180 results about "Rail inspection" patented technology

The invention discloses a high-precision defect detection system for a track inspection robot, which relates to the technical field of track inspection and comprises a multi-mode visual acquisition module, a time sequence synchronization module, a data fusion processing module and a defect identification output module, by adopting a multi-modal visual fusion detection technology, various modal visual technologies of visible light vision, infrared vision and ultraviolet vision are combined, fusion processing is carried out on all modal image data, visual defects such as cracks and abrasion on the surface of a track can be clearly recognized through visible light vision, and the visual performance of the track is improved. The infrared vision can detect temperature abnormity of a track component to find out potential poor contact and other problems, the ultraviolet vision can be used for detecting corona discharge and other phenomena, track information is comprehensively obtained, the accuracy and reliability of defect recognition are effectively improved, defects which are difficult to find in a single mode can be detected, and the detection efficiency is improved. And powerful support is provided for safe operation and maintenance of the track.

An intelligent fault-in-rail analysis method based on multimodal fusion learning. Ultrasonic analysis data of the rail and high-definition rail surface images taken by line scan cameras are exploited in combination to detect and display internal and surface faults of the rail through different renditions using multimodal data. Rail DEtection TRansformer (R-DETR) technology or a You Only Look Once (YOLO) inspection machine-learning algorithm are employed in a deep convolutional neural network to analyze B-scan and rail surface image data to recognize rail line faults. After obtaining expressive data through data enhancement by computer processing, faults are recognized and pinpointed using the deep convolutional neural network learning algorithm. Analysis results are corrected with expert systems. The disclosed automatic ultrasonic fault-in-rail inspection solves the problem of slow detection and difficulties in tracking faults in everyday routine maintenance while also protecting the safety of rail operation and maintenance personnel.

The utility model relates to a hanging rail inspection system which comprises a rail and an inspection robot, at least a ramp section of the rail is provided with a climbing auxiliary part, the climbing auxiliary part is laid in the length direction of the ramp section, and a plurality of first limiting parts are arranged in the length direction of the climbing auxiliary part at equal intervals; the inspection robot is provided with an auxiliary rotating part and a walking device used for walking on a track, the walking device is provided with a driving wheel, the driving wheel and the auxiliary rotating part are in transmission connection and rotate synchronously, and a plurality of second limiting parts are arranged in the circumferential direction of the auxiliary rotating part at equal intervals. The first limiting piece and the second limiting piece are matched in a limiting mode. The inspection robot walks on the track through the walking device, can replace manual work to conduct operation such as inspection and the like, has good ramp walking capacity and automatic turning capacity, is stable in walking speed, and can facilitate camera shooting, photographing or other operation.

The invention belongs to the technical field of robots, and discloses a single-drive double-guide hanging rail inspection robot suitable for curved rail operation, the single-drive double-guide hanging rail inspection robot comprises a base, a hanging bracket, a mounting bracket, a driving assembly, a limiting elastic piece and a plurality of guide assemblies, the hanging bracket is rotatably connected to the base; the mounting bracket is movably connected to the suspension bracket; the driving assembly is rotationally connected with the suspension bracket and the mounting bracket; the limiting elastic piece is used for pushing the driving wheel of the driving assembly to abut against the track; the guide assembly is in sliding fit with the rail. When the inspection robot runs, the friction force between the driving wheels and the tracks can be kept uniform, the overall energy consumption is effectively reduced, the driving efficiency is improved, meanwhile, the abrasion of the driving wheels can be reduced, the service life of the driving wheels is effectively prolonged, the inspection robot can smoothly pass through the tracks with various curvatures, and the service life of the inspection robot is prolonged. And moreover, the overall composition structure is simple, and the manufacturing cost and difficulty of the inspection robot are effectively reduced.

The invention discloses a control system and method for a steel wire traction type overhead rail inspection robot with a sliding contact line, and relates to the technical field of modern industry and infrastructure construction.The system comprises a steel wire traction control module and traction devices connected with the two ends of a rail through steel wires, the traction devices are provided with servo motors, and the servo motors are used for driving traction wheels to rotate; the movement control of the inspection robot along the track is realized; the sliding contact line power supply control module comprises a sliding contact line laid along the track and a power taking device carried by the inspection robot, and the sliding contact line is matched with the power taking device and used for providing continuous and stable power supply control for the inspection robot; the steel wire traction control module is further integrated with a steel wire tension real-time monitoring control unit, and the steel wire tension real-time monitoring control unit is electrically connected with the servo motor and used for dynamically adjusting the output power of the servo motor according to the tension data of the steel wire, so that the tension of the steel wire is kept within the preset optimal range. According to the invention, intelligent control of the inspection robot can be realized.

The present application relates to the field of railway inspection technology, and in particular to a rail inspection vehicle, comprising a vehicle body provided with wheels for running on rails; a detection mechanism, the detection mechanism being arranged on both sides of the vehicle body, the detection mechanism being located between two adjacent wheels on the same side, the detection mechanism comprising a mounting seat, a high-speed camera, and an ultrasonic flaw detection wheel, the mounting seat being connected to the vehicle body, the ultrasonic flaw detection wheel being arranged on the mounting seat, the ultrasonic flaw detection wheel being used to roll on the surface of the rails, the high-speed camera being arranged on the mounting seat, the mounting seat being provided with a photographic area, the high-speed camera being used to photograph the rails in the photographic area; and a control box, the control box being connected to the wheeled detection mechanism and the camera detection mechanism. The present application organically combines contact flaw detection with non-contact imaging to form a multi-dimensional data complementary mechanism, thereby achieving simultaneous detection of rail surface and internal damage, eliminating the influence of human factors on the detection quality, and significantly improving dynamic detection stability.

The invention discloses an electric passenger car track detection method, which comprises the following steps of: starting initialization after a track detection host is electrified, entering a waiting state after completion, reading a tag ID, judging the tag ID, starting detection if the tag ID is started, and continuing to detect the tag ID if the tag ID is not started. The track detection host obtains the transverse / vertical acceleration of a vehicle through the triaxial accelerometer, obtains a line radio frequency tag signal through the radio frequency tag reader, and obtains and calculates track information through the inertial navigation device. And the synchronous controller outputs mileage information to the rail detection host after acquiring a signal of the speed sensor, and triggers the laser triangulation assembly to acquire steel rail profile data. The rail inspection host obtains the transverse / vertical acceleration, the track, the mileage and the steel rail profile information of the vehicle, and solves the geometric parameter data of the rail. The technical problems that an existing rail detection operation mode is low in operation efficiency, real-time online detection cannot be achieved, and detection line data cannot truly reflect line dynamic parameters in the running state of the electric passenger car can be solved.

A belt conveyor detection and monitoring system based on a rail-mounted inspection robot is composed of a rail-mounted inspection robot body, a rail platform, a power supply platform, a communication platform, a positioning module and a background monitoring platform, the mounting position of the rail-mounted inspection robot body covers a raw material area belt conveyor conveying area, and the rail-mounted inspection robot body is used for inspecting an indoor surrounding belt conveyor; equipment faults in the inspection process are identified, and normal operation of the equipment is ensured; the rail platform is supported by the rail fixing support and used for carrying the rail hanging inspection robot body; the power supply platform adopts a power supply mode of combining a battery and a distributed contact charging system to meet the power supply requirement of the hanging rail inspection robot body; the network communication platform is used for communicating the on-rail inspection robot with a background; the positioning module adopts a track navigation method, carries out distance measurement through a coded disc, and realizes accurate fixed-point stop of the track-hanging inspection robot body; and the background monitoring platform is used for analyzing and storing all inspection data in the application environment.

The invention relates to the technical field of rail inspection, in particular to a rail inspection vehicle with lifting and transverse moving functions. The second direction intersects with the first direction, the crawler belt transverse moving mechanism is installed in the cavity through a lifting mechanism, the lifting mechanism is used for driving the crawler belt transverse moving mechanism to ascend and descend, and the crawler belt transverse moving mechanism comprises a crawler belt support, a first crawler belt wheel, a second crawler belt wheel, a crawler belt and a power component. The first crawler wheel and the second crawler wheel are installed at the two ends of the crawler support respectively, the crawler is connected with the first crawler wheel and the second crawler wheel, the power component is installed on the vehicle body, and the power output end of the power component is connected with the first crawler wheel. The technical problem that in the prior art, a rail inspection vehicle cannot effectively achieve transverse movement and height adjustment is solved, and the working flexibility and adaptability of the inspection vehicle are greatly improved.

A rail inspection device is provided. The rail inspection device includes a traveling machine that travels along a rail and includes an optical system that acquires an image of an area of the rail being traveled; and a main body having the traveling machine installed on an upper surface and including an image analyzer that analyzes the image acquired from the optical system, wherein the image analyzer: sets at least one virtual area in the rail area image, extracts an item image of an inspection target item within the virtual area, and inspects the inspection target item by comparing the extracted item image with a normal image of the inspection target item.

The invention relates to a multifunctional detection vehicle suitable for rack rail railway track detection, and belongs to the technical field of track detection. The multifunctional detection vehicle comprises a main board, a walking device, an electromagnet device, a rack rail detection device and a steel rail detection device. The walking device drives the whole multifunctional detection vehicle to walk in the length direction of the track. The electromagnet device is used for increasing the friction force between the whole multifunctional detection vehicle and the track; the rack rail detection device detects surface defects of the rack rail; the steel rail detection device detects surface defects of the steel rail; the electromagnet device can enable the multifunctional detection vehicle to normally and stably run on a steep track section; the whole multifunctional detection vehicle can automatically and unmanned detect the states of the whole rail steel rail and the rack rail line at the same time, the detection accuracy of the rack rail railway track is improved, and the problem that manual inspection or unmanned aerial vehicle shooting inspection is adopted is solved; and the simultaneous detection of the line states of the steel rail and the rack rail cannot be realized automatically and unattended.

The utility model relates to a limiting device for guaranteeing the walking stability of railway inspection equipment and the inspection equipment. The limiting device comprises a first limiting assembly and a second limiting assembly. The first limiting assembly and the second limiting assembly are located on the two opposite sides of the axis direction of a walking wheel of the inspection equipment correspondingly and clamp a steel rail together so as to keep the relative position with the steel rail. The first limiting assembly can be movably installed on the inspection equipment close to or away from the steel rail and is used for abutting against the inner side of the steel rail. One side of the second limiting assembly is movably mounted on the first limiting assembly, so that the other side of the second limiting assembly can be close to or away from the first limiting assembly and abuts against the outer side face of the steel rail. The two sides of the steel rail are limited through the first limiting assembly and the second limiting assembly, the relative position of the walking wheel and the steel rail is kept stable, even if the walking wheel walks in the direction of the vertical line of the cross section of the steel rail, the situation that the walking wheel walks along an S-shaped or Z-shaped path does not occur, and walking stability is improved.

The invention discloses a single-wheel self-balancing rail inspection device and method based on sound detection. The single-wheel self-balancing rail inspection device comprises a single-wheel self-balancing rail inspection device body and a server terminal. The single-wheel self-balancing track inspection device is placed on a rail, the posture and the balance state of the inspection device are detected through a gyroscope in the moving process, a rail image is recognized through a tracking camera, and the single-wheel self-balancing track inspection device is controlled to keep a self-balancing state so as to perform tracking movement along the single rail. In the moving process, the rail is knocked at fixed time or fixed distance, sound is collected, sound data is transmitted to the server terminal for real-time sound detection, and the working condition of the rail is distinguished according to sound classification. According to the invention, the inspection device is driven by means of camera tracking, self-balancing control and single-wheel advancing, so that the inspection device can walk on a single rail and can be kept stable; meanwhile, sound generated by knocking the rail is collected, the sound is detected through a machine learning or deep learning method, the sound is recognized in a multi-classification mode, the rail working condition is judged, and sound-based rail abnormal working condition detection is achieved.

The invention discloses a vehicle body structure of a rocket sled slide rail inspection tester, relates to the field of rocket sled slide rail detection equipment, and is used for improving the anti-vibration rigidity and the detection precision of a vehicle body. A frame of the vehicle body structure is in a T shape formed by longitudinal beams, cross beams and inclined supporting beams, the vibration resistance rigidity is improved, single-point measurement is achieved, the bottom of the frame is connected with a walking mechanism to walk on a sliding rail, a guide mechanism at the bottom of the frame plays a role in guiding and limiting walking, and the walking mechanism is connected with an encoder to achieve positioning of a detection point. And a sensor group for distance measurement and inclination angle measurement is mounted on the frame so as to detect parameters of the slide rail. The vehicle body structure has the advantages of being high in rigidity, good in guidance quality, convenient to disassemble and assemble and high in detection precision.

The invention provides a walking control system and method and a rail inspection robot, the walking control system is deployed on the rail inspection robot, the walking control system comprises a first control unit, a driving unit and an information acquisition unit, and the first control unit is connected with the driving unit and the information acquisition unit; the information acquisition unit is used for positioning the current position of the tracked inspection robot and transmitting the current position to the first control unit; and when the inspection instruction is executed, the first control unit is used for sending a corresponding target control instruction to the driving unit according to a target speed corresponding to the current position, so that the driving unit drives the tracked inspection robot to move according to the target speed. The driving speed is flexibly adjusted based on the current sub-path where the tracked inspection robot is located, the safety and reliability of the inspection task executed by the robot can be guaranteed, and efficient completion of the inspection task is facilitated.

The invention discloses an attitude control system based on a single-rail inspection vehicle, and the system specifically comprises a driving data acquisition module which collects the inspection driving data of the inspection vehicle through an angle sensor and a speed sensor in the turning process of the inspection vehicle; the attitude control module is used for regulating and controlling the attitude of the inspection vehicle by outputting adjustment data through a PID (Proportion Integration Differentiation) control algorithm based on the inspection driving data, and the control data integration module is used for integrating the driving data and the adjustment data of the inspection vehicle to obtain an inspection vehicle control data set. According to the method, the effect of the single-rail inspection vehicle attitude control system can be evaluated more comprehensively, the evaluation inaccuracy caused by only paying attention to a single factor is reduced, the attitude deviation condition of the inspection vehicle running on a curve can be known by integrating and analyzing the driving data and the adjustment data, and the accuracy of the inspection vehicle running on the curve is improved. Powerful support is provided for optimization and improvement of attitude control during turning operation of the follow-up inspection vehicle, so that the operation stability and safety of the inspection vehicle are improved.

The invention belongs to the technical field of steel rail detection, and aims to provide a steel rail head profile registration method and system, electronic equipment and a program product. The method comprises the following steps: selecting a profile of an unworn area in an actually measured rail head profile of a to-be-detected rail head as a to-be-registered profile section, and selecting a profile of a profile area corresponding to the unworn area in a standard rail head profile as a reference profile section; performing primary registration on the to-be-registered profile section and the reference profile section, and obtaining an initial registration matrix for matching the to-be-registered profile section to the reference profile section; and correcting the initial registration matrix to obtain a corrected registration matrix, and then according to the corrected registration matrix, translating and / or rotating the actually measured rail head profile where the profile section to be registered is located according to the corrected registration matrix, thereby realizing registration between the actually measured rail head profile and the standard rail head profile. The method can be applied to a scene of trackless waist part data, and is high in registration precision and efficiency.

The invention provides a self-adaptive control method and system for a pipe gallery hanging rail inspection robot and the robot. The method comprises the following steps that robot motion state parameters are obtained through multi-source sensor fusion; establishing a three-dimensional composite dynamic model comprising a climbing dynamic model, a curve centrifugal compensation model and an energy recovery model; predicting and estimating the pose state of the robot based on an extended Kalman filter, generating a feedforward control quantity, and adopting a feedforward-feedback composite control algorithm; pID parameters are dynamically adjusted according to the real-time track curvature radius R and the gradient theta, and a torque instruction of a driving motor is generated; and executing regenerative braking energy recovery and the like. The operation stability and reliability of the pipe gallery inspection robot in the working process can be remarkably improved, specifically, sudden-change instability of the robot in the climbing process is improved, the shaking degree of the robot when the robot passes through a curve is greatly reduced, meanwhile, energy consumption is reduced, and the cruising ability of the inspection robot is prolonged.

The invention relates to the technical field of railway detection, in particular to a rail crossing device of a rail inspection vehicle. The first lifting mechanisms are installed on the two sides of the vehicle body and distributed on the vehicle body in the second direction, and driving wheels are installed at the lifting movable ends of the first lifting mechanisms and used for driving the vehicle body to move in the second direction; the second lifting mechanism is mounted at the bottom of the vehicle body, and supporting wheels are mounted at the lifting movable end of the second lifting mechanism; under the working state that the first lifting mechanism drives the vehicle body to be away from the ground, the second lifting mechanism can drive the supporting wheels to descend to be supported on the same plane with the driving wheels. According to the rail crossing device, transverse moving and rail crossing can be directly achieved, the inspection vehicle can be moved without special hoisting equipment, more labor is saved in the rail crossing process, normal train operation arrangement is prevented from being interfered, the rail crossing device is particularly suitable for rail switching requirements of special sections such as tunnels or bridges or remote areas, and the rail crossing device has wide application prospects and practical value.

A track flatness rapid detection device for a track inspection robot comprises a track, a detection trolley, an infrared sensor and an alarm. A marking mechanism is provided in the middle of an inner cavity of the detection trolley, a deformation mechanism is provided at the bottom of the marking mechanism, the marking mechanism comprises a driving gear, one end of the driving gear is fixedly connected to the output end of a lifting motor, two ends of the driving gear are respectively meshed and connected to a first rack bar and a second rack bar, the top of the first rack bar is slidably connected to a storage tank, one end of the top of the storage tank is fixedly connected to a discharge tank through a pipeline, and the second rack bar is slidably connected to the discharge tank. The beneficial effects achieved by the present invention are as follows: the device makes track deformation and defects more obvious by marking them, so as to facilitate the later repair of the track; by using the deformation mechanism, the marking mechanism is made to fit the deformation position and defect position of the track more closely to avoid affecting the marking effect; by using the chip blowing mechanism, debris and dust on the track surface are prevented from affecting the detection effect.

The utility model discloses a walking positioning device of a rail inspection robot. The walking positioning device is installed on a chassis of the inspection robot through an external installation assembly. The walking positioning device comprises a gear, a rack and an encoder. The rack is installed on a track where the inspection robot walks, the gear is meshed with the rack, and the gear is connected with the encoder through cooperation of a gear shaft and an encoder shaft; in the walking process of the inspection robot, the gear rotates to drive the encoder shaft to rotate; the walking positioning device further comprises a meshing pressure adjusting piece, and the meshing pressure adjusting piece acts on the gear so as to adjust the meshing pressure of the gear and the rack. According to the utility model, the detection precision of the inspection robot during walking is improved, the positioning is more accurate, the disassembly, assembly and debugging are convenient, the pressing force of the positioning device can be adjusted, the detection operation can be continued without returning to the original point under the conditions of power failure and restart, and the detection efficiency of the robot is improved.

This disclosure relates to an inspection trolley (10) of a hydraulic valve (1) for shutting off a flow into a body of water, the valve comprising: a body (2), a guide rail (5) and a counter-guide rail (4), a sealing plate (19) substantially parallel to the counter-guide rail (4) or to the guide rail (5), in which the inspection trolley (10) comprises: a guide train (11) and a counter-guide train (12), a measuring frame (7) disposed between the guide train (11) and the counter-guide train (12), a reference sensor (18) configured to measure a distance between the inspection trolley (10) and the sealing plate (19), a guide sensor (21) and / or a counter-guide sensor (22), and a means for measuring a distance between the inspection trolley (10) and a horizontal reference plane (25). Abbreviated figure: Fig. 2

1. The name of this design product: explosion-proof rail inspection robot. 2. Purpose of this design product: explosion-proof rail inspection robot. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: Stereoscopic drawing 1.

The utility model relates to the technical field of steel rail welding seam detection, in particular to a profiling probe suitable for a steel rail welding seam, which comprises a mounting main body, the mounting main body comprises a first mounting surface, a second mounting surface and a peripheral side mounting surface, the first mounting surface is arranged on the upper surface of the mounting main body and is used for mounting a bracket, and the second mounting surface is arranged on the lower surface of the mounting main body. The second mounting surface is arranged on the lower surface of the mounting main body, the second mounting surface is used for mounting a profiling probe group, and the peripheral mounting surface is used for fixing an auxiliary probe and a shell. According to the utility model, the array profiling probe group is adopted and is well attached to the surface of the steel rail, so that more comprehensive and more detailed detection work can be completed on the premise that advanced detection equipment is not needed; and the support is further arranged and used in cooperation with other tools when needed, and detection of the steel rail, especially scanning work of a welding seam, is better completed.

The invention discloses a pull-type high-speed rail inspection device based on artificial intelligence, and the device comprises a multi-mode data collection assembly which integrates a high-definition camera, an infrared temperature sensor and a vibration sensor, moves along with the dragging of the device, collects the image, temperature and vibration data of a contact network and a rail in real time, and has a severe environment data noise reduction function; an AI intelligent processing unit; a digital twin mapping module; a dragging adaptation mechanism; and a data transmission and early warning terminal. According to the pull-type high-speed rail inspection device and method based on artificial intelligence, multi-dimensional data are stably collected through the multi-modal assembly and noise reduction is carried out, a DETR model optimized by the AI unit and semi-supervised learning are combined, the complex scene fault recognition accuracy is improved, millimeter-level fault mapping is achieved through the digital twin module, and the dragging mechanism is adaptive to different trains and damped; the data terminal guarantees communication and early warning, constructs a complete inspection link, reduces the omission ratio and the labor cost, and assists digital and intelligent upgrading of rail transit operation and maintenance.

The present application relates to the field of railway inspection technology, and in particular to a rail inspection robot, comprising a vehicle body, a vehicle frame comprising a vehicle frame, a front axle, a rear axle and wheels, the front axle and the rear axle being respectively mounted at both ends of the vehicle frame, and wheels being mounted at both ends of the front axle and the rear axle; a cross-track device comprising a first lifting mechanism and a second lifting mechanism, the first lifting mechanism being mounted on both sides of the vehicle frame, the first lifting mechanism being distributed on the vehicle frame along a second direction, a driving wheel being mounted on the lifting movable end of the first lifting mechanism, the second lifting mechanism being mounted on the bottom of the vehicle frame, and a supporting wheel being mounted on the lifting movable end of the second lifting mechanism; a high-speed camera detection device being mounted at one end of the vehicle frame; and an ultrasonic flaw detection device being mounted at the other end of the vehicle frame. The cross-track device enables the robot as a whole to move across different tracks, greatly improving inspection efficiency.

The utility model provides a steel rail detection device, which comprises a base, a peripheral detection mechanism and an end detection mechanism, and is characterized in that the base is used for supporting a steel rail; the periphery detection mechanism is arranged on the base and used for detecting the quality of the periphery of the steel rail. The end detection mechanism is arranged on the base and used for detecting the quality of the end of the steel rail. The end detection mechanism and the peripheral detection mechanism are arranged on the base, the end detection mechanism can carry out quality detection on the end face of the steel rail, and the peripheral detection mechanism can carry out quality detection on the top face, the side face and the bottom face of the steel rail. The steel rail detection device can obtain the boundary dimension and appearance defect information of the end face of the steel rail and the boundary dimension and appearance defect information of the periphery of the steel rail, and can generate a three-dimensional profile diagram according to the information, so that the manual operation amount is reduced, and the detection efficiency of the steel rail is improved.

The utility model provides a steel rail top surface multi-region corrugation measuring device and steel rail detection equipment, and belongs to the technical field of railway steel rail detection. In order to solve the problem of low detection reliability caused by single steel rail corrugation detection position, the utility model provides a steel rail top surface multi-region corrugation measurement device, which comprises a fixed bracket, the linear sliding table is arranged on the fixed support, a sliding block of the linear sliding table is connected with an extension arm, and the extension direction of the extension arm is the same as the sliding direction of the linear sliding table; the sliding block of the linear sliding table is further connected with an adjusting piece and a plurality of locking pieces. And the laser displacement sensor is arranged at the tail end of the extension arm, and the direction of a laser probe of the laser displacement sensor is perpendicular to the sliding direction of the linear sliding table so as to obtain steel rail corrugation data. The linear sliding table drives the laser displacement sensor to move in the width direction of the steel rail, so that multi-position detection is achieved, namely, multi-area corrugation data of the top face of the steel rail is obtained, and then the reliability of steel rail corrugation detection is improved.

The invention discloses a walking mechanism of a rail hanging inspection robot and the robot, the walking mechanism comprises a driving wheel set (2), a driven wheel set (3), a robot body (4) and a pivotal bearing (5), the driving wheel set (2) and the driven wheel set (3) are used for being hung on a rail and are connected with the robot body (4) through the pivotal bearing (5), and the driving wheel set (2) and the driven wheel set (3) are used for being hung on the rail and are connected with the robot body (4) through the pivotal bearing (5); the driving wheel set (2) and the driven wheel set (3) can rotate relative to the robot body (4). The universality, the stability and the durability of the hanging rail inspection robot in a complex rail environment are provided.

This invention relates to the field of rail inspection technology and discloses an ultrasonic non-destructive testing device for safety monitoring of rails in high-speed rail transit. The device includes: a support frame, shaped like a groove; an ultrasonic detector disposed within the support frame; two rail wheels fixed to the bottom centerline of the support frame; the travel controller mounted on the support frame and used to control the travel speed of the rail wheels; a first telescopic movement unit disposed on one side of the two rail wheels; a second telescopic movement unit disposed on the side of the two rail wheels away from the first telescopic movement unit; and a control module electrically connected to the ultrasonic detector and the travel controller, the control module being used to control the travel controller based on the ultrasonic signals collected by the ultrasonic detector. This invention achieves coordinated optimization of detection and motion.