CN115675566A - Track monitoring system and monitoring method - Google Patents
Track monitoring system and monitoring method Download PDFInfo
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- CN115675566A CN115675566A CN202211415115.8A CN202211415115A CN115675566A CN 115675566 A CN115675566 A CN 115675566A CN 202211415115 A CN202211415115 A CN 202211415115A CN 115675566 A CN115675566 A CN 115675566A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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Abstract
The invention provides a track monitoring system and a monitoring method, wherein the track monitoring system comprises: the on-rail sensor system is used for acquiring deformation data of the outer side of the rail; the rail car detection system is used for acquiring deformation data of the inner side of the rail; the cloud end can transmit the detection data with the geographical position information attached to the inner side and the outer side of the track to the cloud end through the communication module and store and backup the detection data; the detection center comprises a central processing unit and can receive detection data which is sent by the cloud end and is attached with geographical position information on the inner side and the outer side of the track in real time; and the unmanned detection system is used for carrying out short-distance graphic and/or video acquisition on the position with abnormal deformation under the control instruction of the detection center. The track monitoring system provided by the invention has the advantages that the intelligent and accurate detection of the track is realized, the data processing amount is simplified, the structure is smaller, the cost is lower, the response is sensitive, whether the deformation of the track is abnormal or not can be quickly and accurately judged, and the driving safety is effectively ensured.
Description
Technical Field
The invention relates to the technical field of railway track engineering monitoring, in particular to a track monitoring system and a monitoring method.
Background
Locomotives have evolved from early wood or coal fired locomotives to the older 20 years of larger and more powerful steam, diesel and electric locomotives, and by this century all locomotives operated were configured on substantially the same track.
In recent years, railways in China experience six times of large-scale speed increase, the speed increase line reaches 16500 kilometers, the train running amount is gradually increased while the speed of the trains is continuously increased, railway traffic running in China still mainly comprises passenger-cargo co-linear running, and the density of locomotives is high and is the first in the world. These factors all put higher demands on the safety guarantee system for the operation of several vehicles. The rail is used as the foundation of driving, directly bears the loads of locomotives and vehicles, and the state of the rail directly influences the transport capacity and driving safety of urban rail vehicles, so that the rail is particularly important for monitoring the urban rail.
At present, railway track state monitoring at home and abroad mainly comprises the following modes:
firstly, the method comprises the following steps: and (5) manual inspection. The method is random and flexible in inspection, is easy to judge by people, requires strong work responsibility and strong professional ability of inspection personnel. In addition, manual inspection occupies a large amount of human resources, and inspection quality is difficult to ensure in areas with severe natural or climatic conditions.
II, secondly: video detection train and other equipment. The current detection vehicle has great superiority in the aspects of detection efficiency, personal safety of inspection personnel and the like, but has the following disadvantages: most monitoring trains carry out data analysis in a high-speed continuous photographing mode, which causes the condition of huge inspection data quantity; meanwhile, in the detection process, the situation that dirt, rain, snow and the like shield the camera lens or the detected part often occurs, so that accurate data information cannot be acquired, and the detection result is influenced.
Thirdly, the steps of: and (5) detecting professional equipment on site. The method has strong pertinence and specialization, is suitable for finding out deep reasons of problems, and is convenient for symptomatic medication. However, the method is time-consuming and labor-consuming in detection and cannot monitor and provide early warning effect for a long time.
The above modes have self blind areas and defects, the track safety monitoring precision is poor or the efficiency is low, and great potential safety hazards exist. Therefore, it is a technical problem to be solved urgently at present to provide a track monitoring system and method with simple implementation, low cost and low power consumption.
Disclosure of Invention
In view of the above, the present invention is directed to a track monitoring system and a track monitoring method, so as to solve the problems of low monitoring accuracy and high cost in the track monitoring process in the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a track monitoring system comprising:
the on-rail sensor system is used for acquiring deformation data outside a rail, and comprises a spotlight transmitting unit and a reflecting unit, wherein the spotlight transmitting unit can transmit a laser spotlight to the reflecting unit and receive a spotlight signal returned by the reflecting unit, and the on-rail sensor system is arranged outside the rail;
the system comprises a rail car detection system and a control system, wherein the rail car detection system is used for acquiring deformation data of the inner side of a rail, the rail car detection system comprises a rail car body, a camera module is arranged below the rail car body, and the camera module can be used for shooting graphs and/or animations of the inner side of the rail;
the system comprises a cloud end and a rail car detection system, wherein the cloud end is provided with a large-capacity cloud disk database, the on-rail sensor system and the rail car detection system are combined with a Geographic Information System (GIS), detection data with geographic position information attached to the inner side and the outer side of a rail can be transmitted to the cloud end through a communication module and stored for backup, and deformation threshold data of the inner side and the outer side of the rail are stored in the cloud end;
the detection center comprises a central processing unit, can receive detection data which is sent by a cloud end and is attached with geographical position information on the inner side and the outer side of the track in real time, and judges whether the detected deformation data exceeds deformation threshold data or not;
unmanned aerial vehicle detecting system, including an at least unmanned aerial vehicle, be provided with the video acquisition unit on unmanned aerial vehicle, under the control command of detection center, unmanned aerial vehicle detecting system carries out closely figure and/or video acquisition to the position that deformation is unusual, and the data message that unmanned aerial vehicle gathered passes through communication module and uploads to the high in the clouds and is obtained by the detection center.
Further, first rail in the track, second rail all include a plurality of track board unit, on the track sensor system includes a plurality of sensor device of group, and each sensor device of group includes a shot-light emission unit, a reflection unit, every set up a set ofly on the track board unit and/or the junction of per two track board units sensor device, wherein, the sensor device that two track board unit junctions set up links to each other, shot-light emission unit sets up on a track board unit, and the reflection unit sets up on another track board unit.
Furthermore, the spotlight transmitting unit comprises a first mounting bracket, a first mounting plate and a second mounting plate are arranged on one side of the first mounting bracket, an induction receiving device, an information processing module and a light source module are arranged between the first mounting plate and the second mounting plate, the induction receiving device, the information processing module and the light source module are electrically connected, a power supply and a laser spotlight are arranged in the light source module, and the induction receiving device is vertically arranged; the reflection unit includes the second installing support one side of second installing support sets up third mounting panel, fourth mounting panel the third mounting panel with set up reflection module between the fourth mounting panel, reflection module is just right response receiving arrangement sets up, on light source module sent the laser shot-light to reflection module and reflected to response receiving arrangement by reflection module, response receiving arrangement fed back received reflection laser lamp positional information to information processing module, information processing module passes through communication module and reaches the high in the clouds on with above-mentioned positional information.
Furthermore, the light source module is fixed on the upper surface of the second mounting plate, the second mounting plate is arranged in an inclined manner, the included angle between the upper surface of the second mounting plate and the horizontal plane is alpha, and the value range of the alpha is 0.2-5 degrees.
Further, the information processing module is installed the lower surface of first mounting panel, response receiving arrangement includes dash receiver and first support frame, first support frame is used for supporting fixedly the dash receiver, the dash receiver sets up first support frame is close to on the side of reflection unit, first support frame is close to the position of lower extreme and sets up the third connecting plate, the third connecting plate cover is established on the light source module the outside at the relative both ends in third connecting plate below sets up the bottom support board, the backup pad butt is in the upper surface of second mounting panel, the right-hand member butt of light source module is on the dash receiver the hole is set up to the position that corresponds laser spot lamp on the dash receiver, laser spot lamp passes dodge the hole and send shot-light towards reflection module.
Furthermore, first mounting panel includes first plate body the lower surface of first plate body sets up the guide way, and is corresponding the upper end of first support frame sets up the guide post, the guide post can insert the direction is slided in the guide way, the guide post with first plate body passes through third connecting bolt fixed connection.
Furthermore, a temperature detection unit is arranged on a first connecting plate below the first mounting plate, and the information processing module, the light source module and the temperature detection unit are connected through a wire passing pipe.
Further, the lower surface of third mounting panel sets up first spout the upper surface of fourth mounting panel sets up the second spout, reflection module includes reflection plate body and second support frame, the second support frame is used for supporting the reflection plate body, the reflection plate body sets up be close to on the second support frame on the side of shot-light emission unit, the upper and lower both ends of reflection plate body stretch into respectively slide in first spout, the second spout the upper end of second support frame with form between the lower surface of third mounting panel and dodge the space, the same reason the lower extreme of second support frame with form between the upper surface of fourth mounting panel and dodge the space pack the elasticity stopper in dodging the space.
Further, the track automobile body moves on first rail, second rail respectively through two sets of rail wheels first rail with be provided with the connection crossbeam between the second rail the lower extreme of connecting crossbeam central point and putting sets up the mounting bracket, the mounting bracket is isosceles triangle and arranges, camera module includes first module and the second module of making a video recording, first camera module the second camera module sets up respectively on two isosceles sides of mounting bracket, first camera module the second camera module is used for detecting first rail, the inboard figure of second rail and/or animation data respectively.
Compared with the prior art, the track monitoring system has the following advantages:
(1) According to the track monitoring system, the on-track sensor system and the rail car detection system are arranged, and the unmanned aerial vehicle in the unmanned aerial vehicle detection system is rapidly confirmed, so that the track deformation abnormity detection precision can be greatly improved, the manual assistance participation degree is reduced, the intelligent operation of the track monitoring system is greatly improved, and the driving safety is ensured.
(2) The track monitoring system provided by the invention has the advantages that the track monitoring system realizes intelligent and accurate detection, reduces the additional laying cost of communication and power cables, simplifies the data processing amount, has a smaller structure and sensitive response, can quickly and accurately judge whether the deformation of the track is abnormal or not, greatly reduces the cost of the track monitoring system and effectively ensures the driving safety.
Another objective of the present invention is to provide a track monitoring method, which is applied to the track monitoring system as described above, and includes the following steps:
s1: when the track is in no-load, the sensor device arranged on each track slab unit uploads detection data to the cloud end at regular time, the detection center judges whether the deformation data outside the track is larger than the deformation threshold data or not according to the processed data, if so, the detection center marks and enters S5, and if not, the detection center enters S2;
s2, when an operation train passes through a track, starting a sensor device arranged at the joint of two track slab units and uploading detection data to the cloud, judging whether deformation data on the outer side of the track is larger than deformation threshold data or not by a detection center according to the processed data, if so, marking and entering S5, and otherwise, entering S3;
s3, according to a rail car detection system arranged on an operating train or a rail car, a camera module in the rail car detection system shoots images on the inner side of the rail at multiple angles in the running process and transmits the images to a cloud end, a detection center judges whether deformation data on the inner side of the rail is larger than deformation threshold data or not according to processed image information, if yes, the image is marked and enters S5, and if not, the image enters S4;
s4: judging that the track deformation is normal, and entering S1 again;
s5: the detection center acquires the position of the marked deformation node, starts an unmanned aerial vehicle in the unmanned aerial vehicle detection system, shoots and uploads the multi-angle image to the marked node, and the detection center judges whether the deformation data of the inner side and the outer side of the track is larger than the deformation threshold data according to the processed graphic information, if so, sends out correction prompt, and if not, enters S4.
Compared with the prior art, the track monitoring method has the following advantages:
according to the track monitoring method, the on-track sensor systems on the track in the no-load and operation stages are used for detecting the deformation data of the outer side of the track respectively, the unmanned aerial vehicle detection system is started to quickly inspect abnormal nodes when an abnormal notice is sent out, and the nodes detected normally by the on-track sensor systems also need to be further accurately judged by the rail car detection system, so that the efficiency and the accuracy of track safety monitoring are greatly improved, the working efficiency is improved, the intelligent and networked operation of the track monitoring method is guaranteed, and the operation safety of a train is guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a track monitoring system according to an embodiment of the present invention;
FIG. 2 is a schematic side view of an on-rail sensor system of an embodiment of the present invention disposed on a rail;
FIG. 3 is a schematic diagram of an elevational structure of an on-rail sensor system arranged on a rail according to an embodiment of the invention;
FIG. 4 is an enlarged view of part A of FIG. 3;
FIG. 5 is a schematic front view of a structure of a sending unit of the spotlight according to the embodiment of the invention;
FIG. 6 is a schematic side view of an emission unit of the spotlight according to the embodiment of the invention;
FIG. 7 is a schematic side view of a second viewing angle of the emission unit of the spotlight according to the embodiment of the invention;
fig. 8 is a schematic diagram of a right-view structure of a sending unit of the spotlight according to the embodiment of the invention;
FIG. 9 is an enlarged view of a portion of the structure of portion B of FIG. 8;
fig. 10 is a schematic front view of a reflection unit according to an embodiment of the present invention;
FIG. 11 is a schematic side view of a reflection unit according to an embodiment of the present invention;
FIG. 12 is a schematic side view of a second viewing angle of the reflection unit according to the embodiment of the present invention;
fig. 13 is a schematic cross-sectional structural view of a railcar detection system according to an embodiment of the present invention;
description of reference numerals:
1-on-rail sensor system; 11-a spotlight emitting unit; 1101-a first mounting bracket; 11011-first connecting plate; 11012-first connection hole; 11013-first alignment hole; 1102 — a first mounting plate; 11021-a first plate body; 11022-guide grooves; 1103-a second mounting plate; 1104-an inductive receiving device; 11041-receiving plate; 11042-a third connection plate; 11043-relief holes; 11044-first connecting bolt; 11045-second connecting bolt; 11046-first support; 11047-bottom support plate; 11048-guide post; 11049-third connecting bolt; 1105-information processing module; 1106-light source module; 1107-wire conduit; 1108-a temperature detection unit; 12-a reflection unit; 1201-a second mounting bracket; 12011-second connection plate; 12012-second connection hole; 12013-second alignment hole; 1202-a third mounting plate; 12021-first runner; 1203-a fourth mounting plate; 12031-second runner; 1204-a reflection module; 12041-reflector plate body; 12042-a second support shelf; 1205-avoiding a space; 1206-elastic plug; 2-a railcar detection system; 21-a rail car body; 22-a rail wheel; 23-connecting the cross beam; 24-a mounting frame; 25-a camera module; 2501-a first camera module; 2502-second camera module; 3-cloud end; 4-a detection center; 5-unmanned aerial vehicle detection system; 6-orbit; 601-track slab unit; 61-a first rail; 62-second rail.
Detailed Description
In order to make the technical means, objectives and functions of the present invention easy to understand, the following detailed description of the embodiments of the present invention with reference to the specific drawings.
It should be noted that all terms used in the present invention for directional and positional indication, such as: the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", "top", "lower", "lateral", "longitudinal", "center", and the like are used only for explaining the relative positional relationship, connection, and the like between the respective members in a certain state (as shown in the drawings), and are only for convenience of describing the present invention, but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. In addition, the descriptions relating to "first", "second", etc. in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Example 1
As shown in fig. 1 to 13, a track monitoring system according to the present invention includes:
the on-rail sensor system 1 is used for acquiring deformation data outside the rail 6, the on-rail sensor system 1 comprises a spotlight transmitting unit 11 and a reflecting unit 12, the spotlight transmitting unit 11 can transmit a laser spotlight to the reflecting unit 12 and receive a spotlight signal returned by the reflecting unit 12, and the on-rail sensor system 1 is installed outside the rail 6;
the rail car detection system 2 is used for acquiring deformation data of the inner side of the rail 6, the rail car detection system 2 comprises a rail car body 21, a camera module 25 is arranged below the rail car body 21, and the camera module 25 can be used for shooting graphs and/or animations of the inner side of the rail 6;
the cloud end 3 is provided with a large-capacity cloud disk database, the on-rail sensor system 1 and the railcar detection system 2 are combined with a geographic information system GIS, detection data with geographic position information attached to the inner side and the outer side of the track 6 can be transmitted to the cloud end 3 through a communication module and stored for backup, and deformation threshold data of the inner side and the outer side of the track 6 are stored in the cloud end 3;
the detection center 4 comprises a central processing unit and can receive detection data which is sent by the cloud end 3 and is attached with geographical position information on the inner side and the outer side of the track 6 in real time and judge whether the detected deformation data exceeds deformation threshold data or not;
unmanned aerial vehicle detecting system 5, including an at least unmanned aerial vehicle, be provided with the video acquisition unit on unmanned aerial vehicle, under detection center 4's control command, unmanned aerial vehicle detecting system 5 carries out closely figure and/or video acquisition to the position that deformation is unusual, and the data message that unmanned aerial vehicle gathered is uploaded to high in the clouds 3 through communication module and is obtained by detection center 4.
The conventional rail locomotive generally ballast the rail vehicle body 21 on the rail 6, the rail 6 generally includes two parallel first rails 61 and second rails 62, a section between the first rails 61 and the second rails 62 is referred to as an inner side of the rail 6, a side of the first rails 61 away from the second rails 62, and a side of the second rails 62 away from the first rails 61 is referred to as an outer side of the rail 6. In the prior art, the deformation condition of the track is generally detected through a fiber grating array stress optical cable or a high-speed camera, but as is well known, when a track vehicle body 21 ballast runs on the track 6, the joint state, the mortar interlayer state, the temperature and the environmental change information of a track plate are considered, and when the track vehicle body 21 ballast passes through, the compression deformation condition of the track 6 is very complex, and no matter whether the deformation detection is carried out by using the fiber grating array stress optical cable or the high-speed camera to detect the track, the problems of high system cost or high system maintenance cost and complex running exist, and certain errors exist in the abnormal deformation detection, misjudgment can often occur, the detection precision is low, and serious safety accidents can be caused in serious cases.
The track monitoring system is used for detecting static or dynamic deformation parameter information of a track 6 through a track on-track sensor system 1 arranged on the outer side of the track 6, detecting the deformation parameter information of the track 6 when a track vehicle 21 is ballasted on the track 6 and travels, combining a Geographic Information System (GIS), a cloud end 3 can acquire the detection information and transmit the detection information to a detection center 4, the detection center 4 processes the detection data and compares the detection data with prestored deformation threshold data, and when the deformation detection data exceeds the deformation threshold data, the deformation detection data is judged to be abnormal, a manager is reminded to correct timely, and meanwhile, the manager of the detection center 4 can start at least one unmanned detection system in an unmanned detection system 5 to quickly and accurately confirm the abnormal point, so that the deformation abnormality detection accuracy of the track 6 during use can be ensured, invalid maintenance of the personnel in the detection center can be avoided, and the maintenance efficiency can be accurately and quickly improved when the deformation occurs.
According to the track monitoring system, the on-track sensor system 1 and the rail car detection system 2 are arranged, and rapid confirmation of the unmanned aerial vehicle in the unmanned aerial vehicle detection system 5 is carried out, so that the deformation abnormity detection precision of the track 6 can be greatly improved, the manual assistance participation degree is reduced, the intelligent operation of the track monitoring system is greatly improved, and the driving safety is ensured.
As a preferred example of the present invention, each of the first rail 61 and the second rail 62 in the track 6 includes a plurality of track slab units 601, the on-track sensor system 1 includes a plurality of sets of sensor devices, each set of sensor devices includes a spotlight transmitting unit 11 and a reflecting unit 12, and a set of sensor devices is disposed on each track slab unit 601 and/or at a junction of each two track slab units 601, wherein the sensor devices disposed at the junction of two track slab units 601 are connected, the spotlight transmitting unit 11 is disposed on one track slab unit 601, and the reflecting unit 12 is disposed on the other track slab unit 601.
This setting has further guaranteed that sensor device carries out the track 6 static state or the moving accuracy nature that examines deformation information detection.
As a preferred example of the present invention, the spotlight emitting unit 11 includes a first mounting bracket 1101, a first mounting plate 1102 and a second mounting plate 1103 are disposed on one side of the first mounting bracket 1101, an induction receiving device 1104, an information processing module 1105 and a light source module 1106 are disposed between the first mounting plate 1102 and the second mounting plate 1103, the induction receiving device 1104, the information processing module 1105 and the light source module 1106 are electrically connected, a power supply and a laser spotlight are disposed in the light source module 1106, and the induction receiving device 1104 is vertically arranged; the reflection unit 12 includes a second mounting bracket 1201, a third mounting plate 1202 and a fourth mounting plate 1203 are disposed on one side of the second mounting bracket 1201, a reflection module 1204 is disposed between the third mounting plate 1202 and the fourth mounting plate 1203, the reflection module 1204 is disposed right opposite to the sensing receiver 1104, the light source module 1106 emits a laser beam to the reflection module 1204 and is reflected to the sensing receiver 1104 by the reflection module 1204, the sensing receiver 1104 feeds back the received position information of the reflected laser beam to the information processing module 1105, and the information processing module 1105 uploads the position information to the cloud end 3 through the communication module. As an example of the present invention, the first mounting bracket 1101 and the second mounting bracket 1201 are mounted on a rail web of the rail 6, a plane of the first mounting bracket 1101 and the second mounting bracket 1201 close to the rail web of the rail 6 is arranged in a planar manner, the first mounting plate 1102 and the second mounting plate 1103 are disposed on a plane of the first mounting bracket 1101 far from the rail web of the rail 6, and the third mounting plate 1202 and the fourth mounting plate 1203 are disposed on a plane of the second mounting bracket 1201 far from the rail web of the rail 6. Preferably, the power supply in the light source module 1106 is any one or a combination of several of a storage battery, a lithium battery, an electricity storage unit, a wind power generation power supply module, a solar power supply module and a power supply module of a power grid system, the laser spot lamp in the light source module 1106 is an infrared laser spot lamp, and the sensing and receiving device 1104 determines the position of the receiving point according to the temperature change of the reflected infrared laser lamp source. Through the above-mentioned on-rail sensor system 1 that sets up on the web of rail 6, rational in infrastructure, after the construction of rail 6 is accomplished and the inspection is passed through the car, install shot-light emission unit 11, reflection unit 12 among the on-rail sensor system 1 on rail 6 correspondingly to confirm the reflection lamp source information that receiving device 1104 received in the first operation, acquire orbital deformation standard information, then according to empirical parameter, confirm the deformation threshold value data in the track 6 outside. In actual operation, when the track 6 is used for a long time or the track 6 is deformed such as bent, distorted, concave-convex due to external force damage, and a light source emitted by the spotlight emitting unit 11 is reflected onto the sensing receiving device 1104 through the reflecting unit 12, the receiving position of the reflecting light source changes, the detection center 4 calculates the change value of the track 6 through the calculation system by combining the position of the laser spotlight, the emitting angle, the position and the distance of the reflecting module 1204 and the sensing receiving device 1104, and determines whether the receiving position on the sensing receiving device 1104 is within a preset receiving threshold range, if so, the deformation of the track 6 meets the safety requirement, and if not, the deformation of the track 6 is abnormal.
The on-rail sensor system 1 is reasonable in structure, small in structure, low in cost and sensitive in response by utilizing condensation of a spotlight light source and reflection of the spotlight light source, and capable of quickly and accurately judging whether deformation of the rail 6 is abnormal or not, greatly reducing cost of a rail monitoring system and improving reliable monitoring of traffic safety.
As a preferred example of the present invention, the light source module 1106 is fixed on the upper surface of the second mounting plate 1103, the second mounting plate 1103 is arranged in an inclined manner, an included angle between the upper surface of the second mounting plate 1103 and a horizontal plane is α, and a value of α ranges from 0.2 ° to 5 °. Preferably, the upper surface of the second mounting plate 1103 of the present invention is disposed in an inclined manner gradually upward along the emission direction of the laser spot light, the value range of α is 0.5 to 1.2 °, and the horizontal distance between the reflection module 1204 and the sensing receiver 1104 is 50mm to 1000mm.
In the arrangement, the laser spot lamp in the light source module 1106 emits in an inclined state in an initial emission state, so that the accuracy of the track 6 deformation abnormality detection of the on-track sensor system 1 is further improved.
As a preferred example of the present invention, the information processing module 1105 is mounted on the lower surface of the first mounting plate 1102, the sensing and receiving device 1104 includes a receiving plate 11041 and a first support frame 11046, the first support frame 11046 is used for supporting and fixing the receiving plate 11041, the receiving plate 11041 is disposed on the side surface of the first support frame 11046 close to the reflection unit 12, a third connection plate 11042 is disposed at a position close to the lower end of the first support frame 11046, the third connection plate 11042 is sleeved on the light source module 1106, bottom support plates 11047 are disposed at outer sides of two opposite ends below the third connection plate 11042, the support plates 11047 abut against the upper surface of the second mounting plate 1103, the right end of the light source module 1106 abuts against the receiving plate 11041, a relief hole 11043 is disposed at a position on the receiving plate 11041 corresponding to the laser spot lamp, and the laser spot lamp passes through the relief hole 11043 and emits a light toward the reflection module 1204. As a specific example of the present invention, the first support frame 11046 includes ribs arranged in a grid shape, an upper end of the first support frame 11046 is fixedly connected to the information processing module 1105 through a first connection bolt 11044, and the third connection plate 11042 is connected to the light source module 1106 through a second connection bolt 11045. This setting has guaranteed the structural strength and its connection stability of response receiving arrangement 1104, further improves on-rail sensor system 1 and detects the precision.
Preferably, the first mounting plate 1102 includes a first plate 11021, a guide groove 11022 is formed on a lower surface of the first plate 11021, a guide post 11048 is correspondingly formed on an upper end of the first support 11046, the guide post 11048 is slidably inserted into the guide groove 11022, and the guide post 11048 is fixedly coupled to the first plate 11021 by a third coupling bolt 11049. As an example of the present invention, the guide groove 11022 and the guide post 11048 are formed in an arc shape or a semicircular shape in a vertical section along a sliding direction of the guide post 11048. This arrangement facilitates the mounting and fixing of the induction reception device 1104, and further improves the connection stability of the induction reception device 1104.
As a preferred example of the present invention, the first mounting bracket 1101 includes a first connection plate 11011, and a first connection hole 11012 and a first positioning hole 11013 are provided on the first connection plate 11011 above the first mounting plate 1102. As an example of the present invention, the first positioning holes 11013 are provided in two, two first positioning holes 11013 are provided above the first connection hole 11012, the center of the first connection hole 11012 is provided on a center line of the first connection plate 11011 in a vertical direction, and the two first positioning holes 11013 and the first connection hole 11012 are arranged in an isosceles triangle. Preferably, the diameter of the first connection hole 11012 is larger than that of the first positioning hole 11013.
This setting has guaranteed the convenience of first installing support 1101 and the installation of track 6 and the stability of being connected to realize that the quick vertical form of first installing support 1101 is fixed.
As a preferred example of the present invention, a temperature detection unit 1108 is provided on a first connection plate 11011 below the first mounting plate 1102, and the information processing module 1105, the light source module 1106, and the temperature detection unit 1108 are connected by a wire conduit 1107. This setting is used for detecting the environment that on the rail sensor system 1 located, combines the temperature influence factor weight of storage in the high in the clouds 3, adjusts the deformation threshold value data under the corresponding temperature, avoids the expend with heat and contract with cold that the temperature brought to warp the influence to track 6. Preferably, the temperature detection unit 1108 can be brought into contact with the rail web of the rail 6 through the first connection plate 11011. This arrangement enables the temperature detection unit 1108 to directly detect the temperature of the rail 6, further ensuring the reliability of the correction of the deformation of the rail 6 due to the temperature factor.
According to the on-rail sensor system 1, the sensing receiving device 1104, the information processing module 1105, the light source module 1106 and the temperature detection unit 1108 are arranged between the first mounting plate 1102 and the second mounting plate 1103, so that the reliability of the use of the electrical components is further ensured, the influence caused by rain and snow weather is avoided, and the service life of the on-rail sensor system is effectively prolonged.
As a preferred example of the present invention, a plurality of signal indicator lamps, for example, a power supply electric quantity indicator lamp, a working signal indicator lamp, and the like, are disposed on the light source module 1106 and the information processing module 1105, so as to facilitate signal identification in a rapid detection process of an unmanned aerial vehicle in an unmanned aerial vehicle detection system.
As a preferred example of the present invention, a first sliding groove 12021 is disposed on a lower surface of the third mounting plate 1202, a second sliding groove 12031 is disposed on an upper surface of the fourth mounting plate 1203, the reflection module 1204 includes a reflection plate 12041 and a second supporting frame 12042, the second supporting frame 12042 is used for supporting the reflection plate 12041, the reflection plate 12041 is disposed on a side surface of the second supporting frame 12042 close to the spotlight emitting unit 11, upper and lower ends of the reflection plate 12041 respectively extend into the first sliding groove 12021 and the second sliding groove 12031 to slide, an avoidance space 1205 is formed between an upper end of the second supporting frame 12042 and the lower surface of the third mounting plate 1202, and similarly, an avoidance space 1205 is formed between a lower end of the second supporting frame 12042 and the upper surface of the fourth mounting plate 1203, and an elastic plug 1206 is filled in the avoidance space 1205.
This setting discloses a reflection module 1204's structure and mounting means, simple structure, and the installation is convenient, connects stably, the structure of second support frame 12042 with first support frame 11046's structure is similar, avoids reflection plate body 12041 to lead to structural deformation owing to the setting of dangling for a long time when using to the precision of data acquisition when guaranteeing on-orbit sensor system 1 uses.
As a preferred example of the present invention, the second mounting bracket 1201 includes a second connecting plate 12011, the fourth mounting plate 1203 is disposed at a lower end of the second connecting plate 12011, the third mounting plate 1202 is disposed at a position near a middle of the second connecting plate 12011, and a second connecting hole 12012 and a second positioning hole 12013 are disposed on the second connecting plate 12011 above the third mounting plate 1202. The arrangement positions and structures of the second connection holes 12012 and the second positioning holes 12013 on the second connection plate 12011 are the same as those of the first positioning holes 11013 and the first connection holes 11012 on the first connection plate 11011, and thus, the description thereof is not repeated.
As a preferred example of the present invention, the rail car body 21 runs on the first rail 61 and the second rail 62 through two sets of rail wheels 22, a connecting beam 23 is disposed between the first rail 61 and the second rail 62, a mounting bracket 24 is disposed at a lower end of a central position of the connecting beam 23, the mounting bracket 24 is arranged in an isosceles triangle, the camera module 25 includes a first camera module 2501 and a second camera module 2502, the first camera module 2501 and the second camera module 2502 are disposed on two isosceles edges of the mounting bracket 24, and the first camera module 2501 and the second camera module 2502 are respectively configured to detect graphics and/or animation data inside the first rail 61 and the second rail 62. Preferably, the shooting angle of the camera module 25 covers the contact position of the rail wheel 22 and the rail 6 and the position of the connection position of the rail 6 and the sleeper.
As a preferred example of the present invention, a third camera module is disposed on the unmanned aerial vehicle, and preferably, the unmanned aerial vehicle may adopt an unmanned aerial vehicle with a range of about 100km, such as MantaRay40, and the unmanned aerial vehicle can hover at any position of the track 6 under the instruction of the control center. The information processing module 1105 in the on-rail sensor system 1, the camera module 25 in the railcar detection system 2, and the third camera module in the unmanned aerial vehicle are all connected with the cloud 3 through wireless communication modules.
Through adopting unmanned aerial vehicle to carry out the quick affirmation of track 6 upper shape variation constant, because unmanned aerial vehicle flight system speed is very fast, and based on 5G communication system and big dipper navigation system's rapid development, provide probably for unmanned aerial vehicle's the accurate guidance of flight path and the video rapid transit of shooting to confirm and provide reliable assurance with the quick correction for track deformation is unusual fast.
As an example of the present invention, multiple sets of the camera modules 25 are arranged at the lower end of the connecting beam 23 along the length direction, each set of the camera modules 25 performs fixed-angle shooting on the graphics and/or animations inside the track 6 in the advancing process of the rail car, the multiple sets of the camera modules 25 complete multi-angle shooting of the images inside the track 6, and a third camera module on the unmanned aerial vehicle performs multi-angle shooting and extraction of shape variation common points under the effect of the view angle of the unmanned aerial vehicle.
When images shot by the camera module 25 and a third camera module on the unmanned aerial vehicle are transmitted to the detection center 4 for data processing, the images shot at multiple angles are combined, the images are sorted according to exposure intensity, a middle value is selected as the basis of exposure compensation of other images, after the images are adjusted to the same exposure intensity, the track 6 structure of an original standard is used as a background, background elimination is realized by using a binarization technology, edge detection is performed by adopting a gradient filter, the gray value on the right side of an adjacent point is used for detecting the gray value on the left side of the adjacent point as the gray value of the point, and if the gray value of the detection point is greatly different from the gray value in the background, the deformation abnormality of the point is described.
The track monitoring system greatly reduces the data amount processed during judgment and calculation, improves the detection and judgment efficiency and ensures accurate and reliable detection precision by a novel image anomaly detection means.
As an example of the present invention, the railcar detection system 2 may be installed on a railcar for detection, or may be installed on a part of operating trains for detection, and the operating trains upload images captured during the traveling process to the cloud 3 by setting the railcar detection system 2, and then correspondingly transmit the images to the corresponding detection center 4 for processing, so that track deformation anomaly monitoring can be completed during the traveling process of the operating trains, the cost of the track monitoring system is further reduced, and the reliability of traffic safety monitoring is improved.
The invention also discloses a track monitoring method, which is applied to the track monitoring system and comprises the following steps:
s1: when the track 6 is in no-load, the sensor device arranged on each track board unit 601 uploads detection data to the cloud 3 at regular time, the detection center 4 judges whether the deformation data outside the track 6 is larger than the deformation threshold data according to the processed data, if so, the detection center marks and enters S5, and if not, the detection center enters S2;
s2, when an operating train passes through the track 6, a sensor device arranged at the joint of the two track plate units 601 connected with each other is started and uploads detection data to the cloud end 3, the detection center 4 judges whether deformation data on the outer side of the track 6 is larger than deformation threshold data or not according to the processed data, if yes, the marking is carried out, S5 is carried out, and if not, the S3 is carried out;
s3, shooting images of the inner side of the track 6 at multiple angles in the running process according to the railcar detection system 2 arranged on the operating train or the railcar by a camera module 25 in the railcar detection system 2, uploading the images to a cloud end 3, judging whether the deformation data of the inner side of the track 6 is larger than deformation threshold value data or not by a detection center 4 according to processed graphic information, if so, marking and entering S5, otherwise, entering S4;
s4: judging that the deformation of the track 6 is normal, and entering S1 again;
s5: the detection center 4 acquires the position of the marked deformation node, starts the unmanned aerial vehicle in the unmanned aerial vehicle detection system 5, shoots and uploads the image of multiple angles to the marking node to the cloud end 3, and the detection center 4 judges whether the deformation data of the inner side and the outer side of the track 6 is larger than the deformation threshold value data according to the processed graphic information, if so, sends out correction reminding, and if not, enters into S4.
According to the track monitoring method, the on-track sensor system 1 on the track 6 in the no-load and operation stages is used for detecting the deformation data of the outer side of the track, the unmanned aerial vehicle detection system 5 is started to quickly inspect abnormal nodes when an abnormal notice is sent out, and the nodes detected normally by the on-track sensor system also need to be further accurately judged by the rail car detection system, so that the efficiency and the accuracy of track safety monitoring are greatly improved, the working efficiency is improved, the intelligent and networked operation of the track monitoring method is guaranteed, and the operation safety of a train is guaranteed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A track monitoring system, comprising:
the on-rail sensor system (1) is used for acquiring deformation data of the outer side of the rail (6), the on-rail sensor system (1) comprises a spotlight transmitting unit (11) and a reflecting unit (12), the spotlight transmitting unit (11) can transmit a laser spotlight to the reflecting unit (12) and receive a spotlight signal returned by the reflecting unit (12), and the on-rail sensor system (1) is installed on the outer side of the rail (6);
the rail car detection system (2) is used for obtaining deformation data of the inner side of a rail (6), the rail car detection system (2) comprises a rail car body (21), a camera module (25) is arranged below the rail car body (21), and the camera module (25) can shoot graphs and/or animations of the inner side of the rail (6);
the system comprises a cloud end (3) and a rail car detection system (2), wherein a large-capacity cloud disk database is arranged on the cloud end (3), the on-rail sensor system (1) and the rail car detection system (2) are combined with a Geographic Information System (GIS), detection data with geographic position information attached to the inner side and the outer side of a rail (6) can be transmitted to the cloud end (3) through a communication module and stored for backup, and deformation threshold data of the inner side and the outer side of the rail (6) are stored in the cloud end (3);
the detection center (4) comprises a central processing unit, can receive detection data which are sent by the cloud (3) and are attached with geographical position information on the inner side and the outer side of the track (6) in real time, and judges whether the detected deformation data exceed deformation threshold data or not;
unmanned aerial vehicle detecting system (5), including an at least unmanned aerial vehicle, be provided with the video acquisition unit on unmanned aerial vehicle, under the control command of detection center (4), unmanned aerial vehicle detecting system (5) carry out graphics and/or video acquisition closely to the position that deformation is unusual, and the data message that unmanned aerial vehicle gathered is uploaded to high in the clouds (3) through communication module and is obtained by detection center (4).
2. A track monitoring system according to claim 1, wherein the first (61) and second (62) rails of the track (6) each comprise a plurality of track slab units (601), and the on-track sensor system (1) comprises a plurality of sets of sensor devices, each set of sensor devices comprising a spotlight emitting unit (11), a reflective unit (12), one set of sensor devices being provided on each track slab unit (601) and/or at the junction of each two track slab units (601), wherein the sensor devices provided at the junction of two track slab units (601) are connected, the spotlight emitting unit (11) being provided on one track slab unit (601) and the reflective unit (12) being provided on the other track slab unit (601).
3. The track monitoring system according to claim 2, wherein the spotlight emitting unit (11) comprises a first mounting bracket (1101), a first mounting plate (1102) and a second mounting plate (1103) are arranged on one side of the first mounting bracket (1101), an induction receiving device (1104), an information processing module (1105) and a light source module (1106) are arranged between the first mounting plate (1102) and the second mounting plate (1103), the induction receiving device (1104), the information processing module (1105) and the light source module (1106) are electrically connected, a power supply and a laser spotlight are arranged in the light source module (1106), and the induction receiving device (1104) is arranged vertically; the reflection unit (12) comprises a second mounting bracket (1201), a third mounting plate (1202) and a fourth mounting plate (1203) are arranged on one side of the second mounting bracket (1201), a reflection module (1204) is arranged between the third mounting plate (1202) and the fourth mounting plate (1203), the reflection module (1204) is right opposite to the sensing receiving device (1104), the light source module (1106) emits a laser spot light to the reflection module (1204) and is reflected to the sensing receiving device (1104) by the reflection module (1204), the sensing receiving device (1104) feeds back received position information of the reflection laser spot light to the information processing module (1105), and the information processing module (1105) transmits the position information to the cloud end (3) through the communication module.
4. The track monitoring system according to claim 3, wherein the light source module (1106) is fixed on the upper surface of the second mounting plate (1103), the second mounting plate (1103) is arranged in an inclined manner, the upper surface of the second mounting plate (1103) forms an included angle α with a horizontal plane, and the value range of α is 0.2-5 °.
5. The track monitoring system according to claim 4, wherein the information processing module (1105) is mounted on a lower surface of the first mounting plate (1102), the induction receiving device (1104) includes a receiving plate (11041) and a first support frame (11046), the first support frame (11046) is used for supporting and fixing the receiving plate (11041), the receiving plate (11041) is disposed on a side surface of the first support frame (11046) close to the reflection unit (12), a third connecting plate (11042) is disposed at a position of the first support frame (11046) close to a lower end, the third connecting plate (11042) is sleeved on the light source module (1106), bottom support plates (11047) are disposed at outer sides of opposite ends below the third connecting plate (11042), the support plates (11047) abut against an upper surface of the second mounting plate (1103), a right end of the light source module (1106) abuts against the receiving plate (11041), a position of the receiving plate (11041) corresponding to the laser spot lamp is disposed at a position, and the light avoiding hole (11043) penetrates through the laser spot lamp (1204) to reflect light.
6. The track monitoring system according to claim 5, wherein the first mounting plate (1102) comprises a first plate body (11021), a guide groove (11022) is formed in the lower surface of the first plate body (11021), correspondingly, a guide post (11048) is arranged at the upper end of the first support frame (11046), the guide post (11048) can be inserted into the guide groove (11022) to be guided and slid, and the guide post (11048) is fixedly connected with the first plate body (11021) through a third connecting bolt (11049).
7. The track monitoring system according to claim 6, characterized in that a temperature detection unit (1108) is arranged on a first connection plate (11011) below the first mounting plate (1102), and the information processing module (1105), the light source module (1106), and the temperature detection unit (1108) are connected by a wire conduit (1107).
8. The track monitoring system according to claim 7, wherein a first sliding groove (12021) is disposed on a lower surface of the third mounting plate (1202), a second sliding groove (12031) is disposed on an upper surface of the fourth mounting plate (1203), the reflective module (1204) includes a reflective plate body (12041) and a second supporting frame (12042), the second supporting frame (12042) is configured to support the reflective plate body (12041), the reflective plate body (12041) is disposed on a side surface of the second supporting frame (12042) close to the spotlight emitting unit (11), upper and lower ends of the reflective plate body (12041) respectively extend into the first sliding groove (12021) and the second sliding groove (12031) to slide, an avoidance space (1205) is formed between an upper end of the second supporting frame (12042) and the lower surface of the third mounting plate (1202), and similarly, an avoidance space (1205) is formed between a lower end of the second supporting frame (12042) and the upper surface of the fourth mounting plate (1203), and an elastic plug (1206) is filled in the avoidance space (1205).
9. The track monitoring system according to claim 8, wherein the track body (21) runs on a first rail (61) and a second rail (62) through two sets of track wheels (22), a connecting cross beam (23) is arranged between the first rail (61) and the second rail (62), a mounting frame (24) is arranged at the lower end of the central position of the connecting cross beam (23), the mounting frame (24) is arranged in an isosceles triangle, the camera module (25) comprises a first camera module (2501) and a second camera module (2502), the first camera module (2501) and the second camera module (2502) are respectively arranged on two isosceles edges of the mounting frame (24), and the first camera module (2501) and the second camera module (2502) are respectively used for detecting graphic and/or animation data inside the first rail (61) and the second rail (62).
10. A track monitoring method applied to the track monitoring system according to any one of claims 1 to 9, comprising the steps of:
s1: when the track is in no-load, the sensor device arranged on each track slab unit uploads detection data to the cloud end at regular time, the detection center judges whether the deformation data outside the track is larger than the deformation threshold data or not according to the processed data, if so, the detection center marks and enters S5, and if not, the detection center enters S2;
s2, when an operation train passes through a track, starting a sensor device arranged at the joint of two track slab units and uploading detection data to the cloud, judging whether deformation data on the outer side of the track is larger than deformation threshold data or not by a detection center according to the processed data, if so, marking and entering S5, and otherwise, entering S3;
s3, according to a rail car detection system arranged on an operating train or a rail car, a camera module in the rail car detection system shoots images on the inner side of the rail at multiple angles in the running process and transmits the images to a cloud end, a detection center judges whether deformation data on the inner side of the rail is larger than deformation threshold data or not according to processed image information, if yes, the image is marked and enters S5, and if not, the image enters S4;
s4: judging that the track deformation is normal, and entering S1 again;
s5: the detection center acquires the position of the marked deformation node, starts an unmanned aerial vehicle in the unmanned aerial vehicle detection system, carries out multi-angle image shooting on the marked node and uploads the image to the cloud, and the detection center judges whether the deformation data of the inner side and the outer side of the track is larger than the deformation threshold data according to the processed graphic information, if so, sends out correction prompt, and if not, the detection center enters S4.
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