Wheel type steel rail damage detection device

Abstract

The utility model discloses a wheel type steel rail damage detection device which comprises a device body of a disc-shaped structure, and a vibration sensor, a power module, a control module, an industrial camera, a wire, a light source assembly, a driving motor and a transmission mechanism are installed in the device body. The walking wheels are of two-wheel-disc-shaped structures, are oppositely installed on the device body from the two sides of the device body through rotating shafts and are connected with the transmission mechanism, and the driving motor is connected with the rotating shafts through the transmission mechanism to drive the walking wheels to rotate, so that the device body is driven to run along the track surface; the device has the characteristics of compact structural design, small structure, convenience in use, simplicity in operation and high automation degree, can quickly acquire high-quality data of apparent images and walking vibration signals of the steel rail, can simultaneously explore and accurately quantify the surface and internal damage conditions of the steel rail, acquires all data of a certain section of the steel rail through self-walking, and improves the working efficiency. The system is used for providing maintenance guidance and alarm.

Description

Technical Field

[0001] The utility model relates to the technical field of track damage detection equipment, especially for image acquisition and vibration data acquisition of the steel rail surface, and specifically discloses a wheeled steel rail damage detection device. Background Art

[0002] The rapid development of the railway industry has played an important role in promoting China's economic construction and people's livelihood improvement. As of the end of 2021, the operating mileage of China's railways reached 1.507 million kilometers, and the high-speed railway exceeded 40,000 kilometers. The "eight vertical and eight horizontal" high-speed railway network has been encrypted and formed. In railway infrastructure, the structural performance and quality of wheelsets, axles, and railway steel rails directly affect railway operation safety. The defect damage detection of key structures is of great significance for the guarantee and maintenance of railway infrastructure. The steel rail is an important component of the railway track, directly bearing the pressure transmitted from the wheelset. The defect damage and material degradation that occur during long-term use affect its service performance and threaten train operation safety. The fracture of the steel rail caused by stress fatigue and defects of the steel rail will lead to major accidents such as train derailment and overturning, resulting in casualties and huge property losses. With the increase in the running density, running speed of high-speed railways, and the load capacity of heavy-haul freight lines, the load on the steel rail and the degree of extrusion and impact increase, and the probability of damage occurrence increases. Therefore, it is very important to detect and quantify the damage situation in the early stage.

[0003] At present, the detection of steel rail damage in railways often adopts the method of manual inspection, which has low automation, high labor intensity, slow detection speed, and the detection effect is subject to subjective influence, and it has been unable to keep up with the rapid development of the railway system. In recent years, with the progress of detection means, there have also appeared some devices and methods for intelligently detecting the damage situation of steel rails:

[0004] The Chinese patent with the application number 202210433354.X provides a steel rail electromagnetic ultrasonic flaw detection method, which uses two electromagnetic ultrasonic probes installed on both sides of the rail head and two top detection probes to generate ultrasonic waves inside the steel rail head by electromagnetic methods, and monitors the attenuation of the longitudinal wave echo intensity generated at the bottom of the steel rail to detect the defect situation and size. However, this method is seriously interfered by the coupling agent and is only applicable to the scenario of steel rail factory inspection and cannot be used for daily inspection during railway operation.

[0005] The Chinese patent with the application number 202210419488.6 provides a steel rail weld detection device based on machine vision and its use method, and designs a detection device that can be stably placed in different geographical environments through a support plate and a ground-inserting cone, including an upper shell with a mechanism for irradiating the steel rail surface and a lower shell with a mechanism for taking pictures of the steel rail surface, and at the same time, two groups of positioning mechanisms are provided for precise positioning of the shooting. However, this method has a slow detection speed and is only applicable to the scenario of fixed-point detection and cannot achieve the comprehensive detection of steel rails.

[0006] The Chinese patent with the application number 202221094234.3 provides a rail vibration detection vehicle. The vibration detection mechanism is used to detect the protrusions and depressions on the rail. The rotating roller rolls along the rail. When the surface of the rail is uneven and the rotating roller is pressed or slightly moves down, the pressure sensor detects the change in pressure, and then conducts the signal to the detector for marking. However, this device can only detect the unevenness on the surface of rail damage, with a single function and manual operation required.

[0007] The Chinese patent with the application number 202210350113.9 provides an information collection drone for detecting rail surface defects based on a deep learning network. The electric tractor is used to tow the information collection trailer to move along the rail to be inspected, assisting the staff in repairing the rail. The vibration of the driving mechanism of the electric tractor is isolated by a split structure, making the acquisition of image information by the image information acquisition mechanism more stable. However, this device is large in size, causing waste in space and not being suitable for daily railway inspections.

[0008] All in all, the existing detection devices and methods do not have the characteristics of being portable, having a compact structure, being convenient to use, having a high degree of automation, and being easy to use in the detection of rail damage. Summary of the Invention

[0009] In order to solve the above-mentioned deficiencies and defects of the existing technology, after research and design by the inventor, there is now provided a track detection device with a compact structure, small size, convenient use, simple operation, and high degree of automation. It can quickly obtain high-quality data of the rail apparent image and walking vibration signal, and can simultaneously detect and accurately quantify the surface and internal damage conditions of the rail to provide maintenance guidance and alarms. The device can simultaneously collect the rail apparent data and the vibration signal during walking, and at the same time provide subsequent analysis algorithms, with comprehensive data and good inspection effects; the device can collect all the data of a certain section of the rail through self-walking, with a high degree of automation; the device only needs simple button operations to start and stop, which is convenient to use; the device is small in size, easy to carry, and does not interfere with other railway maintenance operations. Specifically, it is a wheeled rail damage detection device, which includes:

[0010] The device body, in a disc-shaped structure, is internally installed with a vibration sensor, a power supply module, a control module, an industrial camera, a wire, a light source component, a driving motor, and a transmission mechanism;

[0011] The walking wheels are in a two-disc structure, relatively installed on the device body from both sides of the device body through a rotating shaft and connected to the transmission mechanism. The driving motor drives the walking wheels to rotate through the transmission mechanism connected to the rotating shaft, thereby driving the device body to travel along the track surface; both ends of the rotating shaft pass through the transmission mechanism at the center of the device body and are fixedly connected and installed at the centers of the two discs;

[0012] The vibration sensor is connected to the control module and installed inside the device body for collecting vibration data generated during operation;

[0013] The industrial camera is connected to the control module, installed inside the device body with the lens facing downwards directly towards the track surface, and the light source assembly is used to provide lighting for the acquisition area to collect image data of the track surface from above the track surface;

[0014] The power supply module is installed at the lower part inside the device body and is connected to the above-mentioned various component devices through wires to provide power supply;

[0015] The control module is used to control the start / stop and running speed of the walking wheels, control the industrial camera to take pictures, receive and store the collected image or video data, and receive and store the vibration data collected by the vibration sensor;

[0016] The gyroscope sensor is connected to the control module and installed inside the device body for collecting real-time device attitude data and feeding it back to the control module;

[0017] The center of gravity adjustment device is connected to the control module, installed inside the device body, arranged along the walking direction of the device and symmetrically arranged with the vertical line passing through the center of the circle, for adjusting the center of gravity in the vertical conveying direction to maintain stability. The control module is used to receive the data collected by the gyroscope sensor for analysis to control the center of gravity adjustment device to make feedback adjustment control;

[0018] The image acquisition control and memory is connected to the industrial camera and the power supply module, used to control the switch and shooting of the industrial camera, and can store image data;

[0019] The walking controller is connected to the walking wheels, the gyroscope sensor and the power supply module, used to control the start / stop and running speed of the walking wheels;

[0020] The self-balancing controller is connected to the gyroscope sensor and the center of gravity adjustment device, used to control the self-adjustment of the center of gravity adjustment device based on the feedback data collected by the gyroscope sensor to control the device to maintain stability.

[0021] Introduction to the working principle of the present utility model: The above technical solutions are the core technologies constituting the present utility model, and their specific functions and uses are as follows:

[0022] Device body: The device body is the core housing component of the entire wheeled rail damage detection device. It is internally equipped with brackets and structures for installing various components, used to support and fix other necessary and critical components, and can be regarded as the main structure of this device;

[0023] Traveling wheels: The traveling wheels are driven by a motor to move. They consist of two wheel discs coaxially installed on both sides of the device body, forming a wheel-shaped device as a whole. They are connected by a driving motor and a transmission mechanism installed inside the device body, driving the rotating shafts to drive the two wheel discs of the traveling wheels to rotate. When in use, place it on the track and start it, and it can automatically travel along the track. During the traveling process, an industrial camera acquires image data of the passing track surface for subsequent or immediate analysis and processing;

[0024] Vibration sensor: The vibration sensor is installed inside the device body and is used to collect vibration data generated during the device's travel. It is used for immediate or subsequent analysis and processing of these vibration data as reference vibration data for judging the flatness and poor conditions of the track;

[0025] Industrial camera: Installed inside the device body, with the lens always facing down during the traveling process. Through the illumination of the light source component, the industrial camera can collect image data from above the track surface through the lens; these image data are used to detect the surface condition and damage degree of the rail;

[0026] Power supply module: The power supply module is a storage battery that provides power supply for the entire device. It ensures the normal operation and long-term use of the device and its various components and components. Its installation position also enables the power supply module to be designed as a counterweight, making the center of gravity of the entire device lower;

[0027] Gyroscope sensor: The gyroscope sensor is used to collect real-time attitude data of the device body, including tilt angle, angular velocity, etc. These attitude data are sent to the control module for automatic balance and stability control of the device;

[0028] Control module: The control module is the central control unit of the device, responsible for controlling and adjusting various components. It can receive and process data from sensors such as vibration sensors, gyroscope sensors, and industrial cameras, and can also store the damaged image data of the rail. It is especially used to obtain the real-time data of the gyroscope sensor and perform immediate calculations based on this, and achieve the stability of this device during travel through controlling the center of gravity adjustment device.

[0029] Center of gravity adjustment device: The center of gravity adjustment device makes real-time targeted adjustment actions based on the attitude data fed back by the gyroscope sensor, and is used to control the center of gravity adjustment of the device itself in the lateral direction, enabling the device to automatically balance and stabilize, and ensuring that the device remains stable during travel.

[0030] Image acquisition control and memory: The image acquisition control and memory are used to control the shooting of an industrial camera, that is, to shoot the image of the rail surface of the track, or to record video, and to receive and store the acquired image or video data. These data can be used for subsequent image processing and analysis.

[0031] Travel controller: The travel controller is a circuit or program that controls the travel wheels of the device, and is used to adjust the speed of the travel wheels and the start and stop of travel, so as to enable the device to travel smoothly on the track. When necessary, the travel speed and the weight of the device itself need to be adapted to each other, so that during the travel process, the lens of the industrial camera is on the vertical bisector.

[0032] Self-balancing controller: The self-balancing controller is a circuit or program that controls the center-of-gravity adjustment device of the device. It makes judgments and adjustments based on the data of the gyroscope sensor, and based on the analyzed judgments, it controls the center-of-gravity adjustment device in real time to make feedback operations for center-of-gravity adjustment, so as to maintain the balance and stability of the device.

[0033] The coordinated work of the above core components enables the wheeled rail damage detection device to accurately obtain the image data of the track surface, the vibration data during travel, and the attitude data of the device itself during the travel process, and to achieve automatic balance and stable travel through the control module. The acquired data is processed and analyzed through image processing to judge the damage condition of the rail, providing reference data for maintenance and repair work.

[0034] The beneficial technical effects of the present utility model:

[0035] 1. High-efficiency rail damage detection ability: The industrial camera built in the device can always be located above the track during automatic travel to collect track image data from above the track. Through image processing and analysis techniques, the surface condition and damage degree of the rail can be accurately detected. This non-contact detection method not only improves the efficiency of non-destructive testing, but also can obtain data in real time during travel and quickly obtain the rail surface data.

[0036] 2. Reliable vibration data acquisition ability: The vibration sensor built in the device can collect the vibration data generated during the travel of the device, and these data can reflect the flatness and bad conditions of the rail. By analyzing and processing these vibration data, the health status and life of the rail can be further evaluated, and it can be determined whether maintenance and repair work is required.

[0037] 3. Automatic balance and stable travel ability: The device is built with a gyroscope sensor and a center-of-gravity adjustment device. By real-time monitoring and adjusting the attitude data of the device, automatic balance and stability of the device during travel can be achieved. This can ensure that the device travels smoothly on the track, improving the accuracy and reliability of image acquisition and data acquisition.

[0038] 4. Autonomous driving and long - term working ability: The device is equipped with walking wheels, a walking controller, and a power module, enabling autonomous driving on the track. At the same time, the power module, which is a storage battery, provides power supply, ensuring the long - term working ability of the device. This can reduce labor input and time costs, improving the efficiency and accuracy of rail detection. The wheel - type rail damage detection device features high efficiency, reliability, automation, and intelligence, capable of significantly enhancing the efficiency and quality of rail maintenance and repair, reducing maintenance costs, and improving the safety and reliability of railway transportation. Description of the Drawings

[0039] Figure 1 It is a three - dimensional view of the usage state of a wheel - type rail damage detection device of the present utility model;

[0040] Figure 2 It is a three - dimensional view of a wheel - type rail damage detection device of the present utility model;

[0041] Figure 3 It is a schematic diagram of the unfolded structure of a wheel - type rail damage detection device of the present utility model (one);

[0042] Figure 4 It is a schematic diagram of the unfolded structure of a wheel - type rail damage detection device of the present utility model (two);

[0043] Figure 5 It is a front view of the internal structure of a wheel - type rail damage detection device of the present utility model;

[0044] Figure 6 It is a three - dimensional structure schematic diagram of the center - of - gravity adjustment device of a wheel - type rail damage detection device in Embodiment 2 of the present utility model;

[0045] Figure 7 It is a three - dimensional installation structure diagram of a set of counterweight sliders of the center - of - gravity adjustment device of a wheel - type rail damage detection device in Embodiment 2 of the present utility model;

[0046] Figure 8 It is a side view of the structure of the center - of - gravity adjustment device of a wheel - type rail damage detection device in Embodiment 2 of the present utility model;

[0047] Figure 9 It is a three - dimensional structure diagram of the center - of - gravity adjustment device of a wheel - type rail damage detection device in Embodiment 2 of the present utility model;

[0048] Figure 10 It is a three - dimensional structure diagram of the slider of the center - of - gravity adjustment device of a wheel - type rail damage detection device in Embodiment 2 of the present utility model;

[0049] Figure 11 It is a three - dimensional schematic diagram of the usage state of a wheel - type rail damage detection device of the present utility model;

[0050] Figure 12 Schematic structural design diagram of the center-of-gravity adjustment device for a wheeled rail damage detection device in Embodiment 1 of the present utility model;

[0051] Wherein: 1-device body, 11-component mounting frame, 12-control button, 13-data and charging interface, 14-cavity structure;

[0052] 2-walking wheel, 21-wheel disc, 22-rotating shaft, 23-driving motor;

[0053] 3-vibration sensor, 4-power supply module, 5-industrial camera, 51-lens, 6-light source assembly, 7-image acquisition control and memory, 8-walking controller, 9-gyroscope sensor;

[0054] 10-center-of-gravity adjustment device, 101-self-balancing controller, 102-support plate, 103-lateral guide rail, 104-slider, 105-traction motor, 106-rotating wheel, 107-drive belt line, 108-active guide cable rotating shaft, 109-active traction guide cable, 110-micro active motor, 111-reset guide cable rotating shaft, 112-reset traction guide cable, 113-micro reset motor. Detailed implementation manners

[0055] To make the objectives, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below in conjunction with the specific implementation manners and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present utility model. In addition, in the following descriptions, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present utility model.

[0056] Embodiment 1: A wheeled rail damage detection device, comprising:

[0057] The device body 1, having a disc-shaped structure, and internally installed with a vibration sensor 3, a power supply module 4, a control module, an industrial camera 5, wires, a light source assembly 6, a driving motor 23, and a transmission mechanism;

[0058] The traveling wheels 2 are in the shape of two wheel discs 21, and are relatively installed on the device body 1 from both sides of the device body 1 through a rotating shaft 22 and connected to the transmission mechanism. The driving motor 23 is connected to the rotating shaft 22 through the transmission mechanism to drive the traveling wheels 2 to rotate, thereby driving the device body 1 to travel along the track surface; both ends of the rotating shaft 22 pass through the transmission mechanism at the center of the device body 1 and are fixedly connected and installed at the centers of the two wheel discs 21; the traveling wheels 2 can protect the internal structure of the device body 1, and at the same time adopt a separated design from the internal structure, and the shape design can stably travel on the steel rail. During the traveling process, the wheel-type transmission structure is driven to rotate through the rotating shaft 22, and the internal structure does not move.

[0059] The vibration sensor 3 is connected to the control module and installed in the device body 1 for collecting vibration data generated during operation; the vibration sensor 3 is of the electro-measuring type, converts the vibration parameters of the device during walking into electrical signals, and is amplified by an electronic circuit and then displayed and recorded. The measurement includes three links: vibration pickup, measurement circuit, signal analysis and recording. To ensure the measurement accuracy and real-time performance, the sensitivity of the vibration sensor 3 should not be higher than 50 mV / mm / s, the frequency should not be lower than 50 Hz, and the maximum acceleration should not be lower than 2 g.

[0060] The industrial camera 5 is connected to the control module, installed in the device body 1 and keeps the lens 51 facing downwards directly opposite to the track surface, and the light source assembly 6 is used to provide lighting for supplementing light in the collection area, for collecting image data of the track surface from above the track surface; the industrial camera 5 adopts a line array 4k camera, which is suitable for the scene of steel rail image collection, has high image quality and is convenient for splicing, and has high image stability, high transmission ability and high anti-interference ability. The image sensor uses a CCD chip, uses charge as a signal, forms a charge packet through photoelectric conversion, and then transfers, amplifies and outputs the image signal under the action of a driving pulse, and has the characteristics of low voltage operation, low power consumption, high light sensitivity, low noise, etc., and can be used for long-term collection.

[0061] The power supply module 4 is installed at the lower part inside the device body 1 and is connected to the above-mentioned various component devices through wires to provide power supply;

[0062] The control module is used to control the start / stop and running speed of the traveling wheels 2, control the industrial camera 5 to take pictures and receive and store the collected image or video data, and receive and store the vibration data collected by the vibration sensor 3.

[0063] Preferably, it further includes a gyroscope sensor 9 and a center of gravity adjustment device 10;

[0064] The gyroscope sensor 9 is connected to the control module and installed inside the device body 1, and is used to collect real-time device attitude data and feedback it to the control module; the gyroscope sensor 9 is a three-axis gyroscope that can simultaneously measure the position, movement trajectory, and acceleration in six directions. Its essence is a motion sensor that can accurately determine motion parameters such as the orientation, center of gravity, and acceleration of the device during walking, providing parameter support for the self-balancing module.

[0065] The center-of-gravity adjustment device 10 is connected to the control module and installed inside the device body 1. It is arranged along the walking direction of the device and is symmetrically arranged with a vertical line passing through the center of the circle. It is used to adjust the center of gravity in the vertical conveying direction to maintain stability. The control module is used to receive the data collected by the gyroscope sensor 9 for analysis to control the center-of-gravity adjustment device 10 to make feedback adjustment control.

[0066] Preferably, the control module includes:

[0067] The image acquisition control and memory 7 is connected to the industrial camera 5 and the power supply module 4, and is used to control the switch and shooting control of the industrial camera 5, and can store image data;

[0068] The walking controller 8 is connected to the walking wheels 2, the gyroscope sensor 9, and the power supply module 4, and is used to control the start / stop and running speed of the walking wheels 2;

[0069] The self-balancing controller 101 is connected to the gyroscope sensor 9 and the center-of-gravity adjustment device 10, and is used to control the self-adjustment of the center-of-gravity adjustment device 10 based on the feedback data collected by the gyroscope sensor 9 to control the device to maintain stability. It should be noted that the method of the self-balancing controller controlling the self-adjustment of the center-of-gravity adjustment device 10 based on the feedback data collected by the gyroscope sensor 9 is already a prior art. The inventor also used this control mode in the previous patent application, and the focus of this embodiment is the overall hardware structure composition, rather than the improvement of the computer program itself.

[0070] Preferably, a component mounting frame 11 is provided inside the device body 1 along a vertical line passing through the center of the circle, so that during driving, the component mounting frame 11 is in a vertical state. Inside the component mounting frame 11, from bottom to top, there are installed in sequence: the lens 51, the industrial camera 5, the image acquisition control and memory 7, the walking controller 8, the drive motor 23, the transmission mechanism, the gyroscope sensor 9, the vibration sensor 3, and the self-balancing controller 101. Wires are also arranged through the component mounting frame 11 to be connected to each device and instrument;

[0071] The power supply module 4 is two storage batteries, which are symmetrically placed on both sides of the component mounting frame 11 respectively and are located in the lower half space of the device body 1;

[0072] The edge of the roulette wheel 21 has a stepped structure, including an outer edge and an inwardly retracted flange. The distance between the outer edges of the two roulette wheels 21 is adapted to the width of the rail surface of the track, and the distance between the two flanges is less than the width of the rail surface of the track; the arc surface between the flange and the outer edge is adapted to the edge arc of the track surface, so that the edge of the roulette wheel 21 can fit on the edge of the track and the flange can contact the track surface.

[0073] During use, the distance between the edges of the roulette wheels 21 is adapted to the width of the rail surface of the track, so that the flange contacts the track surface, and the outer edge of the roulette wheel 21 can guide and limit the roulette wheel 21 to travel and turn along the track. Such a design can achieve good contact and fit with the track, and improve the stability and adaptability of the device during driving.

[0074] Preferably, the light source assembly 6 and the front end of the lens 51 are exposed outside the device body 1 or directly face the track surface through an opening window structure or a transparent component; there are two light source assemblies 6, which are respectively placed on both sides of the lens 51 and symmetrically distributed, and the light source is obliquely irradiated on the area directly below the lens 51.

[0075] The lens 51 adopts a fixed-focus optical lens 51, which is composed of multiple lenses, a variable brightness aperture and a focusing ring, and is suitable for image acquisition with a fixed object distance. According to the actual situation on site, a lens 51 with appropriate focal length range, relative aperture, image plane size and other parameters is adopted, and the parameters are set before the acquisition starts to ensure clear imaging.

[0076] The light source adopts two LED linear light sources, which have the characteristics of small power, long life, stable brightness and easy adjustment. In view of the high light reflectivity of the steel rail, appropriate illuminance and angle are set before the acquisition starts to ensure clear imaging.

[0077] Preferably, the center of gravity adjusting device 10 includes at least two groups, which are horizontally installed in the device body 1 along the walking direction in sequence and are axially symmetrically distributed with the component mounting frame 11. One side of each group includes a support plate 102, and a number of transverse guide rails 103 perpendicular to the support plate 102 are installed on the support plate 102. The transverse guide rails 103 are centered on the midline of the support plate 102, and at least one pair of large and small sliders 104 are installed on both sides. The bottom of each slider 104 is correspondingly connected to a set of traction mechanisms, and the traction mechanisms are connected to the self-balancing controller 101. The traction mechanisms can independently control the corresponding sliders 104 to move laterally along the transverse guide rails 103.

[0078] Preferably, the traction mechanism includes a number of groups of active traction mechanisms installed inside the support plate 102, and a reset traction mechanism is installed inside the transverse guide rail 103:

[0079] Each set of active traction mechanisms corresponds to a slider 104 on a transverse guide rail 103 and includes: an active cable guide rotating shaft 108 corresponding individually to each slider 104, the active cable guide rotating shaft 108 being capable of rotationally accommodating an active traction cable 109 so as to pull the slider 104 to displace inwards. Each active cable guide rotating shaft 108 is connected to an independent micro active motor 110, the micro active motor 110 being capable of controlling the forward rotation of the active cable guide rotating shaft 108, and the active cable guide rotating shaft 108 being capable of rotationally driven in reverse under the pulling of the active traction cable 109;

[0080] Each set of reset traction mechanisms includes: a reset cable guide rotating shaft 111 corresponding individually to each slider 104, the reset cable guide rotating shaft 111 being installed at the inner end of the transverse guide rail 103, the reset cable guide rotating shaft 111 being capable of rotationally accommodating a reset traction cable 112 so as to pull the slider 104 to displace outwards. Each reset cable guide rotating shaft 111 is connected to an independent micro reset motor 113, the micro reset motor 113 being capable of controlling the forward rotation of the reset cable guide rotating shaft 111, and the reset cable guide rotating shaft 111 being capable of rotationally driven in reverse under the pulling of the reset traction cable 112;

[0081] When the self-balancing controller 101 issues a control instruction to the traction mechanism, the micro reset motors 113 corresponding to the designated single or several sliders 104 rotate forward,

[0082] Both the micro active motor 110 and the micro reset motor 113 are connected to the self-balancing controller 101. Preferably, the weight ratio of the large and small sliders 104 is 2:1 or 3:1; in this embodiment, the center-of-gravity control algorithm is a self-tuning control algorithm based on Kalman filter parameter estimation, and the self-tuning control algorithm is a well-known algorithm. In this embodiment, the center-of-gravity adjusting device 10 employs 18 sets of counterweight devices. Each set of counterweight devices consists of two 25 g small counterweight devices and two 75 g large counterweight devices, i.e., the sliders 104, and the four traction cables of the traction device are respectively connected to the four counterweight devices, i.e., the guide rail of the above-mentioned active traction cable 109 and reset traction cable 112 is formed. When the center of gravity deviates, the electrical signal changes to control the traction device in the guide rail to pull the counterweight block to reach the designated position, and the center of gravity of the adjusting device is adjusted to achieve balance.

[0083] The center-of-gravity adjustment of the present utility model is to maintain stability in the vertical conveying direction, and the stability of the conveying direction is controlled by self-weight and speed adjustment.

[0084] The utility model has been tested in a laboratory wind tunnel test. The wheeled rail damage detection device can be completely offset when the wind speed reaches 13.9-17.1m / s at a level 7 gale. After correction by the self-balancing system based on gyroscope data, the detection device can return to a stable state. When the wind force reaches level 8, the lateral wind load will exceed the balance load limit that the counterweight device can provide, and the device will be uncorrectably offset. Therefore, it is recommended to carry out detection operations below level 7 wind speeds.

[0085] Preferably, the lower half of the device body 1 is provided with a cavity-shaped structure formed by installing side panels, and the power module 4 is built in the cavity structure 14. The cavity structure 14 is divided into two half-areas with the component mounting frame 11 as the center line. The cavity structure 14 of each half-area has a space for placing counterweights. The counterweights on both sides are used to adjust the center of gravity position of the device body 1 so that the overall center of gravity of the device body 1 is on the same vertical line as the component mounting frame 11 during driving. The power module 4 is composed of two batteries connected in parallel to power the device. The storage capacity should be able to meet the continuous operation of the device for at least 4 hours, and the output voltage is stable at 24V.

[0086] Preferably, a control button 12 and a data and charging interface 13 are provided on the side wall of the device body 1 , the control button 12 is connected to the controller, and the data and charging interface 13 is connected to the controller and the power module 4 .

[0087] When the data and charging interface 13 is connected to a computer, the various parameters of the acquisition module can be adjusted through the external computer, and the start, stop and data storage of the acquisition can be controlled during the acquisition process.

[0088] Embodiment 2: In this embodiment, the traction mechanism includes a traction motor 105 installed inside or below the support plate 102, a rotating wheel 106 that can rotate is installed at the front end of the motor shaft of the traction motor 105, a transmission belt line 107 is sleeved on the rotating wheel 106, and two ends of the transmission belt line 107 are connected to the bottom ends of the corresponding slider 104, the transmission belt line 107 bypasses the middle and end of the transverse guide rail 103, and has a built-in pulley structure (not shown in the drawings) at the turning point, the transmission belt line 107 rotates one circle in the wheel surface groove of the rotating wheel 106 and keeps tension, when the traction motor 105 rotates forward, it drives the transmission belt line 107 to pull the slider 104 to move forward along the transverse guide rail 103, when the traction motor 105 rotates reversely, it drives the transmission belt line 107 to pull the slider 104 to move reversely along the transverse guide rail 103, so as to realize the lateral movement of the slider 104, and the displacement of the slider 104 can be controlled by the rotation amount of the traction motor 105. Compared with embodiment 1, such a design can reduce the number of motors. The transmission belt line 107 is placed in the slot of the transverse guide rail 103, and the transmission belt line 107 is installed by opening holes or slots in conjunction with a roller passing structure.

[0089] It should be understood that the above specific embodiments of the present utility model are only for illustrative explanation or interpretation of the principle of the present utility model, and do not constitute a limitation to the present utility model. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present utility model shall be included within the protection scope of the present utility model. In addition, the appended claims of the present utility model are intended to cover all variations and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A wheeled rail damage detection device, characterized in that Including: The device body (1) is in a disc-shaped structure and is internally installed with a vibration sensor (3), a power module (4), a control module, an industrial camera (5), wires, a light source assembly (6), a driving motor (23), and a transmission mechanism; The traveling wheels (2) are in a structure of two wheel discs (21), and are relatively installed on the device body (1) from both sides of the device body (1) through a rotating shaft (22) and are connected to the transmission mechanism. The driving motor (23) is connected to the rotating shaft (22) through the transmission mechanism to drive the traveling wheels (2) to rotate, thereby driving the device body (1) to travel along the track surface; both ends of the rotating shaft (22) pass through the transmission mechanism at the center of the circle of the device body (1) and are fixedly connected and installed at the centers of the two wheel discs (21); The vibration sensor (3) is connected to the control module and is installed inside the device body (1) for collecting vibration data generated during operation; The industrial camera (5) is connected to the control module and is installed inside the device body (1) with the lens (51) facing downward and directly facing the track surface. The light source assembly (6) is used to provide lighting for the acquisition area to collect image data of the track surface from above the track surface; The power module (4) is installed at the lower inner position of the device body (1) and is connected to the above-mentioned various component devices through wires to provide power supply; The control module is used to control the start / stop and running speed of the traveling wheels (2), control the industrial camera (5) to take pictures and receive and store the collected image or video data, and receive and store the vibration data collected by the vibration sensor (3).

2. The wheeled rail damage detection device according to claim 1, wherein, It also includes a gyroscope sensor (9) and a center of gravity adjustment device (10); The gyroscope sensor (9) is connected to the control module and is installed inside the device body (1) for collecting real-time device attitude data and feeding it back to the control module; The center of gravity adjustment device (10) is connected to the control module and is installed inside the device body (1), arranged along the traveling direction of the device and symmetrically arranged with the vertical line passing through the center of the circle, for adjusting the center of gravity in the vertical conveying direction to maintain stability. The control module is used to receive and analyze the data collected by the gyroscope sensor (9) to control the center of gravity adjustment device (10) to make a feedback adjustment control.

3. The wheeled rail damage detection device according to claim 2, wherein The control module includes: An image acquisition control and memory (7), connected to the industrial camera (5) and the power module (4), for controlling the switch and shooting of the industrial camera (5) and storing image data; A traveling controller (8), connected to the traveling wheels (2), the gyroscope sensor (9), and the power module (4), for controlling the start / stop and running speed of the traveling wheels (2); An auto-balancing controller (101), connected to the gyroscope sensor (9) and the center of gravity adjustment device (10), for controlling the self-adjustment of the center of gravity adjustment device (10) based on the feedback data collected by the gyroscope sensor (9) to control the device to maintain stability.

4. The wheeled rail damage detection device according to claim 3, characterized in that, Inside the device body (1), a component mounting frame (11) is provided along a vertical line passing through the center of the circle, so that during driving, the component mounting frame (11) is in a vertical state. Inside the component mounting frame (11), the following components are installed in sequence from bottom to top: a lens (51), an industrial camera (5), an image acquisition control and memory (7), a walking controller (8), a drive motor (23), a transmission mechanism, a gyroscope sensor (9), a vibration sensor (3), and a self-balancing controller (101). Wires are also arranged through the component mounting frame (11) and connected to each device and instrument; The power supply module (4) consists of two storage batteries, which are symmetrically placed on both sides of the component mounting frame (11) respectively and are located in the lower half space of the device body (1); The edge of the wheel disc (21) has a stepped structure, including an outer edge and an inwardly retracted flange. The distance between the outer edges of the two wheel discs (21) is adapted to the width of the rail surface of the track, and the distance between the two flanges is less than the width of the rail surface of the track; the arc surface between the flange and the outer edge is adapted to the edge arc of the track surface, so that the edge of the wheel disc (21) can fit on the edge of the track and the flange can contact the track surface.

5. The wheeled rail damage detection device according to claim 4, characterized in that, The front ends of the light source assembly (6) and the lens (51) are exposed outside the device body (1) or directly face the track surface through an opening window structure or a transparent component; There are two light source assemblies (6), which are respectively placed on both sides of the lens (51) and are symmetrically distributed. The light sources are obliquely irradiated in the area directly below the lens (51).

6. The wheeled rail damage detection device according to claim 4, characterized in that, The center-of-gravity adjustment device (10) includes at least two groups, which are horizontally installed along the walking direction in sequence and are axially symmetrically distributed with the component mounting frame (11) as the axis. One side of each group includes a support plate (102). A number of transverse guide rails (103) perpendicular to the support plate (102) are installed on the support plate (102). The transverse guide rails (103) are centered on the midline of the support plate (102), and at least one pair of large and small sliders (104) are installed on both sides. The bottom of each slider (104) is correspondingly connected to a set of traction mechanisms. The traction mechanisms are connected to the self-balancing controller (101), and the traction mechanisms can independently control the corresponding sliders (104) to move horizontally along the transverse guide rails (103).

7. The wheeled rail damage detection device according to claim 6, wherein, The traction mechanism comprises a traction motor (105) installed inside or below the support plate (102); a rotatable rotating wheel (106) is installed at the front end of the motor shaft of the traction motor (105); a transmission belt line (107) is sleeved on the rotating wheel (106); two ends of the transmission belt line (107) are connected to two ends of the bottom of the corresponding slider (104); the transmission belt line (107) bypasses the middle and end of the transverse guide rail (103) and has a built-in pulley structure at the turning point; the transmission belt line (107) The sliding block (104) rotates one circle in the groove of the wheel surface of the rotating wheel (106) and is kept tensioned. When the traction motor (105) rotates in the forward direction, the transmission belt line (107) is driven to pull the sliding block (104) to move in the forward direction along the transverse guide rail (103). When the traction motor (105) rotates in the reverse direction, the transmission belt line (107) is driven to pull the sliding block (104) to move in the reverse direction along the transverse guide rail (103), thereby realizing the transverse movement of the sliding block (104). The displacement of the sliding block (104) can be controlled by the rotation amount of the traction motor (105).

8. The wheeled rail damage detection device according to claim 6, wherein, The weight ratio of the large and small sliders (104) is 2:1 or 3:1; The lower half of the device body (1) is provided with a cavity-shaped structure formed by installing side panels, the power module (4) is built into the cavity structure (14), the cavity structure (14) is divided into two half-areas with the component mounting frame (11) as the center line, and each half-area of ​​the cavity structure (14) has a space for placing a counterweight, and the counterweights on both sides are used to adjust the center of gravity position of the device body (1) so that the overall center of gravity of the device body (1) and the component mounting frame (11) are on the same vertical line during driving.

9. The wheeled rail damage detection device according to claim 4, characterized in that, The device body (1) is provided with a control button (12) and a data and charging interface (13) on the side wall. The control button (12) is connected to the controller, and the data and charging interface (13) is connected to the controller and the power module (4).

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