Patrol method and device, computer system and readable storage medium

Abstract

This disclosure provides an inspection method, comprising: acquiring travel information of an automatic inspection device automatically traveling along the track extension direction; based on the travel information, determining that the automatic inspection device has reached a preset location, performing defect detection on the object to be inspected, and obtaining the inspection result of the object; locating the object to obtain location information; and associating the location information with the inspection result to generate target inspection data. This disclosure also provides an inspection device, a computer system, a readable storage medium, and a computer program product.

Description

Technical Field

[0001] This disclosure relates to the fields of computer technology and rail transportation, and more specifically, to an inspection method, apparatus, computer system, readable storage medium, and computer program product. Background Technology

[0002] Rail transport is a mode of land transportation, and its development and construction have a significant impact on economic development. The safety of rail facilities is crucial for the long-term and stable development of this mode of transport. Therefore, rail inspection is a very important task, and regular inspections are necessary to ensure rail safety.

[0003] In realizing the concept disclosed herein, the inventors discovered at least the following problems in the related technology: existing inspection tools require human assistance for detection and operation, resulting in low work efficiency. Summary of the Invention

[0004] In view of this, the present disclosure provides an inspection method, apparatus, computer system, readable storage medium, and computer program product.

[0005] One aspect of this disclosure provides an inspection method, including:

[0006] Acquire the driving information of the automatic inspection equipment as it moves automatically along the track extension direction;

[0007] Based on driving information, when it is determined that the automatic inspection equipment has reached the preset location, defect detection is performed on the object to be inspected, and the inspection result of the object is obtained;

[0008] Locate the object and obtain its location information; and

[0009] The location information is associated with the detection results to generate target detection data.

[0010] According to embodiments of this disclosure, the object includes a track bed system or a track fastener system;

[0011] Defect detection is performed on the object to be inspected, and the inspection results include:

[0012] Acquire image information of the track bed system or track fastener system; and

[0013] Defects are identified in the image information to obtain the detection results, where the detection results are the defect identification results.

[0014] According to embodiments of this disclosure, the inspection method further includes:

[0015] Based on the defect identification results, determine whether the track bed system or track fastener system has defects;

[0016] In cases where there are defects in the track bed system or track fastening system, warning labels should be marked on the image information; and

[0017] If the track bed system or track fastener system is not defective, discard the defect identification results.

[0018] According to embodiments of this disclosure, the object includes railway rails;

[0019] Defect detection is performed on the object to be inspected, and the inspection results include:

[0020] Collect geometric feature data of the rails;

[0021] Based on preset locations, the original morphological data of the rails are obtained; and

[0022] Based on the original shape data of the rail, the geometric feature data is processed using a processing method that matches the original shape data to obtain the current shape data of the rail.

[0023] According to an embodiment of this disclosure, the driving information includes a first interval distance and a second interval distance between the automatic inspection equipment and the two rails of the track.

[0024] Inspection methods also include:

[0025] Based on the first interval distance and the second interval distance, it is determined whether the automatic inspection equipment is traveling in the center, where traveling in the center means traveling between the two rails;

[0026] If the difference between the first interval distance and the second interval distance meets the preset conditions, the automatic inspection equipment is determined to drive in the center.

[0027] If the difference between the first interval distance and the second interval distance does not meet the preset conditions, the automatic inspection equipment is determined to be out of center.

[0028] The automatic inspection equipment is adjusted using a motor differential speed control method so that it travels in the center.

[0029] According to embodiments of this disclosure, the inspection method further includes:

[0030] Real-time location tracking of the automatic inspection equipment;

[0031] Based on real-time location information, environmental information within a preset range of the current location of the automatic inspection equipment is obtained; and

[0032] If it is determined that the automatic inspection equipment is not moving in the center, the automatic inspection equipment is adjusted by using a push rod motor control method based on the environmental information within a preset range so that the automatic inspection equipment moves in the center.

[0033] According to embodiments of this disclosure, the driving information includes the distance traveled;

[0034] Based on driving information, determining when the automatic inspection equipment has reached the preset location includes:

[0035] Determine whether the travel distance has reached the preset distance threshold;

[0036] When the travel distance reaches a preset distance threshold, the automatic inspection equipment is determined to have reached a preset location; and

[0037] If the travel distance does not reach the preset distance threshold, it is determined that the automatic inspection equipment has not reached the preset location.

[0038] Another aspect of this disclosure provides an inspection device, comprising:

[0039] The acquisition module is used to acquire the driving information of the automatic inspection equipment as it automatically moves along the track extension direction;

[0040] The detection module is used to perform defect detection on the object to be inspected based on driving information and when the automatic inspection equipment has reached the preset location, and to obtain the detection result of the object.

[0041] The positioning module is used to locate objects and obtain positioning information; and

[0042] The association module is used to associate location information with detection results to generate target detection data.

[0043] Another aspect of this disclosure provides an inspection system, comprising:

[0044] Automatic inspection equipment, used to automatically travel along the direction of track extension;

[0045] The data acquisition device is installed on the automatic inspection equipment to collect inspection information, which includes the driving information of the automatic inspection equipment, the defect detection information of the object being inspected, and the positioning information of the object.

[0046] The processing device, installed on the automatic inspection equipment, is used to receive the detection information sent by the data acquisition device and execute the above-mentioned method;

[0047] The remote control terminal is used to control the automatic operation of the automatic inspection equipment and to generate inspection reports based on the target detection data sent by the processing device.

[0048] According to embodiments of this disclosure, the data acquisition device includes:

[0049] The travel acquisition device includes a monitoring PTZ camera, an attitude sensor, an ultrasonic sensor, and / or a first displacement sensor, used to collect travel information of the automatic inspection equipment;

[0050] The defect acquisition device includes a line scan camera, a horizontal sensor and / or a second displacement sensor, used to acquire defect detection information of the object;

[0051] Positioning devices, including odometers and positioning measuring instruments, are used to collect positioning information of objects.

[0052] Another aspect of this disclosure provides a computer system comprising:

[0053] One or more processors;

[0054] Memory, used to store one or more programs.

[0055] When the above one or more programs are executed by the above one or more processors, the above one or more processors implement the above method.

[0056] Another aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are used to implement the above-described method.

[0057] Another aspect of this disclosure provides a computer program product including computer-executable instructions that, when executed, implement the method described above.

[0058] According to the embodiments of this disclosure, by employing the technical means of acquiring the travel information of the automatic inspection equipment automatically traveling along the track extension direction; determining, based on the travel information, that the automatic inspection equipment has reached a preset location, performing defect detection on the object to be inspected, and obtaining the object's detection result; locating the object, obtaining location information; and associating the location information with the detection result to generate target detection data, during the automatic travel process, the travel information is used to automatically locate the preset location, perform defect detection, and locate the object, and associate the location information with the detection result. Therefore, this at least partially overcomes the technical problem of low work efficiency in the prior art where track inspection requires human assistance, thereby achieving the technical effect of automatic inspection, high inspection efficiency, and freeing up manpower. Attached Figure Description

[0059] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0060] Figure 1The illustration schematically shows an exemplary system architecture to which the inspection method and apparatus of this disclosure can be applied according to embodiments of this disclosure;

[0061] Figure 2 A flowchart illustrating an inspection method according to an embodiment of the present disclosure is shown schematically.

[0062] Figure 3 A flowchart illustrating defect detection according to an embodiment of the present disclosure is shown schematically;

[0063] Figure 4 A flowchart illustrating defect detection according to another embodiment of this disclosure is shown schematically;

[0064] Figure 5 A flowchart illustrating the control of an automatic inspection device to move in the center according to an embodiment of the present disclosure is shown schematically.

[0065] Figure 6 A block diagram of an inspection device according to an embodiment of the present disclosure is schematically shown; and

[0066] Figure 7 A block diagram of a computer system suitable for implementing an inspection method according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0067] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0068] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0069] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0070] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). Similarly, when using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0071] Ballastless track is a track structure that uses a monolithic foundation of concrete, asphalt mixture, or similar materials instead of loose gravel ballast. The main components of ballastless track include rails, a track bed system, and a track fastening system. High-level maintenance measures are essential to ensure the quality of ballastless track. Higher precision and faster inspection of ballastless track operations help maintain its geometric state, thereby enhancing its competitiveness.

[0072] In related technologies, traditional track maintenance inspections rely on inspection trolleys that cannot move automatically and require manual pushing. Furthermore, they can only inspect the geometric shape and structure of the rails, and the inspection of track fastening systems and other components is still limited to visual observation.

[0073] This manual, hand-pushed inspection trolley method results in a pushing speed of only 4-5 kilometers per hour. The quality of routine inspections of the track bed system and track fastener system relies solely on visual observation and judgment by the inspectors. This method is not only slow and inefficient, but also lacks comprehensive inspection capabilities and cannot achieve high-precision positioning, failing to guarantee positioning accuracy under complex conditions.

[0074] Embodiments of this disclosure provide an inspection method. The method includes acquiring travel information of an automatic inspection device automatically traveling along a track extension direction; based on the travel information, determining that the automatic inspection device has reached a preset location, performing defect detection on the object to be inspected to obtain the object's detection result; locating the object to obtain location information; and associating the location information with the detection result to generate target detection data.

[0075] The inspection method provided in this embodiment utilizes an automatic inspection device to achieve automatic inspection. Furthermore, by collecting driving information during the driving process, it automatically determines preset locations, automatically performs defect detection, and automatically associates the positioning information with the detection results. This method has a high degree of automation, frees up manpower, and improves inspection efficiency.

[0076] Embodiments of this disclosure provide an inspection system, which may include automatic inspection equipment, a data acquisition device, a processing device, and a remote control terminal. The arrangement and function of each component will be described in detail below.

[0077] According to embodiments of this disclosure, an automatic inspection device is used to automatically travel along the track extension direction; a data acquisition device is disposed on the automatic inspection device to collect inspection information, wherein the inspection information includes the travel information of the automatic inspection device, defect detection information of the inspected object, and the positioning information of the object; a processing device is disposed on the automatic inspection device to receive the detection information sent by the data acquisition device and execute the above-described method; and a remote control terminal is used to control the automatic travel of the automatic inspection device and generate an inspection report based on the target detection data sent by the processing device.

[0078] The data acquisition device may include a travel acquisition device, a defect acquisition device, and a positioning device. The travel acquisition device may include one or more of, for example, a PTZ camera, an attitude sensor, an ultrasonic sensor, and a first displacement sensor, for acquiring travel information of the automatic inspection equipment. The defect acquisition device may include one or more of, for example, a line scan camera, a level sensor, and a second displacement sensor, for acquiring defect detection information of the object. The positioning device may include, for example, an odometer and / or a positioning measuring instrument, for acquiring positioning information of the object.

[0079] Figure 1 An exemplary system architecture 100 for which inspection methods and apparatus can be applied according to embodiments of this disclosure is illustrated schematically. It should be noted that... Figure 1 The examples shown are merely examples of system architectures that can be applied to the embodiments of this disclosure, in order to help those skilled in the art understand the technical content of this disclosure, but do not mean that the embodiments of this disclosure cannot be used in other devices, systems, environments or scenarios.

[0080] like Figure 1 As shown, the system architecture 100 according to this embodiment may include an automatic inspection device 101, a network 102, and a remote control terminal 103.

[0081] The automatic inspection equipment 101 may be equipped with a processing device and a data acquisition device.

[0082] The processing unit is used for the main control of the automatic inspection equipment, and is responsible for geometric feature data calculation, motion control, defect identification using intelligent image recognition models, task scheduling, and data storage.

[0083] The data acquisition device is responsible for collecting information such as level, displacement, environment, collision avoidance, and attitude, as well as controlling signals such as status and lighting.

[0084] The automatic inspection equipment 101 can be equipped with a power control board, a line scan camera, a monitoring PTZ camera, a positioning measuring instrument, motors, push rod motors, displacement sensors, level sensors, attitude sensors, ultrasonic sensors, and a lighting system. The power control board is responsible for power conversion, supplying power to all devices and equipment. The line scan camera is used for image acquisition of the track bed system and track fastener system, and includes an encoder to adapt to the movement speed of the automatic inspection equipment. The monitoring PTZ camera is used for real-time video acquisition of the inspection environment. The positioning measuring instrument can work with an odometer to achieve centimeter-level precise positioning using GPS-RTK differential positioning technology. The drive motor is used to enable the automatic inspection equipment to move. The push rod motor works with the odometer and displacement sensors to enable the automatic inspection equipment to automatically pass through switches. Multiple displacement sensors can be included, used separately for track gauge measurement and edge detection of the automatic inspection equipment; however, it is not limited to this, and a single displacement sensor can also be used, i.e., the first displacement sensor and the second displacement sensor can be combined into one, simultaneously used for track gauge measurement and edge detection of the automatic inspection equipment. The horizontal sensor is used to measure the horizontal angle of the track bed system and track fastener system. The attitude sensor is used for attitude control and correction of the automated inspection equipment. The ultrasonic sensor is used for long-range collision avoidance. The lighting system is responsible for illumination and status display.

[0085] In addition, the automatic inspection device 101 can also be equipped with three data buses, such as a CAN bus for high-speed motion control; a CAN bus for relatively low-speed sensor data; and an Ethernet bus with a large amount of data. The data bus design facilitates the expansion, integration and management of the device.

[0086] Network 102 serves as a medium for providing a communication link between the automatic inspection device 101 and the remote control terminal 103. Network 102 may include various connection types, such as wired and / or wireless communication links, etc.

[0087] The remote control terminal 103 can be a server that provides various services, such as a back-end management server responsible for task creation, motion control, data display, inspection report generation, etc.

[0088] It should be understood that Figure 1 The number of automated inspection devices, networks, and remote control terminals shown is merely illustrative. Depending on implementation needs, any number of automated inspection devices, networks, and remote control terminals can be included.

[0089] Figure 2 A flowchart illustrating an inspection method according to an embodiment of the present disclosure is shown schematically.

[0090] like Figure 2 As shown, the inspection method includes operations S210 to S240.

[0091] When operating S210, obtain the driving information of the automatic inspection equipment automatically moving along the track extension direction.

[0092] According to embodiments of this disclosure, the automatic inspection device can be an automatically moving vehicle with wheels, a robot, or other similar equipment, but it is not limited to these; it is acceptable as long as it can achieve the function of automatic movement.

[0093] According to the embodiments of this disclosure, the track in the embodiments of this disclosure can be a ballastless track, and between the two track rails there can be a stable track slab or other facilities, thereby ensuring that the automatic inspection equipment can automatically and smoothly travel along the track extension direction.

[0094] According to embodiments of this disclosure, devices such as displacement sensors, collision avoidance sensors, speed sensors, and distance detectors can be installed on automatic inspection equipment to monitor driving information such as the driving posture, driving speed, driving environment, and driving distance of the automatic inspection equipment.

[0095] When operating S220, based on driving information, if it is determined that the automatic inspection equipment has reached the preset location, defect detection is performed on the object to be inspected, and the inspection result of the object is obtained.

[0096] According to embodiments of this disclosure, the preset locations can be pre-set inspection locations. During the inspection process, multiple inspection locations can be pre-set along the extension direction of the track. The selection of preset locations can be pre-set according to actual requirements, for example, based on interval distance.

[0097] According to embodiments of this disclosure, the driving information can be the driving distance. The automatic inspection device can configure its driving based on the preset location settings. For example, it can start recording the driving distance at a preset location. When the driving distance reaches the interval distance, it can be determined that the automatic inspection device has reached the next preset location.

[0098] According to embodiments of this disclosure, an encoder can be used to record the travel distance. For example, the encoder can be used to record the number of rotations of the wheels of an automatic inspection device, thereby achieving the effect of recording the travel distance. Then, based on the pulse signal fed back by the encoder, it is determined whether a preset location has been reached.

[0099] According to embodiments of this disclosure, the method of determining the arrival of the automatic inspection equipment at the preset location based on driving information is not only simple to implement, but also has a fast signal transmission speed and improves the response speed.

[0100] According to embodiments of this disclosure, the object to be inspected can be a component on the track or the surrounding environment; any facility that ensures the safe operation of the track can be used as the object to be inspected.

[0101] In operation S230, the object is located and the location information is obtained.

[0102] In operation S240, the positioning information is associated with the detection results to generate target detection data.

[0103] According to embodiments of this disclosure, not only is a defect detection function provided, but a location function is also provided.

[0104] According to the embodiments of this disclosure, locating the object and associating the location information with the detection results not only facilitates the tracing of defective objects and makes subsequent maintenance easier, but also provides a complete detection report, which facilitates the improvement of inspection work.

[0105] The inspection method provided in this embodiment achieves automatic driving by automatically locating preset points, detecting defects, and positioning the object using driving information, and then associating the positioning information with the detection results. Therefore, it at least partially overcomes the technical problem of low efficiency and the need for manual labor in track inspection in the prior art, thus achieving automatic inspection, high inspection efficiency, and the elimination of manpower.

[0106] The following describes specific embodiments, with reference to the appendix. Figures 3-5 right Figure 2 The method shown will be further explained.

[0107] According to embodiments of this disclosure, the object to be tested may be a track bed system or a track fastener system.

[0108] According to embodiments of this disclosure, the track bed system may include a concrete base, a mortar bedding layer, and a track slab, arranged sequentially from bottom to top. The track fastening system, also known as the rail fastening system, consists of components used to connect the rails and sleepers (or other types of rail foundations) on the track; it is also called an intermediate connecting component. Its function is to fix the rails to the sleepers, maintain the track gauge, and prevent the rails from moving longitudinally or laterally relative to the sleepers. Track fastening systems can be divided into spring clip fastening systems, plate fastening systems, and / or spring bar fastening systems.

[0109] According to other embodiments of this disclosure, defects such as cracks and missing parts can be detected in the track bed system or track fastener system by manual inspection and visual observation.

[0110] However, visual inspection has two drawbacks: firstly, it is not conducive to observation in the dark or in low-visibility environments, resulting in low detection accuracy; secondly, manual inspection is inefficient.

[0111] According to embodiments of this disclosure, defect detection can be performed using automatic detection methods, such as acquiring image information of a track bed system or a track fastener system; performing defect identification on the image information to obtain detection results, wherein the detection results are defect identification results.

[0112] According to embodiments of this disclosure, the defect identification result may include an identification result indicating whether the defect is present or not.

[0113] According to embodiments of this disclosure, a line scan camera can be used to acquire image information. In embodiments of this disclosure, an encoder that records the travel distance can be connected to the line scan camera signal, and the encoder's pulse signal can be directly used as a command signal to trigger the line scan camera to acquire image information.

[0114] According to embodiments of this disclosure, the device for acquiring image information of the object is not limited to a line scan camera. However, the line scan camera used in the embodiments of this disclosure can be adapted to the driving speed of the automatic inspection equipment to acquire images.

[0115] According to embodiments of this disclosure, two line scan cameras can be installed on an automatic inspection device to perform defect detection on the track bed system and the track fastener system separately and simultaneously. However, it is not limited to this. Different preset points can be designed for defect detection on the track bed system and the track fastener system. These settings can be made according to actual conditions, and will not be elaborated here.

[0116] According to embodiments of this disclosure, defect identification can be performed on image information of the track bed system and / or track fastener system using an intelligent image recognition model. In embodiments of this disclosure, the intelligent image recognition model can be stored in an automatic inspection device, which acts as a terminal to directly identify defects in the image information. However, this is not limited to this; the intelligent image recognition model can also be stored in a remote control terminal, and the image information can be sent to the remote control terminal via the automatic inspection device, allowing the terminal to utilize the intelligent image recognition model for defect identification.

[0117] According to an optional embodiment of this disclosure, storing the intelligent image recognition model in an automatic inspection device not only reduces data transmission and improves processing efficiency, but also avoids signal interference and loss caused by data transmission, thus avoiding a decrease in recognition accuracy.

[0118] The inspection method of this disclosure can automatically detect defects in the track bed system or track fastener system, with accurate detection results. It overcomes the influence of various external factors such as weather and time, frees up manpower, and improves efficiency.

[0119] Figure 3 A flowchart illustrating defect detection according to an embodiment of the present disclosure is shown schematically.

[0120] like Figure 3 As shown, defect detection of the track bed system or track fastener system may include operations S310-S330, S341, S342, and S350-S360.

[0121] When operating S310, image information of the track bed system or track fastener system is acquired.

[0122] When operating S320, defect identification is performed on the image information to obtain the detection result, which is the defect identification result.

[0123] When operating S330, based on the defect identification results, it is determined whether the track bed system or track fastener system has defects.

[0124] In operation S341, if there is a defect in the track bed system or track fastening system, a warning label is marked on the image information.

[0125] In operation S342, if there are no defects in the track bed system or track fastener system, the defect identification results are discarded.

[0126] When operating the S350, the image processor compresses and stores the image information to generate a real-time video stream.

[0127] When operating the S360, image information marked with warning symbols and real-time video streams are pushed to the remote control terminal.

[0128] According to embodiments of this disclosure, image information marked with a warning identifier can be associated with corresponding location information, and compressed and stored image information can be associated with its corresponding location information so that the information in the generated real-time video stream is complete.

[0129] By utilizing the defect detection methods of this disclosure, image information can be automatically acquired and defects can be identified and detected, thereby improving automation, work efficiency, and defect detection accuracy.

[0130] According to other embodiments of this disclosure, the object to be detected may also be a railway rail.

[0131] According to embodiments of this disclosure, defect detection of rail tracks can generally involve detecting defects in the geometric shape of the rail tracks, such as track gauge, track level, track height, and triangular pits.

[0132] According to embodiments of this disclosure, track gauge can be defined as the shortest distance between the left and right rails within the same track cross-section. More specifically, it can be the minimum distance between the two rails within a 16mm range of the top surface of the rails. Track level can be defined as the difference in the height of the top of the left and right rails on the same track cross-section. Track elevation can be defined as the deviation of the top surface of the rails from the average position of the top surface of the rails perpendicular to the track extension direction. Triangular pits can be defined as the distortion of the top surfaces of the left and right rails relative to the track plane, which can be three or more pits or protrusions on the two rails within an 18m range.

[0133] Figure 4 A flowchart illustrating defect detection according to another embodiment of this disclosure is shown schematically.

[0134] like Figure 4 As shown, defect detection of rails can include operations S410 to S430.

[0135] When operating the S410, geometric feature data of the rails are collected.

[0136] According to embodiments of this disclosure, different geometric feature data can be collected based on the preset geometric shape of the rails to be detected. For example, the distance between the left and right rails at a preset location can be collected by a displacement sensor to obtain the rail gauge; for example, the horizontal angle of the surface to be measured can be collected by an inclination sensor, and then combined with calculations, geometric shape data such as rail height, rail level, and triangular pits can be obtained.

[0137] During operation of S420, the original morphological data of the rails are acquired based on preset locations.

[0138] According to embodiments of this disclosure, before processing the collected geometric feature data, the corresponding original morphological data can be retrieved first for proper processing and accurate judgment.

[0139] For example, due to terrain or practical considerations in actual operation, the rails at the test site may have certain height or level differences during initial construction. If the original morphological data of the initial state is not considered during routine inspections, and the inspection is conducted assuming no height or level differences, it will lead to errors in defect detection and judgment.

[0140] According to embodiments of this disclosure, the rail to be inspected can be located based on preset positions to retrieve original morphological data. However, it is not limited to this; the position information of the rail to be inspected can also be determined using timing information to retrieve original morphological data.

[0141] In operation S430, based on the original shape data of the rail, the geometric feature data is processed using a processing method that matches the original shape data to obtain the current shape data of the rail.

[0142] According to embodiments of this disclosure, processing geometric feature data can involve first performing data processing such as filtering and temperature compensation on the geometric feature data to obtain actual data such as displacement and tilt angle.

[0143] According to embodiments of this disclosure, the real data after data processing such as filtering and temperature compensation can be combined with data such as mileage sensor data and vehicle body size data of automatic inspection equipment, and the current form data can be obtained through mathematical operations.

[0144] According to embodiments of this disclosure, it is also possible to determine whether the current rail position to be detected has geometric defects by comparing the current morphological data with the original morphological data.

[0145] According to optional embodiments of this disclosure, defect detection results, current morphology data, and corresponding positioning information can also be associated and uploaded to a remote control terminal.

[0146] According to an optional embodiment of this disclosure, the encoder that records the travel distance can be communicatively connected to displacement sensors, tilt sensors, etc., and the pulse signal of the encoder can be directly used as the command signal to trigger the displacement sensors and tilt sensors to collect geometric feature data.

[0147] By utilizing the defect detection methods of this disclosure, geometric feature data can be automatically collected and geometric morphology data can be accurately calculated and judged, thereby improving automation, work efficiency, and defect detection accuracy.

[0148] The inspection method of other embodiments of this disclosure can be used to detect defects in the track bed system, track fastener system and track rails. The detection method is not only accurate and fast, but also has a variety of detection objects and comprehensive detection capabilities.

[0149] According to embodiments of this disclosure, during the operation of determining the arrival of an automatic inspection device at a preset location based on driving information, an encoder can be used to record the driving distance.

[0150] According to an optional embodiment of this disclosure, an encoder records the travel distance and transmits a pulse signal corresponding to the travel distance to a connected line scan camera, displacement sensor, or tilt sensor. The pulse signal is used to determine whether the travel distance has reached a preset travel threshold. If the travel distance reaches the preset travel threshold, it is determined that the automatic inspection device has reached a preset location; if the travel distance has not reached the preset travel threshold, it is determined that the automatic inspection device has not reached the preset location.

[0151] According to embodiments of this disclosure, the preset distance threshold can be a distance point value, but is not limited to this; it can also be a distance range value. As long as it is within a preset range of the preset location, it can be determined that the preset location has been reached. It can be preset according to actual conditions, which will not be elaborated here.

[0152] According to optional embodiments of this disclosure, positioning of objects such as track bed systems, track fastening systems, and track rails can employ more precise positioning methods than those based on determining preset points. For example, equipping automatic inspection equipment with high-precision RTK (Real-Time Kinematic) technology, while integrating odometer and image detection technologies for auxiliary positioning, ensures centimeter-level positioning accuracy under various working conditions. In areas with good signal strength, odometer and RTK technology are used for fused positioning, and RTK technology can calibrate the accumulated error of the odometer. In areas with poor signal strength, such as tunnels or mountains, a line scan camera can be used to identify kilometer markers to assist in odometer calibration.

[0153] According to embodiments of this disclosure, an encoder can be used for coarse positioning of preset locations, which is simple to operate and has a fast response. RTK technology can be integrated with technologies such as odometers and line scan cameras to achieve real-time precise positioning, facilitating the traceability of defect locations and achieving a high degree of automation.

[0154] According to embodiments of this disclosure, the travel information may further include a first interval distance and a second interval distance between the automatic inspection equipment and the two rails of the track. In embodiments of this disclosure, this information can be acquired using edge sensors.

[0155] According to embodiments of this disclosure, it can be determined whether the automatic inspection equipment is traveling in the center based on a first interval distance and a second interval distance, wherein traveling in the center means traveling between two rails.

[0156] If the difference between the first interval distance and the second interval distance meets the preset conditions, the automatic inspection equipment is determined to be driving in the center; if the difference between the first interval distance and the second interval distance does not meet the preset conditions, the automatic inspection equipment is determined to be not driving in the center; and the automatic inspection equipment is adjusted by using motor differential speed control so that the automatic inspection equipment drives in the center.

[0157] According to embodiments of this disclosure, the differential speed control method can be implemented by configuring multiple motors on the automatic inspection equipment to control multiple traveling wheels located on both sides of the automatic inspection equipment. When the automatic inspection equipment is not traveling in the center, the differential speed control method is achieved by controlling the different rotational speeds of the traveling wheels on both sides using the motors.

[0158] According to embodiments of this disclosure, the motor differential speed control method has a high degree of automation and a slow adjustment speed, making it suitable for fine-tuning.

[0159] In the embodiments of this disclosure, the track cannot be constructed in a straight line; there are switch areas. When entering a switch area, fine-tuning using differential motor control is no longer applicable, as it is not conducive to quickly and accurately controlling the automatic inspection equipment to move toward the side passing through the switch.

[0160] According to other embodiments of this disclosure, the current position of the automatic inspection equipment can be located in real time to obtain real-time positioning information; based on the real-time positioning information, environmental information within a preset range of the current position of the automatic inspection equipment can be obtained; for example, the real-time positioning information can be used to determine in advance whether to enter the turnout area. If it is determined that the automatic inspection equipment is not moving in the center, based on the environmental information within the preset range, for example, when entering or about to enter the turnout area, the automatic inspection equipment can be adjusted using a push rod motor control method to ensure that the automatic inspection equipment moves in the center.

[0161] According to embodiments of this disclosure, controlling the automatic inspection equipment to travel in the center not only improves driving stability but also facilitates defect detection.

[0162] The inspection method of this disclosure can be used to control the automatic centering of different areas of the track, which is conducive to achieving automatic operation and freeing up manpower.

[0163] Figure 5 A flowchart illustrating the control of an automated inspection device to move in the center according to another embodiment of the present disclosure is shown.

[0164] like Figure 5 As shown, controlling the automatic inspection equipment to move in the center can include operating S510 to S570.

[0165] When operating the S510, issue forward or backward control commands;

[0166] When operating the S520, the driving wheels are rotated;

[0167] When operating the S530, the edge sensor is used to collect the distance between the automatic inspection equipment and the two rails in real time;

[0168] When operating S540, determine whether the vehicle is centered (the travel path is aligned with the center line of the track);

[0169] When operating the S550, if it is not centered, the differential control will center it; if it is centered, continue to drive the driving wheels to rotate.

[0170] When operating the S560, real-time high-precision positioning is used to determine whether the train is centered when it is about to enter the turnout area.

[0171] When operating the S570, if the automatic inspection equipment is not centered due to unforeseen circumstances, the drive push rod motor will push the automatic inspection equipment toward the side of the turnout that can be passed.

[0172] According to embodiments of this disclosure, the automatic inspection equipment is flexible to control, easy to adjust, and highly automated in its automatic driving.

[0173] In summary, the embodiments of this disclosure provide an automatic inspection device for routine maintenance inspections in the fields of national railways and subways. It innovatively integrates edge sensors to enable the automatic inspection device to automatically center and move, while adding a push rod motor to handle abnormal situations and ensure the reliability of movement. In addition, it innovatively integrates RTK technology, encoders, and line scan cameras to achieve real-time positioning under various complex working conditions.

[0174] Furthermore, it innovatively enables automatic centering and travel of the automatic inspection equipment, as well as the detection of defects in the geometric shape of the rails, and the detection of defects such as cracks and missing parts in the rail fastening system and track bed system, which greatly improves the efficiency, speed and accuracy of inspection.

[0175] Figure 6 A block diagram of an inspection device according to an embodiment of the present disclosure is shown schematically.

[0176] like Figure 6 As shown, the inspection device 600 includes an acquisition module 610, a detection module 620, a positioning module 630, and an association module 640.

[0177] The acquisition module 610 is used to acquire the driving information of the automatic inspection equipment automatically moving along the track extension direction;

[0178] The detection module 620 is used to perform defect detection on the object to be inspected based on driving information and when the automatic inspection equipment has reached the preset position, and obtain the detection result of the object.

[0179] Positioning module 630 is used to locate an object and obtain positioning information; and

[0180] The association module 640 is used to associate the positioning information with the detection results to generate target detection data.

[0181] The inspection method provided in this embodiment achieves automatic driving by automatically locating preset points, detecting defects, and positioning the object using driving information, and then associating the positioning information with the detection results. Therefore, it at least partially overcomes the technical problem of low efficiency and the need for manual labor in existing track inspections, thus achieving automatic inspection, high inspection efficiency, and the liberation of manpower.

[0182] According to embodiments of this disclosure, the object includes a track bed system or a track fastener system;

[0183] The detection module 620 includes an image acquisition unit and a recognition unit.

[0184] Image acquisition unit, used to acquire image information of track bed system or track fastener system;

[0185] The recognition unit is used to identify defects in image information and obtain detection results, wherein the detection results are the defect recognition results.

[0186] According to embodiments of this disclosure, the inspection device 600 further includes a first judgment module, a marking module, and a discarding module.

[0187] The first judgment module is used to determine whether the track bed system or track fastener system has defects based on the defect identification results;

[0188] The marking module is used to mark warning signs on image information when there are defects in the track bed system or track fastening system;

[0189] The discard module is used to discard defect identification results when there are no defects in the track bed system or track fastener system.

[0190] According to embodiments of this disclosure, the object includes railway rails;

[0191] The detection module 620 includes a geometric feature acquisition unit, a data acquisition unit, and a processing unit.

[0192] The geometric feature acquisition unit is used to acquire geometric feature data of the rails.

[0193] The data acquisition unit is used to acquire the original morphological data of the rails based on preset locations;

[0194] The processing unit is used to process the geometric feature data based on the original shape data of the rail and to obtain the current shape data of the rail.

[0195] According to an embodiment of this disclosure, the driving information includes a first interval distance and a second interval distance between the automatic inspection equipment and the two rails of the track.

[0196] The inspection device 600 also includes a second judgment module, a first determination module, a second determination module, and a first adjustment module.

[0197] The second judgment module is used to determine whether the automatic inspection equipment is driving in the center based on the first interval distance and the second interval distance. Driving in the center means driving between the two rails.

[0198] The first determining module is used to determine that the automatic inspection equipment is driving in the center when the difference between the first interval distance and the second interval distance meets the preset conditions.

[0199] The second determining module is used to determine that the automatic inspection device is not driving in the center when the difference between the first interval distance and the second interval distance does not meet a preset condition; and

[0200] The first adjustment module is used to adjust the automatic inspection equipment using motor differential speed control so that the automatic inspection equipment can travel in the center.

[0201] According to embodiments of this disclosure, the inspection device 600 further includes a positioning module, an environmental information acquisition module, and a second adjustment module.

[0202] The positioning module is used to locate the current position of the automatic inspection equipment in real time and obtain real-time positioning information;

[0203] The environmental information acquisition module is used to acquire environmental information within a preset range of the current location of the automatic inspection equipment based on real-time positioning information; and

[0204] The second adjustment module is used to adjust the automatic inspection equipment by using a push rod motor control method based on environmental information within a preset range when it is determined that the automatic inspection equipment is not driving in the center, so that the automatic inspection equipment can drive in the center.

[0205] According to embodiments of this disclosure, the driving information includes the distance traveled.

[0206] According to embodiments of this disclosure, determining whether an automatic inspection device has reached a preset location based on driving information includes judging whether the driving distance has reached a preset distance threshold; if the driving distance has reached the preset distance threshold, determining that the automatic inspection device has reached the preset location; if the driving distance has not reached the preset distance threshold, determining that the automatic inspection device has not reached the preset location.

[0207] Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure, or at least part of the functions of any one or more of them, can be implemented in one module. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be implemented by dividing them into multiple modules. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as hardware circuitry, such as Field Programmable Gate Arrays (FPGAs), Programmable Logic Arrays (PLAs), Systems-on-Chip, Systems-on-Substrate, Systems-on-Package, Application-Specific Integrated Circuits (ASICs), or implemented in hardware or firmware by any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as computer program modules, which, when run, can perform corresponding functions.

[0208] For example, any plurality of the acquisition module 610, detection module 620, positioning module 630, and association module 640 can be combined into one module / unit / subunit, or any one of these modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least part of the functionality of one or more of these modules / units / subunits can be combined with at least part of the functionality of other modules / units / subunits and implemented in one module / unit / subunit. According to embodiments of the present disclosure, at least one of the acquisition module 610, detection module 620, positioning module 630, and association module 640 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging the circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the acquisition module 610, detection module 620, positioning module 630, and association module 640 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0209] It should be noted that the inspection device part in the embodiments of this disclosure corresponds to the inspection method part in the embodiments of this disclosure. For a detailed description of the inspection device part, please refer to the inspection method part, which will not be repeated here.

[0210] Figure 7 A block diagram of a computer system suitable for implementing the methods described above, according to embodiments of the present disclosure, is illustrated schematically. Figure 7 The computer system shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0211] like Figure 7 As shown, a computer system 700 according to an embodiment of this disclosure includes a processor 701, which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 702 or a program loaded from a storage portion 708 into a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this disclosure.

[0212] RAM 703 stores various programs and data required for the operation of system 700. Processor 701, ROM 702, and RAM 703 are interconnected via bus 704. Processor 701 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 702 and / or RAM 703. It should be noted that the programs may also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0213] According to embodiments of this disclosure, system 700 may further include an input / output (I / O) interface 705, which is also connected to bus 704. System 700 may also include one or more of the following components connected to I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, modem, etc. Communication section 709 performs communication processing via a network such as the Internet. Drive 710 is also connected to I / O interface 705 as needed. Removable media 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 710 as needed so that computer programs read from there are installed into storage section 708 as needed.

[0214] According to embodiments of this disclosure, the method flow according to embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by processor 701, it performs the functions defined in the system of embodiments of this disclosure. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0215] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0216] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0217] For example, according to embodiments of this disclosure, a computer-readable storage medium may include the ROM 702 and / or RAM 703 described above and / or one or more memories other than ROM 702 and RAM 703.

[0218] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the inspection methods provided in the embodiments of this disclosure.

[0219] When the computer program is executed by the processor 701, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0220] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 709, and / or installed from a removable medium 711. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0221] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0222] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features recited in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not expressly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure may be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0223] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for inspection, comprising: obtaining travel information of an automatic inspection device traveling along a track in a travel direction; in a case where it is determined, based on the travel information, that the automatic inspection device reaches a preset site, performing defect detection on an object to be detected to obtain a detection result of the object; positioning the object to obtain positioning information; and associating the positioning information with the detection result to generate target detection data; wherein the travel information comprises a first interval distance and a second interval distance between two track rails of the track and the automatic inspection device; wherein the method further comprises: performing real-time positioning on a current position of the automatic inspection device to obtain real-time positioning information; based on the real-time positioning information, obtaining environmental information of a preset range of the current position of the automatic inspection device; based on the environmental information of the preset range of the current position, determining whether the automatic inspection device enters a turnout area; in a case where the automatic inspection device does not enter the turnout area and the automatic inspection device is not centrally traveling, adjusting the automatic inspection device by using a motor differential control mode so that the automatic inspection device centrally travels; in a case where the automatic inspection device has entered the turnout area and the automatic inspection device is not centrally traveling, adjusting the automatic inspection device by using a push rod motor control mode so that the automatic inspection device centrally travels; wherein an adjustment speed of the motor differential control mode is slower than an adjustment speed of the push rod motor control mode; wherein the automatic inspection device determines whether it is centrally traveling by: judging, based on the first interval distance and the second interval distance, whether the automatic inspection device is centrally traveling; in a case where a difference between the first interval distance and the second interval distance satisfies a preset condition, determining that the automatic inspection device is centrally traveling; in a case where the difference between the first interval distance and the second interval distance does not satisfy the preset condition, determining that the automatic inspection device is not centrally traveling. the object comprises a track bed system or a track fastening system; 2. The method of claim 1, wherein, the defect detection on the object to be detected to obtain the detection result of the object comprises: collecting image information of the track bed system or the track fastening system; and performing defect recognition on the image information to obtain a detection result, wherein the detection result is a defect recognition result.

3. The method of claim 2, further comprising: judging, based on the defect recognition result, whether the track bed system or the track fastening system has a defect; in a case where the track bed system or the track fastening system has a defect, marking a warning mark on the image information; and in a case where the track bed system or the track fastening system does not have a defect, discarding the defect recognition result. the object comprises a track rail; the defect detection on the object to be detected to obtain the detection result of the object comprises:

4. The method of claim 1, wherein, collecting geometric feature data of the track rail; based on the preset site, obtaining original shape data of the track rail; and ​ ​ The current profile data of the rail track is obtained by processing the geometric feature data by using a processing method matched with the original profile data.

5. The method of claim 1, wherein, The travel information includes a travel distance; The determination of the automatic inspection device reaching the preset site based on the travel information includes: determining whether the travel distance reaches a preset distance threshold; in a case where the travel distance reaches the preset distance threshold, determining that the automatic inspection device reaches the preset site; and in a case where the travel distance does not reach the preset distance threshold, determining that the automatic inspection device does not reach the preset site.

6. An inspection device, comprising: an acquisition module configured to acquire travel information of an automatic inspection device automatically traveling in a track extension direction; a detection module configured to, in a case where it is determined that the automatic inspection device reaches a preset site based on the travel information, perform defect detection on an object to be detected to obtain a detection result of the object; a positioning module configured to position the object to obtain positioning information; and an association module configured to associate the positioning information with the detection result to generate target detection data. The travel information includes a first interval distance and a second interval distance between the automatic inspection device and two rail tracks of the track. The inspection device is further configured to: real-time position a current position of the automatic inspection device to obtain real-time positioning information; acquire environmental information of a preset range of the current position of the automatic inspection device based on the real-time positioning information; determine whether the automatic inspection device enters a turnout area based on the environmental information of the preset range of the current position; in a case where the automatic inspection device does not enter the turnout area and the automatic inspection device is not centrally traveling, adjust the automatic inspection device by using a motor differential control mode so that the automatic inspection device centrally travels; in a case where the automatic inspection device has entered the turnout area and the automatic inspection device is not centrally traveling, adjust the automatic inspection device by using a push rod motor control mode so that the automatic inspection device centrally travels; The adjustment speed of the motor differential control mode is slower than the adjustment speed of the push rod motor control mode. The inspection device further includes: a second determination module configured to determine whether the automatic inspection device is centrally traveling based on the first interval distance and the second interval distance; a first determination module configured to, in a case where a difference between the first interval distance and the second interval distance satisfies a preset condition, determine that the automatic inspection device is centrally traveling; a second determination module configured to, in a case where the difference between the first interval distance and the second interval distance does not satisfy the preset condition, determine that the automatic inspection device is not centrally traveling.

7. An inspection system, comprising: an automatic inspection device configured to automatically travel in a track extension direction; ​ A collection device is arranged on the automatic inspection equipment and is configured to collect inspection information, wherein the inspection information includes driving information of the automatic inspection equipment, defect detection information of an object to be detected, and positioning information of the object; A processing device is arranged on the automatic inspection equipment and is configured to receive the detection information sent by the collection device and execute the method in any one of claims 1 to 5; A remote control terminal is configured to control automatic driving of the automatic inspection equipment and generate an inspection report based on target detection data sent by the processing device.

8. The patrol system of claim 7, wherein, The collection device includes: A driving collection device including a surveillance ball camera, an attitude sensor, an ultrasonic sensor, and / or a first displacement sensor, configured to collect driving information of the automatic inspection equipment; A defect collection device including a linear array camera, a level sensor, and / or a second displacement sensor, configured to collect defect detection information of the object; A positioning device including an odometer and a positioning measuring instrument, configured to collect positioning information of the object.

9. A computer system, comprising: one or more processors; a memory configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method in any one of claims 1 to 5.

10. A computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to implement the method in any one of claims 1 to 5.

11. A computer program product, comprising: computer executable instructions that, when executed, implement the method in any one of claims 1 to 5.

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