Ballastless track disease detection method and system based on double radars and ultrasonic waves

Abstract

The invention relates to the technical field of ballastless track disease detection, and discloses a ballastless track disease detection method and system based on double radars and ultrasonic waves, and the method comprises the steps: extracting a detection section range and a detection time range from a ballastless track disease detection task, constructing detection control reference information through a train operation list, and carrying out the detection of the ballastless track disease. Then, detecting operation parameters of each ballastless track detecting vehicle are determined by obtaining ballastless track detecting resources, and finally, the ballastless track detecting resources are obtained by considering constraint conditions formed by multiple factors such as the area detecting coverage rate, the detecting time range and the track idle time period of different detecting points in different depth areas and an optimization target formed by the detecting completion time. And each ballastless track detection vehicle is controlled to run along the line and is controlled to move, scan and detect by a dual-radar detection device and a dual-ultrasonic detection device. Therefore, the detection speed and the detection efficiency of carrying out disease detection on the ballastless track by using a radar detection technology and an ultrasonic detection technology are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ballastless track defect detection, and in particular to a ballastless track defect detection method and system based on dual radars and ultrasonic waves. Background Art

[0002] Ballastless track refers to a track structure that uses concrete, asphalt mixture and other integral foundations to replace the granular gravel roadbed. It is also called ballastless track and is the most advanced track technology in the world today. Since the ballastless track is laid for a long time and the inspection process is cumbersome, it is prone to problems such as gaps, looseness and cracks. In particular, cracks may occur in the shallow and deep areas of the ballastless track under different circumstances, which are difficult to detect with the naked eye. Professional testing instruments must be used for inspection to detect and deal with these diseases in a timely manner.

[0003] Defects (mainly cracks) in deep and shallow areas of ballastless tracks are usually formed based on different influencing factors. Cracks in deep areas usually generate dynamic stress inside the ballastless track structure due to repeated loads from trains. Over time, fatigue damage will occur to the materials in deeper areas below the trackbed, usually manifested as the initiation and expansion of internal microcracks. Defects in shallow areas are usually caused by direct contact with the external environment. When the temperature changes, the temperature gradient and thermal stress generated by the difference between the surface temperature and the internal temperature will generate tensile stress on the surface and shallow areas, thus forming cracks in the shallow areas. When faced with defect detection in areas of different depths, a single detection method is often unable to meet the needs of defect detection in areas of different depths.

[0004] The ballastless track inspection vehicle based on radar detection technology and ultrasonic detection technology can perform multiple detection methods on the track along the ballastless track route to solve the detection defects caused by a single detection method (the radar detection depth is relatively large and can detect defects within a depth of several meters below the trackbed; the ultrasonic detection depth is relatively shallow and can usually effectively detect defects within the trackbed and around the sleepers within a depth of about 0.5 meters). However, in practical applications, there are still the following limitations: (1) Generally, the inspection of ballastless track is time-sensitive and has heavy tasks. It is necessary to consider the probability of occurrence of defects at different locations to impose the corresponding inspection coverage area ratio (that is, to ensure the inspection quality), and it is also necessary to consider the inspection completion time (that is, to ensure the inspection speed). (2) The use of ballastless track inspection vehicles needs to take into account the idle period of the track (that is, the ballastless track inspection vehicle needs to avoid the normal train running period and reserve safety time). (3) The driving speed of different ballastless track inspection vehicles, as well as the scanning area and mobile scanning speed of the configured radar detection devices and ultrasonic detection devices, will also vary. When allocating ballastless track inspection tasks, the characteristics of different ballastless track inspection vehicles need to be considered. Therefore, how to improve the detection speed and efficiency of detecting diseases in ballastless tracks using radar detection technology and ultrasonic detection technology is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The main object of the present invention is to provide a method and system for detecting diseases in ballastless tracks based on dual radar and ultrasonic waves, aiming to solve at least one of the above technical problems.

[0006] To achieve the above object, the present invention provides a method for detecting diseases in ballastless tracks based on dual radar and ultrasonic waves, including the following steps: Receive a disease detection task for ballastless tracks, and determine the detection section range and detection time range; According to the detection section range and detection time range, query the train operation list, and construct detection control reference information including track idle periods and disease-related parameters; Obtain ballastless track detection resources, and extract the detection operation parameters of several ballastless track inspection vehicles equipped with dual radar detection devices and dual ultrasonic detection devices from the ballastless track detection resources; Among them, the dual radar detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection in the first depth area of the ballastless track, and the dual ultrasonic detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection in the second depth area of the ballastless track. The detection operation parameters include the driving speed range of the ballastless track inspection vehicle, the first moving scanning speed of the dual radar detection device, and the second moving scanning speed of the dual ultrasonic detection device; Based on the detection control reference information and the detection operation parameters of the ballastless track inspection vehicle, generate several control instruction sets for the disease detection task of the ballastless track assigned to each ballastless track inspection vehicle; Among them, the control instruction set includes a driving control instruction for controlling the ballastless track inspection vehicle and a moving control instruction for controlling the dual radar detection device and the dual ultrasonic detection device.

[0007] In addition, to achieve the above object, the present invention also provides a system for detecting diseases in ballastless tracks based on dual radar and ultrasonic waves. The system includes: A receiving module, configured to receive a disease detection task for ballastless tracks, and determine the detection section range and detection time range; A query module, configured to query the train operation list according to the detection section range and detection time range, and construct detection control reference information including track idle periods and disease-related parameters; An extraction module, configured to obtain ballastless track detection resources and extract detection operation parameters of a number of ballastless track inspection vehicles equipped with dual radar detection devices and dual ultrasonic detection devices from the ballastless track detection resources; wherein, the dual radar detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection on the first depth area of the ballastless track, and the dual ultrasonic detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection on the second depth area of the ballastless track, and the detection operation parameters include the driving speed range of the ballastless track inspection vehicle, the first moving scanning speed of the dual radar detection device, and the second moving scanning speed of the dual ultrasonic detection device; A generation module, configured to generate a number of control instruction sets for each ballastless track inspection vehicle for the ballastless track disease detection task based on the detection control reference information and the detection operation parameters of the ballastless track inspection vehicle; wherein, the control instruction set includes a driving control instruction for controlling the ballastless track inspection vehicle and a moving control instruction for controlling the dual radar detection device and the dual ultrasonic detection device.

[0008] The beneficial effects of the present invention are as follows: A ballastless track disease detection method and system based on dual radar and ultrasonic are proposed. By extracting the detection section range and detection time range from the ballastless track disease detection task, using the train operation list to construct the detection control reference information, then obtaining the ballastless track detection resources to determine the detection operation parameters of each ballastless track inspection vehicle, and finally considering the constraint conditions composed of multiple factors such as the regional detection coverage rate of different detection points in different depth areas, the detection time range, and the track idle period, as well as the optimization goal composed of the detection completion time, to solve the allocation strategy of the ballastless track disease detection task to a number of ballastless track inspection vehicles and the detection execution period of each ballastless track inspection vehicle, and convert it into a control instruction set to control the along-track driving of each ballastless track inspection vehicle and the moving scanning detection of the configured dual radar detection device and dual ultrasonic detection device. Thus, by considering the comprehensive ballastless track disease detection requirements, external influencing factors, and available detection resources, the ballastless track disease detection task is reasonably divided into sections, allocated, and the execution period is selected, so as to improve the detection speed and detection efficiency of using radar detection technology and ultrasonic detection technology to detect diseases of ballastless tracks. Description of the Drawings

[0009] Figure 1 It is a flowchart of the ballastless track disease detection method based on dual radar and ultrasonic of the present invention; Figure 2 It is a structural diagram of the ballastless track disease detection system based on dual radar and ultrasonic of the present invention.

[0010] The realization, functional characteristics, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiment

[0011] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0012] An embodiment of the present invention provides a ballastless track disease detection method based on dual radar and ultrasonic waves. Refer to Figure 1 , Figure 1 which is a schematic flow chart of an embodiment of the ballastless track disease detection method based on dual radar and ultrasonic waves of the present invention.

[0013] In this embodiment, a ballastless track disease detection method based on dual radar and ultrasonic waves includes the following steps: S100: Receive a ballastless track disease detection task, and determine the detection section range and detection time range; S200: According to the detection section range and detection time range, query the train operation list, and construct detection control reference information including track idle periods and disease correlation parameters; S300: Obtain ballastless track detection resources, and extract the detection operation parameters of several ballastless track inspection vehicles equipped with dual radar detection devices and dual ultrasonic detection devices from the ballastless track detection resources; Among them, the dual radar detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection in the first depth area of the ballastless track, and the dual ultrasonic detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection in the second depth area of the ballastless track. The detection operation parameters include the driving speed range of the ballastless track inspection vehicle, the first moving scanning speed of the dual radar detection device, and the second moving scanning speed of the dual ultrasonic detection device; S400: Based on the detection control reference information and the detection operation parameters of the ballastless track inspection vehicle, generate a number of control instruction sets for the ballastless track disease detection task assigned to each ballastless track inspection vehicle; Among them, the control instruction set includes a driving control instruction for controlling the ballastless track inspection vehicle and a moving control instruction for controlling the dual radar detection device and the dual ultrasonic detection device.

[0014] It should be noted that the ballastless track inspection vehicle based on radar detection technology and ultrasonic detection technology can detect diseases of the track in multiple inspection methods along the ballastless track line to solve the detection defects brought by a single detection method. However, in practical applications, the following limitations still exist: (1) Usually, the inspection of ballastless tracks has the characteristics of tight time and heavy tasks. It is necessary to consider the probability of disease occurrence at different positions to apply the corresponding detection coverage ratio (that is, to ensure the detection quality), and it is also necessary to consider the inspection completion time (that is, to ensure the inspection speed). (2) The use of the ballastless track inspection vehicle needs to consider the track idle period (that is, the ballastless track inspection vehicle needs to avoid the driving period of normal trains and reserve a safety time). (3) The driving speeds of different ballastless track inspection vehicles, as well as the scanning area and moving scanning speed of the configured radar detection device and ultrasonic detection device, will also vary. When allocating the ballastless track inspection tasks, the characteristics of different ballastless track inspection vehicles need to be considered.

[0015] To solve the above problems, in this embodiment, by extracting the inspection section range and inspection time range from the ballastless track disease inspection task, using the train operation list to construct inspection control reference information, then obtaining the ballastless track inspection resources to determine the inspection operation parameters of each ballastless track inspection vehicle, and finally considering the constraint conditions composed of multiple factors such as the regional inspection coverage rate, inspection time range, and track idle period at different depth areas of different inspection points and the optimization goal composed of the inspection completion time, control the driving along the line of each ballastless track inspection vehicle and the moving scanning inspection of the configured dual-radar detection device and dual-ultrasonic detection device. Thereby, the inspection speed and inspection efficiency of using radar detection technology and ultrasonic detection technology to detect diseases of ballastless tracks are improved.

[0016] In a preferred embodiment, the steps of receiving the ballastless track disease inspection task and determining the inspection section range and inspection time range specifically include: S110: Receive the ballastless track disease inspection requirements sent by the inspection request end; wherein, the ballastless track disease inspection task includes the overall inspection section and the inspection period; S120: According to the section jurisdiction relationship of the ballastless track, divide the overall inspection section into independent inspection sections for each inspection subject, use the independent inspection section of each inspection subject as the inspection section range, and the inspection period as the inspection time range to construct the ballastless track disease inspection task of each inspection subject; S130: Send the ballastless track disease inspection task to each inspection subject so that each inspection subject can determine the inspection section range and inspection time range according to the received ballastless track disease inspection task.

[0017] In this embodiment, the overall detection section and detection period are extracted from the needs of ballastless track disease detection, and then divided into independent detection sections according to the section jurisdiction relationship. The ballastless track disease detection tasks for each detection subject are constructed and distributed to each detection subject. When each detection subject receives the ballastless track disease detection task, it generates a control instruction set according to the detection section range and detection time range.

[0018] In a preferred embodiment, according to the detection section range and detection time range, query the train operation list, and construct the detection control reference information including the track idle period and disease correlation parameters. The specific steps include: S210: Use the detection section range and detection time range as the first query condition to perform the first query action in the query train operation arrangement list. According to the query result, predict the track idle period of each detection point within the detection section range during the detection time range; S220: Use the detection section range as the second query condition to perform the second query action in the train operation history list. According to the query result, determine the disease correlation parameter set of each detection point within the detection section range; S230: Based on the track idle period of each detection point within the detection section range during the detection time range and the disease correlation parameter set of each detection point within the detection section range, construct the detection control reference information.

[0019] Furthermore, the step of using the detection section range and detection time range as the first query condition to perform the first query action in the query train operation arrangement list and predicting the track idle period of each detection point within the detection section range during the detection time range according to the query result specifically includes: S211: Access the train operation database and call the train operation arrangement list; wherein, the train operation arrangement list stores several train operation arrangement information waiting to be executed, and each train operation arrangement information includes the operation track path and operation time section; S212: Use the detection section range and detection time range as the first query condition to perform the first query action in the train operation arrangement list, and extract the target train operation arrangement information whose operation track path and operation time section respectively fall into the detection section range and detection time range at the same time as the first query result; S213: According to the position information of each operation track point in the target train operation arrangement information and the travel timestamp of each operation track point determined based on the stop time between adjacent stations and the road section speed limit condition, predict the track idle period of each detection point within the detection section range during the detection time range.

[0020] Further, taking the detection section range as the second query condition, perform a second query action in the train operation history list. According to the query result, determine the disease correlation parameter set for each detection point within the detection section range. The specific steps include: S221: Access the train operation database and call the train operation history list; wherein, the train operation history list stores several pieces of train operation history information that have been executed, and each piece of train operation history information includes an operation trajectory path and an operation time period. S222: Taking the detection section range and the operation time range from the last detection time to the current time as the second query condition, perform a second query action in the train operation history list, and extract the target train operation history information whose operation trajectory path and operation time period respectively fall within the detection section range and the operation time range as the second query result. S223: According to the position information and travel timestamp of each operation trajectory point in the target train operation history information, extract the historical operation trajectory points that respectively fall within the detection section range and the operation time range in the target train operation history information. S224: Using the position information and travel timestamp of each historical operation trajectory point, call the disease correlation parameter set, and query the disease correlation parameter set stored in the disease correlation parameter set for each historical operation trajectory point within the operation time range; wherein, the disease correlation parameter set includes the surface temperature of the ballastless track and the train load value for each travel timestamp within the operation time range.

[0021] In this embodiment, the process of querying the train operation list according to the detection section range and the detection time range, and constructing the detection control reference information including the track idle period and the disease correlation parameter mainly includes respectively querying the train operation arrangement list and the train operation history list. According to the operation arrangement of each train in the train operation arrangement list, predict the idle period of each detection point within the detection section range. According to the operation records of each train in the train operation history list, determine the disease correlation parameters (mainly the surface temperature of the ballastless track and the train load value) of each detection point within the detection section range at each travel timestamp. By statistically analyzing the surface temperature of the ballastless track, measure the probability of disease generation in the shallow depth of the ballastless track. By statistically analyzing the train load value, measure the probability of disease generation in the deep depth of the ballastless track).

[0022] In a preferred embodiment, the steps of obtaining the ballastless track detection resources and extracting the detection operation parameters of several ballastless track detection vehicles equipped with dual radar detection devices and dual ultrasonic detection devices in the ballastless track detection resources include: S310: Obtain the ballastless track detection resources for the ballastless track disease detection task; wherein, the ballastless track detection resources include the identification information of a number of ballastless track detection vehicles equipped with dual radar detection devices and dual ultrasonic detection devices. S320: Use the identification information to match the detection operation parameters of each ballastless track detection vehicle in the mapping comparison table of the identification information of the ballastless track detection vehicle and the detection operation parameters; wherein, the detection operation parameters include the driving speed range of the ballastless track detection vehicle, the first moving scanning speed of the dual radar detection device, and the second moving scanning speed of the dual ultrasonic detection device.

[0023] In this embodiment, by analyzing the ballastless track detection resources for the ballastless track disease detection task, query the driving speed range of each ballastless track detection vehicle, the first moving scanning speed of the dual radar detection device, and the second moving scanning speed of the dual ultrasonic detection device, which are used to construct the constraint conditions and optimization objectives for generating the subsequent control instruction set.

[0024] In practical applications, the first depth area is configured as the deep depth area of 0.5 - 5m of the ballastless track, and the second depth area is configured as the shallow depth area of 0 - 0.5m of the ballastless track.

[0025] In a preferred embodiment, based on the detection control reference information and the detection operation parameters of the ballastless track detection vehicle, the steps of generating a number of control instruction sets for the ballastless track disease detection task assigned to each ballastless track detection vehicle specifically include: S410: Extract the track idle period and the disease correlation parameter set of each detection point in the detection control reference information. According to the disease correlation parameters of each detection point, determine the disease probability level and the standard area detection coverage rate of each detection point in different depth areas of the ballastless track according to the disease correlation parameter conditions and the standard area detection coverage rate corresponding to different disease probability levels recorded in the preset disease probability level table. S420: Divide the detection section range into several sub-sections with a unit detection length, and perform continuous section allocation for each ballastless track inspection vehicle on the several sub-sections. After each ballastless track inspection vehicle is assigned several continuous sub-sections, the actual detection period determined by the intersection of the track idle periods of each detection point in the several continuous sub-sections and the maximum regional detection coverage rate of different depth regions calculated from the detection operation parameters of the corresponding ballastless track inspection vehicle are used as constraints, where the maximum regional detection coverage rate is greater than the total standard regional detection coverage rates corresponding to different depths among all detection points. With the earliest detection completion time after all ballastless tracks complete the detection actions on the corresponding several continuous sub-sections as the optimization objective after each ballastless track inspection vehicle is assigned several continuous sub-sections, optimize and solve the allocation strategy of each ballastless track inspection vehicle and several continuous sub-sections and the detection execution period of each ballastless track inspection vehicle. S430: Generate a set of control instructions for each ballastless track inspection vehicle assigned to the ballastless track disease detection task according to the allocation strategy and the detection execution period.

[0026] Furthermore, the maximum regional detection coverage rate of different depth regions calculated from the actual detection period determined by the intersection of the track idle periods of each detection point in the several continuous sub-sections and the detection operation parameters of the corresponding ballastless track inspection vehicle specifically includes: S421: Find the intersection of the track idle periods of each detection point in the several continuous sub-sections corresponding to each ballastless track inspection vehicle to obtain the actual detection period corresponding to each ballastless track inspection vehicle. S422: Extract the detection durations of several independent sections in the actual detection period. According to the detection duration of each independent section and the track detection lengths of the corresponding several continuous sub-regions, extract the driving speed intervals that can complete the track detection actions of the several continuous sub-regions within the section detection duration range from the driving speed range of the ballastless track inspection vehicle. S423: Based on each driving speed value in the driving speed interval, the first moving scanning speed of the dual-radar detection device, and the second moving scanning speed of the dual-ultrasonic detection device, considering the single detection area of the dual-radar detection device and the dual-ultrasonic detection device, calculate the first maximum scanning detection area of the dual-radar detection device in the first depth region and the second maximum scanning detection area of the dual-ultrasonic detection device in the second depth region when performing detection at different driving speeds in the driving speed interval. S424: Take the ratios of the first maximum scanning detection area and the second maximum scanning detection area to the overall area of the several continuous sub-sections as the maximum regional detection coverage rates of different depth regions.

[0027] It should be noted that, first, the intersection of the track idle periods of each detection point is obtained to get the actual detection period corresponding to each ballastless track inspection vehicle. Considering that the actual detection period may include multiple independent time segments, it is necessary to analyze whether each independent time segment can meet the disease detection requirements of the corresponding ballastless track inspection vehicle at this time. That is, calculate the first maximum scanning detection area of the dual-radar detection device in the first depth area and the second maximum scanning detection area of the dual-ultrasonic detection device in the second depth area when performing detection at different driving speeds in the driving speed range, and then obtain the maximum area detection coverage rate by the ratio of the scanning detection area to the overall area of several consecutive sub-segments. In this embodiment, the dual-radar detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection in the first depth area of the ballastless track, and the dual-ultrasonic detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection in the second depth area of the ballastless track. Thus, the calculation of the scanning detection area is achieved by considering the driving speed of the ballastless track inspection vehicle, the first moving scanning speed of the dual-radar detection device, and the second moving scanning speed of the dual-ultrasonic detection device. During the driving process, the scanning areas of the dual-radar detection device and the dual-ultrasonic detection device are waveform curves formed by single detection areas, and the calculation of the scanning detection area can be realized by analyzing the waveform curves and the single detection area area.

[0028] In this embodiment, by considering the constraint conditions composed of multiple factors such as the area detection coverage rate, detection time range, and track idle period in different depth areas of different detection points, and the optimization objective composed of the detection completion time (the constraint conditions mainly consider the disease correlation parameter conditions and standard area detection coverage rates corresponding to different disease probability levels. Different disease probability levels are evaluated by the disease correlation parameters of each detection point at each driving time stamp. Finally, it is necessary to ensure that the maximum area detection coverage rate of different depth areas of each detection point is greater than all the standard area detection coverage rates corresponding to different depths among all the detection points in the corresponding section, that is, the area detection coverage rate achieved by each ballastless track inspection vehicle during detection in the corresponding section is greater than the standard area detection coverage rates of all the detection points in this section; the optimization objective mainly considers that the earliest completion time of the entire ballastless track disease detection task), the allocation strategy of the ballastless track disease detection task to several ballastless track inspection vehicles and the detection execution period of each ballastless track inspection vehicle are solved, and they are transformed into a control instruction set to control the driving along the line of each ballastless track inspection vehicle and the moving scanning detection of the configured dual-radar detection device and dual-ultrasonic detection device.

[0029] Thus, in this embodiment, by considering the comprehensive needs of ballastless track disease detection, external influencing factors, and available detection resources, the ballastless track disease detection tasks are reasonably divided into sections, allocated, and the execution time periods are selected, so as to improve the detection speed and efficiency of using radar detection technology and ultrasonic detection technology to detect diseases of ballastless tracks.

[0030] Refer to Figure 2 , Figure 2 which is the structural block diagram of the embodiment of the ballastless track disease detection system based on dual radars and ultrasonic waves of the present invention.

[0031] As Figure 2 shown, the ballastless track disease detection system based on dual radars and ultrasonic waves proposed in the embodiment of the present invention includes: A receiving module 10, configured to receive ballastless track disease detection tasks and determine the detection section range and detection time range; A query module 20, configured to query the train operation list according to the detection section range and detection time range, and construct detection control reference information including track idle time periods and disease correlation parameters; An extraction module 30, configured to obtain ballastless track detection resources and extract the detection operation parameters of several ballastless track inspection vehicles equipped with dual radar detection devices and dual ultrasonic detection devices from the ballastless track detection resources; wherein, the dual radar detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection on the first depth area of the ballastless track, and the dual ultrasonic detection device is configured to reciprocate in the horizontal plane along the vertical direction of the track and perform disease scanning detection on the second depth area of the ballastless track, and the detection operation parameters include the driving speed range of the ballastless track inspection vehicle, the first moving and scanning speed of the dual radar detection device, and the second moving and scanning speed of the dual ultrasonic detection device; A generation module 40, configured to generate a set of control instructions assigned to each ballastless track inspection vehicle for the ballastless track disease detection task based on the detection control reference information and the detection operation parameters of the ballastless track inspection vehicle; wherein, the set of control instructions includes a driving control instruction for controlling the ballastless track inspection vehicle and a moving control instruction for controlling the dual radar detection device and the dual ultrasonic detection device.

[0032] For other embodiments or specific implementation manners of the ballastless track disease detection system based on dual radars and ultrasonic waves of the present invention, reference may be made to the above method embodiments, and details are not described herein again.

[0033] It should be understood that in the description of this specification, the descriptions with reference to terms such as "one embodiment", "another embodiment", "other embodiments", or "the first embodiment to the Nth embodiment" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0034] It should be noted that in this article, the term "comprising", "including", or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article, or system including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such a process, method, article, or system. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or system including the element.

[0035] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A ballastless track defect detection method based on dual radar and ultrasonic wave, characterized in that: The following steps are involved: Accept ballastless track defect inspection tasks and determine the inspection section scope and inspection time range; According to the detection section range and detection time range, query the train operation list and build the detection control reference information including track idle period and disease-related parameters; Acquire ballastless track inspection resources, and extract inspection and operation parameters of several ballastless track inspection vehicles equipped with dual radar inspection devices and dual ultrasonic inspection devices from the ballastless track inspection resources; Wherein, the dual radar detection device is configured to reciprocate in a horizontal plane along a vertical direction of the track and perform a first depth area scan detection of the ballastless track, and the dual ultrasonic detection device is configured to reciprocate in a horizontal plane along a vertical direction of the track and perform a second depth area scan detection of the ballastless track, and the detection operation parameters include the travel speed range of the ballastless track inspection vehicle, the first moving scanning speed of the dual radar detection device, and the second moving scanning speed of the dual ultrasonic detection device; Based on the inspection control reference information and the inspection operation parameters of the ballastless track inspection vehicle, a plurality of control instruction sets of the ballastless track defect inspection task are generated and allocated to each ballastless track inspection vehicle; The control instruction set includes driving control instructions for controlling the ballastless track inspection vehicle and movement control instructions for controlling the dual radar inspection device and the dual ultrasonic inspection device.

2. The ballastless track defect detection method based on dual radar and ultrasound according to claim 1, characterized in that: The steps of receiving the ballastless track defect detection task and determining the detection section range and detection time range include: Receiving a ballastless track defect detection requirement issued by a detection request end; wherein the ballastless track defect detection task includes an overall detection section and a detection period; According to the section jurisdiction relationship of ballastless track, the overall inspection section is divided into independent inspection sections for each inspection subject. The independent inspection section of each inspection subject is used as the inspection section range, and the inspection period is used as the inspection time range to construct the ballastless track disease inspection task for each inspection subject. The ballastless track defect detection task is issued to each detection subject, so that each detection subject determines the detection section range and detection time range according to the received ballastless track defect detection task.

3. The ballastless track defect detection method based on dual radar and ultrasound according to claim 1, characterized in that: According to the detection section range and detection time range, query the train operation list and build the detection control reference information steps including track idle period and disease-related parameters, including: A first query action is performed in the query train operation schedule list using the detection section range and the detection time range as the first query condition, and based on the query result, a track idle period of each detection point within the detection section range within the detection time range is predicted; A second query action is performed in the train operation history list using the detection section range as the second query condition, and a set of disease-related parameters of each detection point within the detection section range is determined according to the query result; Based on the track idle period of each inspection point within the inspection time range and the disease-related parameter set of each inspection point within the inspection section, the inspection control reference information is constructed.

4. The ballastless track defect detection method based on dual radar and ultrasound according to claim 3, characterized in that: The first query action is performed in the query train operation schedule list using the detection section range and the detection time range as the first query condition, and according to the query result, the track idle period of each detection point within the detection section range within the detection time range is predicted, specifically including: Accessing a train operation database and calling a train operation schedule list; wherein the train operation schedule list stores a plurality of train operation schedule information waiting to be executed, each train operation schedule information including an operation track path and an operation time segment; A first query action is performed in the train operation schedule list using the detection section range and the detection time range as the first query condition, and target train operation schedule information whose operation track path and operation time section respectively fall into the detection section range and the detection time range is extracted as the first query result; According to the location information of each running track point in the target train operation schedule information and the travel timestamp of each running track point determined based on the stop time of two adjacent stations and the speed limit conditions of the section, the track idle period of each detection point within the detection time range within the detection section is predicted.

5. The ballastless track defect detection method based on dual radar and ultrasound according to claim 3, characterized in that: The second query action is performed in the train operation history list using the detection section range as the second query condition, and according to the query result, the step of determining the disease association parameter set of each detection point within the detection section range specifically includes: Accessing a train operation database and calling a train operation history list; wherein the train operation history list stores a plurality of executed train operation history information, each train operation history information including an operation track path and an operation time segment; A second query action is performed in the train operation history list using the detection section range and the running time range between the last detection time and the current time as the second query condition, and the target train operation history information whose running track path and running time section respectively fall into the detection section range and the running time range is extracted as the second query result; According to the location information and travel timestamp of each running track point in the target train running history information, the historical running track points in the target train running history information that fall into the detection section range and the running time range are extracted; The location information and travel timestamp of each historical running trajectory point are used to call the disease-associated parameter set, and the disease-associated parameter set of each historical running trajectory point within the running time range stored in the disease-associated parameter set is queried; wherein the disease-associated parameter set includes the ballastless track surface temperature and train load value of each travel timestamp within the running time range.

6. The ballastless track defect detection method based on dual radar and ultrasound according to claim 1, characterized in that: The step of acquiring ballastless track inspection resources and extracting inspection operation parameters of a plurality of ballastless track inspection vehicles equipped with dual radar inspection devices and dual ultrasonic inspection devices in the ballastless track inspection resources specifically includes: Acquire ballastless track inspection resources for ballastless track defect inspection tasks; wherein the ballastless track inspection resources include identification information of a number of ballastless track inspection vehicles equipped with dual radar inspection devices and dual ultrasonic inspection devices; Using the identification information, the detection and operation parameters of each ballastless track inspection vehicle are matched in a mapping comparison table between the identification information of the ballastless track inspection vehicle and the detection and operation parameters; wherein the detection and operation parameters include the driving speed range of the ballastless track inspection vehicle, the first moving scanning speed of the dual radar detection device, and the second moving scanning speed of the dual ultrasonic detection device.

7. The ballastless track defect detection method based on dual radar and ultrasound according to claim 1, characterized in that: The first depth region is configured as a deep depth region of 0.5-5 m of the ballastless track, and the second depth region is configured as a shallow depth region of 0-0.5 m of the ballastless track.

8. The ballastless track defect detection method based on dual radar and ultrasound according to claim 1, characterized in that: Based on the inspection control reference information and the inspection operation parameters of the ballastless track inspection vehicle, a number of control instruction set steps for the ballastless track defect inspection task are generated and assigned to each ballastless track inspection vehicle, specifically including: Extract the track idle period and disease-related parameter set of each detection point in the detection control reference information, and determine the disease probability level and standard area detection coverage of each detection point in different depth areas of the ballastless track according to the disease-related parameter conditions and standard area detection coverage corresponding to different disease probability levels recorded in the preset disease probability level table; The detection section range is divided into several sub-sections with unit detection lengths, and continuous section allocation is performed for each ballastless track detection vehicle for the several sub-sections. After each ballastless track detection vehicle is allocated to several continuous sub-sections, the maximum area detection coverage of different depth areas obtained by calculating the actual detection period determined by the intersection of the track idle period of each detection point in the several continuous sub-sections and the detection operation parameters of the corresponding ballastless track detection vehicle is greater than the constraint condition of all standard area detection coverage corresponding to different depths in all detection points; after each ballastless track detection vehicle is allocated to several continuous sub-sections, the earliest detection completion time after all ballastless tracks have completed the detection actions of all corresponding several continuous sub-sections is taken as the optimization goal, and the allocation strategy of each ballastless track detection vehicle and several continuous sub-sections and the detection execution period of each ballastless track detection vehicle are optimized; According to the allocation strategy and the detection execution period, a number of control instruction sets for ballastless track defect detection tasks are generated and allocated to each ballastless track detection vehicle.

9. The ballastless track defect detection method based on dual radar and ultrasound according to claim 8, characterized in that: The maximum area detection coverage of different depth areas is calculated by the actual detection period determined by the intersection of the track idle periods of each detection point in several continuous sub-sections and the detection operation parameters of the corresponding ballastless track detection vehicle, including: The track idle time periods of each inspection point in a number of continuous subsections corresponding to each ballastless track inspection vehicle are intersected to obtain the actual inspection time period corresponding to each ballastless track inspection vehicle; Extracting the detection durations of several independent sections in the actual detection period, and extracting, from the driving speed range of the ballastless track inspection vehicle, a driving speed interval capable of completing the track inspection actions of several consecutive sub-areas within the section detection duration range, according to each independent section detection duration and the track inspection lengths of the corresponding several consecutive sub-areas; Based on each driving speed value in the driving speed interval and the first moving scanning speed of the dual radar detection device and the second moving scanning speed of the dual ultrasonic detection device, taking into account the single detection area of ​​the dual radar detection device and the dual ultrasonic detection device, calculate the first maximum scanning detection area of ​​the dual radar detection device in the first depth area and the second maximum scanning detection area of ​​the dual ultrasonic detection device in the second depth area when performing detection at different driving speeds in the driving speed interval; The ratios of the first maximum scanning detection area and the second maximum scanning detection area to the overall area of ​​a plurality of continuous sub-segments are taken as the maximum area detection coverage of different depth areas.

10. A ballastless track defect detection system based on dual radar and ultrasonic wave, characterized in that: The system comprises: A receiving module is used to receive ballastless track defect detection tasks and determine the detection section range and detection time range; A query module is used to query the train operation list according to the detection section range and detection time range, and construct detection control reference information including track idle period and disease-related parameters; An extraction module is used to obtain ballastless track inspection resources, and extract inspection operation parameters of several ballastless track inspection vehicles equipped with dual radar inspection devices and dual ultrasonic inspection devices in the ballastless track inspection resources; wherein the dual radar inspection device is configured to reciprocate in a horizontal plane along a vertical direction of the track and perform a disease scanning inspection of a first depth area of ​​the ballastless track, and the dual ultrasonic inspection device is configured to reciprocate in a horizontal plane along a vertical direction of the track and perform a disease scanning inspection of a second depth area of ​​the ballastless track, and the inspection operation parameters include a travel speed range of the ballastless track inspection vehicle, a first moving scanning speed of the dual radar inspection device, and a second moving scanning speed of the dual ultrasonic inspection device; A generation module is used to generate a plurality of control instruction sets for ballastless track defect detection tasks assigned to each ballastless track detection vehicle based on detection control reference information and detection operation parameters of the ballastless track detection vehicle; wherein the control instruction set includes driving control instructions for controlling the ballastless track detection vehicle and movement control instructions for controlling a dual radar detection device and a dual ultrasonic detection device.

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