A method and device for detecting inter-layer damage of ballastless track based on detection trolley

Abstract

The present invention discloses a method and device for detecting interlayer damage of ballastless track based on a detection trolley, wherein the method comprises: constructing a train-track-bridge system coupled stochastic dynamics model; inputting a detection device based on a detection trolley, an ideal track structure, and an ideal bridge structure as train conditions, track conditions, and bridge conditions into the train-track-bridge system coupled stochastic dynamics model, solving and obtaining the power data of the detection device based on the detection trolley under an ideal state as the reference data; obtaining the actual power data collected by the detection device based on the detection trolley during on-track operation; comparing the actual power data with the reference data, and judging the degree of interlayer damage according to the deviation from the reference data. The present invention greatly improves the accuracy and efficiency of interlayer damage detection of ballastless track, and will not cause damage to the ballastless track structure.

Description

Technical Field

[0001] The present invention relates to the field of ballastless track interlayer damage detection, and in particular to a ballastless track interlayer damage detection method and device based on a detection trolley. Background Art

[0002] Slab ballastless track is widely used in high-speed railway infrastructure. The interlayer damage of ballastless track represented by mortar gap has a great impact on the running smoothness, static stability and dynamic performance of high-speed railway. At present, there are few non-destructive testing devices for sub-track structures. Conventional engineering inspections use manual methods to measure the gap characteristics, which has low detection efficiency and conflicts with the short "window period" of high-speed railways; the traditional detection method of densely distributed sensors is cumbersome to install and maintain equipment and is easy to cause damage to the track structure; the detection method based on geological radar is often used for highway damage detection, but the internal steel bars of ballastless track structure are vertical and horizontal, and the electrical properties are complex, so geological radar detection is not suitable for ballastless track damage detection. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a method and device for detecting interlayer damage of ballastless track based on a detection trolley. By establishing a stochastic dynamic model of the train-track-bridge system coupling, the model results are compared with the track operation dynamic data of the detection trolley, and the damage condition of the ballastless track is inferred, thereby greatly improving the detection efficiency and convenience.

[0004] In a first aspect, a method for detecting interlayer damage of ballastless track based on a detection vehicle is provided, comprising the following steps:

[0005] The vehicle space random dynamic equation, track space random vibration equation, and bridge space random vibration equation are coupled through the wheel-rail relationship and bridge-rail relationship to construct a coupled random dynamic model of the train-track-bridge system.

[0006] The detection device based on the detection trolley, the ideal track structure, and the ideal bridge structure are input into the train-track-bridge system coupled stochastic dynamics model as train conditions, track conditions, and bridge conditions, and the power data of the detection device based on the detection trolley under the ideal state is solved to be used as the benchmark data; wherein the detection device based on the detection trolley can run on the track and collect its own power data;

[0007] Obtain actual power data collected by the on-track operation of the detection device based on the detection vehicle;

[0008] The actual dynamic data is compared with the benchmark data, and the degree of interlayer damage is determined based on the deviation from the benchmark data.

[0009] Furthermore, the method for constructing the coupled stochastic dynamics model of the train-track-bridge system includes:

[0010] Combine the random dynamic equations of the vehicle space, the random vibration equations of the track space, and the random vibration equations of the bridge space to establish the random vibration equations of the train-track-bridge system at time t;

[0011] The random dynamic equations of the vehicle space and the random vibration equations of the track space are coupled to each other through the wheel-rail relationship, and the random vibration equations of the track space and the random vibration equations of the bridge space are coupled to each other through the bridge-track relationship, thus obtaining a coupled random dynamic model of the train-track-bridge system.

[0012] Furthermore, the coupled stochastic dynamics model of the train-track-bridge system is expressed as follows:

[0013]

[0014] In the formula, , and represent the random mass matrix, random damping matrix and random stiffness matrix of the vehicle respectively; The random mass matrix representing the orbital structure, and They represent the random stiffness matrix and random damping matrix of the track structure after considering the coupling of wheel-rail relationship and bridge-rail relationship; represents the random mass matrix of the bridge structure, and They represent the random stiffness matrix and random damping matrix of the bridge structure after considering the bridge-track coupling relationship; and They represent the interaction stiffness matrix and damping matrix of the vehicle to the track structure, and They represent the interaction stiffness matrix and damping matrix of the track structure to the vehicle respectively; and They represent the interaction stiffness matrix and damping matrix of the bridge structure on the track structure, and denote the interaction stiffness matrix and damping matrix of the track structure to the bridge structure respectively; , and Respectively represent the acceleration matrix, velocity matrix and displacement matrix of the vehicle; , and represent the acceleration matrix, velocity matrix and displacement matrix of the track structure respectively; , and represent the acceleration matrix, velocity matrix and displacement matrix of the bridge structure respectively; , and They represent the vehicle random load matrix, track structure random load matrix and bridge structure random load matrix after considering the wheel-rail relationship and bridge-rail relationship coupling respectively; represents the vehicle random parameter vector, and the subscript represents the random parameter vector of the bridge system, which includes the track structure and the bridge structure. Represents external random load parameters, mainly external random load parameters such as track irregularities.

[0015] In the second aspect, a ballastless track interlayer damage detection device based on a detection trolley is provided, comprising a main frame, a running mechanism, a vibration acceleration acquisition device and a controller;

[0016] The running mechanism is connected to the bottom of the main frame, the vibration acceleration acquisition device is installed on the running mechanism, and the controller is arranged on the main frame; the running mechanism and the vibration acceleration acquisition device are both electrically connected to the controller;

[0017] The vibration acceleration acquisition device is used to collect actual dynamic data of the detection device running on track;

[0018] The controller is used to control the movement of the running mechanism, and is also configured to execute the above-mentioned ballastless track interlayer damage detection method based on the detection trolley.

[0019] Furthermore, it also includes:

[0020] At least two mechanical arms, the at least two mechanical arms are installed on both sides of the main frame to form a wingspan structure in the width direction of the main frame;

[0021] At least two image acquisition devices, the at least two image acquisition devices being mounted on the ends of the at least two mechanical arms in a one-to-one correspondence;

[0022] All mechanical arms and image acquisition devices are electrically connected to the controller;

[0023] The controller is used to control the movement of the robot arm, and is also configured to use image recognition technology to identify apparent damage of the ballastless track when the ballastless track image captured by the image acquisition device is acquired.

[0024] Furthermore, it also includes a positioning device electrically connected to the controller, the positioning device is used to collect geographic location information and upload it to the controller, and the controller is also used to mark the geographic location information of the received actual power data and / or ballastless track image.

[0025] Furthermore, each robotic arm is equipped with distance measuring devices in at least two directions, and the distance measuring devices are electrically connected to the controller.

[0026] Furthermore, the running mechanism includes two bogies, each bogie includes a frame, a bottom plate, a top plate, a wheelset, an axle box, a vibration damping mechanism and a power component; the axle box is rotatably connected to the wheelset, the frame is hinged to the axle box, the bottom plate is fixedly connected to the middle of the frame, the top plate is connected to the bottom plate through a top plate connecting member, the vibration damping mechanism is arranged between the axle box, the bottom plate and the frame, and the power component is connected to the wheelset; the vibration acceleration collection device is installed on the axle box and the vibration damping mechanism.

[0027] Furthermore, it also includes a plurality of lighting devices, which are arranged on the main frame and / or the mechanical arm.

[0028] Furthermore, an operating platform for carrying staff is arranged on the main frame.

[0029] The present invention proposes a method and device for detecting interlayer damage of ballastless track based on a detection trolley, which has the following beneficial effects:

[0030] (1) The detection method provided by the present invention is based on the train-track-bridge random vibration analysis, and establishes a train-track-bridge system coupled random dynamic model. The detection device based on the detection trolley, the ideal track structure, and the ideal bridge structure are used as model inputs to obtain the dynamic data of the detection device based on the detection trolley under the ideal state, and the dynamic data is compared with the actual dynamic data collected by the detection device based on the detection trolley during on-track operation to infer the interlayer damage of the ballastless track. The detection accuracy and efficiency of the interlayer damage of the ballastless track are greatly improved, and the ballastless track structure will not be damaged.

[0031] (2) The detection device provided by the present invention adopts a vibration acceleration acquisition device to collect dynamic data, and uses the dynamic data for real-time analysis. Specifically, the vibration acceleration acquisition device is installed on the running mechanism. When the detection device is running on the track, the vibration acceleration acquisition device detects and collects dynamic data; the vibration acceleration acquisition device transmits the dynamic data to the controller, and the controller determines the deviation of the dynamic data from the reference data to determine the damage condition of the ballastless track layers.

[0032] (3) The detection device provided by the present invention, by arranging mechanical arms on both sides of the main frame and arranging an image acquisition device at the end of the mechanical arms, can form a wingspan structure of the detection device based on the detection vehicle in the width direction of the main frame through the posture adjustment of the mechanical arms, thereby expanding the single detection operation range of the detection device and improving the detection efficiency.

[0033] In addition to the objects, features and effects described above, the present invention has other objects, features and effects, which will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a flow chart of a ballastless track interlayer damage detection method based on a detection vehicle provided in an embodiment of the present invention;

[0036] Figure 2 1 is a schematic diagram of the overall appearance of a ballastless track interlayer damage detection device based on a detection trolley from one viewing angle provided by an embodiment of the present invention;

[0037] Figure 3 The embodiment of the present invention provides Figure 2 Schematic diagram of the overall appearance of the ballastless track interlayer damage detection device based on the detection trolley from the same viewing angle, showing only the marked parts that are different;

[0038] Figure 4 is a schematic diagram of the structure of a bogie of a running mechanism provided by an embodiment of the present invention;

[0039] Figure 5 is a side view of a bogie of a running mechanism provided by an embodiment of the present invention;

[0040] Figure 6 is a schematic diagram of a mechanical arm structure provided by an embodiment of the present invention;

[0041] Figure 7 It is a schematic diagram of using a ballastless track interlayer damage detection device based on a detection trolley to detect a ballastless track from a perspective provided by an embodiment of the present invention;

[0042] Figure 8 It is a schematic diagram of the use of a ballastless track interlayer damage detection device based on a detection trolley to detect a ballastless track from another perspective provided by an embodiment of the present invention.

[0043] Among them, 1. Main frame, 1.1. Center plate, 1.2. Seat, 1.3. Front cover, 1.3.1. Working platform, 1.4. Rear cover, 1.5. Controller, 1.6. Storage box, 2. Traveling mechanism, 2.1. Wheel set, 2.2. Axle box, 2.3. Frame, 2.3.1. Frame connector, 2.4. Bottom plate, 2.5. Top plate, 2.5.1. Top plate connector, 2.5.2. Center plate pin, 2.6. Vibration reduction mechanism, 2.6.1. First vibration reduction mechanism, 2 .6.2. Second vibration reduction mechanism, 2.6.3. Third vibration reduction mechanism, 2.7. Vibration acceleration acquisition device, 2.8. Power part, 2.9. Braking mechanism, 3. Robotic arm, 3.1. Base, 3.2. Waist, 3.3. Upper arm, 3.3.1. Electric push rod, 3.4. Lower arm, 3.5. Wrist, 3.6. End effector, 3.7. Image acquisition device, 3.8. Distance measuring device, 4. Ballastless track, 4.1. Base plate, 4.2. Track plate, 4.3. Rail. DETAILED DESCRIPTION

[0044] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0045] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "center", "longitudinal", "lateral", "vertical", "horizontal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. When an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a centered element at the same time.

[0046] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or order. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0047] like Figure 1As shown, an embodiment of the present invention provides a ballastless track interlayer damage detection method based on a detection vehicle, comprising the following steps:

[0048] S1: Construct a coupled stochastic dynamic model of the train-track-bridge system.

[0049] Specifically, the probability distribution characteristics of the system structural parameters under the joint coupling of multiple random parameters on the train-track-bridge system are considered. Assume that the system random parameter vector point set of the train-track-bridge system coupling stochastic dynamics model is , and expressed as follows:

[0050]

[0051] In the formula, is the random parameter vector of the vehicle, such as the random stiffness of the vehicle structure spring, the vehicle live load, the moment of inertia of the vehicle body, and the primary and secondary spring damping stiffness of the vehicle; is the random parameter vector of the bridge system, such as mass density, elastic modulus, structural damping characteristics, cross-sectional size error and other random factors. It should be noted that the bridge and track are a whole system. Therefore, the bridge system here includes the track structure and the bridge structure. Therefore, this parameter is a unified representation of the random parameters of the bridge system including the bridge structure and the track structure. Random load parameters, mainly external random load parameters such as track irregularities.

[0052] The train-track-bridge random vibration equations are established by combining the vehicle space random dynamic equation (2), the track space random vibration equation (3), and the bridge space random vibration equation (4). The train-track-bridge system random vibration equations at time t are established and expressed as follows:

[0053]

[0054] In the formula, , and Respectively represent the acceleration matrix, velocity matrix and displacement matrix of the vehicle; , and They respectively represent the consideration of vehicle structure random parameters The random mass matrix, random damping matrix and random stiffness matrix of the affected vehicle; In order to consider the external random load parameters such as track irregularity The vehicle random load matrix; , and represent the acceleration matrix, velocity matrix and displacement matrix of the track structure respectively; , and They represent the consideration of the random parameters of the bridge system. The random mass matrix, random damping matrix and random stiffness matrix of the affected track structure; In order to consider the external random load parameters such as track irregularity Track random load matrix; , and represent the acceleration matrix, velocity matrix and displacement matrix of the bridge structure respectively; , and They represent the consideration of the random parameters of the bridge system. The random mass matrix, random damping matrix and random stiffness matrix of the affected bridge structure; In order to consider the external random load parameters such as track irregularity Random load matrix of bridge structure.

[0055] Then, equation (2) and equation (3) are coupled to each other through the wheel-rail relationship, and equation (3) and equation (4) are coupled to each other through the bridge-rail relationship. Then, the above train-track-bridge random vibration equations are coupled to obtain equation (5), which is the coupled random dynamic model of the train-track-bridge system, which is expressed as follows:

[0056]

[0057] In the formula, The random mass matrix representing the orbital structure, and They represent the random stiffness matrix and random damping matrix of the track structure after considering the coupling of wheel-rail relationship and bridge-rail relationship; represents the random mass matrix of the bridge structure, and They represent the random stiffness matrix and random damping matrix of the bridge structure after considering the bridge-track coupling relationship; and They represent the interaction stiffness matrix and damping matrix of the vehicle to the track structure, and They represent the interaction stiffness matrix and damping matrix of the track structure to the vehicle respectively; and They represent the interaction stiffness matrix and damping matrix of the bridge structure on the track structure, and denote the interaction stiffness matrix and damping matrix of the track structure to the bridge structure respectively; , and They respectively represent the vehicle random load matrix, track structure random load matrix and bridge structure random load matrix after considering the coupling of wheel-rail relationship and bridge-rail relationship.

[0058] S2: Input the detection device based on the detection trolley, the ideal track structure, and the ideal bridge structure as the train conditions, track conditions, and bridge conditions into the train-track-bridge system coupled stochastic dynamics model, and solve the power data of the detection device based on the detection trolley under the ideal state as the benchmark data; wherein, the detection device based on the detection trolley can run on the track and collect its own power data.

[0059] Based on the fact that the detection device of the detection trolley, the ideal track structure, and the ideal bridge structure are all known quantities, the train conditions, track conditions, and bridge conditions are all known quantities, among which the train conditions correspond to the random mass matrix, random damping matrix, random stiffness matrix, random load matrix, etc. of the vehicle, the track conditions correspond to the random mass matrix, random damping matrix, random stiffness matrix, random load matrix, etc. of the track structure, and the bridge conditions correspond to the random mass matrix, random damping matrix, random stiffness matrix, random load matrix, etc. of the bridge structure. On this basis, it is assumed that the random dynamic model of the train-track-bridge system coupling satisfies the probability conservative system assumption, that is, during the operation of the train, no new random sources are generated, and no random sources disappear. Then the random dynamic model of the train-track-bridge system coupling satisfies the probability conservation condition, so given When , the solution of formula (5) exists and is unique. Then the Newmark-β step-by-step integration method is used to solve formula (5), and the acceleration matrix, velocity matrix and displacement matrix of the vehicle can be obtained, that is, the power data of the detection device based on the detection trolley. It should be noted that in the specific implementation, the structure of the detection device based on the detection trolley can meet the requirements of being able to run on the track and collect its own power data, and is not limited to a specific structure. Of course, for ease of understanding, the specific structure of the detection device based on the detection trolley can also adopt the structure of a ballastless track interlayer damage detection device based on a detection trolley provided in the subsequent embodiments.

[0060] S3: Acquire actual power data collected by the detection device based on the detection vehicle during on-track operation.

[0061] S4: Compare the actual power data with the benchmark data, and determine the degree of interlayer damage based on the deviation from the benchmark data. The greater the deviation, the greater the degree of interlayer damage.

[0062] The above-mentioned embodiment provides a ballastless track interlayer damage detection method based on a detection trolley. Based on the train-track-bridge random vibration analysis, a train-track-bridge system coupled random dynamic model is established. The detection device based on the detection trolley, the ideal track structure, and the ideal bridge structure are used as model inputs to obtain the power data of the detection device based on the detection trolley under the ideal state, and the power data is compared with the actual power data collected by the detection device based on the detection trolley during on-track operation to infer the internal damage of the ballastless track. The accuracy and efficiency of ballastless track interlayer damage detection are greatly improved, and no damage is caused to the ballastless track structure.

[0063] The embodiment of the present invention further provides a ballastless track interlayer damage detection device based on a detection trolley (hereinafter referred to as a detection device based on a detection trolley), such as Figure 2 , Figure 3 As shown, it includes a main frame 1, a running mechanism 2, a vibration acceleration acquisition device 2.7 and a controller 1.5;

[0064] The running mechanism 2 is connected to the bottom of the main frame 1, the vibration acceleration acquisition device 2.7 is installed on the running mechanism 2, and the controller 1.5 is set on the main frame 1; the running mechanism 2 and the vibration acceleration acquisition device 2.7 are both electrically connected to the controller 1.2;

[0065] The vibration acceleration acquisition device 2.7 is used to collect actual power data of the detection device based on the detection vehicle running on track;

[0066] The controller 1.5 is used to control the movement of the running mechanism, and is also configured to execute the ballastless track interlayer damage detection method based on the detection trolley described in the above embodiment.

[0067] The detection device based on the detection trolley provided in this embodiment adopts a vibration acceleration acquisition device 2.7 to collect dynamic data, and uses the dynamic data for real-time analysis. Specifically, the vibration acceleration acquisition device 2.7 is installed on the running mechanism 2. When the detection device is running on the track, the vibration acceleration acquisition device 2.7 detects and collects dynamic data; the vibration acceleration acquisition device 2.7 transmits the dynamic data to the controller 1.5, and the controller 1.5 determines the deviation of the dynamic data from the reference data to determine the damage condition of the ballastless track layers.

[0068] like Figure 4 , Figure 5As shown, in some embodiments, the running mechanism is composed of two front and rear bogies, and a single bogie includes a frame 2.3, a bottom plate 2.4, a top plate 2.5, a wheelset 2.1, an axle box 2.2, a damping mechanism 2.6, a power part 2.8 and a braking mechanism 2.9. The axle box 2.2 is rotatably connected to the wheelset 2.1, the frame 2.3 is hinged to the axle box 2.2, the frame 2.3 is connected as a whole through a plurality of component connectors 2.3.1, so as to ensure that the running mechanism 2 has good integrity, the bottom plate 2.4 is fixedly connected to the middle of the frame 2.3, the top plate 2.5 is connected to the bottom plate 2.4 through the top plate connector 2.5.1, so as to ensure the lateral stability of the top plate, the top plate 2.5 is rotatably connected to the center plate 1.1 through the center plate pin 2.5.2, so as to ensure that the main frame 1 and the running mechanism 2 have relative rotation for turning convenience, the vibration reduction mechanism 2.6 is arranged between the axle box 2.2, the frame 2.3 and the bottom plate 2.4, and ... The first damping mechanism 2.6.1 is arranged at the ends of the axle box 2.2 and the frame 2.3 in the form of a piston, the second damping mechanism is arranged at both sides of the axle box 2.2 and the frame 2.3 in the form of a damping spring, and the third damping mechanism is arranged between the bottom plate 2.4 and the top plate 2.5 in the form of a damping spring. The vibration acceleration acquisition device 2.7 (vibration sensor) is installed on the axle box 2.2 and the bottom plate 2.4, and can measure vibration data such as vibration displacement, speed, acceleration, etc. of the running mechanism when running on the track, and upload them to the controller 1.5; the power member 2.8 and the braking mechanism 2.9 are arranged between the wheel axle 2.1 and the bottom plate 2.4, and the operation and stop of the detection device are controlled by the staff.

[0069] like Figure 4-5 , Figure 7-8As shown, in the above embodiment, each individual bogie is composed of a skeleton part composed of a frame, and two wheelsets 2.1 are in direct contact with the ballastless track 4. The vibration reduction mechanism 2.6 is composed of a number of suspension springs and telescopic pistons to ensure the smooth operation of the detection device at a certain speed. In this embodiment, when the running mechanism 2 is running on the ballastless track 4, the track unevenness is transmitted to the running mechanism through the rail 4.3 and the wheelset 2.1 in direct contact with it. The vibration acceleration acquisition device 2.7 arranged on the axle box 2.1 and the bottom plate 2.4 can detect the corresponding dynamic data such as the vibration displacement, speed, acceleration, etc. of the wheelset and the frame. The vibration acceleration acquisition device 2.7 uploads the measured dynamic data to the controller 1.5, and the built-in algorithm analyzes the difference between it and the benchmark data, and then infers the interlayer damage. The detection device is also provided with a positioning device electrically connected to the controller 1.5, and the positioning device is used to collect geographic location information and upload it to the controller 1.5. The controller 1.5 will mark the geographic location information for each set of power data. When the controller determines that there is interlayer damage, the power data marked with geographic location information will be uploaded to the operation platform for the operator to view in order to confirm the specific damage geographic location information. In this embodiment, the power part 2.8 is a drive motor, which is connected to the wheelset 2.1 through a coupling, driving the detection device forward, and completing turning, straight driving and other actions by controlling the forward speed and the relative rotation between the main frame and the bogie.

[0070] In some preferred embodiments, the detection device based on the detection vehicle further includes:

[0071] At least two mechanical arms 3, the at least two mechanical arms 3 are installed on both sides of the main frame 1, forming a wingspan structure in the width direction of the main frame 1;

[0072] At least two image acquisition devices 3.7, the at least two image acquisition devices 3.7 are mounted on the ends of the at least two mechanical arms 3 in a one-to-one correspondence;

[0073] All the mechanical arms 3 and the image acquisition device 3.7 are electrically connected to the controller 1.5;

[0074] The controller 1.5 is used to control the movement of the robot arm 3, and is also configured to identify the apparent damage of the ballastless track by using image recognition technology when acquiring the ballastless track image acquired by the image acquisition device.

[0075] The detection device based on the detection trolley provided by the present invention, by arranging the mechanical arm 3 on both sides of the main frame 1, and arranging the image acquisition device 3.7 at the end of the mechanical arm, can form a wingspan structure in the width direction of the main frame 1 through the posture adjustment of the mechanical arm 3, which can expand the single detection operation range of the detection device and improve the detection efficiency.

[0076] Specifically, Figure 6 As shown, the base 3.1 of the mechanical arm 3 is fixedly connected to both sides of the main frame 1, the waist 3.2 connects the base 3.1 and the upper arm 3.3, the upper arm 3.3, the lower arm 3.4, the wrist 3.5, and the end effector 3.6 are hinged in sequence, and the end effector is set as an inclined rod that deviates 45° from the vertical direction. The electric push rod 3.3.1 is connected between the waist 3.2 and the upper arm 3.3 to ensure the stability of the upper arm's rise and fall. In addition, the joints connecting the base 3.1 and the waist 3.2, the joints connecting the upper arm 3.3 and the lower arm 3.4, the joints connecting the lower arm 3.4 and the wrist 3.5, and the joints connecting the wrist 3.5 and the end effector 3.6 in the detection mechanical arm 3 are all driven by servo motors, and the waist 3.2 and the upper arm 3.3 are driven by electric push rods through the upper arm telescopic rod 3.3.1. An image acquisition device 3.7 is provided at the end of the end effector 3.6, and the image acquisition device 3.7 uploads the acquired image data to the controller 1.5 for processing; a posture sensor and a lighting device (not shown in the figure) are provided at the end of the end effector 3.6; and a distance measuring device 3.8 is installed on both sides of the upper arm 3.3 and the lower arm 3.4.

[0077] In the above embodiment, the controller 1.5 records the end position by detecting the posture sensor at the end of the mechanical arm 3, and timely adjusts the position and posture of the end image acquisition device 3.7 by adjusting the rotation angle of the servo motor and the driving distance of the electric push rod, so as to obtain a higher quality effective image. In this embodiment, the controller 1.5 will mark the geographical location information for each set of image data through the geographical location information collected by the positioning device. When the controller 1.5 determines that the image data has apparent damage, the image data marked with geographical location information will be uploaded to the operating platform for the operator to view in order to confirm the specific damaged geographical location information. In this embodiment, the lighting device is installed at the end of the end effector to ensure that the image collector can obtain clear and bright pictures in a dark environment when working in a narrow area or at night; the lighting device can also be installed on the main frame to provide lighting for the overall environment. In this embodiment, when the distance measuring device 3.8 detects an obstacle, it can implement obstacle avoidance measures or posture adjustment in time to prevent the detection mechanical arm 3 from colliding with potential obstacles. The controller 1.5 is configured to use image recognition technology to identify apparent damage to the ballastless track when acquiring the ballastless track image captured by the image acquisition device, wherein the image recognition technology can be implemented using an image classification model based on a deep neural network.

[0078] See also Figure 7 , Figure 8, the detection device can control the position and posture of the robot arm 3, so that the image acquisition device 3.7 is always close to the surface of the base plate 4.1, the track plate 4.2 and the interlayer joint of the ballastless track 4, so as to collect high-quality image data. In this embodiment, the end position information of the detection robot arm 3 is obtained by the posture sensor, the joint variables required for the end effector to reach the preset position are obtained by the inverse kinematics algorithm, and the displacement and rotation angle of each joint of the detection robot arm 3 are controlled by the controller 1.5 to achieve the detection task.

[0079] See also Figure 2 , Figure 3 The main frame includes a core plate 1.1 fixed at the bottom and a seat 1.2 fixed at the top. The front cover plate 1.3 and the rear cover plate 1.4 are respectively arranged in front and behind the seat 1.2. The front cover plate 1.3 is provided with an operating platform 1.3.1 for carrying staff. The front side of the front cover plate is provided with the controller 1.5, and the rear side of the rear cover plate is provided with the storage box 1.6. In this embodiment, there are four seats on the main frame, which can carry four staff members. The area surrounded by the front and rear cover plates is the operating space for the staff members. The controller 1.5 is provided with a data processing terminal and a storage terminal mainly composed of an industrial computer.

[0080] The present application provides a workflow for detecting ballastless track damage using a detection device based on a detection vehicle. Using the detection device based on a detection vehicle in the above-mentioned embodiment, the detection workflow is as follows:

[0081] The detection device determines whether the working environment meets the working conditions. If not, the operator adjusts the posture of the detection device. After the working conditions are met, the detection device runs. When it reaches the designated detection position, the vibration acceleration acquisition device obtains power data and uploads it to the controller. At the same time, the image acquisition device at the end of the robotic arm obtains the apparent image data of the ballastless track and uploads it to the controller. After data preprocessing, the corresponding algorithm is used to determine the interlayer damage and apparent damage of the ballastless track. The controller summarizes the damage and gives the detection results. The operator can review the detection results. If the review is passed, it will enter the next detection cycle. If the review fails, the operator will control the retest.

[0082] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0083] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A ballastless track interlayer damage detection device based on a detection trolley, characterized in that: It includes a main frame, a running mechanism, a vibration acceleration acquisition device and a controller; The running mechanism is connected to the bottom of the main frame, the vibration acceleration acquisition device is installed on the running mechanism, and the controller is arranged on the main frame; the running mechanism and the vibration acceleration acquisition device are both electrically connected to the controller; The vibration acceleration acquisition device is used to collect actual dynamic data of the detection device running on track; The controller is used to control the movement of the running mechanism, and is also configured to execute a ballastless track interlayer damage detection method based on a detection trolley, the method comprising the following steps: The vehicle space random dynamic equation, track space random vibration equation, and bridge space random vibration equation are coupled through the wheel-rail relationship and bridge-rail relationship to construct a coupled random dynamic model of the train-track-bridge system. The detection device based on the detection trolley, the ideal track structure, and the ideal bridge structure are input into the train-track-bridge system coupled stochastic dynamics model as train conditions, track conditions, and bridge conditions, and the power data of the detection device based on the detection trolley under the ideal state is solved to be used as the benchmark data; wherein the detection device based on the detection trolley can run on the track and collect its own power data; Obtain actual power data collected by the on-track operation of the detection device based on the detection vehicle; Compare the actual dynamic data with the benchmark data, and determine the extent of interlayer damage based on the deviation from the benchmark data; Also includes: At least two mechanical arms, the at least two mechanical arms are installed on both sides of the main frame to form a wingspan structure in the width direction of the main frame; At least two image acquisition devices, the at least two image acquisition devices being mounted on the ends of the at least two mechanical arms in a one-to-one correspondence; All mechanical arms and image acquisition devices are electrically connected to the controller; The controller is used to control the movement of the robot arm, and is also configured to identify the apparent damage of the ballastless track by using image recognition technology when acquiring the ballastless track image acquired by the image acquisition device; It also includes a positioning device electrically connected to the controller, the positioning device is used to collect geographic location information and upload it to the controller, and the controller is also used to mark the geographic location information on the received actual power data and / or ballastless track image.

2. The ballastless track interlayer damage detection device based on the detection vehicle according to claim 1 is characterized in that: Each robot arm is equipped with distance measuring devices in at least two directions, and the distance measuring devices are electrically connected to the controller.

3. The ballastless track interlayer damage detection device based on the detection vehicle according to claim 1 is characterized in that: The running mechanism includes two bogies, each bogie includes a frame, a bottom plate, a top plate, a wheelset, an axle box, a vibration damping mechanism and a power component; the axle box is rotatably connected to the wheelset, the frame is hinged to the axle box, the bottom plate is fixedly connected to the middle of the frame, the top plate is connected to the bottom plate through a top plate connecting member, the vibration damping mechanism is arranged between the axle box, the bottom plate and the frame, and the power component is connected to the wheelset; the vibration acceleration acquisition device is installed on the axle box and the vibration damping mechanism.

4. The ballastless track interlayer damage detection device based on the detection vehicle according to claim 1 is characterized in that: It also includes a plurality of lighting devices, which are arranged on the main frame and / or the mechanical arm.

5. The ballastless track interlayer damage detection device based on the detection vehicle according to claim 1 is characterized in that: An operating platform for carrying staff is arranged on the main frame.

6. The ballastless track interlayer damage detection device based on the detection vehicle according to claim 1 is characterized in that: The method for constructing the coupled stochastic dynamics model of the train-track-bridge system includes: Combine the random dynamic equations of the vehicle space, the random vibration equations of the track space, and the random vibration equations of the bridge space to establish the random vibration equations of the train-track-bridge system at time t; The random dynamic equations of the vehicle space and the random vibration equations of the track space are coupled to each other through the wheel-rail relationship, and the random vibration equations of the track space and the random vibration equations of the bridge space are coupled to each other through the bridge-track relationship, thus obtaining a coupled random dynamic model of the train-track-bridge system.

7. The ballastless track interlayer damage detection device based on the detection vehicle according to claim 6 is characterized in that: The coupled stochastic dynamics model of the train-track-bridge system is expressed as follows: ； In the formula, , and represent the random mass matrix, random damping matrix and random stiffness matrix of the vehicle respectively; The random mass matrix representing the orbital structure, and They represent the random stiffness matrix and random damping matrix of the track structure after considering the coupling of wheel-rail relationship and bridge-rail relationship; represents the random mass matrix of the bridge structure, and They represent the random stiffness matrix and random damping matrix of the bridge structure after considering the bridge-track coupling relationship; and They represent the interaction stiffness matrix and damping matrix of the vehicle to the track structure, and They represent the interaction stiffness matrix and damping matrix of the track structure to the vehicle respectively; and They represent the interaction stiffness matrix and damping matrix of the bridge structure on the track structure, and denote the interaction stiffness matrix and damping matrix of the track structure to the bridge structure respectively; , and Respectively represent the acceleration matrix, velocity matrix and displacement matrix of the vehicle; , and represent the acceleration matrix, velocity matrix and displacement matrix of the track structure respectively; , and represent the acceleration matrix, velocity matrix and displacement matrix of the bridge structure respectively; , and They represent the vehicle random load matrix, track structure random load matrix and bridge structure random load matrix after considering the wheel-rail relationship and bridge-rail relationship coupling respectively; represents the vehicle random parameter vector, and the subscript represents the random parameter vector of the bridge system, which includes the track structure and the bridge structure. Represents external random load parameters.

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