CN107089246A - One kind is without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system and detection method - Google Patents
One kind is without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system and detection method Download PDFInfo
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- CN107089246A CN107089246A CN201710391821.6A CN201710391821A CN107089246A CN 107089246 A CN107089246 A CN 107089246A CN 201710391821 A CN201710391821 A CN 201710391821A CN 107089246 A CN107089246 A CN 107089246A
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- 238000001514 detection method Methods 0.000 title claims abstract description 100
- 239000012634 fragment Substances 0.000 title claims abstract description 33
- 239000003245 coal Substances 0.000 title claims abstract description 27
- 239000004575 stone Substances 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 5
- 239000000523 sample Substances 0.000 claims description 64
- 230000007246 mechanism Effects 0.000 claims description 45
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000001934 delay Effects 0.000 claims description 3
- 239000011800 void material Substances 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000007547 defect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 239000000178 monomer Substances 0.000 description 6
- 230000004927 fusion Effects 0.000 description 4
- 230000003862 health status Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000005336 cracking Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
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- 239000004744 fabric Substances 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/10—Scanning
- G01N2201/102—Video camera
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Abstract
The invention discloses one kind without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system and detection method, belong to trunk deck bottom detection technique field.The system includes tele-control system (1) and robot main body system (2), and information is transmitted by wireless communication mode between tele-control system (1) and robot main body system (2).Robot main body system (2) includes mobile platform system (3), plat-bottom escape detection means (4) and ostensibly detection device (5), and plat-bottom escape detection means (4) and ostensibly detection device (5) are placed on mobile platform system (3).The present invention efficiently, accurately can carry out vacant analysis to trunk deck bottom, instead of by the intensive work manually detected and the inaccuracy of testing result.
Description
Technical field
The present invention relates to one kind without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system and detection method, belong to the inspection of trunk deck bottom
Survey technology field.
Background technology
In the prior art, can only be by being accomplished manually to carrying out detection without tiny fragments of stone, coal, etc. trunk deck bottom, artificial detection is for detection essence
Degree is difficult control, checks that periodicity routine inspection piece/section being required to complexity of the task prepares and artificial detection is faced with every time
Very high working strength, causes testing result inaccurate.
The content of the invention
It is an object of the present invention to provide one kind is without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system and detection method.This
Invention efficiently, accurately can carry out vacant analysis to trunk deck bottom, instead of the intensive work and inspection by manually detecting
Survey the inaccuracy of result.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
It is a kind of to include tele-control system and robot main body system, institute without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system
State between tele-control system and robot main body system and information is transmitted by wireless communication mode.Tele-control system is to machine
Travel path, speed, working condition of human body's system etc. are completely controlled.The robot main body system includes mobile flat
Platform system, plat-bottom escape detection means and ostensibly detection device, the plat-bottom escape detection means and ostensibly detection device are put
In on mobile platform system, mobile platform system carries detection means and track plates bottom is detected, wherein plat-bottom escape is detected
Device detection fragment-free track slab bottom internal flaw, the visual defects at ostensibly detection device detection fragment-free track slab bottom, both data
Fusion draws fragment-free track slab bottom health status by comprehensive analysis.The mobile platform system includes mobile platform main body, driven
Motivation structure and supply unit, the mobile platform main body built-in power device provide power for its movement, the drive mechanism and
Supply unit is electrically connected.
Foregoing plat-bottom escape detection means includes impact echo radar detection device and GPR detection means.Wherein
The impact echo radar detection device includes impact echo probe and the first fixed support, and impact echo probe passes through the
One fixed support is placed in the rear portion of mobile platform main body.Impact echo module distribution in the impact echo probe can have two
The pattern of kind：Monomer is portable and array distributed, i.e., be only disposed with the impact echo probe impact echo module or
Array distribution has multiple impact echo modules in the impact echo probe.Monomer is portable, the only cloth in impact echo probe
Be equipped with an impact echo module, the Single Impact echo module along impact echo pop one's head in transverse axis slide, should during work
Module is moved from one side to another side, and pointwise taps the fragment-free track slab bottom position that it is passed through, detects the good of its internal structure
Good degree.Array distributed, array distribution has multiple impact echo modules, the multiple impact echo mould in impact echo probe
Block is distributed on the transverse axis in impact echo probe, and all modules tap fragment-free track slab bottom simultaneously during work, detect inside it
Well-formed's degree.
Foregoing GPR detection means includes GPR probe and the second fixed support, the GPR probe
The front portion of mobile platform main body is placed in by the second fixed support.Mobile platform main body carries GPR detection means to without the tiny fragments of stone, coal, etc.
Track plates bottom internal flaw is detected.Multiple rows of fixing hole, second fixed support are offered on second fixed support
It is placed in through fixing hole in mobile platform main body, GPR can be realized by mobile fixing hole hole position on rear side of the second fixed support
The adjustment for height of popping one's head in.Wherein GPR probe is in higher position from the ground in inoperative, when needing to be detected,
Liftoff nearer distance and position is dropped to by the second fixed support, when this kind of mode ensure that the transport of GPR detection means
Convenience and accuracy during detection, so as to realize the first successive step for height of being popped one's head in GPR.
Foregoing GPR detection means also includes radar probe height regulating mechanism, and the radar probe is highly adjusted
Mechanism includes Embedded in Radar motor and roller screw, and the GPR probe is placed in roller screw top.When the second fixation branch
After frame is fixed with mobile platform main body, roller screw is driven to rotate by the Embedded in Radar motor, so as to realize GPR
The degree of precision elevating control of probe.
Foregoing mobile platform system also includes keep in obscurity radar, warning lamp and GPS module.The radar at least two that keeps in obscurity
It is individual, be respectively placed in front end, the rear end of the mobile platform main body, mobile platform system advance or fallback procedures in, can be with
The barrier occurred on identification track.The warning lamp and GPS module are located at the mobile platform body top, the warning
Lamp vehicle break down etc. in emergency circumstances, signal an alert.The GPS module positions mobile platform main body position in real time
Put, and calculate by special algorithm the exact position of non-fragment orbit defect.The common cooperative work of each part of mobile platform system,
Ensure the smooth and controllability of mobile platform main body moving process.
Foregoing drive mechanism includes motor, front driving wheel group, rear drive sprocket group and driving chain, the driving chain set
It is located at outside front driving wheel group and rear drive sprocket group.Mobile platform system uses the wheel hub communicated with engine, can be in railway
Run on track, be wheel hub motor wheel using " double rear wheel drive --- to formula Chain conveyer " pattern, i.e. rear drive sprocket group, motor drives
Drive front driving wheel group to rotate by driving chain after dynamic rear drive sprocket group, realize the motion of mobile platform in orbit.
Foregoing mobile platform system also includes full-view camera and the first telescoping mechanism, and the full-view camera passes through the
One telescoping mechanism is installed on the mobile platform body top centre position, is easy to Real Time Observation mobile platform body peripheral edge environment
Situation.
Foregoing mobile platform system also includes wide-angle camera, and the mobile platform main body is all around respectively provided with one
Individual wide-angle camera, further looks at mobile platform body peripheral edge ambient conditions, and be uploaded to tele-control system.
Foregoing ostensibly detection device includes high definition camera and the second telescoping mechanism, and the high definition camera is flexible by second
Mechanism is placed at the top of mobile platform body front end, is examined by high definition camera cracking apparent to fragment-free track slab bottom, pit-hole etc.
Survey, and be uploaded to tele-control system.Wherein described second telescoping mechanism includes straight line cylinder and connecting rod, the straight line cylinder peace
Loaded in mobile platform main body, the connecting rod is hinged with the straight line cylinder.
One kind is without tiny fragments of stone, coal, etc. trunk deck bottom Method of Void, using foregoing without tiny fragments of stone, coal, etc. trunk deck bottom system of vacant analysis robot
System, comprises the following steps：
S1：Tele-control system control machine human body's system is moved to the position that non-fragment orbit is specified, i.e., to be checked
Survey section starting point；
S2：Determine the key node on section to be detected, setting section；
S3：The plat-bottom escape detection means and ostensibly detection device by the fragment-free track slab bottom information collected send to
Tele-control system carries out real-time monitoring analysis or delays analysis.
Compared with prior art, the present invention is advantageous in that：Detection is carried by the mobile platform of orbiting
Device, vacant analysis and ostensibly detection is carried out to trunk deck bottom, the tele-control system that system is equipped with can be at a distance to machine
The conduct of human body's system, speed, working condition etc. are controlled, and the present invention efficiently, accurately can be taken off to trunk deck bottom
Sky detection, instead of by the intensive work manually detected and the inaccuracy of testing result.
Brief description of the drawings
Fig. 1 is the annexation schematic diagram of the present invention；
Fig. 2 is the signal transmission schematic diagram of the present invention；
Fig. 3 is the structural representation of the present invention；
Fig. 4 is the part-structure schematic diagram of the present invention；
Fig. 5 is the structural representation of drive mechanism in the present invention；
Fig. 6 is the structural representation for being only disposed with an impact echo module in the present invention in impact echo probe；
Fig. 7 is the structural representation of the multiple impact echo modules of the interior array distribution of impact echo probe in the present invention；
Fig. 8 is that GPR probe fixes schematic diagram through fixed support in the present invention；
Fig. 9 is GPR detection means lifting contrast schematic diagram in the present invention；
Figure 10 is radar probe height regulating mechanism and fixing rack structure schematic diagram in the present invention；
Figure 11 is ostensibly detection device detects schematic diagram in the present invention.
The implication of reference：1- tele-control systems, 2- robot main body systems, 3- mobile platform systems, 4- plates bottom
Vacant analysis device, 5- ostensibly detection devices, 6- mobile platform main bodys, 7- drive mechanisms, 701- motors, 702- front driving wheels
Group, 703- rear drive sprocket groups, 704- driving chains, 8- supply units, 9- keeps in obscurity radar, 10- warning lamps, 11- wide-angle cameras,
12- full-view cameras, the telescoping mechanisms of 13- first, 14-GPS modules, 15- impact echo radar detection devices, 16- impact echos
Probe, 1601- impact echo modules, 17- GPR detection means, 18- GPRs probe, the fixed supports of 19- second,
1901- fixing holes, 20- high definition cameras, the telescoping mechanisms of 21- second, 2101- straight line cylinders, 2102- connecting rods, 22- first fixes branch
Frame, 23- radar probe height regulating mechanisms, 2301- Embedded in Radar motors, 2302- roller screws.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1：As shown in Fig. 1~Figure 11, one kind is without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system bag
Tele-control system 1 and robot main body system 2 are included, channel radio is passed through between tele-control system 1 and robot main body system 2
News mode transmits information.Specifically, tele-control system 1 is led to therebetween with robot main body system 2 by 4G networks
Letter, as long as that is, with the presence of 4G signals, command range can realize infinity.Tele-control system 1 is to robot main body system 2
Travel path, speed, working condition etc. are completely controlled.Specifically, tele-control system 1 can be by haulage vehicle and monitoring
System is constituted, and monitoring system is built in haulage vehicle, and the operation comfort of tele-control system 1 of this kind of arrangement is strong, and
The transport of vehicle can be carried out detecting.Or tele-control system 1 can also be portable remote control terminal, this kind of arrangement
Highly integrated control end is shown and operational controls, is placed in the higher sealing suitcase of degree of protection, easy to operate and portable.
Robot main body system 2 includes mobile platform system 3, plat-bottom escape detection means 4 and ostensibly detection device 5, plate
Bottom vacant analysis device 4 and ostensibly detection device 5 are placed on mobile platform system 3, and mobile platform system 3 carries detection means
Track plates bottom is detected, wherein the detection fragment-free track slab of plat-bottom escape detection means 4 bottom internal flaw, ostensibly detection device
The visual defects at 5 detection fragment-free track slab bottoms, both data fusions draw fragment-free track slab bottom health status by comprehensive analysis.
Mobile platform system 3 includes mobile platform main body 6, drive mechanism 7 and supply unit 8, the built-in power device of mobile platform main body 6
8 provide power for its movement, and drive mechanism 7 is electrically connected with supply unit 8.Wherein drive mechanism 7 includes motor 701, preceding driving
Wheel group 702, rear drive sprocket group 703 and driving chain 704, driving chain 704 are set in front driving wheel group 702 and rear drive sprocket group
Outside 703.Mobile platform system 3 can be run, using " double rear wheel on the railroad track using the wheel hub communicated with engine
Driving --- to formula Chain conveyer " after pattern, i.e. rear drive sprocket group 703 be wheel hub motor wheel, the driving of motor 701 rear drive sprocket group 703
Drive front driving wheel group 702 to rotate by driving chain 704, realize the motion of mobile platform in orbit.
Mobile platform system 3 also includes keep in obscurity radar 9, warning lamp 10 and GPS module 14.Keep in obscurity radar 9 at least two,
Be respectively placed in front end, the rear end of mobile platform main body 6, mobile platform system 3 advance or fallback procedures in, rail can be recognized
The barrier occurred on road.Warning lamp 10 and GPS module 14 are located at the top of mobile platform main body 6, and warning lamp 10 goes out in vehicle
Show failure etc. in emergency circumstances, signal an alert.GPS module 14 is high-precision difference GPS module, and movement can be positioned in real time
The position of main platform body 6, and calculate by special algorithm the exact position of non-fragment orbit defect.Each part of mobile platform system 3
Common cooperative work, it is ensured that the smooth and controllability of the moving process of mobile platform main body 6.Mobile platform system 3 also includes complete
The telescoping mechanism 13 of scape camera 12 and first, full-view camera 12 is installed on mobile platform main body 6 by the first telescoping mechanism 13
Crown center position, is easy to the local environmental conditions of Real Time Observation mobile platform main body 6, and the first telescoping mechanism 13 is multistage scalable
Mechanism.
Plat-bottom escape detection means 4 includes impact echo radar detection device 15 and GPR detection means 17.Wherein
Impact echo radar detection device 15 includes impact echo probe 16 and first fixed support 22, and impact echo probe 16 passes through the
One fixed support 22 is placed in the rear portion of mobile platform main body 6.The distribution of impact echo module 1601 in impact echo probe 16 can
To there is both of which：Monomer is portable and array distributed, i.e., be only disposed with an impact echo mould in impact echo probe 16
Array distribution has multiple impact echo modules 1601 in block 1601 or impact echo probe 16.Monomer is portable, in impact echo
An impact echo module 1601 is only disposed with probe 16, Single Impact echo module 1601 is along along impact echo probe 16
Transverse axis is slided, and the module is moved from one side to another side during work, and pointwise taps the fragment-free track slab bottom position that it is passed through, and is visited
Survey the wellness of its internal structure.Array distributed, array distribution has multiple impact echo modules in impact echo probe 16
1601, multiple impact echo modules 1601 are distributed on the transverse axis in impact echo probe 16, and all modules are struck simultaneously during work
Fragment-free track slab bottom is hit, its internal structure wellness is detected.
GPR detection means 17 includes GPR probe 18 and the second fixed support 19, and GPR probe 18 leads to
Cross the front portion that the second fixed support 19 is placed in mobile platform main body 6.Mobile platform main body 6 carries 17 pairs of GPR detection means
Fragment-free track slab bottom internal flaw is detected.Multiple rows of fixing hole 1901 is offered on second fixed support 19, second fixes branch
Frame 19 is placed in mobile platform main body 6 through fixing hole 1901, and the rear side of the second fixed support 19 can pass through mobile fixing hole 1901
Hole position realizes the adjustment of GPR 18 height of probe.Specifically, at least three rows of fixing hole 1901, wherein the second fixed support
19 install two row's fixing holes 1901 of needs with mobile platform main body 6, can be flat with first row and second row fixing hole 1901 and movement
Platform main body 6 is fixed, and can also be fixed by second row, the 3rd row's fixing hole 1901 with mobile platform main body 6.Wherein GPR is visited
First 18 in inoperative in higher position from the ground, when needing to be detected, by the second fixed support 19 drop to from
The nearer distance and position in ground, this kind of mode ensure that standard when convenience and the detection when GPR detection means 17 is transported
True property, so as to realize the first successive step for 18 height of being popped one's head in GPR.GPR detection means 17 also includes radar probe
Height regulating mechanism 23, radar probe height regulating mechanism 23 includes Embedded in Radar motor 2301 and roller screw 2302, visits ground
Radar probe 18 is placed in the top of roller screw 2302.After the second fixed support 19 is fixed with mobile platform main body 6, pass through radar
Built-in motor 2301 drives roller screw 2302 to rotate, so as to realize the degree of precision elevating control of GPR probe 18.
In addition, ostensibly detection device 5 includes the telescoping mechanism 21 of high definition camera 20 and second, high definition camera 20 is stretched by second
Contracting mechanism 21 is placed in the front top of mobile platform main body 6.High definition camera 20 can be 3D cameras, area array cameras or line-scan digital camera,
Detected by the cracking apparent to fragment-free track slab bottom of high definition camera 20, pit-hole etc., and be uploaded to tele-control system 1.Its
In the second telescoping mechanism 21 include straight line cylinder 2101 and connecting rod 2102, straight line cylinder 2101 is installed in mobile platform main body 6,
Connecting rod 2102 is hinged with straight line cylinder 2101.
Embodiment 2：It is a kind of to include long-range control without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system as shown in Fig. 1~Figure 11
System 1 processed and robot main body system 2, are passed between tele-control system 1 and robot main body system 2 by wireless communication mode
Defeated information.Specifically, tele-control system 1 is communicated therebetween with robot main body system 2 by 4G networks, as long as that is,
With the presence of 4G signals, command range can realize infinity.Tele-control system 1 to the travel path of robot main body system 2,
Speed, working condition etc. are completely controlled.Specifically, tele-control system 1 can be made up of haulage vehicle and monitoring system,
Monitoring system is built in haulage vehicle, and the operation comfort of tele-control system 1 of this kind of arrangement is strong, and can be examined
The transport of measuring car.Or tele-control system 1 can also be portable remote control terminal, the highly integrated control of this kind of arrangement
End processed is shown and operational controls, is placed in the higher sealing suitcase of degree of protection, easy to operate and portable.
Robot main body system 2 includes mobile platform system 3, plat-bottom escape detection means 4 and ostensibly detection device 5, plate
Bottom vacant analysis device 4 and ostensibly detection device 5 are placed on mobile platform system 3, and mobile platform system 3 carries detection means
Track plates bottom is detected, wherein the detection fragment-free track slab of plat-bottom escape detection means 4 bottom internal flaw, ostensibly detection device
The visual defects at 5 detection fragment-free track slab bottoms, both data fusions draw fragment-free track slab bottom health status by comprehensive analysis.
Mobile platform system 3 includes mobile platform main body 6, drive mechanism 7 and supply unit 8, the built-in power device of mobile platform main body 6
8 provide power for its movement, and drive mechanism 7 is electrically connected with supply unit 8.Wherein drive mechanism 7 includes motor 701, preceding driving
Wheel group 702, rear drive sprocket group 703 and driving chain 704, driving chain 704 are set in front driving wheel group 702 and rear drive sprocket group
Outside 703.Mobile platform system 3 can be run, using " double rear wheel on the railroad track using the wheel hub communicated with engine
Driving --- to formula Chain conveyer " after pattern, i.e. rear drive sprocket group 703 be wheel hub motor wheel, the driving of motor 701 rear drive sprocket group 703
Drive front driving wheel group 702 to rotate by driving chain 704, realize the motion of mobile platform in orbit.
Mobile platform system 3 also includes keep in obscurity radar 9, warning lamp 10 and GPS module 14.Keep in obscurity radar 9 at least two,
Be respectively placed in front end, the rear end of mobile platform main body 6, mobile platform system 3 advance or fallback procedures in, rail can be recognized
The barrier occurred on road.Warning lamp 10 and GPS module 14 are located at the top of mobile platform main body 6, and warning lamp 10 goes out in vehicle
Show failure etc. in emergency circumstances, signal an alert.GPS module 14 is high-precision difference GPS module, and movement can be positioned in real time
The position of main platform body 6, and calculate by special algorithm the exact position of non-fragment orbit defect.Each part of mobile platform system 3
Common cooperative work, it is ensured that the smooth and controllability of the moving process of mobile platform main body 6.Mobile platform system 3 also includes wide
Angle camera 11, the wide-angle camera 11 for being all around respectively provided with one 150 ° of mobile platform main body 6, further looks at movement
The local environmental conditions of main platform body 6, and it is uploaded to tele-control system 1.
Plat-bottom escape detection means 4 includes impact echo radar detection device 15 and GPR detection means 17.Wherein
Impact echo radar detection device 15 includes impact echo probe 16 and first fixed support 22, and impact echo probe 16 passes through the
One fixed support 22 is placed in the rear portion of mobile platform main body 6.The distribution of impact echo module 1601 in impact echo probe 16 can
To there is both of which：Monomer is portable and array distributed, i.e., be only disposed with an impact echo mould in impact echo probe 16
Array distribution has multiple impact echo modules 1601 in block 1601 or impact echo probe 16.Monomer is portable, in impact echo
An impact echo module 1601 is only disposed with probe 16, Single Impact echo module 1601 is along along impact echo probe 16
Transverse axis is slided, and the module is moved from one side to another side during work, and pointwise taps the fragment-free track slab bottom position that it is passed through, and is visited
Survey the wellness of its internal structure.Array distributed, array distribution has multiple impact echo modules in impact echo probe 16
1601, multiple impact echo modules 1601 are distributed on the transverse axis in impact echo probe 16, and all modules are struck simultaneously during work
Fragment-free track slab bottom is hit, its internal structure wellness is detected.
GPR detection means 17 includes GPR probe 18 and the second fixed support 19, and GPR probe 18 leads to
Cross the front portion that the second fixed support 19 is placed in mobile platform main body 6.Mobile platform main body 6 carries 17 pairs of GPR detection means
Fragment-free track slab bottom internal flaw is detected.Multiple rows of fixing hole 1901 is offered on second fixed support 19, second fixes branch
Frame 19 is placed in mobile platform main body 6 through fixing hole 1901, and the rear side of the second fixed support 19 can pass through mobile fixing hole 1901
Hole position realizes the adjustment of GPR 18 height of probe.Specifically, at least three rows of fixing hole 1901, wherein the second fixed support
19 install two row's fixing holes 1901 of needs with mobile platform main body 6, can be flat with first row and second row fixing hole 1901 and movement
Platform main body 6 is fixed, and can also be fixed by second row, the 3rd row's fixing hole 1901 with mobile platform main body 6.Wherein GPR is visited
First 18 in inoperative in higher position from the ground, when needing to be detected, by the second fixed support 19 drop to from
The nearer distance and position in ground, this kind of mode ensure that standard when convenience and the detection when GPR detection means 17 is transported
True property, so as to realize the first successive step for 18 height of being popped one's head in GPR.GPR detection means 17 also includes radar probe
Height regulating mechanism 23, radar probe height regulating mechanism 23 includes Embedded in Radar motor 2301 and roller screw 2302, visits ground
Radar probe 18 is placed in the top of roller screw 2302.After the second fixed support 19 is fixed with mobile platform main body 6, pass through radar
Built-in motor 2301 drives roller screw 2302 to rotate, so as to realize the degree of precision elevating control of GPR probe 18.
In addition, ostensibly detection device 5 includes the telescoping mechanism 21 of high definition camera 20 and second, high definition camera 20 is stretched by second
Contracting mechanism 21 is placed in the front top of mobile platform main body 6.High definition camera 20 can be 3D cameras, area array cameras or line-scan digital camera,
Detected by the cracking apparent to fragment-free track slab bottom of high definition camera 20, pit-hole etc., and be uploaded to tele-control system 1.Its
In the second telescoping mechanism 21 include straight line cylinder 2101 and connecting rod 2102, straight line cylinder 2101 is installed in mobile platform main body 6,
Connecting rod 2102 is hinged with straight line cylinder 2101.
Embodiment 3：It is a kind of to include long-range control without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system as shown in Fig. 1~Figure 11
System 1 processed and robot main body system 2, are passed between tele-control system 1 and robot main body system 2 by wireless communication mode
Defeated information.Tele-control system 1 is completely controlled the travel path of robot main body system 2, speed, working condition etc..
Robot main body system 2 includes mobile platform system 3, plat-bottom escape detection means 4 and ostensibly detection device 5, plat-bottom escape inspection
Survey device 4 and ostensibly detection device 5 is placed on mobile platform system 3, mobile platform system 3 carries detection means to track plates
Detected that wherein plat-bottom escape detection means 4 detects fragment-free track slab bottom internal flaw, the detection nothing of ostensibly detection device 5 in bottom
The visual defects at tiny fragments of stone, coal, etc. track plates bottom, both data fusions draw fragment-free track slab bottom health status by comprehensive analysis.It is mobile flat
Platform system 3 includes mobile platform main body 6, drive mechanism 7 and supply unit 8, and the built-in power device 8 of mobile platform main body 6 is it
Mobile to provide power, drive mechanism 7 is electrically connected with supply unit 8.
Embodiment 4：It is a kind of to use above-mentioned without tiny fragments of stone, coal, etc. iron without tiny fragments of stone, coal, etc. trunk deck bottom Method of Void as shown in Fig. 1~Figure 11
Guidance tape bottom vacant analysis robot system, comprises the following steps：
S1：The control machine human body system 2 of tele-control system 1 is moved to the position that non-fragment orbit is specified, i.e., to be detected
Section starting point；
S2：Determine the key node on section to be detected, setting section；
S3：Plat-bottom escape detection means 4 and ostensibly detection device 5 send the fragment-free track slab bottom information collected to remote
Process control system 1 carries out real-time monitoring analysis or delays analysis.
Claims (10)
1. one kind is without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that including tele-control system (1) and machine
Human body's system (2), is transmitted between the tele-control system (1) and robot main body system (2) by wireless communication mode
Information；The robot main body system (2) includes mobile platform system (3), plat-bottom escape detection means (4) and ostensibly detection dress
Put (5), the plat-bottom escape detection means (4) and ostensibly detection device (5) are placed on mobile platform system (3)；It is described to move
Moving platform system (3) includes mobile platform main body (6), drive mechanism (7) and supply unit (8), the mobile platform main body (6)
Built-in power device (8), the drive mechanism (7) electrically connects with supply unit (8).
2. it is according to claim 1 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the plate bottom takes off
Empty detection means (4) includes impact echo radar detection device (15) and GPR detection means (17)；Wherein described impact
Echo radar detection device (15) includes impact echo probe (16) and the first fixed support (22), the impact echo probe
(16) rear portion of mobile platform main body (6) is placed in by the first fixed support (22)；
An impact echo module (1601), the Single Impact echo module are only disposed with the impact echo probe (16)
(1601) slided along the transverse axis that impact echo is popped one's head in (16)；
It is the multiple to impact back or described impact echo probe (16) interior array distribution has multiple impact echo modules (1601)
Ripple module (1601) is distributed on the transverse axis in impact echo probe (16).
3. it is according to claim 2 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the spy land mine
Include GPR probe (18) and the second fixed support (19) up to detection means (17), the GPR probe (18) passes through
Second fixed support (19) is placed in the front portion of mobile platform main body (6)；Offered on second fixed support (19) multiple rows of solid
Determine hole (1901), second fixed support (19) is placed in mobile platform main body (6) through fixing hole (1901).
4. it is according to claim 3 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the spy land mine
Also include radar probe height regulating mechanism (23) up to detection means (17), the radar probe height regulating mechanism (23) includes
Embedded in Radar motor (2301) and roller screw (2302), the GPR probe (18) are placed on roller screw (2302)
Portion, the Embedded in Radar motor (2301) drives roller screw (2302) to rotate.
5. it is according to claim 4 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the movement is put down
Platform system (3) also includes keep in obscurity radar (9), warning lamp (10) and GPS module (14)；The radar that keeps in obscurity (9) at least two,
Front end, the rear end of the mobile platform main body (6) are respectively placed in, the warning lamp (10) and GPS module (14) are located at described
At the top of mobile platform main body (6).
6. it is according to claim 5 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the driving machine
Structure (7) includes motor (701), front driving wheel group (702), rear drive sprocket group (703) and driving chain (704), the driving-chain
Bar (704) is set in front driving wheel group (702) and rear drive sprocket group (703) is outside, wherein being driven after the motor (701) driving
Wheel group (703), the rear drive sprocket group (703) drives front driving wheel group (702) to rotate by driving chain (704).
7. it is according to claim 6 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the movement is put down
Platform system (3) also includes full-view camera (12) and the first telescoping mechanism (13), and the full-view camera (12) is stretched by first
Contracting mechanism (13) is installed on mobile platform main body (6) the crown center position.
8. it is according to claim 6 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the movement is put down
Platform system (3) also includes wide-angle camera (11), and the mobile platform main body (6) is all around respectively provided with a wide-angle imaging
Head (11).
9. according to claim 7 or 8 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis robot system, it is characterised in that the table
Seeing detection means (5) includes high definition camera (20) and the second telescoping mechanism (21), and the high definition camera (20) is flexible by second
Mechanism (21) is placed in mobile platform main body (6) front top.
10. a kind of without tiny fragments of stone, coal, etc. trunk deck bottom Method of Void, using described in claim 9 without tiny fragments of stone, coal, etc. trunk deck bottom vacant analysis machine
Device people's system, it is characterised in that
S1, tele-control system (1) the control machine human body system (2) is moved to the position that non-fragment orbit is specified, that is, treats
Detect section starting point；
S2, determines the key node on section to be detected, setting section；
S3, the plat-bottom escape detection means (4) and ostensibly detection device (5) send the fragment-free track slab bottom information collected
Real-time monitoring analysis is carried out to tele-control system (1) or delays analysis.
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