CN112009509A - Control equipment for track inspection and inspection vehicle - Google Patents
Control equipment for track inspection and inspection vehicle Download PDFInfo
- Publication number
- CN112009509A CN112009509A CN201910462763.0A CN201910462763A CN112009509A CN 112009509 A CN112009509 A CN 112009509A CN 201910462763 A CN201910462763 A CN 201910462763A CN 112009509 A CN112009509 A CN 112009509A
- Authority
- CN
- China
- Prior art keywords
- control unit
- instruction
- track
- main control
- inspection vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 135
- 230000002159 abnormal effect Effects 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims description 25
- 238000004891 communication Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 230000002452 interceptive effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003137 locomotive effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 101000746134 Homo sapiens DNA endonuclease RBBP8 Proteins 0.000 description 1
- 101000969031 Homo sapiens Nuclear protein 1 Proteins 0.000 description 1
- 102100021133 Nuclear protein 1 Human genes 0.000 description 1
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
The utility model provides a controlgear and inspection vehicle for track is patrolled and examined, include: the main control unit receives a control instruction; the main control unit sends the moving instruction to the moving control unit and sends the acquisition instruction to the acquisition control unit; the mobile control unit drives the inspection vehicle to move according to the mobile instruction; the acquisition control unit acquires distance information through a laser sensor arranged on the inspection vehicle and acquires inclination angle information through an inclination angle sensor arranged on the inspection vehicle according to the acquisition instruction; the acquisition control unit sends the distance information and the inclination angle information to the main control unit; the main control unit determines track data according to the distance information and the inclination angle information and determines a track state; if the track state is abnormal, the main control unit records abnormal information and/or gives an alarm according to the abnormal information. The scheme that this disclosure provided is based on a control command control inspection car and patrols and examines to improve and patrol and examine efficiency, obtain the road information that the sensor gathered by controlgear simultaneously, can improve the degree of accuracy of patrolling and examining.
Description
Technical Field
The present disclosure relates to track inspection technologies, and in particular, to a control device and an inspection vehicle for track inspection.
Background
At present, with the development of railway transportation, railway transportation becomes a common transportation mode. Meanwhile, the railway transportation cost is low, so that the method is a preferred choice for people in the aspect of freight transportation.
In railway transportation, a locomotive runs on rails, and therefore, the state of the rails determines whether the locomotive can safely operate. In the prior art, the track state is usually checked by adopting a manual inspection mode.
The manual inspection mode consumes relatively poor time and is low in efficiency, and the accuracy of inspection results is low, so that the track inspection mode in the prior art has more defects.
Disclosure of Invention
The utility model provides a controlgear and inspection vehicle for track is patrolled and examined to there is the problem of more drawback in the track mode of patrolling and examining among the solution prior art.
A first aspect of the present disclosure provides a control apparatus for track inspection, including:
the main control unit is used for receiving a control instruction, wherein the control instruction comprises a moving instruction and a collecting instruction;
the main control unit is also used for sending the moving instruction to a moving control unit and sending the acquisition instruction to an acquisition control unit;
the movement control unit is used for driving the inspection vehicle to move according to the movement instruction;
the acquisition control unit is used for acquiring distance information through a laser sensor arranged on the inspection vehicle and acquiring inclination angle information through an inclination angle sensor arranged on the inspection vehicle according to the acquisition instruction;
the acquisition control unit sends the distance information and the inclination angle information to the main control unit;
the main control unit is further used for determining track data according to the distance information and the inclination angle information and determining a track state according to the track data;
and if the track state is abnormal, the main control unit records abnormal information and/or gives an alarm according to the abnormal information.
Another aspect of the present disclosure is to provide a method for track inspection, comprising:
a moving assembly cooperating with the track, and a control device for track inspection according to the first aspect.
The utility model provides a controlgear and inspection vehicle's that is used for track to patrol and examine technical effect is:
the utility model provides a controlgear and inspection vehicle for track is patrolled and examined, include: the main control unit is used for receiving a control instruction, and the control instruction comprises a moving instruction and a collecting instruction; the main control unit is also used for sending the moving instruction to the moving control unit and sending the acquisition instruction to the acquisition control unit; the mobile control unit is used for driving the inspection vehicle to move according to the mobile instruction; the acquisition control unit is used for acquiring distance information through a laser sensor arranged on the inspection vehicle and acquiring inclination angle information through an inclination angle sensor arranged on the inspection vehicle according to the acquisition instruction; the acquisition control unit sends the distance information and the inclination angle information to the main control unit; the main control unit is also used for determining track data according to the distance information and the inclination angle information and determining a track state according to the track data; if the track state is abnormal, the main control unit records abnormal information and/or gives an alarm according to the abnormal information. The controlgear that this embodiment provided and patrol and examine the car can patrol and examine based on a control command control patrol and examine the car to improve and patrol and examine efficiency, obtain the road information that the sensor gathered by controlgear simultaneously, can improve the degree of accuracy of patrolling and examining.
Drawings
Fig. 1 is a block diagram illustrating a control apparatus for track inspection according to an exemplary embodiment of the present invention;
fig. 2 is a flowchart illustrating a track inspection control method according to an exemplary embodiment of the present invention;
fig. 3 is a block diagram illustrating a control apparatus for track inspection according to another exemplary embodiment of the present invention;
fig. 4 is a flowchart illustrating a track inspection control method according to another exemplary embodiment of the present invention;
fig. 5 is a structural view of a patrol car for track patrol according to an exemplary embodiment of the present invention.
Detailed Description
In order to ensure that the locomotive can safely run on the rail, the rail needs to be inspected so as to avoid potential safety hazards caused by the problem of the rail. And the track is inspected manually, so that the efficiency is lower and the accuracy is lower.
The scheme provided by the embodiment of the invention provides the control equipment and the inspection vehicle for rail inspection, which can inspect the rail, thereby improving the rail inspection efficiency and having higher accuracy.
Fig. 1 is a block diagram illustrating a control apparatus for track inspection according to an exemplary embodiment of the present invention.
As shown in fig. 1, the control device provided in this embodiment includes a main control unit 11, a mobile control unit 12, and an acquisition control unit 13. The main control unit 11 is respectively connected with the mobile control unit 12 and the acquisition control unit 13, and the acquisition control unit 13 is connected with at least one sensor 14.
Wherein, this controlgear can set up in the track inspection car for control inspection car carries out the operation of patrolling and examining. The sensor 14 may also be disposed on the inspection vehicle, and may be electrically connected to the acquisition control unit 13.
Fig. 2 is a flowchart illustrating a track inspection control method according to an exemplary embodiment of the present invention.
The method provided by the embodiment can be applied to the control equipment for track inspection shown in fig. 1.
Specifically, The main control unit of The control device may be a processor, and The processor may adopt an X86architecture (The X86architecture), which is capable of executing preset logic. The main control unit can be used for receiving the control command, and the control equipment can be used for executing the inspection operation based on the control command, so that the automatic track inspection effect is realized.
Further, the control instruction may be sent to the control device through the control terminal, for example, the control device may further be provided with a communication module for communicating with the control terminal, for example, the control terminal and the control device may be connected through a wireless network. The user can operate the control terminal so that the control terminal issues a control instruction to the control device.
During practical application, the control instruction can also be a control instruction sent to the control equipment by operating the patrol car by the user. For example, an interaction component may be provided in the patrol car, and the interaction component may be connected to the control device, and specifically may be connected to a main control unit in the control device. The user can operate the interactive component, set up specific parameter of patrolling and examining, and this interactive component can be according to patrolling and examining the parameter and generating a control command to this controlgear is sent to controlgear. The interactive component may be, for example, a physical key or may be a touch screen.
The control instruction may include a movement instruction and a collection instruction. The movement instruction is used for controlling the movement of the inspection vehicle, such as the movement direction, speed, distance and the like of the inspection vehicle; the acquisition instruction is used for controlling the inspection vehicle to acquire track information through the sensor.
Specifically, the user may set only the movement parameter. For example, the movement parameter may be set in a manner of setting patrol scene information. For example, the current inspection task is 100 meters. After receiving the movement parameters set by the user, the mobile instruction can be generated according to the movement parameters, the acquisition instruction can be generated according to the preset sensor parameters, and then the control instruction can be generated according to the mobile instruction and the acquisition instruction. And the control instruction is sent to the control equipment, so that the control equipment controls the inspection vehicle to execute the inspection task based on the control instruction. And specifically, sending the control instruction to a main control unit in the control device.
Furthermore, the control device can comprise a mobile control unit for driving the inspection vehicle to move, and the control device can also comprise an acquisition control unit for acquiring track information.
In practical application, the mobile control unit may be a PLC (Programmable Logic Controller), the main control unit may send the mobile command to the mobile control unit, and the mobile control unit may execute the received mobile command to drive the inspection vehicle to move.
Wherein, collection control unit can be the singlechip, and control unit can send the collection instruction for collection control unit, and this collection control unit can carry out the collection instruction of receiving, and then gathers information according to the sensor that the inspection car set up.
Specifically, if the mobile control unit is a PLC, the main control unit may be a MODBUS (b:)
Modbus protocol, Modbus communication protocol) to interact with the PLC. If the acquisition control unit is a single chip microcomputer, the main control unit can interact with the single chip microcomputer through RS232 (one of communication interfaces on a personal computer, and two groups of RS-232 interfaces, which are called COM1 and COM2 respectively, are arranged on a common personal computer).
Optionally, an anti-collision sensor may be further disposed on the inspection vehicle, and the mobile control unit may be connected to the sensor, so as to collect environmental information around the inspection vehicle.
And step 203, the movement control unit drives the inspection vehicle to move according to the movement instruction.
Further, in the method provided by this embodiment, the control device is configured to control the movement of the inspection vehicle, specifically, control the movement of the inspection vehicle through the movement control unit.
In practical application, the mobile control unit can be connected with a driving assembly for driving the patrol vehicle to move. After receiving the moving instruction, the moving control unit can send a driving signal to the driving assembly according to the moving instruction so that the driving assembly acts to drive the moving assembly of the inspection vehicle to move, and the moving assembly can drive the inspection vehicle to move.
The movement command can also include movement parameters, such as movement distance, speed and other parameters, and the movement control unit can extract the movement parameters in the movement command and generate a driving signal according to the parameters, so that the inspection vehicle can move according to the movement parameters.
And 204, the acquisition control unit acquires distance information through a laser sensor arranged on the inspection vehicle and acquires inclination angle information through an inclination angle sensor arranged on the inspection vehicle according to the acquisition instruction.
Specifically, the sensor is arranged on the inspection vehicle, and the acquisition control unit is connected with the sensor, for example, the acquisition control unit can be connected in a wired manner.
In the method provided by this embodiment, the sensor includes a laser sensor and a tilt sensor.
Furthermore, after the acquisition control unit receives the acquisition instruction, the sensor arranged on the inspection vehicle can be controlled to be in an open state, so that the sensor can acquire track information.
During practical application, the distance information of the positions of the peripheral object distance sensors can be acquired through the laser sensors arranged on the patrol car, for example, the distance between a rail and the laser sensors can be measured, and the distance between a platform distance sensor can also be measured. The inclination angle information of the vehicle can be detected by an inclination angle sensor arranged on the patrol vehicle, and specifically, the inclination angle of the vehicle compared with the ground can be detected. Because the inspection vehicle runs on the rails, the height difference between the two rails can cause the inspection vehicle to generate a certain inclination angle.
After the sensor collects the track information, the information can be sent to the collection control unit, so that the collection control unit can obtain the track information.
During practical application, a temperature sensor and a humidity sensor can be arranged on the patrol car and used for collecting environmental information of the track.
Wherein, can set up a plurality of laser sensor on patrolling the car to measure the distance between other objects and the patrolling the car on a plurality of angles relative to patrolling the car.
The temperature and humidity sensor can measure the temperature and the humidity of the rail, so that the influence of the environment on the rail can be analyzed according to the environment information.
Specifically, the signals sensed by the laser sensor and the temperature and humidity sensor are analog signals, and the analog signals can be processed by the AD converter and then sent to the acquisition control unit. The AD converter can convert the analog signal into a digital signal which can be processed by a computer, so that the acquisition control unit can process the received track information.
Further, the execution timing of step 203 and step 204 is not limited, and step 203 may be executed first, step 204 may be executed first, or both steps may be executed at the same time.
During practical application, the inspection vehicle is controlled to move and collect track data through different control units, the movement action of the inspection vehicle and the action of data collection can be controlled in a parallel mode, and therefore inspection efficiency can be further improved.
And step 205, the acquisition control unit sends the distance information and the inclination angle information to the main control unit.
In step 206, the main control unit is further configured to determine track data according to the distance information and the tilt information, and determine a track state according to the track data.
The acquisition control unit can also send the acquired information to the main control unit, and the main control unit determines the track state according to the information.
The acquisition control unit and the main control unit can be connected in a wired or wireless mode and can transmit track information in a wired or wireless mode.
Specifically, when the acquisition control unit is a single chip microcomputer, the acquisition control unit can send track information to the main control unit in an RS232 mode.
Further, after the main control unit receives the distance information and the inclination angle information, the main control unit can process the received information to determine the track data. Specifically, the distance between the tracks can be determined according to the distance information, the distance between the platform and the tracks can be determined according to the distance information, and the superelevation between the tracks can be determined according to the inclination information.
For example, two laser sensors may be provided, one on each side of the inspection vehicle, the sensor on the left side of the vehicle may measure track information on the left side of the vehicle, and the sensor on the right side of the vehicle may measure track information on the right side of the vehicle. The main control unit can determine the position relationship between the left track and the left laser sensor and the position relationship between the right track and the right sensor according to the information. And, the positional relationship between the two tracks can be determined based on the relative positions of the two sensors.
For another example, an inclination sensor may be provided on the chassis of the inspection vehicle, and since the inspection vehicle travels on the rails, the height difference between the rails, that is, the height of the rails can be determined according to the degree of inclination of the inspection vehicle.
After the master unit determines the track data, the track status may be determined based on the track data. Normal data of the track can be preset, and whether the track is normal or not can be determined by comparing the normal data with the track data determined in real time. For example, a normal track pitch may be set, and a difference between the set track pitch and the acquired track pitch is compared to determine whether the difference is smaller than a preset value, if so, the track pitch is considered to be normal, otherwise, the track pitch is abnormal. A similar method can also be used to determine whether the elevation between the rails is normal.
And step 207, if the track state is abnormal, the main control unit records abnormal information and/or gives an alarm according to the abnormal information.
In actual application, if any orbit data has a large difference from the normal data, the orbit state can be considered to be abnormal. At this time, the main control unit may determine and record the abnormal information according to the abnormal state.
In which, for example, abnormal track data, and the track position in an abnormal state, etc. can be determined. Therefore, the staff can maintain the track according to the abnormal information.
Specifically, the main control unit can also alarm according to the abnormal information. The alarm can be given by sound, light and the like. In addition, the mobile phone of the worker and the main control unit can be connected in a wireless communication mode, so that the main control unit sends alarm information to the mobile phone of the worker.
Optionally, the control device is further provided with a power supply device for supplying electric energy. The power supply device can be connected with the acquisition control unit so that the acquisition control unit acquires power supply data of the equipment. For example, the acquisition control unit may be connected to and communicate with the power supply device by means of a CAN bus. The control device provided by the embodiment is used for inspecting the track, and the device can be applied to a track inspection vehicle and is generally implemented in a hardware and/or software manner.
The controlgear that the track was patrolled and examined that this embodiment provided includes: the main control unit is used for receiving a control instruction, and the control instruction comprises a moving instruction and a collecting instruction; the main control unit is also used for sending the moving instruction to the moving control unit and sending the acquisition instruction to the acquisition control unit; the mobile control unit is used for driving the inspection vehicle to move according to the mobile instruction; the acquisition control unit is used for acquiring distance information through a laser sensor arranged on the inspection vehicle and acquiring inclination angle information through an inclination angle sensor arranged on the inspection vehicle according to the acquisition instruction; the acquisition control unit sends the distance information and the inclination angle information to the main control unit; the main control unit is also used for determining track data according to the distance information and the inclination angle information and determining a track state according to the track data; if the track state is abnormal, the main control unit records abnormal information and/or gives an alarm according to the abnormal information. The controlgear that this embodiment provided can patrol and examine the car based on a control command control to improve and patrol and examine efficiency, obtain the road information that the sensor gathered by controlgear simultaneously, can improve the degree of accuracy of patrolling and examining.
Fig. 3 is a block diagram illustrating a control apparatus for track inspection according to another exemplary embodiment of the present invention.
As shown in fig. 3, on the basis of the control device shown in fig. 1, the control device for track inspection provided in this embodiment may further include a touch screen 15, and the touch screen 15 may be connected to the main control unit 11. And/or the patrol vehicle can be further connected with a control terminal 31, and the control terminal 31 can be particularly connected with the main control unit 11 of the patrol vehicle.
Fig. 4 is a flowchart illustrating a track inspection control method according to another exemplary embodiment of the present invention.
The method provided by the embodiment can be applied to the track inspection control equipment shown in FIG. 3.
As shown in fig. 4, the track inspection control method provided in this embodiment includes:
In the method provided by the embodiment, a touch screen can be arranged in the control equipment, and a user can operate in the touch screen and issue a control instruction to the control equipment; in another case, the control device may also be connected to a control terminal, both of which are capable of communication. For example, the control device and the control terminal may be connected by wireless communication, such as a local area network, 2G, 3G, 4G, 5G, and the like.
The control terminal may be an electronic device with computing capabilities, such as a computer or a tablet computer. Optionally, the electronic device may further be provided with an interaction device and a processing device, where the interaction device is configured to interact with a user, receive an instruction of the user, and feed back information to the user. The processing device is used for executing corresponding operation according to the instruction of the user. The interactive device may be, for example, a touch screen, a mouse, a keyboard, etc., and may also be a physical key arranged on the electronic device.
In one embodiment, a user can operate on the touch screen, input the movement parameters of the patrol car and click the determination key, so that the touch screen generates a control instruction according to the operation of the user. In another embodiment, a user may operate the control terminal through the interaction device, and the control terminal may generate a control instruction according to the operation of the user and then send the control instruction to the control device, where the control instruction includes a move instruction and a capture instruction.
The mobile instruction is used for controlling the movement of the inspection vehicle provided with the control equipment, and the acquisition instruction is used for controlling the data acquisition of the inspection vehicle.
And 402, the main control unit sends the moving instruction to the moving control unit and sends the acquisition instruction to the acquisition control unit.
Step 402 is similar to step 202 in specific principles and implementations, and will not be described herein again.
And step 403, the movement control unit acquires the movement parameters included in the movement instruction and drives the inspection vehicle to move according to the movement parameters.
In the method provided in this embodiment, the move instruction includes a move parameter. When the user operates the control terminal or the touch screen, parameters for controlling the movement of the inspection vehicle, such as a movement distance, a direction, a speed and the like, can be input, and when the control terminal or the touch screen generates a control instruction based on the operation of the user, the movement parameters can be encapsulated in the movement instruction.
Meanwhile, the control terminal or the touch screen can also generate a collecting instruction for collecting information through the sensor, generate a control instruction according to the moving instruction and the collecting instruction, and send the control instruction to the control terminal, so that the control equipment can receive the moving instruction comprising the moving parameters. The movement parameters may include any of the following:
moving distance, moving speed and moving direction.
These parameters may be parameters input by the user at the time of operation.
Specifically, after receiving the movement instruction sent by the main control unit, the mobile control unit may obtain the movement parameters included in the movement instruction. The structure of the movement instruction may be set in advance, and the movement control unit may extract the movement parameter in the movement instruction based on the preset structure.
Furthermore, the mobile control unit can be connected with a driving assembly used for driving the inspection vehicle to move, and the mobile control unit can generate a driving signal according to the acquired moving parameters and send the generated driving signal to the driving assembly, so that the driving assembly acts to drive the inspection vehicle to move. The driving component can be a motor, the driving signal can be a motor driving signal, and the motor can drive the vehicle of the inspection vehicle to rotate so as to drive the inspection vehicle to run. The patrol car can move according to the regulation of the movement parameters when the patrol car runs, and the movement parameters are consistent with the parameters set by the user in the control terminal, namely the patrol car can move according to the requirements of the user.
And step 404, the acquisition control unit acquires distance information through a laser sensor arranged on the inspection vehicle, acquires inclination angle information through an inclination angle sensor arranged on the inspection vehicle and acquires track environment information through a temperature sensor and/or a humidity sensor arranged on the inspection vehicle according to the acquisition instruction.
Similar to the embodiment shown in fig. 2, the acquisition control unit acquires distance information through a laser sensor arranged on the inspection vehicle and acquires inclination angle information through an inclination angle sensor arranged on the inspection vehicle according to the acquisition instruction. In addition, according to the method provided by the embodiment, the track environment information is acquired through the temperature sensor and/or the humidity sensor arranged on the patrol vehicle.
In practical application, a temperature sensor and/or a humidity sensor can be arranged on the patrol vehicle. The temperature sensor and/or the humidity sensor can be arranged on the shell of the patrol car, and can also be arranged at a position capable of shielding rainwater.
The acquisition control unit is connected with the temperature sensor and/or the humidity sensor, and can be started after receiving an acquisition instruction, receive signals sent by the temperature sensor and/or the humidity sensor and further acquire track environment information.
Similar to the embodiment shown in fig. 2, the method provided in this embodiment sends the information to the main control unit after the acquisition control unit acquires the information through the sensor, and the difference from the comparison file 2 is specifically that the method provided in this embodiment also sends the track environment information to the main control unit.
And 406, the main control unit determines the distance between the track and the platform according to the distance information collected by the laser sensor arranged at the top of the inspection vehicle.
Wherein, at least one laser sensor sets up the top at the round inspection car. In this embodiment, the distance information received by the acquisition control unit may further include a sensor identifier, and the distance information sent by the acquisition control unit to the main control unit may also carry the sensor identifier.
Specifically, the main control unit may determine distance information of a laser sensor disposed on the top of the inspection vehicle according to the sensor identifier, and determine the distance between the track and the platform according to the distance information collected by the sensor.
And further. The main control unit can determine the point cloud data of the periphery of the vehicle according to the distance information obtained by scanning the periphery environment by the sensor at the top of the inspection vehicle, and determine the position of the platform in the point cloud data. The distance from the platform to the middle position of the top of the vehicle can be determined according to the installation position of the sensor on the top of the vehicle, and the longitudinal center of the vehicle is coincided with the center of the rail due to the running of the patrol vehicle on the rail. Thus, the distance between the track and the platform can be determined in this way.
In practice, the distance between the track and the platform may be the horizontal distance between the center of the track and the platform.
And step 407, the main control unit determines the track space according to the distance information collected by the first laser sensor and the second laser sensor arranged on the inspection vehicle and the relative position of the first laser sensor and the second laser sensor.
The patrol inspection vehicle is provided with a first laser sensor and a second laser sensor which are respectively used for detecting distance information corresponding to the tracks on two sides of the patrol inspection vehicle. For example, the first laser sensor and the second laser sensor are arranged at the vehicle head position and are respectively positioned at two sides of a central line (the central line in the same driving direction with the inspection vehicle) of the inspection vehicle, for example, the first laser sensor is positioned at the left side of the central line, and the second laser sensor is positioned at the right side of the central line. The relative position of the left track and the first laser sensor can be determined through the distance information collected by the first laser sensor, and the relative position of the right track and the second laser sensor can be determined through the distance information collected by the second laser sensor.
In particular, the track pitch may be determined in combination with the relative positions of the first laser sensor and the second laser sensor.
Furthermore, the first laser sensor and the second laser sensor are arranged on the same horizontal plane, and the connection line direction of the first laser sensor and the second laser sensor is perpendicular to the running direction of the inspection vehicle. For example, a cross beam can be arranged at the position of the vehicle head, and the arrangement direction of the cross beam is parallel to the section of the inspection vehicle and is horizontally arranged.
In practical application, the first distance L can be determined according to the distance information collected by the first laser sensor1Determining a second distance L according to second distance information acquired by a second laser sensor2. The third distance L between the two sensors can be determined according to the installation positions of the first laser sensor and the second sensor3The connecting line direction of the first laser sensor and the second sensor is parallel to the section of the inspection vehicle and is horizontally arranged, so that the L is1、L2、L3The sum of these three distances is the distance between the two tracks.
And 408, determining the superelevation between the tracks by the main control unit according to the inclination angle information acquired by the inclination angle sensor arranged on the chassis of the inspection vehicle.
Wherein, be provided with inclination sensor on the chassis of inspection vehicle, can gather the inclination information on chassis. Since the inspection vehicle runs on the rails, the height difference between the two rails affects the inclination degree of the chassis of the inspection vehicle. When the inclination angle sensor is installed, the inclination angle sensor can detect the inclination angle information of the chassis in the direction vertical to the driving direction.
Specifically, after receiving the inclination information, the main control unit may determine a height difference between the tracks, that is, an ultrahigh height, according to the track pitch and the inclination information.
Further, the superelevation may be determined based on the track pitch determined in step 407, or may be determined according to a preset track pitch.
The execution timing between steps 406, 407, 408 is not limited.
Optionally, after the main control unit determines the track data, the main control unit may further store the track data.
Further, the main control unit may be connected to a storage unit, or a storage unit may be disposed in the main control unit for storing the track data.
In practical application, if a control terminal connected with the main control unit is arranged, the track data can be sent to the control terminal.
And step 410, if the track state is abnormal, the main control unit records abnormal information and/or gives an alarm according to the abnormal information.
The implementation principles and functions of steps 409-410 and 206-207 are similar and will not be described again.
In step 411, the main control unit responds to a display instruction and sends the track data and/or the track state to a display of the inspection vehicle according to the display instruction, so that the display displays the track data and/or the track state.
In practical application, the user can also operate the inspection vehicle to display the detected data.
The user can operate an interactive component on the patrol car, such as a touch screen or a key, so as to send a display instruction to the main control unit.
Specifically, based on the display instructions, the master control unit may send track data and/or track status to a display of the inspection vehicle. For example, if the user selects to display the track status, the master control unit may send the track status to the display.
Further, after the display receives the data content sent by the main control unit, the display can display corresponding data content, such as track data and/or track state, so that a user can see corresponding data through the patrol vehicle.
Fig. 5 is a structural view of a patrol car for track patrol according to an exemplary embodiment of the present invention.
As shown in fig. 5, the inspection vehicle for rail inspection according to the present embodiment includes a moving assembly 51 engaged with the rail, and the inspection vehicle can move on the rail by the moving assembly 51.
The track patrol vehicle further includes a control device 52 as shown in fig. 1 or 3, which is capable of executing the track patrol control method as described in fig. 2 or 4.
The moving assembly 51 is connected with a control device 52, and the control device can drive the moving assembly 51 to act, so that the whole patrol vehicle is driven to move.
Wherein the moving assembly may comprise a driving part and a moving part, which may be in direct contact with the rail.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A controlgear for track inspection, characterized by comprising:
the main control unit is used for receiving a control instruction, wherein the control instruction comprises a moving instruction and a collecting instruction;
the main control unit is also used for sending the moving instruction to a moving control unit and sending the acquisition instruction to an acquisition control unit;
the movement control unit is used for driving the inspection vehicle to move according to the movement instruction;
the acquisition control unit is used for acquiring distance information through a laser sensor arranged on the inspection vehicle and acquiring inclination angle information through an inclination angle sensor arranged on the inspection vehicle according to the acquisition instruction;
the acquisition control unit sends the distance information and the inclination angle information to the main control unit;
the main control unit is further used for determining track data according to the distance information and the inclination angle information and determining a track state according to the track data;
and if the track state is abnormal, the main control unit records abnormal information and/or gives an alarm according to the abnormal information.
2. The device of claim 1, further comprising a touch screen;
the touch screen is connected with the main control unit and used for responding to an operation instruction to generate the control instruction and sending the control instruction to the main control unit;
and/or the inspection vehicle is connected with a control terminal, and the main control unit is also used for receiving an operation instruction generated by the control terminal in response to the operation instruction.
3. The apparatus of claim 1, wherein at least one of the laser sensors is disposed on top of the inspection vehicle;
the main control unit determines track data according to the distance information, and the method comprises the following steps:
the main control unit determines the distance between the track and the platform according to the distance information collected by the laser sensor arranged at the top of the inspection vehicle.
4. The equipment according to claim 1, wherein a first laser sensor and a second sensor are arranged on the inspection vehicle and are respectively used for detecting distance information corresponding to tracks on two sides of the inspection vehicle;
the main control unit determines track data according to the distance information, and the method comprises the following steps:
the main control unit determines the track interval according to the distance information acquired by the first laser sensor and the second laser sensor and the relative position of the first laser sensor and the second laser sensor which are arranged on the inspection vehicle.
5. The device according to claim 4, wherein the first laser sensor and the second laser sensor are arranged on the same horizontal plane, and the connecting line direction of the first laser sensor and the second laser sensor is parallel to the section of the inspection vehicle;
the main control unit is according to setting up on the patrol car first laser sensor, the distance information that second laser sensor gathered, first laser sensor with the track interval is confirmed to second laser sensor's relative position, includes:
and determining a first distance according to first distance information acquired by the first laser sensor, determining a second distance according to second distance information acquired by the second laser sensor, and determining the sum of the first distance, the second distance and a second distance between the first sensor and the second laser sensor as the track pitch.
6. The apparatus of claim 1, wherein the tilt sensor is disposed on a chassis of the inspection vehicle;
the main control unit determines track data according to the inclination angle information, and the method comprises the following steps:
and the main control unit determines the superelevation between the tracks according to the inclination information acquired by the inclination sensor arranged on the chassis of the inspection vehicle.
7. The apparatus of claim 2, further comprising:
the main control unit responds to a display instruction and sends the track data and/or the track state to a display of the patrol car according to the display instruction, so that the display displays the track data and/or the track state.
8. The apparatus of claim 1, wherein the movement instruction comprises a movement parameter;
the mobile control unit drives the inspection vehicle to move according to the mobile instruction, and the mobile control unit comprises:
the mobile control unit acquires the mobile parameters included in the mobile instruction and drives the inspection vehicle to move according to the mobile parameters;
wherein the movement parameters include any of:
moving distance, moving speed and moving direction.
9. The apparatus according to claim 1, characterized in that a temperature sensor and/or a humidity sensor is arranged on the inspection vehicle;
the acquisition control unit is also used for acquiring the track environment information through the temperature sensor and/or the humidity sensor according to the acquisition instruction.
10. A be used for track inspection car which characterized in that includes:
a moving assembly cooperating with a rail, and a control device for rail inspection according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910462763.0A CN112009509A (en) | 2019-05-30 | 2019-05-30 | Control equipment for track inspection and inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910462763.0A CN112009509A (en) | 2019-05-30 | 2019-05-30 | Control equipment for track inspection and inspection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112009509A true CN112009509A (en) | 2020-12-01 |
Family
ID=73501852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910462763.0A Pending CN112009509A (en) | 2019-05-30 | 2019-05-30 | Control equipment for track inspection and inspection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112009509A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537453A (en) * | 2022-01-07 | 2022-05-27 | 深圳市慧友安电子技术有限公司 | Intelligent road inspection device system and inspection method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205589249U (en) * | 2016-03-23 | 2016-09-21 | 中国矿业大学 | Track inspection dolly |
| CN206330548U (en) * | 2016-12-27 | 2017-07-14 | 上海铁路局科学技术研究所 | A kind of high-speed railway platform dividing measures dolly |
| CN107380205A (en) * | 2017-08-11 | 2017-11-24 | 暨南大学 | Orbital data detects car and orbital data detection method |
| CN207758803U (en) * | 2017-12-25 | 2018-08-24 | 中铁第四勘察设计院集团有限公司 | A kind of track automatic measurement vehicle with sensor combinations |
| CN109281238A (en) * | 2018-09-26 | 2019-01-29 | 重庆恒悍机电设备有限公司 | A kind of track detector |
-
2019
- 2019-05-30 CN CN201910462763.0A patent/CN112009509A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205589249U (en) * | 2016-03-23 | 2016-09-21 | 中国矿业大学 | Track inspection dolly |
| CN206330548U (en) * | 2016-12-27 | 2017-07-14 | 上海铁路局科学技术研究所 | A kind of high-speed railway platform dividing measures dolly |
| CN107380205A (en) * | 2017-08-11 | 2017-11-24 | 暨南大学 | Orbital data detects car and orbital data detection method |
| CN207758803U (en) * | 2017-12-25 | 2018-08-24 | 中铁第四勘察设计院集团有限公司 | A kind of track automatic measurement vehicle with sensor combinations |
| CN109281238A (en) * | 2018-09-26 | 2019-01-29 | 重庆恒悍机电设备有限公司 | A kind of track detector |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537453A (en) * | 2022-01-07 | 2022-05-27 | 深圳市慧友安电子技术有限公司 | Intelligent road inspection device system and inspection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110488841B (en) | Transformer equipment combined inspection system based on intelligent robot and application method thereof | |
| CN105835063B (en) | Crusing robot system and its method for inspecting in a kind of substation room | |
| CN103115647B (en) | Monitoring system for rail transit bow net operating condition | |
| CN202167775U (en) | Remote data acquisition system for substation inspection robot based on mobile communication technology | |
| CN202145538U (en) | Tour-inspection system based on transformer station mobile tour-inspection apparatus | |
| CN202793389U (en) | On-line routing inspection device for high-speed rail overhead line system | |
| CN107491817A (en) | The method for inspecting and terminal device and robot of apparatus for production line and production status | |
| CN109387156B (en) | Track intrusion intelligent detector based on three-dimensional laser scanning equipment | |
| CN109094420B (en) | Control method of suspended maglev train based on Internet of Things | |
| CN111161262A (en) | Comprehensive train detection system | |
| CN107765695A (en) | Crusing robot and cruising inspection system | |
| CN112157642B (en) | A unmanned robot that patrols and examines for electricity distribution room | |
| CN112855266A (en) | Intelligent monitoring and autonomous cooperative follow machine device of coal mining machine and inspection platform system | |
| CN110909020A (en) | Vehicle-mounted contact net dynamic detection system | |
| CN115663999A (en) | Substation Online Intelligent Inspection System and Method Based on Big Data and Deep Learning | |
| CN207380496U (en) | A kind of Long-Distance Monitoring System About for being adapted for contact with net detection tool car | |
| CN112009509A (en) | Control equipment for track inspection and inspection vehicle | |
| CN206510784U (en) | A kind of detection means of electric locomotive automatic passing neutral section system | |
| CN115792541A (en) | An intelligent inspection system and method for substation GIS partial discharge detection | |
| CN205352465U (en) | Contact net state on -line monitoring detection device based on public network transmission | |
| CN207649660U (en) | A kind of Long-Distance Monitoring System About being adapted for contact with net detection tool car | |
| CN106017576B (en) | Contact net dynamic detection system | |
| CN114582039A (en) | An intelligent inspection system, method, electronic device and storage medium | |
| CN201828339U (en) | Infrared temperature monitoring system for electric railway contact net | |
| CN112857230B (en) | System and method for measuring distance between induction plates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Jingdong Technology Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant before: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, 100176 Applicant before: BEIJING HAIYI TONGZHAN INFORMATION TECHNOLOGY Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201201 |