Train track detection system, method, device and medium

Abstract

The present application discloses a train track detection system and a train track detection method, device and medium, the system includes a positioning module, a microwave transmission module, a microwave acquisition module, and an MCU; the microwave transmission module radiates microwaves to the bottom of the train; the microwave acquisition module calculates the train track state and the track roadbed humidity and density according to the collected ground echo reflection information and the frequency information sent by the MCU; the MCU receives the calculation results sent by the microwave acquisition module and determines the train track state and the track roadbed humidity and density at the data collection point according to the coordinates of the data collection point. With this technical solution, the microwave transmission module radiates microwaves to the bottom of the train, the microwave acquisition module calculates the train track state and the track roadbed humidity and density by receiving the ground echo reflection information and combining the frequency information, and sends the calculation results to the MCU, the MCU locates the coordinates of the data collection point through the positioning module, thereby realizing the detection of the state of the track roadbed.

Description

Technical Field

[0001] The present application relates to the field of trains, and in particular to a train track detection system, method, device and medium. Background Art

[0002] With the development of science and technology, trains have become one of the main means of transportation, and the state of train tracks seriously affects the safety of train travel. At present, the rail transit online detection system mainly includes axle temperature monitoring system and running gear online detection system, which mainly adopts multi-parameter diagnosis mechanism and expert system combining temperature, vibration and impact monitoring to comprehensively monitor the state of key components of train running gear, track state of typical rail damage, derailment monitoring, vehicle operation quality, etc. However, this type of detection system cannot detect the track subgrade and rail deformation state.

[0003] It can be seen that how to realize the status detection of the track subgrade when detecting the train track is a problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0004] The purpose of the present application is to provide a train track detection system, method, device and medium for realizing the status detection of the track subgrade when detecting the train track.

[0005] In order to solve the above technical problems, the present application provides a train track detection system, comprising:

[0006] Positioning module, microwave transmission module, microwave acquisition module, MCU;

[0007] The positioning module is connected to the MCU and is used to calculate the coordinates of the data collection points;

[0008] The microwave transmitting module is connected to the MCU to radiate microwaves to the bottom of the train according to the control information output by the MCU;

[0009] The microwave acquisition module is connected to the MCU, and is used to calculate the train track state and the track roadbed humidity and density according to the collected ground echo reflection information and the frequency information sent by the MCU;

[0010] The MCU receives the calculation results sent by the microwave acquisition module and determines the train track state and track roadbed humidity and density at the data acquisition point according to the coordinates of the data acquisition point.

[0011] Preferably, the microwave transmission module includes: baseband, radio frequency and transmission antenna;

[0012] The transmitting antenna is placed on the top of the train track detection system, in the middle of the train head direction;

[0013] The baseband radiated microwaves are emitted through the transmitting antenna after being modulated by the radio frequency.

[0014] Preferably, the microwave acquisition module includes: an ADC module, an FPGA module, a USB module, and three receiving antennas;

[0015] The receiving antenna is placed at the bottom of the train track detection system, respectively at the vertical position and the center position of the two tracks;

[0016] The three receiving antennas are used to collect the ground echo reflection information and send it to the ADC module in the microwave acquisition module through the radio frequency; the FPGA module is used to perform Fourier transform on the ground echo reflection information and measure the signal amplitude, calculate the track state and track roadbed humidity and density according to the signal amplitude and the frequency information, and send the calculation results to the MCU through the USB module.

[0017] Preferably, it also includes: a remote server;

[0018] The MCU sends the coordinates and the calculation results of the microwave acquisition module to the remote server for storing the data, and compares and analyzes with historical data and parallel data to confirm the train track status at the data collection point and the change status of the track roadbed humidity and density.

[0019] Preferably, it also includes: a display device;

[0020] The display device is used to obtain the results of data comparison and analysis from the remote server and perform digital twin display.

[0021] Preferably, the positioning module includes a Beidou module and an inertial navigation module.

[0022] In order to solve the above technical problems, the present application also provides a train track detection method, which is applied to the above train track detection system, and the method comprises:

[0023] Sending control information to the microwave transmitting module to control the microwave transmitting module to radiate microwaves to the bottom of the train;

[0024] The receiving microwave acquisition module calculates the train track status and track subgrade humidity and density based on the collected ground echo reflection information and frequency information;

[0025] The train track status and track subgrade humidity and density at the data collection point are determined according to the coordinates calculated by the positioning module and the calculation results of the microwave collection module.

[0026] In order to solve the above technical problems, the present application also provides a train track detection device, which is applied to the above train track detection system, and the device includes:

[0027] A sending module, used for sending control information to the microwave sending module to control the microwave sending module to radiate microwaves to the bottom of the train;

[0028] A receiving module, used for receiving the train track state and track subgrade humidity and density calculated by the microwave acquisition module based on the collected ground echo reflection information and frequency information;

[0029] The processing module is used to determine the train track state and the track roadbed humidity and density at the data collection point according to the coordinates calculated by the positioning module and the calculation results of the microwave collection module.

[0030] In order to solve the above technical problems, the present application also provides another train track detection device, including a memory for storing a computer program;

[0031] A processor is used to implement the steps of the train track detection method as described above when executing the computer program.

[0032] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the train track detection method as described above are implemented.

[0033] The train track detection system provided in the present application includes a positioning module, a microwave transmission module, a microwave acquisition module, and an MCU; the positioning module is connected to the MCU to calculate the coordinates of the data collection point; the microwave transmission module is connected to the MCU to radiate microwaves to the bottom of the train according to the control information output by the MCU; the microwave acquisition module is connected to the MCU, and the microwave acquisition module is used to calculate the train track state and the humidity and density of the track subgrade according to the collected ground echo reflection information and the frequency information sent by the MCU; the MCU receives the calculation results sent by the microwave acquisition module and determines the train track state and the humidity and density of the track subgrade at the data collection point according to the coordinates of the data collection point. With this technical solution, the microwave transmission module radiates microwaves to the bottom of the train, the microwave acquisition module calculates the train track state and the humidity and density of the track subgrade by receiving the ground echo reflection information and combining the frequency information, and sends the calculation results to the MCU, and the MCU locates the coordinates of the data collection point through the positioning module, thereby realizing the state detection of the track subgrade.

[0034] In addition, the train track detection method, device and medium provided in the present application correspond to the above-mentioned train track detection system, and the effects are the same as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A structural diagram of a train track detection system provided in an embodiment of the present application;

[0037] Figure 2 A flow chart of a train track detection method provided in an embodiment of the present application;

[0038] Figure 3 A structural diagram of a train track detection device provided in an embodiment of the present application;

[0039] Figure 4 A structural diagram of another train track detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] With the development of science and technology, trains have become one of the main means of transportation, and the state of train tracks seriously affects the safety of train travel. At present, the rail transit online detection system mainly includes axle temperature monitoring system and running gear online detection system, which mainly adopts multi-parameter diagnosis mechanism and expert system combining temperature, vibration and impact monitoring to comprehensively monitor the state of key components of train running gear, track state of typical rail damage, derailment monitoring, vehicle operation quality, etc. However, this type of detection system cannot detect the track subgrade and rail deformation state.

[0042] It can be seen that how to realize the status detection of the track subgrade when detecting the train track is a problem that needs to be solved urgently by technical personnel in this field.

[0043] The core of this application is to provide a train track detection system, method, device and medium for realizing the status detection of track subgrade when detecting train tracks.

[0044] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0045] Figure 1 A structural diagram of a train track detection system provided in an embodiment of the present application, such as Figure 1 As shown, the system includes:

[0046] Positioning module 1, microwave sending module 3, microwave collection module 4, MCU2;

[0047] Positioning module 1 is connected to MCU2 to calculate the coordinates of the data collection points;

[0048] The microwave transmitting module 3 is connected to the MCU2 to radiate microwaves to the bottom of the train according to the control information output by the MCU2;

[0049] The microwave acquisition module 4 is connected to the MCU2, and is used to calculate the train track state and the track roadbed humidity and density based on the collected ground echo reflection information and the frequency information sent by the MCU2;

[0050] MCU2 receives the calculation results sent by the microwave acquisition module 4 and determines the train track state and track subgrade humidity and density at the data acquisition point according to the coordinates of the data acquisition point.

[0051] In this embodiment, the positioning module 1 is used to locate the data collection point. In the specific implementation, the positioning module 1 may include a Beidou module and an inertial navigation module. The Beidou satellite navigation system is a global satellite navigation system that is being implemented by China and is independently developed and operated. The system construction goal is to build an independent, open, compatible, technologically advanced, stable and reliable Beidou satellite navigation system covering the world, promote the formation of the satellite navigation industry chain, form a complete national satellite navigation application industry support, promotion and guarantee system, and promote the wide application of satellite navigation in various industries of the national economy and society. Inertial technology is one of the key technologies for navigating the carrier. Inertial technology is a technology that uses the inertial principle or other related principles to autonomously measure and control the motion process of the carrier. It is a general term for inertial navigation, inertial guidance, inertial measurement and inertial sensor technology. With the support of strong funds from governments of various countries, modern inertial technology has penetrated from the initial military application to the civilian field. In this embodiment, the Beidou module can use the Xingqiao Hengyuan XX model Beidou system, the inertial navigation module uses the 9-axis sensor MPU9250, and the MCU uses the NXP industrial-grade MCU LS1043A.

[0052] This embodiment provides a specific microwave transmission module 3, including: a baseband, a radio frequency and a transmission antenna;

[0053] The transmitting antenna is placed on the top of the train track detection system, in the middle of the train head direction;

[0054] The baseband radiated microwaves are sent out through the transmitting antenna after being modulated by radio frequency.

[0055] The frequency band inherent to the original electrical signal that has not been modulated and is emitted by the information source (also known as the transmitter) is called the basic frequency band, or baseband for short. It is characterized by a low frequency, a signal spectrum that starts near zero frequency, and has a low-pass form. According to the characteristics of the original electrical signal, the baseband signal can be divided into a digital baseband signal and an analog baseband signal (correspondingly, the information source is also divided into a digital information source and an analog information source.) It is determined by the information source. The baseband signal is a signal that directly expresses the information to be transmitted, such as the sound waves we speak are baseband signals. Due to the tight wireless spectrum resources, laws and regulations clearly indicate the corresponding uses of the frequency bands, so that they will not interfere with each other. Low-frequency bands are generally used for other purposes, and high-frequency band resources are relatively abundant, making it easier to achieve large bandwidth, and baseband signals are not conducive to long-distance transmission. Therefore, this embodiment also includes 5G radio frequency, and what the radio frequency has to do is to continue to modulate the signal from low frequency to the specified high frequency band. In this embodiment, the 5G baseband and radio frequency use the Dingqiao MH5000-8 module.

[0056] In this embodiment, the 5G baseband radiates microwaves to the bottom of the train through the 5G antenna, and the microwave acquisition module 4 receives the ground echo reflection information through the 5G antenna, and calculates the train track state and track roadbed humidity and density at the data acquisition point based on the ground echo reflection information and frequency information, and sends the calculation results to MCU2. Specifically, the microwave acquisition module 4 may include: an ADC module, an FPGA module, a USB module and a receiving antenna; wherein the ADC module is used to collect ground echo reflection information; the FPGA module is used to perform Fourier transform on the ground echo reflection information, and perform signal amplitude measurement, calculate the track state and track roadbed humidity and density based on the signal amplitude and frequency information, and send the measurement results to MCU2 through the USB module.

[0057] In the above embodiment, there is no limitation on the number of 5G antennas. In a specific implementation, there can be four 5G antennas in the track detection system, including one transmitting antenna and three receiving antennas. The transmitting antenna is placed at the top of the train track detection system, in the middle of the train head direction. The receiving antenna is placed at the bottom of the train track detection system, at the vertical position and the center position of the two tracks respectively. The transmitting antenna and the receiving antenna are placed front and back, with a spacing of 15-20 cm.

[0058] It is understandable that the transmitting antenna is placed on the top of the train track detection system to have a wider microwave radiation range, so only one is needed. The receiving antenna is placed at the bottom of the train track detection system in order to collect ground echo reflection information more accurately and quickly. It can be seen that due to the placement of the antenna, the energy amplitude radiated in the middle of the track is the highest. If there is a deviation, the energy amplitude will change, thereby realizing the detection of the track state. The density of the track subgrade can be detected through digital multi-frequency measurement. As the material becomes wet, the microwave frequency will also change. The sensor using digital measurement technology continuously scans the frequency response and tracks the equal frequency changes to achieve humidity measurement.

[0059] The train track detection system provided in the embodiment of the present application includes a positioning module, a microwave transmission module, a microwave acquisition module, and an MCU; the positioning module is connected to the MCU and is used to calculate the coordinates of the data collection point; the microwave transmission module is connected to the MCU to radiate microwaves to the bottom of the train according to the control information output by the MCU; the microwave acquisition module is connected to the MCU, and the microwave acquisition module is used to calculate the train track state and the humidity and density of the track subgrade according to the collected ground echo reflection information and the frequency information sent by the MCU; the MCU receives the calculation results sent by the microwave acquisition module and determines the train track state and the humidity and density of the track subgrade at the data collection point according to the coordinates of the data collection point. With this technical solution, the microwave transmission module radiates microwaves to the bottom of the train, the microwave acquisition module calculates the train track state and the humidity and density of the track subgrade by receiving the ground echo reflection information and combining the frequency information, and sends the calculation results to the MCU, and the MCU locates the coordinates of the data collection point through the positioning module, thereby realizing the state detection of the track subgrade.

[0060] In the specific implementation, in order to improve the accuracy of track detection and save the results of track detection, the train track detection system can also include: a remote server; MCU2 sends the coordinates and calculation results of the microwave acquisition module 4 to the remote server for storing the data, and compares and analyzes with historical data and parallel data to confirm the train track status at the data collection point and the changes in the humidity and density of the track subgrade.

[0061] In addition, it may also include: a display device;

[0062] The display device is used to obtain the results of data comparison and analysis from the remote server and perform digital twin display.

[0063] Among them, historical data is the data collected during the historical running of the train, and parallel data is the data collected by multiple antennas. Track detection is achieved through comparative analysis.

[0064] The display device can be a display device such as a display screen or touch screen of the remote server itself, or it can be an independent display device that is separately connected to the remote server. Digital twins make full use of physical models, sensor updates, operation history and other data, integrate multi-disciplinary, multi-physical quantity, multi-scale, and multi-probability simulation processes, complete mapping in virtual space, and thus reflect the entire life cycle of the corresponding physical equipment.

[0065] This embodiment sends the calculation results to a remote server for storage and compares them with historically collected data and data collected by parallel trains to achieve accurate track detection. Real-time digital twin display is achieved through display devices and can be observed by technicians.

[0066] In addition, the present application also provides a train track detection method, which is applied to the above-mentioned train track detection system. Figure 2 A flow chart of a train track detection method provided in an embodiment of the present application is as follows: Figure 2 As shown, the method includes:

[0067] S10: Sending control information to the microwave transmitting module to control the microwave transmitting module to radiate microwaves to the bottom of the train;

[0068] S11: Sending frequency information to the microwave acquisition module to set the frequency collected by the microwave acquisition module;

[0069] S12: The train track state and track subgrade humidity and density calculated by the receiving microwave acquisition module according to the collected ground echo reflection information and frequency information;

[0070] S13: Determine the train track status and track subgrade humidity and density at the data collection point according to the coordinates calculated by the positioning module and the calculation results of the microwave collection module.

[0071] The train track detection method provided in this embodiment is applied to the above-mentioned train track detection system. Since the above-mentioned embodiment describes the train track detection system in detail, this embodiment will not repeat it again.

[0072] The train track detection method provided in the embodiment of the present application is applied to the above-mentioned train track detection system, and the method sends control information to the microwave transmission module to control the microwave transmission module to radiate microwaves to the bottom of the train; sends frequency information to the microwave acquisition module to set the frequency collected by the microwave acquisition module; receives the train track state and the humidity and density of the track subgrade calculated by the microwave acquisition module according to the collected ground echo reflection information and frequency information; determines the train track state and the humidity and density of the track subgrade at the data collection point according to the coordinates calculated by the positioning module and the calculation results of the microwave acquisition module. With this technical solution, the microwave transmission module radiates microwaves to the bottom of the train, and the microwave acquisition module calculates the train track state and the humidity and density of the track subgrade by receiving the ground echo reflection information and combining the frequency information, and sends the calculation results to the MCU. The MCU locates the coordinates of the data collection point through the positioning module, thereby realizing the state detection of the track subgrade.

[0073] In the above embodiments, the train track detection method is described in detail, and the present application also provides a corresponding embodiment of the train track detection device. It should be noted that the present application describes the embodiments of the device part from two perspectives, one is based on the functional module perspective, and the other is based on the hardware perspective.

[0074] Figure 3 A structural diagram of a train track detection device provided in an embodiment of the present application is applied to the above-mentioned train track detection system, such as Figure 3 As shown, the device comprises:

[0075] A sending module 10, used for sending control information to the microwave sending module to control the microwave sending module to radiate microwaves to the bottom of the train;

[0076] The receiving module 11 is used to receive the train track state and the track subgrade humidity and density calculated by the microwave collection module according to the collected ground echo reflection information and frequency information;

[0077] The processing module 12 is used to determine the train track state and the track subgrade humidity and density at the data collection point according to the coordinates calculated by the positioning module and the calculation results of the microwave collection module.

[0078] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0079] The train track detection device provided in the embodiment of the present application is applied to the above-mentioned train track detection system, by sending control information to the microwave sending module to control the microwave sending module to radiate microwaves to the bottom of the train; sending frequency information to the microwave acquisition module to set the frequency collected by the microwave acquisition module; receiving the train track state and track roadbed humidity and density calculated by the microwave acquisition module according to the collected ground echo reflection information and frequency information; determining the train track state and track roadbed humidity and density at the data collection point according to the coordinates calculated by the positioning module and the calculation results of the microwave acquisition module. With this technical solution, the microwave sending module radiates microwaves to the bottom of the train, and the microwave acquisition module calculates the train track state and track roadbed humidity and density by receiving the ground echo reflection information and combining the frequency information, and sends the calculation results to the MCU. The MCU locates the coordinates of the data collection point through the positioning module, thereby realizing the state detection of the track roadbed.

[0080] Figure 4 A structural diagram of another train track detection device provided in an embodiment of the present application, such as Figure 4 As shown, the device comprises: a memory 20 for storing a computer program;

[0081] The processor 21 is used to implement the steps of the train track detection method in the above embodiment when executing the computer program.

[0082] The train track detection device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0083] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0084] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the train track detection method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to ground echo reflection information, frequency information, etc.

[0085] In some embodiments, the train track detection device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0086] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation on the train track detection device, and may include more or fewer components than those shown in the figure.

[0087] The train track detection device provided in the embodiment of the present application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: send control information to the 5G baseband to control the frequency sent by the 5G baseband, and send the frequency information to the microwave acquisition module to set the frequency collected by the microwave acquisition module; receive the train track state and the track roadbed humidity and density of the data collection point calculated by the microwave acquisition module according to the collected ground echo reflection information and frequency information; determine the coordinates of the data collection point according to the positioning module.

[0088] The train track detection device provided in the embodiment of the present application sends control information to the microwave transmission module to control the microwave transmission module to radiate microwaves to the bottom of the train; sends frequency information to the microwave acquisition module to set the frequency collected by the microwave acquisition module; receives the train track state and track subgrade humidity and density calculated by the microwave acquisition module based on the collected ground echo reflection information and frequency information; determines the train track state and track subgrade humidity and density at the data collection point based on the coordinates calculated by the positioning module and the calculation results of the microwave acquisition module. With this technical solution, the microwave transmission module radiates microwaves to the bottom of the train, and the microwave acquisition module calculates the train track state and track subgrade humidity and density by receiving the ground echo reflection information and combining the frequency information, and sends the calculation results to the MCU. The MCU locates the coordinates of the data collection point through the positioning module, thereby realizing the state detection of the track subgrade.

[0089] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0090] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0091] The computer-readable storage medium provided in the present application controls the microwave transmission module to radiate microwaves to the bottom of the train by sending control information to the microwave transmission module; sends frequency information to the microwave acquisition module to set the frequency collected by the microwave acquisition module; receives the train track state and the humidity and density of the track subgrade calculated by the microwave acquisition module based on the collected ground echo reflection information and frequency information; determines the train track state and the humidity and density of the track subgrade at the data collection point based on the coordinates calculated by the positioning module and the calculation results of the microwave acquisition module. With this technical solution, the microwave transmission module radiates microwaves to the bottom of the train, and the microwave acquisition module calculates the train track state and the humidity and density of the track subgrade by receiving the ground echo reflection information and combining the frequency information, and sends the calculation results to the MCU. The MCU locates the coordinates of the data collection point through the positioning module, thereby realizing the detection of the state of the track subgrade.

[0092] The train track detection system, method, device and medium provided by the present application are introduced in detail above. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0093] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A train track detection method, characterized in that: Applied to a train track detection system, the method comprises: Sending control information to the microwave transmitting module to control the microwave transmitting module to radiate microwaves to the bottom of the train; The receiving microwave acquisition module calculates the train track status and track subgrade humidity and density based on the collected ground echo reflection information and frequency information; Determine the train track status and track subgrade humidity and density at the data collection point according to the coordinates calculated by the positioning module and the calculation results of the microwave collection module; The train track detection system comprises: Positioning module, microwave transmission module, microwave acquisition module, MCU; The positioning module is connected to the MCU and is used to calculate the coordinates of the data collection points; The microwave transmitting module is connected to the MCU to radiate microwaves to the bottom of the train according to the control information output by the MCU; The microwave acquisition module is connected to the MCU, and is used to calculate the train track state and the track roadbed humidity and density according to the collected ground echo reflection information and the frequency information sent by the MCU; The MCU receives the calculation results sent by the microwave acquisition module and determines the train track state and track subgrade humidity and density at the data acquisition point according to the coordinates of the data acquisition point; The microwave transmission module includes: baseband, radio frequency and transmission antenna; The transmitting antenna is placed on the top of the train track detection system, in the middle of the train head direction; The baseband radiated microwaves are sent out through the transmitting antenna after being modulated by the radio frequency; The microwave acquisition module includes: an ADC module, an FPGA module, a USB module, and three receiving antennas; The receiving antenna is placed at the bottom of the train track detection system, respectively at the vertical position and the center position of the two tracks; The three receiving antennas are used to collect the ground echo reflection information and send it to the ADC module in the microwave acquisition module through the radio frequency; the FPGA module is used to perform Fourier transform on the ground echo reflection information and measure the signal amplitude, calculate the track state and track roadbed humidity and density according to the signal amplitude and the frequency information, and send the calculation results to the MCU through the USB module; Also includes: a remote server; The MCU sends the coordinates and the calculation results of the microwave acquisition module to the remote server for data storage, and compares and analyzes with historical data and parallel data to confirm the train track status and track roadbed humidity and density change status at the data collection point; the historical data is the data collected during the historical travel of the train, and the parallel data is the data collected by multiple antennas; Also included: a display device; The display device is used to obtain the results of data comparison and analysis from the remote server and perform digital twin display; the display device is specifically the display screen or touch screen of the remote server itself or a display device separately connected to the remote server; the digital twin is to complete the mapping in the virtual space using the physical model, sensor update, and historical operation data, so as to reflect the full life cycle process of the corresponding physical equipment; the calculation results are sent to the remote server for storage, and compared with the historically collected data and the data collected by the parallel trains to realize the detection of the track, and the real-time digital twin display is realized through the display device, which can facilitate the observation of the technicians; The positioning module includes a Beidou module and an inertial navigation module; the inertial navigation module adopts a 9-axis sensor MPU9250.

2. A train track detection device, characterized in that: Applied to a train track detection system, the device comprises: A sending module, used for sending control information to the microwave sending module to control the microwave sending module to radiate microwaves to the bottom of the train; A receiving module, used for receiving the train track state and track subgrade humidity and density calculated by the microwave acquisition module based on the collected ground echo reflection information and frequency information; A processing module, used to determine the train track state and track subgrade humidity and density at the data collection point according to the coordinates calculated by the positioning module and the calculation results of the microwave collection module; The train track detection system comprises: Positioning module, microwave transmission module, microwave acquisition module, MCU; The positioning module is connected to the MCU and is used to calculate the coordinates of the data collection points; The microwave transmitting module is connected to the MCU to radiate microwaves to the bottom of the train according to the control information output by the MCU; The microwave acquisition module is connected to the MCU, and is used to calculate the train track state and the track roadbed humidity and density according to the collected ground echo reflection information and the frequency information sent by the MCU; The MCU receives the calculation results sent by the microwave acquisition module and determines the train track state and track subgrade humidity and density at the data acquisition point according to the coordinates of the data acquisition point; The microwave transmission module includes: baseband, radio frequency and transmission antenna; The transmitting antenna is placed on the top of the train track detection system, in the middle of the train head direction; The baseband radiated microwaves are sent out through the transmitting antenna after being modulated by the radio frequency; The microwave acquisition module includes: an ADC module, an FPGA module, a USB module, and three receiving antennas; The receiving antenna is placed at the bottom of the train track detection system, respectively at the vertical position and the center position of the two tracks; The three receiving antennas are used to collect the ground echo reflection information and send it to the ADC module in the microwave acquisition module through the radio frequency; the FPGA module is used to perform Fourier transform on the ground echo reflection information and measure the signal amplitude, calculate the track state and track roadbed humidity and density according to the signal amplitude and the frequency information, and send the calculation results to the MCU through the USB module; Also includes: a remote server; The MCU sends the coordinates and the calculation results of the microwave acquisition module to the remote server for data storage, and compares and analyzes with historical data and parallel data to confirm the train track status and track roadbed humidity and density change status at the data collection point; the historical data is the data collected during the historical travel of the train, and the parallel data is the data collected by multiple antennas; Also included: a display device; The display device is used to obtain the results of data comparison and analysis from the remote server and perform digital twin display; the display device is specifically the display screen or touch screen of the remote server itself or a display device separately connected to the remote server; the digital twin is to complete the mapping in the virtual space using the physical model, sensor update, and historical operation data, so as to reflect the full life cycle process of the corresponding physical equipment; the calculation results are sent to the remote server for storage, and compared with the historically collected data and the data collected by the parallel trains to realize the detection of the track, and the real-time digital twin display is realized through the display device, which can facilitate the observation of the technicians; The positioning module includes a Beidou module and an inertial navigation module; the inertial navigation module adopts a 9-axis sensor MPU9250.

3. A train track detection device, characterized in that: comprising a memory for storing a computer program; A processor is used to implement the steps of the train track detection method as claimed in claim 1 when executing the computer program.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the train track detection method as claimed in claim 1 are implemented.

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