CN106143530B - Routing inspection trolley for suspension type monorail traffic system box track girder - Google Patents
Routing inspection trolley for suspension type monorail traffic system box track girder Download PDFInfo
- Publication number
- CN106143530B CN106143530B CN201610439815.9A CN201610439815A CN106143530B CN 106143530 B CN106143530 B CN 106143530B CN 201610439815 A CN201610439815 A CN 201610439815A CN 106143530 B CN106143530 B CN 106143530B
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- China
- Prior art keywords
- car body
- unit
- track girder
- suspension type
- routing inspection
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Classifications
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- 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
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
For the routing inspection trolley of suspension type monorail traffic system box track girder, it is related to traffic technique and computer technology.The present invention includes car body and vision-based detection part, and vision-based detection is partly installed in car body；The car body includes that chassis, vehicle shell, driving unit and vehicular control unit, driving unit are connected with vehicular control unit, and seat is provided in car body, wireless communication unit is additionally provided in car body；The vision-based detection part includes that light source module, detector lens, three shaft detection camera lens mobile platforms and data processing storage unit, data processing unit are connect with wireless communication unit；Be additionally provided with traffic safety unit on the car body, the traffic safety unit include be respectively arranged at car body front and back laser scanning obstacle sensor and work moving car alarm flashing light, laser scanning obstacle sensor connect with vehicular control unit.The present invention carries vision system using inspection device and replaces manual inspection, it not only solves since the housing interior volume of box track girder is narrow, rather dark, bottom opening is narrow so that the larger problem of manual inspection difficulty, moreover it is possible to significantly improve routing inspection efficiency and reliability.
Description
Technical field
The present invention relates to traffic techniques and computer technology.
Background technology
The track girder of suspension type monorail traffic system generally uses simply supported steel box girder structure (see Fig. 7), track beam section complete
Portion uses the box section of bottom opening, the lower flange of box beam to also serve as track, and vehicle hanging is in bridge (track girder) in the following, wheel
It is supported in the steel case of opening；Electric power, communication system are mounted on inside steel case.
Primary structure of the box track girder as suspension type monorail traffic system, suspension type monorail traffic need after opening operation
Periodic maintenance and detection are carried out to it.Show the case of current suspension type monorail traffic system according to overseas investigation and related data
Type track girder is mainly detected by manual inspection mode, and the housing interior volume of box track girder is narrow, rather dark,
Bottom opening is narrow so that manual inspection difficulty is larger.Meanwhile to being detected inside box track girder, internal disease point
Specific mileage position be difficult to confirm.For the detection of box track girder inner surface cracks, rust detection, checking of clearance and running face
If flatness detection is difficult only to meet to suspension type monorail traffic system box track girder operation by manually visually observing
The detection of safety and reliability.
Invention content
The technical problem to be solved by the invention is to provide one kind big, reliabilities that can solve manual inspection box beam difficulty
Low problem realizes the routing inspection trolley of manned maintenance and the maintenance for carrying out box beam.
The present invention solve the technical problem the technical solution adopted is that, be used for suspension type monorail traffic system box track
The routing inspection trolley of beam, which is characterized in that including car body and vision-based detection part, vision-based detection is partly installed in car body；
The car body includes chassis, vehicle shell, driving unit and vehicular control unit, and driving unit and vehicular control unit connect
It connects, seat is provided in car body, wireless communication unit is additionally provided in car body；
The vision-based detection part includes light source module, detector lens, three shaft detection camera lens mobile platforms and data processing
Storage unit, data processing storage unit are connect with wireless communication unit；
Traffic safety unit is additionally provided on the car body, the traffic safety unit includes being respectively arranged in front of car body
With the laser scanning obstacle sensor and work moving car alarm flashing light, laser scanning obstacle sensor and thermoacoustic prime engine list at rear
Member connection.
Bodywork's direction and position computing subsystem is additionally provided on the car body, the bodywork's direction and position computing subsystem includes car body side
Bit processing unit and the radio-frequency card reading unit being attached thereto；
The radio-frequency card reading unit is used to read the radio-frequency card for being set to box track girder,
The bodywork's direction and position processing unit be used for according to the whole story twice Card Reader time and 2 radio-frequency cards of the whole story for prestoring away from
From and speed calculate current vehicle body position；
The driving unit includes driving wheel, driven wheel, directive wheel, and the directive wheel is set to the left and right sides of car body,
At least the directive wheel of side is connect by spring with car body.
The wireless communication unit includes wifi module.
The driving unit include servo motor, it is double go out speed reducer, clutch and driving wheel, servo motor connection is double to be gone out to subtract
Fast machine, then driving wheel is driven by output axis connection clutch.
The vehicular control unit includes long-range march control module, and long-range march control module connects with wireless communication unit
It connects, long-range march control module is also connect with vehicular control unit.
Traffic safety unit further includes spacing detection module outside car body.Spacing detection module is set to outside the car body
At directive wheel, by measuring at a distance from the directive wheel axle center to car body that track girder inner wall contacts to detect in car body to track girder
The distance of wall.
The present invention compared with prior art, has the following advantages that：
1, the present invention carries vision system using inspection device and replaces manual inspection, not only solves due to box track girder
Housing interior volume it is narrow, rather dark, bottom opening is narrow so that the larger problem of manual inspection difficulty, moreover it is possible to significantly
Improve routing inspection efficiency and reliability.
2, the road location computing subsystem in the present invention can be accurately positioned the bead crack detected, corrosion point and send
To distal center controller, repair and maintenance personnel can carry this equipment and quickly reach fault point completion repair.
3, the present invention carries out equipment travel guidance using the directive wheel of compressible rebound, adapts to box beam and the evil deformed occurs
Bad operating mode and vision-based detection effect is not influenced, guide wheel assemblies configuration tangent displacement sensor can effectively detect box beam circle
Limit size.
4, the present invention can realize the timely transmission of inspection device information by the way that wireless communication networks are arranged, and effectively overcome existing
Some cruising inspection systems can not upload the drawbacks of data could upload inspection data after the completion of inspection operation during inspection,
Convenient working personnel take timely measure.
5, the present invention fully considers that device security, any unexpected situation can be detected by central controller, equipment itself
Break down, equipment stops at abort situation by equipment braking system locking, until rescue personnel releases clutch manually can
It is towed to home by rescue tractor.
Description of the drawings：
Fig. 1 is the outside drawing of the present invention；
Fig. 2 is the structural front view of the present invention；
Fig. 3 is the structure top view of the present invention；
Fig. 4 is the structure left view of the present invention；
Fig. 5 is the body frame structure for automotive figure of the present invention；
Fig. 6 is the control structure block diagram of the present invention；
Fig. 7 is the sectional schematic diagram of box track girder；
Label declaration：The chassis 1-, 13- mechanical disc brakes, 18- trailing wheels, 29- front-wheel mounting brackets, 36- rear wheel driving axles, 44- axis
Hold case, 48- it is bis- go out speed reducer, 52- driving motors, 53- clutch thrust springs, 61- bearing sealed rings, 62- clutches, 77-
Front-wheel, the manual shift forks of 78-, 80- vehicle power supplies, 85- accelerator pedals, 86- brake pedals, the compressible directive wheels of 90-, 93- are fixed
Directive wheel, 98- compressed springs, 101- tangent displacement sensors, 104- inverters, 105- battery isolation covers, the integrated controls of 111-
Case processed, tri- axis mounting brackets of 119-, 122- seats, 124- laser safeties scan obstacle sensor, and tri- shaft detection camera lenses of 126- move
Moving platform, 128- detector lens, 130- light source modules, 134- vehicular touch screens, 135- inspection device sliding doors, 136 inspection cars
Front casing, 137- inspection car rear casings, 138- vision system protective covers, 143- scram buttons, 144- condition prompting lamps, 145- show
Warning lamp, 146- parking pull rods, the tool boxes 147-, 149- frequency read/writes
Specific implementation mode：
As shown in Fig. 1,2,3,4,5,6, box beam routing inspection trolley of the invention includes box beam routing inspection trolley ontology and long-range control
System processed..
The tele-control system includes straighforward operation handle, control centre's operation console and picture control platform.
The routing inspection trolley ontology includes chassis 1, vehicle shell, driving device, integrated control case 111, bodywork's direction and position meter
Operator Systems, security system, vision detection system, vehicle control syetem and wireless remote control and data transmission system.
The chassis includes that aluminium alloy is integrally formed bottom plate 1, seat 122；
Seat 122 is installed on the middle and back on bottom plate, and seat design front and back can be adjusted and can be folded in maintenance activity.
The driving device includes the trailing wheel 18 as driving wheel, and trailing wheel is driving wheel, by servo motor 52 connect it is double go out
Speed reducer 48, then clutch 62 is connected by output shaft 60 and is driven, rear-wheel structure assembly includes solid rubber tire, rear wheel drive
Axis 36, bearing housing 44, drive shaft are mounted in bearing housing and are connected by screw bolts with trailing wheel, and servo motor is controlled by industrial personal computer,
And there is speed measuring coder to test the speed motor；Driven wheel front-wheel 77, using limit angle universal structure, mechanism assembly includes real
Heart rubber wheel, mechanical brake device 13, spring assist back positive structure 35, and front-wheel mounting bracket 29, rubber wheel passes through with front axle
It is bolted, T shape front axles are mounted in front-wheel mounting bracket；
Directive wheel totally six, the both sides for being installed on vehicle body are triangularly arranged, wherein three left side directive wheels are compressible
Mechanism includes directive wheel mounting bracket, solid rubber wheel body 90, compressed spring 98, the contact position that can detect box beam boundary in real time
Displacement sensor 101, for directive wheel by using sliding block to connect between guide wheel shaft and directive wheel mounting bracket, compressed spring is placed in cunning
Between block and car body, directive wheel be box beam contact when can be effectively compressed and rebound ensure equipment can even running by path, position
Displacement sensor is fixed on chassis and detects directive wheel displacement in real time with shoe contact, obtains box beam boundary in real time by computing module
Size；Right hand guide wheels 93 are fast pulley；
Clutch 62 is installed between speed reducer output shaft and driving wheel, clutch is in spring force under normal operating conditions
Under the action of fitting transmit torque, when failure, is isolated by the manual shift fork 78 on the right side of clutch and will be set by tractor
It is standby to tow to home；
Front-wheel mechanical brake device includes mechanical disc brake 13, parking pull rod 146, is used between mechanical disc brake and parking pull rod
Bracing wire connects.
The bodywork's direction and position computing subsystem includes frequency read/write 149 and radio-frequency card, PLC locating modules, servo motor
Encoder；
It is opposite with mounted on the radio-frequency card of box beam side that frequency read/write as shown in Figure 1 is installed on the rear portion on the right side of vehicle shell；
PLC locating modules are mounted in integrated control case 111.The principle of bodywork's direction and position computing subsystem is：The reading of PLC locating modules is watched
Take the radio frequency of the distance travelled fixed intervals position installation obtained with frequency read/write of motor encoder data acquisition inspection device
Card distance must read correction to obtain accurate bodywork's direction and position data.
The safe decorum includes laser safety scanning obstacle sensor, work moving car alarm flashing light, occupant's shape
State monitoring camera, equipment state warning light, inside and outside megaphone, alarm buzzing；
Laser safety scans obstacle sensor 124 and two groups of front ends and tail portion for being respectively arranged in bottom plate is arranged；Work driving
Warning flashing light is placed in vehicle bottom convenient for the personnel under warning track；Occupant's monitoring camera is installed on inside vehicle shell,
Monitor operating personnel's state in real time；Megaphone is arranged on touch screen mounting box 133, it can be achieved that talking with control centre；Alarm
Buzzing is placed in chassis front end outside inspection car；
The vision detection system includes that data processing stores and transmits module, light source module 130, detector lens 128, three
Shaft detection camera lens mobile platform 126；
Visual data processing stores and transmits module and is placed in integrated control case 111, captured by vision detection system
Picture is handled and is stored, and data are back to control centre by Wi-Fi by treated.Light source module 130 and detection
Camera lens 128 is installed along in the rotary shaft of three axis mobile platforms；
Three servo motors that motor driver drives dynamic triaxial mobile platform carry out up and down, left and right and drive rotation of lens
It is moved by instruction；
Light source module is connected with industrial personal computer, and shift position is automatically accepted and changes the control of illumination.Detector lens and industry control
Machine connects, and the frequency of taking pictures is determined according to control instruction.
Vehicular control unit include motor servo driver, industrial personal computer, PLC control modules, accelerator pedal, brake pedal,
Vehicular power system, box beam limit detection tangent displacement sensor, laser safety scan obstacle sensor；
Motor servo driver connect driving active force AC servo motor with PLC control modules, completes inspection device
Advance, retrogressing and speed control；
Accelerator pedal, brake pedal are connect with PLC control modules, for being risen to inspection device in manned realize when driving
Stop and speed control；
Inspection device is powered by the lithium battery mounted on bottom plate front end, is increased between battery and control module, actuator
Add AC inverter that can be matched with each electrical appliance.Battery modules are filled equipped with electricity control system using external power supply
Electricity；
Box beam limit detection tangent displacement sensor, laser safety scanning obstacle sensor are connect with industrial personal computer, are contacted
Formula displacement sensor can detect box beam limiting size and record measured value in control centre's display screen real-time display in real time；Swash
Light security sweep obstacle sensor connect with PLC control modules and is arranged the smaller warning region in larger preparation region, works as detection
Enter PLC controls motor driver when preparing region to barrier to carry out equipment deceleration and externally give a warning, be guarded against when entering
Equipment is automatically stopped movement when limiting value is arranged in region.
There is inspection device automatic detecting, manual remote control operation and vehicle-mounted people to control Three models.Automatic detecting pattern, by controlling
Center processed sends out startup order, and trolley is automatically performed box beam inspection process.Manual remote control operation mode is to utilize wireless behaviour by people
Make remote controler to operate inspection device.Inspection device is operated by the staff carried under vehicle-mounted people's control pattern, complete
At the work of box beam inspection and maintenance.
Claims (8)
1. the routing inspection trolley for suspension type monorail traffic system box track girder, which is characterized in that examined including car body and vision
Part is surveyed, vision-based detection is partly installed in car body；
The car body includes that chassis, vehicle shell, driving unit and vehicular control unit, driving unit are connected with vehicular control unit,
It is provided with seat in car body, wireless communication unit is additionally provided in car body；
The vision-based detection part includes light source module (130), detector lens (128), three shaft detection camera lens mobile platforms (126)
With data processing storage unit, data processing storage unit is connect with wireless communication unit；
Traffic safety unit is additionally provided on the car body, the traffic safety unit includes being respectively arranged in front of car body with after
The laser scanning obstacle sensor (124) and work moving car alarm flashing light of side, laser scanning obstacle sensor (124) and driving
Control unit connects.
2. being used for the routing inspection trolley of suspension type monorail traffic system box track girder as described in claim 1, which is characterized in that
Bodywork's direction and position computing subsystem is additionally provided on the car body, the bodywork's direction and position computing subsystem includes that bodywork's direction and position processing is single
Member and the radio-frequency card reading unit being attached thereto；
The radio-frequency card reading unit is used to read the radio-frequency card for being set to box track girder,
The bodywork's direction and position processing unit be used for according to the whole story twice Card Reader time and 2 radio-frequency card distances of the whole story for prestoring with
And speed calculates current vehicle body position.
3. being used for the routing inspection trolley of suspension type monorail traffic system box track girder as claimed in claim 2, which is characterized in that
The driving unit includes driving wheel, driven wheel, directive wheel, and the directive wheel is set to the left and right sides of car body, at least
The directive wheel of side is connect by spring with car body.
4. being used for the routing inspection trolley of suspension type monorail traffic system box track girder as described in claim 1, which is characterized in that
The wireless communication unit includes wifi module.
5. being used for the routing inspection trolley of suspension type monorail traffic system box track girder as described in claim 1, which is characterized in that
The driving unit include servo motor (52), it is double go out speed reducer (48), clutch (62) and driving wheel (18), servo motor
(52) connection pair goes out speed reducer (48), then is driven to driving wheel (18) by output shaft (60) connection clutch (62).
6. being used for the routing inspection trolley of suspension type monorail traffic system box track girder as described in claim 1, which is characterized in that
The vehicular control unit includes long-range march control module, and long-range march control module is connect with wireless communication unit, remotely
Thermoacoustic prime engine module is also connect with vehicular control unit.
7. being used for the routing inspection trolley of suspension type monorail traffic system box track girder as described in claim 1, which is characterized in that
Traffic safety unit further includes spacing detection module outside car body.
8. being used for the routing inspection trolley of suspension type monorail traffic system box track girder as claimed in claim 7, which is characterized in that
Spacing detection module is set at directive wheel outside the car body, is arrived by measuring the directive wheel axle center contacted with track girder inner wall
The distance of car body with detect car body to track girder inner wall distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610439815.9A CN106143530B (en) | 2016-06-17 | 2016-06-17 | Routing inspection trolley for suspension type monorail traffic system box track girder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610439815.9A CN106143530B (en) | 2016-06-17 | 2016-06-17 | Routing inspection trolley for suspension type monorail traffic system box track girder |
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| Publication Number | Publication Date |
|---|---|
| CN106143530A CN106143530A (en) | 2016-11-23 |
| CN106143530B true CN106143530B (en) | 2018-09-21 |
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| CN201610439815.9A Active CN106143530B (en) | 2016-06-17 | 2016-06-17 | Routing inspection trolley for suspension type monorail traffic system box track girder |
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| CN106680290B (en) * | 2017-02-27 | 2023-11-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN107487338A (en) * | 2017-08-02 | 2017-12-19 | 安徽骏达起重机械有限公司 | Traffic track automatic detection device |
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| CN110450814B (en) * | 2019-08-06 | 2020-12-22 | 中国铁建重工集团股份有限公司 | Track detection assembly |
| CN110763584A (en) * | 2019-11-17 | 2020-02-07 | 汪亚平 | Road and bridge concrete structure real-time detection device |
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| CN112631280A (en) * | 2020-12-08 | 2021-04-09 | 国网北京市电力公司 | Unmanned manned inspection trolley |
| CN114264670A (en) * | 2021-12-09 | 2022-04-01 | 上海应用技术大学 | Intelligent rail-patrolling automatic detection trolley for diseases inside box girder |
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