CN113804764A - Single-wheel self-balancing track ultrasonic detection equipment - Google Patents
Single-wheel self-balancing track ultrasonic detection equipment Download PDFInfo
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- 239000004575 stone Substances 0.000 claims description 5
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses single-wheel self-balancing track ultrasonic detection equipment which comprises a wheel carrier, a detection wheel, a controller, a communication module, a control terminal, a direction inertia wheel set, two laser sensing devices, two obstacle avoidance modules, a first driving device and a second driving device, wherein the first driving device can drive the detection wheel to move, and the second driving device can drive the direction inertia wheel set to rotate; the wheel carrier is provided with a rotatable wheel shaft, and the probe wheel is arranged on the wheel shaft; the wheel shaft is in transmission connection with the power output end of the first driving device; two laser sensing device are used for real-time detection track rail profile and acquire the rail information of probe wheel below, and two obstacle avoidance modules are used for detecting whether the probe wheel meets the barrier in the certain extent of walking direction, and direction inertia wheelset is used for controlling the balanced gesture of probe wheel in walking direction. The invention has the self-balance control capability, can automatically walk, occupies small space, greatly reduces the whole weight, is convenient to carry and improves the detection reliability and the detection efficiency.
Description
Technical Field
The invention relates to the technical field of ultrasonic nondestructive testing, in particular to single-wheel self-balancing track ultrasonic testing equipment.
Background
In order to ensure the safe operation of the locomotive, the railway system needs to detect the flaw of the steel rail frequently to detect the fatigue defect and welding defect in the range of the head and web of the steel rail (including the vicinity of the joint), and the damage conditions of rail bottom corrosion, crescent falling block, head crushing and the like, so as to take remedial measures in time and prevent the damage in the bud.
The existing ultrasonic flaw detection vehicle for the steel rail generally comprises a vehicle frame, a front axle, a rear axle, two driving rail traveling wheels and two driven rail traveling wheels, wherein the front axle is detachably mounted at the front end of the vehicle frame, the two driving rail traveling wheels are respectively arranged at the two ends of the front axle, the rear axle is detachably mounted at the rear end of the vehicle frame, and the two driven rail traveling wheels are respectively arranged at the two ends of the rear axle. However, the rail ultrasonic flaw detection vehicle with the double-wheel structure has the defects of excessively long vehicle body, very large occupied space, excessively heavy overall weight, quite inconvenient carrying, low detection reliability and low detection efficiency, and brings much inconvenience for detection.
Disclosure of Invention
The invention aims to provide single-wheel self-balancing track ultrasonic detection equipment which has self-balancing control capability, can automatically walk, occupies small space, greatly reduces the whole weight, is convenient to carry and improves the detection reliability and the detection efficiency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a single round self-balancing track ultrasonic testing equipment which characterized in that: the device comprises a wheel carrier, a detection wheel, a controller, a communication module, a control terminal, a direction inertia wheel set, two laser sensing devices, two obstacle avoidance modules, a first driving device capable of driving the detection wheel to walk and a second driving device capable of driving the direction inertia wheel set to rotate; the wheel carrier is provided with a rotatable wheel shaft, and the probe wheel is arranged on the wheel shaft; the controller, the communication module, the direction inertia wheel set, the first driving device, the second driving device, the two laser sensing devices and the two obstacle avoidance modules are all arranged on the wheel carrier; the wheel shaft is in transmission connection with the power output end of the first driving device; the direction inertia wheel set is in transmission connection with the power output end of the second driving device and is positioned above the detection wheel; the two laser sensing devices are respectively positioned on the front side and the rear side of the detection wheel, and the two obstacle avoidance modules are respectively positioned on the front side and the rear side of the detection wheel; the signal output ends of the two laser sensing devices, the signal output ends of the two obstacle avoidance modules, the signal output end of the probe wheel and the signal output end of the direction inertia wheel set are respectively and electrically connected with the corresponding signal input ends of the controller, and the signal input end of the first driving device and the signal input end of the second driving device are electrically connected with the corresponding signal output ends of the controller; the controller is wirelessly connected with a background control terminal through a communication module; two laser sensing device are used for real-time detection track rail profile and acquire the rail information of probe wheel below, and two obstacle avoidance modules are used for detecting whether the probe wheel meets the barrier in the certain extent of walking direction, and direction inertia wheelset is used for controlling the balanced gesture of probe wheel in walking direction.
The foregoing front and back definitions are: along the walking direction of the detection wheel, one side of the detection wheel walking forwards is front, and the other side of the detection wheel walking forwards is back.
Generally, the first driving device and the second driving device are driving motors.
The detection wheel detects the outline of a rail of a track in real time through two laser sensing devices to obtain the information of the rail below the detection wheel, and the signal acquisition and the processing are carried out to obtain a posture signal; then the controller feeds back the received attitude signal to a second driving device, and a counter moment vertical to the plane of the wheel shaft is formed by the second driving device to drive a direction inertia wheel set so as to control the balance attitude of the probe wheel in the walking direction; the controller sends the acquired control instruction to a background control terminal through a communication module, and the control terminal automatically installs the running track after acquiring the running track of the probe wheel; secondly, detecting the situation of obstacles in a certain range of the advancing direction in real time by utilizing two obstacle avoidance modules on the front side and the rear side of the probe wheel, sending a motion instruction to a controller by a control terminal through a communication module, outputting a control signal to a first driving device after the controller receives the instruction, and driving the probe wheel to rotate according to a running track by the first driving device to realize the advancing and retreating motion of the probe wheel; finally, the detection wheel covers the detection area of the rail steel rail through walking, the controller collects detection signals of the detection wheel, and detected data are transmitted to a control terminal of a background through the communication module, so that the ultrasonic detection function is realized.
The direction inertia wheel set is driven to rotate by the second driving device, the second driving device can form counter moment vertical to the plane of the wheel shaft, and then restoring force opposite to the gravity component is generated, so that the detection wheel can be restored to a balanced state when the restoring force is larger than the gravity component. The single-wheel self-balancing track ultrasonic detection equipment realizes forward and backward movement of a single detection wheel through forward and reverse rotation of the first driving device, and rotation of the direction inertia wheel set maintains self-balancing of the whole ultrasonic detection equipment, so that the whole ultrasonic detection equipment has self-balancing control capability, can walk independently, occupies small space, greatly lightens the whole weight, is convenient to carry, and improves detection reliability and detection efficiency.
As a preferable scheme of the present invention, the directional inertia wheel set includes a middle steering inertia wheel, a front-back inertia wheel and two left-right inertia wheels, the middle steering inertia wheel is installed at a central position of the top of the wheel carrier, the front-back inertia wheel is installed on the wheel carrier, the two left-right inertia wheels are respectively installed at the front side and the rear side of the top of the wheel carrier, the middle steering inertia wheel is located between the two left-right inertia wheels, and the middle steering inertia wheel, the front-back inertia wheel and the two left-right inertia wheels are all in transmission connection with the power output end of the second driving device. The controller collects signals from the laser sensing device and processes the signals into attitude signals, and inertia wheels in all directions are controlled through a high-speed PID algorithm. The middle steering inertia wheel is used for controlling the whole ultrasonic detection equipment to run along the track direction and adjusting the steering angle of the whole ultrasonic detection equipment during advancing or retreating. The two left-right inertia wheels are used for controlling the balance posture of the whole ultrasonic detection equipment in the left-right direction and adjusting the left-leaning angle or the right-leaning angle of the whole ultrasonic detection equipment; the front-back inertia wheel is used for controlling the balance posture of the whole ultrasonic detection equipment in the front-back direction and adjusting the pitch angle of the whole ultrasonic detection equipment in the front-back direction. When the probe wheel travels on the steel rail obliquely upwards to generate an inclination angle, the controller controls the corresponding inertia wheel to rotate at an accelerated speed within a certain time to generate impulse by adjusting the rotating speed and the steering direction of the second driving device, so that a reaction force is formed to overcome the rollover moment of the probe wheel and return the probe wheel to a balance position, and the corresponding inertia wheel can also be controlled to decelerate in the rotating process to balance the rollover moment by utilizing the impulse of the inertia wheel, so that the probe wheel keeps balance.
As a preferred scheme of the present invention, the laser sensing device includes a laser bracket, a laser sensor a, a laser sensor B, a laser sensor C, and a laser sensor D, the laser bracket is mounted on the wheel carrier, the laser sensor a and the laser sensor B are both mounted above the laser bracket, and the laser sensor a is located at the front side of the laser sensor B; laser sensor C and laser sensor D all install the below at laser support to laser sensor C is in laser sensor D's front side. The laser sensors can detect the outline of the rail in real time, and the outline information of the rail is subjected to digital processing, so that the background control terminal can obtain the rail information of the lower part of the front side and the rear side of the probe wheel. The laser sensors A, B, C and D all adopt laser profile sensors, the laser profile sensors are used for emitting laser beams, the laser beams emitted by the laser profile sensors are amplified to form a laser line to be projected onto the surface of a measured object by utilizing a laser triangular reflection principle, reflected light penetrates through a high-quality optical system and is projected onto an imaging matrix, the distance (Z axis) from the sensors to the measured surface and the position information (X axis) along the laser line are obtained through calculation, and a group of three-dimensional measurement values are obtained. Therefore, by comparing the signals of the laser sensor AC and the laser sensor BD, the inclination angle information of the probe wheel can be obtained; the pitch angle information of the probe wheel can be obtained by comparing the signals of the laser sensor AB and the laser sensor CD; by comparing the signals of the laser sensor A and the laser sensor C on the front side of the probe wheel (in the advancing direction of the probe wheel), the deflection angle of the advancing direction of the probe wheel can be obtained.
As a preferred scheme of the present invention, the communication module is an antenna using a 5G network.
As a preferred scheme of the present invention, the obstacle avoidance module is an obstacle avoidance radar. The obstacle avoidance radar can detect the obstacle condition in a certain range of the advancing direction in real time at a high frequency in the operation process.
As a preferable scheme of the invention, the probe wheel is provided with a plurality of probe cores, and each probe core is uniformly arranged on the wheel surface of the probe wheel. Each probe core is uniformly arranged on the wheel surface of the probe wheel, so that each probe core can cover detection areas such as a rail head, a rail waist and a rail bottom on the steel rail at different angles, and the steel rail is subjected to comprehensive ultrasonic detection.
As a preferable scheme of the invention, a gyro sensor is arranged on a wheel shaft of the wheel carrier, and a signal output end of the gyro sensor is electrically connected with a corresponding signal input end of the controller. A gyro sensor is arranged on a wheel shaft of the wheel frame and used for detecting the inclination condition of the wheel frame. The controller controls the forward/reverse rotation direction of the power output end of the driving device according to the detected inclination direction of the gyro sensor, so that the wheel carrier moves towards the inclination direction.
As the preferred scheme of the invention, the lower end of the wheel carrier is provided with two limiting clamping jaws which can be clamped. The section of the steel rail is I-shaped, and the limiting clamping jaw at the lower end of the wheel frame can be clamped and installed on the steel rail, so that the whole ultrasonic detection equipment can firmly walk on the steel rail.
As a preferred scheme of the invention, the stone spraying and sweeping device comprises two water tanks, two liquid conveying pipes and two spray heads, coupling liquid is filled in the two water tanks, the two water tanks and the two spray heads are respectively and oppositely arranged on the wheel carrier, liquid outlets of the two water tanks are connected with liquid inlet ends of the corresponding spray heads through the corresponding liquid conveying pipes, and liquid outlets of the two spray heads respectively face the lower part of the probe wheel. During the use, the liquid outlet of two shower nozzles is aimed at the below of visiting the wheel, opens the shower nozzle, carries the shower nozzle through corresponding transfer line with the coupling liquid in the water tank, utilizes the shower nozzle to spray the coupling liquid on the rail surface of visiting the wheel below, makes inside the better entering rail of ultrasonic wave ability to guarantee to visit the coupling that the wheel can the ultrasonic wave can the harmless propagation of neutralization.
In a specific scheme, the single-wheel self-balancing track ultrasonic detection equipment further comprises two batteries, wherein the two batteries are installed on the wheel carrier, and the two batteries respectively provide electric energy for the controller, the communication module, the corresponding laser sensing device, the obstacle avoidance module, the gyro sensor and the stone spraying and sweeping device.
Compared with the prior art, the invention has the following advantages:
the single-wheel self-balancing track ultrasonic detection equipment realizes forward and backward movement of a single detection wheel through forward and reverse rotation of the first driving device, and rotation of the direction inertia wheel set maintains self-balancing of the whole ultrasonic detection equipment, so that the whole ultrasonic detection equipment has self-balancing control capability, can walk independently, occupies small space, greatly lightens the whole weight, is convenient to carry, and improves detection reliability and detection efficiency.
Drawings
FIG. 1 is a schematic block diagram of an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a right side view of the directional flywheel assembly of fig. 2.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the single-wheel self-balancing track ultrasonic detection apparatus in this embodiment includes a wheel carrier 1, a probe wheel 2, a controller 3, a communication module 4, a control terminal (not shown), a direction inertia wheel set 5, two laser sensing devices 6, two obstacle avoidance modules 7, a first driving device 8 capable of driving the probe wheel 2 to move, and a second driving device 9 capable of driving the direction inertia wheel set 5 to rotate; the wheel carrier 1 is provided with a rotatable wheel shaft 11, and the probe wheel 2 is arranged on the wheel shaft 11; the controller 3, the communication module 4, the direction inertia wheel set 5, the first driving device 8, the second driving device 9, the two laser sensing devices 6 and the two obstacle avoidance modules 7 are all arranged on the wheel carrier 1; the wheel shaft 11 is in transmission connection with the power output end of the first driving device 8; the direction inertia wheel set 5 is in transmission connection with the power output end of the second driving device 9 and is positioned above the detection wheel 2; the two laser sensing devices 6 are respectively positioned on the front side and the rear side of the detection wheel 2, and the two obstacle avoidance modules 7 are respectively positioned on the front side and the rear side of the detection wheel 2; the signal output ends of the two laser sensing devices 6, the signal output ends of the two obstacle avoidance modules 7, the signal output end of the probe wheel 2 and the signal output end of the direction inertia wheel set 5 are respectively and electrically connected with the corresponding signal input end of the controller 3, and the signal input end of the first driving device 8 and the signal input end of the second driving device 9 are electrically connected with the corresponding signal output end of the controller 3; the controller 3 is wirelessly connected with a background control terminal through a communication module 4; two laser sensing device 6 are used for real-time detection track rail 15 profile and acquire rail 15 information of probe wheel 2 below, and two obstacle avoidance modules 7 are used for detecting whether probe wheel 2 meets the barrier in the certain extent of walking direction, and direction inertia wheelset 5 is used for controlling the balanced gesture of probe wheel 2 on walking direction.
The foregoing front and back definitions are: along the walking direction of the detection wheel 2, one side of the detection wheel 2 walking forwards is front, and the other side is back.
The first driving device 8 and the second driving device 9 are generally driving motors.
The communication module 4 is an antenna using a 5G network.
The obstacle avoidance module 7 is an obstacle avoidance radar. The obstacle avoidance radar can detect the obstacle condition in a certain range of the advancing direction in real time at a high frequency in the operation process.
The direction inertia wheel set 5 comprises a middle steering inertia wheel 51, a front-back inertia wheel 52 and two left-right inertia wheels 53, the middle steering inertia wheel 51 is installed at the central position of the top of the wheel carrier 1, the front-back inertia wheel 52 is installed on the wheel carrier 1, the two left-right inertia wheels 53 are respectively installed at the front side and the rear side of the top of the wheel carrier 1, the middle steering inertia wheel 51 is positioned between the two left-right inertia wheels 53, and the middle steering inertia wheel 51, the front-back inertia wheel 52 and the two left-right inertia wheels 53 are all in transmission connection with the power output end of the second driving device 9. The controller 3 collects signals from the laser sensing device 6 and processes the signals into attitude signals, and inertia wheels in all directions are controlled through a high-speed PID algorithm. The middle steering inertia wheel 51 is used for controlling the whole ultrasonic detection device to run along the track direction and adjusting the steering angle of the whole ultrasonic detection device when the whole ultrasonic detection device moves forwards or backwards. The two left-right inertia wheels 53 are used for controlling the balance posture of the whole ultrasonic detection equipment in the left-right direction and adjusting the left-leaning angle or the right-leaning angle of the whole ultrasonic detection equipment; the front-rear direction inertia wheel 52 is used for controlling the balance posture of the whole ultrasonic detection device in the front-rear direction and adjusting the pitch angle of the whole ultrasonic detection device in the front-rear direction. When the probe wheel 2 moves on the steel rail 15 upwards to generate an inclination angle, the controller 3 controls the corresponding inertia wheel to rotate at an accelerated speed within a certain time to generate impulse by adjusting the rotating speed and the steering direction of the second driving device 9, so that the second driving device 9 forms a reaction force to overcome the rollover moment of the probe wheel 2 and return the probe wheel to a balance position, and the corresponding inertia wheel can also be controlled to decelerate in the rotating process to balance the rollover moment by utilizing the impulse of the inertia wheel, so that the probe wheel 2 is kept in balance.
The laser sensing device 6 comprises a laser bracket 61, a laser sensor A, a laser sensor B, a laser sensor C and a laser sensor D, wherein the laser bracket 61 is installed on the wheel carrier 1, the laser sensor A and the laser sensor B are both installed above the laser bracket 61, and the laser sensor A is positioned on the front side of the laser sensor B; the laser sensor C and the laser sensor D are both installed below the laser bracket 61, and the laser sensor C is located at the front side of the laser sensor D. The laser sensors can detect the contour of the rail 15 in real time, and the contour information of the rail 15 is processed digitally, so that the control terminal at the background can obtain the information of the rail 15 at the lower part of the front side and the rear side of the probe wheel 2. The laser sensors A, B, C and D all adopt laser profile sensors, the laser profile sensors are used for emitting laser beams, the laser beams emitted by the laser profile sensors are amplified to form a laser line to be projected onto the surface of a measured object by utilizing a laser triangular reflection principle, reflected light penetrates through a high-quality optical system and is projected onto an imaging matrix, the distance (Z axis) from the sensors to the measured surface and the position information (X axis) along the laser line are obtained through calculation, and a group of three-dimensional measurement values are obtained. Thus, by comparing the signals of the laser sensor AC and the laser sensor BD, the inclination angle information of the probe wheel 2 can be obtained; the pitch angle information of the probe wheel 2 can be obtained by comparing the signals of the laser sensor AB and the laser sensor CD; by comparing the signals of the laser sensor a and the laser sensor C on the front side of the probe wheel 2 (in the advancing direction of the probe wheel 2), the deflection angle of the advancing direction of the probe wheel 2 can be obtained.
The detection wheel 2 is provided with a plurality of detection cores, and each detection core is uniformly arranged on the wheel surface of the detection wheel 2. The core probes are uniformly arranged on the wheel surface of the probe wheel 2, so that the core probes can cover detection areas such as a rail head, a rail waist and a rail bottom on the steel rail 15 at different angles, and the steel rail 15 is subjected to comprehensive ultrasonic detection.
A wheel shaft 11 of the wheel frame 1 is provided with a gyro sensor 10, and a signal output end of the gyro sensor 10 is electrically connected with a corresponding signal input end of the controller 3. A gyro sensor 10 is arranged on the wheel axle 11 of the wheel frame 1 for detecting the inclination of the wheel frame 1. The controller 3 controls the forward/reverse rotation direction of the power output end of the first driving device based on the detected tilt direction of the gyro sensor 10, so that the wheel frame 1 moves in the tilt direction.
The lower end of the wheel carrier 1 is provided with two limiting clamping jaws 14 which can be clamped. Because the section of the steel rail 15 is I-shaped, the limiting clamping jaw 14 at the lower end of the wheel carrier 1 can be clamped and installed on the steel rail 15, so that the whole ultrasonic detection equipment can firmly walk on the steel rail 15.
The single-wheel self-balancing track ultrasonic detection equipment further comprises a spraying and stone-sweeping device 12, wherein the spraying and stone-sweeping device 12 comprises two water tanks 121, two liquid conveying pipes 122 and two spray heads 123, coupling liquid is filled in the two water tanks 121, the two water tanks 121 and the two spray heads 123 are respectively and oppositely installed on the wheel carrier 1, liquid outlets of the two water tanks 121 are connected with liquid inlet ends of the corresponding spray heads 123 through the corresponding liquid conveying pipes 122, and liquid outlets of the two spray heads 123 face the lower portion of the detection wheel 2 respectively. During the use, the liquid outlet of two shower nozzles 123 aims at the below of visiting wheel 2, opens shower nozzle 123, carries shower nozzle 123 through corresponding transfer line 122 with the coupling liquid in the water tank 121, utilizes shower nozzle 123 to spray the coupling liquid on the rail 15 surface of visiting wheel 2 below, makes inside the better entering rail 15 of ultrasonic wave ability to guarantee that the coupling of visiting wheel 2 to rail 15 can the harmless propagation of neutralization ultrasonic wave.
The single-wheel self-balancing track ultrasonic detection equipment further comprises two batteries 13, wherein the two batteries 13 are installed on the wheel carrier 1, and the two batteries 13 respectively provide electric energy for the controller 3, the communication module 4, the corresponding laser sensing device 6, the obstacle avoidance module 7, the gyro sensor and the stone spraying and sweeping device.
The detection wheel 2 detects the outline of a rail 15 of the track in real time through the two laser sensing devices 6 to obtain the information of the rail 15 below the detection wheel 2, and the signal acquisition and the processing are carried out to form a posture signal; then the controller 3 feeds back the received attitude signal to the second driving device 9, and the second driving device 9 forms a counter moment vertical to the plane of the wheel shaft 11 to drive the direction inertia wheel set 5, so as to control the balance attitude of the probe wheel 2 in the walking direction; the controller 3 sends the acquired control instruction to a background control terminal through the communication module 4, and the control terminal automatically installs the running track after acquiring the running track of the probe wheel 2; secondly, two obstacle avoidance modules 7 on the front side and the rear side of the probe wheel 2 are used for detecting the obstacle situation in a certain range of the advancing direction in real time, then a control terminal sends a movement instruction to the controller 3 through the communication module 4, the controller 3 outputs a control signal to the first driving device 8 after receiving the instruction, and the first driving device 8 drives the probe wheel 2 to rotate according to the movement track, so that the forward and backward movement of the probe wheel 2 is realized; finally, the detection wheel 2 covers the detection area of the rail 15 through walking, the controller 3 collects detection signals of the detection wheel 2, and detected data are transmitted to a background control terminal through the communication module 4, so that the ultrasonic detection function is realized.
Because the direction inertia wheel set 5 is driven to rotate by the second driving device 9, the second driving device 9 can form counter moment vertical to the plane of the wheel shaft 11, and further generate restoring force opposite to the gravity component, so that the detection wheel 2 can be restored to a balanced state when the restoring force is larger than the gravity component. This kind of single round of self-balancing track ultrasonic testing equipment realizes advancing of single round of spying 2 and retreats through the positive and negative rotation of first drive arrangement 8, maintains the self-balancing of whole ultrasonic testing equipment through the rotation of direction inertia wheelset 5 for whole ultrasonic testing equipment has the self-balancing control ability, can independently walk, and occupation space is little, alleviates whole weight greatly, and the transport is convenient, improves and detects reliability and detection efficiency.
In addition, it should be noted that the names of the parts and the like of the embodiments described in the present specification may be different, and the equivalent or simple change of the structure, the characteristics and the principle described in the present patent idea is included in the protection scope of the present patent. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (9)
1. The utility model provides a single round self-balancing track ultrasonic testing equipment which characterized in that: the device comprises a wheel carrier, a detection wheel, a controller, a communication module, a control terminal, a direction inertia wheel set, two laser sensing devices, two obstacle avoidance modules, a first driving device capable of driving the detection wheel to walk and a second driving device capable of driving the direction inertia wheel set to rotate; the wheel carrier is provided with a rotatable wheel shaft, and the probe wheel is arranged on the wheel shaft; the controller, the communication module, the direction inertia wheel set, the first driving device, the second driving device, the two laser sensing devices and the two obstacle avoidance modules are all arranged on the wheel carrier; the wheel shaft is in transmission connection with the power output end of the first driving device; the direction inertia wheel set is in transmission connection with the power output end of the second driving device and is positioned above the detection wheel; the two laser sensing devices are respectively positioned on the front side and the rear side of the detection wheel, and the two obstacle avoidance modules are respectively positioned on the front side and the rear side of the detection wheel; the signal output ends of the two laser sensing devices, the signal output ends of the two obstacle avoidance modules, the signal output end of the probe wheel and the signal output end of the direction inertia wheel set are respectively and electrically connected with the corresponding signal input ends of the controller, and the signal input end of the first driving device and the signal input end of the second driving device are electrically connected with the corresponding signal output ends of the controller; the controller is wirelessly connected with a background control terminal through a communication module; two laser sensing device are used for real-time detection track rail profile and acquire the rail information of probe wheel below, and two obstacle avoidance modules are used for detecting whether the probe wheel meets the barrier in the certain extent of walking direction, and direction inertia wheelset is used for controlling the balanced gesture of probe wheel in walking direction.
2. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: the direction inertia wheel set comprises a middle steering inertia wheel, a front-back inertia wheel and two left-right inertia wheels, the middle steering inertia wheel is arranged at the central position of the top of the wheel frame, the front-back inertia wheel is arranged on the wheel frame, the two left-right inertia wheels are respectively arranged at the front side and the rear side of the top of the wheel frame, the middle steering inertia wheel is positioned between the two left-right inertia wheels, and the middle steering inertia wheel, the front-back inertia wheel and the two left-right inertia wheels are in transmission connection with the power output end of the second driving device.
3. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: the laser sensing device comprises a laser bracket, a laser sensor A, a laser sensor B, a laser sensor C and a laser sensor D, the laser bracket is mounted on the wheel carrier, the laser sensor A and the laser sensor B are both mounted above the laser bracket, and the laser sensor A is positioned on the front side of the laser sensor B; laser sensor C and laser sensor D all install the below at laser support to laser sensor C is in laser sensor D's front side.
4. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: the communication module is an antenna adopting a 5G network.
5. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: the obstacle avoidance module is an obstacle avoidance radar.
6. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: the probe wheel is provided with a plurality of probe cores, and each probe core is uniformly arranged on the wheel surface of the probe wheel.
7. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: and a gyro sensor is arranged on a wheel shaft of the wheel carrier, and the signal output end of the gyro sensor is electrically connected with the corresponding signal input end of the controller.
8. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: the lower end of the wheel carrier is provided with two limiting clamping jaws which can be clamped.
9. The single-wheel self-balancing rail ultrasonic testing apparatus of claim 1, wherein: still including spraying and sweeping the stone device, spray and sweep the stone device and include two water tanks, two transfer lines and two shower nozzles, all contain coupling liquid in two water tanks, two water tanks and two shower nozzles are installed relatively respectively on the wheel carrier, the liquid outlet of two water tanks is connected through the feed liquor end of corresponding transfer line with corresponding shower nozzle, and the liquid outlet of two shower nozzles moves towards respectively visit the below of wheel.
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| CN202111103859.1A CN113804764B (en) | 2021-09-22 | 2021-09-22 | Single-wheel self-balancing track ultrasonic detection equipment |
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| CN202111103859.1A CN113804764B (en) | 2021-09-22 | 2021-09-22 | Single-wheel self-balancing track ultrasonic detection equipment |
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| CN113804764B (en) | 2024-02-02 |
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