Calibration method and device for railway bed detection system based on ground penetrating radar

Abstract

The application discloses a railway bed detection system calibration method and device based on a geological radar, and relates to the technical field of railway engineering. The method comprises the following steps: determining the reflection wave energy intensity of each geological radar antenna according to the reflection waveforms of each geological radar in the railway bed detection system and the lengths of the geological radar antennas; adjusting the reflection wave energy intensity of each geological radar antenna; detecting a first to-be-detected component by using the adjusted geological radar antennas, and obtaining the reflection waveforms of each radar antenna reflected by the first to-be-detected component; converting the reflection waveforms of each geological radar antenna into frequency domain waveforms, and obtaining the variation data curves of the center frequencies of each geological radar antenna along the depth direction according to the frequency domain waveforms of each geological radar antenna; and adjusting the variation data curves of the center frequencies of each geological radar antenna along the depth direction into standard consistent curves, so that the frequency waveforms are adjusted.

Description

Technical Field

[0001] This invention relates to the field of railway engineering technology, and in particular to a calibration method and device for a railway track bed detection system based on ground-penetrating radar. Background Technology

[0002] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section.

[0003] A ground-penetrating radar (GPR)-based railway track bed inspection system is a key tool for guiding the maintenance and repair of railway infrastructure. This system consists of multiple onboard GPR radars, capable of acquiring data from multiple survey lines in a single inspection. Differences in electromagnetic wave energy and frequency among the multiple antennas lead to variations in the detection results under the same conditions, affecting the accuracy and consistency of the inspection system. Calibration technology refers to the measurement and adjustment of parameters of multiple devices within the system, enabling accurate quantification of the target and the provision of precise parameters. Commonly used in optical equipment such as lidar and imaging systems, the electromagnetic waves emitted by GPR-based railway track bed inspection systems are at the centimeter level, differing from the wavelength and physical characteristics of light waves. The primary object of calibration is the energy and frequency differences among the radar antennas, unlike in optical systems. The purpose of calibration is to correct for differences in electromagnetic wave energy and frequency among different radars under the same loading conditions, ensuring consistent detection results for the same track section. Currently, there is a lack of relevant achievements in electromagnetic wave calibration technology for reference. Summary of the Invention

[0004] This invention provides a calibration method for a railway track bed detection system based on ground-penetrating radar, which can quickly and effectively calibrate the railway track bed detection system and solve the detection error caused by inconsistent antenna parameters within the system. The method includes:

[0005] Based on the reflected wave waveforms of each geological radar in the railway track bed detection system under the same test conditions and observation window, as well as the length of each geological radar antenna, the reflected wave energy intensity of each geological radar antenna is determined.

[0006] Based on the preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna, the reflected wave energy intensity of each geological radar antenna is adjusted so that the reflected wave energy intensity of each geological radar antenna is the same after adjustment.

[0007] The first component to be detected is detected using the adjusted local geological radar antennas, and the reflected waveform of each radar antenna is obtained after being reflected by the first component to be detected.

[0008] The reflected waveforms of each geological radar antenna are converted into frequency domain waveforms, and the data curves of the change of the center frequency of each geological radar antenna along the depth direction are obtained based on the frequency domain waveforms of each geological radar antenna.

[0009] Adjust the data curves of the center frequency variation along the depth direction of each geological radar antenna to a standard consistent curve.

[0010] This invention also provides a calibration device for a railway track bed detection system based on ground-penetrating radar, used to quickly and effectively calibrate the railway track bed detection system and solve the detection error caused by inconsistent antenna parameters within the system. The device includes:

[0011] The first processing module is used to determine the reflected wave energy intensity of each geological radar antenna based on the reflected wave waveform of each geological radar in the railway track bed detection system under the same test conditions and the same observation window, as well as the length of each geological radar antenna.

[0012] The second processing module is used to adjust the reflected wave energy intensity of each geological radar antenna according to a preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna, so that the reflected wave energy intensity of each geological radar antenna is the same after adjustment.

[0013] The third processing module is used to detect the first component to be detected using the adjusted local geological radar antennas, and to obtain the reflected waveform of each radar antenna reflected by the first component to be detected;

[0014] The fourth processing module is used to convert the reflection waveforms of various geological radar antennas into frequency domain waveforms, and obtain the data curves of the change of the center frequency of each geological radar antenna along the depth direction based on the frequency domain waveforms of each geological radar antenna.

[0015] The fifth processing module is used to adjust the data curves of the center frequency variation of various geological radar antennas along the depth direction to a standard and consistent curve.

[0016] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-mentioned calibration method for a railway track bed detection system using ground-penetrating radar.

[0017] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described calibration method for a railway track bed detection system using ground-penetrating radar.

[0018] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described calibration method for a railway track bed detection system using ground-penetrating radar.

[0019] In this embodiment of the invention, the reflected wave energy intensity of each geological radar antenna in the railway track bed detection system is determined based on the reflected wave waveforms of each radar antenna under the same test conditions and observation window, as well as the length of each radar antenna. The reflected wave energy intensity of each radar antenna is adjusted according to a preset proportional coefficient and the reflected wave energy intensity of each radar antenna to ensure that the adjusted reflected wave energy intensity of each radar antenna is the same, thereby achieving the effect of adjusting the gain curve. The adjusted radar antennas are used to detect the first target component, acquiring the reflected waveform of each radar antenna reflected by the first target component, thereby achieving the measurement of the scattering spectrum. The reflected waveforms of each radar antenna are converted into frequency domain waveforms, and the data curves of the change in center frequency along the depth direction of each radar antenna are obtained based on the frequency domain waveforms of each radar antenna. The data curves of the change in center frequency along the depth direction of each radar antenna are adjusted to a standard and consistent curve, thereby achieving the adjustment of the frequency waveform. This method can quickly and effectively calibrate the railway track bed detection system and solve the detection error caused by inconsistent antenna parameters within the system. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0021] Figure 1 This is a flowchart illustrating a calibration method for a railway track bed detection system based on ground-penetrating radar, as provided in this embodiment of the invention.

[0022] Figure 2 This is a schematic diagram of a railway track bed detection system comprising three ground-penetrating radars, provided in an embodiment of the present invention.

[0023] Figure 3 This invention provides a schematic diagram of the waveform results obtained by measuring the starting point of radar reflected waves in an embodiment of the invention, with the starting points of the three radar hosts not adjusted.

[0024] Figure 4 This invention provides a schematic diagram of radar reflection energy results from three geological observatories in an embodiment of the invention.

[0025] Figure 5 This invention provides a schematic diagram of the energy curves of three ground-penetrating radars in an embodiment of the invention.

[0026] Figure 6This invention provides a schematic diagram of the energy frequency curves of three ground-penetrating radars in an embodiment of the invention.

[0027] Figure 7 This is an example diagram illustrating the overall implementation of a calibration method for a railway track bed detection system based on ground-penetrating radar, as provided in this invention.

[0028] Figure 8 This is a schematic diagram of a calibration device for a railway track bed detection system based on ground-penetrating radar, provided in an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0031] The acquisition, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0032] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0033] In the description of this specification, the terms "comprising," "including," "having," and "containing" are open-ended terms, meaning that they include but are not limited to. The terms "an embodiment," "a specific embodiment," "some embodiments," and "for example," etc., refer to specific features, structures, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. The order of steps involved in the various embodiments is used to illustrate the implementation of this application, and the order of steps is not limited and can be adjusted appropriately as needed.

[0034] Research has revealed that the ground-penetrating radar (GPR)-based railway track bed inspection system is a crucial tool for guiding railway infrastructure maintenance. This system comprises multiple vehicle-mounted GPR sensors, capable of acquiring data from multiple survey lines in a single inspection. Differences in electromagnetic wave energy and frequency among the multiple antennas lead to variations in the results given by each antenna under the same inspection conditions, affecting the accuracy and consistency of the inspection system. Calibration technology refers to the measurement and adjustment of parameters of multiple devices within the system, enabling accurate quantification of the target and the provision of precise parameters. Commonly used in optical equipment such as lidar and imaging systems, the electromagnetic waves emitted by the GPR-based railway track bed inspection system are at the centimeter level, differing from the wavelength and physical characteristics of light waves. The primary focus of calibration is addressing the energy and frequency differences among the radar antennas, unlike in optical systems. The purpose of calibration is to correct for differences in electromagnetic wave energy and frequency across different radars under the same loading conditions, ensuring consistent inspection results for the same track section. Currently, there is a lack of relevant achievements in electromagnetic wave calibration technology for reference.

[0035] Regarding the above research, such as Figure 1 As shown, this embodiment of the invention provides a calibration method for a railway track bed detection system based on ground-penetrating radar, comprising:

[0036] S101: Determine the reflected wave energy intensity of each geological radar antenna based on the reflected wave waveforms of each geological radar in the railway track bed detection system under the same test conditions and the same observation window, as well as the length of each geological radar antenna.

[0037] S102: Adjust the reflected wave energy intensity of each geological radar antenna according to the preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna, so that the reflected wave energy intensity of each geological radar antenna is the same after adjustment.

[0038] S103: Use the adjusted local geological radar antennas to detect the first component to be detected, and obtain the reflected waveform of each radar antenna reflected by the first component to be detected;

[0039] S104: Convert the reflection waveforms of each geological radar antenna into frequency domain waveforms, and obtain the data curves of the change of the center frequency of each geological radar antenna along the depth direction based on the frequency domain waveforms of each geological radar antenna.

[0040] S105: Adjust the data curves of the center frequency variation along the depth direction of various geological radar antennas to a standard consistent curve.

[0041] In this embodiment of the invention, the reflected wave energy intensity of each geological radar antenna in the railway track bed detection system is determined based on the reflected wave waveforms of each radar antenna under the same test conditions and observation window, as well as the length of each radar antenna. The reflected wave energy intensity of each radar antenna is adjusted according to a preset proportional coefficient and the reflected wave energy intensity of each radar antenna to ensure that the adjusted reflected wave energy intensity of each radar antenna is the same, thereby achieving the effect of adjusting the gain curve. The adjusted radar antennas are used to detect the first target component, acquiring the reflected waveform of each radar antenna reflected by the first target component, thereby achieving the measurement of the scattering spectrum. The reflected waveforms of each radar antenna are converted into frequency domain waveforms, and the data curves of the change in center frequency along the depth direction of each radar antenna are obtained based on the frequency domain waveforms of each radar antenna. The data curves of the change in center frequency along the depth direction of each radar antenna are adjusted to a standard and consistent curve, thereby achieving the adjustment of the frequency waveform. This method can quickly and effectively calibrate the railway track bed detection system and solve the detection error caused by inconsistent antenna parameters within the system.

[0042] The calibration method for the railway track bed detection system based on ground-penetrating radar is described in detail below.

[0043] Regarding S101 above, in order to ensure that the electromagnetic waves emitted by each radar antenna dissipate in space at the point of reaching the object being detected, it is necessary to ensure that all geological radars in the railway track bed detection system are under the same testing conditions. Specifically, for example, the radar mounting height can be adjusted to make the distance between each radar and the object being detected consistent.

[0044] Therefore, in one embodiment of the present invention, before determining the reflected wave energy intensity of each geological radar antenna, the method further includes: adjusting the mounting height of the geological radar so that the distance between each geological radar and the track bed in the railway track bed detection system is a uniform preset height, so that each geological radar in the railway track bed detection system is under the same test conditions.

[0045] For example, a railway track bed detection system based on ground-penetrating radar uses a locomotive to mount three or more ground-penetrating radar antennas to perform multi-line scanning of the railway track bed, such as... Figure 2 As shown, taking a three-host railway track bed detection system as an example, the railway track bed detection system has three ground-penetrating radars. Figure 2 Figures 1, 2, and 3 show three ground-penetrating radar antennas. Below the antennas is a schematic diagram of the track bed structure, including the track bed, sleepers, and rails. Different heights of the radar from the track bed will result in differences in radar echo energy. Therefore, to ensure consistency in the distance between each antenna of the radar system and the track bed, the antenna fixtures are first adjusted to ensure that the distance between each antenna and the top surface of the rail is 18cm.

[0046] In addition, in order to ensure that the echo observation time of each radar is consistent, it is necessary to measure and adjust the starting point of the radar reflection wave so that all geological radars in the railway track bed detection system are under the same observation window.

[0047] Therefore, in one embodiment of the present invention, before determining the reflected wave energy intensity of each geological radar antenna, the method further includes: measuring the starting sampling point of the reflected wave waveform of each geological radar, and determining a common starting sampling point based on the starting sampling point of the reflected wave waveform of each geological radar, so that each geological radar in the railway track bed detection system is under the same observation window.

[0048] This process involves measuring the starting sampling points of the reflected wave waveforms from various geological radars, and determining a common starting sampling point based on these starting sampling points. For example, this includes placing a second detection component at a predetermined distance directly below the center of each geological radar; measuring the starting sampling points of the reflected wave waveforms from various geological radars based on the second detection component; and unifying the starting sampling points of the reflected wave waveforms from various geological radars to obtain a common starting sampling point.

[0049] In one embodiment of the present invention, the second component to be detected may be, for example, a steel plate.

[0050] For example, after adjusting the mounting height of the ground-penetrating radar, the distance between the radar antennas and the track bed within the railway track bed detection system is standardized. Then, the starting point of the radar reflected wave is further measured and adjusted. A steel plate measuring 1.5m × 1.5m × 0.1m is placed 18cm directly below the center of each radar unit within the system to adjust the position of the radar reflected wave. The waveform before adjustment is as follows: Figure 3 As shown, the position of the reflected wave from each radar was adjusted to 130 sampling points, and the waveform after adjustment is as follows. Figure 4 As shown.

[0051] In this embodiment of the invention, the starting sampling points of the reflected wave waveforms of various geological radars are unified. At this time, the geological radars in the railway track bed detection system have the same test conditions and observation windows, ensuring consistent reflection energy measurement conditions for each geological radar. In one embodiment of the invention, the reflected wave energy intensity of each geological radar antenna is determined based on the reflected wave waveforms of each geological radar in the railway track bed detection system under the same test conditions and observation windows, and the length of the geological radar antenna. This includes: determining the sampling value corresponding to each sampling point in the reflected wave waveform based on the reflected wave waveforms of each geological radar in the railway track bed detection system under the same test conditions and observation windows; and determining the reflected wave energy intensity of each geological radar antenna using the following formula based on the sampling values ​​corresponding to each sampling point in the reflected wave waveform and the length of the geological radar antenna.

[0052]

[0053] Here, i represents the i-th ground-penetrating radar in the railway track bed detection system, and S... i,j Let L be the sampled value corresponding to the j-th sampling point of the reflected wave waveform of the i-th ground-penetrating radar, and let E be the effective length of the reflected signal corresponding to the ground-penetrating radar antenna. i Let be the reflected wave energy intensity of the i-th ground-penetrating radar antenna, and m be the common starting sampling point.

[0054] Here, the reflected signal is a portion of data extracted from the reflected wave, and L is the length of the effective reflected signal. For example, when calculating the energy of the reflected wave, only the effective portion of the reflected wave is taken. J is usually taken as 130, and L as 180, that is, 50 sampling points within 130-180 of the reflected signal are taken as the energy E. i The calculation of L varies depending on the frequency of the antenna. For example, for a commonly used 2GHz air-coupled antenna, L is taken as 50.

[0055] Regarding S102 above, in one embodiment of the present invention, the reflected wave energy intensity of each geological radar antenna is adjusted according to a preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna so that the adjusted reflected wave energy intensity of each geological radar antenna is the same. For example, it includes multiplying the preset proportional coefficient corresponding to each geological radar antenna by the reflected wave energy intensity of each geological radar antenna to obtain the adjusted reflected wave energy intensity of each geological radar antenna, wherein the adjusted reflected wave energy intensity of each geological radar antenna is the same.

[0056] For example, step 3 obtains the reflected wave energy intensity E of each antenna. i For example, in a detection system with three antennas, the flux energies are E1, E2, and E3, respectively. By multiplying E1, E2, and E3 by proportional coefficients Q1, Q2, and Q3 to make the energies of the three antennas the same, the adjusted waveform is as follows: Figure 5 As shown.

[0057] In this way, the radar wave reflection energy can be measured and the gain curve can be adjusted. By adjusting the gain, the transmitted wave energy of each radar can be made consistent.

[0058] Furthermore, the preset scaling factor can be obtained, for example, by the following formula:

[0059] Among them, E i Let E0 be the energy intensity of the reflected wave from the i-th ground-penetrating radar antenna, and let E0 be the energy of a standard antenna.

[0060] Regarding S103 above, the first component to be detected includes, for example, a standard scattering component, such as a component composed of stacked granite spheres.

[0061] For example, after executing S102 above, Figure 2The steel plate was replaced with a standard scattering component with a length, width, and height of 1m×1m×0.5m. The component was composed of stacked granite spheres with a particle size of 6cm. Each ground-penetrating radar antenna in the railway track bed detection system detected the first component to be detected and obtained the reflection waveform of each ground-penetrating radar.

[0062] For S104 to S105 above, the reflected waveforms of various geological radar antennas are converted into frequency domain waveforms, and the variation data of their center frequency along the depth direction is obtained. The frequency variation curves of each antenna along the depth direction are adjusted to a standard and consistent curve, such as... Figure 6 As shown.

[0063] Specifically, for example, the frequency response curve of a standard antenna, such as... Figure 6 As shown, the difference between each frequency point obtained by subtracting the frequency curve of the antenna to be adjusted (that is, the data curve of the change of the center frequency of each geological radar antenna along the depth direction) from the standard curve is used to compensate for the frequency curve of the antenna to be adjusted.

[0064] In this way, it is possible to measure the scattering spectrum, adjust the frequency waveform, and make the transmitted wave spectrum of each radar consistent through frequency compensation.

[0065] like Figure 7 The diagram shown illustrates an overall implementation example of a calibration method for a railway track bed detection system based on ground-penetrating radar, according to an embodiment of the present invention. The method includes: Step 1. Adjusting the radar mounting height; Step 2. Measuring and adjusting the starting point of the radar reflected wave; Step 3. Measuring the radar wave reflection energy; Step 4. Adjusting the gain curve; Step 5. Measuring the scattering spectrum; Step 6. Adjusting the spectrum curve. The calibration method for a railway track bed detection system based on ground-penetrating radar proposed in this invention adjusts the radar mounting height in Step 1 to ensure that the distance between each radar and the object being detected is consistent, resulting in identical spatial dissipation of the electromagnetic waves emitted by each radar antenna upon reaching the object. Step 2 measures and adjusts the starting point of the radar reflected wave to ensure consistent echo observation times for each radar. Steps 3 and 4 measure the radar wave reflection energy and adjust the gain curve, manually adjusting the gain to ensure consistent transmitted wave energy for each radar. Steps 5 and 6 measure the scattering spectrum and adjust the frequency waveform, using frequency compensation to ensure consistent transmitted wave spectra for each radar. This invention measures and adjusts the reflected wave energy and spectrum of multiple geological radar antennas within a railway track bed detection system, ensuring that the energy and spectrum of each geological radar antenna are consistent. The adjusted railway track bed detection system can accurately quantify the target and provide a technical solution with accurate parameters.

[0066] This invention also provides a calibration device for a railway track bed detection system based on ground-penetrating radar, as described in the following embodiments. Since the principle by which this device solves the problem is similar to the calibration method for a railway track bed detection system based on ground-penetrating radar, the implementation of this device can refer to the implementation of the calibration method for a railway track bed detection system based on ground-penetrating radar; repeated details will not be elaborated further.

[0067] like Figure 8 The diagram shown is a schematic of a calibration device for a railway track bed detection system based on ground-penetrating radar, provided in an embodiment of the present invention, comprising:

[0068] The first processing module 801 is used to determine the reflected wave energy intensity of each geological radar antenna based on the reflected wave waveform of each geological radar in the railway track bed detection system under the same test conditions and the same observation window, as well as the length of each geological radar antenna.

[0069] The second processing module 802 is used to adjust the reflected wave energy intensity of each geological radar antenna according to a preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna, so that the reflected wave energy intensity of each geological radar antenna is the same after adjustment.

[0070] The third processing module 803 is used to detect the first component to be detected using the adjusted local geological radar antennas and to obtain the reflected waveform of each radar antenna reflected by the first component to be detected.

[0071] The fourth processing module 804 is used to convert the reflection waveforms of various geological radar antennas into frequency domain waveforms, and obtain the data curves of the change of the center frequency of each geological radar antenna along the depth direction based on the frequency domain waveforms of each geological radar antenna.

[0072] The fifth processing module 805 is used to adjust the data curves of the center frequency variation of various geological radar antennas along the depth direction to a standard and consistent curve.

[0073] In one possible implementation, it further includes: a sixth processing module, used to adjust the mounting height of the ground-penetrating radar so that the distance between each ground-penetrating radar and the track bed in the railway track bed detection system is a uniform preset height, so that each ground-penetrating radar in the railway track bed detection system is under the same testing conditions.

[0074] In one possible implementation, it further includes: a seventh processing module, used to measure the starting sampling point of the reflected wave waveforms of each geological radar, and to determine a common starting sampling point based on the starting sampling points of the reflected wave waveforms of each geological radar, so that each geological radar in the railway track bed detection system is under the same observation window.

[0075] In one possible implementation, the seventh processing module is specifically used to place a second component to be detected at a preset distance directly below the center of each ground-penetrating radar; measure the starting sampling point of the reflected wave waveform of each ground-penetrating radar based on the second component to be detected; and unify the starting sampling points of the reflected wave waveforms of each ground-penetrating radar to obtain a common starting sampling point.

[0076] In one possible implementation, the first processing module is specifically used to determine the sampled values ​​corresponding to each sampling point in the reflected wave waveform based on the reflected wave waveforms of various geological radars in the railway track bed detection system under the same test conditions and the same observation window; and to determine the reflected wave energy intensity of each geological radar antenna using the following formula based on the sampled values ​​corresponding to each sampling point in the reflected wave waveform and the length of the geological radar antenna:

[0077]

[0078] Where i represents the i-th ground-penetrating radar in the railway track bed detection system, and S i,j Let L be the sampled value corresponding to the j-th sampling point of the reflected wave waveform of the i-th ground-penetrating radar, and let E be the effective length of the reflected signal corresponding to the ground-penetrating radar antenna. i Let be the reflected wave energy intensity of the i-th ground-penetrating radar antenna, and m be the common starting sampling point.

[0079] In one possible implementation, the second processing module is specifically used to multiply the preset scaling factor corresponding to each ground-penetrating radar antenna by the reflected wave energy intensity of each ground-penetrating radar antenna to obtain the adjusted reflected wave energy intensity of each ground-penetrating radar, wherein the adjusted reflected wave energy intensity of each ground-penetrating radar antenna is the same.

[0080] Based on the aforementioned inventive concept, such as Figure 9 As shown, the present invention also proposes a computer device 900, including a memory 910, a processor 920, and a computer program 930 stored in the memory 910 and executable on the processor 920. When the processor 920 executes the computer program 930, it implements the aforementioned calibration method for a railway track bed detection system based on ground-penetrating radar.

[0081] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described calibration method for a railway track bed detection system based on ground-penetrating radar.

[0082] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described calibration method for a railway track bed detection system based on ground-penetrating radar.

[0083] In this embodiment of the invention, the reflected wave energy intensity of each geological radar antenna in the railway track bed detection system is determined based on the reflected wave waveforms of each radar antenna under the same test conditions and observation window, as well as the length of each radar antenna. The reflected wave energy intensity of each radar antenna is adjusted according to a preset proportional coefficient and the reflected wave energy intensity of each radar antenna to ensure that the adjusted reflected wave energy intensity of each radar antenna is the same, thereby achieving the effect of adjusting the gain curve. The adjusted radar antennas are used to detect the first target component, acquiring the reflected waveform of each radar antenna reflected by the first target component, thereby achieving the measurement of the scattering spectrum. The reflected waveforms of each radar antenna are converted into frequency domain waveforms, and the data curves of the change in center frequency along the depth direction of each radar antenna are obtained based on the frequency domain waveforms of each radar antenna. The data curves of the change in center frequency along the depth direction of each radar antenna are adjusted to a standard and consistent curve, thereby achieving the adjustment of the frequency waveform. This method can quickly and effectively calibrate the railway track bed detection system and solve the detection error caused by inconsistent antenna parameters within the system.

[0084] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0085] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0086] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.

[0087] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0088] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A calibration method for a railway track bed detection system based on ground-penetrating radar, characterized in that, include: Based on the reflected wave waveforms of each geological radar in the railway track bed detection system under the same test conditions and the same observation window, as well as the effective length of the reflected signal corresponding to each geological radar antenna, the reflected wave energy intensity of each geological radar antenna is determined. Based on the preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna, the reflected wave energy intensity of each geological radar antenna is adjusted so that the reflected wave energy intensity of each geological radar antenna is the same after adjustment. The first component to be detected is detected using the adjusted local geological radar antennas, and the reflected waveform of each radar antenna is obtained after being reflected by the first component to be detected. The reflected waveforms of each geological radar antenna are converted into frequency domain waveforms, and the data curves of the change of the center frequency of each geological radar antenna along the depth direction are obtained based on the frequency domain waveforms of each geological radar antenna. Adjust the data curves of the center frequency variation along the depth direction of each geological radar antenna to a standard consistent curve.

2. The calibration method for a railway track bed detection system based on ground-penetrating radar as described in claim 1, characterized in that, Before determining the reflected wave energy intensity of each geological radar antenna, the following steps are also included: Adjusting the mounting height of the ground-penetrating radar ensures that the distance between each ground-penetrating radar and the track bed in the railway track bed detection system is at a uniform preset height, so that each ground-penetrating radar in the railway track bed detection system is under the same testing conditions.

3. The calibration method for a railway track bed detection system based on ground-penetrating radar as described in claim 1, characterized in that, Before determining the reflected wave energy intensity of each geological radar antenna, the following steps are also included: The starting sampling points of the reflected wave waveforms of each geological radar are measured. Based on the starting sampling points of the reflected wave waveforms of each geological radar, a common starting sampling point is determined so that each geological radar in the railway track bed detection system is under the same observation window.

4. The calibration method for a railway track bed detection system based on ground-penetrating radar as described in claim 3, characterized in that, The starting sampling points for measuring the waveforms of reflected waves from various geological radars are determined. Based on the starting sampling points of the waveforms of reflected waves from various geological radars, a common starting sampling point is determined, including: A second component to be detected is placed at a predetermined distance directly below the center of each ground-penetrating radar. The starting sampling points of the reflected wave waveforms of geological radar in various locations are measured based on the second component to be detected; The starting sampling points of the reflected wave waveforms from various geological radars are unified to obtain a common starting sampling point.

5. The calibration method for a railway track bed detection system based on ground-penetrating radar as described in claim 3, characterized in that, Based on the reflected wave waveforms of various geological radars in the railway track bed detection system under the same test conditions and observation window, and the length of the geological radar antennas, the reflected wave energy intensity of each geological radar antenna is determined, including: Based on the reflected wave waveforms of various geological radars in the railway track bed detection system under the same test conditions and the same observation window, determine the sampling values ​​corresponding to each sampling point in the reflected wave waveform; Based on the sampled values ​​corresponding to each sampling point in the reflected wave waveform and the length of the ground-penetrating radar antenna, the energy intensity of the reflected wave from each ground-penetrating radar antenna is determined using the following formula: Where i represents the i-th ground-penetrating radar in the railway track bed detection system, and S i,j Let L be the sampled value corresponding to the j-th sampling point of the reflected wave waveform of the i-th ground-penetrating radar, and let E be the effective length of the reflected signal corresponding to the ground-penetrating radar antenna. i Let be the reflected wave energy intensity of the i-th ground-penetrating radar antenna, and m be the common starting sampling point.

6. The calibration method for a railway track bed detection system based on ground-penetrating radar as described in claim 1, characterized in that, Based on a preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna, the reflected wave energy intensity of each geological radar antenna is adjusted to ensure that the adjusted reflected wave energy intensity of each geological radar antenna is the same, including: The preset scaling factor corresponding to each ground-penetrating radar antenna is multiplied by the reflected wave energy intensity of each ground-penetrating radar antenna to obtain the adjusted reflected wave energy intensity of each ground-penetrating radar, wherein the adjusted reflected wave energy intensity of each ground-penetrating radar antenna is the same.

7. A calibration device for a railway track bed detection system based on ground-penetrating radar, characterized in that, include: The first processing module is used to determine the reflected wave energy intensity of each geological radar antenna based on the reflected wave waveform of each geological radar in the railway track bed detection system under the same test conditions and the same observation window, as well as the length of each geological radar antenna. The second processing module is used to adjust the reflected wave energy intensity of each geological radar antenna according to a preset proportional coefficient and the reflected wave energy intensity of each geological radar antenna, so that the reflected wave energy intensity of each geological radar antenna is the same after adjustment. The third processing module is used to detect the first component to be detected using the adjusted local geological radar antennas, and to obtain the reflected waveform of each radar antenna reflected by the first component to be detected; The fourth processing module is used to convert the reflection waveforms of various geological radar antennas into frequency domain waveforms, and obtain the data curves of the change of the center frequency of each geological radar antenna along the depth direction based on the frequency domain waveforms of each geological radar antenna. The fifth processing module is used to adjust the data curves of the center frequency variation of various geological radar antennas along the depth direction to a standard and consistent curve.

8. The calibration device for a railway track bed detection system based on ground-penetrating radar as described in claim 7, characterized in that, Also includes: The sixth processing module is used to adjust the mounting height of the ground-penetrating radar so that the distance between each ground-penetrating radar and the track bed in the railway track bed detection system is a uniform preset height, so that each ground-penetrating radar in the railway track bed detection system is under the same testing conditions.

9. The calibration device for a railway track bed detection system based on ground-penetrating radar as described in claim 7, characterized in that, Also includes: The seventh processing module is used to measure the starting sampling point of the reflected wave waveform of each geological radar. Based on the starting sampling point of the reflected wave waveform of each geological radar, a common starting sampling point is determined so that each geological radar in the railway track bed detection system is under the same observation window.

10. The calibration device for a railway track bed detection system based on ground-penetrating radar as described in claim 9, characterized in that, The seventh processing module is specifically used to place the second component to be detected at a preset distance directly below the center of each ground-penetrating radar. The starting sampling points of the reflected wave waveforms of geological radar in various locations are measured based on the second component to be detected; The starting sampling points of the reflected wave waveforms from various geological radars are unified to obtain a common starting sampling point.

11. The calibration device for a railway track bed detection system based on ground-penetrating radar as described in claim 9, characterized in that, The first processing module is specifically used to determine the sampling value corresponding to each sampling point in the reflected wave waveform based on the reflected wave waveform of each geological radar in the railway track bed detection system under the same test conditions and the same observation window. Based on the sampled values ​​corresponding to each sampling point in the reflected wave waveform and the length of the ground-penetrating radar antenna, the energy intensity of the reflected wave from each ground-penetrating radar antenna is determined using the following formula: Where i represents the i-th ground-penetrating radar in the railway track bed detection system, and S i,j Let L be the sampled value corresponding to the j-th sampling point of the reflected wave waveform of the i-th ground-penetrating radar, and let E be the effective length of the reflected signal corresponding to the ground-penetrating radar antenna. i Let be the reflected wave energy intensity of the i-th ground-penetrating radar antenna, and m be the common starting sampling point.

12. The calibration device for a railway track bed detection system based on ground-penetrating radar as described in claim 7, characterized in that, The second processing module is specifically used to multiply the preset scaling factor corresponding to each ground-penetrating radar antenna by the reflected wave energy intensity of each ground-penetrating radar antenna to obtain the adjusted reflected wave energy intensity of each ground-penetrating radar, wherein the adjusted reflected wave energy intensity of each ground-penetrating radar antenna is the same.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

15. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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