low-altitude + wide-area track space." It can simultaneously conduct large-scale inspections of the track and surrounding environment, and can be used to quickly assess the safety of railway infrastructure in daily operations or after earthquakes. The drones can fly in front of the inspection vehicles, reducing the probability of safety accidents caused by the inspection vehicles failing to detect road damage in time. By using seismic displacement monitoring devices to monitor the displacement response of bridges during earthquakes, it can assist engineering personnel in targeted inspection of hidden bridge structures, improving inspection efficiency and quality. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the first structure of the air-ground joint inspection system described in the embodiments of this application; Figure 2 This is a schematic diagram of the second structure of the air-ground joint inspection system described in the embodiments of this application; Figure 3 This is a flowchart of the post-earthquake inspection process of the air-ground linkage inspection system described in the embodiments of this application.

[0026] Marked in the image: 1-Unmanned aerial vehicles (UAVs); 2-Inspection vehicle; 21-Car body; 22-Rail wheels; 23-Trailer platform; 3- LiDAR; 4-3D linear scan camera; 5-Inertial navigation system; 6- Positioning system; 7- Seismic displacement monitoring device; 8-Bridge bearings. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to specific embodiments. However, it should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0028] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of this utility model is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the utility model solution or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on this utility model.

[0029] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," and "parallel" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, or parallel, but rather that it can be slightly tilted or have a deviation. For example, "horizontal" merely means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but can be slightly tilted. Alternatively, it can be simplified to mean that the corresponding device / component / element, when set in a "horizontal," "vertical," "suspended," or "parallel" direction, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0030] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0031] Furthermore, in the description of the embodiments of this utility model, "several", "multiple", and "several" represent at least two. The number can be any number, such as two, three, four, five, six, seven, eight, or nine, and can even exceed nine.

[0032] Furthermore, in the description of the technical solution of this utility model, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "equipped with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0033] Example Railway line maintenance is a crucial link in ensuring the safe and efficient operation of railway transportation. It mainly includes daily inspections, periodic maintenance, and special maintenance. Traditionally, railway inspections were mainly carried out manually. With the advancement of technology, inspection railcars are increasingly being used for track inspections. Inspection railcars can run along the track and are equipped with various inspection devices to inspect and collect information about the track and its surrounding environment. The travel speed of inspection railcars is faster than that of manual walking, and the various inspection devices on them can conduct a more comprehensive inspection of the track, resulting in a significant improvement in inspection efficiency. However, since the inspection equipment is all installed on the inspection railcar, the inspection range is relatively limited. For example, it is impossible to observe hidden parts with obstructed visibility, such as bridge piers or obscured slope support structures.

[0034] To address the aforementioned problems, in a first aspect, embodiments of this application provide an air-ground coordinated inspection system, such as... Figure 1 and Figure 2 As shown, it includes a drone 1 and an inspection vehicle 2 that run along the track, as well as a seismic displacement monitoring device 7 installed on bridges along the track.

[0035] Drone 1 is an aircraft capable of remote control, autonomous flight, or semi-autonomous flight. In the example, Drone 1 includes a fuselage and rotors. By rotating the rotors, Drone 1 overcomes its own gravity to achieve flight. When in flight, Drone 1 is at a certain height above the ground and is less affected by the environment, making it adaptable to complex environments such as post-earthquake trackside areas, slopes, and under bridge beams. The fuselage of Drone 1 can be equipped with an image acquisition device to collect image information of the track and surrounding environment over a wide area, making the collected data more comprehensive and complete. A wireless transmitter can be installed on Drone 1. The wireless transmitter refers to an electronic device that can transmit information wirelessly through radio waves, infrared rays, lasers, etc. The image information collected by the image acquisition device can be sent to the inspection vehicle 2 through the wireless transmitter.

[0036] In some embodiments, the drone 1 can fly in front of the inspection vehicle 2 in the direction of travel. The drone 1 can know the road conditions ahead in advance, so as to detect road abnormalities in time and stop the inspection vehicle 2.

[0037] In some embodiments, the drone 1 is equipped with a machine vision system. The machine vision system is a relatively mature module that uses computer technology to simulate human vision. For example, Chinese Patent No. CN118333970A discloses a machine vision system that may include a camera and a processing algorithm. The camera may be set at the bottom of the drone 1 so that it can capture image information of the track and its surrounding environment. The processing algorithm can identify the damage condition of the track, such as whether there are foreign objects encroaching on the track, track deformation, and bridge pier cracks with obvious optical characteristics.

[0038] Foreign object intrusion refers to the presence of objects that should not be present within the track area, such as fallen rocks, fallen trees, vehicles, pedestrians, animals, etc.; track deformation refers to changes in the geometric shape of the track, including increased track gauge, uneven track surface, rail side wear, and wavy wear; pier cracks refer to cracks and openings that appear on the piers.

[0039] The seismic displacement monitoring device 7 refers to a device capable of monitoring seismic displacement response. It can be obtained through procurement or customization, and the specific model is not limited. The seismic displacement monitoring device 7 can be pre-installed on key vulnerable parts of the seismic-concealed structure such as bridge bearings 8 and beam ends along the track to monitor the displacement response of the bridge during an earthquake, thereby reflecting the degree of impact of the earthquake on that location.

[0040] In some embodiments, the seismic displacement monitoring device 7 includes a monitoring unit and a prompting unit. The monitoring unit is used to monitor the seismic displacement response. When the seismic displacement response exceeds a preset threshold range, the prompting unit can send a wireless over-limit signal to remind that the seismic response at that location is too large and may cause significant damage. The prompting unit can be a device or apparatus with wireless signal transmission function. Its specific model is not limited and can be obtained through procurement or customization.

[0041] This embodiment provides an earthquake displacement monitoring device 7, including a displacement recording disk and a displacement recording arm. The displacement recording disk and the displacement recording arm can be fixed to different components to measure the relative displacement between the two components. For example, the displacement recording disk and the displacement recording arm can be installed on two adjacent main beams, or between a main beam and a bridge abutment, or between the top surface of a bridge pier and the ground of a main beam, to measure the relative displacement between them. The displacement recording arm is perpendicular to the disk surface and can move relative to the disk surface. The end of the displacement recording arm contacts the disk surface, and the disk surface has an annular protrusion. The displacement recording arm contains a control circuit, and the control circuit has a power supply. A squeeze switch is included to control the on / off state of the circuit. The squeeze switch is triggered by collision or compression; for example, when the displacement recording arm moves to the annular protrusion, it can squeeze against the protrusion, triggering the squeeze switch and activating the control circuit. A signal transmitter, i.e., the aforementioned indication unit, can also be installed on the control circuit. When the control circuit is activated, the power supply can provide power to the signal transmitter to emit an over-limit signal. Adjusting the diameter of the annular protrusion changes the displacement threshold corresponding to the over-limit signal emitted by the seismic displacement monitoring device 7. The residual displacement can be determined by observing the relative position of the displacement recording arm and the displacement recording disk. Preferably, the displacement recording arm leaves a mark on the disk surface as it moves relative to the disk surface; this mark can be used to determine the maximum displacement.

[0042] In some embodiments, the alerting unit can continuously emit over-limit signals to be received by the approaching inspection vehicle 2. In an example, the displacement recording arm includes a housing made of a thin-walled material or other material capable of inelastic deformation under low stress, such as iron or copper sheets. A squeeze switch is installed inside the housing. When the displacement recording arm squeezes or collides with the annular protrusion, the housing undergoes inelastic deformation, continuously squeezing the squeeze switch and keeping the control circuit in a conductive state, causing the signal transmitter to continuously emit over-limit signals. Upon receiving the over-limit signal, the inspection vehicle 2 can issue an alarm to inform the maintenance personnel. Simultaneously, it can automatically control a drone, or have the maintenance personnel control a drone to fly around the bridge beam to obtain image information under the beam. Maintenance personnel can also descend under the beam for manual inspection. This not only improves the monitoring capability of concealed structures but also provides important support for rapid post-disaster assessment and emergency response, ensuring the safety and effectiveness of the inspection work.

[0043] In some embodiments, the inspection vehicle 2 can acquire information recorded by the seismic displacement monitoring device 7 by image scanning or photography. The recorded information may include residual displacement, maximum displacement, etc., for subsequent analysis and judgment. Alternatively, a communication unit can be set on the seismic displacement monitoring device 7 to send the recorded information to the inspection vehicle 2.

[0044] In some embodiments, the prompting unit of the seismic displacement monitoring device 7 is in a dormant state in the initial state. The UAV 1 can continuously send a start signal during flight. After receiving the start signal, the seismic displacement monitoring device 7 triggers the prompting unit to start. This can reduce energy consumption and reduce the frequency of maintenance of the seismic displacement monitoring device 7.

[0045] This embodiment of the application, by setting up an earthquake displacement monitoring device 7, enables the air-ground linkage inspection system to have rapid inspection functions for bridges, tunnels, roads, and tracks, which can meet the needs of comprehensive inspection of railway lines.

[0046] The inspection vehicle 2 may include functional components such as a vehicle body 21, track wheels 22, a power system, a braking system, and a controller. The track wheels 22 are located at the lower part of the vehicle body 21 for contact with the track. The power system is used to drive the track wheels 22 to rotate, thereby moving the vehicle body 21. The braking system is used to lock the track wheels 22. The controller is used to control the operation of various devices on the inspection vehicle 2, such as controlling the power system and the braking system, thereby controlling the operating state of the inspection vehicle 2. The operating state of the inspection vehicle 2 includes a passing state and a stopped state. The passing state refers to the inspection vehicle 2 moving along the track, and the stopped state refers to the inspection vehicle 2 being stationary relative to the track. The normally passing inspection vehicle 2 can gradually decelerate until it stops.

[0047] In some embodiments, the inspection vehicle 2 is equipped with a wireless receiving device, which is an electronic device that can receive wireless signals such as radio waves, infrared rays, and lasers, and demodulate and restore them to the original information. Through the wireless receiving device, the inspection vehicle 2 can receive image information sent by the drone 1.

[0048] In some embodiments, the inspection vehicle 2 is equipped with sensors for collecting information about the track and the surrounding environment. The types of sensors may include various types to obtain different kinds of information in order to comprehensively and accurately reflect the condition of the railway infrastructure and help maintenance personnel accurately determine whether the track is passable.

[0049] In some embodiments, the sensor includes at least one of a lidar 3, a three-dimensional linear array camera 4, and an inertial navigation system 5.

[0050] LiDAR 3 is a remote sensing technology that detects the distance, speed and three-dimensional shape of a target object by emitting a laser beam and receiving its reflected signal. LiDAR 3 can be used to scan the surrounding environment of the track with high precision, dynamically monitor tunnel lining deformation, trackside equipment encroachment hazards, roadbed settlement and landslide hazards, and generate millimeter-level three-dimensional point cloud models. The 3D linear array camera 4 is a high-precision 3D imaging device based on a linear array sensor. It can capture track surface defects (such as cracks and corrosion) and contact wire status through high-speed imaging technology. At the same time, it can identify hidden damage by combining multispectral analysis. Its maximum identification accuracy can reach the micrometer level (1μm under certain conditions). Inertial navigation system 5 is an autonomous navigation technology that does not rely on external signals. By measuring the acceleration and angular velocity of the vehicle, it calculates the position, speed and attitude changes of the inspection vehicle 2 in real time. Inertial navigation system 5 can ensure positioning accuracy in complex environments.

[0051] By combining the aforementioned LiDAR 3, 3D linear array camera 4, inertial navigation system 5, and UAV 1 to generate multi-source data, it is possible to achieve detailed inspections of various dimensions such as track irregularities, bridge frequency, cracks in bridge piers and tunnel linings, and displacement of roadbed supports. The combined use of these sensors allows the inspection process to go beyond surface problems and to deeply analyze minute changes and potential problems in the structure, greatly improving the comprehensiveness and accuracy of the inspection and providing reliable data support for subsequent maintenance decisions.

[0052] In some embodiments, the inspection vehicle 2 is equipped with an onboard workstation, and the drone 1, sensors, and seismic displacement monitoring device 7 are all wirelessly connected to the onboard workstation. The onboard workstation is a high-performance computing platform specifically designed for vehicle environments. Data from various sensors is integrated and processed through the onboard workstation and linked with reconnaissance information from the drone 1 to form a rapid post-earthquake assessment system that integrates air and ground multi-dimensional data.

[0053] In some embodiments, the vehicle-mounted workstation includes a processor and a memory. The memory is used to store information collected by the UAV 1 and the sensors, and the processor is used to process the information collected by the UAV 1 and the sensors. The vehicle-mounted workstation can communicate with a server, which can be located at a station or a data center. The information collected by the UAV 1 and the sensors can be uploaded to the server, enabling the server to analyze the data and draw inspection conclusions. The server can be an integrated earthquake intelligent inspection system platform.

[0054] The air-ground joint inspection system described in this application embodiment has at least the following two working modes: Firstly, the offline analysis and processing mode: the inspection vehicle 2 is only responsible for data collection and storage. After the inspection is completed, the data is centrally analyzed and archived on the server. This mode can meet the needs of higher speed inspections (about 120km / h) and is suitable for daily inspections, but it has high requirements for data storage. Secondly, real-time analysis and processing mode: Inspection vehicle 2 performs real-time analysis and archiving while collecting data. This mode can quickly respond to emergencies and meet the inspection needs of emergency response. However, it has high performance requirements for the on-board workstation, so the inspection speed is relatively low (about 30km / h), which is suitable for earthquake emergency inspection.

[0055] By flexibly selecting between two working modes, the air-ground linkage inspection system described in this embodiment can be adjusted for different inspection scenarios, balancing the requirements of inspection speed and inspection accuracy under different inspection scenarios.

[0056] The air-ground integrated inspection system described in this embodiment combines aerial inspection by drones with ground inspection by inspection vehicles, forming a mobile defect inspection system covering a "low-altitude + wide-area track space." It can simultaneously conduct large-scale inspections of the track and surrounding environment, enabling rapid assessment of the safety of railway infrastructure in daily operations or after earthquakes. Drones can fly in front of the inspection vehicle, reducing the probability of accidents caused by the vehicle's inability to detect road damage in time. By using seismic displacement monitoring devices to monitor the bridge's displacement response during earthquakes, it can assist maintenance personnel in targeted inspections of hidden bridge structures, improving inspection efficiency and quality. Furthermore, using a track vehicle alone cannot observe hidden parts with obstructed visibility, such as bridge piers or obscured slope support structures. The air-ground integrated inspection scheme can greatly enhance the inspection capabilities of the inspection vehicle.

[0057] This embodiment utilizes the high-altitude perspective and flexible maneuverability of UAV 1 to quickly conduct preliminary assessments after emergencies such as earthquakes, promptly identifying potential safety hazards such as foreign object intrusion and significant track deformation. By equipping UAV 1 with an advanced machine vision system, its maximum recognition accuracy can reach sub-millimeter level (0.1mm under specific conditions), ensuring accurate monitoring of track conditions. Early warnings from UAV 1 can effectively prevent safety accidents from occurring during track vehicle inspections, improving overall safety and inspection efficiency.

[0058] In some embodiments, the inspection vehicle 2 is equipped with a drone remote control system, which is used to remotely control the drone 1. The drone remote control system enables the operator to control the drone's flight, task execution, and data transmission in real time. It is understood that the track line is usually long and the signal transmission range of commercial drones is relatively small. Setting the drone remote control system on the inspection vehicle 2 can maintain a stable connection with the drone 1 during the inspection process, thereby controlling the drone 1's flight more accurately and reducing the probability of accidents. At the same time, the track vehicle is also equipped with drone charging equipment to provide the drone with longer battery life.

[0059] In some embodiments, the air-ground joint inspection system includes at least two drones 1, which can work alternately to achieve continuous inspection of the railway line.

[0060] In some embodiments, the lidar 3 is mounted on the top of the front of the inspection vehicle 2 to scan the environmental information in front of and around the inspection vehicle 2. The front of the vehicle refers to the front of the vehicle body 21, such as the position corresponding to the driver's cab.

[0061] In some embodiments, the three-dimensional line scan camera 4 includes at least three camera units, which are respectively disposed at the bottom, middle and top of the inspection vehicle 2. The three camera units are located on the same cross-section of the inspection vehicle 2 to form high-precision image data.

[0062] In some embodiments, the inertial navigation system 5 is located at the bottom of the front of the inspection vehicle 2, near the track wheel 22 at the front, and can more accurately reflect the operating posture of the inspection vehicle 2.

[0063] In some embodiments, the inspection vehicle 2 is also equipped with a positioning system 6, which is used to determine the mileage location of the inspection vehicle 2. The sensors are communicatively connected to the positioning system 6 to ensure that the information collected by the sensors is accurately matched with the geographic information, facilitating subsequent data analysis. Specifically, the lidar 3, the three-dimensional linear array camera 4, and the inertial navigation system 5 are all communicatively connected to the positioning system 6. The positioning system 6 may employ satellite positioning technology and includes an antenna for receiving satellite signals, which may be mounted on the top of the vehicle body 21.

[0064] The inertial navigation system 5 can work in conjunction with the positioning system 6 to assist in correcting track smoothness data by measuring the attitude changes of the inspection vehicle 2 in real time, thereby improving the reliability of inspections in complex terrain and compensating for the interference of complex terrain on data acquisition. The lidar 3, 3D linear array camera 4, inertial navigation system 5, and positioning system 6 can all be obtained through procurement or customization, and will not be elaborated further here.

[0065] In some embodiments, such as Figure 2 As shown, the drone 1 is arranged inside the inspection vehicle 2. The top of the inspection vehicle 2 body 21 is equipped with a sunroof, through which the drone 1 can enter and exit the inspection vehicle 2. This arrangement does not require a trailer car, making the train turnaround inspection more flexible.

[0066] In some embodiments, such as Figure 1 As shown, a towing platform 23 is towed behind the inspection vehicle 2, and the drone 1 is deployed on the towing platform 23. The drone 1 can take off and land on the towing platform 23. Although it loses some flexibility, the drone 1 takes off from the contact wire further away, making it safer and more reliable.

[0067] In a second aspect, embodiments of this application provide a rapid post-earthquake inspection method involving air and ground coordination, such as... Figure 3 As shown, it includes the following steps: Step 1, Emergency Activation and Preliminary Reconnaissance: Immediately after the earthquake, deploy UAV 1 to fly along the track and patrol, identify visible disasters such as foreign object encroachment and bridge pier cracks, and simultaneously trigger the earthquake displacement monitoring device to record dynamic response data.

[0068] Step 2, Multi-source data collaborative acquisition: The inspection vehicle 2 is then started. Its positioning system 6 accurately calibrates the mileage coordinates of the line, the lidar 3 scans for tunnel lining deformation and potential hazards of trackside equipment encroachment, the three-dimensional linear array camera 4 captures track surface defects and collects catenary status through 2C images, and at the same time, the inertial navigation system 5 corrects the track smoothness data in real time to compensate for the interference of complex terrain on data acquisition. All information is transmitted back to the on-board workstation in real time and linked with the reconnaissance results of the UAV 1 to form air-ground data complementarity.

[0069] Step 3, Real-time Analysis and Emergency Decision-Making: In emergency mode, the workstation prioritizes processing high-risk data (such as trackside equipment boundaries identified by laser point cloud, foreign objects on the track identified by camera, and track irregularities), generates real-time warnings and marks repair priorities. Routine inspection data (such as structural cracks, rail spalling and falling pieces, and track bed cracks) are delayed until after the task is completed for centralized analysis, balancing efficiency and comprehensiveness.

[0070] Step 4: Data Integration and Intelligent Archiving: Multi-source data (UAV imagery, LiDAR point clouds, camera images, etc.) are integrated through the earthquake intelligent inspection platform, and AI algorithms are used to generate comprehensive reports (including crack evolution trends, structural displacement curves, etc.). At the same time, the system automatically archives key data to the database, storing it according to disaster type, section, and time, providing structured data support for post-earthquake repair, long-term track health monitoring, and historical disaster analysis.

[0071] This rapid inspection method, through the use of the air-ground integrated inspection system described above, enables rapid inspection and assessment of disaster conditions after an earthquake. By employing an air-ground coordinated approach, it balances efficiency and safety. Through multi-source data analysis, it can generate comprehensive and accurate inspection results.

[0072] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An air-ground linkage inspection system, characterized in that, It includes a drone (1) and an inspection vehicle (2) that run along the track, as well as a seismic displacement monitoring device (7) installed on bridges along the track. The seismic displacement monitoring device (7) is installed at the bridge bearing (8) or the end of the main beam of the bridge; The inspection vehicle (2) is equipped with sensors and a vehicle-mounted workstation. The sensors include at least one of a lidar (3), a three-dimensional linear array camera (4), and an inertial navigation system (5). The vehicle-mounted workstation is wirelessly connected to the UAV (1) and wirelessly connected to the earthquake displacement monitoring device (7).

2. The air-ground joint inspection system according to claim 1, characterized in that, The inspection vehicle (2) is equipped with a drone remote control system, which can remotely control the drone (1).

3. The air-to-ground joint inspection system according to claim 1, characterized in that, The UAV (1) is equipped with an image acquisition device and a wireless transmission device. The image acquisition device is used to acquire image information of the track and the surrounding environment, and the wireless transmission device is used to send image information.

4. The air-to-ground joint inspection system according to claim 1, characterized in that, Includes at least two of the aforementioned drones (1), which are capable of flying in front of the inspection vehicle (2).

5. The air-to-ground joint inspection system according to claim 1, characterized in that, The inspection vehicle (2) is equipped with a positioning system (6), which is used to locate the mileage position of the inspection vehicle (2).

6. The air-ground joint inspection system according to claim 5, characterized in that, The sensor is communicatively connected to the positioning system (6); The lidar (3) is used to collect tunnel lining information and track surrounding environment information; The three-dimensional linear array camera (4) is used to collect track surface information and contact wire status information; The inertial navigation system (5) is used to collect the attitude changes of the inspection vehicle (2).

7. The air-ground joint inspection system according to claim 6, characterized in that: The positioning system (6) includes an antenna, which is mounted on the top of the inspection vehicle (2); The lidar (3) is mounted on the top of the front of the inspection vehicle (2); The three-dimensional line array camera (4) includes at least three camera units, which are respectively located at the bottom, middle and top of the inspection vehicle (2) and on the same cross-section of the inspection vehicle (2). The inertial navigation system (5) is located at the bottom of the front of the inspection vehicle (2).

8. The air-ground joint inspection system according to claim 1, characterized in that, The earthquake displacement monitoring device (7) is used to monitor the bridge displacement response and issue over-limit signals.

9. The air-ground joint inspection system according to claim 1, characterized in that: The inspection vehicle (2) has a skylight on its top, and the drone (1) can pass through the skylight to enter and exit the inspection vehicle (2). And / or, the inspection vehicle (2) is towed with a trailer platform (23) behind it, and the drone (1) is able to take off and land on the trailer platform (23).

10. The air-to-ground joint inspection system according to any one of claims 1-9, characterized in that, The vehicle-mounted workstation is communicatively connected to the sensor and is used to receive information collected by the sensor; The vehicle-mounted workstation is equipped with a processor and a memory. The processor can process the information collected by the UAV (1) and sensors in real time or offline according to the inspection requirements. The memory can store the information collected by the UAV (1) and sensors. The vehicle-mounted workstation is connected to the server and is used to upload information collected by the UAV (1) and sensors.

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