A method and system for real-time detection of track bed lateral resistance

Abstract

The application provides a method and system for real-time detection of ballast lateral resistance, which directly correlates the ballast lateral resistance with the lateral displacement of an intelligent detection vehicle by establishing a static model of a ballasted track and a simulated detection vehicle-ballasted track dynamic coupling model, so that the lateral displacement of the intelligent detection vehicle at the position corresponding to each sleeper can be collected in real time during the driving of the intelligent detection vehicle of the real-time detection system of the ballast lateral resistance; according to the lateral displacement of the intelligent detection vehicle, in combination with the corresponding relationship between the ballast lateral resistance and the lateral displacement of the intelligent detection vehicle, the ballast lateral resistance can be analyzed and output in real time, so that the real-time nondestructive detection of the ballast lateral resistance is realized, the cumbersome process of removing fasteners and installing a loading device in the traditional detection is avoided, the detection efficiency is significantly improved, and the application is especially suitable for the short sky window time operation environment of a railway, and effectively prevents the instability risk of the ballasted track caused by insufficient ballast lateral resistance.

Description

Technical Field

[0001] This invention belongs to the field of lateral resistance detection technology for railway ballast track, specifically relating to a method and system for real-time detection of lateral resistance of track bed. Background Technology

[0002] Ballasted track is an important component of my country's railway network, undertaking a large volume of passenger and freight transport tasks. Therefore, its safety is a crucial factor related to the national economy and people's livelihood. Lateral resistance of the ballast bed refers to the ability of the ballast bed to resist lateral displacement of the track frame. It is a key parameter for preventing track buckling and maintaining track stability. Its magnitude directly affects the safety of the track line. Especially in high-speed train operation or curved sections, insufficient lateral resistance of the ballast bed may lead to increased gauge, accelerated rail wear, and even derailment accidents.

[0003] With the development of railway transportation towards high speed and heavy load, higher requirements are placed on the detection of lateral resistance of the track bed. Traditional methods for detecting lateral resistance of the track bed require removing all test sleeper fasteners, pulling out the pads, and installing a loading device on the outside of one end of the test sleeper and a displacement testing device on the other end. This is not only cumbersome and time-consuming, but also disturbs the track bed structure, affecting the accuracy of the test results. In addition, although some existing dynamic testing equipment can achieve rapid detection, it is mostly used for measuring track bed density or stiffness, lacking the ability to assess the lateral resistance of the track bed.

[0004] Some patent documents also disclose methods for evaluating the lateral resistance of track beds. For example, patent document with publication number CN120427143A discloses a ballast track resistance measurement system and method. This patent analyzes the track bed condition by fusing grayscale images and depth images, avoiding the physical disturbance to the track bed caused by traditional jack loading, and has made significant progress in non-contact detection.

[0005] However, the technical solution in this patent requires at least nine steps, including image processing, to be executed in sequence, and involves multiple iterative operations such as morphological filtering and threshold segmentation. The image processing results directly affect the accuracy of the measurement results, resulting in large measurement errors and information lag.

[0006] Furthermore, railway maintenance windows are short, especially under complex track conditions. Existing technologies are insufficient to meet the real-time requirements of railway maintenance windows, and it is also difficult to achieve non-destructive, rapid, and accurate detection of lateral resistance of the track bed. This makes it impossible to provide real-time and reliable data support for maintenance and repair, and poses safety risks to the use of ballasted tracks. Summary of the Invention

[0007] To address the technical problems in the background, such as the inability of existing technologies to meet the real-time requirements of railway track maintenance windows, the difficulty in achieving non-destructive, rapid, and accurate detection of lateral resistance of the track bed, the inability to provide real-time and reliable data support for maintenance, and the resulting safety risks to the use of ballasted tracks, this invention provides a method and system for real-time detection of lateral resistance of the track bed.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a method for real-time detection of the lateral resistance of a track bed, the method comprising:

[0010] S1: Construct a static model of ballasted track, simulate the lateral resistance test of the track bed, and obtain the corresponding relationship between the lateral resistance of the track bed and the track bed density by fitting.

[0011] S2: Construct a coupled dynamic model of the intelligent inspection vehicle and the ballast track, simulate the lateral displacement test of the intelligent inspection vehicle under the excitation mode, and obtain the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the track bed density by fitting.

[0012] S3: Based on steps S1 and S2, the corresponding relationship between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle is obtained by fitting.

[0013] S4: Place the intelligent detection vehicle in the real-time track bed lateral resistance detection system on the rail corresponding to the track bed to be tested, and collect the lateral displacement of the intelligent detection vehicle when it travels on the rail of the track bed to be tested in real time. According to step S3, analyze and obtain the lateral resistance of the track bed to be tested in real time.

[0014] Optionally, step S1 specifically includes:

[0015] S1.1: Set the track bed geometry parameters, sleeper parameters, and ballast particle contact parameters in the EDEM software for the static model of the ballast track;

[0016] S1.2: Use SolidWorks software to draw the geometric model of the sleeper; in EDEM software, generate the ballasted track bed model based on the ballast particle template and the special grade ballast gradation; import the geometric model of the sleeper into EDEM software and splice it with the ballasted track bed model, and combine the track bed geometric dimension parameters, sleeper parameters and ballast particle contact parameters set in step S1.1 to construct the static model of the ballasted track;

[0017] S1.3: Based on the static model of ballasted track, the initial track bed density is set, lateral displacement is applied to the sleepers, and the lateral resistance test of the track bed is simulated to obtain the lateral resistance of the track bed corresponding to the track bed density.

[0018] S1.4: Repeat step S1.3 to simulate multiple sets of lateral resistance tests for track beds with different densities under the same lateral displacement conditions as in step S1.3. By analyzing multiple sets of lateral resistances corresponding to different track bed densities, the corresponding relationship between track bed lateral resistance and track bed density can be fitted.

[0019]

[0020] in, Lateral resistance of the track bed, unit: KN ; The density of the track bed, unit: kg / m 3 .

[0021] Optionally, the specific method of step S1.3 is as follows:

[0022] S1.3.1: Set the initial density of the track bed in the static model of ballasted track;

[0023] S1.3.2: Apply lateral displacement to one side of the sleeper to make the sleeper move at a constant speed. When the lateral displacement of the sleeper reaches 2... mm When the track bed reacts to the sleepers, the lateral resistance of the track bed is called the lateral resistance of the track bed.

[0024] Optionally, the specific method of step S2 is as follows:

[0025] S2.1: In EDEM software, delete the rail panel in the established static model of ballasted track and save the ballasted track bed model; the rail panel includes rails, fasteners and sleepers;

[0026] In the multibody dynamics software, a simulated inspection vehicle is constructed according to the actual geometric dimensions of the intelligent inspection vehicle 1; the deleted track panel is imported into the multibody dynamics software and assembled with the simulated inspection vehicle to obtain a simulated inspection vehicle-track panel coupling model.

[0027] S2.2: Import the sleepers in the simulated test vehicle-track coupling model into the EDEM software in the form of wall elements, and establish the simulated test vehicle-ballast track coupling dynamic model by using the discrete element and multibody dynamics coupling method.

[0028] S2.3: Based on the principle of reverse detection of track panel excitation-car body response, in the coupled dynamic model of simulated test vehicle-ballast track, a horizontal excitation force of fixed frequency is applied to the simulated test vehicle, and the lateral acceleration of the simulated test vehicle during operation is recorded. The lateral displacement of the simulated test vehicle is calculated from the lateral acceleration.

[0029] S2.4: Repeat step S2.3 to simulate the lateral displacement of the intelligent inspection vehicle under constant horizontal excitation force under multiple sets of different track bed density conditions, and then fit the relationship between the lateral displacement of the intelligent inspection vehicle and the track bed density:

[0030]

[0031] in, The lateral displacement of the intelligent inspection vehicle, in units of: mm ; The density of the track bed, unit: kg / m 3 .

[0032] Optionally, step S2.3 specifically includes:

[0033] S2.3.1: Set the initial track bed density in the simulated test vehicle-ballast track coupled dynamic model;

[0034] S2.3.2: Set the simulated testing vehicle to move at a speed of 0.5 on the ballasted track. km / h -2 km / h Running at a constant speed, based on the principle of track panel excitation-vehicle body response reverse detection, a fixed frequency horizontal excitation force is applied to the simulated test vehicle, and the lateral acceleration signal wave during the operation of the simulated test vehicle is acquired in real time.

[0035] S2.3.3: Capture the images before and after the simulated test vehicle passes directly above the sleeper. T The transverse acceleration signal wave within seconds; among which, T It is determined based on the speed of the simulated testing vehicle and the sleeper spacing;

[0036] 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 average amplitude of the simulated test vehicle above each sleeper, and then obtain the lateral displacement of the simulated test vehicle on each sleeper:

[0037]

[0038] in, The simulated lateral displacement of the testing vehicle on each sleeper, in units of: mm ; f The lateral acceleration frequency corresponding to the simulated test vehicle on each sleeper, in units of: Hz ; The average amplitude of lateral acceleration corresponding to the simulated testing vehicle above each sleeper, in units of: m / s 2 .

[0039] Optionally, step S4 specifically includes:

[0040] S4.1: Deploy the intelligent detection vehicle in the real-time track bed lateral resistance detection system on the rail corresponding to the track bed to be tested;

[0041] S4.2: Apply a constant frequency horizontal excitation force to the ballasted track corresponding to the track bed to be tested through the excitation force output module on the intelligent inspection vehicle, and collect the lateral acceleration signal wave in real time when the intelligent inspection vehicle is running at a constant speed above the sleeper corresponding to the track bed to be tested through the sensor module on the intelligent inspection vehicle.

[0042] S4.3: Capture the area directly above each sleeper as the intelligent inspection vehicle passes. T The lateral acceleration signal wave within seconds is analyzed and its characteristic spectrum is calculated; based on the characteristic spectrum and the lateral acceleration signal wave, the lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the track bed under test is obtained;

[0043] S4.4: Substitute the lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the track bed to be tested into the corresponding relationship obtained in step S3 to obtain the lateral resistance of the track bed at the corresponding sleeper position.

[0044] Optionally, the correspondence between the track bed lateral resistance and the intelligent inspection vehicle lateral displacement obtained by fitting in step S3 is as follows:

[0045]

[0046] in, Lateral resistance of the track bed, unit: KN ; The lateral displacement of the intelligent inspection vehicle, in units of: mm .

[0047] Secondly, the present invention provides a real-time detection system for track bed lateral resistance, for realizing the above-mentioned method for real-time detection of track bed lateral resistance. The system includes: an intelligent detection vehicle and an excitation force output module, a sensor module, a data processing module and an output module disposed on the intelligent detection vehicle.

[0048] The excitation force output module is used to apply a horizontal excitation force of fixed frequency to the ballasted track corresponding to the track bed to be tested, so that the intelligent inspection vehicle generates lateral acceleration.

[0049] The sensor module is used to collect lateral acceleration signal waves in the intelligent inspection vehicle;

[0050] The data processing module is used to acquire the lateral acceleration signal wave in the intelligent inspection vehicle, acquire the lateral displacement of the intelligent inspection vehicle based on the lateral acceleration signal wave, and analyze the lateral resistance of the intelligent inspection vehicle at the corresponding sleeper position in real time according to the correspondence between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle.

[0051] The output module is used to output the lateral resistance of the track bed at the corresponding sleeper position in real time.

[0052] Optionally, the intelligent inspection vehicle includes a vehicle body module and a walking module;

[0053] The walking module is located on the lower side of the vehicle body module and is used to abut against the rail corresponding to the track bed to be tested;

[0054] The excitation force output module is fixedly installed inside the vehicle body module;

[0055] The data processing module, the sensor module, and the output module are mounted on the vehicle body module.

[0056] Optionally, the intelligent inspection vehicle further includes a horizontal rail clamping module;

[0057] The horizontal rail clamping module is mounted on the traveling module to ensure that the traveling module stably fits the rail corresponding to the track bed to be tested.

[0058] The beneficial effects of this invention are:

[0059] This invention provides a method for real-time detection of lateral resistance of track bed. By using EDEM software and multibody dynamics software to establish a static model of ballasted track and a coupled dynamic model of the inspection vehicle and ballasted track, a dual mapping relationship is formed, directly linking the lateral resistance of the track bed to the lateral displacement of the intelligent inspection vehicle. This allows for real-time acquisition of the lateral displacement of the intelligent inspection vehicle at each sleeper during its movement. Based on the lateral displacement of the intelligent inspection vehicle and the corresponding relationship between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle, the specific value of the lateral resistance of the track bed is analyzed and output in real time. This achieves real-time non-destructive detection of the lateral resistance of the track bed. The calculation process is simple, the results are accurate, and it can accurately reflect the current operating status in real time. Furthermore, this method eliminates the cumbersome process of removing fasteners and installing loading devices required in traditional inspections, significantly improving inspection efficiency, and is particularly suitable for operating environments with short railway maintenance windows. This invention avoids physical disturbance to the track bed structure, ensuring data accuracy. At the same time, the dynamic detection mechanism based on the "excitation-response" principle can continuously and in real time acquire the lateral resistance status of the entire track bed under test, providing a comprehensive and scientific basis for track bed maintenance and effectively preventing the risk of track instability caused by insufficient lateral resistance of the track bed.

[0060] Meanwhile, this invention also provides a real-time detection system for lateral resistance of track bed. An intelligent inspection vehicle moves at a constant speed on the ballasted track of the track bed to be tested. During the movement, a closed loop of "vibration-acquisition-calculation-feedback" is achieved through the collaboration of the excitation force output module, sensor module, data processing module, and output module. By transforming a complex mathematical model into a hardware system, the intensity of manual operation is reduced. While significantly improving detection efficiency, this invention also avoids the technical problem of existing technologies where real-time performance is insufficient to meet the inspection needs during railway maintenance windows, making it impossible to achieve non-destructive, rapid, and accurate detection of lateral resistance of track bed. This results in a lack of real-time and reliable data support for maintenance and repair, posing safety risks to the use of ballasted track. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the method for real-time detection of the lateral resistance of the track bed in this invention;

[0062] Figure 2 This is a schematic diagram of applying lateral displacement to one side of the sleeper in an example of the present invention;

[0063] Figure 3 This is a schematic diagram illustrating the relationship between the lateral resistance of the track bed and the track bed density obtained through fitting in this invention.

[0064] Figure 4 This is a schematic diagram of the simulated testing vehicle-ballast track coupled dynamic model established in this invention;

[0065] Figure 5 This is a schematic diagram showing the correspondence between the lateral displacement of the intelligent inspection vehicle and the track bed density obtained by fitting in this invention;

[0066] Figure 6 This is a schematic diagram illustrating the correspondence between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle obtained by fitting in this invention;

[0067] Figure 7 This is a schematic diagram of a real-time detection system for the lateral resistance of a track bed according to the present invention;

[0068] Figure 8 This is a side view of a real-time detection system for track bed lateral resistance according to the present invention;

[0069] Figure 9 This is a side view of the real-time detection system for lateral resistance of the track bed in this invention on the rail.

[0070] Figure 10 This is a top view of the real-time detection system for the lateral resistance of the track bed in this invention.

[0071] The components include: 1. Intelligent inspection vehicle; 11. Vehicle body module; 12. Walking module; 121. Walking wheels; 2. Vibration force output module; 3. Sensor module; 4. Output module; 5. Horizontal rail clamping module. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0074] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer sides relative to the outline of each component itself.

[0075] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0076] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0077] Example 1

[0078] See Figure 1 The diagram illustrates a method for real-time detection of lateral resistance of a track bed provided by the present invention, the method comprising:

[0079] S1: Construct a static model of ballasted track, simulate the lateral resistance test of the track bed, and obtain the corresponding relationship between the lateral resistance of the track bed and the track bed density by fitting.

[0080] S2: Construct a coupled dynamic model of the intelligent inspection vehicle and the ballast track, simulate the lateral displacement test of the intelligent inspection vehicle under the excitation mode, and obtain the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the track bed density by fitting.

[0081] S3: Based on steps S1 and S2, the corresponding relationship between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle is obtained by fitting.

[0082] S4: Place the intelligent detection vehicle 1 in the real-time detection system for lateral resistance of the track bed on the rail corresponding to the track bed to be tested, and collect the lateral displacement of the intelligent detection vehicle 1 when it travels on the rail of the track bed to be tested in real time. According to step S3, analyze and obtain the lateral resistance of the track bed to be tested in real time.

[0083] Optionally, step S1 in this invention specifically includes:

[0084] S1.1: Set the track bed geometry parameters, sleeper parameters, and ballast particle contact parameters in the EDEM software for the static model of the ballast track;

[0085] S1.2: Use SolidWorks software to draw the geometric model of the sleeper; in EDEM software, generate the ballasted track bed model based on the ballast particle template and the special grade ballast gradation; import the geometric model of the sleeper into EDEM software and splice it with the ballasted track bed model, and combine the track bed geometric dimension parameters, sleeper parameters and ballast particle contact parameters set in step S1.1 to construct the static model of the ballasted track;

[0086] S1.3: Based on the static model of ballasted track, the initial track bed density is set, lateral displacement is applied to the sleepers, and the lateral resistance test of the track bed is simulated to obtain the lateral resistance of the track bed corresponding to the track bed density.

[0087] S1.4: Repeat step S1.3 to simulate multiple sets of lateral resistance tests for track beds with different densities under the same lateral displacement conditions as in step S1.3. By analyzing multiple sets of lateral resistances corresponding to different track bed densities, the corresponding relationship between track bed lateral resistance and track bed density can be fitted.

[0088]

[0089] in, Lateral resistance of the track bed, unit: KN ; The density of the track bed, unit: kg / m 3 .

[0090] It should be noted that the correspondence between the lateral resistance of the track bed and the track bed density obtained by fitting in this embodiment is a fitting correspondence between their values, so their units are not considered.

[0091] Optionally, the specific method of step S1.3 in this invention is as follows:

[0092] S1.3.1: Set the initial density of the track bed in the static model of ballasted track;

[0093] S1.3.2: Apply lateral displacement to one side of the sleeper to make the sleeper move at a constant speed. When the lateral displacement of the sleeper reaches 2... mm When the track bed reacts to the sleepers, the lateral resistance of the track bed is called the lateral resistance of the track bed.

[0094] Furthermore, the standard for the lateral displacement of the sleeper in this invention is 2. mm The parameters were determined according to "TBT 3448-2016 Test Method for Condition Parameters of Railway Crushed Stone Track".

[0095] For example, the specific process of constructing the track static model in this invention can be as follows:

[0096] S1.1: In the EDEM software, the track bed geometry parameters, sleeper parameters, and ballast particle contact parameters are set for the static model of the ballasted track. Specifically, the rail parameter is set to 60. kg / m A standard rail model is used, with Type III concrete sleepers connected by a Type III elastic clip fastener system. The Type III elastic clip fastener system is simulated using a two-way spring damper, with its vertical and lateral stiffness coefficients set to 3.25 × 10⁻⁶. 7 N / m and 1×10 7 N / m The damping coefficient is 3.75 × 10⁻⁶. 4 N·s / m and 2.5×10 4 N·s / m The track bed thickness is set at 350 mm. mm Its slope is 1:1.75.

[0097] S1.2: The geometric model of the sleeper was drawn using SolidWorks software; in EDEM software, a ballasted track bed model was generated based on the ballast particle template and the gradation of premium ballast. Specifically, the track bed was set to be composed of polyhedral ballast particles, which were required to meet the standards for premium ballast in newly built railways (particle size 22.4 mm). mm ~63 mm The contact force calculation of ballast particles adopts the Hertz-Mindlin Nassauer Kuna (no-slip) constitutive model, and the interaction between polyhedral ballast particles is simulated by normal and tangential contact force update algorithms. At the same time, rigid wall elements are used to simulate the ballast bed boundary to restrict the lateral displacement of polyhedral ballast particles. The geometric model of the sleeper is imported into the EDEM software in the form of wall elements and spliced ​​with the ballasted ballast bed model to ensure that its contact behavior with the ballast bed conforms to the actual working conditions.

[0098] S1.3: Assume the initial track bed density is 1300. kg / m 3 ;reference Figure 2 Lateral displacement is applied to the sleepers until the lateral displacement of the sleepers reaches 2. mm Record the relationship between the lateral resistance of the track bed and the lateral displacement of the sleepers. Specifically, when the lateral displacement of the sleepers reaches 2... mm When the track bed reacts to the sleepers, the lateral resistance of the track bed is called the lateral resistance of the track bed.

[0099] S1.4: Set the track bed density to 1350 in sequence. kg / m 3 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 To obtain the relationship curves between horizontal load and lateral displacement of sleepers under different track bed densities;

[0100] Based on the relationship between sleeper horizontal load and lateral displacement under all ballast density conditions, this study analyzes multiple sets of lateral resistance for different ballast densities, referring to... Figure 3 Further fitting yielded the relationship between the lateral resistance of the track bed and the track bed density:

[0101]

[0102] in, Figure 3 Medium goodness of fit R 2 =0.999, Lateral resistance of the track bed, unit: KN ; The density of the track bed, unit: kg / m 3 .

[0103] Optionally, the specific method of step S2 in this invention is as follows:

[0104] S2.1: In EDEM software, delete the rail panel in the established static model of ballasted track and save the ballasted track bed model; the rail panel includes rails, fasteners and sleepers;

[0105] In the multibody dynamics software, a simulated inspection vehicle is constructed according to the actual geometric dimensions of the intelligent inspection vehicle 1; the track panel that was deleted above is imported into the multibody dynamics software and assembled with the simulated inspection vehicle to obtain a simulated inspection vehicle-track panel coupling model;

[0106] S2.2: Import the sleepers from the simulated test vehicle-track coupling model into the EDEM software as wall elements. Using the discrete element method and multibody dynamics coupling method, establish the simulated test vehicle-ballast track coupled dynamic model, referring to... Figure 4 ;

[0107] S2.3: Set the initial track bed density, such as setting the initial track bed density to 1300. kg / m3 Based on the principle of reverse detection of track panel excitation and vehicle body response, in the coupled dynamic model of simulated test vehicle and ballast track, a horizontal excitation force of fixed frequency is applied to the simulated test vehicle, and the lateral acceleration of the simulated test vehicle during operation is recorded. The lateral displacement of the simulated test vehicle is calculated from the lateral acceleration.

[0108] S2.4: Repeat step S2.3 to simulate multiple sets of different track bed density conditions, such as 1350. kg / m 3 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 simulated lateral displacement of the test vehicle under a constant horizontal excitation force is referenced. Figure 5 Therefore, the relationship between the lateral displacement of the intelligent inspection vehicle and the track bed density can be obtained by fitting the data.

[0109]

[0110] Among them, goodness of fit R 2 =0.999, The lateral displacement of the intelligent inspection vehicle, in units of: mm ; The density of the track bed, unit: kg / m 3 .

[0111] It should be noted that the simulated inspection vehicle in this invention is designed and simulated based on the actual size parameters of the intelligent inspection vehicle 1. Therefore, the lateral displacement of the intelligent inspection vehicle can be obtained based on the lateral displacement of the simulated inspection vehicle, and the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the track bed density can be obtained by fitting the data.

[0112] It should be noted that the correspondence between the lateral displacement of the intelligent inspection vehicle and the track bed density obtained in this embodiment is based on its numerical fitting, so its units are not considered.

[0113] Optionally, step S2.3 in this invention specifically includes:

[0114] S2.3.1: Set the initial track bed density in the simulated test vehicle-ballast track coupled dynamic model;

[0115] S2.3.2: Set the simulated testing vehicle to move at a speed of 0.5 on the ballasted track. km / h -2 km / h Running at a constant speed, based on the principle of track panel excitation-vehicle body response reverse detection, a fixed frequency horizontal excitation force is applied to the simulated test vehicle, and the lateral acceleration signal wave during the operation of the simulated test vehicle is acquired in real time.

[0116] S2.3.3: Capture the images before and after the simulated test vehicle passes directly above the sleeper. T The transverse acceleration signal wave within seconds; among which, T It is determined based on the speed of the simulated testing vehicle and the sleeper spacing;

[0117] 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 average amplitude of the simulated test vehicle above each sleeper, and then obtain the lateral displacement of the simulated test vehicle on each sleeper:

[0118]

[0119] in, The simulated lateral displacement of the testing vehicle on each sleeper, in units of: mm ; f The lateral acceleration frequency corresponding to the simulated test vehicle on each sleeper, in units of: Hz ; The average amplitude of lateral acceleration corresponding to the simulated testing vehicle above each sleeper, in units of: m / s 2 .

[0120] In this invention, the coupled dynamic model of the simulated inspection vehicle and the ballast track is established based on the static model of the track, taking into account the dynamic effects of vibration, impact and other effects of the intelligent inspection vehicle 1 on the rail.

[0121] Furthermore, in step S2.3.3 of this invention, the preceding and following sections are captured when the simulated testing vehicle passes directly above the sleeper. T The characteristic spectrum of the transverse acceleration signal wave within a second is obtained through analysis and calculation; the time interval... T It is determined by the sleeper spacing. L , speed of the simulated testing vehicle V It is certain, and the specific process of determination is as follows: T = L / (2V ).

[0122] Furthermore, refer to Figure 6 In step S3 of this invention, based on steps S1 and S2, the corresponding relationship between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle is obtained by fitting and organizing the data, as follows:

[0123]

[0124] in, Figure 6 goodness of fit R 2 =0.999, Lateral resistance of the track bed, unit: KN ; The lateral displacement of the intelligent inspection vehicle, in units of: mm .

[0125] Optionally, step S4 in this invention specifically includes:

[0126] S4.1: Deploy the intelligent detection vehicle 1 in the real-time detection system for the lateral resistance of the track bed on the rail corresponding to the track bed to be tested;

[0127] S4.2: A constant frequency horizontal excitation force is applied to the ballasted track corresponding to the track bed to be tested through the excitation force output module 2 on the intelligent inspection vehicle 1. The lateral acceleration signal wave of the intelligent inspection vehicle 1 running at a constant speed above the sleeper corresponding to the track bed to be tested is collected in real time through the sensor module 3 on the intelligent inspection vehicle 1.

[0128] S4.3: Capture the front and rear views of the intelligent inspection vehicle 1 as it passes directly above each sleeper. T The lateral acceleration signal wave within seconds is analyzed and its characteristic spectrum is calculated; based on the characteristic spectrum and the lateral acceleration signal wave, the lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the track bed under test is obtained;

[0129] S4.4: Substitute the lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the track bed to be tested into the corresponding relationship obtained in step S3 to obtain the lateral resistance of the track bed at the corresponding sleeper position.

[0130] In this embodiment, a static model of the ballasted track and a coupled dynamic model of the inspection vehicle and the ballasted track are established using EDEM software and multibody dynamics software, forming a dual mapping relationship. This directly links the lateral resistance of the track bed with the lateral displacement of the intelligent inspection vehicle. As the intelligent inspection vehicle moves, the lateral displacement of the intelligent inspection vehicle at each sleeper can be collected in real time. Based on the lateral displacement of the intelligent inspection vehicle and the correspondence between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle, the specific value of the lateral resistance of the track bed is analyzed and output in real time. This achieves real-time non-destructive testing of the lateral resistance of the track bed. The calculation process is simple, the results are accurate, and it can reflect the current operating status in real time. Furthermore, this method eliminates the cumbersome process of removing fasteners and installing loading devices in traditional testing, significantly improving testing efficiency, and is especially suitable for the working environment of railway track maintenance windows with short working hours. This invention avoids physical disturbance to the track bed structure, ensuring data accuracy. At the same time, the dynamic detection mechanism based on the "excitation-response" principle can continuously and in real time acquire the lateral resistance status of the entire track bed under test, providing a comprehensive and scientific basis for track bed maintenance and effectively preventing the risk of track instability caused by insufficient lateral resistance of the track bed.

[0131] Example 2

[0132] Reference Figure 7 , Figure 8 and Figure 9 The present invention also provides a real-time detection system for track bed lateral resistance, which is used to realize the real-time detection method for track bed lateral resistance in Embodiment 1. The system includes: an intelligent inspection vehicle 1 and an excitation force output module 2, a sensor module 3, a data processing module and an output module 4 installed on the intelligent inspection vehicle 1.

[0133] The excitation force output module 2 is used to output a fixed frequency horizontal excitation force to the ballasted track corresponding to the track bed to be tested, so that lateral acceleration is generated in the intelligent inspection vehicle 1.

[0134] Sensor module 3 is used to collect lateral acceleration signal waves in the intelligent detection vehicle 1 in real time;

[0135] The data processing module is used to acquire the lateral acceleration signal wave in the intelligent inspection vehicle 1, acquire the lateral displacement of the intelligent inspection vehicle based on the lateral acceleration signal wave, and analyze the lateral resistance of the intelligent inspection vehicle 1 at the corresponding sleeper position in real time according to the correspondence between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle.

[0136] Output module 4 is used to output the lateral resistance of the track bed at the corresponding sleeper position in real time.

[0137] In this embodiment, a real-time lateral resistance detection system for ballast tracks is also provided. An intelligent inspection vehicle 1 moves at a constant speed along the rails of the track to be tested. During this movement, a closed loop of "vibration-acquisition-calculation-feedback" is achieved through the collaboration of the excitation force output module 2, sensor module 3, data processing module, and output module 4. By transforming a complex mathematical model into a hardware system, the intensity of manual operation is reduced. This significantly improves detection efficiency while avoiding the technical problems of existing technologies where real-time performance is insufficient to meet the inspection needs during railway maintenance windows, preventing non-destructive, rapid, and accurate detection of lateral resistance. This results in a lack of real-time and reliable data support for maintenance and repair, posing safety risks to the use of ballasted tracks.

[0138] Optionally, refer to Figure 8 The intelligent detection vehicle 1 of the present invention includes a vehicle body module 11 and a walking module 12;

[0139] The walking module 12 is located on the lower side of the vehicle body module 11 and is used to abut against the rail corresponding to the track bed to be tested;

[0140] The excitation force output module 2 is fixedly installed inside the vehicle body module 11;

[0141] The data processing module, sensor module 3, and output module 4 are mounted on the vehicle body module 11.

[0142] Optionally, the intelligent inspection vehicle 1 of the present invention further includes a horizontal rail clamping module 5;

[0143] The horizontal rail clamping module 5 is mounted on the traveling module 12 to ensure that the traveling module 12 stably fits the rail corresponding to the track bed to be tested.

[0144] In this embodiment, the vehicle body module 11 and the walking module 12 are designed to provide a stable load-bearing platform and walking mechanism for the system. The vehicle body module 11 integrates components such as vibration excitation devices and sensors. The walking module 12 ensures that the system runs smoothly along the track and avoids measurement deviations caused by vibration. Furthermore, the horizontal rail clamping module 5 uses a mechanical locking mechanism to make the walking module 12 fit tightly against the rail of the track bed to be tested, eliminating the risk of slippage of the intelligent inspection vehicle 1 during the inspection process.

[0145] Furthermore, refer to Figure 10 In this embodiment, the walking module 12 includes a walking wheel assembly, a drive assembly, and an energy storage assembly. The walking wheel assembly includes at least four walking wheels 121, forming two walking wheel sets, both of which are located on the lower side of the vehicle body module 11. The drive assembly and the energy storage assembly are located in the vehicle body module 11. The energy storage assembly is connected to the drive assembly, and the drive assembly is connected to the walking wheel assembly, for driving the walking wheel assembly to move along the rails of the track bed to be tested.

[0146] Furthermore, the horizontal rail clamping module 5 is positioned between the two traveling wheels 121 in the traveling wheel set. Specifically, the horizontal rail clamping module 5 can be a clamping cylinder to apply pressure to the two traveling wheels 121 in the traveling wheel set, so that the traveling wheels 121 are pressed against the track of the track bed to be tested.

[0147] Furthermore, the excitation force output module 2 in this invention is an eccentric excitation force output module.

[0148] In this embodiment, the method and system for real-time detection of lateral resistance of the track bed laid the foundation for evaluating the operational quality of the track bed. Further improvements can be made to the functionality based on the data from this invention, such as fitting resistance data to a curve using mileage to facilitate longitudinal comparison of track bed performance evolution trends and provide data support for preventative maintenance. This function transforms the detection results into actionable engineering guidance, significantly enhancing the practical value of the data and solving the problem of fragmented information in traditional inspection reports.

[0149] In the description of this specification, the specific features, structures, materials or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0150] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for real-time detection of lateral resistance of track bed, characterized in that, include: S1: Construct a static model of ballasted track, simulate the lateral resistance test of the track bed, and obtain the corresponding relationship between the lateral resistance of the track bed and the track bed density by fitting. S2: Construct a coupled dynamic model of the intelligent inspection vehicle and the ballast track, simulate the lateral displacement test of the intelligent inspection vehicle under the excitation mode, and obtain the corresponding relationship between the lateral displacement of the intelligent inspection vehicle and the track bed density by fitting. S3: Based on steps S1 and S2, the corresponding relationship between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle is obtained by fitting. S4: Place the intelligent detection vehicle (1) in the real-time detection system for the transverse resistance of the track bed on the rail corresponding to the track bed to be tested, and collect the transverse displacement of the intelligent detection vehicle (1) when it travels on the rail of the track bed to be tested in real time. According to step S3, analyze and obtain the transverse resistance of the track bed to be tested in real time.

2. The method for real-time detection of track bed lateral resistance according to claim 1, characterized in that, Step S1 specifically includes: S1.1: Set the track bed geometry parameters, sleeper parameters, and ballast particle contact parameters in the EDEM software for the static model of the ballast track; S1.2: Use SolidWorks software to draw the geometric model of the sleeper; in EDEM software, generate the ballasted track bed model based on the ballast particle template and the special grade ballast gradation; import the geometric model of the sleeper into EDEM software and splice it with the ballasted track bed model, and combine the track bed geometric dimension 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 ballasted track, the initial track bed density is set, lateral displacement is applied to the sleepers, and the lateral resistance test of the track bed is simulated to obtain the lateral resistance of the track bed corresponding to the track bed density. S1.4: Repeat step S1.3 to simulate multiple sets of lateral resistance tests for track beds with different densities under the same lateral displacement conditions as in step S1.

3. By analyzing multiple sets of lateral resistances corresponding to different track bed densities, the corresponding relationship between track bed lateral resistance and track bed density can be fitted. in, Lateral resistance of the track bed, unit: KN ; The density of the track bed, unit: kg / m 3 .

3. The method for real-time detection of track bed lateral resistance according to claim 2, characterized in that, The specific method for step S1.3 is as follows: S1.3.1: Set the initial density of the track bed in the static model of ballasted track; S1.3.2: Apply lateral displacement to one side of the sleeper to make the sleeper move at a constant speed. When the lateral displacement of the sleeper reaches 2... mm When the track bed reacts to the sleepers, the lateral resistance of the track bed is called the lateral resistance of the track bed.

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

5. The method for real-time detection of track bed lateral resistance according to claim 4, characterized in that, Step S2.3 specifically includes: S2.3.1: Set the initial track bed density in the simulated test vehicle-ballast track coupled dynamic model; S2.3.2: Set the simulated testing vehicle to move at a speed of 0.5 on the ballasted track. km / h -2 km / h Running at a constant speed, based on the principle of track panel excitation-vehicle body response reverse detection, a fixed frequency horizontal excitation force is applied to the simulated test vehicle, and the lateral acceleration signal wave during the operation of the simulated test vehicle is acquired in real time. S2.3.3: Capture the images before and after the simulated test vehicle passes directly above the sleeper. T The transverse acceleration signal wave within seconds; among which, T It is determined based on the speed of the simulated testing 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 average amplitude of the simulated test vehicle above each sleeper, and then obtain the lateral displacement of the simulated test vehicle on each sleeper: in, The simulated lateral displacement of the testing vehicle on each sleeper, in units of: mm ; f The lateral acceleration frequency corresponding to the simulated test vehicle on each sleeper, in units of: Hz ; The average amplitude of lateral acceleration corresponding to the simulated testing vehicle above each sleeper, in units of: m / s 2 .

6. The method for real-time detection of track bed lateral resistance according to claim 5, characterized in that, Step S4 specifically includes: S4.1: Deploy the intelligent detection vehicle (1) in the real-time detection system for transverse resistance of the track bed on the rail corresponding to the track bed to be tested; S4.2: Apply a constant frequency horizontal excitation force to the ballasted track corresponding to the track bed to be tested through the excitation force output module (2) on the intelligent inspection vehicle (1), and collect the lateral acceleration signal wave of the intelligent inspection vehicle (1) running at a constant speed above the sleeper corresponding to the track bed to be tested in real time through the sensor module (3) on the intelligent inspection vehicle (1); S4.3: Capture the intelligent inspection vehicle (1) passing directly above each sleeper. T The lateral acceleration signal wave within seconds is analyzed and its characteristic spectrum is calculated; based on the characteristic spectrum and the lateral acceleration signal wave, the lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the track bed under test is obtained; S4.4: Substitute the lateral displacement of the intelligent detection vehicle at the sleeper position corresponding to the track bed to be tested into the corresponding relationship obtained in step S3 to obtain the lateral resistance of the track bed at the corresponding sleeper position.

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

8. A real-time track bed lateral resistance detection system, used to implement the real-time track bed lateral resistance detection method as described in claim 7, characterized in that, The system includes: an intelligent inspection vehicle (1) and an excitation force output module (2), a sensor module (3), a data processing module and an output module (4) installed on the intelligent inspection vehicle (1); The excitation force output module (2) is used to apply a horizontal excitation force of fixed frequency to the ballasted track corresponding to the track bed to be tested, so that the intelligent inspection vehicle (1) generates 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 acquire the lateral acceleration signal wave in the intelligent inspection vehicle (1), acquire the lateral displacement of the intelligent inspection vehicle based on the lateral acceleration signal wave, and analyze the lateral resistance of the intelligent inspection vehicle (1) at the corresponding sleeper position in real time according to the correspondence between the lateral resistance of the track bed and the lateral displacement of the intelligent inspection vehicle. The output module (4) is used to output the lateral resistance of the track bed at the corresponding sleeper position in real time.

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

10. The real-time detection system for track bed lateral resistance according to claim 9, characterized in that, The intelligent inspection vehicle (1) also includes a horizontal rail module (5); The horizontal rail clamping module (5) is mounted on the walking module (12) to make the walking module (12) stably fit the rail corresponding to the track bed to be tested.

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