CN109987116B - High-temperature superconductive magnetic levitation track inspection vehicle - Google Patents
High-temperature superconductive magnetic levitation track inspection vehicle Download PDFInfo
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- CN109987116B CN109987116B CN201910296312.4A CN201910296312A CN109987116B CN 109987116 B CN109987116 B CN 109987116B CN 201910296312 A CN201910296312 A CN 201910296312A CN 109987116 B CN109987116 B CN 109987116B
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- vehicle body
- permanent magnet
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- magnetic levitation
- vehicle
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
- 238000005339 levitation Methods 0.000 title claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000004907 flux Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007430 reference method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
The invention relates to a high-temperature superconductive magnetic levitation railway inspection vehicle, which comprises: the device comprises a vehicle body, wheels, a clamping device, an inertial navigation system, a laser displacement sensor and a Hall sensor, wherein the wheels are positioned at the bottom of the vehicle body, and a pedometer is fixedly arranged on the wheels; the clamping devices are positioned at two sides of the bottom of the vehicle body and clamped with two sides of the permanent magnet track, and are used for limiting the vehicle body from deviating from the track and providing steering force parallel to the plane of the permanent magnet track for the rail inspection vehicle; the inertial navigation system is fixedly arranged on the vehicle body and is used for detecting the position of a reference point on the vehicle body relative to the earth coordinate; the laser displacement sensor is fixedly arranged on the vehicle body and is used for detecting the distance between the permanent magnet track plane and a reference point on the vehicle body; the Hall sensor is used for detecting the magnetic flux density at a certain height of the permanent magnet track. The rail inspection vehicle can detect the geometric smoothness and the magnetic field uniformity of the rail at the same time, and breaks the current situation that a permanent magnet rail detection scheme selected for a high-temperature superconducting magnetic levitation system does not exist.
Description
Technical Field
The invention relates to the technical field of high-temperature superconductive magnetic levitation transportation, in particular to a high-temperature superconductive magnetic levitation railway inspection vehicle.
Background
The current track detection technology comprises a chord measurement method, a total station detection method, an inertial reference method and the like, is mainly used for measuring the smoothness and the disease condition of the steel rail, and can only be used for detecting the geometric smoothness of the track, and the essence of the technology is a geometric state detector. The high-temperature superconducting magnetic levitation vehicle adopts a permanent magnetic track, so that not only geometric irregularity needs to be detected, but also whether a magnetic field is uniform or not needs to be detected; in addition, the existing rail inspection scheme can only detect the surface irregularity, and the high-temperature superconducting magnetic levitation structure has the characteristic of surface bearing and needs to consider the surface irregularity at the same time.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a high-temperature superconductive magnetic levitation railway inspection vehicle capable of simultaneously detecting the geometric smoothness and the magnetic field uniformity of a railway.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a high temperature superconducting magnetic levitation railway inspection vehicle comprising: the device comprises a vehicle body, wheels, a clamping device, an inertial navigation system, a laser displacement sensor and a Hall sensor,
the wheels are positioned at the bottom of the vehicle body, and a pedometer is fixedly arranged on the wheels;
the clamping devices are positioned at two sides of the bottom of the vehicle body and clamped with two sides of the permanent magnet track, and are used for limiting the vehicle body from deviating from the track and providing steering force parallel to the plane of the permanent magnet track for the rail inspection vehicle;
the inertial navigation system is fixedly arranged on the vehicle body and is used for detecting the position of a reference point on the vehicle body relative to the earth coordinate;
the laser displacement sensor is fixedly arranged on the vehicle body and is used for detecting the distance between the permanent magnet track plane and a reference point on the vehicle body;
the Hall sensor is fixedly arranged on the car body and used for detecting the magnetic flux density at a certain height of the permanent magnet track.
Further, the rail inspection vehicle further comprises a lifting table, the lifting table comprises a bottom plate, a top plate and an adjusting device used for adjusting the vertical height between the bottom plate and the top plate, the upper surface of the top plate is fixedly connected to the bottom of the vehicle body, and the lower surface of the bottom plate is fixedly connected with the Hall sensor.
Further, a transverse elastic mechanism is arranged in the clamping device.
Further, the vehicle body comprises a transverse plate and a longitudinal plate, one end of the transverse plate is fixedly connected with the middle point of the longitudinal plate, and the transverse plate and the longitudinal plate form a T-shaped structure together.
Further, the clamping devices are respectively arranged at the bottoms of the two ends of the longitudinal plate and the bottom of one end, far away from the longitudinal plate, of the transverse plate.
Further, a wheel is arranged below the left end, the right end and the middle part of the longitudinal plate, and a wheel is arranged at one end of the transverse plate far away from the longitudinal plate.
Further, a driving motor is fixedly arranged on the vehicle body and is in transmission connection with the wheel below the middle part of the longitudinal plate.
Further, the inertial navigation system is fixedly arranged on the upper surface of the vehicle body, and the laser displacement sensor is fixedly arranged on the lower surface of the vehicle body and is free from obstruction with the permanent magnet track.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the inertial navigation system, the laser displacement sensor and the Hall sensor are arranged on the track inspection vehicle, so that the geometric smoothness and the magnetic field uniformity of the track can be detected simultaneously, and the current situation that a permanent magnet track detection scheme is not selected for the high-temperature superconductive magnetic levitation system is broken.
Drawings
FIG. 1 is a schematic diagram of a high temperature superconducting magnetic levitation train according to an embodiment of the present invention.
In the figure:
1-car body, 2-wheel, 3-clamping device, 4-inertial navigation system, 5-hall sensor, 6-laser displacement sensor, 7-elevating platform, 8-driving motor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment relates to a high-temperature superconductive magnetic levitation railway inspection vehicle, which comprises: the vehicle body 1, the wheels 2, the clamping device 3, the inertial navigation system 4, the laser displacement sensor 6 and the Hall sensor 5,
the wheel 2 is positioned at the bottom of the vehicle body 1, and a pedometer is fixedly arranged on the wheel 2;
the clamping devices 3 are positioned at two sides of the bottom of the vehicle body 1 and clamped with two sides of the permanent magnet track, and are used for limiting the vehicle body 1 from deviating from the track and providing steering force parallel to the plane of the permanent magnet track for the rail inspection vehicle;
the inertial navigation system 4 is fixedly arranged on the vehicle body 1 and is used for detecting the position of a reference point on the vehicle body 1 relative to the earth coordinates;
the laser displacement sensor 6 is fixedly arranged on the vehicle body 1 and is used for detecting the distance between the permanent magnet track plane and a reference point on the vehicle body 1;
the Hall sensor 5 is fixedly arranged on the car body 1 and is used for detecting the magnetic flux density at a certain height of the permanent magnet track.
In the technical solution of this embodiment, the inertial navigation system 4 is configured to detect a position of a reference point on the vehicle body relative to the earth coordinate, the laser displacement sensor 6 is configured to detect a distance between a target plane (a permanent magnet track plane) and the reference point on the vehicle body, and superimpose the distance between the target plane and the reference point with the position of the reference point relative to the earth coordinate, so as to obtain an absolute value of irregularity of the target plane relative to the earth coordinate; by arranging the Hall sensor 5, the magnetic field nonuniformity at a certain height above the permanent magnet track is detected. Preferably, in the present technical solution, the inertial navigation system 4, the laser displacement sensor 6, the hall sensor 5 and the pedometer are all connected with the data processing module through the interface control unit, and the data processing module can acquire corresponding data of the inertial navigation system 4, the laser displacement sensor 6, the hall sensor 5 and the pedometer in real time, and process the corresponding data to obtain a numerical value of track irregularity under the earth coordinate system and a numerical value of magnetic flux density unevenness at a certain height of the permanent magnet track.
In addition, in a specific embodiment of the present invention, the rail inspection vehicle further includes a lifting platform 7, the lifting platform 7 includes a bottom plate, a top plate, and an adjusting device for adjusting a vertical height between the bottom plate and the top plate, an upper surface of the top plate is fixedly connected to a bottom of the vehicle body 1, and a lower surface of the bottom plate is fixedly connected to the hall sensor 5.
In this embodiment, the hall sensor 5 is connected with the bottom of the rail inspection vehicle through the lifting table 7, and the relative height between the bottom plate and the top plate of the lifting table 7 is adjusted through the adjusting device, so that the distance between the hall sensor 5 and the surface of the permanent magnet track can be changed, and the magnetic field condition of any height position above the track can be measured. Preferably, the laser displacement sensor 6 is also fixedly connected with the bottom surface of the bottom plate of the lifting platform 7.
In addition, in a preferred embodiment of the present invention, in order to enable the rail inspection vehicle to work normally on a rail having a certain track gauge deviation, a transverse elastic mechanism is provided in the clamping device 3.
In addition, in a preferred embodiment of the present invention, the vehicle body 1 includes a transverse plate and a longitudinal plate, one end of the transverse plate is fixedly connected to a midpoint of the longitudinal plate, and the transverse plate and the longitudinal plate together form a T-shaped structure.
In addition, in a specific embodiment of the present invention, the total of three clamping devices 3 are respectively disposed at the bottoms of the two ends of the vertical plate and the bottom of the end of the transverse plate away from the vertical plate.
In addition, in one embodiment of the present invention, a wheel 2 is preferably disposed below each of the left and right ends and the middle of the longitudinal plate, and a wheel 2 is disposed at the end of the transverse plate remote from the longitudinal plate.
In addition, in a preferred embodiment of the present invention, a driving motor 8 is fixedly mounted on the vehicle body 1, and the driving motor 8 is in transmission connection with the wheel 2 below the middle part of the vertical plate. Preferably, the driving motor 8 is powered by an on-board dc power supply (battery).
The embodiment utilizes the single wheel drive of the vehicle to be matched with the clamping devices 3 on the two sides, thereby greatly simplifying the structure of the rail inspection vehicle while meeting the movement performance of the vehicle on the rail.
In addition, in a specific embodiment of the present invention, the inertial navigation system 4 is fixedly mounted on the upper surface of the vehicle body 1, and the laser displacement sensor 6 is fixedly mounted on the lower surface of the vehicle body 1 without obstruction from the permanent magnet track.
The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this invention will occur to those skilled in the art, and are intended to be within the spirit and scope of the invention.
Claims (8)
1. A high temperature superconducting magnetic levitation railway inspection vehicle, comprising: the device comprises a vehicle body, wheels, a clamping device, an inertial navigation system, a laser displacement sensor and a Hall sensor,
the wheels are positioned at the bottom of the vehicle body, and a pedometer is fixedly arranged on the wheels;
the clamping devices are positioned at two sides of the bottom of the vehicle body and clamped with two sides of the permanent magnet track, and are used for limiting the vehicle body from deviating from the track and providing steering force parallel to the plane of the permanent magnet track for the rail inspection vehicle;
the inertial navigation system is fixedly arranged on the vehicle body and is used for detecting the position of a reference point on the vehicle body relative to the earth coordinate;
the laser displacement sensor is fixedly arranged on the vehicle body and is used for detecting the distance between the permanent magnet track plane and a reference point on the vehicle body, and superposing the distance between the target plane and the reference point and the position between the reference point and the earth coordinate so as to obtain the unsmooth absolute value of the target plane relative to the earth coordinate;
the Hall sensor is fixedly arranged on the car body and used for detecting the magnetic flux density at a certain height of the permanent magnet track.
2. The high temperature superconducting magnetic levitation track inspection vehicle according to claim 1, further comprising a lifting platform, wherein the lifting platform comprises a bottom plate, a top plate and an adjusting device for adjusting the vertical height between the bottom plate and the top plate, the upper surface of the top plate is fixedly connected to the bottom of the vehicle body, and the lower surface of the bottom plate is fixedly connected with the hall sensor.
3. A high temperature superconducting magnetic levitation railway inspection vehicle according to claim 1, wherein the clamping device is provided with a transverse elastic mechanism.
4. The high temperature superconducting magnetic levitation railway inspection vehicle of claim 1, wherein the vehicle body comprises a transverse plate and a longitudinal plate, one end of the transverse plate is fixedly connected with the midpoint of the longitudinal plate, and the transverse plate and the longitudinal plate together form a T-shaped structure.
5. The high temperature superconducting magnetic levitation railway inspection vehicle of claim 4, wherein the three clamping devices are respectively arranged at the bottoms of two ends of the longitudinal plate and the bottom of one end of the transverse plate far away from the longitudinal plate.
6. The high temperature superconducting magnetic levitation railway inspection vehicle of claim 4, wherein a wheel is disposed below each of the left and right ends and the middle of the longitudinal plate, and a wheel is disposed at an end of the transverse plate remote from the longitudinal plate.
7. The high temperature superconducting magnetic levitation railway inspection vehicle of claim 6, wherein the vehicle body is fixedly provided with a driving motor, and the driving motor is in transmission connection with wheels below the middle part of the longitudinal plate.
8. The high temperature superconducting magnetic levitation railway inspection vehicle of claim 1, wherein the inertial navigation system is fixedly mounted on the upper surface of the vehicle body, and the laser displacement sensor is fixedly mounted on the lower surface of the vehicle body without obstruction between the laser displacement sensor and the permanent magnet track.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910296312.4A CN109987116B (en) | 2019-04-13 | 2019-04-13 | High-temperature superconductive magnetic levitation track inspection vehicle |
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| CN201910296312.4A CN109987116B (en) | 2019-04-13 | 2019-04-13 | High-temperature superconductive magnetic levitation track inspection vehicle |
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| CN109987116A CN109987116A (en) | 2019-07-09 |
| CN109987116B true CN109987116B (en) | 2024-04-02 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016932B (en) * | 2019-12-02 | 2021-02-12 | 江西理工大学 | Track inspection vehicle and detection method of energy-saving air rail system |
| CN116552598B (en) * | 2023-07-10 | 2023-11-07 | 西南交通大学 | A permanent magnet track irregularity detection device and method |
| CN117719554B (en) * | 2024-02-18 | 2024-04-26 | 成都磁速科技有限公司 | High-temperature superconductive magnetic levitation track inspection early warning system |
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