3699 results about "Trackway" patented technology

The invention discloses a circulating type gravity energy storage transportation system which comprises a master controller, an annular rail, a high-position storage yard and a low-position storage yard, a transportation train is composed of a plurality of carriages which are flexibly connected and arranged on the annular rail, a low-position running rail is arranged on the annular rail, the high-position running rail is provided with a linear loading and unloading section, and the low-position running rail is provided with a linear loading and unloading section. A plurality of grabbing parts are arranged on the high-position storage yard and the low-position storage yard and move back and forth between the loading and unloading section and the stacking area, and the hoisting device is electrically connected with the master controller. By means of the double-circulation design of train circulation operation and heavy block rapid loading and unloading, the core pain points that an existing gravity energy storage system is not coherent in operation and low in efficiency are effectively solved, and the energy storage efficiency is improved. And a reliable system solution is provided for realizing large-scale, high-efficiency and fast-response gravity energy storage commercialized application.

The invention provides a track board drilling parameter intelligent optimization method and system based on deep learning, and relates to the technical field of deep learning, and the method comprises the steps: recognizing a feature region in three-dimensional scanning data through a deep learning semantic segmentation network, building a local coordinate system, calculating hole site deviation, constructing a pose correction field, and achieving the intelligent correction of drilling process parameters. And an optimal drilling track is generated by using a state space search algorithm. The method can adapt to actual geometric errors of the track plate, the drilling precision and efficiency are improved, the drilling failure rate is reduced, and the manufacturing quality of the track plate is improved.

The invention relates to the technical field of positioning, in particular to a rail-mounted robot high-precision fusion positioning method and system. According to the method, the error compensation model of each track segment is constructed, dynamic correction is carried out in combination with real-time environment interference data, dynamic compensation can be carried out on pulse data generated by an incremental encoder in real time, accumulation of position errors is remarkably reduced, it is ensured that the position of the robot is more accurate, and the accuracy of the robot is improved. By fusing satellite positioning data, motion state data and pulse data after error compensation, the positioning precision of the orbital robot in each orbital segment is remarkably improved, and by monitoring the position deviation in real time and comparing the position deviation with a preset threshold value, the unqualified orbital segments can be repeatedly corrected according to needs, so that the accuracy of the orbital robot is improved. And the accuracy of the positioning result is ensured, so that the robot can adaptively optimize the positioning precision under different working scenes and environment changes, and the continuity of high-precision positioning is ensured.

The invention relates to the technical field of track bridge engineering, in particular to a high-speed railway track-bridge system earthquake-caused residual irregularity prediction method, which comprises the following steps of: determining a target object, and constructing an earthquake-caused irregularity database based on historical earthquake oscillation data of the target object; based on the earthquake-induced irregularity damage database, constructing an earthquake-induced peak irregularity deep learning prediction model fused with the vibration mode superposition method, and performing prediction by adopting the earthquake-induced peak irregularity deep learning prediction model to obtain an earthquake-induced peak irregularity prediction value; calculating an earthquake-caused residual irregularity equivalent coefficient based on earthquake-caused peak irregularity and earthquake-caused residual irregularity in the earthquake-caused irregularity damage database; and earthquake-caused residual irregularity is predicted based on the predicted earthquake-caused peak irregularity predicted value and the earthquake-caused residual irregularity equivalent coefficient. According to the method, the engineering safety and reliability of the result are ensured based on the mapping relation of the probability assurance rate, and the method has high efficiency and safety and is suitable for practical engineering application.

The invention relates to the field of intelligent traffic control, discloses an intelligent control method and system for a bidirectional driving wheel type sightseeing train, and aims to solve the problems of low efficiency, poor safety, weak adaptability and the like caused by dependence on a fixed track, path solidification and control lag of a traditional sightseeing train. According to the method, a dynamic environment map is constructed by deploying a front-back symmetric multi-mode sensor array and fusing laser radar, vision, millimeter wave radar and inertial data; an improved mixed A star algorithm is adopted to plan a global collision-free trajectory, high-precision tracking is realized in combination with model prediction control, bidirectional autonomous operation, multi-vehicle intelligent cooperation and full-scene adaptive control under a trackless condition are realized, and the traffic efficiency, safety and intelligent level of a scenic spot are remarkably improved.

The invention belongs to the technical field of track planning, and particularly relates to a track planning method for a track and non-track mixed region, and the method comprises the steps: dynamically distributing a path point sequence for an automatic guided vehicle, and switching a control mode according to the type of a region where a current target point is located: generating a first control instruction for path tracking in a track region; in the non-orbital area, the pose and curvature of the exit of the previous orbital area are used as initial reference quantities to plan a smooth trajectory, and a second control instruction is generated; constraint shaping is carried out on the first control instruction, the second control instruction is adjusted, it is ensured that the end point state of path tracking and the starting point state of trajectory planning meet the continuity rules of the position, the course and the curvature at the joint point of the two areas, and finally the instructions are sent to corresponding control loops to be executed. According to the invention, smooth and coherent navigation control of the automatic guided vehicle between the fixed track and the free driving area is realized.

The invention discloses a track robot inspection path planning method for a space steel structure, and the method comprises the following steps: S1, calculating the clear height of the space steel structure of each grid of a three-dimensional space, obtaining a passable three-dimensional space region, converting the three-dimensional space into a two-dimensional plane grid, and carrying out the calculation to obtain a key point coordinate set; s2, performing grouping solution according to the key point coordinate set to obtain an optimal path and a total path length; and S3, inputting the key point coordinates corresponding to the optimal path into a three-dimensional space, and verifying the rationality of the planned path. The problem of railway station steel structure complex three-dimensional space track path arrangement is solved, the optimal path is achieved through an algorithm, the optimal target combination with the shortest track length, the minimum robot number and the maximum inspection coverage rate is achieved, meanwhile, cruising power of the robots is saved, the walking time is prolonged, and the service life of the robots is prolonged. The space steel structure is widely applied to the industrial fields of railway stations, airports, rail transit, stadiums and the like.

A mobile track safety device (1.1), in particular a track worker warning system, for securing a work area (2) on a track section (3.1, 3.2) comprises a signal processing unit (19) for processing digital information, wherein the signal processing unit (19) has at least one interface (6) for receiving a position of at least one moving hazard object (8, 12), in particular a rail vehicle (12), from a tracking device (13.2, 17), and for receiving a position of at least one moving protection object (8, 16), in particular a track worker (16), from a tracking device (13.2, 17) and for issuing a safety command to secure the work area (2), wherein the signal processing unit (19) is configured to determine a hazard potential by comparing the positions of the at least one hazard object (8, 12) and the at least one protection object (8, 16) and to issue the safety command via the interface (6) depending on the determined hazard potential. A method for securing a work area (2) on a track section (3.1, 3.2), in particular by means of such a track safety device (1.1).

An accessory mount allows accessories to be removably and adjustably mounted to a surface. In an example, the surface may be that of a watercraft, and the accessory may be a fishing rod. The mount may be used with a track fixable to an environmental surface or mounted directed to the environmental surface. When used with a track, a post of the accessory mount releasably engages the track. Slidable engagement of the post allows lateral or horizontal adjustment of the accessory. An accessory engaging member is adjustable in relation to the post about a horizontal axis and a vertical axis, so that angular and azimuthal rotational adjustments of the accessory are enabled. A single lever is used to make angular and rotational adjustments, and to release the accessory engaging member from the post.

The invention provides a ballastless track joint performance degradation monitoring method and system, and relates to the technical field of track joint performance monitoring, and the method comprises the steps: knocking a ballastless track plate at a track joint through a force hammer to generate excitation, collecting a vertical vibration acceleration response signal through an acceleration sensor, and synchronously recording the knocking time and static parameters. The vertical vibration acceleration response signal is preprocessed, abnormal pulses and baseline drift are removed, a vibration event sample is formed, and joint mechanics characteristic parameters including a vibration frequency parameter reflecting rigidity degradation and a vibration attenuation parameter reflecting damping are extracted. According to the method, the joint performance evaluation index is calculated in combination with the static parameters, the degradation grade is evaluated after the evaluation index is compared with the preset threshold value, an early warning signal is triggered, the joint degradation grade and position information are provided, and monitoring and evaluation of the joint performance are achieved.

The invention discloses an intelligent monitoring and predicting system for rail transit equipment, which relates to the technical field of rail transit engineering, and comprises the following steps: acquiring a historical fault operation log of a rail system, learning a fault representation independent space, constructing a dynamic knowledge graph of historical faults of the rail, identifying a high-incidence area of the rail faults, and establishing a fault predicting model of the rail system. Based on a sensor, the coupling situation of the vehicle and the track is calculated in real time, a dynamic reference model of operation characteristics in a healthy state is constructed, and the real-time drift deviation between the vehicle and the track is calculated; establishing a drift deviation-environment correlation model, comparing the reference deviation with the actual drift deviation after environment compensation, and setting a dynamic safe operation boundary; and if the drift deviation exceeds a safe operation boundary, judging that the drift deviation is abnormal, immediately triggering graded alarm, associating and pairing a track system fault prediction model, quantifying the future fault occurrence probability and risk level of the region, and realizing intelligent monitoring and prediction of the track. The beneficial effect of the invention is that the fault occurrence rate is reduced.

The invention relates to a railway track abrasion detection method and system, and aims to realize accurate and efficient detection of turnout sharp point rail abrasion. A detection device carrying a 3D camera, a speed sensor, a signal processing module and a data processing terminal is arranged in a turnout area to be detected, parameter configuration is completed, in the constant-speed moving process, the speed sensor generates a trigger signal according to the specified distance, the 3D camera is driven to synchronously collect point cloud data of the two-dimensional contour of the cross section of the sharp point rail, and a three-dimensional data stream is formed; after data are denoised, section registration splicing and three-dimensional model reconstruction are completed in combination with distance stamps, an actual measurement model and a standard contour model are superposed and compared, abrasion parameters are calculated, and the maximum abrasion point and position are recognized; and finally presenting the abrasion data in the forms of a color cloud picture, a table and the like, and automatically generating a standard detection report containing the contents of line information, defect types and the like. According to the method, automation and visualization of abrasion detection are achieved, the detection precision is high, the efficiency is high, and reliable data support is provided for track maintenance.

The present application relates to a kind of plate type ballastless track bed expansion joint glue injection and leveling integrated system, including control system, glue pipeline system, mobile platform, glue injection execution system, wherein glue pipeline system is applied to the pressure of glue body storage tank, force glue liquid to be transported along pipeline to the end of glue injection execution system, glue injection execution system is by six-axis mechanical arm control unit according to expansion joint space coordinate planning six-axis mechanical arm path information and forms six-axis mechanical arm action instruction, realizes six-axis mechanical arm end injection head to expansion joint and carries out glue injection operation.The present application is by setting glue injection execution system and glue pipeline system on mobile platform, can guarantee according to the length direction of expansion joint and carry out glue injection and according to stable glue injection quantity realize the glue injection of expansion joint, reduce labor intensity, improve the glue injection quality of expansion joint.

The invention discloses a medium-low traffic volume train operation plan optimization method based on adaptive large neighborhood search, and relates to the technical field of medium-low traffic volume urban rail transit transportation organizations, and the method comprises the steps: obtaining rail operation basic data information based on a selected target urban rail line; a train operation scheme optimization mechanism is used for processing, and a train candidate set is generated; according to the train candidate set and the pre-processed integrated optimization decision variable, pre-configuring a train operation optimization target and a train scheduling constraint condition, and constructing a train collaborative optimization model; the train collaborative optimization model sequentially executes corresponding processing operations on a train candidate set, a pre-configured train scheduling constraint condition and the preprocessed neighborhood operator to obtain an adaptive large neighborhood search algorithm; and analyzing by using the train collaborative optimization model and the adaptive large neighborhood search algorithm to obtain an optimal train operation plan scheme. According to the invention, the flexibility of medium-and-low-traffic-volume urban rail driving and the passenger flow space-time distribution coupling are improved.

The invention discloses a thunder-vision fusion multi-sensor collaborative sensing system along a railway and an installation and calibration method, and belongs to the technical field of intelligent traffic and environment sensing. Aiming at the problems of low target detection precision, poor multi-source data fusion timeliness, dependence on manpower on sensor installation and calibration and the like in a complex scene along a railway, the system provides an innovative architecture of'layered sensing-dynamic fusion-autonomous calibration '. The multi-modal sensor array of a laser radar, a millimeter-wave radar, a visible light camera and a thermal infrared imager is deployed; autonomous optimization of sensor pose parameters is realized by using track geometric constraint and a deep learning model; an edge computing node and a cloud collaboration platform are integrated, and real-time target tracking, intrusion early warning and equipment state diagnosis are supported. Experiments show that the target detection accuracy rate of the system is greater than or equal to 98.5%, the false alarm rate is less than or equal to 0.3% and the self-calibration error of sensor installation parameters is less than 0.05 degree in the scenes of rain and fog, night, high-speed movement and the like, which are improved by more than 40% compared with the traditional scheme.

The utility model provides a railway non-buried subgrade pile-slab structure of underpass highway bridge, including: two rows of pile foundations, set up in the top of two rows of pile foundations, lay on the support beam on the bearing plate and set up in the ballastless track structure on the bearing plate, the two rows of pile foundations are correspondingly set up along railway subgrade and pass through highway bridge down, the ballastless track structure is set up in the ballastless track structure, the ballastless track structure is set up on the ballastless track structure, the ballastless track structure is set up on the ballastless track structure, the ballastless track structure is set up on the ballastless track structure. Wherein the pile foundations located below the highway bridge are arranged between the existing bridge piers; the two ends of each joist are arranged on the opposite pile foundations of the two rows of pile foundations; the bearing plate is used as the railroad bed and is arranged corresponding to the two rows of pile foundations; and each bearing plate is arranged corresponding to the ballastless track structure. By means of the roadbed structure, the problems that effective clearance of an existing roadbed structure is prone to being limited, the construction period is long, and additional settlement deformation is generated due to the fact that a fill roadbed generates additional loads on existing highway bridge piers can be solved.

A sensor device (3) for detecting strains in a linear infrastructure component (12), in particular a track rail, comprises a first sensor unit (16, 16') with a first support (28) and at least one strain sensor mounted on the first support (28) for detecting a strain at the first measuring point (19), a second sensor unit (17) with a second support (29) and at least one strain sensor mounted on the second support (29) for detecting a strain at the second measuring point (20), a coupling means (18) connected to the first support (28) and the second support (29) for defining a measuring distance (d) between the first measuring point (19) and the second measuring point (20) along a longitudinal direction (21) of the linear infrastructure component (12), a measuring arrangement (19) with the sensor device (3), a method, and an application device for applying the sensor device (3).

The invention provides a railway bridge line beam eccentricity measuring method, which at least comprises the following steps of: acquiring position information of a bridge guardrail by adopting a radar module, and adjusting the height position of a laser ranging module according to the position information, so that the laser ranging module can detect the bridge guardrail for ranging; the laser ranging module is adopted to measure the distances between the first steel rail and the bridge guardrails on the two sides of the first steel rail at the same time, and the eccentric distance is calculated according to the distance parameters measured by the laser ranging module and the track gauge of the track. The invention provides a device for measuring the eccentricity of the railway bridge line beam. The measuring device is applied to the method for measuring the eccentricity of the railway bridge line beam. The method has the beneficial effect that the eccentric distance along the track can be automatically and continuously measured.

The invention provides a double-layer multi-leaf grating based on embedded rails, and relates to the technical field of multi-leaf gratings, the double-layer multi-leaf grating comprises a fixed frame, mounting side plates are fixedly mounted on the two sides of the interior of the fixed frame respectively, and two layers of embedded rail mechanisms are mounted at the two ends of the mounting side plates on the two sides respectively; a plurality of upper combined type blades are arranged in the upper-layer embedded track mechanism, and a plurality of lower combined type blades are arranged in the lower-layer embedded track mechanism. Through the embedded track mechanism, the track and the driving mechanism are embedded into the space where the blades are arranged, so that the effective shielding height of the blades can be higher under the same external size, and ray leakage is remarkably reduced. And a larger front end arc radius is allowed to be used due to the higher blade height, so that the penumbra of rays can be reduced, and the sharpness of an irradiation boundary is improved.

The invention relates to the technical field of rail transit, and discloses a rail transit tunnel surface environment vibration assessment method, system and device and a medium. The method comprises the following steps: constructing a vehicle-rail-fastener dynamic model; calculating a fastener acting force frequency spectrum according to the vehicle-track-fastener dynamic model; constructing a 2.5 D finite element-basic solution solving model of tunnel-surrounding rock; solving the tunnel-surrounding rock 2.5 D finite element-basic solution solving model to obtain basic solution equivalent vibration source intensity; and calculating earth surface vibration according to the fastener acting force frequency spectrum, the basic solution equivalent vibration source intensity and the field layered soil body power transfer matrix model. According to the method, track vibration, tunnel vibration and site vibration are decoupled, the calculation method with the highest calculation efficiency is adopted in each subsystem, the advantages of each modeling method are fully combined, the calculation efficiency is extremely high, the obtained result is more accurate, the cost is low, and therefore the track traffic tunnel surface environment vibration condition is rapidly and accurately evaluated.

The invention discloses an automatic assembling mechanism for railway track fastener nuts, and belongs to the technical field of automatic assembling equipment. The mechanism comprises a mechanical arm, a nut assembling mechanism, a power transmission device, a propelling device, a connecting seat and a visual device, the nut assembling mechanism is composed of a compliant device and a magnetic attraction device, the tail end of a mechanical arm is fixed through a connecting base, a visual device recognizes the position of a fastener in real time and guides the mechanical arm to be positioned, a servo motor transmits torque through a speed reducer and a telescopic universal connecting assembly, nut screwing is achieved, and the compliant device absorbs assembling errors and adapts to the posture. The magnetic attraction device is used for adsorbing and fixing the nut; the six-dimensional force sensor is used for monitoring and feeding back torque in real time; the control system is used for adjusting pre-tightening force; the propelling device is used for applying axial thrust; the device can realize automatic identification, positioning, tightening and pre-tightening control of the nut, and is suitable for various sleeper structures and complex track working conditions.

The invention relates to the field of image detection, discloses a dynamic analysis system for cracks of a railway track, and aims to solve the problems of strong background interference, high error and omission ratio and single dynamic analysis dimension of track crack detection in the prior art. The system is characterized by comprising a texture library construction module, an image acquisition module, an image processing module, a texture expansion module, a damage judgment module and a dynamic analysis module. By constructing a multi-dimensional texture library and combining with an image processing and texture expansion module, accurate identification and hierarchical judgment of cracks are realized; and performing damage assessment and development trend prediction on the crack through multi-characteristic index damage judgment and dynamic analysis. According to the method, accurate, comprehensive and dynamic monitoring and evaluation of the railway track cracks can be realized, the false alarm and omission ratio is reduced, the maintenance efficiency and accuracy are improved, and the railway transportation safety is guaranteed.

The utility model relates to the field of track fixing parts, and discloses an anti-skid stable track fixing part which comprises a bottom plate, the top of the bottom plate is fixedly connected with two sets of limiting parts, the sides, close to each other, of the two sets of limiting parts are in contact with track parts, and the tops of the limiting parts are provided with mounting mechanisms. And the mounting mechanism comprises a fixing plate, a mounting groove is formed in the top of the limiting piece, the fixing plate is mounted in the mounting groove, the fixing plate is fixedly connected with the limiting piece through a bolt piece, and an elastic piece is arranged in the fixing plate. According to the utility model, the bolt piece is tightened above the fixed plate, the fixed plate displaces to drive the extrusion piece to move downwards and to be in contact with the bump, and the surface of the bump is extruded by the inclined surface at the bottom of the extrusion piece, so that the bump is subjected to transverse pressure, the transverse position of the track piece is adjusted, and the stability and the precision of track installation are improved.

The invention discloses an improved YOLOv11-based steel rail defect detection algorithm and system, and aims to solve the problems of low manual inspection efficiency, high limitation of a traditional visual technology and difficulty in embedded deployment of a deep learning model. According to the scheme, YOLOv11n is used as a framework to carry out three core improvements: firstly, a C3k2-LSKA module is used to replace an original module to enhance the feature extraction capability; secondly, DySample dynamic up-sampling is adopted to replace traditional interpolation up-sampling, and small defect feature transfer is optimized; and finally, introducing windmill-shaped convolution PConv to realize sparse feature extraction. After training based on a constructed steel rail defect data set, a detection system based on PyQt5 is developed, and the detection system is successfully deployed in K230 embedded equipment integrating a high-definition camera and a touch display screen to form an acquisition-inference-display closed loop. Experiments show that the detection precision of the improved model is remarkably improved compared with that of the original YOLOv11, meanwhile, the lightweight characteristic is kept, high precision and high efficiency are effectively considered, and a reliable solution is provided for intelligent operation and maintenance of the railway track.

The invention discloses a hydropower station unit tail water gate groove water surface floating object salvaging device which comprises a rail fixed to a hydraulic structure, a remote control driving device capable of moving in the extending direction of the rail and a salvaging basket hung on a lifting appliance. The remote control driving device is connected with a lifting appliance and can drive the fishing basket to move in the up-down direction and the extending direction of the rail, so that water surface floating objects in the tail water gate groove are fished through the fishing basket. A remote control driving device and a movable fishing basket are adopted, so that the working efficiency of fishing the floating objects on the water surface is improved; and in addition, the fishing device efficiently and cleanly fires water surface floating objects in the tail water gate groove before the tail water gate is ready to fall during unit maintenance, it is guaranteed that the tail water gate of the unit falls in place at a time, the safety risk that personnel dive is avoided, and the maintenance work period is shortened.

The embodiment of the invention provides a steel rail corrugation recognition method and system and a storage medium, and belongs to the technical field of railway track detection. The steel rail corrugation identification method comprises the following steps: sending preprocessed steel rail corrugation true value image data into an image segmentation identification model to extract global semantic features and local texture features; performing channel averaging on the output of the intermediate feature extraction stage, generating edge features through a Sobel operator, and fusing the global semantic features, the local texture features and the edge features to obtain a segmented mask graph; and inputting the ROI image segments cut based on the segmentation mask image and the features extracted in the intermediate feature extraction stage and used for target detection into a target detection network together, executing regression calculation based on bounding box overlapping degree optimization loss, and outputting a rail corrugation detection result. According to the scheme of the invention, through multi-scale feature extraction and channel space attention fusion, the positioning precision and segmentation robustness of the rail corrugation region are effectively improved.

The utility model provides a track module and a track system, the track module comprises at least two track sections and at least one electric connector group, each track section comprises an electric power guide rail, and the electric power guide rail is provided with a plurality of electric conductors extending along the lengthwise direction of the electric power guide rail; the electric connector group comprises two connectors respectively corresponding to the two electric power guide rails; wherein the two connectors comprise a first connector which is pivoted to one track section by taking the lengthwise direction as an axis and a second connector which is mounted to the adjacent track section. The first connectors are configured to be in butt joint with the second connectors on the adjacent track sections in the lengthwise direction in the state that the first connectors are rotated to be electrically connected with the electric conductors in the corresponding electric power guide rails, so that the two adjacent track sections are mechanically and electrically connected. Compared with the prior art, mechanical and electrical connection between the two adjacent track sections can be achieved through butt joint of the two connectors, operation is easy, and mounting or dismounting of the track module is convenient.

The invention relates to high-speed rail track design and matching thereof, in particular to a controllable ballastless track module and a track assembly. The ballastless track module comprises a transverse sleeve rod, two symmetrical notches are formed in the transverse sleeve rod, and the transverse sleeve rod is divided into two side sections and a center section through the notches; the inner rod comprises a movable rod body and two mounting grooves which are formed in the movable rod body and open upwards, the mounting grooves are formed in the positions corresponding to the notches so that the movable rod body can be partially exposed out of the notches, and the rails can be clamped in the mounting grooves; the fine adjustment devices are connected to the ends, away from each other, of the two side sections respectively, each fine adjustment device comprises a fixing mechanism, a vertical positioning mechanism and a transverse adjustment mechanism which can be independently disassembled and assembled, and the transverse adjustment mechanisms are arranged in the side sections and connected with the movable rod body; the movable rod body can be driven by the transverse adjusting mechanism to adjust the transverse position of the rail, and the vertical adjusting mechanism is connected with the fixing mechanism and the edge section so that the height of the edge section can be adjusted.

A system for condition-based monitoring of an automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns. The framework structure includes a rail system arranged above the storage columns. The rail system includes a plurality of rails extending in an X-direction and a Y-direction to form a grid. The rails define a perimeter of each access opening on top of each storage column. The rail system provides available routes in the X-direction or the Y-direction for container handling vehicles handling and transferring the storage containers to and from the storage columns. At least one container handling vehicle has two or more sensors, directed to monitor a section of the rails adjacent of the container handling vehicle. The sensors are part of a monitoring system set up to report a condition of the rails of the grid system and uploading the information to one or all of a central computer system, a cloud system, and / or an image analysis and processing system. The two or more sensors are at least one camera and a pendulum, and / or a level, and / or an accelerometer, and / or a sound detecting device.