• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Unmanned railway vehicle, system and procedure for the inspection of infrastructure and railway superstructure. Unmanned railway vehicle (1) for the inspection of superstructure and railway infrastructure comprising a chassis formed by at least one pair of wheels (3) connected to a central body (5), where said wheels (3) are adapted to roll over each of the two rails (9) comprising the railway superstructure, and wherein said central body (5) is sized to be housed inside the box of the track of the railway superstructure; an inspection module comprising sensors adapted to perform the inspection of the superstructure and the railway infrastructure; a processing unit adapted to inspect the superstructure and infrastructure from the information provided by the inspection module, and a drive unit adapted to allow vehicle mobility (1). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2691145A1
    申请号:ES201730720
    申请日:2017-05-23
    公开日:2018-11-23
    发明作者:David Martín Gómez；Daniel CRUZADO HERNANDO；Jesús URDIALES DE LA PARRA；Fernando GARCÍA FERNÁNDEZ；José María ARMINGOL MORENO；Arturo DE LA ESCALERA HUESO；Ismael SÁNCHEZ PANIAGUA；Gorka ARTETA HERNÁNDEZ；Aurelio PONZ VILA
    申请人:Universidad Carlos III de Madrid；Tecsa Empresa Constructora SA；
    IPC主号:
    专利说明:

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    autonomous or remote control and carry out on them and on the rest of the elements of the superstructure and infrastructure inspection work.
    According to a preferred embodiment, the driving unit comprises actuators responsible for the mobility of the vehicle, where the processing unit is adapted to order the advance or recoil of the vehicle on the road and also the withdrawal of the vehicle from its position on the rails to its folding position in the space available between both rails and vertically between the upper surface of the crossbar and the obstacle clearance of low parts between wheels parallel to the rolling plane, thus respecting the obstacle implantation gauge established to allow the passage of a train on the rails of the railway structure that is being inspected, and where said folding comprises the retraction of the axles, the descent of the vehicle, and the firm and secure fixation of the vehicle in that folded position. In addition, the processing unit is adapted to order the deployment of the vehicle to place it again on the rails from the folded position, where said deployment comprises the extension of the axles of the vehicle and the ascent of the vehicle by the actuators.
    In this way, the vehicle is adapted to fold back and be placed in the Available Folding Space, on the crossbar and below the lower limit of the obstacle implantation gauge of low parts between rails, thus releasing the gauge of low parts of the train between wheels, and therefore allowing its circulation safely and in accordance with current regulations. Withdrawal reduces the wingspan of the vehicle, by retracting its axles, to allow the vehicle to be located between the lanes of the road. During the withdrawal, the vehicle descends to position itself between the rails in the Available Folding Space and allow the trains to pass, being firmly tied in this position.
    Similarly, the vehicle is adapted to deploy and reposition itself on the rails once the train has passed. The deployment increases the size of the vehicle, by extending its axles. Thus, the vehicle once again places its wheels on the head of the rails of the road under inspection.
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    Postprocessing related to maintenance.
    The communication unit is adapted to connect to a communications network, which can be a mobile telephone network or other type of network, and allow the reception and transmission of information to a base station. The vehicle is designed to operate autonomously during the inspection of the railway superstructure and infrastructure. However, it can be remotely teleoperated from a base station or from an operation point, from which the vehicle can be tracked. In addition, the vehicle can constantly send interesting data and images to said base station.
    The power unit is capable of storing and providing power to the vehicle, and is sized to provide maximum autonomy while maintaining the parameters defined for the vehicle in terms of limited dimensions and reduced weight.
    Preferably, the inspection module comprises a scanning laser sensor to allow both the inspection of the superstructure and the railway infrastructure as well as to allow the positioning of the vehicle relative to references or fixed elements in the space through the emission and reception of light To be. Likewise, this last positioning function by means of a laser scanning sensor can be used independently or it can be used in conjunction with the location module in order to increase the accuracy or support the vehicle location function by means of laser sensor measurements of sweeping These laser measurements also facilitate the precise location (positioning) of the unmanned vehicle in areas denied to GNSS systems, such as: tunnels, trenches or forested areas.
    According to another preferred embodiment, the processing unit is adapted to perform the matching of instantaneous measurements provided by the scanning laser with future measurements obtained by the scanning laser to estimate - in addition to the location - the forward speed of the vehicle.
    Preferably, the inspection module also comprises at least one camera, preferably CCD (Charged Coupled Device) monocular, which allows a
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    access to the road and travel on it. Its cost is very low, incomparably lower than that of the large auscultating trains and the fixed point instrumentation used today, avoiding its drawbacks in terms of unit limitation and incompatibility with maintenance and circulation work. Therefore, the invention offers a direct application solution, which is an invaluable tool for the acquisition and management of track information, and therefore to facilitate the implementation of preventive and predictive strategies, which means advancing in the optimization of railway maintenance. .
    In a third aspect, the invention relates to a railway superstructure and infrastructure inspection procedure, which comprises the steps of manually placing an unmanned rail vehicle on the rails of a railway track, where said vehicle at least comprises a pair of wheels. connected to a central body through axles, where said wheels are adapted to roll on the rails, and where said vehicle also comprises a drive unit adapted to allow the mobility of the vehicle and sensors adapted to perform the inspection of the superstructure and the railway infrastructure; and inspect the superstructure and railway infrastructure using the vehicle sensors.
    According to a preferred embodiment, the method may further comprise the steps of receiving, the vehicle, a withdrawal order to allow trains to pass, and a deployment order to place the vehicle on the rails. The receipt of the withdrawal order activates the following actions: deploy mooring shoes sized to fit the core, and / or between the head and the rails of the rails, retract the axles, and lower the vehicle to accommodate it in space available between rails, limited horizontally by the obstacle implantation gauge between wheels and vertically comprised between the upper surface of the crossbar and the obstacle implantation gauge of low parts between wheels parallel to the rolling plane. The receipt of the deployment order activates the following actions: lift the vehicle to place it again on the rails, extend the axles until the wheels are placed on the rails, and fold the mooring shoes.
    The procedure may also include moving forward / backward by the vehicle
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    Figure 5d shows the descent of the vehicle to be in the Available Folding Space, and fixed to the souls of the rails of the track to allow the passage of the train. Preferred Embodiment of the Invention
    Figures 1-4 show two embodiments of the ultralight unmanned railway vehicle (1) for the inspection of railway superstructure and infrastructure proposed by the present invention. In both embodiments, the vehicle (1) comprises a chassis that houses an inspection module, a processing unit, and a driving unit capable of generating displacement movements (forward and reverse) and retraction (retraction and deployment).
    The chassis is formed by at least one pair of wheels (3) connected by axles (4) to a central body (5) of small size and reduced height to be able to stay in the Available Folding Space, leaving free the required gauge so that trains and moving material circulate. The wheels (3) are adapted to roll on each of the two rails (9) that make up the railway.
    The inspection module comprises a scanning laser sensor (6) capable of allowing the inspection of the vehicle environment (1) by the emission and reception of the laser light, as well as a camera and an inertial sensor. As can be seen in Figures 1 to 4, the scanning laser sensor (6) is preferably arranged on the central body (5). The inertial sensor is preferably arranged inside the central body (5)
    The processing unit is adapted to inspect the environment of the vehicle (1) from the information supplied by the inspection module, and is arranged inside the central body (5).
    The drive unit is provided with at least one motor (7) -visible in the embodiment shown in Figures 3 and 4 -placed to the wheels (3) of the vehicle (1) to transmit power to them and allow their rolling on the rails (9) of the railway, without the need for reducers. The energy coming from the power unit, arranged inside the central body (5), enters the motor directly. In figures 1 and 2, the motor (7) is coupled to the wheels (3) by means of the axles (4), which allow the rolling of the
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    One of the fundamental properties of the vehicle (1) consists in its compatibility with railway traffic. For this, the vehicle (1) comprises actuators (10) adapted to allow the withdrawal of said vehicle (1), the control of their performance being performed by the processing unit.
    This withdrawal is carried out in the following phases:
    1-Withdrawal order. It is received by the base station or is generated by the vehicle's processing unit when determining the passage of a train. In case of receiving the withdrawal order from the base station, the vehicle confirms the reception of the signal. Figure 5a shows the vehicle (1) in a situation of inspection and fault detection, in which its wheels (3) are located on the rails (9) of the railway track under inspection.
    2-Mooring maneuver. The processing unit orders the drive unit to deploy the mooring shoes (8) while the vehicle (1) maintains the position of the wheels (3) on the rails (9). The mooring shoes (8) fit in the soul zone (9b) of both rails (9). Once the mooring maneuver is finished, the internal sensors verify the correct mooring - so that the check is unequivocal and completely safe - and emit the end of mooring maneuver signal. Figure 5b shows the vehicle (1) with the mooring shoes (8) deployed by the actuators (10) and fixed to the rails.
    3-Locking position lock. Once the actuators (10) have deployed the mooring shoes (8) and these have been fitted to the core (9b) of the rails (9), an actuator control unit verifies that the lock is correct and emits the end of blocking signal, which implies confirmation that the vehicle (1) is moored in the correct position centered between the rails (9). Once the next maneuver is started - the withdrawal - the weight of the vehicle (1) will be transmitted to the rails (9) through the mooring shoes (8).
    4-Withdrawal maneuver. The actuator control unit starts retracting the axles (4), moving the wheels (3) away from the rail (9) in the direction of the track axis. The weight of the vehicle (1) is then transmitted from the upper surface of the rails -through the wheels (3) -, to the core (9b) of the lane (9) -through the mooring shoes (8 ) -.
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    权利要求:
    Claims (1)
    [1]
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2525543A1|1982-04-26|1983-10-28|Coat Jean|Platform for working between railway lines - is carried by springs and rollers which press on inner parts of rails|
    RU94012006A|1994-04-06|1996-05-10|В.И. Воробьев|Device for determining spatial position of rails|
    CN201457412U|2009-09-07|2010-05-12|西安市康铖机械制造有限公司|Device capable of quickly retracting and extending measuring wheels or guide wheel of rail examination instrument|
    KR20130053979A|2011-11-16|2013-05-24|재단법인대구경북과학기술원|Inspection robot for tracks status|
    JP2014181449A|2013-03-18|2014-09-29|Kotsu Kensetsu:Kk|Rail stretcher and inter-rail extension method|
    CN203228781U|2013-04-23|2013-10-09|四川澄观电子技术有限公司|Track detection trolley not affecting train passing|
    US20160002865A1|2014-07-07|2016-01-07|Rail Pod Incorporated|Automated track inspection system|
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    CN204674585U|2015-06-01|2015-09-30|北京新联铁科技股份有限公司|State observation device at the bottom of rail vehicle|
    CN105313908A|2015-11-30|2016-02-10|中铁电气化勘测设计研究院有限公司|Scanning device for facilities beside railway track|
    CN105644572A|2016-03-01|2016-06-08|绵阳市铁人电气设备有限责任公司|Self-walking intelligent tour inspection equipment for overhead line system|CN109898379A|2019-01-29|2019-06-18|北京讯腾智慧科技股份有限公司|Track detecting and maintenance system and method|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201730720A|ES2691145B2|2017-05-23|2017-05-23|Unmanned railway vehicle, system and procedure for the inspection of railway infrastructure and superstructure.|ES201730720A| ES2691145B2|2017-05-23|2017-05-23|Unmanned railway vehicle, system and procedure for the inspection of railway infrastructure and superstructure.|
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