CN219121306U

CN219121306U - Track external parameter detection device based on STM32 singlechip

Info

Publication number: CN219121306U
Application number: CN202223593693.9U
Authority: CN
Inventors: 兰现稳; 李俊杰; 卜锋剑; 涂钦皓; 谭响响
Original assignee: Sinohydro Bureau 7 Co Ltd
Current assignee: Sinohydro Bureau 7 Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-06-02
Anticipated expiration: 2032-12-30

Abstract

The utility model belongs to the technical field of track measurement, and discloses a track external parameter detection device based on an STM32 single chip microcomputer, which comprises a first fixed detection unit, a second fixed detection unit, a support unit and an external parameter detection unit, wherein the first fixed detection unit is arranged on one side of a track, the second fixed detection unit is arranged on the other side of the track, two ends of the support unit are respectively and fixedly connected with the first fixed detection unit and the second fixed detection unit, the horizontal angle of the end, which is fixedly connected with the support unit, of the support unit is adjustable, the external parameter detection unit is respectively and electrically connected with the first fixed detection unit and the second fixed detection unit, the external parameter detection unit is in communication connection with an external mobile terminal, and the external parameter detection unit is provided with the STM32 single chip microcomputer. The utility model solves the problems of large labor cost investment, large detection time cost, poor detection effect and poor precision in the prior art.

Description

Track external parameter detection device based on STM32 singlechip

Technical Field

The utility model belongs to the technical field of track measurement, and particularly relates to a track external parameter detection device based on an STM32 singlechip.

Background

With the rapid development of modern transportation industry, people gradually replace traditional travel modes through new transportation means, reach the region that the manpower can not reach, the track traffic is outstanding in these transportation means, because of its convenience of taking, the coverage is wider, and it is economical and practical, popular among the vast travelers, for the safe traffic of guarantee track traffic, need maintain after long-time use, to orbital external parameters, the prior art often adopts mechanical track gauge and artifical mode of making a hole, the human cost input is big, the detection time cost is big, and the precision of easily detecting is poor, though the appearance of rail inspection appearance has appeared in recent years, move on the track in order to detect through the manual push rail inspection appearance, but this kind of rail inspection appearance is pushed on the track, with track surface and track both sides are not closely laminating and adaptation, can't detect to some minute changes, and detect the effect is poor in some key places such as track inflection point department, the precision is low.

Disclosure of Invention

In order to solve the problems of large labor cost investment, large detection time cost, poor detection effect and poor precision existing in the prior art, the track external parameter detection device based on the STM32 singlechip is provided.

The technical scheme adopted by the utility model is as follows:

the utility model provides a track external parameter detection device based on STM32 singlechip, including first fixed detecting element, the fixed detecting element of second, supporting element and external parameter detecting element, first fixed detecting element sets up in one side track, the fixed detecting element of second sets up in the opposite side track, supporting element's both ends respectively with the fixed detecting element of first fixed detecting element and second fixed detecting element fixed connection, and supporting element and the fixed angle of this end of fixed detecting element fixed connection is adjustable, external parameter detecting element sets up in the inside of fixed detecting element of first, external parameter detecting element respectively with fixed detecting element of first fixed detecting element and second fixed detecting element electric connection, external parameter detecting element communication connection has outside mobile terminal, and external parameter detecting element is provided with STM32 singlechip.

Further, first fixed detection unit includes first fixed module, first clamping module, first threaded rod, first rotating gear, first rotating motor and first concentric shaft, first fixed module sets up in orbital inboard, the medial surface of first fixed module contacts with orbital medial surface, first fixed module is provided with the first through-hole the same with first threaded rod diameter along perpendicular to track direction, and first fixed module is provided with first rotatory through-hole along perpendicular to horizontal direction, first through-hole inside nested is provided with first rotating gear, first rotating gear is provided with the first screw thread through-hole that sets up with first through-hole concentric and the same diameter, and first rotating gear and the main shaft gear intermeshing of first rotating motor, the internal thread of first screw thread through-hole and the external screw thread of first threaded rod mutually support, the one end of first threaded rod and the medial surface fixed connection of first clamping module, and the other end of first threaded rod pass first through the first through-hole and the first rotating gear of concentric nested setting, first clamping module sets up in the orbital outside that corresponds, and the medial surface of first clamping module contacts with orbital motor of perpendicular to the first through-hole, first through-hole inside nested is provided with first rotating gear, first rotating gear is provided with first coaxial shaft at first coaxial shaft, first coaxial shaft outside diameter and first rotating gear is connected with first coaxial shaft, first coaxial shaft outside diameter, first rotating gear is provided with first coaxial shaft and first coaxial shaft, first rotating module is connected with first coaxial shaft, first rotating unit is in the inside diameter, first coaxial shaft is provided with first rotating module, the first rotating module is provided with the first rotating module.

Further, a first pitching assembly is arranged at the top end of the first concentric shaft, the first pitching assembly comprises a first rotating shaft and first supporting frames positioned on two sides of the first rotating shaft, the first rotating shaft horizontally penetrates through the first supporting frames on two sides, and the middle position of the first rotating shaft is fixedly connected with the supporting unit.

Further, the second fixed detection unit includes the second fixed module, the second presss from both sides tight module, the second threaded rod, the second rotates the gear, second rotates motor and second concentric shaft, the second fixed module sets up in orbital inboard, the medial surface of second fixed module and orbital medial surface contact, the second fixed module is provided with the second through-hole the same with second threaded rod diameter along perpendicular to track direction, and the second fixed module is provided with the second rotatory through-hole along the perpendicular to horizontal direction, second through-hole inside nested is provided with the second and rotates the gear, the second rotates the gear and is provided with the second screw thread through-hole with the second through-hole concentric setting and the same diameter, and the second rotates the gear and the main shaft gear intermeshing of motor, the internal thread of second screw thread through-hole and the external screw thread of second threaded rod mutually support, the one end of second threaded rod and the medial surface fixed connection of second clamp module, and the other end of second threaded rod pass concentric nested second through-setting second through-hole and second rotation gear, the second presss from both sides tight module set up in the orbital outside of correspondence, and the medial surface of second clamp module and orbital lateral surface contact with the second through-hole, the second through-hole outside surface contact, the second rotation of second clamp module is connected in the second concentric position outside the second vertical rotation module, the second diameter is exposed at the second outside diameter, the second vertical outside diameter of the second vertical outside fixed module, the top end of the second vertical rotation module is connected with the second vertical rotation module, the second vertical diameter is exposed, the top at the second vertical diameter of the second vertical rotation module, the top is located at the top of the second vertical diameter.

Further, the top of second concentric shaft is provided with second every single move subassembly, and second every single move subassembly includes the second axis of rotation and is located the second support frame of second axis of rotation both sides, and the second axis of rotation level passes the second support frame of both sides, and the intermediate position and the supporting element fixed connection of second axis of rotation.

Further, the supporting unit comprises a fixing rod, a nested pipe and a spring, one end of the fixing rod is fixedly connected with the first concentric shaft at the top end of the outer portion of the first fixing module, the other end of the fixing rod is nested and detachably inserted into the inner portion of one end of the nested pipe, the fixing rod is inserted into the end of the nested pipe to be fixedly connected with one end of the spring, the other end of the spring is fixedly connected with the inner portion of the nested pipe, the outer portion of the other end of the nested pipe, which is far away from the fixing rod, is fixedly connected with the second concentric shaft at the top end of the second fixing module, and a sliding rail is arranged between the inner portion of the nested pipe and the contact portion of the fixing rod.

Further, the external parameter detection unit comprises an STM32 singlechip, an A/D conversion module, a Bluetooth module, a power module, a motor drive module and a sensor group, wherein the STM32 singlechip, the A/D conversion module, the Bluetooth module, the power module and the motor drive module are all arranged in the first fixed module, the STM32 singlechip is respectively electrically connected with the A/D conversion module, the Bluetooth module, the power module and the motor drive module, the A/D conversion module is electrically connected with the sensor group, the Bluetooth module is in communication connection with an external mobile terminal, and the motor drive module is electrically connected with the first rotating motor and the second rotating motor.

Further, the sensor group comprises a first infrared ranging sensor, a second infrared ranging sensor, a third infrared ranging sensor, a horizontal angle sensor and a pitching angle sensor which are electrically connected with the A/D conversion module, wherein the first infrared ranging sensor is arranged at the top of the inner side surface of the first fixing module, the second infrared ranging sensor is arranged at the top of the inner side surface of the second fixing module, the third infrared ranging sensor is arranged at the end of the fixing rod of the supporting unit, inserted into the sleeve, the horizontal angle sensor is arranged at the first concentric shaft, and the pitching angle sensor is arranged at the first rotating shaft of the first pitching assembly.

Further, rubber pads are arranged on the contact part of the first fixing module and the track, the contact part of the first clamping module and the track, the contact part of the second fixing module and the track and the contact part of the second clamping module and the track.

Further, handles are arranged at the top end of the first fixing module and the top end of the second fixing module.

The beneficial effects of the utility model are as follows:

according to the track external parameter detection device based on the STM32 singlechip, the first fixed detection unit and the second fixed detection unit are tightly attached to the tracks on two sides, the support unit provides a distance detection foundation and a structural support, the external parameter detection unit performs automatic detection and real-time calculation and sends data acquisition to the mobile terminal for display, the labor cost investment is reduced, the detection step is simplified, the detection time is shortened, the horizontal angle is adjustable to adapt to various track conditions, and the accuracy is improved through repeated detection at track key points.

Other advantageous effects of the present utility model will be further described in the detailed description.

Drawings

Fig. 1 is a sectional view showing the construction of an external parameter detecting apparatus for a track in accordance with the present utility model.

Fig. 2 is a top view of the structure of the track external parameter detecting device in the present utility model.

In the figure, 1, a first fixed detection unit; 11. a first fixed module; 12. a first clamping module; 13. a first threaded rod; 14. a first rotating gear; 15. a first rotating motor; 16. a first through hole; 17. a first threaded through hole; 18. a first concentric shaft; 19. a first rotation through hole; 110. a first pitch assembly; 2. a second fixed detection unit; 21. a second fixed module; 22. a second clamping module; 23. a second threaded rod; 24. a second rotating gear; 25. a second rotating motor; 26. a second through hole; 27. a second threaded through hole; 28. a second concentric shaft; 29. a second rotation through hole; 210. a second pitch assembly; 3. a supporting unit; 31. a fixed rod; 32. embedding a sleeve; 33. a spring; 4. an external parameter detection unit; 41. a first infrared ranging sensor; 42. a second infrared ranging sensor; 43. a third infrared ranging sensor; 44. a horizontal angle sensor; 45. a pitch angle sensor; 5. a track; 6. a rubber pad; 7. a handle.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1:

as shown in fig. 1 and fig. 2 together, the embodiment provides a track external parameter detection device based on an STM32 single-chip microcomputer, which comprises a first fixed detection unit 1, a second fixed detection unit 2, a support unit 3 and an external parameter detection unit 4, wherein the first fixed detection unit 1 is arranged on one side of a track 5, the second fixed detection unit 2 is arranged on the other side of the track 5, two ends of the support unit 3 are respectively and fixedly connected with the first fixed detection unit 1 and the second fixed detection unit 2, the horizontal angle of the end of the support unit 3 fixedly connected with the first fixed detection unit 1 is adjustable, the external parameter detection unit 4 is arranged in the first fixed detection unit 1, the external parameter detection unit 4 is respectively and electrically connected with the first fixed detection unit 1 and the second fixed detection unit 2, the external parameter detection unit 4 is in communication connection with an external mobile terminal, and the external parameter detection unit 4 is provided with the STM32 single-chip microcomputer.

The first fixed detection unit 1 is fixed on one side of the track 5, the second fixed detection unit 2 is fixed on the other side of the track 5, the support unit 3 establishes connection and support between the first fixed detection unit 1 and the second fixed detection unit 2 and provides a track space measurement basis, the external parameter detection unit 4 based on the STM32 singlechip measures track space data, track width, level height difference and other data, and meanwhile, the second fixed detection unit 2 changes positions for a plurality of times at the bending position of the track 5 to keep the first fixed detection unit 1 motionless, and the bending curvature, angle and other data of the track 5 can be detected through horizontal angle change, so that track external parameter detection is realized.

Preferably, the first fixing and detecting unit 1 includes a first fixing module 11, a first clamping module 12, a first threaded rod 13, a first rotating gear 14, a first rotating motor 15, and a first concentric shaft 18, the first fixing module 11 is disposed inside the rail 5, an inner side surface of the first fixing module 11 contacts with an inner side surface of the rail 5, the first fixing module 11 is provided with a first through hole 16 having the same diameter as the first threaded rod 13 along a direction perpendicular to the rail, and the first fixing module 11 is provided with a first rotating through hole 19 along a direction perpendicular to the horizontal direction, the first rotating gear 14 is disposed inside the first through hole 16 in a nested manner, the first rotating gear 14 is provided with a first threaded through hole 17 having the same diameter and concentric with the first through hole 16, and the first rotating gear 14 is engaged with the main shaft gear of the first rotating motor 15, an inner thread of the first threaded through hole 17 is engaged with an outer thread of the first threaded rod 13, one end of the first threaded rod 13 is fixedly connected with the inner side surface of the first clamping module 12, the other end of the first threaded rod 13 passes through a first through hole 16 and a first rotating gear 14 which are concentrically nested, the first clamping module 12 is arranged on the outer side of the corresponding track 5, the inner side surface of the first clamping module 12 is in contact with the outer side surface of the track 5, the first rotating motor 15 is electrically connected with the external parameter detecting unit 4, the first concentric shaft 18 vertically passes through a first rotating through hole 19, the diameter of the top end of the first concentric shaft 18 exposed outside the first fixed module 11 is larger than that of the first rotating through hole 19, the top end of the first concentric shaft 18 is fixedly connected with the supporting unit 3, the bottom end of the first concentric shaft 18 exposed outside the first fixed module 11 is provided with a first clamping block, the diameter of the first clamping block is larger than that of the first rotating through hole 19, the external parameter detection unit 4 is provided inside the first fixed module 11.

The STM32 singlechip is used for controlling the first rotating motor 15 to rotate so as to drive the first rotating gear 14, thereby driving the first threaded rod 13 to move in the direction vertical to the track inside the first through hole 16 through the matched threaded structure, clamping the first fixed module 11 and the first clamping module 12, preventing the gap from influencing the final measurement precision, and enabling the first concentric shaft 18 to rotate inside the first rotating through hole 19, so that the horizontal position between the first fixed detection unit 1 and the second fixed detection unit 2 can be conveniently adjusted to form an included angle so as to adapt to the external parameter detection of the inflection point of the track 5.

Preferably, the top end of the first concentric shaft 18 is provided with a first pitching assembly 110, the first pitching assembly 110 comprises a first rotation shaft and first supporting frames positioned at two sides of the first rotation shaft, the first rotation shaft horizontally penetrates through the first supporting frames at two sides, and the middle position of the first rotation shaft is fixedly connected with the supporting unit 3.

The first rotating shaft rotates at a pitching angle, so that the pitching position between the first fixed detection unit 1 and the second fixed detection unit 2 is conveniently adjusted to form an included angle, and the included angle is set to adapt to the detection of external parameters of the track height drop.

Preferably, the second fixed detecting unit 2 includes a second fixed module 21, a second clamping module 22, a second threaded rod 23, a second rotating gear 24, a second rotating motor 25, and a second concentric shaft 28, the second fixed module 21 is disposed inside the rail 5, an inner side surface of the second fixed module 21 contacts with an inner side surface of the rail 5, the second fixed module 21 is provided with a second through hole 26 having the same diameter as the second threaded rod 23 along a direction perpendicular to the rail, and the second fixed module 21 is provided with a second rotating through hole 29 along a direction perpendicular to the horizontal direction, the second through hole 26 is internally nested with the second rotating gear 24, the second rotating gear 24 is provided with a second threaded through hole 27 having the same diameter and concentrically disposed with the second through hole 26, and the second rotating gear 24 is intermeshed with a main shaft gear of the second rotating motor 25, the internal thread of the second threaded through hole 27 is matched with the external thread of the second threaded rod 23, one end of the second threaded rod 23 is fixedly connected with the inner side surface of the second clamping module 22, the other end of the second threaded rod 23 passes through a second through hole 26 and a second rotating gear 24 which are concentrically nested, the second clamping module 22 is arranged on the outer side of the corresponding track 5, the inner side surface of the second clamping module 22 is in contact with the outer side surface of the track 5, the second rotating motor 25 is electrically connected with the external parameter detection unit 4 of the first fixed detection unit 1, the second concentric shaft 28 vertically passes through a second rotating through hole 29, the diameter of the top end of the second concentric shaft 28 exposed outside the second fixed module 21 is larger than that of the second rotating through hole 29, the top end of the second concentric shaft 28 is fixedly connected with the supporting unit 3, the bottom end of the second concentric shaft 28 exposed outside the second fixed module 21 is provided with a second clamping block, the diameter of the second detent block is larger than the diameter of the second rotation through hole 29.

Preferably, the top end of the second concentric shaft 28 is provided with a second pitching assembly 210, the second pitching assembly 210 comprises a second rotating shaft and second supporting frames positioned at two sides of the second rotating shaft, the second rotating shaft horizontally penetrates through the second supporting frames at two sides, and the middle position of the second rotating shaft is fixedly connected with the supporting unit 3.

Preferably, the supporting unit 3 includes a fixing rod 31, a nesting tube 32, and a spring 33, one end of the fixing rod 31 is fixedly connected with the top end of the first concentric shaft 18 exposed outside the first fixing module 11, the other end of the fixing rod 31 is nested and detachably inserted into the inside of one end of the nesting tube 32, the end of the fixing rod 31 inserted into the nesting tube 32 is fixedly connected with one end of the spring 33, the other end of the spring 33 is fixedly connected with the inside of the nesting tube 32, the outside of the other end of the nesting tube 32 far from the fixing rod 31 is fixedly connected with the second concentric shaft 28 at the top end of the second fixing module 21, and a sliding rail is arranged at a contact part between the inside of the nesting tube 32 and the fixing rod 31.

The linkage of the fixing rod 31, the nesting tube 32 and the spring 33 ensures that the distance between the first and second fixed detecting units 1 and 2 maintains elasticity, when the distance between the rails becomes large, the spring 33 stretches to accommodate, and when the distance between the rails becomes small, the spring 33 compresses to accommodate.

Preferably, the external parameter detecting unit 4 includes an STM32 single-chip microcomputer with a specific model number of STM32F103C8T6, an a/D conversion module with a specific model number of AJ65SBT-64AD, a bluetooth module with a specific model number of RTL8723BU, a power module, a motor driving module with a specific model number of L298N, and a sensor group, where the STM32 single-chip microcomputer, the a/D conversion module, the bluetooth module, the power module, and the motor driving module are all disposed in the first fixed module 11, and the STM32 single-chip microcomputer is electrically connected with the a/D conversion module, the bluetooth module, the power module, and the motor driving module, respectively, the a/D conversion module is electrically connected with the sensor group, the bluetooth module is communicatively connected with an external mobile terminal, and the motor driving module is electrically connected with the first rotary motor 15 and the second rotary motor 25.

The STM32 singlechip is used as a microprocessor chip, has powerful functions and low price, can complete common calculation processing tasks and control work of other modules, the A/D conversion module converts analog quantity acquired by the sensor group into digital quantity which can be identified by the STM32 singlechip, and the Bluetooth module transmits the track external parameters acquired by the device and the like to the mobile terminal of a worker on site, so that the real-time performance and the reliability of data detection are ensured.

Preferably, the sensor group includes a first infrared ranging sensor 41, a second infrared ranging sensor 42, a third infrared ranging sensor 43, a horizontal angle sensor 44 and a pitching angle sensor 45, which are all electrically connected to the a/D conversion module, wherein the specific types of the sensor group are GP2Y0a710K0F100, the first infrared ranging sensor 41 is disposed at the top of the inner side of the first fixing module 11, the second infrared ranging sensor 42 is disposed at the top of the inner side of the second fixing module 21, the third infrared ranging sensor 43 is disposed at the end of the fixing rod 31 of the supporting unit 3 inserted into the sleeve 32, the horizontal angle sensor 44 is disposed at the first concentric shaft 18, and the pitching angle sensor 45 is disposed at the first rotation shaft of the first pitching assembly 110.

The first infrared ranging sensor 41 is used for detecting the distance between the first/second fixing modules and the first/second clamping modules, acquiring width data of the track 5, the third infrared ranging sensor 43 is used for acquiring distance change between the fixing rod 31 and the nested pipe 32, so as to acquire distance change between the tracks, assuming that the initial distance of the tracks is X cm, when the third infrared ranging sensor 43 acquires that the spring 33 is shortened by X cm, the current distance of the tracks is X-Y cm, the horizontal angle sensor 44 acquires horizontal angle change data between the first fixing detection unit 1 and the second fixing detection unit 2, the first fixing detection unit 1 is used for fixing, the second fixing detection unit 2 can calculate curvature data of inflection points of the current track 5 in a mode of multiple changes along the tracks on the other side, and the pitching angle sensor 45 acquires height change data of the tracks on two sides, and the like, so as to calculate centrifugal force, vehicle body inclination angle and the like of the train at the positions.

Preferably, the contact portion between the first fixing module 11 and the rail 5, the contact portion between the first clamping module 12 and the rail 5, the contact portion between the second fixing module 21 and the rail 5, and the contact portion between the second clamping module 22 and the rail 5 are all provided with rubber pads 6, and the rubber pads 6 prevent the problem that the measurement accuracy is affected due to slipping caused by smooth surfaces of the rail 5.

Preferably, the top end of the first fixing module 11 and the top end of the second fixing module 21 are provided with handles 7.

The utility model is not limited to the alternative embodiments described above, but any person may derive other various forms of products in the light of the present utility model. The above detailed description should not be construed as limiting the scope of the utility model, which is defined in the claims and the description may be used to interpret the claims.

Claims

1. Track external parameter detection device based on STM32 singlechip, its characterized in that: including first fixed detecting element, second fixed detecting element, supporting element and external parameter detecting element, first fixed detecting element set up in one side track, the second fixed detecting element set up in the opposite side track, the both ends of supporting element respectively with first fixed detecting element and the fixed detecting element fixed connection of second, and the fixed detecting element fixed connection's of supporting element and first this end horizontal angle is adjustable, external parameter detecting element set up in the inside of first fixed detecting element, external parameter detecting element respectively with first fixed detecting element and the fixed detecting element electric connection of second, external parameter detecting element communication connection has outside mobile terminal, and external parameter detecting element is provided with STM32 singlechip.

2. The track external parameter detection device based on the STM32 singlechip according to claim 1, wherein: the first fixed detection unit comprises a first fixed module, a first clamping module, a first threaded rod, a first rotating gear, a first rotating motor and a first concentric shaft, wherein the first fixed module is arranged on the inner side of a track, the inner side surface of the first fixed module is in contact with the inner side surface of the track, the first fixed module is provided with a first through hole with the same diameter as the first threaded rod along the direction vertical to the track, the first fixed module is provided with a first rotating through hole along the direction vertical to the horizontal direction, the first rotating gear is internally nested and provided with the first rotating gear, the first rotating gear is provided with a first threaded through hole which is concentrically arranged with the first through hole and has the same diameter, the first rotating gear is meshed with the main shaft gear of the first rotating motor, the inner threads of the first threaded through hole are mutually matched with the outer threads of the first threaded rod, one end of the first threaded rod is fixedly connected with the inner side surface of the first clamping module, the other end of the first threaded rod passes through the first through-hole and the first rotating gear which is concentrically nested, the first clamping module is arranged on the corresponding track, the first rotating gear is arranged on the first side surface of the first clamping module, the first concentric shaft is arranged on the first side surface of the first rotating motor, the first rotating gear is in a large diameter of the first concentric shaft is connected with the first concentric shaft, the first concentric shaft is in the first concentric shaft, the first coaxial shaft is in the first coaxial shaft, the first coaxial shaft has the first coaxial shaft and the first rotating module has the same diameter, the first rotating gear and the first rotating module has the first rotating gear and the first rotating motor, the external parameter detection unit is arranged in the first fixed module.

3. The track external parameter detection device based on the STM32 singlechip according to claim 2, wherein: the top of the first concentric shaft is provided with a first pitching assembly, the first pitching assembly comprises a first rotating shaft and first supporting frames positioned on two sides of the first rotating shaft, the first rotating shaft horizontally penetrates through the first supporting frames on two sides, and the middle position of the first rotating shaft is fixedly connected with the supporting units.

4. The track external parameter detection device based on the STM32 singlechip according to claim 3, wherein: the second fixed detection unit comprises a second fixed module, a second clamping module, a second threaded rod, a second rotating gear, a second rotating motor and a second concentric shaft, the second fixing module is arranged at the inner side of the track, the inner side surface of the second fixing module is contacted with the inner side surface of the track, a second through hole with the same diameter as the second threaded rod is arranged on the second fixing module along the direction vertical to the track, the second fixed module is provided with a second rotary through hole along the direction vertical to the horizontal direction, a second rotary gear is nested in the second through hole, the second rotating gear is provided with a second threaded through hole which is concentric with the second through hole and has the same diameter, the second rotating gear is meshed with the main shaft gear of the second rotating motor, the internal thread of the second threaded through hole is matched with the external thread of the second threaded rod, one end of the second threaded rod is fixedly connected with the inner side surface of the second clamping module, the other end of the second threaded rod passes through a second through hole and a second rotating gear which are concentrically nested, the second clamping module is arranged at the outer side of the corresponding track, the inner side surface of the second clamping module is contacted with the outer side surface of the rail, the second rotating motor is electrically connected with the external parameter detection unit of the first fixed detection unit, the second concentric shaft vertically passes through the second rotary through hole, the diameter of the top end of the second concentric shaft exposed outside the second fixed module is larger than that of the second rotary through hole, the top end of the second concentric shaft is fixedly connected with the supporting unit, and the bottom end of the second concentric shaft exposed outside the second fixing module is provided with a second clamping block, and the diameter of the second clamping block is larger than that of the second rotary through hole.

5. The track external parameter detection device based on the STM32 singlechip as set forth in claim 4, wherein: the top of second concentric shaft be provided with the second every single move subassembly, the second every single move subassembly include the second axis of rotation and be located the second support frame of second axis of rotation both sides, the second axis of rotation horizontal pass the second support frame of both sides, and the intermediate position and the supporting element fixed connection of second axis of rotation.

6. The track external parameter detection device based on the STM32 singlechip as set forth in claim 5, wherein: the support unit include dead lever, nested pipe and spring, the one end and the first concentric shaft of dead lever expose the outside top fixed connection of first fixed module, the other end of dead lever is nested and detachable inserts the inside of nested pipe one end, and the dead lever inserts the one end fixed connection of nested pipe and spring, the other end and the inside fixed connection of nested pipe of spring, the other end outside and the second concentric shaft fixed connection on the top of second fixed module of other end of nested pipe keep away from the dead lever, and the inside of nested pipe is provided with the slide rail with the contact portion of dead lever.

7. The track external parameter detection device based on the STM32 singlechip as set forth in claim 6, wherein: the external parameter detection unit comprises an STM32 singlechip, an A/D conversion module, a Bluetooth module, a power module, a motor drive module and a sensor group, wherein the STM32 singlechip, the A/D conversion module, the Bluetooth module, the power module and the motor drive module are arranged in the first fixed module, the STM32 singlechip is respectively electrically connected with the A/D conversion module, the Bluetooth module, the power module and the motor drive module, the A/D conversion module is electrically connected with the sensor group, the Bluetooth module is in communication connection with an external mobile terminal, and the motor drive module is electrically connected with the first rotating motor and the second rotating motor.

8. The track external parameter detection device based on the STM32 singlechip as set forth in claim 7, wherein: the sensor group include all with AD conversion module electric connection's first infrared ranging sensor, second infrared ranging sensor, third infrared ranging sensor, horizontal angle sensor and every single move angle sensor, first infrared ranging sensor set up in the medial surface top of first fixed module, second infrared ranging sensor set up in the medial surface top of second fixed module, third infrared ranging sensor set up in the dead lever of supporting element insert the end of inlaying the sleeve pipe, horizontal angle sensor set up in first coaxial axle department, every single move angle sensor set up in the first axis of rotation department of first every single move subassembly.

9. The track external parameter detection device based on the STM32 singlechip according to claim 8, wherein: the rubber pads are arranged on the contact part of the first fixing module and the track, the contact part of the first clamping module and the track, the contact part of the second fixing module and the track and the contact part of the second clamping module and the track.

10. The track external parameter detection device based on the STM32 singlechip according to claim 9, wherein: the top of the first fixed module and the top of the second fixed module are both provided with handles.