Track detection device and method based on ultrasonic signal generator

Abstract

The invention relates to the technical field of track detection, in particular to a track detection device based on an ultrasonic signal generator. Comprising a transverse frame, lower hanging arms are symmetrically arranged on the two sides of the transverse frame, rolling wheels are arranged at the bottoms of the lower hanging arms, and a first ultrasonic signal generator is arranged in the center of the transverse frame; three second ultrasonic signal generators which are arranged at equal angles are uniformly arranged on the annular frame, the circle center of the first ultrasonic signal generator coincides with the circle center of the annular frame, and the first ultrasonic signal generator and the second ultrasonic signal generators form a regular triangle detection area; according to the invention, the generators are arranged in a regular triangle manner, so that all-directional and three-dimensional detection of the track is realized, and the detection precision and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of track detection, and in particular to a track detection device and a detection method based on an ultrasonic signal generator. Background Art

[0002] With the rapid development of railway transportation, the requirements for the safety and stability of tracks are becoming increasingly higher, and it is necessary to ensure the integrity and stability of the track structure itself. At present, ultrasonic detection technology is usually used for track detection, which has the advantages of non-destructive, high precision, and strong penetration. However, most existing ultrasonic track inspection devices can only perform detection in limited directions and cannot achieve all-round three-dimensional detection, resulting in problems such as limited detection range, low precision, and low efficiency. Therefore, there is an urgent need for a device that can perform three-dimensional detection around the track to improve detection accuracy and efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned technical deficiencies and provide a track detection device and detection method based on an ultrasonic signal generator. By adopting an equilateral triangle arrangement of the generator, all-round and three-dimensional detection of the track can be achieved, thereby improving the detection accuracy and efficiency.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] A horizontal frame, wherein drooping arms are symmetrically provided on both sides of the horizontal frame, and rollers are provided at the bottom of the drooping arms, and a first ultrasonic signal generator is provided at the center of the horizontal frame;

[0006] An annular frame is provided with three second ultrasonic signal generators arranged at equal angles. The first ultrasonic signal generator coincides with the center of the annular frame and forms an equilateral triangle detection area with the second ultrasonic signal generator.

[0007] Preferably, the length of the base of the equilateral triangle detection area is The highest is 1.5R.

[0008] A detection method for a track detection device based on an ultrasonic signal generator comprises the following steps:

[0009] S1, obtain the ultrasonic signal reflected by the track and convert it into collected track data;

[0010] S2. Calculate the time for acquiring the collected orbital data and establish a three-dimensional coordinate system of the orbit to be analyzed;

[0011] S3. Compare the collected track data with the data formed by the track three-dimensional coordinate system to determine whether the geometric parameters are abnormal;

[0012] S4. Parameter abnormality triggers damage determination and generates damage parameters; if the parameters are normal, continue detection and analysis.

[0013] Preferably, in the parameter abnormal area, the track detection device is driven to decelerate and re-pass the abnormal area, and the ultrasonic signal reflected by the track is obtained for comparison with the first ultrasonic signal.

[0014] Preferably, by formula Acquire operation data of the track detection device.

[0015] Preferably, by formula Determine the projection point of the collected orbit data in the orbit three-dimensional coordinate system.

[0016] Preferably, by formula and formula Get the quantized signal amplitude of the acquired track data.

[0017] Preferably, whether the parameter is abnormal is determined by setting a dynamic threshold and comparing it with the quantization signal amplitude.

[0018] Preferably, the damage parameters include damage area, damage depth, damage location and damage degree, and the damage parameters are stored.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. The four ultrasonic sensors are arranged in a regular tetrahedron, enabling three-dimensional and all-round detection of the track. They can simultaneously collect track damage signals from different directions, significantly improving track detection efficiency.

[0021] 2. By analyzing the shape and intensity of the reflected wave, the type and extent of track damage can be determined, and the damage location can be marked to facilitate subsequent track maintenance;

[0022] 3. For areas with abnormal parameters, control the inspection vehicle to pass through the area slowly and steadily again, collect data for comparison, and ensure the accuracy of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is a schematic diagram of the overall structure of a track detection device based on an ultrasonic signal generator;

[0024] Figure 2 Schematic diagram of the horizontal frame and ring frame structure;

[0025] Figure 3 Schematic diagram of the generator layout;

[0026] Figure 4 Flow chart of the detection method.

[0027] In the figure: 1, horizontal frame; 2, hanging arm; 3, ring frame; 101, first ultrasonic signal generator; 201, roller; 301, second ultrasonic signal generator. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0029] Specific implementation method 1: Combination Figure 1-3 As shown, a track detection device based on an ultrasonic signal generator includes: a cross frame 1, with downward arms 2 symmetrically provided on both sides of the cross frame 1, and rollers 201 provided at the bottom of the downward arms 2, and a first ultrasonic signal generator 101 provided at the center of the cross frame 1; an annular frame 3, with three second ultrasonic signal generators 301 evenly arranged at equal angles on the annular frame 3, the first ultrasonic signal generator 101 coincides with the center of the annular frame 3, and forms an equilateral triangle detection area with the second ultrasonic signal generator 301. The cross frame and the two downward arms form an inspection vehicle structure, and an ultrasonic sensor is arranged inside the inspection vehicle to receive ultrasonic signals. The rollers on both sides are connected to the I-shaped rails to ensure stable rotation of the pulley.

[0030] In a preferred embodiment, the detectors are arranged in an equilateral triangle, that is, the three detection circles made by the detection radius R of each of the three adjacent detectors intersect at one point. This not only meets the specification requirements, but also has a shorter repeated detection range than the square arrangement, resulting in less redundant errors and is more economical. The arrangement spacing of the detectors, i.e., the side length of the equilateral triangle, is The horizontal detectors are rows, and the distance between two adjacent horizontal rows is the height of the equilateral triangle. This row spacing should be 1.5R.

[0031] Combine Figure 4 As shown, a detection method of a track detection device based on an ultrasonic signal generator includes the following steps:

[0032] S1, obtain the ultrasonic signal reflected by the track and convert it into collected track data;

[0033] S2. Calculate the time for acquiring the collected orbital data and establish a three-dimensional coordinate system of the orbit to be analyzed;

[0034] S3. Compare the collected track data with the data formed by the track three-dimensional coordinate system to determine whether the geometric parameters are abnormal;

[0035] S4. Parameter abnormality triggers damage determination and generates damage parameters; if the parameters are normal, continue detection and analysis.

[0036] In a preferred embodiment, in the parameter abnormal area, the inspection vehicle is controlled and balanced by the PID algorithm (proportional-integral-differential control algorithm), as follows:

[0037] First, the tilt sensor and gyroscope measure the current tilt angle θ(k) and angular velocity ω(k) of the detection vehicle respectively, and then calculate the error e(k) = θ ref -θ(k) (where the target angle θ ref Set to 0 to maintain vertical balance), then according to the PID formula Calculate the control output u(k), where K P , K i , K d are proportional, integral and differential coefficients respectively, T is the sampling period; in the calculation process, the proportional term K p e(k) is used to quickly respond to the current tilt, the integral term Used to eliminate steady-state error, differential term K d ω(k) suppresses overshoot and oscillation by directly using the angular velocity signal. The calculated control variable u(k) is limited according to the physical limitations of the motor and then output to the motor driver to adjust the motor speed and direction to restore the inspection vehicle to balance. Finally, this process is repeated in each sampling period, and the control variable is adjusted in real time to achieve stable balance of the inspection vehicle. The PID algorithm calculates the system deviation in real time and adjusts the system input through three control actions: proportional, integral, and differential. This allows the monorail inspection vehicle to maintain balance during driving, achieving high-precision balance control and improving the driving stability and safety of the monorail inspection vehicle.

[0038] In a preferred embodiment, in the process of detecting abnormal rail signal waveform, a sliding window technique is first used to perform statistical analysis on the signal amplitude, and the mean value formula is used to calculate the signal amplitude. Calculate the signal amplitude sequence {a1, a2, ..., a N}, using the standard deviation formula Calculate the standard deviation σ to quantify the signal fluctuation characteristics. Then, based on the statistical results, set the dynamic threshold T = μ + kσ (where k is an empirical coefficient, which can be 3 to 5), and make an abnormal judgment by comparing the size relationship between the signal amplitude and the threshold T. If the signal amplitude a i ≤T, the rail status is determined to be normal and the sliding window detection is continued. If the signal amplitude a i>T triggers the subsequent damage assessment process: the computer will calculate the area and depth of the damage through a pre-set program, determine the location and extent of the damage, and store the abnormal signal.

[0039] In a preferred embodiment, in an environment where the track is a conventional I-shaped rail and ultrasonic sensors are distributed around the track in a three-dimensional tetrahedron, a computer first calculates the propagation time of the ultrasonic signals received by each sensor and estimates the distance from the sensor to the track or potential obstacles using the formula d = 2v.t (where v is the ultrasonic propagation speed and t is the signal round-trip time). Simultaneously, the computer first establishes a three-dimensional coordinate system for the track based on the centerline of the track, parameterizes the geometric features of the I-shaped rail, sets the rail head width as W, the rail waist height as H, and the rail base width as B, and defines the spatial coordinates (x) of the sensors at the vertices of the tetrahedron. i ,y i ,z i );For each sensor, according to its measured distance d i and the installation angle θi (pitch and azimuth relative to the center axis of the track), through the geometric projection formula Calculate the projection point (x proj ,y roj ,z proj ), and at the same time, combined with the I-rail cross-section equation (such as the linear or curved boundary between the rail head and the rail waist), verify whether the projection point is located in the effective detection area to achieve data comparison; for example, the rail head surface needs to satisfy |y proj ∣≤W / 2, and z proj ≥H; If the projection point is detected to be beyond the track geometry range, it is determined to be an abnormality caused by track deformation. The computer will mark this location to facilitate subsequent repairs to the track.

[0040] The first ultrasonic signal generator 101 and the second ultrasonic signal generator 301 emit ultrasonic signals that can detect track defects and perform surround-type three-dimensional detection of the track in the shape of a regular tetrahedron. The ultrasonic signal generator at the top of the regular tetrahedron faces the upper surface of the track, and the three detectors at the bottom of the regular tetrahedron are arranged in an equilateral triangle. The three detection circles made by the three adjacent detectors with their detection radius R intersect at one point.

[0041] The ultrasonic sensor receives changes in ultrasonic signals and converts them into changes in electrical signals to form track data, which is then transmitted to the computer to convey the information brought by the ultrasonic changes.

[0042] In operation, when the ultrasonic wave emitted by the ultrasonic signal generator encounters defects inside or outside the rail, it will reflect back an ultrasonic wave with a different intensity or frequency from the normal ultrasonic wave and a certain time difference.

[0043] Through a regular tetrahedron layout, the four ultrasonic sensors can conduct three-dimensional, all-round detection of the track. At the same time, they can collect track damage signals from different directions, greatly improving the efficiency of track detection. By analyzing the shape and intensity of the reflected waves, the type and extent of the track damage can be determined.

[0044] Each ultrasonic sensor receives changes in ultrasonic signals in a specific direction and transmits them to the signal processing circuit. The signal processing circuit amplifies, filters, and detects the received ultrasonic waves, converting signals from all directions into sinusoidal electrical signals at the same time. The signals are output in four areas from top to bottom on the computer display screen. Each image converted from the signal received by the ultrasonic sensor corresponds to one area.

[0045] When detecting a two-dimensional plane material at a certain location, it is applied to the actual track detection device, and the detectors are arranged in a square around the location, so that the adjacent detectors are arranged in a square. It is more common. However, when the four detection circles made by the four adjacent detectors with their detection radius R intersect at one point, it can ensure that a wider area is covered and more accurate measurement values are obtained. And when the equilateral triangle arrangement is adopted, that is, the three detection circles made by the three adjacent detectors with their detection radius R intersect at one point, it not only meets the specification requirements, but also has a shorter repeated detection range than the square arrangement, resulting in less redundant errors and is more economical. Combined with a monorail inspection vehicle to inspect the track, it can reduce the occurrence of missed detection, increase the detection range, and enhance the detection accuracy.

[0046] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A track detection device based on an ultrasonic signal generator, characterized in that: include: A horizontal frame (1), symmetrically provided with hanging arms (2) on both sides of the horizontal frame (1), and rollers (201) provided at the bottom of the hanging arms (2), and a first ultrasonic signal generator (101) provided at the center of the horizontal frame (1); An annular frame (3) is provided with three second ultrasonic signal generators (301) arranged at equal angles. The first ultrasonic signal generator (101) coincides with the center of the annular frame (3) and forms an equilateral triangle detection area with the second ultrasonic signal generator (301).

2. A track detection device based on an ultrasonic signal generator according to claim 1, characterized in that: The length of the base of the equilateral triangle detection area is The highest is 1.5R.

3. The detection method of a track detection device based on an ultrasonic signal generator according to claim 1, characterized in that: The steps include: S1, obtain the ultrasonic signal reflected by the track and convert it into collected track data; S2. Calculate the time for acquiring the collected orbital data and establish a three-dimensional coordinate system of the orbit to be analyzed; S3. Compare the collected track data with the data formed by the track three-dimensional coordinate system to determine whether the geometric parameters are abnormal; S4. Parameter abnormality triggers damage determination and generates damage parameters; if the parameters are normal, continue detection and analysis.

4. The detection method of a track detection device based on an ultrasonic signal generator according to claim 3, characterized in that: In the parameter abnormal area, the track detection device is driven to slow down and pass through the abnormal area again, and the ultrasonic signal reflected by the track is obtained and compared with the first ultrasonic signal.

5. The detection method of a track detection device based on an ultrasonic signal generator according to claim 4, characterized in that: By formula Acquire operation data of the track detection device.

6. The detection method of a track detection device based on an ultrasonic signal generator according to claim 3, characterized in that: By formula Determine the projection point of the collected orbit data in the orbit three-dimensional coordinate system.

7. The detection method of a track detection device based on an ultrasonic signal generator according to claim 3, characterized in that: By formula and formula Get the quantized signal amplitude of the acquired track data.

8. The detection method of a track detection device based on an ultrasonic signal generator according to claim 7, characterized in that: By setting the dynamic threshold and comparing it with the quantized signal amplitude, it is determined whether the parameters are abnormal.

9. The detection method of a track detection device based on an ultrasonic signal generator according to claim 3, characterized in that: The damage parameters include damage area, damage depth, damage location and damage degree, and the damage parameters are stored.

Images