CN107697084B

CN107697084B - Railcar and tunnel detection vehicle

Info

Publication number: CN107697084B
Application number: CN201710945252.5A
Authority: CN
Inventors: 秦军
Original assignee: Citic Chengdu Huarui Technology Co Ltd
Current assignee: Citic Chengdu Huarui Technology Co Ltd
Priority date: 2017-05-11
Filing date: 2017-10-11
Publication date: 2020-02-04
Anticipated expiration: 2037-10-11
Also published as: CN107161164A; CN107697084A; WO2018205979A1

Abstract

The invention discloses a rail car and a tunnel detection car, and relates to the field of rail transit. A rail car is used for being connected with a rail in a rolling mode and comprises a car body and wheels, wherein the wheels are connected with the car body, and the wheels are used for being connected with the rail in a rolling mode. The rail car further comprises two groups of transverse positioning wheel sets, each transverse positioning wheel set comprises a positioning wheel and a return wheel, the positioning wheels are in rolling contact with the same side of the rail, the return wheels are in rolling contact with the other side of the rail relative to the positioning wheels, the positioning wheels are fixedly connected to the car body, the return wheels are elastically connected to the car body, and the minimum adjustable distance between the positioning wheels and the return wheels is smaller than the distance between the two opposite sides of the rail in the transverse direction. A tunnel detection vehicle adopts the rail vehicle. The rail car and the tunnel detection car provided by the invention can avoid snake-shaped movement of the rail car during advancing and ensure that the rail car can be accurately positioned in a direction vertical to the advancing direction.

Description

Railcar and tunnel detection vehicle

Technical Field

The invention relates to the field of rail transit, in particular to a rail vehicle and a tunnel detection vehicle.

Background

The running track of various rail cars used in rail transit building detection of railways, subways and the like at present is a snake track. Therefore, in the detection occasion with high requirement for position accuracy, it is common to measure the position while stopping on the track and in a stationary state, and then move to the next measurement point. Since the position of the rail car moves randomly in the transverse direction after the rail car moves or moves along a random snake track, many measurement and detection technologies based on precise position require re-measurement of the position of the rail car or detection equipment. This results in a significant reduction in detection efficiency.

Disclosure of Invention

The invention aims to provide a rail car which can avoid snake-shaped movement of the rail car during running and ensure that the rail car can be accurately positioned in a direction vertical to the advancing direction.

Another object of the present invention is to provide a tunnel inspection vehicle, which can prevent the tunnel inspection vehicle from moving in a serpentine shape during traveling, and ensure that the tunnel inspection vehicle can be accurately positioned in a direction perpendicular to the forward direction.

The invention provides a technical scheme that:

a rail car for rolling connection on a rail, the rail car comprising a car body and wheels, the wheels being rotatably connected to the car body and the wheels being adapted for rolling connection with the rail. The rail car still includes two sets of transverse location wheelsets, every group the transverse location wheelset includes locating wheel and return wheel, the locating wheel be used for with orbital same side rolling contact, the return wheel for the locating wheel be used for with orbital opposite side rolling contact, locating wheel fixed connection in the automobile body, return wheel elastic connection in the automobile body, and the locating wheel with minimum adjustable distance between the return wheel is less than the distance between the horizontal relative both sides of track.

Furthermore, the direction of the connecting line of the two positioning wheels is a first direction, the direction perpendicular to the first direction is a second direction, the return wheel is rigidly connected with the vehicle body in the first direction, and the return wheel is elastically connected with the vehicle body in the second direction.

Further, the rail car further comprises a longitudinal distance positioning device and an attitude detection recording device, wherein the longitudinal distance positioning device and the attitude detection recording device are arranged on the car body.

Further, two sets of horizontal location wheelsets all connect in the anterior portion and the rear portion of the same one side of automobile body, two sets of horizontal location wheelsets connect in the railcar has a plurality of one side of wheel.

Further, the rail car still includes pushing away and sweeping camera and image processing module for the formation of image of track and road bed, push away sweep the camera with image processing module all fixed connection in the automobile body, and push away sweep the camera with image processing module electricity is connected, still be provided with the auxiliary light source that is used for towards the image area on the automobile body.

Furthermore, the section of the positioning wheel is V-shaped, and a V-shaped tip end is contacted with the inner side of the track.

Furthermore, the positioning wheels in the transverse positioning wheel set are connected through a rigid structure, the positioning wheels are arranged in the front and back direction along the track, the outer common tangent lines of the wheel rims of the positioning wheels are always parallel to the side face of the track and are in rolling contact with the side face of the track at the same time, and the return wheels are multiple.

Further, the rail car still includes gauge detecting element, gauge detecting element includes range unit, gauge change detection device and calculation controlling means, range unit in gauge change detection device connects, range unit is used for measuring the gauge change volume, gauge change detection device is used for surveying and enlargies the gauge change volume, calculation controlling means with gauge change detection device electricity is connected, and calculation controlling means be used for the collection and the calculation of data.

Further, the distance measuring device is a laser distance measuring device, the track gauge change detecting device is a lever structure, one end of the lever structure is provided with a detecting wheel, the detecting wheel is always in rolling contact with the inner side of a track far away from the transverse positioning wheel set, the other end of the lever structure is provided with a reflecting plate, the lever structure is provided with a fulcrum, the fulcrum is fixedly connected to the vehicle body, the lever structure can rotate around the fulcrum, the laser distance measuring device is fixedly connected to the vehicle body, a distance measuring laser beam of the laser distance measuring device is right opposite to the reflecting plate, and the distance from the reflecting plate to the fulcrum is larger than the distance from the detecting wheel to the fulcrum.

A tunnel detection vehicle comprises a vehicle body and wheels, wherein the wheels are rotationally connected with the vehicle body, and the wheels are used for being in rolling connection with a track. The rail car still includes two sets of transverse location wheelsets, every group the transverse location wheelset includes locating wheel and return wheel, the locating wheel be used for with orbital same side rolling contact, the return wheel for the locating wheel be used for with orbital opposite side rolling contact, locating wheel fixed connection in the automobile body, return wheel elastic connection in the automobile body, and the locating wheel with minimum adjustable distance between the return wheel is less than the distance between the horizontal relative both sides of track. The tunnel detection device is connected with the rail car.

Compared with the prior art, the rail car and the tunnel detection car provided by the invention have the beneficial effects that:

the rail car provided by the invention can enable the rail car not to generate snake-shaped motion when running on the rail car through the transverse positioning wheel set arranged on the car body. Wherein, the locating wheel in the transverse location wheelset and orbital one side rolling contact to the locating wheel adopts the mode with automobile body fixed connection, and in addition, return wheel in the transverse location wheelset is for locating wheel and orbital opposite side rolling contact, and the return wheel adopts the mode with automobile body elastic connection, makes the locating wheel laminate in orbital one side all the time through the elastic force that the return wheel provided, even make the railcar follow linear motion all the time, has avoided the snaking of railcar.

In addition, based on a rail car without transverse random displacement and a rail car platform with precise distance positioning and attitude measurement, the accurate positioning of the tunnel detection device in continuous motion can be ensured without repositioning every time a new detection point is reached.

When the rail car moves linearly along the rail car at a constant speed, the image obtained by using the push-broom camera has no image distortion caused by the fact that the camera on the rail car follows the car body to snake in the prior art, so that the rail car and roadbed damage can be correctly analyzed based on the image, and the image processing time is shortened.

When the rail car of the invention moves linearly along the track, based on the rigid structure relationship between the distance measuring device and the car body, and a rigid structure of the positioning wheel and the vehicle body, the distance measuring device always corresponds to the inner side position of the track at one side of the positioning wheel, the fulcrum in the lever amplifying structure is also in a rigid structure relation with the vehicle body, the detection wheel contacted with the inner side of the other track at one end of the lever can move around the fulcrum along with the change of the track gauge, the track gauge change represented by the movement is amplified through the lever to enable the reflector to have larger displacement, the distance change between the distance measuring device and the reflector is the amplified track gauge change, the actual length obtained by scaling and the base number are the track gauge, and the scheme has the advantages that the track gauge with higher precision can be obtained by using a distance measuring device with lower precision, and the track gauge can be continuously measured and has higher detection efficiency.

The rail car with the functions of accurately positioning the plane and measuring the attitude can provide an equipment platform for other works which need to work along the rail and need to be accurately positioned.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.

Fig. 1 is a schematic structural diagram of a first view angle of a rail car according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second view angle of the rail car according to the first embodiment of the present invention;

fig. 3 is a schematic structural diagram of a third view angle of the rail car according to the first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a track gauge detecting unit according to a first embodiment of the present invention.

Icon: 10-a rail car; 100-a vehicle body; 200-a wheel; 210-a second axis of rotation; 220-tread; 300-transverse positioning wheel set; 310-positioning wheels; 311-a first rotation axis; 320-a return wheel; 400-gauge detection unit; 410-a laser ranging device; 421-a reflector; 422-lever structure; 423-fulcrum; 424-detection wheel.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention are conventionally placed in use, or the orientations or positional relationships that are conventionally understood by those skilled in the art, and are used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is also to be noted that, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" are to be interpreted broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following detailed description of embodiments of the invention refers to the accompanying drawings.

First embodiment

Referring to fig. 1, the present embodiment provides a rail car 10, which can prevent the rail car 10 from snaking during traveling, and ensure that the rail car 10 can be accurately positioned in a direction perpendicular to the forward direction.

Referring to fig. 2, the railcar 10 is adapted to be rollably connected to a track (not shown). The rail car 10 includes a car body 100, wheels 200, and a laterally positioned wheelset 300, the wheels 200 being rollingly coupled to the car body 100, and the wheels 200 being adapted to be coupled to a rail. The transverse positioning wheel set 300 is connected to the car body 100, and the transverse positioning wheel set 300 is used for rolling contact with a rail, which can prevent the rail car 10 from snaking when the rail car 10 travels, and can ensure that the rail car 10 does not generate transverse deviation.

In the present embodiment, when the railcar 10 travels on a track, the direction perpendicular to the traveling direction is the lateral direction. The railcar 10 provided by the present embodiment can eliminate the serpentine motion generated when the railcar 10 travels, and ensure that the railcar 10 does not generate a lateral relative position change with respect to the track.

In this embodiment, the rail car 10 includes two sets of transverse positioning wheel sets 300, and the two sets of transverse positioning wheel sets 300 are respectively connected to the same side of the rail car 10, so that the two sets of transverse positioning wheel sets 300 can be simultaneously connected to the same rail, thereby ensuring that the rail car 10 does not have a serpentine motion.

Based on the precise positioning of the railcar 10 in the direction perpendicular to the rail, a precise moving platform is provided for an instrument for precise measurement and detection along the rail by combining the precise positioning in the rail direction and the precise inclination angle values in two directions. The rail car 10 is further provided with a longitudinal distance positioning device (not shown) and an attitude detection recording device (not shown), both of which are provided on the car body 100. The longitudinal distance positioning device is used to ensure that the rail vehicle 10 ensures absolute positioning and relative positioning of the position of the rail vehicle in the longitudinal direction with respect to the transverse direction. The attitude detection recording device is used to detect a three-dimensional attitude angle of the railcar 10 while the railcar 10 is running.

Based on the dynamic motion of the railcar 10 without lateral hunting errors, a sweeping camera (not shown) is installed along the track direction for imaging and detecting the track geometry and the track slab breakage. The rail car 10 further includes a push-broom camera, a push-broom camera control module, and an image processing module (not shown), the push-broom camera is fixedly connected to the car body, and the push-broom camera is electrically connected to the image processing module and the push-broom camera control module. The lens of the push-broom camera is used to face the rail and the rail plate, and an auxiliary light source (not shown) for facing the rail imaging area is further provided on the vehicle body 100. The push-broom camera control module controls the auxiliary light source to illuminate an imaging target area, controls the push-broom camera to continuously acquire image information of the track and the track plate at a proper matching frame rate when the track car moves at a constant speed, sends the image information to the image processing module, and processes the image information through the image processing module to be presented in an image form.

The lateral positioning wheel assembly 300 includes a positioning wheel 310 and a return wheel 320. In the same railcar 10, two positioning wheels 310 are used for rolling contact with the same side of the track, and two return wheels 320 are used for rolling contact with the other side of the track relative to the two positioning wheels 310. The positioning wheel 310 is fixedly connected to the vehicle body 100, the return wheel 320 is elastically connected to the vehicle body 100, and the distance between the positioning wheel 310 and the return wheel 320 is smaller than or equal to the distance between two transversely opposite sides of the track, that is, the distance between the positioning wheel 310 and the return wheel 320 is matched with the distance between the two transversely opposite sides of the track. In the present embodiment, the positioning wheel 310 and the return wheel 320 are both single wheels, that is, one positioning wheel 310 and one return wheel 320 are included in the same set of transverse positioning wheels 300. It should be understood that in other embodiments, the positioning wheels 310 in the same set of transverse positioning wheels 300 may be multiple, the external common tangent of the rim of multiple positioning wheels 310 is always parallel to the side of the rail and is in contact with the rail at the same time, and the distance between every two adjacent positioning wheels 310 should be greater than the width of the seam of the rail. In addition, in other embodiments, the same set of lateral positioning wheels 300 may also include a plurality of return wheels 320, and the plurality of return wheels 320 simultaneously provide elastic force to the positioning wheels 310, so that the positioning wheels 310 are kept in contact with one side of the rail.

It should be noted that the distance between the two laterally opposite sides of the track refers to the distance between the two laterally opposite sides of one track.

In this embodiment, two transverse positioning wheel sets 300 are used for linking to each other with same track, that is to say, make two positioning wheels 310 and two return wheels 320 centre gripping in same track for positioning wheel 310 can make positioning wheel 310 can laminate orbital side all the time through the elastic force of return wheel 320, guarantees that railcar 10 goes along the straight line, avoids appearing serpentine's condition.

Further, in the same railcar 10, the connecting line of the two return wheels 320 is in a first direction, and the connecting line of the positioning wheels 310 and the return wheels 320 in the same set of transverse positioning wheels 300 is in a second direction. The rotation axis of the return wheel 320 is hinged to the vehicle body 100, the return wheel 320 is rigidly connected to the vehicle body 100 in the first direction, and the return wheel 320 is elastically connected to the vehicle body 100 in the second direction. That is, the return wheel 320 can be elastically deformed in the second direction such that the return wheel 320 is selectively moved away from the positioning wheel 310 or moved closer to the positioning wheel 310.

In this embodiment, since the distance between the positioning wheel 310 and the return wheel 320 is smaller than the distance between the two opposite sides of the track in the transverse direction, when the transverse positioning wheel set 300 is connected to the track, the return wheel 320 can be offset a certain distance away from the positioning wheel 310, that is, the return wheel 320 has a tendency to move towards the positioning wheel 310, so that the positioning wheel 310 and the return wheel 320 clamp the track, the positioning wheel 310 is ensured to be always in rolling contact with the track, and the railcar 10 is ensured not to generate a snaking motion during traveling.

The positioning wheel 310 is adjustable in height relative to the track below the rail plane of the track, and the point of contact of the positioning wheel 310 with the track can be any specified position.

The first direction mentioned above is a direction in which the track extends, that is, a traveling direction of the railcar 10 when it is connected to the track. The second direction is the transverse direction of the rail perpendicular to the direction of travel as mentioned above.

In addition, the positioning wheel 310 has a first rotation axis 311, and the positioning wheel 310 is rotatable about the first rotation axis 311 to enable rolling connection with the rail. The wheel 200 has a second rotation axis 210, and the wheel 200 is rotatable about the second rotation axis 210 to be rollably connected with the rail. The first rotation axis 311 is perpendicular to the second rotation axis 210, so that the positioning wheel 310 and the wheel 200 can respectively complete their respective operations without interfering with each other. Moreover, the positioning wheel 310 can be positioned on a transverse plane, so that the transverse positioning effect generated by the positioning wheel 310 is better.

Further, the thickness of the positioning wheel 310 gradually increases from the outer edge of the positioning wheel 310 to the axial center of the positioning wheel 310. In the present embodiment, the cross section of the positioning wheel 310 from the rim to the center of the wheel axle is "V", that is, the cross section of the positioning wheel 310 passing through the first rotating shaft 311 and located on one side of the first rotating shaft 311 is "V". The thickness of the return wheel 320 gradually increases from the outer edge of the return wheel 320 to the axis of the return wheel 320, and in this embodiment, the section of the return wheel 320 is "V" shaped, that is, the section of the return wheel 320 passing through the axis and located on one side of the axis is "V" shaped. To ensure that the positioning wheels 310 of the transverse positioning wheel set 300 are still in close contact with the side plane of the rail when the side surface of the rail is greasy dirt and mud. It should be appreciated that in other embodiments, the return wheel 320 may be shaped otherwise, such as cylindrical, etc.

In the present embodiment, the two sets of laterally positioned wheel sets 300 are respectively connected to the front and rear of one side of the vehicle body 100 such that the distance between the two sets of laterally positioned wheel sets 300 is sufficiently long to maintain the traveling directionality of the railcar 10.

In addition, in the present embodiment, the two sets of laterally positioned wheel sets 300 may be installed correspondingly according to the number of wheels 200 of the railway vehicle 10.

Wherein, when the number of the wheels 200 is an even number greater than 2, the two sets of laterally positioned wheel sets 300 are connected to the left or right side of the rail car 10. That is, the two sets of transverse positioning wheel sets 300 can only be installed on the same side of the rail car 10 at the same time, so as to ensure that the two sets of transverse positioning wheel sets 300 can be in rolling contact with the same side rail at the same time, and ensure that the rail car 10 does not have the snake-shaped movement.

In the embodiment, as shown in fig. 3, the number of the wheels 200 is 4, and the two sets of laterally positioning wheel sets 300 are connected to the left side of the rail car 10, but of course, the two sets of laterally positioning wheel sets 300 may also be connected to the right side of the rail car 10.

In addition, when there are two wheels 200, two sets of laterally aligned wheel sets 300 are connected to the vehicle body 100 on the side where the wheels 200 are mounted.

When the number of the wheels 200 is odd, two sets of laterally positioning wheel sets 300 are connected to the side of the vehicle body 100 where more wheels 200 are installed. Most of the railcars 10 using an odd number of wheels 200 have three wheels 200, and at this time, two sets of transverse positioning wheel sets 300 are installed on the car body 100 on the side where the two wheels 200 are installed.

Based on the precise positioning of the railcar 10 under dynamic motion and the relative position to the unilateral rail unchanged, the railcar 10 is equipped with a gauge detection unit 400 having an amplified gauge variation. Referring to fig. 4, the rail car 10 further includes a gauge detecting unit 400 and an amplifying mechanism, wherein the gauge detecting unit 400 is used for detecting the gauge, and the amplifying mechanism is used for amplifying the variation of the gauge. When the railcar 10 travels on the track, the current track gauge of the track is detected by the track gauge detecting unit 400, and when the railcar 10 travels, the track gauge is changed, and since the magnitude of the change is small, the small change is amplified by the amplifying mechanism to improve the detection accuracy, and the high accuracy can be measured even with an instrument having low accuracy.

The track gauge detecting unit 400 includes a distance measuring device (not shown), a track gauge change detecting device (not shown), and a calculation control device (not shown). The distance measuring device is connected with the track gauge change detecting device, wherein the distance measuring device is used for measuring the track gauge change, and the track gauge change detecting device is used for detecting and amplifying the track gauge change. In addition, the calculation control device is electrically connected with the track gauge change detection device and is used for acquiring and calculating data. The track gauge variation is measured through the distance measuring device, and the measured track gauge variation is amplified through the track gauge variation detecting device, so that the measurement precision of the track gauge variation is improved, and a high-precision value can be measured by adopting a low-precision instrument.

Further, the distance measuring device is a laser distance measuring device 410, the track change detecting device is a lever structure 422, one end of the lever structure 422 is provided with a detecting wheel 424, the detecting wheel 424 is always in rolling contact with the inner side of the track far away from the transverse positioning wheel set 300, the other end of the lever structure 422 is provided with a reflecting plate 421, in addition, the lever structure 422 is provided with a supporting point 423, the supporting point 423 is fixedly connected to the vehicle body 100, and the lever structure 422 can rotate around the supporting point 423. The distance measuring laser beam (not shown) of the laser distance measuring device 410 is directed to the reflector 421. In addition, in the present embodiment, the distance from the light reflection plate 421 to the supporting point 423 is greater than the distance from the detection wheel 424 to the supporting point 423.

In addition, in the present embodiment, the contact point of the detection wheel 424 with the inner side of the track can be adjusted in the direction perpendicular to the plane of the track to a designated position below the plane of the track so that the positioning wheel 310 can perform height adjustment while the detection wheel 424 performs height adjustment, so that the detection wheel 424 corresponds to the positioning wheel 310 in height. The cross-sectional shape of the detection wheel 424 is the same as the cross-sectional shape of the positioning wheel 310, so that the detection wheel 424 can contact the inner side of the rail when encountering dirt, oil, and other attachments during movement.

The laser distance measuring device 410 may be a laser displacement sensor or other instrument with high accuracy.

In addition, referring to fig. 1, the wheel 200 has a tread 220, and the tread 220 is a flat surface, so that the wheel 200 does not have circumference variation due to different contact points with the steel rail like the tapered or curved tread 220, and the wheel 200 provided in this embodiment uses the flat tread 220 so that whether the track of the wheel 200 is serpentine or not can ensure that the circumference of the wheel 200 is constant. It is ensured that there is an accurate value when the distance is calculated based on the rotation angle of the wheel 200 and the circumference of the wheel 200. Namely, the accurate walking distance value can be calculated through the accurate rotating angle and the accurate wheel circumference.

In addition, it should be noted that the wheels 200 of the rail car 10 on the other side without the transverse positioning wheel set 300 cannot have a transverse restraining structure that conflicts with the transverse positioning wheel set 300, so as to ensure that the transverse positioning wheel set 300 can work smoothly.

The railcar 10 of the present embodiment can prevent the railcar 10 from snaking while traveling on a rail by the laterally positioned wheelsets 300 provided on the body 100. Wherein, the positioning wheel 310 in the transverse positioning wheel set 300 is in rolling contact with one side of the track, and the positioning wheel 310 adopts a mode of being fixedly connected with the vehicle body 100, in addition, the return wheel 320 in the transverse positioning wheel set 300 is in rolling contact with the other side of the track relative to the positioning wheel 310, and the return wheel 320 adopts a mode of being elastically connected with the vehicle body 100, the positioning wheel 310 is always attached to one side of the track through the elastic force provided by the return wheel 320, namely, the rail vehicle 10 always moves along a straight line, and the snake-shaped motion of the rail vehicle 10 is avoided.

Second embodiment

The present embodiment provides a tunnel inspection vehicle (not shown) comprising a plurality of railcars 10 provided in the first embodiment and a raster encoder (not shown) integrated on a wheel 200, wherein the railcars 10 are connected in a bead-by-bead manner. The tunnel detection vehicle can avoid snake-shaped movement of the tunnel detection vehicle when the tunnel detection vehicle travels, and the tunnel detection vehicle can be accurately positioned in the direction perpendicular to the advancing direction.

The tunnel detection vehicle acquires image information in the tunnel through a detection device arranged on the tunnel detection vehicle in the process of advancing in the tunnel. The accurate distance value of the running of the railway vehicle 10 can be obtained by multiplying the circumference of the wheel 200 by the rotating angle, the wheel 200 used by the tunnel detection vehicle provided by the invention has the advantages that the tread 220 is a plane, the circumference of the wheel 200 does not change because of different contact points with the track like the conical tread 220 or the curved tread 220, and the circumference of the wheel 200 rotating can be ensured to be constant no matter whether the track of the wheel 200 snakes or not because the tread 220 is the plane wheel 200. That is, a relatively accurate travel distance value can be obtained as long as the rotation angle of the wheel 200 is ensured.

In addition, the tunnel detection vehicle has invariance to the transverse position of the track during and when the vehicle stops traveling due to the existence of the transverse positioning wheel set 300, and reduces data errors in later tunnel image and tunnel section data processing.

In this embodiment, the tunnel-inspecting vehicle further includes an attitude sensor (not shown), an imaging-inspecting unit (not shown), and a distance-measuring unit (not shown), wherein the attitude sensor, the imaging-inspecting unit, and the distance-measuring unit are disposed on the vehicle body 100.

It should be understood that in other implementations, the railcar 10 can also be used with other equipment platforms that require accurate positioning on the track.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rail car for rolling connection to a rail, characterized in that the rail car comprises a car body and wheels, the wheels are rotationally connected to the car body, and the wheels are used for rolling connection with the rail;

the rail car further comprises two groups of transverse positioning wheel sets, each group of transverse positioning wheel sets comprises a positioning wheel and a return wheel, the positioning wheel is used for being in rolling contact with the same side of the rail, the return wheel is used for being in rolling contact with the other side of the rail relative to the positioning wheel, the positioning wheel is fixedly connected to the car body, the return wheel is elastically connected to the car body, and the minimum adjustable distance between the positioning wheel and the return wheel is smaller than the distance between the two transversely opposite sides of the rail; the positioning wheel is connected with the vehicle body through a first rotating shaft, and two ends of the spring respectively act on the first rotating shaft and the connecting shaft of the return wheel; the return wheel is used for providing elastic force for the positioning wheel so that the positioning wheel keeps contact with one side of the track; the two groups of transverse positioning wheel sets are respectively connected to the front part and the rear part of one side of the vehicle body; the section of the positioning wheel is V-shaped, and the rim in contact with the inner side of the track is a V-shaped tip; the positioning wheels in the transverse positioning wheel set are connected through a rigid structure, the positioning wheels are arranged front and back along the axial direction, the outer common tangent lines of the rims of the positioning wheels are always parallel to the side face of the rail and are in rolling contact with the side face of the rail at the same time, and the return wheels are multiple;

the rail car further comprises a rail gauge detection unit, wherein the rail gauge detection unit comprises a distance measurement device, a rail gauge change detection device and a calculation control device, the distance measurement device is connected with the rail gauge change detection device and used for measuring rail gauge change, the rail gauge change detection device is used for detecting and amplifying the rail gauge change, the calculation control device is electrically connected with the rail gauge change detection device, and the calculation control device is used for collecting and calculating data; the distance measuring device is a laser distance measuring device, the track distance change detecting device is a lever structure, one end of the lever structure is provided with a detecting wheel, the detecting wheel is always in rolling contact with the inner side of a track far away from the transverse positioning wheel set, the other end of the lever structure is provided with a reflecting plate, the lever structure is provided with a fulcrum, the fulcrum is fixedly connected to the vehicle body, the lever structure can rotate around the fulcrum, the laser distance measuring device is fixedly connected to the vehicle body, a distance measuring laser beam of the laser distance measuring device is right opposite to the reflecting plate, and the distance from the reflecting plate to the fulcrum is larger than the distance from the detecting wheel to the fulcrum.

2. The rail car of claim 1, wherein the direction of the line connecting the two positioning wheels is a first direction, the direction perpendicular to the first direction is a second direction, the return wheel is rigidly connected to the car body in the first direction, and the return wheel is elastically connected to the car body in the second direction.

3. The railcar according to claim 1, further comprising a longitudinal distance positioning device and an attitude detection recording device, both disposed on the car body.

4. The railcar according to any one of claims 1 to 3, wherein two sets of said laterally positioned wheelsets are attached to the front and rear of the same side of said body, two sets of said laterally positioned wheelsets being attached to the side of said railcar having a plurality of said wheels.

5. The railcar according to any one of claims 1 to 3, further comprising a push-broom camera, a camera control module and an image processing module for imaging the track and the subgrade, wherein the push-broom camera is connected to the railcar body and is electrically connected with the camera control module and the image processing module, and wherein an auxiliary light source for directing toward an imaging area is further provided on the railcar body.

6. A tunnel inspection vehicle, comprising a tunnel inspection apparatus and a railcar according to any one of claims 1 to 5, the tunnel inspection apparatus being connected to the railcar.