A method, device and related equipment for detecting track geometric shape

Abstract

This application relates to the field of track detection technology, and in particular to a method and device for detecting track geometric shape and related equipment. The method includes: determining a first detection frequency and a first detection duration required for each first section of a plurality of first sections of a track to be detected; wherein the detection frequency indicates the number of times of machine vision detection of the track geometric shape per unit distance when a track geometric shape detection device moves on the track to be detected; determining a second section and a second detection frequency of the second section for the current detection according to the total detection limit duration, the first detection frequency, and the first detection duration; and controlling the track geometric shape detection device to detect the track geometric shape of the second section at the second detection frequency. This application can solve the technical problems of existing track geometric shape detection schemes, such as long detection time and low detection efficiency due to relying on manual operation.

Description

Technical Field

[0001] This application relates to the field of track detection technology, and particularly to a method and device for detecting track geometric shape and related equipment. Background Art

[0002] In the field of rail transit, since the operating speed of high-speed trains is much higher than that of ordinary trains, high-speed trains have higher precision requirements for the geometric shape of tracks.

[0003] In the existing track geometric shape detection solutions, first, it is usually necessary for staff to manually confirm the sections to be detected in the track to be detected for the current detection, and then the staff hold a track inspection trolley on the corresponding detection section to detect the geometric shape of the track, resulting in too long detection time. In addition, since there are sections to be detected that need to be key detected in the track to be detected, it is also necessary for staff to manually confirm and conduct key detection on the sections to be detected that need to be key detected, resulting in easy occurrence of human operation errors and further low detection efficiency.

[0004] In summary, the existing track geometric shape detection solutions have technical problems of too long detection time and low detection efficiency due to relying on manual operation. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method and device for detecting track geometric shape and related equipment, so as to solve the technical problems of too long detection time and low detection efficiency existing in the existing track geometric shape detection solutions due to relying on manual operation.

[0006] In the first aspect, this application provides a method for detecting track geometric shape, and the method includes:

[0007] Determine the first detection frequency and the first detection duration required for each of the multiple first sections of the track to be detected during detection;

[0008] Wherein, the detection frequency indicates the number of times of machine vision detection of the track geometric shape within a unit distance when the track geometric shape detection device moves on the track to be detected;

[0009] Determine the second section of the current detection and the second detection frequency of the second section according to the total detection limit duration, the first detection frequency, and the first detection duration;

[0010] Control the track geometric shape detection device to detect the track geometric shape of the second section at the second detection frequency.

[0011] Preferably, determining the first detection frequency and the first detection duration required for each of the multiple first sections of the track to be detected includes:

[0012] Obtaining the historical maintenance information and the track length of the track to be detected;

[0013] Wherein, the historical maintenance information indicates each track section in the track to be detected and the maintenance level of each track section;

[0014] According to the historical maintenance information and the track length, dividing the track to be detected into multiple first sections and determining the first section length and the first detection frequency of the first section;

[0015] Wherein, the first detection frequencies of two adjacent first sections are different;

[0016] According to the first detection frequency, determining the first moving speed required for the track geometry detection device to detect the track geometry of the first section;

[0017] According to the first section length and the first moving speed, determining the first detection duration.

[0018] Preferably, the dividing the track to be detected into multiple first sections and determining the first section length and the first detection frequency of the first section according to the historical maintenance information and the track length includes:

[0019] According to the historical maintenance information, dividing the track to be detected into multiple third sections and determining the third detection frequency of the third section;

[0020] Wherein, the third detection frequencies of two adjacent third sections are different;

[0021] According to the track length, determining the third section length of each third section;

[0022] Determining whether there are a first target section and a second target section among the multiple third sections;

[0023] Wherein, the first target section indicates the third section with the third section length less than the first threshold; the second section indicates the third section that is adjacent to the first target section and the corresponding third section length is less than the second threshold;

[0024] If the first target segment and the second target segment exist, merge the first target segment and the second target segment to obtain a merged first segment, and determine the third detection frequency corresponding to the first target segment and the second target segment, whichever is higher, as the first detection frequency of the merged first segment;

[0025] The first segment length of the merged first segment is determined according to the third segment lengths corresponding to the first target segment and the second target segment.

[0026] Preferably, after determining the first segment length of the merged first segment, the method further includes:

[0027] Determine the remaining third segments among the plurality of third segments, except those confirmed as the first target segment and the second target segment, as the first segment;

[0028] The first segment length and the first detection frequency of the corresponding first segment are determined according to the third segment length and the third detection frequency of the remaining third segment.

[0029] Preferably, the track geometry detection device can move back and forth on the track to be detected; and determining the second section of the current detection and the second detection frequency of the second section according to the total detection limit time, the first detection frequency and the first detection time includes:

[0030] Determining the movement time of the track geometry detection device passing through the first section after the detection is completed according to the first section length and the second movement speed of the track geometry detection device in the non-detection state;

[0031] Determining a working time of the track geometry detection device corresponding to the first section according to the first detection time and the movement time;

[0032] According to the working time, m consecutive second sections are selected from a plurality of first sections in accordance with the principle that the distance from the starting moving position of the track geometry detection device is from small to large;

[0033] The sum of the round-trip times of the m second segments is less than or equal to the total detection limit time.

[0034] Preferably, after selecting m consecutive second segments from the plurality of first segments, the method further comprises:

[0035] Determine the difference between the sum of the round trip times of the m second segments and the detection limit total time;

[0036] Determine whether the difference is greater than or equal to a third threshold;

[0037] If the difference is greater than or equal to the third threshold, a partial section of the difference in the first section closest to the starting movement position is confirmed as the second section.

[0038] In a second aspect, the present application provides an apparatus for detecting track geometric shape, the apparatus comprising: a to-be-detected information determination module, a current detection information determination module, and a detection module;

[0039] The to-be-detected information determination module is configured to determine a first detection frequency and a first detection duration required for detecting each of a plurality of first sections of a to-be-detected track;

[0040] Wherein, the detection frequency indicates the number of times of machine vision detection of the track geometric shape per unit distance when the track geometric shape detection device moves on the to-be-detected track;

[0041] The current detection information determination module is configured to determine a second section of the current detection and a second detection frequency of the second section according to a total detection limit duration, the first detection frequency, and the first detection duration;

[0042] The detection module is configured to control the track geometric shape detection device to detect the track geometric shape of the second section at the second detection frequency.

[0043] In a third aspect, the present application provides a track geometric shape detection device, the device comprising: a frame body, a moving component, and a second detection component;

[0044] The moving component is disposed at the bottom side of the frame body and is configured to drive the frame body and the second detection component to move when moving on a to-be-detected track;

[0045] The second detection component is disposed on the frame body and is configured to perform machine vision detection on the track geometric shape of the to-be-detected track.

[0046] In a fourth aspect, the present application provides a computer-readable storage medium, which is used to store program codes executed by a processor, and the program codes include those for implementing the above-mentioned track geometric shape detection method.

[0047] In a fifth aspect, the present application provides a computer program product, including program codes, and when a computer runs the computer program product, the computer is caused to execute the track geometric shape detection method as described above.

[0048] Advantageous effects:

[0049] The present application provides a method and apparatus for detecting track geometric shape and related equipment. The method includes: determining a first detection frequency and a first detection duration required for each of a plurality of first sections of a track to be detected; wherein the detection frequency indicates the number of times of machine vision detection of the track geometric shape per unit distance when a track geometric shape detection device moves on the track to be detected; determining a second section and a second detection frequency of the second section for the current detection according to a total detection limit duration, the first detection frequency, and the first detection duration; and controlling the track geometric shape detection device to detect the track geometric shape of the second section at the second detection frequency.

[0050] In summary, first, the present application determines a plurality of second sections that meet the total detection limit duration by determining the first detection duration of the first section, eliminating the need for manual confirmation; second, the present application controls the track inspection trolley to detect the second section without manual pushing, improving the detection efficiency; in addition, the present application sets different detection frequencies for key detection of the second section to be detected, which can improve the detection efficiency. Therefore, the present application can solve the technical problems of long detection time and low detection efficiency in the existing track geometric shape detection scheme due to relying on manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required to be used in the embodiments of the present application. The following drawings only show some embodiments of the present application, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0052] Figure 1 It is a schematic structural diagram of a track geometric shape detection system provided by an embodiment of the present application;

[0053] Figure 2 It is a schematic flowchart of a method for detecting track geometric shape provided by an embodiment of the present application;

[0054] Figure 3 It is a schematic structural diagram of a device for detecting track geometric shape provided by an embodiment of the present application;

[0055] Figure 4 It is a front view of a track geometric shape detection device provided by an embodiment of the present application;

[0056] Figure 5 It is a side view of a track geometric shape detection device provided by an embodiment of the present application;

[0057] Figure 6Oblique view of the track geometric shape detection device provided by the embodiment of the present application;

[0058] Figure 7 Bottom view of the track geometric shape detection device provided by the embodiment of the present application;

[0059] Figure 8 Partial schematic view of the track geometric shape detection device provided by the embodiment of the present application;

[0060] Reference numerals: 100 - network device; 200 - terminal device; 300 - track geometric shape detection device;

[0061] 310 - frame; 3110 - base; 3120 - first cross bar; 3130 - second cross bar; 3140 - support rod; 3150 - pedestal; 3160 - vertical rod; 3170 - extension frame;

[0062] 320 - moving component; 3210 - motor; 3220 - driving wheel; 3230 - driven wheel; 3240 - limiting structure; 3241 - downward extension plate; 3242 - first sliding rod; 3243 - first spring; 3244 - connecting plate; 3245 - first roller;

[0063] 330 - first detection component; 3310 - surrounding frame; 3320 - second roller; 3330 - fixing plate; 3340 - second spring; 3350 - second sliding rod; 3360 - fixing block;

[0064] 340 - second detection component; 3410 - first camera; 3420 - second camera. Detailed implementation manners

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0066] In the railway field, since the operating speed of high - speed trains is much higher than that of ordinary trains, high - speed trains have higher precision requirements for the geometric shape of the track. In addition, due to safety requirements, the detection of the geometric shape of high - speed train tracks is time - limited, and usually, the geometric shape of high - speed train tracks can only be detected during the night.

[0067] In the prior art, first of all, it is usually necessary for the staff to manually confirm the section to be detected in the track to be detected for the current detection. For example, the staff needs to confirm the position (starting position, ending position) and section length of the section to be detected, etc. Then, during the night, the staff holds a track inspection trolley on the corresponding detection section to detect the geometric shape of the track. To sum up, the existing detection method has the problem of too long detection time;

[0068] In addition, since there are sections to be detected that need to be key detected in the track to be detected, it is also necessary for the staff to manually confirm and conduct key detection on the sections to be detected that need to be key detected. For example, for the sections to be detected that need to be key detected, machine vision detection needs to be performed every 2 cm, and for the sections to be detected that do not need to be key detected, machine vision detection only needs to be performed every 10 cm. The above differences will directly affect the detection duration of the current detection. Since the detection of high-speed rail tracks has time limits, the detection duration needs to be clearly defined. However, the above confirmations all need to be confirmed by the staff. Since the length of the track is usually long, it is easy to have human operation errors. To sum up, the existing detection method also has the problem of low detection efficiency.

[0069] To solve the above technical problems, the present application proposes a track geometric shape detection system, as Figure 1 shown, Figure 1 is a schematic structural diagram of the track geometric shape detection system provided by the embodiment of the present application. The track geometric shape detection system includes: a network device 100, a terminal device 200, and a track geometric shape detection device 300; among them, the network device 100 can be a server, the terminal device 200 can be a device such as a mobile phone or a tablet for interacting with users, and the track geometric shape detection device 300 can be a device that can automatically move back and forth on the track and can perform machine vision detection on the geometric shape of the track. Among them, the number of the terminal device 200 and the track geometric shape detection device 300 can both be set to several. The connection between the terminal device 200 and the track geometric shape detection device 300 can be bound through identification information such as an identification code with an indication function, so that the terminal device 200 can control the corresponding track geometric shape detection device 300 to automatically detect the geometric shape of the track.

[0070] Among them, the track geometric shape detection device 300 can be a track inspection trolley that moves back and forth on the track; a positioning module and an anti-theft module should be set in the track geometric shape detection device 300. The positioning module is used to determine the position information of the track geometric shape detection device 300 and transmit the position information to the terminal device 200, and the terminal device 200 determines the detection progress according to its position information; the anti-theft module is used for anti-theft alarm.

[0071] Now, in combination with the accompanying drawings of the specification, a specific description of this track geometric shape detection solution will be given.

[0072] First, this application provides a method for detecting the geometric shape of a track, as Figure 2 shown Figure 2 is a schematic flowchart of the method for detecting the geometric shape of a track provided by an embodiment of this application. The method includes: S110 to S130, details are as follows:

[0073] S110: Determine the first detection frequency and the first detection duration required for each first section of the track to be detected when detecting each first section.

[0074] Among them, the detection frequency indicates the number of times the track geometric shape detection device moving on the first section performs machine vision detection on the track geometric shape of the first section per unit distance.

[0075] Specifically, in actual execution, the information of the track to be detected and the information of the track geometric shape detection device 300 in the target area will be stored in the network device 100 in advance, and the network device 100 is responsible for determining the content of each detection.

[0076] Among them, the information of the track to be detected includes: the total detection limit duration of the track to be detected, the length of the track to be detected, the start position and end position of the track to be detected, the number of first sections in the track to be detected, the start position and end position of the first sections in the track to be detected, the first detection frequency and the first detection duration of the first sections in the track to be detected, etc.; among them, the total detection limit duration indicates the time period during which the track to be detected can be subjected to track geometric shape detection.

[0077] The information of the track geometric shape detection device 300 includes: the number of track geometric shape detection devices 300, the starting moving position of the track geometric shape detection device 300, etc. In actual execution, the starting moving position of the track geometric shape detection device 300 is usually the starting position or the end position of a certain second section among at least one second section of the current detection;

[0078] The content of each detection includes: the number of second sections in the track to be detected, the start position and end position of the second sections in the track to be detected, the second detection frequency and the second detection duration of the second sections in the track to be detected, etc.

[0079] In one implementation, S110 includes: step (1) to step (4), details are as follows:

[0080] Step (1): Obtain the historical maintenance information and the track length of the track to be detected.

[0081] Among them, the historical maintenance information indicates each track section in the track to be detected and the maintenance level of each track section.

[0082] Specifically, in actual implementation, due to reasons such as geographical environment and track curvature, there are track sections in the track to be detected where the track is prone to deformation or the track wear is relatively serious, etc., which may cause the geometric shape of the track to be easily changed. For the track sections where the geometric shape is easily changed, key detection is required.

[0083] To determine the track sections where the geometric shape is easily changed, it can be determined according to the historical maintenance information. The historical maintenance information includes: the number of maintenance times of the track sections with maintenance history, the length and position of the track sections with maintenance history, the maintenance level of the maintenance track sections with maintenance history, etc. Among them, the maintenance level is information that can indicate the degree of key detection comprehensively confirmed according to the number of maintenance times and geographical environment. In the embodiments of the present application, the higher the detection level, the more easily the geometric shape of the track section changes, and therefore the more key detection is required.

[0084] For example, the temperature difference between morning and evening in Area A is relatively large and the track section a in the track to be detected in Area A 1 has a relatively large number of maintenance times. The temperature difference between morning and evening in Area B is relatively small and the track section b in the track to be detected in Area B 1 has a relatively small number of maintenance times. Correspondingly, the detection level of the track section a 1 can be set to level 5, and the detection level of the track section b 1 can be set to level 1. Subsequently, the corresponding detection frequency can be determined according to the level of the track section.

[0085] In actual implementation, usually the track sections with a higher detection level are obtained. Except for the track sections with a higher level, the remaining ones are track sections with a lower detection level.

[0086] Step (2): Divide the track to be detected into multiple first sections according to the historical maintenance information and the track length, and determine the first section length and the first detection frequency of the first section;

[0087] Among them, the first detection frequencies of two adjacent first sections are different.

[0088] Specifically, in the process of determining the first section, usually first determine the first section with a higher detection level according to the historical maintenance information, then determine the first section with a lower detection level, and then determine the first detection frequency correspondingly according to the detection level.

[0089] For example, for the first section with a detection level of 5, the corresponding first detection frequency can be set to n 1times / m. For the first section with a detection level of 1, the corresponding first detection frequency can be set to n 2 times / m, n 1 >n 2 . In actual implementation, the corresponding relationship between the detection level and the first detection frequency can be determined according to the actual situation, and the present application does not make specific limitations on this.

[0090] In the process of determining the first section, the first section length, the starting position, and the ending position of the first section will also be determined accordingly.

[0091] In one implementation, step (2) includes: step (2.1) to step (2.1):

[0092] Step (2.1): Divide the track to be detected into multiple third sections according to historical maintenance information and determine the third detection frequency of the third sections;

[0093] Among them, the third detection frequencies of two adjacent third sections are different.

[0094] Specifically, before determining the first section, it is also necessary to perform screening and merging processing on some of the track sections. The purpose of the screening and merging processing is to improve the detection accuracy.

[0095] Step (2.2): Determine the third section length of each third section according to the track length.

[0096] Step (2.3): Determine whether there are a first target section and a second target section among the multiple third sections;

[0097] Among them, the first target section indicates a third section whose third section length is less than the first threshold; the second section indicates a third section that is adjacent to the first target section and whose corresponding third section length is less than the second threshold.

[0098] Specifically, when the third section length corresponding to the first target section is less than the first threshold and the third section length corresponding to the second target section is less than the second threshold, it is considered that the third section lengths corresponding to the first target section and the second target section are both "short", so they need to be merged.

[0099] Step (2.4): If there are a first target section and a second target section, merge the first target section and the second target section to obtain a merged first section, and determine the higher third detection frequency among the third detection frequencies corresponding to the first target section and the second target section as the first detection frequency of the merged first section.

[0100] Specifically, the purpose of merging is to increase the smaller one of the two third detection frequencies corresponding to the target first section and the target second section to the higher one, increase the coverage length of the higher third detection frequency, and improve the accuracy of geometric shape detection.

[0101] Step (2.5): Determine the first section length of the merged first section according to the third section lengths corresponding to the first target section and the second target section.

[0102] Specifically, the first section length of the merged first section can be determined by adding the third section length corresponding to the first target section and the third section length corresponding to the second target section.

[0103] Step (2.6): Determine the remaining third sections among the multiple third sections except for the first target section and the second target section that have been confirmed as the first section.

[0104] Step (2.7): Determine the first section length and the first detection frequency of the corresponding first section according to the third section length and the third detection frequency of the remaining third sections.

[0105] Specifically, for the remaining third sections, directly determine the first section length and the first detection frequency of the corresponding first section by using the third section length and the third detection frequency of the remaining third sections.

[0106] Step (3): Determine the first moving speed required for the track geometry detection device to detect the track geometry of the first section according to the first detection frequency.

[0107] Specifically, for the first section with a higher first detection frequency, the track geometry detection device 300 requires a lower first moving speed during detection. For the second section with a lower first detection frequency, the track geometry detection device 300 requires a higher first moving speed during detection.

[0108] For example, for the first section with a first detection frequency of 20 times / m, the corresponding first moving speed can be set to For the first section with a first detection frequency of 5 times / m, the corresponding first moving speed can be set to In actual implementation, the corresponding relationship between the first detection frequency and the first moving speed can be determined according to the actual situation, and this application does not make specific limitations on this.

[0109] Step (4): Determine the first detection duration according to the first section length and the first moving speed.

[0110] Specifically, according to the first section length and the first moving speed of each first section, the first detection duration required for the track geometry detection device 300 to detect each first section can be determined.

[0111] Among them, the formula for determining the first detection duration is as follows:

[0112]

[0113] In the formula, l i represents the first section length of the i-th first section, 1 ≤ i ≤ N, and N represents the number of first sections in the track to be detected; represents the first moving speed required for the track geometry detection device 300 to detect the i-th first section; represents the first detection duration required for the track geometry detection device 300 to detect the i-th first section.

[0114] S120: Determine the second section of the current detection and the second detection frequency corresponding to the second section according to the total detection limit duration, the first detection frequency, and the first detection duration.

[0115] Specifically, in the current detection, the terminal device 200 sends a detection request for the track geometry to the network device 100, or the network device 100 sends a detection task for the track geometry to the terminal device 200;

[0116] In the case where the terminal device 200 sends a detection request to the network device 100, the network device 100 determines the start position, end position, and the second detection frequency of the second section among multiple first sections according to the detection request, and the network device 100 sends the start position, end position, and the second detection frequency of the second section to the terminal device 200;

[0117] In the case where the network device 100 sends a detection task to the terminal device 200, the network device 100 determines the start position, end position, and the second detection frequency of the second section among multiple first sections, and the network device 100 sends the start position, end position, and the second detection frequency of the second section to the terminal device 200.

[0118] Among them, the basis for determining the second section of the current detection is that the total duration required for multiple second sections of the current detection does not exceed the total detection limit duration.

[0119] It should be emphasized that the inspection of the geometric shape of the track to be inspected should be carried out regularly at intervals of the inspection cycle. For example, when the inspection cycle is 2 months, the geometric shape of the track to be inspected should be inspected every 2 months accordingly. The inspection within each inspection cycle is usually not completed in one day, so it needs to be executed in stages, completing a part in each stage. Therefore, the first section used to determine the second section should be the first section that has not been inspected in each inspection cycle.

[0120] In one implementation, S120 includes: Step (5) to Step (10), the details of which are as follows:

[0121] Step (5): Determine the movement time of the track geometry detection device through the first section after the detection is completed based on the length of the first section and the second movement speed of the track geometry detection device in the non-detection state.

[0122] Specifically, in actual implementation, the track geometry detection device 300 is controlled by the terminal device 200 to detect the multiple second sections. The whole process includes a detection phase and a return phase after the track geometry detection device 300 completes the detection.

[0123] The first moving speed of the track geometry detection device 300 in the detection phase and the second moving speed in the return phase can be determined in advance, because the first moving speed is related to the first detection frequency of the first section, and the second moving speed is related to the first section length of the first section, which can be calculated in advance.

[0124] Step (6): Determine the working time of the track geometry detection device corresponding to the first section based on the first detection time and the movement time.

[0125] Specifically, the working duration corresponding to each first section=the first detection duration corresponding to each first section+the moving duration.

[0126] Step (7): selecting m consecutive second sections from the plurality of first sections according to the working time and in accordance with the principle that the distance from the starting moving position of the track geometry detection device is from small to large;

[0127] Among them, the sum of the round-trip times of the m second segments is less than or equal to the total detection limit time.

[0128] Specifically, after determining the moving time duration corresponding to each first segment, based on the limit of the total detection time, multiple consecutive first segments that are closest to the starting moving position of the track geometry detection device 300 and have not been detected in the current detection cycle can be determined as second segments.

[0129] Step (8): Determine the difference between the total round-trip duration of the m second segments and the total detection limit duration.

[0130] Specifically, when the total round-trip duration of the m second segments is less than the difference between the total detection limit durations, determine the difference between the total round-trip duration of the m second segments and the total detection limit duration.

[0131] Step (9): Determine whether the difference is greater than or equal to the third threshold.

[0132] Specifically, the purpose of determining the target result is to determine whether the difference is large enough. If it is large enough, in order to improve the detection efficiency, it is necessary to continue to confirm other second segments on the basis of the current m second segments.

[0133] Step (10): If the difference is greater than or equal to the third threshold, confirm as second segments the partial segments of the first segment that is closest to the starting movement position among the difference.

[0134] Specifically, if it is considered necessary to continue to confirm other second segments, the partial segments of the first segment that are not detected in the current detection cycle and are closest to the starting movement position can be confirmed as second segments, but it should be ensured during the confirmation process that the working duration corresponding to the partial segments of the closest first segment does not exceed the difference.

[0135] In actual execution, the corresponding first moving speed can be determined according to the first detection frequency of the closest first segment, and then the total speed of the two can be determined according to the second moving speed; the length of the partial segments of the closest first segment can be determined according to the difference and the total speed.

[0136] S130: Control the track geometry detection device to detect the track geometry of the second segment at the second detection frequency.

[0137] Specifically, in actual execution, the steps for machine vision detection of the track geometry can be as follows:

[0138] ① Imaging device configuration: Configure two cameras on the track geometry detection device 300. The two cameras are placed in parallel at a fixed and known distance (baseline distance), ensuring that the lines of sight of the two cameras slightly cross to simulate the visual overlap area of the human eye.

[0139] ② Video acquisition: The SoC chip processes these image data, performs synchronization and calibration to ensure that the time and geometry alignment of the images are accurate.

[0140] ③Stereo matching and depth calculation: The software algorithm analyzes the images captured by two cameras, identifies the corresponding points of the same object in the two images; by calculating the position difference (parallax) of these corresponding points in the two images, the depth information of each point can be further deduced;

[0141] ④3D image reconstruction: Using the depth data and combining the image information captured by two cameras to generate a 3D model or image; it can display the spatial structure of the track and catenary in detail, facilitating more accurate detection and analysis.

[0142] ⑤Geometric shape analysis, performing geometric shape analysis of the track based on the spatial structure of the track and catenary. Confirm whether it meets the expected standards. If not, the track geometric shape detection device 300 sends an alarm message to the network device 100 and the terminal device 200.

[0143] Second, the present application provides a track geometric shape detection device, as Figure 3 shown, Figure 3 is a schematic structural diagram of the track geometric shape detection device provided by the embodiment of the present application. The device includes: a to-be-detected information determination module 410, a current detection information determination module 420, and a detection module 430;

[0144] The to-be-detected information determination module 410 is used to determine the first detection frequency and the first detection duration required for each first section of the to-be-detected track during detection;

[0145] Among them, the detection frequency indicates the number of times of machine vision detection of the track geometric shape within a unit distance when the track geometric shape detection device moves on the to-be-detected track;

[0146] The current detection information determination module 420 is used to determine the second section and the second detection frequency of the second section for the current detection according to the total detection limit duration, the first detection frequency, and the first detection duration;

[0147] The detection module 430 is used to control the track geometric shape detection device to detect the track geometric shape of the second section at the second detection frequency.

[0148] In one implementation, the to-be-detected information determination module 410 is further used to obtain the historical maintenance information and the track length of the to-be-detected track;

[0149] Among them, the historical maintenance information indicates each track section in the to-be-detected track and the maintenance level of each track section;

[0150] The to-be-detected information determination module 410 is further used to divide the to-be-detected track into multiple first sections according to the historical maintenance information and the track length, and determine the first section length and the first detection frequency of the first section;

[0151] Among them, the first detection frequencies of two adjacent first sections are different;

[0152] The information-to-be-detected determination module 410 is further configured to determine a first moving speed required for the track geometry detection device to detect the track geometry of the first section according to the first detection frequency;

[0153] Determine a first detection duration according to the length of the first section and the first moving speed.

[0154] In one implementation, the information-to-be-detected determination module 410 is further configured to divide the track to be detected into multiple third sections according to historical maintenance information and determine a third detection frequency of the third sections;

[0155] Among them, the third detection frequencies of two adjacent third sections are different;

[0156] The information-to-be-detected determination module 410 is further configured to determine a third section length of each third section according to the track length;

[0157] The information-to-be-detected determination module 410 is further configured to determine whether a first target section and a second target section exist in the multiple third sections;

[0158] Among them, the first target section indicates a third section with a third section length less than a first threshold; the second section indicates a third section that is adjacent to the first target section and has a third section length less than a second threshold;

[0159] If the first target section and the second target section exist, the information-to-be-detected determination module 410 is further configured to merge the first target section and the second target section to obtain a merged first section, and determine the higher third detection frequency among the third detection frequencies corresponding to the first target section and the second target section as the first detection frequency of the merged first section;

[0160] The information-to-be-detected determination module 410 is further configured to determine a first section length of the merged first section according to the third section lengths corresponding to the first target section and the second target section.

[0161] In one implementation, the information-to-be-detected determination module 410 is further configured to determine the remaining third sections among the multiple third sections except those identified as the first target section and the second target section as the first section;

[0162] The information-to-be-detected determination module 410 is further configured to determine a first section length and a first detection frequency of the corresponding first section according to the third section length and the third detection frequency of the remaining third sections.

[0163] In one implementation, the track geometry detection device may move back and forth on the track to be detected; the detection information determination module 420 is further used to determine the movement time of the track geometry detection device passing through the first section after the detection is completed according to the length of the first section and the second movement speed of the track geometry detection device in the non-detection state;

[0164] The current detection information determination module 420 is further used to determine the working time of the track geometry detection device corresponding to the first section according to the first detection time and the movement time;

[0165] The current detection information determination module 420 is further used to select m consecutive second sections from the plurality of first sections according to the working time and in accordance with the principle of increasing distance from the starting moving position of the track geometry detection device;

[0166] Among them, the sum of the round-trip times of the m second segments is less than or equal to the total detection limit time.

[0167] In one implementation, the detection information determination module 420 is further used to determine the difference between the sum of the round trip times of the m second segments and the total detection limit time;

[0168] The detection information determination module 420 is also used to determine whether the difference is greater than or equal to a third threshold; and, if the difference is greater than or equal to the third threshold, confirm the partial segment of the first segment closest to the starting moving position as the second segment.

[0169] Third, the present application provides a track geometry detection device, such as Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, Figure 4 This is a front view of a track geometry detection device provided in an embodiment of the present application. Figure 5 A side view of a track geometry detection device provided in an embodiment of the present application, Figure 6 This is an oblique view of a track geometry detection device provided in an embodiment of the present application. Figure 7 The bottom view of the track geometry detection device provided in the embodiment of the present application, the track geometry detection device 300 includes: a frame 310, a moving component 320, a first detection component 330, a second detection component 340 and a controller;

[0170] The frame 310 is used as a supporting structure for the moving assembly 320, the first detection assembly 330, the second detection assembly 340 and the controller;

[0171] A moving component 320, configured to drive the frame body, the moving component 320, the first detection component 330, the second detection component 340 and the controller to move when moving;

[0172] A first detection component 330, configured to physically detect the geometric shape of the track to be detected;

[0173] A second detection component 340, configured to perform machine vision detection on the geometric shape of the track to be detected;

[0174] A controller, configured to receive the starting position, the ending position of the second section and the second detection frequency of the second section sent by the terminal device 200, and control the second detection component 340 to perform machine vision detection on the geometric shape of the track to be detected according to the starting position, the ending position of the second section and the second detection frequency of the second section, and transmit the detection result to the terminal device 200 and / or the network device 100.

[0175] In one implementation, the frame body 310 includes: a base 3110, a first cross bar 3120, a second cross bar 3130, a support rod 3140, a base 3150, a vertical rod 3160 and an extension frame 3170;

[0176] Wherein, the base 3110 is plate-shaped and is horizontally arranged when the track geometric shape detection device 300 stably moves on the track to be detected;

[0177] The first cross bar 3120 and the second cross bar 3130 are respectively horizontally arranged on the end sides of the base 3110 close to the track to be detected; the first cross bar 3120 and the second cross bar 3130 are arranged in parallel; the length of the first cross bar 3120 is longer than the length of the second cross bar 3130, and the width of the end side of the base 3110 connected to the first cross bar 3120 is smaller than the length of the first cross bar 3120;

[0178] The number of the support rods 3140 is two; one end side of each support rod 3140 in the length extension direction is connected to one end side of the first cross bar 3120, and the other end side of each support rod 3140 in the length extension direction is connected to the base 3110;

[0179] The base 3110, the first cross bar 3120, the second cross bar 3130 and the support rods 3140 are arranged in the same plane;

[0180] The base 3150 is vertically arranged on the upper end surface of the base 3110;

[0181] The number of the vertical rods 3160 is two; one vertical rod 3160 is vertically arranged on the upper end surface of the first cross bar 3120, and the other vertical rod 3160 is vertically arranged on the upper end surface of the second cross bar 3130;

[0182] There are two extension frames 3170; both of the two extension frames 3170 are arranged on the side end face of the base 3110 between the first cross bar 3120 and the second cross bar 3130 and facing outward;

[0183] In one implementation, the moving component 320 includes: a motor 3210, a driving wheel 3220, a driven wheel 3230, and a limiting structure 3240;

[0184] The motor 3210 is arranged on the lower end face of the base 3110; the motor 3210 drives the rotating rod to rotate, and the rotation drives the driving wheels 3220 sleeved on its two length end sides to rotate; in practical applications, if the rotation direction of the rotating shaft in the motor 3210 is different from the rotation direction of the driving wheel 3220, a transmission structure can be used to change the rotation direction output by the motor 3210;

[0185] The number of the driven wheels 3230 is at least two; the driven wheels 3230 are rotatably connected to the bottom side of the first cross bar 3120; when the driving wheel 3220 rotates, the driving wheel 3220 drives the driven wheels 3230 to rotate;

[0186] Both the driving wheel 3220 and the driven wheels 3230 are used to roll on the track to be detected;

[0187] In practical applications, since the setting of the first cross bar 3120, the support rod 3140 connected to the first cross bar 3120, and the driven wheels 3230 can improve the stability of the track geometry detection device 300 moving on the track to be detected, the first cross bar 3120, the support rod 3140 connected to the first cross bar 3120, and the driven wheels 3230 can be used to replace the setting of the second cross bar 3130 to further improve the stability of the track geometry detection device 300 moving on the track to be detected;

[0188] The limiting structure 3240 is used to limit the relative position between the moving component 320 and the track to be detected; as Figure 8 shown, Figure 8 is a partial schematic diagram of the track geometry detection device provided by the embodiment of the present application. The limiting structure 3240 includes: a downward extension plate 3241, a first sliding rod 3242, a first spring 3243, a connecting plate 3244, and a first roller 3245;

[0189] The downward extension plate 3241 is vertically arranged on the lower end face of the support rod 3140;

[0190] The first sliding rod 3242 is horizontally arranged and penetrates through the plate surface of the downward extension plate 3241 and can be slidably connected to the downward extension plate 3241;

[0191] The connecting plate 3244 is arranged on the end side close to the first cross bar 3120 in the length extension direction of the first sliding rod 3242, and the first roller 3245 is rotatably connected to the plate surface of the connecting plate 3244;

[0192] In practical applications, when the track geometry detection device 300 moves on the track to be detected, the first roller 3245 is slidably connected to the inner end side of the track to be detected. When the track geometry detection device 300 has a tendency to move the side with the downward extension plate 3241 due to reasons such as turning, the first roller 3245 is squeezed, and the first sliding rod 3242 moves away from the first cross bar 3120 relative to the downward extension plate 3241. At this time, the first spring 3243 is compressed; when the track geometry detection device 300 resumes going straight, the first spring 3243 releases the accumulated elastic potential energy, pushing the connecting plate 3244 and the first roller 3245 to move towards the first cross bar 3120, and also driving the first sliding rod 3242 to slide towards the first cross bar 3120;

[0193] The first detection assembly 330 includes: a surrounding frame 3310, a second roller 3320, a fixing plate 3330, a second spring 3340, a second sliding rod 3350, a fixing block 3360 and a first sensor;

[0194] The surrounding frame 3310 is a rectangular frame structure formed by connecting four connecting rods end to end. Two of the connecting rods arranged in parallel in the surrounding frame 3310 are arranged in parallel with the first cross bar 3120 and the second cross bar 3130;

[0195] The surrounding frame 3310 is arranged below the extension frame 3170, and the surrounding frame 3310 is located closer to the middle of the base 3110 than the first cross bar 3120 or the second cross bar 3130;

[0196] The second roller 3320 is arranged in the middle of the surrounding frame 3310 close to the side away from the base 3110; when the track geometry detection device 300 moves on the track to be detected, the second roller 3320 is slidably connected to the side surface of the track to be detected;

[0197] The top side of the fixing plate 3330 is connected to the lower end surface of the extension frame 3170; at least two fixing plates 3330 are correspondingly configured for each surrounding frame 3310, and through holes for the two connecting rods arranged in parallel in the surrounding frame 3310 to penetrate and slide are formed on the plate surfaces of the two fixing plates 3330;

[0198] The second spring 3340 is sleeved outside the connecting rod located between the connecting rod arranged in parallel with the first cross bar 3120 or the second cross bar 3130 in the surrounding frame 3310 and the plate surface of the fixing plate 3330;

[0199] The fixed block 3360 is fixedly arranged on the lower end surface of the extension frame 3170 and is located within the surrounding frame 3310;

[0200] One end of the second sliding rod 3350 in the length extension direction is connected to the connecting rod in the surrounding frame 3310 that is far from the first cross bar 3120 or the second cross bar 3130. The other end of the second sliding rod 3350 in the length extension direction penetrates through the cavity of the fixed block 3360 and is slidably connected to the fixed block 3360;

[0201] The first sensor is arranged in the cavity opened in the fixed block 3360 and is used to detect the change in the relative position between the second sliding rod 3350 located in the cavity of the fixed block 3360 and the fixed block 3360;

[0202] In practical applications, when the track geometry detection device 300 moves on the track to be detected, the second roller 3320 is slidably connected to the first cross bar 3120 or the second cross bar 3130. At this time, the second spring 3340 is in a compressed state. When the distance between the two tracks to be detected changes, the second spring 3340 will inevitably continue to be compressed or start to stretch, because it will inevitably cause a change in the distance between the connecting rod connected to the second roller 3320 in the surrounding frame 3310 and the fixed plate 3330; when the distance between the connecting rod connected to the second roller 3320 in the surrounding frame 3310 and the fixed plate 3330 changes, the relative position between the second sliding rod 3350 located in the cavity of the fixed block 3360 and the fixed block 3360 changes. The first sensor determines the displacement signal and transmits the displacement signal to the controller, and the controller alarms according to the displacement signal;

[0203] The second detection component 340 includes: the first camera 3410 arranged on the base 3150 and the second camera 3420 arranged on the vertical rod 3160. The first camera 3410 and the second camera 3420 are used to acquire the image information of the track to be detected and transmit the image information to the controller for the controller to determine the detection result according to the image information; in practical applications, the first camera 3410 and the second camera 3420 can be set according to actual needs, and their setting positions and numbers are not specifically limited in this application.

[0204] Fourth, this application also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, it executes the steps of S110 - S130 in the above-mentioned embodiment.

[0205] Fifth, the computer program product provided by this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the foregoing method embodiments. For specific implementation, refer to the steps S110 to S130 in the method embodiments, which will not be elaborated herein.

[0206] In the embodiments provided by this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0207] In addition, the units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0208] Furthermore, in each embodiment of this application, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0209] It should be noted that if the function is implemented in the form of a software functional module 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 this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program code.

[0210] In this document, relational terms such as first and second are used solely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0211] The above description is only for the embodiments of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for detecting track geometry, characterized in that: The method comprises: Determine a first detection frequency and a first detection duration required for detecting each of the first sections of the plurality of first sections of the track to be detected; The detection frequency indicates the number of times the track geometry detection device performs machine vision detection of the track geometry within a unit distance when moving on the track to be detected; Determine a second section of the current detection and a second detection frequency of the second section according to the total detection limit duration, the first detection frequency, and the first detection duration; Controlling the track geometry detection device to detect the track geometry of the second section at the second detection frequency; The determining of a first detection frequency and a first detection duration required for detecting each of the plurality of first sections of the track to be detected includes: Obtaining historical maintenance information and track length of the track to be inspected; The historical maintenance information indicates each track section in the track to be inspected and the maintenance level of each track section; According to the historical maintenance information and the track length, the track to be inspected is divided into a plurality of first sections and a first section length and a first inspection frequency of the first section are determined; Wherein, the first detection frequencies of two adjacent first sections are different; determining, according to the first detection frequency, a first moving speed required by the track geometry detection device when detecting the track geometry of the first section; Determining the first detection duration according to the first section length and the first moving speed; The step of dividing the track to be inspected into a plurality of first sections and determining a first section length and a first inspection frequency of the first section according to the historical inspection information and the track length includes: According to the historical maintenance information, the track to be inspected is divided into a plurality of third sections and a third inspection frequency of the third sections is determined; Wherein, the third detection frequencies of two adjacent third sections are different; Determining a third section length of each of the third sections according to the track length; determining whether there are a first target segment and a second target segment in the plurality of third segments; The first target segment indicates the third segment whose length is less than a first threshold; the second segment indicates the third segment which is adjacent to the first target segment and whose corresponding third segment length is less than a second threshold; If the first target segment and the second target segment exist, merge the first target segment and the second target segment to obtain a merged first segment, and determine the third detection frequency corresponding to the first target segment and the second target segment, whichever is higher, as the first detection frequency of the merged first segment; determining the first segment length of the merged first segment according to the third segment lengths corresponding to the first target segment and the second target segment; The track geometry detection device can move back and forth on the track to be detected; the second detection section and the second detection frequency of the second section to be detected are determined according to the total detection limit time, the first detection frequency and the first detection time, including: Determining the movement time of the track geometry detection device passing through the first section after the detection is completed according to the first section length and the second movement speed of the track geometry detection device in the non-detection state; Determining a working time of the track geometry detection device corresponding to the first section according to the first detection time and the movement time; According to the working time, according to the principle of increasing the distance from the starting moving position of the track geometry detection device, a plurality of first sections are selected. a continuous second section; wherein, The sum of the round-trip times of the second segments is less than or equal to the detection limit total time.

2. The method according to claim 1, characterized in that After determining the first segment length of the merged first segment, the method further includes: Determine the remaining third segments among the plurality of third segments, except those confirmed as the first target segment and the second target segment, as the first segment; The first segment length and the first detection frequency of the corresponding first segment are determined according to the third segment length and the third detection frequency of the remaining third segment.

3. The method according to claim 1, characterized in that The selected one of the plurality of first sections After the second segment is read consecutively, the method further comprises: Sure The difference between the sum of the round trip times of the second sections and the total detection limit time; determining whether the difference is greater than or equal to a third threshold; If the difference is greater than or equal to the third threshold, a portion of the first segment where the difference is closest to the initial moving position is confirmed as the second segment.

4. A track geometry detection device, characterized in that: For implementing the method according to claim 1, the device comprises: a module for determining information to be detected, a module for determining information of the current detection, and a detection module; The to-be-detected information determination module is used to determine a first detection frequency and a first detection duration required for detecting each of the plurality of first sections of the track to be detected; The detection frequency indicates the number of times the track geometry detection device performs machine vision detection of the track geometry within a unit distance when moving on the track to be detected; The detection information determination module is used to determine the second section of the current detection and the second detection frequency of the second section according to the total detection limit duration, the first detection frequency and the first detection duration; The detection module is used to control the track geometry detection device to detect the track geometry of the second section at the second detection frequency.

5. A track geometry detection device, characterized in that: For implementing the method of claim 1, the device comprises: a frame, a moving component and a second detection component; The moving assembly is arranged at the bottom side of the frame, and is used to drive the frame and the second detection assembly to move when moving on the track to be detected; The second detection component is arranged on the frame and is used for performing machine vision detection on the track geometry of the track to be detected.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program codes executed by a processor, wherein the program codes include instructions for implementing the track geometry detection method according to any one of claims 1 to 3.

7. A computer program product, characterized in that The computer program product comprises program codes, and when a computer runs the computer program product, the computer executes the track geometry detection method according to any one of claims 1 to 3.

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