Method and system for detecting transverse resistance of ballast bed in real time

Abstract

The invention provides a method and system for detecting the transverse resistance of a ballast bed in real time, and the method comprises the steps: directly associating the transverse resistance of the ballast bed with the transverse displacement of an intelligent detection vehicle through building a ballast track static model and a simulated detection vehicle-ballast track dynamic coupling model; therefore, in the running process of the intelligent detection vehicle for detecting the transverse resistance system of the ballast bed in real time, the transverse displacement of the intelligent detection vehicle at the corresponding position of each sleeper can be collected in real time; according to the transverse displacement of the intelligent detection vehicle, the transverse resistance of the ballast bed can be analyzed and output in real time by combining the corresponding relation between the transverse resistance of the ballast bed and the transverse displacement of the intelligent detection vehicle, so that the real-time nondestructive detection of the transverse resistance of the ballast bed is realized, and the tedious processes of dismounting a fastener and mounting a loading device in the traditional detection are eliminated; the detection efficiency is remarkably improved, the method is particularly suitable for the operation environment with short railway skylight time, and the ballasted track instability risk caused by insufficient transverse resistance of a ballast bed is effectively prevented.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of detecting the lateral resistance of a railway ballast bed, and particularly relates to a method and system for real-time detection of the lateral resistance of a ballast bed. BACKGROUND

[0002] Ballast track is an important part of China's railway network, and undertakes a large amount of passenger and freight transportation tasks, so its safety is an important factor related to the national economy and people's livelihood. The lateral resistance of the ballast bed refers to the ability of the ballast bed of the ballast track to resist lateral displacement of the track frame, and is a key parameter for preventing rail expansion and maintaining line stability. The size of the lateral resistance of the ballast bed directly affects the safety of the track line, especially in high-speed train operation or curve sections. Insufficient lateral resistance of the ballast bed can lead to rail expansion, increased rail side wear, and even derailment accidents.

[0003] With the development of railway transportation towards high speed and heavy load, higher requirements are put forward for the detection of the lateral resistance of the ballast bed. The traditional method for detecting the lateral resistance of the ballast bed needs to remove all test sleeper fasteners, extract the sleeper plate, and install a loading device outside one end of the test sleeper and a displacement testing device at the other end of the sleeper. This method is not only cumbersome, time-consuming and labor-intensive, but also causes disturbance to the structure of the ballast bed, affecting the accuracy of the detection results. In addition, although some existing dynamic detection equipment can achieve rapid detection, it is mainly used for measuring the density or stiffness of the ballast bed, and lacks evaluation of the lateral resistance of the ballast bed.

[0004] In some patent documents, methods for evaluating the lateral resistance of the ballast bed are also disclosed. For example, the patent document with publication number CN120427143A discloses a ballast track resistance measurement system and method. This patent analyzes the state of the ballast bed by fusing a grayscale image and a depth image, avoiding physical disturbance to the ballast bed by traditional jack loading, and making significant progress in non-contact detection.

[0005] However, the technical solution in this patent requires at least 9 steps such as image processing to be performed in sequence, and involves multiple iteration operations such as morphological filtering and threshold segmentation. The accuracy of the measurement results is directly affected by the image processing results, and the calculation error is large. There is also a lag in processing information.

[0006] In addition, the maintenance window of the railway is short, especially under complex line conditions. The real-time performance of existing technical means is difficult to meet the detection needs of the railway window period, and it is also difficult to achieve non-destructive, rapid and accurate detection of the lateral resistance of the ballast bed. It cannot provide real-time and reliable data support for maintenance and repair, and poses a safety risk to the use of ballast tracks. SUMMARY

[0007] In order to solve the technical problems in the background art that the real-time performance of the prior art cannot meet the detection requirements of the railway window period, it is difficult to realize non-destructive, rapid and accurate detection of the ballast bed lateral resistance, it is difficult to provide real-time and reliable data support for maintenance and repair, and it brings safety risks to the use of ballasted track, the present application provides a method and system for real-time detection of ballast bed lateral resistance.

[0008] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions: In the first aspect, the present application provides a method for real-time detection of ballast bed lateral resistance, comprising: S1: Construct a static model of ballasted track, simulate a ballast bed lateral resistance test, and fit the corresponding relationship between the ballast bed lateral resistance and the ballast bed density; S2: Construct a simulation detection vehicle-ballasted track coupling dynamic model, simulate an intelligent detection vehicle lateral displacement test under excitation mode, and fit the corresponding relationship between the intelligent detection vehicle lateral displacement and the ballast bed density; S3: According to steps S1 and S2, the corresponding relationship between the ballast bed lateral resistance and the intelligent detection vehicle lateral displacement is fitted; S4: The intelligent detection vehicle in the real-time detection ballast bed lateral resistance system is placed on the corresponding rail of the ballast bed to be detected, the intelligent detection vehicle lateral displacement of the intelligent detection vehicle driving on the rail of the ballast bed to be detected is collected in real time, and the ballast bed lateral resistance of the ballast bed to be detected is analyzed in real time according to step S3.

[0009] Optionally, the step S1 specifically comprises: S1.1: Set the ballast bed geometric size parameters, sleeper parameters and ballast particle contact parameters of the static model of the ballasted track in the EDEM software; S1.2: Draw the geometric model of the sleeper using the SolidWorks software; generate the ballast bed model based on the ballast particle template and the special ballast grading in the EDEM software; import the geometric model of the sleeper into the EDEM software and splice it with the ballast bed model, and combine the ballast bed geometric size parameters, sleeper parameters and ballast particle contact parameters set in step S1.1 to construct the static model of the ballasted track; S1.3: Based on the static model of the ballasted track, set the initial ballast bed density, apply a lateral displacement to the sleeper, simulate a ballast bed lateral resistance test, and obtain the ballast bed lateral resistance corresponding to the ballast bed density; S1.4: Repeat step S1.3 to simulate the ballast bed lateral resistance test of multiple groups of ballast beds with different densities under the same lateral displacement condition as step S1.3, and fit the corresponding relationship between the ballast bed lateral resistance and the ballast bed density by analyzing the multiple groups of lateral resistances corresponding to different ballast bed densities: In the present application, is the lateral resistance of the track bed, unit: KN ; is the roadbed density, unit: kg / m 3 .

[0010] Optionally, the specific method of step S1.3 is: S1.3.1: Assign the initial density of the ballast track bed in the static model; S1.3.2: Apply a lateral displacement to one side of the sleeper, causing the sleeper to move at a constant speed. When the lateral displacement reaches 2 mm The reaction force of the track bed on the sleeper is the lateral resistance of the track bed.

[0011] Optionally, the specific method of step S2 is: S2.1: In the EDEM software, delete the rail panel from the established ballasted track static model and save the ballasted trackbed model; the rail panel includes rails, fasteners, and sleepers; In the multi-body dynamics software, a simulated inspection vehicle is constructed according to the actual geometric dimensions of the intelligent inspection vehicle 1; the deleted rails are imported into the multi-body dynamics software and assembled with the simulated inspection vehicle to obtain a simulated inspection vehicle-rail coupling model; S2.2: Import the sleepers in the test vehicle-railway coupling model into the EDEM software in the form of wall elements. Use the discrete element method and multi-body dynamics coupling method to establish the test vehicle-ballasted track coupling dynamic model. S2.3: Based on the principle of track excitation and vehicle body response inverse detection, a fixed-frequency horizontal excitation force is applied to the simulated test vehicle in a simulated test vehicle-ballasted track coupled dynamic model. The lateral acceleration of the simulated test vehicle during operation is recorded, and the lateral displacement of the simulated test vehicle is calculated from the lateral acceleration. S2.4: Repeat step S2.3 to simulate the lateral displacement of the intelligent inspection vehicle under a constant horizontal excitation force under multiple sets of different roadbed density conditions, and then fit the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the roadbed density: in, is the lateral displacement of the intelligent detection vehicle, unit: mm ; is the roadbed density, unit: kg / m 3 .

[0012] Optionally, the step S2.3 specifically includes: S2.3.1: Set the initial ballast density in the coupled dynamic model of the test vehicle and ballasted track; S2.3.2: Set the simulated test vehicle to run on the ballasted track at a speed of 0.5 km / h -2 km / h The vehicle is operated at a constant speed. Based on the principle of track excitation and vehicle body response inverse detection, a horizontal excitation force with a fixed frequency is applied to the simulated test vehicle to obtain the lateral acceleration signal wave in real time during the operation of the simulated test vehicle. S2.3.3: Intercept the front and rear shots of the simulated test vehicle passing directly above the sleeper. T The lateral acceleration signal wave within seconds; among them, T It is determined based on the speed of the simulation test vehicle and the sleeper spacing; S2.3.4: Analyze the lateral acceleration signal wave of the simulated test vehicle corresponding to each sleeper position to obtain the characteristic spectrum, determine the lateral acceleration frequency and lateral acceleration average amplitude corresponding to the simulated test vehicle above each sleeper, and then obtain the lateral displacement of the simulated test vehicle on each sleeper: in, The lateral displacement of the simulated test vehicle on each sleeper, unit: mm ; f The lateral acceleration frequency corresponding to the simulated test vehicle on each sleeper, unit: Hz ; The average amplitude of the lateral acceleration corresponding to the simulated test vehicle above each sleeper, unit: m / s 2 .

[0013] Optionally, step S4 specifically includes: S4.1: Deploy the intelligent detection vehicle in the real-time detection system for the lateral resistance of the roadbed on the rail corresponding to the roadbed to be tested; S4.2: A constant-frequency horizontal excitation force is applied to the ballasted track corresponding to the trackbed to be tested through the excitation force output module on the intelligent testing vehicle. The lateral acceleration signal wave is collected in real time through the sensor module on the intelligent testing vehicle when the intelligent testing vehicle is running at a constant speed above the sleepers corresponding to the trackbed to be tested. S4.3: Intercept the video of the intelligent inspection vehicle passing directly above each sleeper T The lateral acceleration signal wave within seconds is analyzed and calculated to obtain the characteristic spectrum; based on the characteristic spectrum and the lateral acceleration signal wave, the lateral displacement of the intelligent detection vehicle corresponding to the sleeper position corresponding to the trackbed to be tested is obtained; S4.4: Substitute the lateral displacement of the intelligent detection vehicle corresponding to the sleeper position corresponding to the roadbed to be tested into the corresponding relationship obtained by fitting in step S3 to obtain the lateral resistance of the roadbed at the corresponding sleeper position.

[0014] Optionally, the correspondence between the track bed lateral resistance and the lateral displacement of the intelligent detection vehicle obtained by fitting in the step S3 is: wherein, is the track bed lateral resistance, and the unit is: KN ; is the lateral displacement of the intelligent detection vehicle, and the unit is: mm .

[0015] In a second aspect, the present application provides a real-time track bed lateral resistance detection system for realizing the above-mentioned real-time track bed lateral resistance detection method, and the system comprises an intelligent detection vehicle and a vibration excitation force output module, a sensor module, a data processing module and an output module arranged on the intelligent detection vehicle. The vibration excitation force output module is used to apply a horizontal vibration excitation force of a fixed frequency to the ballast track corresponding to the track bed to be detected, so that the intelligent detection vehicle generates lateral acceleration; The sensor module is used to collect the lateral acceleration signal wave in the intelligent detection vehicle; The data processing module is used to obtain the lateral acceleration signal wave in the intelligent detection vehicle, obtain the lateral displacement of the intelligent detection vehicle based on the lateral acceleration signal wave, and analyze the track bed lateral resistance of the corresponding sleeper position of the intelligent detection vehicle in real time according to the correspondence between the track bed lateral resistance and the lateral displacement of the intelligent detection vehicle. The output module is used to output the track bed lateral resistance of the corresponding sleeper position in real time.

[0016] Optionally, the intelligent detection vehicle comprises a vehicle body module and a walking module. The walking module is arranged on the lower side of the vehicle body module and is used to abut the steel rail corresponding to the track bed to be detected. The vibration excitation force output module is fixedly arranged in the interior of the vehicle body module. The data processing module, the sensor module and the output module are arranged on the vehicle body module.

[0017] Optionally, the intelligent detection vehicle further comprises a horizontal rail clamping module. The horizontal rail clamping module is arranged on the walking module and is used to make the walking module stably fit the steel rail corresponding to the track bed to be detected.

[0018] The present application has the following beneficial effects: The present application provides a method for real-time detection of ballast lateral resistance, which establishes a static model of ballast track and a simulation detection vehicle-ballast track coupled dynamic model by means of EDEM software and multi-body dynamics software, forms a double mapping relationship, and directly correlates the ballast lateral resistance with the lateral displacement of the intelligent detection vehicle, so that the lateral displacement of the intelligent detection vehicle at each corresponding sleeper can be collected in real time during the movement of the intelligent detection vehicle, the specific value of the ballast lateral resistance can be analyzed and output in real time according to the lateral displacement of the intelligent detection vehicle and the corresponding relationship between the ballast lateral resistance and the lateral displacement of the intelligent detection vehicle, the real-time nondestructive detection of the ballast lateral resistance is realized, the calculation process is simple, the result is accurate, the running status can be truly reflected in real time, the cumbersome process of removing fasteners and installing loading devices in the traditional detection is avoided, the detection efficiency is significantly improved, and the method is especially suitable for the operation environment of short railway window time. The present application avoids physical disturbance to the ballast structure, ensures the accuracy of data, and at the same time, the dynamic detection mechanism based on the principle of 'excitation-response' can continuously and real-timely obtain the ballast lateral resistance state of the whole line of the ballast to be detected, provides comprehensive and scientific decision basis for ballast maintenance, and effectively prevents the risk of track instability caused by insufficient ballast lateral resistance.

[0019] Meanwhile, the present application also provides a system for real-time detection of ballast lateral resistance, which moves at a constant speed on the ballast track of the ballast to be detected by the intelligent detection vehicle, and realizes a 'excitation-collection-calculation-feedback' closed loop by the cooperation of the excitation force output module, the sensor module, the data processing module and the output module during the movement, and converts the complex mathematical model into a hardware system, reduces the manual operation strength, greatly improves the detection efficiency, avoids the technical problems in the prior art that the real-time performance cannot meet the detection needs of the railway window period, the nondestructive, rapid and accurate detection of the ballast lateral resistance cannot be realized, and the maintenance and repair lacks real-time and reliable data support, and brings safety risks to the use of ballast track. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the method for real-time detection of ballast lateral resistance in the present application; Figure 2 is a schematic diagram of the application of lateral displacement to one side of the sleeper in the example in the present application; Figure 3 is a schematic diagram of the fitting of the corresponding relationship between the ballast lateral resistance and the ballast density in the present application; Figure 4 is a schematic diagram of the establishment of the simulation detection vehicle-ballast track coupled dynamic model in the present application; Figure 5 is a schematic diagram of the fitting of the corresponding relationship between the lateral displacement of the intelligent detection vehicle and the ballast density in the present application; Figure 6is a schematic diagram of the corresponding relationship between the track bed transverse resistance and the intelligent detection vehicle transverse displacement obtained by fitting in the present application; Figure 7 is a schematic diagram of a real-time track bed transverse resistance detection system in the present application; Figure 8 is a side view of a real-time track bed transverse resistance detection system in the present application; Figure 9 is a side view of a real-time track bed transverse resistance detection system on a steel rail in the present application; Figure 10 is a top view of a real-time track bed transverse resistance detection system in the present application.

[0021] 1, intelligent detection vehicle; 11, vehicle body module; 12, walking module; 121, walking wheel; 2, excitation force output module; 3, sensor module; 4, output module; 5, horizontal rail clamping module. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0024] In the description of the present application, it should be understood that the orientation words such as "front, rear, upper, lower, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and in the absence of the opposite description, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the outline of each component.

[0025] For ease of description, spatially relative terms such as "above," "above," "on the upper surface of," and "upper" may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in a drawing is inverted, a device described as "above" or "on top of" another device or structure would then be positioned as "below" or "below" the other device or structure. Thus, the exemplary term "above" can include both the "above" and "below" orientations. The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0026] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] Example 1 See also Figure 1 , which shows a schematic diagram of a method for real-time detection of lateral resistance of a roadbed provided in the present invention, the method comprising: S1: Construct a static model of ballasted track, simulate the lateral resistance test of the trackbed, and obtain the corresponding relationship between the lateral resistance of the trackbed and the trackbed density; S2: Construct a dynamic model for the coupled test vehicle and ballasted track, simulate the lateral displacement test of the intelligent test vehicle under the excitation mode, and obtain the corresponding relationship between the lateral displacement of the intelligent test vehicle and the track bed density by fitting; S3: According to steps S1 and S2, the corresponding relationship between the lateral resistance of the roadbed and the lateral displacement of the intelligent detection vehicle is obtained by fitting; S4: The intelligent detection vehicle 1 in the real-time detection system for the lateral resistance of the roadbed is placed on the rail corresponding to the roadbed to be measured, and the lateral displacement of the intelligent detection vehicle 1 when it is traveling on the rail of the roadbed to be measured is collected in real time. According to step S3, the lateral resistance of the roadbed to be measured is obtained by real-time analysis.

[0028] Optionally, step S1 in the present invention specifically includes: S1.1: Set the trackbed geometry parameters, sleeper parameters, and ballast particle contact parameters of the ballasted track static model in EDEM software; S1.2: draw the geometric model of the sleeper by using the SolidWorks software; generate the ballast bed model based on the ballast particle template and the special ballast grading in the EDEM software; import the geometric model of the sleeper into the EDEM software to splice the ballast bed model, and combine the track bed geometric size parameters, sleeper parameters and ballast particle contact parameters set in step S1.1 to construct the static force model of the ballast track; S1.3: based on the static force model of the ballast track, set the initial track bed density, apply a lateral displacement to the sleeper, simulate the track bed lateral resistance test, and obtain the track bed lateral resistance corresponding to the track bed density; S1.4: repeat step S1.3, simulate the track bed lateral resistance test of multiple groups of track beds with different densities under the same lateral displacement condition as step S1.3, and analyze the multiple groups of lateral resistances corresponding to different track bed densities to fit the corresponding relationship between the track bed lateral resistance and the track bed density: wherein, is the track bed lateral resistance, and the unit is: KN ; is the track bed density, and the unit is: kg / m 3 .

[0029] It should be noted that the corresponding relationship between the track bed lateral resistance and the track bed density fitted in the embodiment is the fitting corresponding relationship between the values, and therefore the units are not considered.

[0030] Optionally, the specific method of step S1.3 in the present application is: S1.3.1: set the initial density of the track bed in the static force model of the ballast track; S1.3.2: apply a lateral displacement to one side of the sleeper to move the sleeper at a constant speed, and when the lateral displacement of the sleeper reaches 2 mm , the reaction force of the track bed on the sleeper is the track bed lateral resistance.

[0031] Further, the standard of the lateral displacement of the sleeper in the present application is 2 mm , which is determined according to the TBT 3448-2016 Railway Ballast Bed State Parameter Test Method.

[0032] For example, when the static force model of the track is constructed in the present application, the specific process can be: S1.1: set the track bed geometric size parameters, sleeper parameters and ballast particle contact parameters of the static force model of the ballast track in the EDEM software, and specifically, set the rail parameters to 60 kg / mThe standard rail model sets the sleeper as a type III concrete sleeper, and the two are connected through a type III elastic strip fastener system; wherein the type III elastic strip fastener system adopts a two-way spring damper to simulate, and the vertical and lateral stiffness coefficients thereof are respectively set as 3.25 x 10 7 N / m and 1 x 10 7 N / m , and the damping coefficient is 3.75 x 10 4 N s / m and 2.5 x 10 4 N s / m ; the ballast bed thickness is set as 350 mm , and the side slope gradient is 1:1.75.

[0033] S1.2: The geometric model of the sleeper is drawn by using the SolidWorks software; the ballast bed model is generated in the EDEM software based on the ballast particle template and the special ballast grading, specifically, the ballast bed is set as a polyhedral ballast particle group, and the polyhedral ballast particle is required to meet the special ballast standard of the newly-built railway (particle size 22.4 mm ~63 mm ); wherein the contact force calculation of the ballast particle adopts the Hertz-Mindlin Nassauer Kuna (no sliding) constitutive model, and the mutual interaction between the polyhedral ballast particles is simulated through the normal and tangential contact force updating algorithm; at the same time, the rigid wall unit is used to simulate the ballast bed boundary to limit the lateral displacement of the polyhedral ballast particles; the geometric model of the sleeper is imported into the EDEM software in the form of a wall unit to splice with the ballast bed model to ensure that the contact behavior thereof with the ballast bed meets the actual working condition.

[0034] S1.3: The initial ballast density of the ballast bed is set as 1300 kg / m 3 ; according to the reference Figure 2 , the lateral displacement of the sleeper is applied until the lateral displacement of the sleeper reaches 2 mm , and the relationship between the lateral resistance of the ballast bed and the lateral displacement of the sleeper is recorded, specifically, when the lateral displacement of the sleeper reaches 2 mm , the reaction force of the ballast bed on the sleeper is the lateral resistance of the ballast bed.

[0035] S1.4: The ballast density is sequentially set as 1350 kg / m 3 , 1400 kg / m 3 , 1450 kg / m 3 , 1500 kg / m 3 , 1550 kg / m 3 , 1600kg / m 3 , 1650 kg / m 3 , 1700 kg / m 3 , 1750 kg / m 3 and 1800 kg / m 3 obtaining the relationship curve of the sleeper horizontal load and the lateral displacement under different ballast densities; According to the relationship between the sleeper horizontal load and the lateral displacement under all ballast density conditions, by analyzing a plurality of groups of ballast lateral resistances corresponding to different ballast densities, referring to Figure 3 , the corresponding relationship between the ballast lateral resistance and the ballast density is further fitted: wherein, Figure 3 the goodness of fit in the formula R 2 = 0.999, is the ballast lateral resistance, and the unit is: KN ; is the ballast density, and the unit is: kg / m 3 .

[0036] Optionally, the specific method of step S2 in the present application is: S2.1: In the EDEM software, the track panel is deleted in the established static model of the ballasted track, and the ballasted track model is saved; the track panel includes the rail, the fastener and the sleeper; In the multi-body dynamics software, the simulated detection vehicle is constructed according to the real geometric size of the intelligent detection vehicle 1; the above-mentioned deleted track panel is imported into the multi-body dynamics software and assembled with the simulated detection vehicle to obtain a simulated detection vehicle-track panel coupling model; S2.2: the sleeper in the simulated detection vehicle-track panel coupling model is imported into the EDEM software in the form of a wall element, and a simulated detection vehicle-ballasted track coupling dynamic model is established by using the discrete element and multi-body dynamics coupling method, referring to Figure 4 ; S2.3: setting the initial ballast density, for example, setting the initial ballast density as 1300 kg / m 3 ; based on the principle of track panel excitation-vehicle body response reverse detection, a fixed frequency horizontal excitation force is applied to the simulated detection vehicle in the simulated detection vehicle-ballasted track coupling dynamic model, and the lateral acceleration of the simulated detection vehicle in the running process is recorded, and the lateral displacement of the simulated detection vehicle is calculated from the lateral acceleration; S2.4: repeating step S2.3, simulating a plurality of groups of different ballast density conditions, for example, 1350 kg / m3 , 1400 kg / m 3 , 1450 kg / m 3 , 1500 kg / m 3 , 1550 kg / m 3 , 1600 kg / m 3 、1650 kg / m 3 , 1700 kg / m 3 , 1750 kg / m 3 and 1800 kg / m 3 Under the same conditions, the lateral displacement of the simulated test vehicle corresponding to the constant horizontal exciting force is referred to Figure 5 , and then the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the roadbed density can be obtained by fitting: Among them, the goodness of fit R 2 =0.999, is the lateral displacement of the intelligent detection vehicle, unit: mm ; is the roadbed density, unit: kg / m 3 .

[0037] It should be noted that the simulation inspection vehicle in the present invention is designed and simulated according to the actual size parameters of the intelligent inspection vehicle 1. Therefore, the lateral displacement of the intelligent inspection vehicle can be obtained according to the lateral displacement of the simulation inspection vehicle, and the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the roadbed density can be further obtained by fitting.

[0038] It should be noted that the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the roadbed density obtained by fitting in this embodiment is obtained based on its numerical fitting, so its unit is not considered.

[0039] Optionally, step S2.3 of the present invention specifically includes: S2.3.1: Set the initial ballast density in the coupled dynamic model of the test vehicle and ballasted track; S2.3.2: Set the simulated test vehicle to run on the ballasted track at a speed of 0.5 km / h -2 km / h The vehicle is operated at a constant speed. Based on the principle of track excitation and vehicle body response inverse detection, a horizontal excitation force with a fixed frequency is applied to the simulated test vehicle to obtain the lateral acceleration signal wave in real time during the operation of the simulated test vehicle. S2.3.3: Intercept the front and rear shots of the simulated test vehicle passing directly above the sleeper. T The lateral acceleration signal wave within seconds; among them, T It is determined based on the speed of the simulation test vehicle and the sleeper spacing; S2.3.4: Analyze the lateral acceleration signal wave of the simulated test vehicle corresponding to each sleeper position to obtain the characteristic spectrum, determine the lateral acceleration frequency and lateral acceleration average amplitude corresponding to the simulated test vehicle above each sleeper, and then obtain the lateral displacement of the simulated test vehicle on each sleeper: in, The lateral displacement of the simulated test vehicle on each sleeper, unit: mm ; f The lateral acceleration frequency corresponding to the simulated test vehicle on each sleeper, unit: Hz ; The average amplitude of the lateral acceleration corresponding to the simulated test vehicle above each sleeper, unit: m / s 2 .

[0040] In the present invention, when establishing the coupled dynamic model of the simulated inspection vehicle and the ballasted track, it is achieved based on the static model of the track and takes into account the dynamic effects of the intelligent inspection vehicle 1 on the rail, such as vibration and impact.

[0041] Furthermore, in step S2.3.3 of the present invention, the front and rear images of the simulated detection vehicle passing directly above the sleeper are captured. T The characteristic spectrum is obtained by analyzing and calculating the lateral acceleration signal wave within seconds; the time T , is determined by the sleeper spacing L , simulate the speed of the test vehicle V The specific determination process is as follows: T = L / (2 V ).

[0042] Further, refer to Figure 6 In step S3 of the present invention, according to steps S1 and S2, the corresponding relationship between the lateral resistance of the roadbed and the lateral displacement of the intelligent detection vehicle is obtained by sorting and fitting, which is: in, Figure 6 Goodness of fit in R 2 =0.999, is the lateral resistance of the track bed, unit: KN ; is the lateral displacement of the intelligent detection vehicle, unit: mm .

[0043] Optionally, the step S4 in the present application specifically comprises: S4.1: The intelligent detection vehicle 1 in the real-time detection ballast lateral resistance system is arranged on the corresponding rail of the ballast to be detected; S4.2: The horizontal exciting force output module 2 on the intelligent detection vehicle 1 applies a constant frequency horizontal exciting force to the ballast track to be detected, and the sensor module 3 on the intelligent detection vehicle 1 collects the lateral acceleration signal wave of the intelligent detection vehicle 1 running at a constant speed above the sleeper corresponding to the ballast to be detected in real time; S4.3: The lateral acceleration signal wave of the intelligent detection vehicle 1 passing through the front and back of each sleeper is intercepted within T seconds, and the characteristic spectrum is analyzed and calculated; based on the characteristic spectrum and the lateral acceleration signal wave, the corresponding lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the ballast to be detected is obtained; S4.4: The lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the ballast to be detected is substituted into the corresponding relationship fitted in step S3 to obtain the lateral resistance of the ballast at the corresponding sleeper position.

[0044] In the present embodiment, the EDEM software and the multi-body dynamics software are used to establish a static model of the ballast track and a detection vehicle-ballast track coupling dynamic model, form a double mapping relationship, and directly correlate the ballast lateral resistance with the lateral displacement of the intelligent detection vehicle, so that the lateral displacement of the intelligent detection vehicle at each sleeper corresponding position can be collected in real time during the movement of the intelligent detection vehicle 1, and the specific value of the ballast lateral resistance can be analyzed and output in real time according to the lateral displacement of the intelligent detection vehicle and the corresponding relationship between the ballast lateral resistance and the lateral displacement of the intelligent detection vehicle, so as to realize the real-time nondestructive detection of the ballast lateral resistance, the calculation process is simple, the result is accurate, the running status can be truly reflected in real time, and the method gets rid of the complicated process of removing the fasteners and installing the loading device in the traditional detection, significantly improves the detection efficiency, and is especially suitable for the short sky window time of railway operation environment. The present application avoids physical disturbance to the ballast structure, ensures the accuracy of the data, and at the same time, the dynamic detection mechanism based on the "excitation-response" principle can continuously and real-timely obtain the ballast lateral resistance state of the whole line of the ballast to be detected, provides comprehensive and scientific decision basis for ballast maintenance, and effectively prevents the track instability risk caused by insufficient ballast lateral resistance.

[0045] Embodiment Two With reference to Figure 7 , Figure 8 and Figure 9 , the present application further provides a real-time detection ballast lateral resistance system for realizing the real-time detection ballast lateral resistance method in embodiment one, which comprises an intelligent detection vehicle 1 and an exciting force output module 2, a sensor module 3, a data processing module and an output module 4 arranged on the intelligent detection vehicle 1. The excitation force output module 2 is used for outputting a horizontal excitation force of a fixed frequency to the ballast track corresponding to the track bed to be detected, so that the lateral acceleration is generated in the intelligent detection vehicle 1; The sensor module 3 is used for collecting the lateral acceleration signal wave in the intelligent detection vehicle 1 in real time; The data processing module is used for acquiring the lateral acceleration signal wave in the intelligent detection vehicle 1, acquiring the lateral displacement of the intelligent detection vehicle based on the lateral acceleration signal wave, and analyzing the track bed lateral resistance of the intelligent detection vehicle 1 at the corresponding sleeper position in real time according to the corresponding relationship between the track bed lateral resistance and the lateral displacement of the intelligent detection vehicle; The output module 4 is used for outputting the track bed lateral resistance of the corresponding sleeper position in real time.

[0046] In the embodiment, a real-time track bed lateral resistance detection system is also provided. The intelligent detection vehicle 1 moves at a constant speed on the rail of the track bed to be detected. During the movement, the excitation force output module 2, the sensor module 3, the data processing module and the output module 4 are cooperated to realize the "excitation-collection-computation-feedback" closed loop. The complex mathematical model is converted into a hardware system, the manual operation strength is reduced, the detection efficiency is greatly improved, the real-time requirement of the railway sky window period detection is met, the nondestructive, rapid and accurate detection of the track bed lateral resistance is realized, the real-time and reliable data support for the maintenance and repair is provided, and the safety risk of the use of the ballast track is avoided.

[0047] Optionally, referring to Figure 8 The intelligent detection vehicle 1 in the embodiment includes a vehicle body module 11 and a walking module 12. The walking module 12 is arranged on the lower side of the vehicle body module 11 and is used for abutting against the rail corresponding to the track bed to be detected. The excitation force output module 2 is fixedly arranged in the interior of the vehicle body module 11. The data processing module, the sensor module 3 and the output module 4 are arranged on the vehicle body module 11.

[0048] Optionally, the intelligent detection vehicle 1 in the embodiment further includes a horizontal rail clamping module 5. The horizontal rail clamping module 5 is arranged on the walking module 12 and is used for stably adhering the walking module 12 to the rail corresponding to the track bed to be detected.

[0049] In the embodiment, the vehicle body module 11 and the walking module 12 are designed to provide a stable bearing platform and a walking mechanism for the system, the vehicle body module 11 integrates the excitation device, the sensor and other components; the walking module 12 ensures the smooth operation of the system along the track, avoids the measurement deviation caused by vibration, and further, the horizontal rail clamping module 5 makes the walking module 12 close to the rail of the measured track bed through the mechanical locking mechanism, eliminating the risk of sliding of the intelligent detection vehicle 1 during the detection process.

[0050] Further, with reference to Figure 10 , the walking module 12 in the embodiment includes a walking wheel assembly, a driving assembly and an energy storage assembly, the walking wheel assembly includes at least four walking wheels 121, forming two walking wheel groups in front and back, and being arranged on the lower side of the vehicle body module 11; the driving assembly and the energy storage assembly are arranged in the vehicle body module 11, the energy storage assembly is connected with the driving assembly, and the driving assembly is connected with the walking wheel assembly, for driving the walking wheel assembly to move along the rail of the measured track bed.

[0051] Further, the horizontal rail clamping module 5 is arranged between two walking wheels 121 in the walking wheel group, specifically, the horizontal rail clamping module 5 can be a clamping oil cylinder, to apply pressure to the two walking wheels 121 in the walking wheel group, so that the walking wheels 121 are close to the rail of the measured track bed.

[0052] Further, the excitation force output module 2 in the embodiment is an eccentric excitation force output module.

[0053] In the embodiment, the real-time detection method and system for track bed transverse resistance of the application lay a foundation for track bed operation quality evaluation, and subsequent functions can be further improved on the basis of the data of the application, such as fitting the resistance data into a curve combined with the driving distance, for facilitating longitudinal comparison of track bed performance evolution trend, providing data support for preventive maintenance. The function converts the detection results into operable engineering guidance, significantly improving the practical value of the data and solving the problem of information fragmentation of traditional detection reports.

[0054] In the description of the specification, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0055] Although the embodiments of the application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the application, and the scope of the application is defined by the claims and their equivalents.

Claims

1. A method for real-time detection of lateral resistance of roadbed, characterized in that: include: S1: Construct a static model of ballasted track, simulate the lateral resistance test of the trackbed, and obtain the corresponding relationship between the lateral resistance of the trackbed and the trackbed density; S2: Construct a dynamic model for the coupled test vehicle and ballasted track, simulate the lateral displacement test of the intelligent test vehicle under the excitation mode, and obtain the corresponding relationship between the lateral displacement of the intelligent test vehicle and the track bed density by fitting; S3: According to steps S1 and S2, the corresponding relationship between the lateral resistance of the roadbed and the lateral displacement of the intelligent detection vehicle is obtained by fitting; S4: placing the intelligent detection vehicle (1) in the real-time detection system for the lateral resistance of the roadbed on the rail corresponding to the roadbed to be measured, collecting the lateral displacement of the intelligent detection vehicle (1) when it is traveling on the rail of the roadbed to be measured in real time, and analyzing the lateral resistance of the roadbed to be measured in real time according to step S3.

2. The method for real-time detection of lateral resistance of roadbed according to claim 1, characterized in that: The step S1 specifically includes: S1.1: Set the trackbed geometry parameters, sleeper parameters, and ballast particle contact parameters of the ballasted track static model in EDEM software; S1.2: Use SolidWorks to draw the geometric model of the sleeper. Generate a ballasted trackbed model in EDEM based on the ballast particle template and the special ballast gradation. Import the sleeper geometric model into EDEM and combine it with the ballasted trackbed model. Combine the trackbed geometry parameters, sleeper parameters, and ballast particle contact parameters set in step S1.1 to construct a ballasted track static model. S1.3: Based on the static model of ballasted track, set the initial ballast density, apply lateral displacement to the sleepers, simulate the ballast lateral resistance test, and obtain the ballast lateral resistance corresponding to the ballast density; S1.4: Repeat step S1.3 to simulate multiple groups of lateral resistance tests for ballasts with different densities under the same lateral displacement conditions as step S1.

3. By analyzing the multiple groups of lateral resistance corresponding to different ballast densities, the corresponding relationship between lateral resistance and ballast density can be obtained by fitting: in, is the lateral resistance of the track bed, unit: KN ; is the roadbed density, unit: kg / m 3 .

3. The method for real-time detection of lateral resistance of roadbed according to claim 2, characterized in that: The specific method of step S1.3 is: S1.3.1: Assign the initial density of the ballast track bed in the static model; S1.3.2: Apply a lateral displacement to one side of the sleeper, causing the sleeper to move at a constant speed. When the lateral displacement reaches 2 mm The reaction force of the track bed on the sleeper is the lateral resistance of the track bed.

4. The method for real-time detection of lateral resistance of roadbed according to claim 3, characterized in that: The specific method of step S2 is: S2.1: In the EDEM software, delete the rail panel from the established ballasted track static model and save the ballasted trackbed model; the rail panel includes rails, fasteners, and sleepers; In the multi-body dynamics software, a simulated inspection vehicle is constructed according to the actual geometric dimensions of the intelligent inspection vehicle (1); the deleted rail is imported into the multi-body dynamics software and assembled with the simulated inspection vehicle to obtain a simulated inspection vehicle-rail coupling model; S2.2: Import the sleepers in the test vehicle-railway coupling model into the EDEM software in the form of wall elements. Use the discrete element method and multi-body dynamics coupling method to establish the test vehicle-ballasted track coupling dynamic model. S2.3: Based on the principle of track excitation and vehicle body response inverse detection, a fixed-frequency horizontal excitation force is applied to the simulated test vehicle in a simulated test vehicle-ballasted track coupled dynamic model. The lateral acceleration of the simulated test vehicle during operation is recorded, and the lateral displacement of the simulated test vehicle is calculated from the lateral acceleration. S2.4: Repeat step S2.3 to simulate the lateral displacement of the intelligent inspection vehicle under a constant horizontal excitation force under multiple sets of different roadbed density conditions, and then fit the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the roadbed density: in, is the lateral displacement of the intelligent detection vehicle, unit: mm ; is the roadbed density, unit: kg / m 3 .

5. The method for real-time detection of lateral resistance of roadbed according to claim 4, characterized in that: The step S2.3 specifically includes: S2.3.1: Set the initial ballast density in the coupled dynamic model of the test vehicle and ballasted track; S2.3.2: Set the simulated test vehicle to run on the ballasted track at a speed of 0.5 km / h -2 km / h The vehicle is operated at a constant speed. Based on the principle of track excitation and vehicle body response inverse detection, a horizontal excitation force with a fixed frequency is applied to the simulated test vehicle to obtain the lateral acceleration signal wave in real time during the operation of the simulated test vehicle. S2.3.3: Intercept the front and rear shots of the simulated test vehicle passing directly above the sleeper. T The lateral acceleration signal wave within seconds; among them, T It is determined based on the speed of the simulation test vehicle and the sleeper spacing; S2.3.4: Analyze the lateral acceleration signal wave of the simulated test vehicle corresponding to each sleeper position to obtain the characteristic spectrum, determine the lateral acceleration frequency and lateral acceleration average amplitude corresponding to the simulated test vehicle above each sleeper, and then obtain the lateral displacement of the simulated test vehicle on each sleeper: in, The lateral displacement of the simulated test vehicle on each sleeper, unit: mm ; f The lateral acceleration frequency corresponding to the simulated test vehicle on each sleeper, unit: Hz ; The average amplitude of the lateral acceleration corresponding to the simulated test vehicle above each sleeper, unit: m / s 2 .

6. The method for real-time detection of lateral resistance of roadbed according to claim 5, characterized in that: The step S4 specifically includes: S4.1: deploying the intelligent detection vehicle (1) in the real-time detection system for the lateral resistance of the roadbed on the rail corresponding to the roadbed to be tested; S4.2: applying a horizontal excitation force of a constant frequency to the ballasted track corresponding to the trackbed to be tested through the excitation force output module (2) on the intelligent detection vehicle (1), and collecting in real time the lateral acceleration signal wave of the intelligent detection vehicle (1) when it is running at a constant speed above the sleeper corresponding to the trackbed to be tested through the sensor module (3) on the intelligent detection vehicle (1); S4.3: Intercept the intelligent inspection vehicle (1) before and after it passes directly above each sleeper T The lateral acceleration signal wave within seconds is analyzed and calculated to obtain the characteristic spectrum; based on the characteristic spectrum and the lateral acceleration signal wave, the lateral displacement of the intelligent detection vehicle corresponding to the sleeper position corresponding to the trackbed to be tested is obtained; S4.4: Substitute the lateral displacement of the intelligent detection vehicle corresponding to the sleeper position corresponding to the roadbed to be tested into the corresponding relationship obtained by fitting in step S3 to obtain the lateral resistance of the roadbed at the corresponding sleeper position.

7. The method for real-time detection of lateral resistance of roadbed according to claim 6, characterized in that: The corresponding relationship between the lateral resistance of the roadbed and the lateral displacement of the intelligent detection vehicle obtained by fitting in step S3 is: in, is the lateral resistance of the track bed, unit: KN ; is the lateral displacement of the intelligent detection vehicle, unit: mm .

8. A system for detecting the lateral resistance of a roadbed in real time, for implementing the method for detecting the lateral resistance of a roadbed in real time as claimed in claim 7, characterized in that: The system comprises: an intelligent detection vehicle (1), and an excitation force output module (2), a sensor module (3), a data processing module, and an output module (4) arranged on the intelligent detection vehicle (1); The exciting force output module (2) is used to apply a horizontal exciting force of a fixed frequency to the ballasted track corresponding to the trackbed to be tested, so that the intelligent testing vehicle (1) generates a lateral acceleration; The sensor module (3) is used to collect lateral acceleration signal waves in the intelligent detection vehicle (1); The data processing module is used to obtain a lateral acceleration signal wave in the intelligent detection vehicle (1), obtain a lateral displacement of the intelligent detection vehicle based on the lateral acceleration signal wave, and analyze the lateral resistance of the roadbed of the intelligent detection vehicle (1) at the corresponding sleeper position in real time according to the corresponding relationship between the lateral resistance of the roadbed and the lateral displacement of the intelligent detection vehicle; The output module (4) is used to output the lateral resistance of the roadbed corresponding to the sleeper position in real time.

9. The real-time detection system for lateral resistance of roadbed according to claim 8 is characterized in that: The intelligent inspection vehicle (1) comprises a vehicle body module (11) and a travel module (12); The walking module (12) is arranged on the lower side of the vehicle body module (11) and is used to abut against the steel rail corresponding to the track bed to be measured; The exciting force output module (2) is fixedly arranged inside the vehicle body module (11); The data processing module, the sensor module (3) and the output module (4) are arranged on the vehicle body module (11).

10. The real-time detection system for lateral resistance of roadbed according to claim 9, characterized in that: The intelligent inspection vehicle (1) further comprises a horizontal rail clamping module (5); The horizontal rail clamping module (5) is arranged on the walking module (12) and is used to enable the walking module (12) to stably fit the steel rail corresponding to the track bed to be measured.

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