CN108583597A - Tunnel defect based on mixing electric transmission detects vehicle - Google Patents
Tunnel defect based on mixing electric transmission detects vehicle Download PDFInfo
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- CN108583597A CN108583597A CN201810631514.5A CN201810631514A CN108583597A CN 108583597 A CN108583597 A CN 108583597A CN 201810631514 A CN201810631514 A CN 201810631514A CN 108583597 A CN108583597 A CN 108583597A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
- B61C3/02—Electric locomotives or railcars with electric accumulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H11/00—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of tunnel defect detection vehicle based on mixing electric transmission is provided, it is equipped with two sets of power being connect with preceding drivers' cab and the indoor control system of rear driver and auxiliary system in bottom of frame, the battery system that vehicle frame between the preceding drivers' cab and three job platforms is equipped between accumulator and in accumulator is connect with the traction electric machine on two sets of power trucks by harness, and passes through the switching for the drive form that driving detection vehicle vehicle is run inside and outside realizing the switching and tunnel of detection vehicle traction mode after control system control battery system and two sets of power and auxiliary system.The initial survey of present invention realization full section of tunnel disease, the detection of not getting off of reinspection and regular inspection, full section of tunnel is completed without dead angle, comprehensive inspection and detection, improve accuracy and the tunnel defect detection efficiency of tunnel defect detection, art is taught skill using double-power electric, engineering truck is improved up to ramp traction and stopping power, realizes zero-emission in tunnel, the construction operation requirement of low noise.
Description
Technical field
The invention belongs to railway engineering technical field of vehicle, and in particular to a kind of tunnel defect inspection based on mixing electric transmission
Measuring car.
Background technology
Currently, the detection and inspection of domestic tunnel-liner surface Defect inspection mostly use scaffold or Ordinary Work vehicle carries
Personnel carry out visual, percussion and check.Wherein, this kind of engineering truck of Ordinary Work vehicle mostly uses single-power machinery or type diesel hydraulic
Form has that diesel emission pollution weight, noise are big in tunnel when Inspection；Long steep grade exist traction and
Brake difficult problem, mating job platform due to the height limitation by contact line, cause the region of contact line or more without
The defects of method reaches, such as bracket, return wire, high-voltage line area above etc., and there are platform " can not lifting " and operation blind areas is made
Industry platform cannot achieve the inspection of not getting off of tunnel wall disease at escape truck, and it is low that there are operating efficiencies, and blind area range is big etc. asks
Topic.Defect inspection inside domestic tunnel-liner is mainly using hand-held radar, contact measurement equipment or large area core boring sampling
Mode carry out low-speed detection, wherein hand-held radar belongs to the ground coupling radar, need and tunnel wall be close to, operating efficiency is low
Under；Contact measurement is the problems such as vehicle loading the ground coupling radar carries out contact measurement, and there are obstacle evacuation；Core boring sampling
Belong to damage testing, accuracy in detection is higher, but there are tunnel-liner breakage risks, in view of the above-mentioned problems, in order to adapt to tunnel
Road checks the fast development of the automobile-used power drive system of engineering, to improve operating environment and service requirement in tunnel, to change tunnel
Road Defect inspection pattern, to improve tunnel defect Detection accuracy, it is necessary to be improved.
Invention content
Present invention solves the technical problem that：A kind of tunnel defect detection vehicle based on mixing electric transmission is provided, rear department is passed through
The indoor detecting system of machine and three job platforms with lifting and rotation function realize the initial survey, multiple of full section of tunnel disease
The detection of not getting off of inspection and regular inspection completes full section of tunnel without dead angle, comprehensive inspection and detection, improves tunnel defect detection
Accuracy and tunnel defect detection efficiency, art is taught skill using double-power electric, improve engineering truck up to ramp draw and brake
Ability effectively improves the operating environment in track-mounted machinery tunnel using battery traction technology, realize zero-emission in tunnel,
The construction operation requirement of low noise.
The technical solution adopted by the present invention：Tunnel defect based on mixing electric transmission detects vehicle, has vehicle frame, the vehicle frame
Both upper ends thereof is respectively equipped with preceding drivers' cab and rear drivers' cab and three job platforms in the middle part of vehicle frame are located at preceding drivers' cab with after
Between drivers' cab, it is characterised in that：The bottom of frame both ends are equipped with power truck and bottom of frame both ends pass through elasticity
Side bearing support is seated on two sets of power trucks, is equipped with for tunnel-liner surface and internal progress in the rear drivers' cab
The detecting system of initial survey, the bottom of frame are equipped with two sets of power being connect with preceding drivers' cab and the indoor control system of rear driver
And auxiliary system and power truck are connected by transmission shaft and corresponding power and auxiliary system, the preceding drivers' cab and three is made
Vehicle frame between industry platform is equipped between accumulator and on the battery system and two sets of power trucks in accumulator
Traction electric machine connected by harness, and realized after controlling battery system and two sets of power and auxiliary system by control system
Detect the switching of the drive form of the inside and outside driving detection vehicle vehicle operation of switching and tunnel of vehicle traction mode.
Wherein, three job platform include self-powered platform I, self-powered platform II, rotary table, hydraulic system and
Control system, the self-powered platform I and self-powered platform II are symmetrical arranged and rotary table is located at self-powered platform I and rises
II rear position of workbench drops, and the hydraulic system is connect with self-powered platform I, self-powered platform II and rotary table, and
Realize self-powered platform I, self-powered platform II and rotary table simultaneously in difference after controlling hydraulic system by control system
Position works independently, and construction personnel carries hand-held radar and is equipped on the self-powered platform I, self-powered platform II and rotary work
On platform carry out visually, beat after complete tunnel surface and inside reinspection, construction personnel carry drill core tool be equipped on the liter
The regular inspection that tunnel surface and inside are completed after carrying out core boring sampling on workbench I, self-powered platform II and rotary table drops.
Further, the detecting system include tunnel surface detecting system, Ground Penetrating Radar Defect inspection in tunnel-liner
System and absolute positioning system；The tunnel surface detecting system completes the inspection of tunnel surface using high-speed camera detecting system
It surveys, Ground Penetrating Radar Defect inspection system realizes disease inside tunnel-liner using Air Coupling Ground Penetrating Radar in the tunnel-liner
The detection speed of detection, the high-speed camera detecting system and Air Coupling Ground Penetrating Radar is not less than 120km/h, described absolutely fixed
Position system realizes the positioning of test position in such a way that GPS and Doppler radar are combined.
Further, the power and auxiliary system include diesel engine, generator, traction electric machine, cooling system, air inlet system
System and exhaust system, the cooling system, gas handling system and exhaust system are connect with diesel engine, the diesel engine and generator
Power cord and control are passed through with traction electric machine using composition generating set after connection shell connection and generator and battery system
System connects, and realizes that detection vehicle drives inside and outside tunnel after mutually switching by control system control battery system and generating set
The switching of dynamic form, the control system control two sets of power and auxiliary system individually or simultaneously work according to operation or working condition
The switching of detection vehicle traction mode is realized after work.
Further, it is equipped with braking resistor at the top of the drivers' cab and rear drivers' cab, and braking resistor and is set to vehicle frame
The air system of bottom is connect with preceding drivers' cab and the indoor control system of rear driver, and is realized after being controlled by control system
Detect the braking of vehicle vehicle.
Further, the accumulator in the battery system is using in independent removable bicycle shed sealing cover and battery system
Accumulator carry out providing power to detect vehicle vehicle after straight-A.C. current conversion by traction converter plant.
The present invention compared with prior art the advantages of：
1, the detecting system in the technical program is using initial survey, reinspection, the pattern progress tunnel internal of regular inspection and surface
It does not get off detection, realizes full section of tunnel without dead angle, comprehensive inspection and detection, improve the accuracy of tunnel defect detection
With tunnel defect detection efficiency；
2, Ground Penetrating Radar Defect inspection system is real using Air Coupling Ground Penetrating Radar in the tunnel-liner in the technical program
Defect inspection inside existing tunnel-liner, detection speed are not less than 120km/h, realize that contact net does not power off accessible detection, realize
" invading limit " is not detected；
3, the absolute positioning system in the technical program realizes test position in such a way that GPS and Doppler radar are combined
Positioning, location Calculation keeps mileage positioning more accurate using the absolute fix of difference is asked；
4, the technical program uses mixing electric transmission technology, it can be achieved that cross-straight-intersection electric transmission and the phase of straight-alternating current transmission
Mutually switch, vehicle, which is run, outside tunnel uses cross-straight-intersection electric transmission, and high speed detection uses cross-straight-intersection electric transmission, tunnel in tunnel
Interior artificial detection and inspection are effectively improved the operating environment in track-mounted machinery tunnel, are realized by the way of straight-alternating current transmission
Zero-emission, the construction operation requirement of low noise in tunnel；
5, the braking of the technical program detection vehicle vehicle is solved and is grown up in such a way that braking resistor and control system combine
The present situation of ramp down hill braking difficulty；
6, the cross-straight-intersection electric transmission in the technical program uses two sets of power and auxiliary system (i.e. two diesel engines and two
Platform generator), track-mounted machinery climbing capacity is improved, two sets of power and auxiliary system can be used individually or simultaneously, be increased whole
The ability that vehicle dynamical system escorts, and using when cross-straight-intersection electric transmission, it can be achieved that charging to accumulator, strengthens
The cruising ability of directly-alternating current transmission.
Description of the drawings
Fig. 1 is structure of the invention front view；
Vertical view when Fig. 2 is unmatched drivers' cab of the invention and rear drivers' cab head cover；
Fig. 3 is three job platform structural schematic diagrams of the invention.
Specific implementation mode
A kind of embodiment of the 1-3 descriptions present invention below in conjunction with the accompanying drawings.
Tunnel defect based on mixing electric transmission detects vehicle, has vehicle frame 1, before 1 both upper ends thereof of the vehicle frame is respectively equipped with
Drivers' cab 2 and rear drivers' cab 3 and set on three job platforms 5 at the middle part of vehicle frame 1 between preceding drivers' cab 2 and rear drivers' cab 3, institute
State 1 bottom both ends of vehicle frame be equipped with power truck 4 and 1 bottom both ends of vehicle frame by elastic side bearing support be seated two sets of power
On bogie 4, it is equipped in the rear drivers' cab 3 for the detecting system 7 to tunnel-liner surface and internal progress initial survey, it is described
1 bottom of vehicle frame is equipped with two sets of power being connect with the control system in preceding drivers' cab 2 and rear drivers' cab 3 and auxiliary system 9 and moves
Power bogie 4 is connected by transmission shaft with corresponding power and auxiliary system 9, between 2 and three job platform 5 of the preceding drivers' cab
Vehicle frame 1 be equipped between accumulator 8 and 8 between the accumulator in battery system 6 and two sets of power trucks 4 on traction
Motor is connected by harness, and realizes detection after controlling battery system 6 and two sets of power and auxiliary system 9 by control system
The switching of the drive form of the inside and outside driving detection vehicle vehicle operation of the switching of vehicle traction mode and tunnel；Specifically, described three make
Industry platform 5 includes self-powered platform I 51, self-powered platform II 52, rotary table 53, hydraulic system 54 and control system 55,
The self-powered platform I 51 and self-powered platform II 52 are symmetrical arranged and rotary table 53 is located at self-powered platform I 51 and rises
II 52 rear position of workbench, the hydraulic system 54 and self-powered platform I 51, self-powered platform II 52 and rotary table drop
53 connections, and realize self-powered platform I 51, self-powered platform II 52 and rotation after controlling hydraulic system 54 by control system 55
Workbench 53 works independently in different location simultaneously, and construction personnel carries hand-held radar and is equipped on the self-powered platform I 51, rises
Drop workbench II 52 and rotary table 53 on carry out visually, beat after complete tunnel surface and inside reinspection, construction personnel
Carrying drill core tool is equipped on progress drill core on the self-powered platform I 51, self-powered platform II 52 and rotary table 53 and takes
Tunnel surface and internal regular inspection are completed after sample；Specifically, the detecting system 7 includes tunnel surface detecting system, tunnel lining
Ground Penetrating Radar Defect inspection system and absolute positioning system in building；The tunnel surface detecting system uses high-speed camera detection system
System completes the detection of tunnel surface, and Ground Penetrating Radar Defect inspection system is real using Air Coupling Ground Penetrating Radar in the tunnel-liner
The detection speed of Defect inspection inside existing tunnel-liner, the high-speed camera detecting system and Air Coupling Ground Penetrating Radar is not less than
120km/h, the absolute positioning system realize the positioning of test position in such a way that GPS and Doppler radar are combined；Specifically
, the power and auxiliary system 9 include diesel engine, generator, traction electric machine, cooling system, gas handling system and exhaust system,
The cooling system, gas handling system and exhaust system are connect with diesel engine, and the diesel engine is connected with generator using connection shell
Generating set is formed after connecing and generator and battery system 6 are connect by power cord with control system with traction electric machine, and
It is realized after mutually being switched by control system control battery system 6 and generating set and detects cutting for vehicle drive form inside and outside tunnel
It changes, the control system is realized after individually or simultaneously being worked according to operation or working condition two sets of power of control and auxiliary system 9
Detect the switching of vehicle traction mode；Specifically, the drivers' cab 2 and 3 top of rear drivers' cab are equipped with braking resistor 10, and brake
Resistance 10 and air system 11 set on 1 bottom of vehicle frame are connect with the control system in preceding drivers' cab 2 and rear drivers' cab 3, and
Detection vehicle vehicle braking is realized after being controlled by control system；Specifically, the accumulator in the battery system 6 is using independent
Accumulator in removable bicycle shed sealing cover and battery system 6 is inspection after carrying out straight-A.C. current conversion by traction converter plant
Measuring car vehicle provides power.
In the technical program, the accumulator in battery system 6 uses separate removable formula bicycle shed sealing cover, and accumulator is made to have
There is a good waterproof and dustproof performance, 8 bicycle shed is connected with vehicle frame 1 using the living of bolt pattern between the accumulator, is convenient for accumulator
Maintaining.Wherein, accumulator by traction converter plant be converted to vehicle it is straight-hand over telex system to provide power.Before described
Drivers' cab 2 and rear drivers' cab 3 are located at the both ends of vehicle frame 1, and three job platforms 5 are located at the upper center of vehicle frame 1 so that vehicle is two-way
Ju has the Hao lookout conditions of Liang when driving；The power and auxiliary system 5 are mainly by diesel engine, generator, cooling system, air inlet
System and exhaust system composition.Wherein, diesel engine passes through traction current transformation with generator using connection shell connection composition generating set
Device is converted to vehicle cross-straight-intersection telex system and provides power.Three job platform 5 includes self-powered platform I 51, lifting
Workbench II 52, rotary table 53, hydraulic system 54 and control system 55, wherein self-powered platform I 51 and self-powered platform
II 52 can be vertically moved up or down action, can protrude horizontally up leftward or rightward side respectively, can bypass tunnel overhead contact and realize tunnel wall vault
And the inspection of construction of haunch, rotary table 53 is rotatable to be extend out to outside vehicle, and rotary table 53 can meet railway tunnel and answer
Tunnel wall disease is not got off artificial detection and inspection at anxious channel；Three platforms may be implemented in the different location of same time to tunnel
Road disease carries out artificial detection and inspection.
Detecting system 7 in the technical program carries out tunnel using the pattern of initial survey, the reinspection of three job platforms 5 and regular inspection
Internal and surface detection of not getting off, wherein initial survey use high-speed camera and Ground Penetrating Radar intelligent measurement, reinspection to use three operations
Platform 5 carries artificial carry and holds detections of radar, and regular inspection carries construction personnel using three job platforms 5 and carries drill core tool mesh
Depending on, tap listening or core boring sampling and checked that three job platforms 5 can bypass contact net, carrier cable, bracket, return wire, height
Crimping etc. carries out inspection of construction to tunnel vault, solves the problems, such as that tunnel defect detection is limited big, improves tunnel defect inspection
The accuracy of survey and tunnel defect detection efficiency.Ground Penetrating Radar Defect inspection system visits land mine using Air Coupling in tunnel-liner
Up to Defect inspection inside tunnel-liner is realized, detection speed realizes that contact net does not power off accessible detection not less than 120km/h,
Realize that " invading limit " is not detected, absolute positioning system realizes the positioning of test position in such a way that GPS and Doppler radar are combined,
Location Calculation keeps mileage positioning more accurate using the absolute fix for seeking difference.Using mixing electric transmission technology, it can be achieved that friendship-
Directly-alternating current transmission (Diesel Driven generator exports High Level AC Voltage, and stable high voltage direct current is converted by rectifier,
It is converted into low-voltage AC by inverter, then traction electric machine is driven to operate) and straight-(accumulator exports stable for alternating current transmission
High voltage direct current is converted into low-voltage AC by inverter, then traction electric machine is driven to operate) mutual switching, it is whole outside tunnel
Vehicle operation uses cross-straight-intersection electric transmission, in tunnel high speed detection using straight-alternating current transmission, in tunnel artificial detection and inspection adopt
With the mode of straight-alternating current transmission；The operating environment in track-mounted machinery tunnel is effectively improved, realizes zero-emission, low noise in tunnel
The construction operation requirement of sound, promotes track-mounted machinery climbing capacity, and two sets of power and auxiliary system 9 can use individually and simultaneously, increase
The ability of vehicle dynamical system " escorting ", detection vehicle vehicle braking has been added to be combined using braking resistor 10 and air system 11
Mode, solve the present situation of long steep grade down hill braking difficulty.
Above-described embodiment, only presently preferred embodiments of the present invention, is not used for limiting the scope of the present invention, therefore all with this
The equivalence changes that content is done described in invention claim should all be included within scope of the invention as claimed.
Claims (6)
1. the tunnel defect based on mixing electric transmission detects vehicle, there is vehicle frame (1), vehicle frame (1) both upper ends thereof to be respectively equipped with
Preceding drivers' cab (2) and rear drivers' cab (3) and three job platforms (5) in the middle part of vehicle frame (1) are located at preceding drivers' cab (2) and rear department
Between machine room (3), it is characterised in that：Vehicle frame (1) the bottom both ends are equipped with power truck (4) and vehicle frame (1) bottom two
End is seated by elastic side bearing support on two sets of power trucks (4), is equipped in the rear drivers' cab (3) for being served as a contrast to tunnel
Surface and the internal detecting system (7) for carrying out initial survey are built, vehicle frame (1) bottom is equipped with two sets and preceding drivers' cab (2) and rear department
The power and auxiliary system (9) and power truck (4) of control system connection in machine room (3) are moved by transmission shaft with corresponding
Power and auxiliary system (9) connection, the vehicle frame (1) between the preceding drivers' cab (2) and three job platforms (5) are equipped between accumulator
(8) and the battery system (6) between accumulator in (8) passes through harness with the traction electric machine on two sets of power trucks (4)
Connection, and battery system (6) is controlled by control system and realizes that detection vehicle draws mould afterwards with two sets of power and auxiliary system (9)
The switching of the drive form of the inside and outside driving detection vehicle vehicle operation of the switching of formula and tunnel.
2. the tunnel defect according to claim 1 based on mixing electric transmission detects vehicle, it is characterised in that：Three operation
Platform (5) includes self-powered platform I (51), self-powered platform II (52), rotary table (53), hydraulic system (54) and control
System (55), the self-powered platform I (51) and self-powered platform II (52) are symmetrical arranged and rotary table (53) is located at liter
Workbench I (51) and self-powered platform II (52) rear position, the hydraulic system (54) and self-powered platform I (51), liter drop
Workbench II (52) and rotary table (53) connection are dropped, and hydraulic system (54) is controlled by control system (55) and realizes liter afterwards
It drops workbench I (51), self-powered platform II (52) and rotary table (53) while working independently in different location, construction personnel
The hand-held radar of carrying, which is equipped on the self-powered platform I (51), self-powered platform II (52) and rotary table (53), to carry out
Visually, the reinspection of tunnel surface and inside is completed after beaing, construction personnel carries drill core tool and is equipped on the self-powered platform I
(51), it carries out completing after core boring sampling tunnel surface on self-powered platform II (52) and rotary table (53) and internal determines
Inspection.
3. the tunnel defect according to claim 1 based on mixing electric transmission detects vehicle, it is characterised in that：The detection system
System (7) includes tunnel surface detecting system, Ground Penetrating Radar Defect inspection system and absolute positioning system in tunnel-liner；The tunnel
Road surface detecting system completes the detection of tunnel surface using high-speed camera detecting system, and Ground Penetrating Radar is sick in the tunnel-liner
Evil detecting system using Air Coupling Ground Penetrating Radar realize tunnel-liner inside Defect inspection, the high-speed camera detecting system and
The detection speed of Air Coupling Ground Penetrating Radar is not less than 120km/h, and the absolute positioning system uses GPS and Doppler radar knot
The mode of conjunction realizes the positioning of test position.
4. the tunnel defect according to claim 1 based on mixing electric transmission detects vehicle, it is characterised in that：The power and
Auxiliary system (9) includes diesel engine, generator, traction electric machine, cooling system, gas handling system and exhaust system, the heat dissipation system
System, gas handling system and exhaust system are connect with diesel engine, and the diesel engine is formed after being connected using connection shell with generator and sent out
Motor group and generator and battery system (6) are connect by power cord with control system with traction electric machine, and pass through control
System control battery system (6) and generating set realize the switching of the inside and outside detection vehicle drive form in tunnel, institute after mutually switching
It states after control system individually or simultaneously works according to operation or working condition two sets of power of control and auxiliary system (9) and realizes detection
The switching of vehicle traction mode.
5. the tunnel defect according to claim 1 based on mixing electric transmission detects vehicle, it is characterised in that：The drivers' cab
(2) and at the top of rear drivers' cab (3) braking resistor (10), and braking resistor (10) and the air set on vehicle frame (1) bottom are equipped with
System (11) is connect with the control system in preceding drivers' cab (2) and rear drivers' cab (3), and is realized after being controlled by control system
Detect the braking of vehicle vehicle.
6. the tunnel defect based on mixing electric transmission according to claims 1 or 2 or 3 or 4 or 5 detects vehicle, feature exists
In：Accumulator in the battery system (6) is using the accumulator in independent removable bicycle shed sealing cover and battery system (6)
It carries out providing power after straight-A.C. current converts for detection vehicle vehicle by traction converter plant.
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| CN201810631514.5A CN108583597A (en) | 2018-06-19 | 2018-06-19 | Tunnel defect based on mixing electric transmission detects vehicle |
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Cited By (6)
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| CN109278770A (en) * | 2018-10-22 | 2019-01-29 | 宝鸡中车时代工程机械有限公司 | The contact net upkeep operation vehicle of internal combustion alternating current drive suitable for long steep grade |
| CN109927610A (en) * | 2019-03-26 | 2019-06-25 | 中国铁建重工集团有限公司 | Existing Railway Line tunnel defect synthetic detection vehicle |
| CN110203215A (en) * | 2019-07-08 | 2019-09-06 | 宝鸡中车时代工程机械有限公司 | Hybrid power transmission system and rail engineering automobile based on electric transmission |
| CN112196577A (en) * | 2020-07-21 | 2021-01-08 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Dual-power-driven intelligent tunnel maintenance train |
| CN113733829A (en) * | 2021-07-20 | 2021-12-03 | 山东大学 | Amphibious robot system and method for detecting surface and internal diseases of linear embankment |
| CN113928349A (en) * | 2021-11-17 | 2022-01-14 | 宝鸡中车时代工程机械有限公司 | Railway bridge detection vehicle |
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