Research On Portable Self-walking Railway Detection Robot Based On Multi-sensors

With the rapid development of China's high-speed railway,more and more attention has been paid to the safety of train operation.As the basis of railway transportation,the state of track is directly related to the safety of railway transportation.In the past,many major derailment incidents are closely related to track damage.It is of great significance to develop research on non-destructive testing technology of rails,explore new non-destructive testing principles and methods,improve the accuracy of track defect detection,and improve the stability and accuracy of damage identification for ensuring the safety of railway operation and guiding maintenance.At present,there are two ways of ultrasonic flaw detection for Chinese railways.One is to use hand-pushed rail ultrasonic flaw detector to detect the speed of 2 km/h,which has the characteristics of convenient upper and lower passages,high detection accuracy and low detection efficiency;the other is to use large-scale flaw detection vehicle,imported large-scale rail ultrasonic inspection vehicle has a detection speed of up to 80 km/h,and the detection efficiency is low(for example,low transverse cracks on rails can not be detected).Check the small flaw detector.In order to fully understand the current situation of flaw detection technology at home and abroad,this paper designs a modular rail flaw detection vehicle,which can replace the large-scale flaw detection vehicle and hand-push flaw detection vehicle to a certain extent.It can further improve the detection efficiency on the premise of ensuring high-precision flaw detection,and reduce the workload of staff and improve the current situation of rail flaw detection in China.The flaw detection technology used in this equipment includes ultrasonic flaw detection and visual flaw detection.The internal and surface of rails are detected by two methods respectively,which realizes the coordinated use of multi-sensors,improves the scope and accuracy of flaw detection,and conforms to the development trend of flaw detection technology.The main idea of structural design is modularization,which realizes the characteristics of small size,easy to carry,low cost and no one to follow.The structure design is divided into ultrasonic module,visual module,walking module,connection module,positioning module and control module to study,so that the structure can meet our expected requirements.Finally,the circuit design of ultrasonic signal and the analysis of visual signal based on residual neural network are briefly introduced.At the same time,in order to realize the function of unmanned follow,this paper also designs the remote control system,data remote transmission system and GPS positioning function of modular rail flaw detection vehicle.The self-propelled trajectory detection robot designed in this paper guarantees the accuracy and integrity of the equipment detection signal because of its nine-channel wheel probe and high-speed camera.The high detection rate is guaranteed by using high-accuracy residual neural network to detect the signal.And the equipment does not need to be followed by personnel,and does not need to carry coupling fluid,which greatly saves human and material resources,conforms to the development trend of railway flaw detection,and has high research value.