Track detection equipment

Abstract

The utility model provides track detection equipment, which comprises an equipment main body and a moving mechanism, can be loaded on a track, move along the track and acquire track data in the moving process, and is characterized in that a main body unit comprises a framework, a shell, a plurality of detection parts in the shell and a sealing assembly, the sealing assembly comprises a plurality of pressing strips and a plurality of sealing strips, the pressing strips are fixed at the gaps of the unit shell and tightly press the sealing strips on the gaps, so that the strip-shaped gaps on the shell can be effectively sealed, a certain rainwater-proof function is achieved, and the sealing strips are embedded in the sealing strip grooves in the inner sides of the pressing strips, so that the sealing effect of the unit shell is improved. The device can be normally used in the environment of light rain and the like, so that the stop line maintenance time can be fully utilized, and the sealing strip does not shift or fall off in the process of pushing the device to move along the track for detection and in the process of conveying and carrying the device.

Description

Technical Field

[0001] The utility model belongs to the technical field of track detection equipment, and in particular relates to a track detection equipment. Background Art

[0002] To ensure the stability and safety of train operations, regular track inspections are required to promptly detect and eliminate various track defects. Track inspections encompass a wide range of areas, including track geometry, track surface condition, and various track components. To improve inspection efficiency and accuracy and reduce track line inspection and maintenance time, automated inspection equipment is increasingly being used. For example, a T-type track inspection vehicle is currently widely used for track geometry inspection. Its T-shaped frame features three running wheels: a fixed wheel on one side and two spring-loaded wheels on the other. The vehicle is equipped with inclinometers, laser rangefinders, and other inspection devices. During operation, the three running wheels rest on two rails, with the fixed and spring-loaded wheels pressing against the inner side of the rails. The inspector pushes the vehicle along the track, collecting data via the onboard inspection equipment. The collected data is then used to calculate the required track geometry.

[0003] However, the above-mentioned T-type track detector still has many problems. On the one hand, the T-type track detector usually only has the above-mentioned detection components, and it needs to adopt the contact method of lateral compression of the side wheels to meet the detection accuracy requirements. Therefore, the track detection items it can cover are very limited. For many other detection items, such as the detection of various geometric dimensions at the switch, the visual detection of the rail surface status, etc., it is still necessary to manually use tools such as track gauges for measurement, or use other track detection equipment for measurement. Therefore, in actual track detection, especially when used in the detection of the switch area, it is still very inconvenient and the improvement of detection efficiency is very limited. On the other hand, track detection equipment is usually used in an open-air environment, and it is inevitable to encounter rainy and snowy weather. Due to the tight time for line stoppage maintenance, it is generally necessary to make full use of time for measurement in light rain and other conditions. However, the detection components of many existing T-type track detectors are exposed to the outside. In this case, they cannot be used, otherwise the live detection components will be damaged. Although some track detection equipment is equipped with an outer casing, when the equipment is pushed along the track in an outdoor rainy and snowy environment, rainwater on the outer casing is still likely to enter the interior of the casing through the gaps in the outer casing, affecting the internal detection components and other live equipment, and shortening the service life of the equipment. Utility Model Content

[0004] The present invention is designed to solve the above problems and aims to provide a track inspection device that can comprehensively cover a variety of inspection items of mainline tracks and switches and has a certain waterproof performance. The present invention adopts the following technical solutions:

[0005] The utility model provides a track detection device, which has the following technical features: two main body units, which are fixed to each other to form a device body; and a moving mechanism, which is arranged on the device body, and the device body can be movably set on the track through the moving mechanism, wherein the main body unit includes a unit skeleton, a unit shell wrapped on the unit skeleton, a plurality of detection components arranged in the unit shell, and a sealing assembly arranged on the unit shell, the sealing assembly includes a plurality of pressure strips and a plurality of sealing strips, the pressure strips are fixed at the gap of the unit shell, the inner side of the pressure strips has a sealing strip groove, the sealing strip is embedded in the sealing strip groove, and is pressed by the pressure strip at the gap, so that the gap is sealed.

[0006] The track detection equipment provided by the present invention may also have such technical features, wherein the unit shell includes multiple side panels and a top plate, the bottom of the unit shell is open, so that the detection component inside it can detect the track below through the opening, and the gap is formed between the side panels and the top plate. The cross-section of the pressure strip is L-shaped, and its two sides are respectively fixed to the edge of the side panel and the edge of the top plate at the corresponding position.

[0007] The track detection equipment provided by the present invention may also have such technical features, wherein the side panels are two pieces, the top panel is one piece and has a bent portion, the two side panels and the one top panel form a four-sided surrounding structure, one corner of the side panel is a rounded corner, the bent portion of the top panel is arc-shaped, the multiple moldings include multiple straight moldings and multiple curved moldings, the curved moldings are used to be arranged at the rounded corners of the side panels, and the cross-sections of the straight moldings and the curved moldings in the extension direction are both L-shaped.

[0008] The track detection equipment provided by the present invention may also have such technical features, wherein the width of one end of the straight strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for installing the upper end handle; the width of one end of the curved strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for installing the outer end handle; the moving mechanism includes a walking wheel bracket and a walking wheel; one end of the walking wheel bracket is fixedly connected to one end of the connecting bracket, and the other end is in the shape of a semi-closed shell for connecting and accommodating the walking wheel; and a wheel end handle is provided on the walking wheel bracket.

[0009] The track detection equipment provided by the present invention may also have such technical features, wherein the detection component includes a line laser scanner and a two-dimensional camera, and the track detection equipment also includes: a detection auxiliary mechanism, which includes: a shading component, including multiple shading plates, arranged below the unit body; and a fill light component, including multiple lamp tubes, respectively arranged in the lower part of the unit body, for providing fill light for the camera and the line laser scanner.

[0010] The track detection equipment provided by the present invention may also have such technical features, wherein, in each of the main units, there are three line laser scanners, all of which are arranged at the top of the main unit, and are respectively arranged at the outer end and inner end of the main unit, wherein the inclination direction of the line laser scanner arranged at the outer end is different from the inclination direction of the two line laser scanners arranged at the inner end; in each of the unit bodies, there are three cameras, which are respectively arranged below the line laser scanner at the outer end, in the middle of the main unit, and below one of the line laser scanners arranged at the inner end; in each of the unit bodies, there are at least four lamp tubes, and the multiple shading plates include side shading plates and end shading plates; in each of the unit bodies, the lower end of the side plate is connected to a side shading plate extending obliquely outward, and the lower end of the top plate is connected to an end shading plate extending obliquely outward.

[0011] The track detection equipment provided by the present invention may also have such a technical feature, wherein, in each of the main body units, two of the lamp tubes are arranged along the width direction of the unit body, respectively arranged below the line laser scanner at the outer end and below one of the line laser scanners at the inner end, and are staggered in the horizontal direction with the cameras on the corresponding sides, and the other two lamp tubes extend along the length direction of the main body unit, respectively arranged inside the two sides in the width direction of the main body unit, and their lengths are such that the lamp tubes do not interfere with the line lasers projected by the line laser scanners on both sides.

[0012] The track detection device provided by the present invention may also have such technical features, wherein the detection component in one of the unit bodies further includes: an inclinometer for collecting angular information of the device during movement along the track; two gyroscopes with axes perpendicular to each other, respectively used to collect angular velocity information of the device during movement along the track, wherein the gyroscopes are fiber optic gyroscopes.

[0013] The track detection equipment provided by the present utility model may also have such technical features, the equipment also includes: an external battery, which is arranged on the outer surface of the unit shell of one of the main units; a power display, which is used to display the remaining power of the external battery, wherein the outer surface of the unit shell also has a plurality of spring slots, the external battery is box-shaped, and is detachably arranged on the outer surface of the unit shell through the plurality of spring slots, and the power display is arranged on the external battery or the main unit.

[0014] The track detection equipment provided by the present utility model may also have such technical features, wherein the mobile mechanism includes multiple walking wheel assemblies and multiple fixed side wheel assemblies, the walking wheel assembly includes a coaxially arranged walking wheel and an auxiliary cone wheel, the walking wheel is closer to the middle of the equipment body than the auxiliary cone wheel, the large end of the auxiliary cone wheel faces the walking wheel, the walking wheel includes a hub part and a wheel surface part covered on the hub part, the hub part is a POM plastic part, the wheel surface part is a ceramic material part, and the auxiliary cone wheel is a POM plastic part.

[0015] Functions and effects of utility models

[0016] The track detection equipment provided by the utility model includes an equipment main body and a moving mechanism, which can be placed on the track and move along the track, and collect track data during the movement, wherein the main unit includes a skeleton, an outer shell, multiple detection components in the outer shell, and a sealing assembly. Since the sealing assembly includes multiple pressure strips and multiple sealing strips, the pressure strips are fixed at the gaps of the unit outer shell and the sealing strips are pressed against the gaps, so that the strip-shaped gaps on the outer shell can be effectively sealed, playing a certain rainproof function, and since the sealing strips are embedded in the sealing strip grooves on the inner side of the pressure strips, the equipment can be used normally in environments such as light rain, so that the line stop maintenance time can be fully utilized, and in the process of pushing the equipment to move along the track for detection and in the process of conveying and moving the equipment, the sealing strips will not shift or fall out, which can ensure the waterproof sealing effect and also protect the sealing strips to avoid the sealing strips from deteriorating and failing due to external influences after long-term use. In addition, the sealing strips are covered on the inner side by the pressure strips, and the appearance of the equipment is also more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a perspective view of the track detection device in this embodiment;

[0018] Figure 2 is a side view of the track detection device in this embodiment;

[0019] Figure 3 is a perspective view of the main unit in this embodiment;

[0020] Figure 4 is a three-dimensional diagram of the skeleton plate in the main unit of this embodiment;

[0021] Figure 5 is a perspective view of the skeleton connecting rod in the main unit of this embodiment;

[0022] Figure 6 is a three-dimensional diagram of one end of a straight layering strip in this embodiment;

[0023] Figure 7 is a three-dimensional diagram of the curved layering strip in this embodiment;

[0024] Figure 8 Schematic diagram of the position distribution of detection components in the device body in this embodiment;

[0025] Figure 9 is a perspective view of the mobile unit in this embodiment;

[0026] Figure 10 is a perspective view of the travel wheel assembly in this embodiment;

[0027] Figure 11 This is an exploded view of the structure of the traveling wheel in this embodiment;

[0028] Figure 12 It is a cross-sectional view of a partial structure of the traveling wheel assembly in this embodiment.

[0029] Reference numerals:

[0030] Track detection device 100; device body 10; main unit 11; unit skeleton 111; skeleton plate 1111; triangular through hole 11111; first solid plate portion 11112; power button hole 11112a; display screen hole 11112b; second solid plate portion 11113; through hole 11113a; skeleton connecting rod 1112; unit housing 112; side plate 1121; top plate 1122; connecting end plate 1123; connecting plate portion 11231; docking hole 11231a; straight pressure strip 112 4; first straight plate portion 11241; sealing strip groove 11251a; mounting plate portion 11241b; fixing hole 11241c; second straight plate portion 11242; curved pressure strip 1125; first curved plate portion 11251; second curved plate portion 11252; sealing strip groove 11251a; mounting plate portion 11242b; fixing hole 11242c; upper end handle 1131; outer end handle 1132; line laser scanners 1141-1146; two-dimensional cameras 1151-1156; inclinometer 1 161; gyroscopes 1171, 1172; GPS module 1181; mobile mechanism 20; mobile unit 21; connecting bracket 211; travel wheel assembly 212; travel wheel bracket 2125; rotating shaft 2121; bearing 2122; travel wheel 2123; wheel hub 21231; glue injection groove 21231a; wheel tread 21232; auxiliary cone wheel 2124; fixed side wheel assembly 213; side wheel bracket 2131; main side wheel 2132; auxiliary side wheel 2133; mileage detection assembly 214; Component housing 2141; mileage detector 2142; detector spacer 2143; floating connection component 215; fixing bracket 2151; connecting shaft 2152; wheel end handle 216; pushing mechanism 30; push rod 31; angle adjustment component 32; detection auxiliary mechanism 40; shading block 41; side shield 411; end shield 412; shading cloth 413; fill light component 42; side shield 411; end shield 412; electronic control component 50; external battery 51; computing device 52. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the comprehensive track detection equipment of the present invention is described in detail below with reference to the embodiments and drawings.

[0032] <Example>

[0033] Figure 1 is a three-dimensional diagram of the integrated track detection equipment in this embodiment, Figure 2 It is a side view of the integrated track detection device and the track in this embodiment.

[0034] like Figure 1 and Figure 2As shown, the track detection equipment 100 is an H-shaped comprehensive track detection equipment (detection vehicle), which includes: an equipment body 10, a moving mechanism 20, a pushing mechanism 30, a shading mechanism 40, and an electronic control component 50.

[0035] The device body 10 is generally in the shape of a long rectangular parallelepiped, and includes two main body units 11. Each main body unit 11 is also generally in the shape of a rectangular parallelepiped, and one end of the main body units 11 in the length direction is connected to form a whole.

[0036] Figure 3 is a three-dimensional diagram of the main unit in this embodiment, Figure 4 is a three-dimensional diagram of the skeleton plate in the main unit in this embodiment, Figure 5 It is a three-dimensional diagram of the skeleton connecting rod in the main unit in this embodiment.

[0037] like Figures 3 to 5 As shown, each main unit 11 includes a unit frame 111, a unit shell 112, an upper handle 113, a sealing assembly 114, and multiple detection components.

[0038] The unit frame 111 is an aluminum alloy frame, including two frame plates 1111 and a plurality of frame connecting rods 1112. Figure 4 As shown, the skeleton plate 1111 is a long strip frame plate, on which are distributed multiple rows of rounded triangular through holes 11111. The multiple triangular through holes in each row are arranged in intervals with the sharp corners facing upward and downward in sequence. A support bar of uniform width is formed between two adjacent triangular through holes, that is, a triangular grid structure is formed. Therefore, the skeleton plate 1111 is very light and has sufficient structural strength. The skeleton plate 1111 also has multiple mounting holes. The two skeleton plates 1111 are parallel to each other and aligned in the thickness direction. The skeleton connecting rod 1112 is a hollow square column as a whole, and the four sides also have a triangular grid structure. The size of the triangular through holes on the skeleton connecting rod 1112 is smaller than the size of the triangular through holes on the skeleton plate 1111. The two ends of each skeleton connecting rod 1112 are solid plates, which are respectively fixed to the corresponding mounting holes on the two skeleton plates 1111, so that the two skeleton plates 1111 are fixedly connected by multiple skeleton connecting rods 1112 to form an overall skeleton (frame). In addition, the skeleton connecting rod 1112 is also used as a mounting rod for multiple detection components.

[0039] The skeleton plate 1111 has a first solid plate portion 11112 on one side along its length and a second solid plate portion 11113 in its middle, towards the other side. These solid plates have no through-holes. The first solid plate portion 11112 of one main unit 11 has a power button hole 11112a and a display screen hole 11112b. The second solid plate portion 11113 of both main units 11 has a roughly rounded rectangular through-hole 11113a.

[0040] The unit shell 112 is wrapped around the unit skeleton 111, and includes two parallel and oppositely arranged side panels 1121, a bent top panel 1122, and a connecting end panel 1123. Except for the connecting end panel 1123, the other three panels are carbon fiber panels. The four panels are combined to form a five-sided enclosed structure. The bottom of the main unit 11 is open, and is used for the detection components inside the unit main body 11 to detect the track below through the bottom opening. The bend of the top panel 1122 is in an arc shape, so that one end of the upper part of the main unit 11 is arc-shaped (that is, when viewed from the side, one corner is rounded). The thickness of the end panel 1123 is greater than that of the side panels and the top panel. The connecting end panels 1123 of the two main units 11 are assembled toward each other and fixed by a plurality of fasteners. A plurality of holes and slots are provided on the end panel 1123 to facilitate the routing of a plurality of detection components within the two unit main bodies 11. The connecting end plate 1123 has two outward-protruding connecting plate portions 11231 on both sides in the width direction. The outer end portion of the connecting plate portion 11231 is arc-shaped and has a docking hole 11231a. When installed on the skeleton, the multiple connecting plate portions 11231 on both sides are located outside the unit shell 112 in the width direction of the unit main body 11. Therefore, docking bolts can be easily installed on the outside of the shell to connect the two main units 11, which is more convenient to operate.

[0041] The unit housing 112 also includes a sealing assembly, comprising a plurality of straight beading strips 1124, a plurality of curved beading strips 1125, and a plurality of sealing strips (not shown). The straight beading strips 1124 are used to seal the straight edges of the unit housing 112; the curved beading strips 1125 are used to seal the curved edges of the unit housing 112 (the bends of the top plate 1122).

[0042] Figure 6 It is a three-dimensional diagram of one end of the straight layering strip in this embodiment.

[0043] like Figure 6As shown, the straight bead 1124 is generally in the shape of a long straight strip, and its cross-section in the extension direction is L-shaped. The straight bead 1124 comprises a first straight plate portion 11241 and a second straight plate portion 11242, which are approximately perpendicular to each other. The two straight plate portions are each provided with a plurality of mounting holes for securing with corresponding mounting holes on the side panels and top panel. The thickness of the first straight plate portion 11241 is greater than that of the second straight plate portion 11242. One end of the first straight plate portion 11241 is wider, forming a mounting plate portion 11241a, one end of which has a rounded edge. The mounting plate portion 11241b comprises a fixing hole 11241c having a larger diameter than the other mounting holes on the bead, which is used to secure the bead and to mount the upper handle 1131. The inner side of the first straight plate portion 11241 (the side facing the second straight plate portion 11242) has a sealing strip groove 11241a, which is a groove with a rectangular cross-section. Its extension direction is consistent with the extension direction of the first straight plate portion 11241, and its groove depth is less than the diameter of the sealing strip.

[0044] Figure 7 3D is a three-dimensional diagram of the curved beading in this embodiment.

[0045] like Figure 7 As shown, the curved molding 1125 is roughly L-shaped with rounded corners. One side of the L is shorter and is used to connect with the straight molding 1124 on the upper part of the unit shell 112. The two together seal a horizontal edge at the upper end of the unit shell 112; the other side of the L is relatively long and is used to seal a vertical edge on the side of the unit shell 112.

[0046] The cross-section of the curved beading 1125 along its extension direction is also L-shaped. The curved beading 1125 comprises a first curved plate portion 11251 and a second curved plate portion 11252, which are substantially perpendicular to each other. The first curved plate portion 11251 is bent along its thickness, while the second curved plate portion 11252 is bent along its width. Multiple mounting holes are defined in each curved plate portion. A sealing strip groove 11251a is defined on the inner side of the first curved plate portion 11251 (i.e., the side facing the second curved plate portion 11252). This groove is rectangular in cross-section and extends in the same direction as the first curved plate portion 11251. Its depth is less than the diameter of the sealing strip. At one end of the long side of the curved beading 1125, the width of the first curved plate portion 11251 widens to form a mounting plate portion 11251b. One end of this portion has a rounded edge and includes a fixing hole 11251c, larger in diameter than the other mounting holes on the beading. This fixing hole 11251c is also used to attach the end handle 1132. Furthermore, the thickness of the first curved plate portion 11251 at both ends is smaller than that at its midsection, allowing for easy installation with the other components of the main unit 11.

[0047] In this embodiment, the material of the molding is POM, and the material of the sealing strip is silicone foam material. The sealing strip has a circular cross-section and is embedded in the sealing strip groove of each molding. After the molding is installed on the outer shell plate and pressed tightly, the sealing strip is compressed and the cross-section becomes similar to a rounded rectangle, sealing the gap between the side panel and the top panel.

[0048] The sealing assembly can be used to seal the connection between the side panel and the top panel of the unit housing 112, mainly to prevent rainwater from entering the interior of the housing through the gap between the side panel and the top panel, thereby affecting the internal detection components, electrical equipment, wires, etc.

[0049] The upper handle 1131 is arranged above one end of the unit shell 112 having the end plate 1123, and the outer handle 1132 is arranged at the lower outer end of the unit shell 112. After the two unit bodies 11 are combined, the two upper handles 1131 are respectively located in the middle of the upper end of the entire equipment body 10, and the two outer handles 1132 are respectively located at the lower ends of the entire equipment body 10 in the length direction, which is convenient for the inspection personnel to carry the equipment.

[0050] The multiple detection components include multiple line laser scanners, multiple two-dimensional cameras, an inclinometer, at least one gyroscope, and a GPS module.

[0051] Figure 8 Schematic diagram of the position distribution of detection components in the device body in this embodiment.

[0052] In this embodiment, six high-precision line laser scanners 1141 - 1146 , six two-dimensional cameras 1151 - 1156 , an inclinometer 1161 , two high-precision fiber optic gyroscopes 1171 and 1172 , and a GPS module 1181 are provided.

[0053] like Figure 8 As shown, three line laser scanners 1141 to 1143 , three cameras 1151 to 1153 , two gyroscopes 1171 and 1172 , and a GPS module 1181 are provided in the unit body 11 on one side (the right side in the figure).

[0054] Among them, the three line laser scanners are all set near the top of the main unit 11, among which the line laser scanner 1411 is fixed at the outer end of the unit main body 11 in the length direction and is set at an angle, the line laser scanner 1412 is fixed at the middle of the unit main body 11 in the length direction and is set at an angle, and the inclination angle is smaller than that of the line laser scanner 1141, and the line laser scanner 1143 is fixed at the inner end of the unit main body 11 in the length direction and is also set at an angle, and the inclination direction is different from that of the other two line laser scanners. When the device is placed on the track in the switch area, the line laser scanner 1411 is tilted toward The outside of the basic rail 9 can cover part of the outer side surface and top surface of the basic rail 9, as well as part of the outer side surface and top surface of the rail parts (if any) outside the basic rail, such as the above-mentioned position of the point rail 8 in the figure; the line laser scanner 1412 is slightly tilted toward the top surface of the rail, and can completely cover the top surface and part of the inner side surface of the basic rail 9, as well as part of the top surface of the rail parts outside the basic rail 9, and the top surface of the rail parts inside the basic rail 9; the line laser scanner 1143 is tilted toward the inside of the rail, and can basically completely cover the top surface and part of the inner side surface of the basic rail 9, as well as the top surface and part of the inner side surface of the rail parts inside the basic rail 9.

[0055] The three cameras 1151 to 1153 are respectively arranged in the middle of the height direction of the main unit 11 and are all arranged vertically, with their detection ends facing vertically downward. Among them, camera 1151 is arranged at the outer end of the main unit 11 in the length direction, just below the line laser scanner 1411. Camera 1152 is arranged in the middle of the length direction of the main unit 11. Camera 1153 is arranged at the inner end of the length direction of the main unit 11, below the line laser scanner 1142. On the main track, the three cameras can cover the rails on one side and the fasteners next to the rails, and other track components; at the switch, the three cameras can cover the basic rails on one side and other rail components such as the point rails or guard rails next to the basic rails. In addition, the installation positions of the three cameras will not affect the laser lines projected by the three line laser scanners.

[0056] The inclinometer 1161 is provided at the lower portion of the main body unit 11 and at the inner end portion in the length direction of the main body unit 11 for detecting angle changes of the device.

[0057] The two fiber optic gyroscopes 1171 and 1172 are respectively arranged in the middle of the length direction and the middle of the height direction of the main unit 11, with their axes perpendicular to each other, and are used to detect the height and track direction respectively.

[0058] The GPS module 1181 is disposed on the top of the main unit 11 and is located at the outer end portion in the length direction of the main unit 11 for obtaining the geographic location of the device.

[0059] In the unit body 11 on the other side (the left side in the figure), there are three laser scanners 1144~1146 and three identical 1154~1156. Their distribution is very similar to the distribution of the corresponding detection components in the unit body 11 on one side mentioned above. The only difference is that these detection components in the two unit bodies 11 are roughly mirror-distributed along the midline in the length direction of the entire device body 10.

[0060] The moving mechanism 20 includes two moving units 21 for allowing the device to be placed on a track and to move (travel) along the track.

[0061] Figure 9 is a perspective view of the moving unit in this embodiment.

[0062] like Figure 9 As shown, one of the mobile units 21 includes a connecting bracket 211 , two walking wheel assemblies 212 , a fixed side wheel assembly 213 , a mileage detection assembly 214 , a floating connection assembly 215 , and a wheel end handle 216 .

[0063] The connecting bracket 211 is also a square-pillar aluminum alloy frame with a rectangular cross-section along its extension direction, also featuring the aforementioned triangular grid structure. The connecting bracket 211 has a cross-sectional dimension slightly smaller than the through-hole 11113a in the unit housing 112 and is inserted into the through-hole 11113a. Both ends of the connecting bracket 211 extend outside the housing. Two running wheel assemblies 212 are fixedly mounted to each end of the connecting bracket 211.

[0064] Figure 10 : is a three-dimensional diagram of the traveling wheel assembly in this embodiment, Figure 11 This is an exploded view of the structure of the traveling wheel in this embodiment. Figure 12 is a cross-sectional view of the structure of the traveling wheel assembly in this embodiment. Figure 12 Structures such as the travel wheel bracket and wheel end handles are omitted.

[0065] like Figures 10 to 12 As shown, the travel wheel assembly 212 includes a travel wheel bracket 2125 , a rotating shaft 2121 , a pair of bearings 2122 , a travel wheel 2123 , and an auxiliary cone wheel 2124 .

[0066] The wheel bracket 2125 comprises an extension portion 21251 and a wheel housing portion 21252. The extension portion 21251 is used to securely attach to the connecting bracket 211. Once secured, the extension portion 21251 extends outward at an angle relative to the connecting bracket 211. The extension portion 21251 also has a triangular network structure. The wheel housing portion 21252 is formed at the outer end of the extension portion 21251. It takes the form of a semi-enclosed shell that mates with the cylindrical wheel and features a locking hole, a pair of shaft mounting holes, and other features.

[0067] A pair of bearings 2122 are mounted in the shaft mounting holes at the ends of the travel wheel bracket 2125. A shaft 2121 is mounted at the end of the travel wheel bracket 2125 via a pair of bearings, with one end of the shaft 2121 extending outside one side of the bracket. The shaft 2121 comprises a main rod and two transmission rods mounted on and perpendicular to the main rod. These two transmission rods respectively drive the travel wheel and the auxiliary cone pulley to rotate.

[0068] The travel wheel 2123 comprises a hub 21231 and a wheel tread 21232. The hub 21231 is integrally formed from POM material and has a generally cylindrical shape. It has a plurality of fan-shaped lightening holes extending axially and distributed circumferentially. Its circumferential edges are provided with a plurality of locking holes 21231a, and its center portion has a shaft connection hole. Furthermore, the outer circumference of the hub 21231 is provided with a plurality of mutually parallel annular glue injection grooves 21231b, each having a generally rectangular cross-section in the circumferential direction. The wheel tread 21232 is made of ceramic, is cylindrical, and is relatively thin. It fits over the outer circumference of the hub 21231, and the two are bonded and secured together by adhesive applied to the glue injection grooves 21231b.

[0069] The auxiliary bevel wheel 2124 is an integrally formed part, which is integrally processed and formed from POM material. Its overall shape is a truncated cone, and it also has a plurality of fan-shaped lightening holes extending along its axial direction and distributed along its circumference, and a shaft connecting hole in the middle.

[0070] The running wheel 2123 is mounted on the rotating shaft 2121, with the larger portion of its upper end housed within the wheel housing 21252 of the running wheel bracket 2125, protecting it. An auxiliary bevel pulley 2124 is also mounted on the rotating shaft 2121, located outside of the wheel housing 21252. The running wheel 2123 is closer to the center of the equipment than its corresponding auxiliary bevel pulley 2124. The auxiliary bevel pulley 2124 faces the running wheel 2123 with its larger end facing outward, providing assistance when the equipment passes through a switch fork.

[0071] The travel wheel 2123 has the functions of bearing weight and traveling, and is relatively more susceptible to wear. Therefore, the use of POM hub parts combined with ceramic wheel surface parts can reduce the wear rate of the travel wheel, while also meeting the insulation requirements and making the overall weight of the travel wheel lighter.

[0072] Without auxiliary bevel pulley 2124, the running wheel 2123 could become stuck in the hazardous space of the turnout when the equipment passes through it, especially when it is severely worn. Auxiliary bevel pulley 2124 protects the running wheel 2123 from falling into the hazardous space. Because auxiliary bevel pulley 2124 is used relatively infrequently and thus less susceptible to significant wear, it is made of POM plastic, which meets both insulation requirements and a certain degree of wear resistance, meeting its operational requirements.

[0073] Optionally, the walking wheel assembly 212 may also include a locking piece (not shown in the figure), which is arranged on one side of the unit bracket 211, and its locking end can pass through the locking hole on the wheel body accommodating portion 2111 and be embedded in a locking matching hole on the walking wheel 2123, thereby locking the walking wheel 2123 so that the equipment can be stably parked on the track.

[0074] The fixed side wheel assembly 213 is arranged on the end of the unit bracket 211 and is located next to the corresponding running wheel assembly 212, closer to the middle of the entire equipment relative to the running wheel assembly 212. The fixed side wheel assembly 213 includes a side wheel bracket 2131, a main side wheel 2132 and two auxiliary side wheels 2133. The side wheels are all olive-shaped and are also arranged on the side wheel bracket through a rotating shaft and bearings. The diameter of the main side wheel 2132 is larger than the diameter of the auxiliary side wheel 2133. The size and installation position of the side wheels are such that when the equipment is placed on the track and the running wheel contacts the rail surface, the edge of the side wheel can be attached to the effective edge of the rail 16 mm below the rail surface.

[0075] It's worth noting that, considering the movement and detection requirements of the device at the turnout, the equipment in this embodiment does not have lateral clamping mechanisms such as spring side wheels, but only has four fixed side wheel assemblies. Furthermore, through modeling analysis and repeated trials and adjustments, suitable installation positions were designed for the four fixed side wheel assemblies, allowing the equipment to pass through the center rail area normally. The installation of lateral clamping mechanisms such as spring side wheels can affect the movement and detection accuracy of the equipment at the turnout. The following examples illustrate this:

[0076] For example, due to the gap between the wing rail and the center rail, the gap may cause the spring side wheel to lose support when passing through this position, causing the device to deviate or get stuck.

[0077] In the front section of the heart rail, there is a certain height difference between the top surface of the base rail and the top surface of the heart rail. Due to the limitation of elastic force, the spring side wheels may not be able to adapt to the change in height difference, causing the overall center of gravity of the device to shift or jump, thereby affecting the detection accuracy; it may also cause the entire device to become unstable and unable to continue moving along the track.

[0078] The width of the tip of the heart rail gradually narrows. When spring side wheels are used to press the track components on both sides, the spring side wheels or fixed side wheels may interfere with the track components near the gauge point, resulting in unstable walking and affecting the detection accuracy.

[0079] Due to the sharp shape of the tip of the heart rail, the side wheels will not be in sufficient contact with the track. Therefore, the spring side wheels cannot apply uniform pressure when passing through the point rail part, causing the entire device to drift or misalign relative to the track, thereby affecting the detection accuracy.

[0080] In the discontinuous area where the point rail and the heart rail transition, the side wheels become suspended or lose support, causing the device to be unable to maintain a stable posture.

[0081] Therefore, the device of this embodiment does not have a lateral clamping mechanism such as a spring side wheel, but instead uses a fixed side wheel assembly with a modeled and designed installation position to enable the device to move stably and smoothly in the switch area.

[0082] The mileage detection component 214 is located on one or more of the running wheels 2123 and is used to detect the wheel rotation angle of the running wheel as the device moves along the track, thereby obtaining mileage data of the device's movement along the track. The mileage detection component 214 includes a component housing 2141, a mileage detector (mileage encoder) 2142, a detector spacer 2143, etc. The component housing 2141 is fixed to the outside of the wheel body accommodating portion 21252 of the running wheel bracket 2125 (the side near the middle of the device). The mileage detector 2142 is located inside the housing, and its detection end is connected to the rotating shaft of the running wheel.

[0083] The floating connection assembly 215 includes a fixed bracket 2151, a connecting shaft 2152, and two bearings. The structure of the fixed bracket 2151 is basically the same as the above-mentioned connecting bracket 211. Its two ends are respectively fixed to the two skeleton plates 1111 of the main unit 11 and installed on one side of the through hole 11113a. The connecting shaft 2152 is cylindrical, with one end fixed to the middle of the connecting bracket 211 and the other end set on the fixed bracket 2151 through two bearings, so that the connecting bracket 211 can rotate relative to the fixed bracket 2151, and the rotation of the connecting bracket 211 is limited by the through hole 11113a and can only rotate slightly. That is, the two running wheels 2123 on this side can be slightly offset relative to the device body 10, so that the four running wheels 2123 can adapt to a certain degree of track structure changes during the device's movement along the track through this structural design, so that the four running wheels 2123 can remain as close to the rail surface as possible.

[0084] The structure of the other mobile unit 21 is similar to the aforementioned mobile unit 21, differing only in that the other mobile unit 21 lacks the floating connection assembly 215. Instead, its connection bracket 211 passes through the through-hole 11113a and is fixedly connected to the unit body 11. In other words, there is no relative displacement between the detection component and the running wheels on this side, meaning that the detection component on this side is more stable relative to the underlying track. Therefore, in some track inspection projects, the track data collected by the detection component on this side is used as a reference, and the track data on the other side is inferred from the reference, or a certain compensation correction is performed based on the reference.

[0085] During use, when transporting or moving the equipment, the above-mentioned fixed bracket 2151 and connecting bracket 211 can be pre-assembled in the equipment main body 10, and the equipment main body 10 (or two main body units 11 respectively) equipped with these brackets and the four walking wheel assemblies 212 can be transported and moved separately, and then the four walking wheel assemblies 212 can be assembled from the outside of the equipment main body 10 for use.

[0086] The push mechanism 30 includes a push rod 31 and an angle adjustment assembly 32. The angle adjustment assembly 32 is positioned in the middle of the length of the device body 10, near the bottom. The push rod 31 is T-shaped, with one end connected to the lower middle portion of the device body 10 via the angle adjustment assembly 32. Its angle relative to the device body 10 is adjustable, and once adjusted, it can be locked with a corresponding locking member. The push rod 31 also has a nested, multi-section structure, allowing for adjustable overall length.

[0087] The detection auxiliary mechanism 40 includes a light blocking member 41 and a fill light component 42 .

[0088] A light-blocking member 41 is positioned below the device body 10 to block ambient light, thereby reducing the impact of ambient light variations on the 2D camera and line laser sensor and improving the quality of collected data. The light-blocking member 41 comprises four side shields 411 and two end shields 412, each of which is a rectangular plate with rounded corners.

[0089] One end of the side shielding plate 411 in the width direction is connected to the lower edge of the side panel 1121, and the side shielding plate 411 is tilted outward relative to the side panel 1211. The other end of the side shielding plate 411 in the width direction extends to approximately the axis of the running wheel 2123. Therefore, when the equipment is placed on the track, the distance between the lower end of the side shielding plate 411 and the rail is very small, which can achieve the largest possible area of ​​shading while ensuring that it does not interfere with the rail and other track components. One end of the end light shielding plate 412 is connected to the lower edge of the top panel 1122, and the end light shielding plate 412 is tilted outward relative to the vertical plate portion of the top panel 1122. Its width is basically the same as the width of the side shielding plate 411.

[0090] Optionally, the light-shielding member 41 may further include a plurality of light-shielding cloths 413. The light-shielding cloths 413 are generally trapezoidal sheets, blocking between the adjacent side shielding plates 411 and the end shielding plates 412, and are fixed to the shielding plates on both sides by adhesive strips or straps, thereby further blocking external light below the corners of the device body 10.

[0091] In an alternative embodiment, the shading block 41 may also be other enclosure structures, such as a skirt shape that is surrounded on three sides and open on one side, that is, an overall shape similar to that formed by multiple side shielding plates 411, an end shading plate 412 and two shading cloths 413 under a unit body 11.

[0092] In this embodiment, to reduce the weight of the entire device, the main unit 11 is relatively small. In particular, its overall height is only slightly greater than the vertical height of the internal detection components. As a result, the detection ends of the internal camera and line laser scanner are relatively close to the bottom opening of the unit housing 112, making them more susceptible to external light. Therefore, the provision of a shielding component is very necessary.

[0093] The fill light assembly 42 includes multiple light tubes 421. In this embodiment, four light tubes are provided in each main unit 11, of which two light tubes 421 have their lengths aligned with the width of the main unit 11 (hereinafter referred to as the longitudinal direction), and the other two light tubes 421 have their lengths aligned with the length of the main unit 11 (hereinafter referred to as the transverse direction). Taking one main unit 11 as an example, the first light tube 421 is arranged longitudinally and below the line laser scanner 1141, closer to the middle of the device body 10 relative to the two-dimensional camera 1151. The second light tube 421 is arranged longitudinally and below the line laser scanner 1142, closer to the outer end of the length of the device body 10 relative to the camera 1152. The third and fourth light tubes 421 are respectively arranged transversely at the lower portions of the two side panels 1211 and are both located below the connecting bracket 211. The ends of the third and fourth light tubes 421 in their lengthwise directions do not interfere with the laser line planes of the line laser scanners 1141 and 1142 on either side.

[0094] Therefore, multiple light tubes 421 can provide fill light for shooting and scanning, and the light tubes 421 make full use of the space outside the detection range of multiple detection components for setting, and their installation position will not affect the camera shooting and the scanning of the line laser sensor.

[0095] The electronic control assembly 50 includes an external battery 51 , a computing device 52 (laptop computer), a data collector, a switch, and a plurality of fans.

[0096] The top plate of one of the unit bodies 11 is also equipped with multiple spring-loaded slots, four in this embodiment, for securing an external battery 51. The external battery 51 is generally square and box-shaped and is removably mounted on the top plate of the unit body 11. A battery level display is provided on the external battery 51 or on the device body 10 to show the approximate remaining charge of the external battery 51. By placing the battery externally, it is easy to replace the battery during extended testing or when the battery is low to continue testing. Furthermore, the battery can be transported and moved separately from the rest of the device during transportation and transport, or the battery can be installed after the device is placed on the track, providing greater flexibility.

[0097] The top plate of the other main unit 11 is also equipped with multiple spring lock brackets and spring locks for securing a computing device 52 (a laptop computer). The computing device 52 is detachably mounted on the main unit 11 and is connected to each detection component via a data acquisition device and corresponding wires. The data acquisition device can acquire corresponding detection data from each detection component and then perform further calculations and analysis on it.

[0098] In addition, an electric control accommodating portion (box structure) is separated by a partition plate at the inner end of one or both main body units 11, and the above-mentioned inclinometer, switch, fan, etc. are arranged in the electric control accommodating portion.

[0099] Furthermore, to minimize weight, the overall dimensions of the device body 10 in this embodiment are designed to be as small as possible. Line laser scanners 1141 and 1146 are mounted at the extreme ends of the device body 10. This means that the total length of the device body 10 is roughly the distance between the two line laser scanners plus the width of the side panels. The total width of the device body 10 is approximately equal to the width of the line laser scanners. The height of the device body 10 is slightly greater than the vertical height of the installed line laser scanners. In this embodiment, the overall dimensions of the device are: 2300-2400 mm in length, 700-780 mm in width, and 550-600 mm in height. The dimensions of the device body 10 are only: 2200-2300 mm in length, 320-360 mm in width, and 240-270 mm in height.

[0100] By reducing the overall size, especially the size of the main body of the device, and adopting the above-mentioned triangular grid structure of the aluminum alloy skeleton, the outer plate of carbon fiber, the above-mentioned walking wheel assembly structure and materials, and the external placement of the device battery, the overall weight of the device can be greatly reduced. In this embodiment, the overall weight of the device (excluding the battery) is only 50 to 60 kg, which is much lower than the overall weight of similar devices. For example, compared with the track detection equipment of CN116923474A previously applied for by the applicant, the overall weight of the device in this embodiment is reduced by more than 20 kg.

[0101] Functions and Effects of the Embodiments

[0102] The integrated track detection equipment provided in this embodiment includes a device body and a mobile mechanism, which can be placed on the track and move along the track, and collect track data during the movement. Since the two main units of the device body have multiple high-precision line laser scanners and multiple cameras, and one of the main units also has an inclinometer, two gyroscopes and a GPS module, the device can collect multi-source track data, including contour data, image data, angle information, angular velocity information, and geographic location information. Based on the multi-source data, it can basically and comprehensively cover a large number of track detection items for the main line track and the turnout. When in use, there is no need for manual inspection or additional configuration of other detection equipment, and the operation is more convenient. Multi-source data can also refer to each other. For example, the data collected by one or more types of detection components can be used to compensate and correct the data collected by other detection components, thereby obtaining more accurate detection data.

[0103] Moreover, since the device only has multiple fixed side wheel assemblies and does not have lateral clamping mechanisms such as spring side wheels, it can avoid the impact of the clamping contact method on the movement of the device at the switch, allowing the device to move more stably and smoothly at the switch, thereby improving the data collection accuracy at the switch.

[0104] In the embodiment, the overall size of the equipment body is designed to be as small as possible, with the overall length being only slightly larger than the distance between the two outermost line laser scanners, the overall width being only slightly larger than the width of one line laser scanner, and the overall height being only slightly larger than the vertical height of the line laser scanner after installation. Therefore, a compact body structure can be formed, greatly reducing the overall weight of the equipment.

[0105] Furthermore, the skeleton and wheel brackets of the equipment body are made of aluminum alloy and triangular grid structure, and are combined with carbon fiber shell plates, POM plastic walking wheel hub parts and auxiliary cone wheels, thereby further reducing the overall weight of the equipment.

[0106] Furthermore, the battery of the device is improved to a removable and replaceable external battery. In this way, not only is the overall weight of the device lighter after the battery is removed, but also when the detection is long and the battery is insufficient, another external battery can be easily replaced to continue the detection. The external battery of the corresponding capacity can also be selected in advance according to the corresponding detection task requirements, which is more flexible. In addition, when transporting and moving the equipment, the other parts of the equipment and the external battery can be transported and moved separately, which is more convenient and is particularly suitable for detection scenarios such as elevated track detection where transportation and transportation are relatively more difficult. Compared with similar track detection equipment previously designed by the applicant, the equipment of the embodiment is lighter by more than 20kg, which can greatly reduce the burden of detection personnel in transportation and cart detection. It is also more convenient when transporting the equipment and is less likely to cause bumps and the like.

[0107] Furthermore, the wheel bracket on one side of the equipment is fixed to the unit body, and the other side is connected to the unit body in a floating (slightly rotatable) manner through a floating connection component. Therefore, when the equipment passes through a position where the track is uneven, the four running wheels can be adaptively adjusted through the floating connection component, so that the four running wheels can maintain contact with the track surface as much as possible, making the equipment movement more stable and the collected data more accurate.

[0108] Furthermore, the inclinometer, two gyroscopes, and GPS module are all arranged in a unit body fixed to the wheel bracket, which can prevent their detection from being affected by floating, and the multiple detection components and detection results on one side can be used as a benchmark to infer the corresponding detection data on the other side, or the benchmark can be used to make corresponding compensation corrections to the detection results on the other side, thereby improving the detection accuracy.

[0109] Furthermore, the device body is also provided with a sealing assembly, including a plurality of beadings and sealing strips. The sealing strips are assembled and compressed through the sealing strip grooves on the beadings to seal the gap between the side panels and the top panel, thereby preventing rainwater from entering the interior of the housing through the gap, affecting the internal live components and even damaging them. Since the equipment is usually used in an open-air environment and is inevitably exposed to rain and snow, the equipment sealing assembly can effectively protect the high-cost high-precision detection components inside, thereby extending the service life of the equipment. In addition, the beading is used to cover the sealing strip inside, which not only makes the appearance more beautiful, but also protects the sealing strip, preventing the sealing strip from being exposed and deteriorating and failing after a period of use.

[0110] Furthermore, a shading component and a fill light component are provided under the main body of the equipment. The shading component includes multiple inclined shading plates and may also include corner shielding cloths. The shading plates are designed in conjunction with the wheel bracket structure, have a large area, and extend all the way to the center axis of the running wheel. Therefore, they can effectively block most of the external ambient light, thereby avoiding the influence of excessive external ambient light or light changes on the camera and line laser scanner. In combination with multiple light tubes for fill light, there is sufficient light, so that both detection components can collect more accurate data.

[0111] Furthermore, in each main unit, three cameras are set up using the space not covered by the laser lines of the three line laser scanners, and multiple light tubes are set up using the space not covered by the laser lines of the three line laser scanners and that is not within the field of view of the three cameras. Therefore, although the overall size of the main unit is greatly reduced, the internal space is very limited, and a large number of detection components are set up inside, through reasonable layout, multiple detection components, light tubes, etc. will not interfere with each other and can all work normally. In addition, the main unit has a compact structure, which is more convenient during transportation and handling.

[0112] The above embodiments are merely examples of specific implementation methods of the present invention, and the present invention is not limited to the scope of the description of the above embodiments. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A track detection device, characterized in that: include: Two main body units are fixed to each other to form the main body of the device; as well as A moving mechanism is provided on the device body, and the device body can be movably provided on the track by the moving mechanism. The main unit includes a unit frame, a unit shell wrapped on the unit frame, a plurality of detection components arranged in the unit shell, and a sealing assembly arranged on the unit shell. The sealing assembly includes a plurality of beadings and a plurality of sealing strips. The pressure strip is fixed at the gap of the unit shell. A sealing strip groove is provided on the inner side of the pressure strip. The sealing strip is embedded in the sealing strip groove and is pressed against the gap by the pressure strip, so that the gap is sealed.

2. The track detection device according to claim 1, characterized in that: in, The unit housing includes a plurality of side panels and a top panel. The bottom of the unit housing is open, and is used to allow the detection component inside the unit housing to detect the track below through the opening. The gap is formed between the side plate and the top plate, The cross section of the pressure strip is L-shaped, and two sides of the pressure strip are respectively fixed to the edge of the side plate and the edge of the top plate at the corresponding position.

3. The track detection device according to claim 2, characterized in that: in, There are two side panels, and one top panel with a bent portion. The two side panels and one top panel form a four-sided surrounding structure. One corner of the side plate is rounded, and the bent portion of the top plate is arc-shaped. The plurality of beadings include a plurality of straight beadings and a plurality of curved beadings, wherein the curved beadings are used to be arranged at the rounded corners of the side panels. The cross-sections of the straight bead and the curved bead in the extension direction are both L-shaped.

4. The track detection device according to claim 3, characterized in that: in, The width of one end of the straight strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for mounting the upper handle. The width of one end of the curved strip is greater than the width of the other end, and a fixing hole is provided on the end with the larger width for mounting an outer handle. The mobile mechanism includes a connecting bracket, a walking wheel bracket and a walking wheel. The connecting bracket is connected to the main unit. One end of the travel wheel bracket is fixedly connected to one end of the connecting bracket, and the other end is in the shape of a semi-enclosed shell for connecting and accommodating the travel wheel. The walking wheel bracket is provided with a wheel end handle.

5. The track detection device according to claim 2, Its characteristics are: Wherein, the detection component includes a line laser scanner and a two-dimensional camera, The track detection equipment also includes: Detection auxiliary mechanism, which includes: a shading assembly, comprising a plurality of shading plates, disposed below the unit body; and The fill light component includes a plurality of light tubes, which are respectively arranged at the lower part of the unit body and are used to provide fill light for the camera and the line laser scanner.

6. The track detection device according to claim 5, characterized in that: in, In each main body unit, there are three line laser scanners, all of which are arranged at the top of the main body unit and respectively at the outer end and the inner end of the main body unit, wherein the inclination direction of the line laser scanner arranged at the outer end is different from the inclination directions of the two line laser scanners arranged at the inner end. In each unit body, there are three cameras, which are respectively arranged below the line laser scanner at the outer end, in the middle of the main unit, and below one of the line laser scanners at the inner end. In each of the unit bodies, there are at least four lamp tubes. The plurality of shading plates include side shading plates and end shading plates, In each of the unit bodies, the lower end of the side plate is connected to a side shading plate extending obliquely outward, and the lower end of the top plate is connected to an end shading plate extending obliquely outward.

7. The track detection device according to claim 6, characterized in that: in, In each main unit, two of the light tubes are arranged along the width direction of the unit body, respectively arranged below the line laser scanner at the outer end and below one of the line laser scanners at the inner end, and staggered in the horizontal direction with the corresponding side camera. The other two lamp tubes extend along the length direction of the main unit and are respectively arranged inside the two sides of the main unit in the width direction. Their lengths are such that the lamp tubes do not interfere with the line lasers projected by the line laser scanners on both sides.

8. The track detection device according to claim 6, Its characteristics are: in, The detection component in one of the unit bodies further includes: an inclinometer, for collecting angle information of the device during its movement along the track; Two gyroscopes with mutually perpendicular axes are used to collect angular velocity information of the device during its movement along the track. Wherein, the gyroscope is a fiber optic gyroscope.

9. The track detection device according to claim 1, characterized in that: Also includes: an external battery, disposed on an outer surface of a unit housing of one of the main units; A power display, used to display the remaining power of the external battery, The outer surface of the unit housing is also provided with a plurality of spring slots. The external battery is box-shaped and can be detachably mounted on the outer surface of the unit housing through a plurality of spring slots. The power indicator is arranged on the external battery or the main unit.

10. The track detection device according to claim 1, characterized in that: in, The moving mechanism includes a plurality of walking wheel assemblies and a plurality of fixed side wheel assemblies. The travel wheel assembly includes a coaxially arranged travel wheel and an auxiliary cone wheel. The travel wheel is closer to the middle of the equipment body than the auxiliary cone wheel, and the large end of the auxiliary cone wheel faces the travel wheel. The travel wheel includes a hub component and a wheel tread component covered on the hub component. The hub is made of POM plastic, and the wheel tread is made of ceramic material. The auxiliary cone wheel is a POM plastic part.

Images