A pipeline inspection robot

Abstract

The application discloses a pipeline inspection robot, which comprises a moving chassis, a lifting frame and a detector, the detector is installed on the upper end of the moving chassis through the lifting frame, the lifting frame is used for vertically adjusting the height of the detector, a controller and a navigation plug connector are arranged on the moving chassis, the moving chassis, the lifting frame, the detector and the navigation plug connector are electrically connected with the controller, and the navigation plug connector is used for detachably connecting with a cable, the detector is installed on the upper end of the moving chassis through the lifting frame, and the detector, the lifting frame and the moving chassis are electrically connected with the controller on the moving chassis, so that the running states of the moving chassis, the lifting frame and the detector are controlled by the controller, the navigation plug connector is electrically connected with an external power supply device and a control terminal through the cable, and the pipeline inspection robot is powered and controlled by the external environment.

Description

Technical Field

[0001] This invention belongs to the field of pipeline robots, and in particular relates to a pipeline inspection robot. Background Technology

[0002] Currently, there are many types of pipeline robots. Some pipeline robots are equipped with height adjustment frames to adjust the height of the detectors. However, when adjusting the height of the detectors, these height adjustment frames usually cause the detectors to have a certain displacement in the front and back directions. This will produce coupling errors when the final detection data is coupled with the mileage traveled, resulting in low accuracy of the detection data. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide a pipeline inspection robot with a simple structure that can flexibly adjust the horizontal height of the detector vertically as needed during pipeline inspection.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: A pipeline inspection robot includes a mobile chassis, a lifting frame, and a detector. The detector is mounted on the upper end of the mobile chassis via the lifting frame. The lifting frame is used to vertically adjust the height of the detector. A controller and a connector are provided on the mobile chassis. The mobile chassis, the lifting frame, the detector, and the connector are all electrically connected to the controller. The connector is used for detachable connection with a cable.

[0005] The beneficial effects of the above technical solution are as follows: by mounting the detector on the upper part of the mobile chassis by the lifting frame, and the detector, lifting frame and mobile chassis are all electrically connected to the controller on the mobile chassis, the operating status of the mobile chassis, lifting frame and detector are all controlled by the controller, and the aviation connector is electrically connected to the external power supply equipment and control terminal through cables, thereby realizing that the pipeline inspection robot can be powered and controlled by the outside.

[0006] In the above technical solution, the two sides of the mobile chassis are respectively provided with mutually aligned hanging rods, and the ends of the two hanging rods that are far apart from each other are provided with enlarged parts for limiting. The hanging rods are used to hook with the sling to lower into the pipeline.

[0007] The beneficial effect of the above technical solution is that it allows the pipeline inspection robot to descend into the pipeline well via two slings.

[0008] In the above technical solution, the aircraft connector is vertically swivelly installed in the middle of the rear end of the mobile chassis.

[0009] The beneficial effect of the above technical solution is that it can prevent the corresponding end of the cable from cracking due to deflection when the cable is being pulled.

[0010] The lifting frame described in the above technical solution includes a base, a driving component, a top plate, and two support arm assemblies. The base and the top plate are both horizontally arranged in the front-to-back direction, with the top plate located above the base. The base is mounted on the upper end of the mobile chassis. The driving component is mounted on the rear end of the base. The two support arm assemblies are arranged on both sides between the base and the top plate in the front-to-back direction. Each support arm assembly has a first rod and a second rod, with the middle part of the first rod rotatably connected to the middle part of the corresponding second rod to form an "X" shape. The rear ends of the two first rods are drive-connected to the driving component, and the front ends of the two first rods are slidably connected to the front end of the top plate in the front-to-back direction. The rear ends of the two second rods are rotatably connected to the rear end of the top plate, and the front ends of the two second rods are slidably connected to the front end of the base in the front-to-back direction. The driving component rotates to drive the two support arm assemblies to move the top plate vertically up and down.

[0011] The beneficial effects of the above technical solution are: its structure is simple, and when the driving component drives the two support arm assemblies to swing, it can drive the top plate to move up and down in a vertical state, that is, the top plate will not produce backward and forward displacement when it is raised and lowered, which is conducive to improving the detection accuracy of the detector.

[0012] The detector in the above technical solution includes a front detector and a rear detector. The front detector is installed at the front end of the top plate, and the rear detector is installed at the rear end of the base. The lifting frame is used to adjust the horizontal height of the front detector.

[0013] The beneficial effects of the above technical solution are as follows: the horizontal height of the rear detection device can be adjusted vertically, while the horizontal height of the front detection device is fixed. This improves the flexibility of detection. The front detection device mainly detects the situation in the area that the pipeline inspection robot has passed through, while the rear detection device mainly detects the situation inside the pipeline in the direction that the pipeline inspection robot is moving backward.

[0014] In the above technical solution, the front end of the base is recessed with a first receiving groove, and the front detection device is disposed at the lower front end of the top plate. The first receiving groove is used to allow the front detection device to extend into the lifting frame when it is in the storage state.

[0015] The beneficial effects of the above technical solution are that it makes the entire pipeline robot more compact when stored and can protect the front detection device.

[0016] In the above technical solution, the driving component is a dual-output shaft reduction brake motor. The rear ends of the two first rods are respectively connected to the two drive shafts of the driving component. The rear detection component is installed on the upper end of the driving component, and the rear end of the top plate is recessed with a second receiving groove. The second receiving groove is used to allow the rear detection component to extend into the lifting frame when it is in the retracted state.

[0017] The beneficial effects of the above technical solution are that it can make the entire pipeline robot more compact when stored and can protect the rear detection device.

[0018] The front detection device in the above technical solution includes a camera and a fill light, and the rear detection device is a panoramic laser lens.

[0019] The advantages of the above technical solution are that it has a simple structure and good detection effect.

[0020] The lifting frame described in the above technical solution also includes two first slide rods and two second slide rods. The two first slide rods are horizontally arranged on both sides of the upper front end of the base in the front-back direction, and the front end of each second rod is slidably connected to the first slide rod on the corresponding side. The two second slide rods are horizontally arranged on both sides of the lower front end of the top plate in the front-back direction, and the front end of each first rod is slidably connected to the second slide rod on the corresponding side.

[0021] The beneficial effect of the above technical solution is that it makes the front ends of the two first rods and the two second rods slide more effectively with the top plate and the base.

[0022] The above technical solution also includes three gas spring rods. The three gas spring rods are vertically inclined between the two support arm assemblies in the front-back direction. The three gas spring rods are spaced apart in the left-right direction. The lower end of the gas spring rod is rotatably connected to the base, and the other end is connected to the top plate. The two gas spring rods on both sides are parallel to each other, and the gas spring rod in the middle is cross-distributed.

[0023] The beneficial effect of the above technical solution is that it makes the entire lifting frame more stable when adjusting the height and less prone to shaking.

[0024] The above technical solution also includes a coaxiality measuring device installed on the lifting frame. The coaxiality measuring device is electrically connected to the controller. The coaxiality measuring device is used to measure the coaxiality of the front detection device relative to the pipe inside the pipe. The controller controls the moving chassis and the lifting frame to work together to correct the coaxiality of the front detection device relative to the pipe.

[0025] The beneficial effect of the above technical solution is that it enables the mobile chassis to automatically calibrate and correct the coaxiality of the front detection device relative to the pipeline when it moves inside the pipeline.

[0026] The coaxiality measuring device described in the above technical solution includes three ranging probes arranged circumferentially and distributed in the same circle, all of which are electrically connected to the controller. The axis of the circle containing the three ranging probes is coaxial with the front detection device. The detection part of one of the ranging probes is vertically upward, while the remaining two ranging probes are horizontally arranged with their detection parts facing away from each other.

[0027] The beneficial effect of the above technical solution is that when the distances measured by the three ranging probes to the inner wall of the pipe are consistent and are all comparable to the inner diameter of the pipe, it can be assumed that the front detection device and the pipe are coaxially distributed. Attached Figure Description

[0028] Figure 1 This is an elevation view of the pipeline inspection robot described in an embodiment of the present invention in its deployed state;

[0029] Figure 2 This is an elevation view of the pipeline inspection robot described in this embodiment of the invention in its stowed state;

[0030] Figure 3 This is a rear view of the lifting frame and detector in their stowed state, as described in this embodiment of the invention.

[0031] Figure 4 This is a front view of the lifting frame and detector in the stowed state according to an embodiment of the present invention;

[0032] Figure 5 This is an elevation view of the lifting frame in its unfolded state as described in this embodiment of the invention;

[0033] Figure 6 This is a diagram showing the distribution of the three gas spring rods in an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the electrical connections of the controller described in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram showing the distribution of the two mounting rods on both sides of the mobile chassis in an embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram illustrating the fit between the coaxiality measuring component and the pipeline in an embodiment of the present invention.

[0037] In the diagram: 1. Mobile chassis; 11. Hanging rod; 12. Expansion section; 2. Lifting frame; 21. Base; 211. First receiving slot; 212. Protrusion platform; 22. Driving component; 221. Driving shaft; 23. Top plate; 231. Second receiving slot; 24. Support arm assembly; 241. First rod; 242. Second rod; 25. First sliding rod; 26. Second sliding rod; 27. Gas spring rod; 3. Detector; 3a. Front detection device; 31. Camera; 32. Fill light; 3b. Rear detection device; 4. Controller; 5. Aviation connector; 51. Swing base; 6. Coaxiality measuring component; 61. Distance measuring probe. Detailed Implementation

[0038] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the invention will be more clearly described from the following description and claims. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0039] like Figures 1-8 As shown, this embodiment provides a pipeline inspection robot, including a mobile chassis 1, a lifting frame 2, and a detector 3. The detector 3 is mounted on the upper end of the mobile chassis 1 via the lifting frame 2, which is used to vertically adjust the height of the detector 3. The mobile chassis 1 is equipped with a controller 4 and an aerial connector 5. The mobile chassis 1, lifting frame 2, detector 3, and aerial connector 5 are all electrically connected to the controller 4. The aerial connector 5 is used for detachable connection to a cable. By mounting the detector on the upper end of the mobile chassis via the lifting frame, and the… The detector, lifting frame, and mobile chassis are all electrically connected to the controller on the mobile chassis. This allows the controller to control the operation of the mobile chassis, lifting frame, and detector. The aerial connector is electrically connected to the external power supply equipment and control terminal via cables, thereby enabling the pipeline inspection robot to be powered and controlled from the outside. (In this embodiment, the controller and control terminal are connected via cables. The communication connection between the two can be based on the VDSL2 communication module, which has the advantages of long communication distance and smooth communication signal.)

[0040] The mobile chassis described in this embodiment is an electric wheeled chassis or an electric tracked chassis, both of which are existing mature products and will not be described in detail here. The controller described in this embodiment can be integrated inside the mobile chassis.

[0041] like Figure 1 , Figure 2 and Figure 8As shown, the mobile chassis 1 in the above technical solution is provided with two mutually aligned hook rods 11 on both sides, and each of the two hook rods 11 has an enlarged part 12 at the ends that are far apart from each other for limiting. The hook rods 11 are used to hook with the slings to lower into the pipeline. This allows the pipeline inspection robot to be lowered into the pipeline well by two slings (for example, two ropes can be folded in half and hooked onto the two hook rods from both sides of the pipeline inspection robot, and then the pipeline inspection robot can be lowered into the pipeline well. After touching the bottom, one end of the two ropes can be loosened and the ropes can be pulled out, or two rods with hooks at the ends can be used to lower the pipeline inspection robot into the pipeline well).

[0042] In the above technical solution, the aviation connector 5 is vertically swayed and installed in the middle of the rear end of the mobile chassis 1, so that when the aviation connector is pulling the cable, it can avoid the corresponding end of the cable from cracking due to the deflection.

[0043] In this embodiment, the aircraft connector is installed at the rear end of the mobile chassis via a swing seat 51, and the swing angle range of the aircraft connector is 90°. Its lower limit of swing is to swing to a horizontal state, and its upper limit of swing is to swing to a vertical state.

[0044] like Figures 3-5 As shown, the lifting frame 2 in the above technical solution includes a base 21, a driving component 22, a top plate 23, and two support arm assemblies 24. The base 21 and top plate 23 are both horizontally arranged in the front-rear direction, with the top plate 23 located above the base 21. The base 21 is mounted on the upper end of the mobile chassis 1. The driving component 22 is mounted on the rear end of the base 21. The two support arm assemblies 24 are arranged on both sides between the base 21 and the top plate 23 in the front-rear direction. Each support arm assembly 24 has a first rod 241 and a second rod 242, with the middle portion of the first rod 241 rotatably connected to the middle portion of the corresponding second rod 242 in an "X" shape. The rear end of the rod 241 is connected to the drive member 22. The front ends of the two first rods 241 are slidably connected to the front end of the top plate 23 in the front-back direction. The rear ends of the two second rods 242 are rotatably connected to the rear end of the top plate 23. The front ends of the two second rods 242 are slidably connected to the front end of the base 21 in the front-back direction. The drive member 22 rotates to drive the two support arm assemblies 24 to move the top plate 23 vertically up and down. Its structure is simple and allows the top plate to move vertically up and down when the drive member drives the two support arm assemblies to swing. That is, the top plate will not have a backward-forward displacement when it is raised and lowered, which is beneficial to improving the detection accuracy of the detector.

[0045] The detector 3 in the above technical solution includes a front detection element 3a and a rear detection element 3b. The front detection element 3a is installed at the rear end of the base 21, and the rear detection element 3b is installed at the front end of the top plate 23. The lifting frame 2 is used to adjust the horizontal height of the rear detection element 3b, so that the horizontal height of the rear detection element can be adjusted vertically, while the horizontal height of the front detection element is fixed. This improves the flexibility of detection. The front detection element mainly detects the situation in the area before the pipeline inspection robot passes through, while the rear detection element mainly detects the situation in the pipeline in the direction after the pipeline inspection robot moves forward.

[0046] In the above technical solution, the front end of the base 21 is recessed with a first receiving groove 211, and the rear detection device 3b is disposed at the lower front end of the top plate 23. The first receiving groove 211 is used to allow the rear detection device 3b to extend into when the lifting frame 2 is in the storage state. This makes the entire pipeline robot more compact when stored and can protect the rear detection device.

[0047] In the above technical solution, the driving component 22 is a dual-output shaft reduction brake motor (which allows the driving component to slowly drive the top plate to rise and fall, and at the same time, it can brake the top plate at any height within its rising and falling range). The rear ends of the two first rods 241 are respectively connected to the two driving shafts 221 of the driving component 22. The front detection component 3a is installed on the upper end of the driving component 22, and the rear end of the top plate 23 is recessed with a second receiving groove 231. The second receiving groove 231 is used to allow the front detection component 3a to extend into the lifting frame 2 when it is in the storage state. This can further make the structure of the entire pipeline robot more compact when stored, and can protect the rear detection component.

[0048] The front detection device 3a in the above technical solution includes a camera 31 (which can be a fisheye lens) and a fill light 32, and the rear detection device 3b is a panoramic laser lens (which can also be a lidar or sonar probe). It has a simple structure and good detection effect.

[0049] The lifting frame 2 described in the above technical solution also includes two first sliding rods 25 and two second sliding rods 26. The two first sliding rods 25 are horizontally arranged on both sides of the upper front end of the base 21 in the front-back direction. The front end of each second rod 242 is slidably connected to the first sliding rod 25 on the corresponding side. The two second sliding rods 26 are horizontally arranged on both sides of the lower front end of the top plate 23 in the front-back direction. The front end of each first rod 241 is slidably connected to the second sliding rod 26 on the corresponding side. This makes the front ends of the two first rods and the two second rods more effectively slidably connected to the top plate and the base.

[0050] In this embodiment, the first slide bar and the second slide bar have the same length and their ends are aligned.

[0051] like Figure 5 and Figure 6 As shown, the above technical solution also includes three gas spring rods 27. The three gas spring rods 27 are vertically inclined between the two support arm assemblies 24 in the front-back direction. The three gas spring rods 27 are spaced apart in the left-right direction. The lower end of the gas spring rod 27 is rotatably connected to the base 21, and the other end is connected to the top plate 23. The two gas spring rods 27 on both sides are parallel to each other, and the gas spring rod 27 in the middle is cross-distributed. This makes the entire lifting frame more stable when adjusting the height and less prone to shaking.

[0052] like Figure 5 As shown, in this embodiment, a raised platform 212 can be provided at the upper middle part of the base 21 along the front-back direction. The lower ends of the gas spring rods are all swiveled and connected to the upper ends of the raised platform 212. The lower end of the support arm assembly 24 is connected to the base at the side of the raised platform 212. This makes the entire lifting frame more compact and stable when stored.

[0053] The above technical solution also includes a coaxiality measuring component 6 installed on the lifting frame 2. The coaxiality measuring component 6 is electrically connected to the controller 4. The coaxiality measuring component 6 is used to measure the coaxiality of the front detection component 3a relative to the pipe inside the pipe. The controller 4 controls the mobile chassis 1 and the lifting frame 2 to work together to correct the coaxiality of the front detection component 3a relative to the pipe. This allows the mobile chassis to automatically calibrate and correct the coaxiality of the front detection component relative to the pipe when it moves inside the pipe.

[0054] The coaxiality measuring device 6 in the above technical solution includes three circumferentially spaced and circularly distributed ranging probes 61, all electrically connected to the controller 4. The axis of the circle containing the three ranging probes 61 is coaxially distributed with the front detection device 3a. The detection part of one ranging probe 61 is vertically upward, while the remaining two ranging probes 61 are horizontally positioned with their detection parts facing away from each other. When the distances measured by the three ranging probes to the inner wall of the pipe are consistent and comparable to the inner diameter of the pipe, it can be assumed that the front detection device and the pipe are coaxially distributed.

[0055] in, Figure 9The dashed circle represents the inner wall of the pipe, and the three dashed arrows indicate the distances between the three ranging probes and the inner wall of the pipe. When detecting the pipe, the inner diameter of the pipe needs to be input in advance through the control assembly. This allows the ranging probes to measure the distance between the moving chassis and the inner wall of the pipe in real time as the moving chassis moves inside the pipe, and to calculate the coaxiality deviation between the front detection device and the inner wall of the pipe in real time. When the deviation exceeds the threshold (which can also be set in advance through the control assembly), the lifting frame and the moving chassis can work together to correct the coaxiality of the front detection device relative to the pipe (the lifting frame mainly performs vertical correction, while the moving chassis mainly performs lateral correction). In this embodiment, the ranging probe can be an ultrasonic ranging radar, which makes it highly resistant to interference.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A pipeline inspection robot, characterized in that, The device includes a mobile chassis (1), a lifting frame (2), and a detector (3). The detector (3) is mounted on the upper end of the mobile chassis (1) via the lifting frame (2). The lifting frame (2) is used to vertically adjust the height of the detector (3). The mobile chassis (1) is equipped with a controller (4) and an aviation connector (5). The mobile chassis (1), the lifting frame (2), the detector (3), and the aviation connector (5) are all electrically connected to the controller (4). The aviation connector (5) is used for detachable connection with cables. The detector (3) includes a front detector (3a) and a rear detector (3b). The front detector (3a) is mounted on the top of the lifting frame (2), and the rear detector (3b) is mounted on the bottom of the lifting frame (2). The lifting frame (2) is used to adjust the horizontal height of the front detector (3a). It also includes a coaxiality measuring element (6) disposed on the lifting frame (2), the coaxiality measuring element (6) being electrically connected to the controller (4), the coaxiality measuring element (6) being used to measure the coaxiality of the front detection element (3a) relative to the pipe within the pipe, and the controller (4) controlling the mobile chassis (1) and the lifting frame (2) to work together to correct the coaxiality of the front detection element (3a) relative to the pipe.

2. The pipeline inspection robot according to claim 1, characterized in that, The mobile chassis (1) is provided with two mutually aligned hanging rods (11) on its two sides respectively, and each of the two hanging rods (11) is provided with an enlarged part (12) at the ends that are far apart from each other for limiting. The hanging rods (11) are used to hook with the sling to be lowered into the pipe.

3. The pipeline inspection robot according to claim 1, characterized in that, The aircraft connector (5) is vertically swung and installed in the middle of the rear end of the mobile chassis (1).

4. The pipeline inspection robot according to claim 1, characterized in that, The lifting frame (2) includes a base (21), a drive unit (22), a top plate (23), and two support arm assemblies (24). The base (21) and the top plate (23) are both horizontally arranged in the front-back direction, and the top plate (23) is located above the base (21). The base (21) is installed on the upper end of the mobile chassis (1), and the drive unit (22) is installed at the rear end of the base (21). The two support arm assemblies (24) are arranged on both sides between the base (21) and the top plate (23) in the front-back direction. Each support arm assembly (24) has a first rod (241) and a second rod (242), and the first rod... The middle part of the body (241) is rotatably connected to the middle part of the corresponding second rod (242) to form an "X" shape. The rear ends of the two first rods (241) are connected to the driving member (22) for transmission. The front ends of the two first rods (241) are slidably connected to the front end of the top plate (23) in the front-back direction. The rear ends of the two second rods (242) are rotatably connected to the rear end of the top plate (23). The front ends of the two second rods (242) are slidably connected to the front end of the base (21) in the front-back direction. The driving member (22) rotates to drive the two support arm assemblies (24) to move the top plate (23) vertically up and down.

5. The pipeline inspection robot according to claim 4, characterized in that, The front detection device (3a) is mounted on the front end of the top plate (23), and the rear detection device (3b) is mounted on the rear end of the base (21).

6. The pipeline inspection robot according to claim 5, characterized in that, The base (21) has a first receiving groove (211) recessed at the front end, and the front detection device (3a) is disposed at the lower front end of the top plate (23). The first receiving groove (211) is used to allow the front detection device (3a) to extend into the lifting frame (2) when it is in the storage state.

7. The pipeline inspection robot according to claim 5, characterized in that, The drive unit (22) is a dual-output shaft deceleration brake motor. The rear ends of the two first rods (241) are respectively connected to the two drive shafts (221) of the drive unit (22). The rear detection device (3b) is installed on the upper end of the drive unit (22), and the rear end of the top plate (23) is recessed with a second receiving groove (231). The second receiving groove (231) is used to allow the rear detection device (3b) to extend into the lifting frame (2) when it is in the storage state.

8. The pipeline inspection robot according to any one of claims 5-7, characterized in that, The front detection device (3a) includes a camera (31) and a fill light (32), and the rear detection device (3b) is a panoramic laser lens.

9. The pipeline inspection robot according to claim 4, characterized in that, The lifting frame (2) also includes two first slide rods (25) and two second slide rods (26). The two first slide rods (25) are horizontally arranged on both sides of the upper front end of the base (21) in the front-back direction. The front end of each second rod (242) is slidably connected to the first slide rod (25) on the corresponding side. The two second slide rods (26) are horizontally arranged on both sides of the lower front end of the top plate (23) in the front-back direction. The front end of each first rod (241) is slidably connected to the second slide rod (26) on the corresponding side.

10. The pipeline inspection robot according to claim 4, characterized in that, It also includes three gas spring rods (27), which are vertically inclined between the two support arm assemblies (24) in the front-back direction. The three gas spring rods (27) are spaced apart in the left-right direction. The lower end of the gas spring rod (27) is swiveled to the base (21), and the other end is connected to the top plate (23). The two gas spring rods (27) on both sides are parallel to each other, and the gas spring rod (27) in the middle is intersected.

11. The pipeline inspection robot according to claim 1, characterized in that, The coaxiality measuring device (6) includes three circumferentially spaced and circularly distributed ranging probes (61) that are all electrically connected to the controller (4). The axis of the circle containing the three ranging probes (61) is coaxially distributed with the front detection device (3a). The detection part of one of the ranging probes (61) is vertically upward, while the remaining two ranging probes (61) are horizontally arranged with their detection parts facing away from each other.

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