• 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:
    The present invention discloses an urban rail transit automatic inspection system which includes: a support frame, a temperature detecting device, a track detecting device, a location marking device, a tunnel deformation detecting device, a positioning device, a foreign object cleaning device, and a control device. The urban rail transit automatic inspection system provided by the present invention overcomes the drawbacks of the single detection method by measuring various parameters including the temperatures of facilities and cables in the tunnel, the tunnel deformation, and the track defect, etc. Moreover, the urban rail transit automatic inspection system is able to automatically recognize and clean the foreign objects in the tunnel, which greatly saves manpower and effectively improves the accuracy and efficiency of the track inspection.
    公开号:NL2023493A
    申请号:NL2023493
    申请日:2019-07-12
    公开日:2020-02-11
    发明作者:Che Honglei；Shi Congling；Shi Jiehong；Qin Tingxin；Lv Jingmin；Xu Xuan；Wu Binbin；Zhang Yabin；Zhao Chen；Zhang Lufa；Zhang Xingkai
    申请人:China Academy Safety Science & Technology；
    IPC主号:
    专利说明:

    URBAN RAIL TRANSIT AUTOMATIC INSPECTION SYSTEM
    Technical Field
    The present invention relates to the field of track detection in urban rail transit, in particular to an urban rail transit automatic inspection system.
    Background
    Since China's economy has been steadily developing year after year with the increase of urbanization level, urban rail transit lines have been launched in an increasing number of cities. As a result, various related problems come along, such as track detection, maintenance, and so on in the blocks of the urban rail transit with dense distribution and massive size. Nowadays, relevant inspection equipment has been used for the detection of track blocks of urban rail transit, but is usually used in combination of manual inspection and inspection equipment. Such an inspection method not only consumes a huge amount of manpower and material but also is susceptible to the conditions of the surroundings and the operator and other factors, and therefore can cause problems such as much inspection blind spots of the equipment, misinformation, failure to report information, missing out some spots by the operator, and safety risks, etc. Moreover, the above detection method can only measure one certain parameter related to the urban rail transit. For example, tunnel deformation and track defect, etc.
    Summary
    The objective of the present invention is to provide an urban rail transit automatic inspection system, which can improve the accuracy and efficiency of the track inspection.
    In order to achieve the above objective, the present invention provides the following solutions.
    An urban rail transit automatic inspection system includes:
    a support frame, located on an urban rail track, for supporting related devices and equipment of the urban rail transit automatic inspection system;
    a temperature detecting device, provided at the front end of the support frame and electrically connected to a control device, wherein the temperature detecting device includes a dual-vision infrared thermal imager which obtains infrared thermal images of all spots in the tunnel in real time for detecting temperatures of facilities and cables on the cable rack in the tunnel;
    a track detecting device, provided on two sides below the support frame and connected to the control device, wherein the track detecting device includes an ultrasonic sensor for transmitting and receiving ultrasonic waves to verify the presence of defects inside the track according to the reflection of the transmitted ultrasonic waves and the change in energy during the penetration time resulting from the acoustic performance difference between the track and its defects;
    a location marking device, connected to the track detecting device, for marking a location of defect when the track detecting device finds the defect in the track; wherein the position marking device includes a paint storage tank, paint spray tubes, and a gas storage tank; the paint storage tank is used to store the paint for marking the location; the paint spray tubes are located at two sides below the support frame, one paint spray tube on each side for spraying paint on the location to be marked; and the gas storage tank is located at the rear part of the support frame to provide pressure to a spray nozzle when the location is to be marked;
    a tunnel deformation detecting device, provided directly in front of the support frame and connected to the control device, wherein the tunnel deformation detecting device includes a three-dimensional laser radar for scanning the tunnel to establish a three-dimensional model and determining a tunnel deformation according to the three-dimensional model;
    a positioning device, provided at two sides on the support frame, wherein the positioning device includes positioning cameras that are respectively provided at two sides of the support frame and connected to the control device for automatically recognizing one-hundred-meter marks on the tunnel wall for positioning;
    a foreign object cleaning device, provided at a middle position of the support frame; wherein the foreign object cleaning device includes a mechanical arm, a gripper, and a dual vision camera; the mechanical arm is located on the support frame and connected to the control device, and the mechanical arm has 6 degrees of freedom; the gripper is mounted on a distal joint flange of the mechanical arm by screws for grabbing foreign objects falling into a moving area of the track; the dual vision camera is located at a distal end of the mechanical arm and connected to the control device for recognizing the foreign objects during the inspection process and positioning when grabbing the foreign objects; and a control device, connected to the temperature detecting device, for receiving temperature information of facilities and cables on the cable rack in the tunnel; wherein the control device is connected to the track detecting device and used to control the location marking device to mark the location of defect according to a result of a track defect detection; the control device is connected to the tunnel deformation detecting device for determining a degree of tunnel deformation according to the three-dimensional model; the control device is connected to the positioning device for receiving positioning information; and the control device is connected to the foreign object cleaning device for controlling a cleaning of the foreign objects.
    Optionally, the urban rail transit automatic inspection system further includes a driving device. The driving device is located at a rear side of the support frame, and the driving device includes a large belt pulley, a timing belt, a small belt pulley, a DC servo motor, and a speed reducer.
    An output end of the DC servo motor is connected to an input end of the speed reducer;
    an output shaft of the speed reducer is connected to the small belt pulley;
    the large belt pulley is connected to the small belt pulley; and the timing belt is mounted between the large belt pulley and the small belt pulley.
    Optionally, the urban rail transit automatic inspection system further includes a lighting device connected to the control device.
    According to the specific embodiment provided by the present invention, the following technical effects are disclosed. The urban rail transit automatic inspection system provided by the present invention overcomes the drawbacks of the single detection method by measuring various parameters including the temperatures of facilities and cables in the tunnel, the tunnel deformation, and the track defect, etc. Moreover, the urban rail transit automatic inspection system is able to automatically recognize and clean the foreign objects in the tunnel, which greatly saves manpower and effectively improves the accuracy and efficiency of the track inspection.
    Brief Description of the Drawings
    In order to clarify the embodiments of the present invention or the technical solutions in the prior art, the drawings involving in the embodiments will be briefly described below. It is obvious that the drawings in the following description are merely some embodiments of the present invention, and other drawings may be derived by those of ordinary skill in the art based on these drawings without any creative effort.
    FIG. 1 is a front view of an urban rail transit automatic inspection system according to an embodiment of the present invention;
    FIG. 2 is a schematic diagram showing the rear part of an urban rail transit automatic inspection system according to an embodiment of the present invention; and
    FIG. 3 is a schematic diagram showing the application of an urban rail transit automatic inspection system according to an embodiment of the present invention.
    Detailed Description of the Embodiments
    The technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are merely a part of the embodiments of the present invention rather than all. All other embodiments derived by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts should be considered as falling within the scope of the present invention.
    In order to ensure that the above-described objectives, features, and advantages of the present invention can be readily understood, the present invention will be described in further detail in a combination of the drawings and specific embodiments.
    FIG. 1 is a front view of an urban rail transit automatic inspection system according to an embodiment of the present invention; FIG. 2 is a schematic diagram showing the rear part of an urban rail transit automatic inspection system according to an embodiment of the present invention; and FIG. 3 is a schematic diagram showing the application of an urban rail transit automatic inspection system according to an embodiment of the present invention.
    As shown in FIGs. 1-3, an urban rail transit automatic inspection system, which is installed on the urban rail track, includes:
    the support frame 101, located on an urban rail track; the support frame 101 is used to support related devices of the urban rail transit automatic inspection system and is constructed as a frame structure by connecting steel tubes and metal plates through welding;
    a temperature detecting device, provided at the front end of the support frame 101 for detecting temperatures of the facilities and cables on the cable rack in the tunnel; the temperature detecting device includes the dual-vision infrared thermal imager 108 which is provided on the front end of the support frame 101 and electrically connected to the power supply device 103; the dual-vision infrared thermal imager 108 can obtain the infrared thermal images of all spots in the tunnel in real time and perform process monitoring and advance warning for the facilities and cables 124 on the cable rack 123 in the tunnel according the infrared thermal images and the related temperature measurement data;
    a track detecting device, provided on two sides below the support frame for track defect detection; the track detecting device includes two sets of ultrasonic sensors 116 which are respectively provided at the left and right sides under the middle part of the support frame 101; the ultrasonic sensors 116 transmit and receive ultrasonic waves to verify the presence of defects in the track 122 according to the reflection of the transmitted ultrasonic wave and the change in energy during the penetration time resulting from the acoustic performance difference between the track 122 and its defects; when severe defect of the track 122 is detected, the location marking device will work to quickly mark the defect location on the track 122 by painting, so as to remind the staff member to identify and solve hidden troubles at the marked location;
    a location marking device, connected to the track detecting device, for marking a location of defect when the track detecting device finds the defect in the track; the position marking device includes the paint spray tubes 105, the gas storage tank 114, and the paint storage tank 115; the paint storage tank 115 is located at the left rear side of the support frame 101 and used to store the paint for marking the location; the paint spray tubes 105 are located at the left and right sides below the support frame 101 for spraying paint on the location to be marked; and the gas storage tank 114 is located at the rear part of the support frame 101 to provide pressure for spraying the paint when the location is to be marked; when the track detecting device finds out a hidden trouble at a certain location of the track, the position of the hidden trouble of the track can be quickly marked, so that the staff member can eliminate the hidden trouble easily;
    a tunnel deformation detecting device, provided directly in front of the support frame for scanning the tunnel to establish a three-dimensional model and determining a tunnel deformation according to the three-dimensional model; the tunnel deformation detecting device includes a three-dimensional laser radar 104 located directly in front of the support frame 101; the three-dimensional laser radar 104 can automatically create three-dimensional orthoimages and establish the threedimensional model of the tunnel by algorithm;
    a positioning device, provided at two sides on the support frame; the positioning device includes two positioning cameras 107 that are respectively provided at the left and right sides of the support frame 101 for automatically recognizing one-hundred7 meter marks on the tunnel wall and sending a location signal to the automatic inspection system for positioning the automatic inspection system;
    a foreign object cleaning device, provided at a middle position of the support frame; the foreign object cleaning device includes the mechanical arm 109, the gripper 110, and the dual vision camera 111; the mechanical arm 109 is mounted on the support frame 101 has 6 degrees of freedom; the gripper is mounted on a distal joint flange of the mechanical arm 109 by screws for grabbing foreign objects falling into a moving area of the track; the dual vision camera 111 is located at a distal end of the mechanical arm for recognizing the foreign objects during the inspection process and positioning when grabbing the foreign objects; during the automatic inspection process, the dual vision camera 111 automatically identifies the foreign objects in the moving area of the track, and once the foreign objects are found, the gripper 110 picks up the foreign objects and puts the foreign objects into the foreign object basket 126; the foreign object basket 126 can be easily taken out from the automatic inspection system, so that the worker can handle the collected debris after the inspection;
    a control device, connected to the temperature detecting device, for receiving temperature information of facilities and cables on the cable rack; the control device is connected to the track detecting device and used to control the location marking device to mark the location of defect according to a result of a track defect detection; the control device is connected to the tunnel deformation detecting device for determining a degree of tunnel deformation according to the three-dimensional model; the control device is connected to the positioning device for receiving the positioning information; and the control device is connected to the foreign object cleaning device for controlling a cleaning of the foreign objects; the control device 107 is located at the rear part of the support frame 101 and can receive mediumdistance and long-distance wireless signals for the remote control of the automatic inspection system by workers.
    The urban rail transit automatic inspection system further includes a driving device, and the driving device includes the large belt pulley 113, the timing belt 112, the small belt pulley 118, the DC servo motor 120, and the speed reducer 119. The output end of the DC servo motor 120 is connected to the input end of the speed reducer 119 by screws, and the output shaft of the speed reducer 119 is connected to the small belt pulley 118 through a power lock. The large belt pulley 113 is connected to the transmission shaft of the track wheel 102 on the rear side of the support frame 101 by a key joint. The timing belt 112 is mounted between the large belt pulley 113 and the small belt pulley 118. The servo motor 120 supplies power, and the power is transmitted to the track wheel 102 on the rear side of the support frame 101 through the speed reducer 119, the small belt pulley 118, the timing belt 112, and the large belt pulley 113 to drive the automatic inspection system to move back and forth.
    The urban rail transit automatic inspection system further includes a moving mechanism, and the moving mechanism includes two sets of track wheels 102. The two sets of track wheels 102 are respectively provided on the front and rear sides of the support frame 101.
    The urban rail transit automatic inspection system further includes the power supply device 103, and the power supply device 103 includes a battery and an inverter for supplying power to other devices of the automatic inspection system.
    The urban rail transit automatic inspection system further includes a lighting device, and the lighting device includes two single-row LED strip lights 106 which are respectively disposed on the left and right sides of the front part of the support frame 101 and are electrically connected to the power supply device 103. The lighting device is powered by the power supply device 103 to provide illumination for the automatic inspection system during the inspection process.
    The automatic inspection system is externally provided with the casing 125 to be free of impacts of the surroundings of the subway system and ensure the normal operation and detection accuracy of the relevant detection devices.
    The present invention can automatically inspect urban rail transit and measure a variety of parameters including temperatures of facilities and cables in the tunnel, tunnel deformation, and track defect etc. Also, the present invention can clean foreign objects in the tunnel. Compared with the conventional manual measurement, the accuracy and efficiency of the inspection can be greatly improved, the manpower requirement can be effectively reduced, and the hidden troubles can be quickly eliminated.
    The embodiments in this specification are described in a progressive manner, and the description of each embodiment focuses on the differences from other embodiments. The similar parts of the embodiments may be referred to one another.
    The principles and embodiments of the present invention have been described in detail herein by case. The description of the above embodiments is only for the purpose to facilitate the comprehension of the method of the present invention and its core idea. Also, for those of ordinary skill in the art, based on the idea of the present 10 invention, changes may be made in the specific embodiments and application range.
    In summary, the content of the present specification should not be construed as limiting the present invention.
    权利要求:
    Claims (3)
    [1]
    Conclusions
    An urban rail transport automatic inspection system, characterized in that it comprises a support frame, a temperature detecting device, a track detecting device, a location marking device, a tunnel deformation detecting device, a locating device, a foreign object clearing device, and comprises a control device; wherein the support frame is located on an urban rail for supporting support-related devices and equipment of the urban rail transport automatic inspection system;
    the temperature detecting device is provided at a front end of the support frame and is electrically connected to an operating device, the temperature detecting device comprising a dual-vision infrared thermal imaging camera, the dual-vision infrared thermal imaging camera live infrared thermal images from all places in a tunnel obtains for detecting temperatures of facilities and cables on a cable rack in the tunnel;
    the track detecting device is provided on two sides below the support frame and is connected to the operating device, the track detecting device comprising an ultrasonic sensor for transmitting and receiving ultrasonic waves to verify the presence of defects in the track based on of the reflection of the transmitted ultrasonic waves and a change in energy during the penetration time resulting from an acoustic performance difference between the track and the defects;
    the location marking device is connected to the track detecting device for marking a location of a defect when the track detecting device finds a defect; wherein the location marking device comprises a paint storage tank, paint spray tubes, and a gas storage tank; the paint storage tank is used to store paint for marking the location; the paint spray tubes are located on two sides below the support frame, one paint spray tube on each side for spraying paint at the location to be marked; and the gas storage tank is located on a rear part of the support frame to provide pressure to a nozzle when the location is to be marked;
    the tunnel deformation detecting device is provided immediately in front of the support frame and is connected to the operating device, the tunnel deformation detecting device comprising a three-dimensional laser radar for scanning the tunnel to establish a three-dimensional model and determining a tunnel deformation according to the three-dimensional model;
    the locating device is provided on two sides of the support frame, wherein the locating device comprises locating cameras, the locating cameras are respectively provided on two sides of the supporting frame and are connected to the operating device for automatically recognizing hundred-meter markings on a tunnel wall for locating;
    the foreign object cleaning device is provided in a middle position of the support frame; wherein the foreign object cleaning device comprises a mechanical arm, gripping device, and a dual vision camera; the mechanical arm is located on the support frame and connected to the operating device, and the mechanical arm has 6 degrees freedom; the gripping device is mounted on a distal connecting flange of the mechanical arm by means of screws for gripping foreign objects falling into a moving region of the track; the dual vision camera is located on a distal end of the mechanical arm and connected to the operating device for recognizing foreign objects during an inspection process and determining the location during gripping of the foreign objects; and the operating device is connected to the temperature detecting device for receiving temperature information from the facilities and cables on the cable rack in the tunnel; wherein the operating device is connected to the track detecting device and is used to operate the location marking device to mark the location of a defect based on a result of a track defect detection; the operating device is connected to the tunnel deformation detecting device for determining the degree of tunnel deformation according to the three-dimensional model; the operating device is connected to the locating device for receiving locating information; and the operating device is connected to the foreign object cleaning device for operating the cleaning of the foreign objects.
    [2]
    The urban rail transport automatic inspection system according to claim 1, characterized in that, the urban rail transport automatic inspection system further comprises a drive device; wherein the drive device is located on a rear side of the support frame, and the drive device is a large pulley, a
    5 includes a timing belt, a small pulley, a DC servo motor, and a speed limiter;
    an output end of the DC servomotor is connected to an input end of the speed limiter;
    an output shaft of the speed limiter is connected to the small pulley;
    the large pulley is connected to the small pulley; and
    10 the timing belt is mounted between the large belt pulley and the small belt pulley.
    [3]
    The urban rail transport automatic inspection system according to claim 1, characterized in that, the urban rail transport automatic inspection system further comprises a lighting device, and the lighting device is connected to the
    15 operating device.
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    同族专利:
    公开号 | 公开日
    NL2023493B1|2020-08-18|
    CN208868062U|2019-05-17|
    引用文献:
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    DE4238034C1|1992-11-11|1994-03-31|Michael Dipl Ing Sartori|Method and device for inspecting, contactless scanning of the immediate vicinity of a track with regard to certain measurement criteria|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CN201821162619.2U|CN208868062U|2018-07-23|2018-07-23|A kind of urban track traffic automatic tour inspection system|
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