Railway ballast track bed longitudinal resistance intelligent detection device and evaluation system thereof

Abstract

The invention belongs to the technical field of ballast track bulk track bed state detection, and particularly relates to a railway ballast track bed longitudinal resistance intelligent detection device and an evaluation system thereof. An automatic bolt dismounting device, a walking control device, an intelligent ballast removing and backfilling device, an automatic track lifting device, an intelligent loading and sleeper displacement testing device, a measuring point mileage recording device, a driving device, a displayer, a ballast bed longitudinal resistance real-time detection and evaluation system and a night lighting system are arranged on the inner side of the detection vehicle. According to the intelligent detection device and the evaluation system thereof, the efficiency and the accuracy of longitudinal resistance detection of the ballast bed are greatly improved by means of the multifunctional detection module and the intelligent evaluation system of the intelligent detection vehicle; intelligent detection and evaluation of longitudinal resistance of a ballast track bed and accurate prediction of transverse stability of a line can be realized, and important data support is provided for maintenance and repair of the railway line and post-disaster reconstruction.

Description

Technical Field

[0001] This invention belongs to the field of ballast track condition detection technology, specifically relating to an intelligent detection device and evaluation system for longitudinal resistance of railway ballast track. Background Technology

[0002] By the end of 2024, my country's railway operating mileage had exceeded 162,000 kilometers, ranking first in the world. Currently, my country's railway construction is entering a new stage of scale expansion, speed improvement, technological innovation, and coordinated regional development. In the railway track system, ballasted track, as an important component of the railway network, undertakes a large number of passenger and freight transport tasks. The ballasted ballast bed plays a crucial role in supporting sleepers, transmitting loads, and maintaining the stability of the track frame. Among these, the longitudinal resistance of the ballast bed is one of the core parameters ensuring the stability of the track structure and the safe operation of trains. The longitudinal resistance of the ballast bed effectively prevents track creep and improves the uniformity of longitudinal force distribution on the rails. Its value is comprehensively affected by various factors such as ballast material, particle size, ballast bed cross-sectional shape, tamping quality, ballast bed contamination level, and the weight of the track frame itself.

[0003] However, current technologies for detecting longitudinal resistance in ballasted track have many shortcomings. Traditional detection systems are extremely cumbersome in their operation. For example, longitudinal resistance detection in single-sleeper loading tests requires first removing fasteners and pads, then using jacks to apply a reverse longitudinal force to the rail and sleeper. During this process, longitudinal force and displacement data of the target sleeper must be collected to calculate the longitudinal resistance of the track bed. This not only requires excavating part of the ballast on the side of the sleeper, causing significant disturbance to the track bed structure, but also necessitates a large amount of manpower for operations such as removing fasteners, installing pressure sensors and loading equipment, resulting in extremely low detection efficiency. Furthermore, due to the complexity of the operation, the number of sampling points in actual testing is extremely limited, making it difficult to comprehensively reflect the longitudinal resistance status of the entire railway track bed and failing to provide sufficient assurance for the safe operation of trains.

[0004] Current longitudinal resistance detection technologies for ballasted ballast tracks suffer from shortcomings in efficiency, accuracy, and ease of operation, making it difficult to meet the railway industry's needs for track structure safety monitoring and efficient operation and maintenance. Breakthroughs are urgently needed to develop new, efficient, and accurate longitudinal resistance detection technologies for ballasted ballast tracks.

[0005] Therefore, there is an urgent need to develop an intelligent detection device and evaluation system for the longitudinal resistance of railway ballast track. This detection system and evaluation system should have the ability to collect longitudinal resistance parameters of the track bed over a wide range and efficiently, and be able to provide real-time feedback on the track bed status, so as to provide a scientific and reliable basis for railway line maintenance and repair decisions and track bed performance status evaluation. Summary of the Invention

[0006] In view of the problems existing in the prior art, the purpose of this invention is to provide an intelligent detection device and evaluation system for longitudinal resistance of railway ballast track, which can achieve efficient and convenient automated detection without disturbing the original structure of the track bed.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A smart detection device for longitudinal resistance of ballast track bed in railways, the inside of the detection vehicle includes an automatic bolt removal device, a travel control device, an intelligent ballast removal and backfilling device, an automatic track lifting device, an intelligent loading and sleeper displacement testing device, a measuring point mileage recording device, a drive device, a display, a real-time detection and evaluation system for longitudinal resistance of the track bed, and a night lighting system.

[0008] Furthermore, the automatic bolt removal device includes a first bolt remover, a second bolt remover, a third bolt remover, and a fourth bolt remover respectively positioned on the front and rear sides of the moving trolley: The automatic bolt removal device is used to remove sleeper fasteners; The control and travel device includes a first roller, a second roller, a third roller, and a fourth roller respectively installed at the four corners of the bottom of the inspection vehicle. An axle is provided between the first roller and the third roller, and an axle is also provided between the second roller and the fourth roller. The third roller and the fourth roller are controlled by a drive device to realize the movement of the inspection vehicle.

[0009] Furthermore, the intelligent ballast removal and backfilling device includes a first ballast removal cylinder and a second ballast removal cylinder that move horizontally along a predetermined track inside the testing vehicle. The first ballast removal cylinder is vertically downward equipped with a first ballast remover, and the second ballast removal cylinder is vertically downward equipped with a second ballast remover. The intelligent ballast removal and backfilling device also includes a first sleeper displacement acquisition camera and a second sleeper displacement acquisition camera to realize intelligent automatic ballast removal and backfilling operations. The automatic track lifting device includes a first horizontal track lifting cylinder and a second horizontal track lifting cylinder placed on both sides of the inspection vehicle. The output end of the first horizontal track lifting cylinder is vertically provided with a first vertical track lifting cylinder, and the output end of the first vertical track lifting cylinder is downwardly provided with a first track lifting claw. The output end of the second horizontal track lifting cylinder is vertically provided with a second vertical track lifting cylinder, and the output end of the second vertical track lifting cylinder is downwardly provided with a second track lifting claw. The first track lifting claw and the second track lifting claw are used to accurately grip the bottom of the rail. The automatic track lifting device includes a first track lifting support cylinder and a second track lifting support cylinder located at the bottom of the inspection vehicle. The output end of the first track lifting support cylinder is provided with a first track lifting support rod facing downward, and the output end of the second track lifting support cylinder is provided with a second track lifting support rod facing downward. The first track lifting support rod and the second track lifting support rod move downward to contact the ballast, and are used to support and fix the inspection vehicle.

[0010] Furthermore, the intelligent loading and sleeper displacement testing device includes a first jack vertical cylinder and a second jack vertical cylinder placed at the bottom of the testing vehicle. The output end of the first jack vertical cylinder faces downward and is equipped with a first jack horizontal cylinder. The output end of the first jack horizontal cylinder is equipped with a first jack. The output end of the second jack vertical cylinder faces downward and is equipped with a second jack horizontal cylinder. The output end of the second jack horizontal cylinder is equipped with a second jack. The first jack and the second jack are placed in a fixed position between two adjacent sleeper boxes. Both the first jack and the second jack are equipped with an automatic leveling device at their ends. The device rotates around a rotating axis by a movable hydraulic cylinder, with a rotation range of 0~50°, so that the jack is flush with the side of the sleeper.

[0011] Furthermore, the measuring point mileage recording device includes a measuring point mileage recorder for dynamically calibrating the absolute mileage and outputting the final mileage S; The display and real-time detection and evaluation system for longitudinal resistance of the track bed include a display support rod fixed to the top of the inspection vehicle. A data storage device and the real-time detection and evaluation system for longitudinal resistance of the track bed are installed on the top of the display support rod. The real-time detection and evaluation system for longitudinal resistance of the track bed can display the relationship between mileage and longitudinal resistance of the track bed in real time. It mainly consists of parameter setting, data management, and dynamic evaluation modules for longitudinal resistance of the track bed. The parameter setting module mainly includes basic information such as track grade, sleeper type, and starting mileage. The data management module includes data processing, saving, importing and exporting, a real-time data curve display function area, measurement time, track name, standard value of longitudinal resistance, evaluation results of longitudinal resistance of the track, and predicted transverse resistance of the track bed. The real-time data curve display function area displays the curve of the track mileage and the current measured value of the longitudinal resistance of the track bed in real time. The nighttime lighting system includes a first light and a second light installed on both sides of the forward end of the inspection vehicle, providing good visibility for the intelligent inspection vehicle for rapid detection of longitudinal resistance of ballast track during nighttime operations.

[0012] A longitudinal resistance assessment system for ballasted railway tracks includes a test vehicle that moves along the track via a controlled traveling device. Once the test vehicle is in position, the fastener bolt removal mode is activated. The bolt remover moves along the track direction, and when it aligns with the corresponding fastener, a vertical hydraulic cylinder aligns the fastener nut. The device automatically rotates, generating a loosening torque to remove the fastener. The initial loosening torque is 200 N·m. In special circumstances, the loosening torque is gradually increased in 5 N·m increments until the fastener bolts are completely removed. A single measurement requires removing fasteners from five sleepers; the two middle sleepers are the test subjects. After measurement, the fastener nut is aligned with the bolt, and a tightening torque of 200 N·m is applied for installation. The inspection vehicle runs smoothly on the track. During the longitudinal resistance measurement of the ballasted track bed, when the roller travels 1.2m, braking is required, and the fastener bolt removal mode is activated. After removing the fasteners of two sleepers, the intelligent inspection vehicle restarts and proceeds to the removal area for the next two sleepers. After removing the fasteners of five sleepers, the longitudinal resistance of the middle two sleepers is measured. After the section measurement is completed, the trolley automatically installs the bolts. The inspection vehicle's non-inspection speed is 25km / h, the bolt removal speed is 1km / h, and the formal measurement speed is 0km / h.

[0013] Furthermore, the intelligent ballast removal and backfilling device is activated by controlling the ballast removers on both sides to move horizontally and vertically through the ballast removal cylinder, so as to adjust the position of the ballast removers and effectively remove the ballast in the sleeper box, realizing intelligent automatic ballast removal and backfilling operations. The intelligent ballast removal system pre-divides the ballast into its original form and its three-dimensional form after ballast removal. The specific steps include: (1) using two cameras to perform three-dimensional shape recognition of the ballast and recording the original form of the ballast; (2) activating the ballast removal device to remove the ballast until the pre-input three-dimensional form after ballast removal is reached; (3) measuring the longitudinal resistance of the track bed on the sleeper to be tested. When the measurement is correct, the ballast is backfilled to its original state. This process can not only monitor the ballast removal situation in real time according to the pre-set ballast excavation form and adjust the working state of the ballast remover in a timely manner, but also realize that after the measurement is completed, the ballast is automatically backfilled and the ballast is restored to its normal state. The automatic track lifting device is activated, and the track lifting cylinder controls the lateral and vertical movement of the track lifting claws on both sides, so that the track lifting claws can accurately grasp the bottom of the rail. The first track lifting support rod is moved vertically by the first vertical track lifting cylinder to contact the ballast, which serves to support and fix the test vehicle. After the track lifting support rod is placed securely, the vertical track lifting cylinder can be operated again to raise the rail by 5~10mm, ensuring that there is no friction between the rail pad and the rail, thereby reducing the test error.

[0014] Furthermore, the intelligent loading and sleeper displacement acquisition device is activated. The hydraulic cylinder places the jack in a fixed position between the two sleeper boxes to ensure that it can be loaded effectively. By adjusting the vertical hydraulic cylinder of the jack, the height of the jack can be precisely adjusted according to the position and side shape of the sleeper. The centroid of the jack is adjusted to 1 / 2 of the distance from the top surface of the sleeper. The two jacks are placed at position d, and the size of d is set according to the position of the sleeper. The horizontal hydraulic cylinder of the jack is adjustable in length and has the function of loading according to a preset force value Fi, ensuring that a steadily increasing force can be applied during operation. The sleeper position testing system is equipped with a first sleeper displacement acquisition camera and a second sleeper displacement acquisition camera, which can detect sleeper position changes in real time and automatically capture sleeper displacement under the loading force Fi. In addition, in this way, operators can ensure that the jack is placed accurately. Through the coordinated work of intelligent loading and sleeper position testing device, the longitudinal resistance of ballast track can be measured and the loading force recorded. F i The sleeper displacement under the action provides a basis for subsequent data analysis; After the two jacks were placed F i The sampling frequency should be increased slowly, and the first and second sleeper displacement acquisition cameras should be used simultaneously to acquire the longitudinal displacement of the two sleepers. When the sleeper displacement is about to reach 2mm, the acquisition frequency should be increased, and the longitudinal load corresponding to 2mm should be read as the longitudinal resistance of the test sleeper.

[0015] Furthermore, loading force F i The loading force (kN) should be increased slowly, and when the loading force of a single jack exceeds 6kN, the rate of increase in loading force should gradually decrease. The specific loading formula is as follows: 0 <t<6 (1) t≥6(2) In the formula, t is the loading time, and k1 is the loading rate, which is taken as 1 kN / s.

[0016] Compared with the prior art, the beneficial effects of the present invention are: The detection system can effectively improve efficiency and accuracy in detecting the longitudinal resistance of railway track bed, and is easy to operate. The detection system will not disturb the original structure of the track bed during use, ensuring the normal use of the track bed after restoration. By reducing labor costs and improving testing efficiency, it can meet the needs of large-scale and rapid testing of longitudinal resistance of the track bed, and provide real-time feedback on the track bed status, thereby providing a scientific and reliable basis for railway line maintenance and repair decisions and track bed performance status assessment. Attached Figure Description

[0017] Figure 1 A three-dimensional structural diagram of an intelligent detection vehicle for longitudinal resistance of ballast track in railways, provided in an embodiment of the present invention; Figure 2 A front view of an intelligent detection vehicle for longitudinal resistance of ballast track provided in an embodiment of the present invention; Figure 3A side view of an intelligent detection vehicle for longitudinal resistance of ballast track provided in an embodiment of the present invention; Figure 4 A top view of an intelligent detection vehicle for longitudinal resistance of ballast track in railways, provided in an embodiment of the present invention; Figure 5 A schematic diagram illustrating the working principle of a bolt remover provided in an embodiment of the present invention; Figure 6 A front view of a bolt remover provided in an embodiment of the present invention; Figure 7 A side view of a bolt remover provided in an embodiment of the present invention; Figure 8 This is a bottom view of a bolt remover provided in an embodiment of the present invention; Figure 9 A three-dimensional perspective view of an intelligent ballast removal and backfilling device provided in an embodiment of the present invention; Figure 10 This is an operation flowchart of an intelligent ballast removal and backfilling device provided in an embodiment of the present invention; Figure 11 A three-dimensional perspective view of an automatic track-raising device provided in an embodiment of the present invention; Figure 12 This is a front view of an automatic track-lifting device provided in an embodiment of the present invention; Figure 13 A three-dimensional perspective view of an intelligent loading and sleeper displacement acquisition device provided in an embodiment of the present invention; Figure 14 This is a side view of an intelligent loading and sleeper displacement acquisition device provided in an embodiment of the present invention; Figure 15 A schematic diagram of the working principle of a jack provided in an embodiment of the present invention; Figure 16 This is a schematic diagram illustrating the working principle of an automatic leveling device provided in an embodiment of the present invention. Figure 17 A three-dimensional image for obtaining sleeper displacement is provided in an embodiment of the present invention; Figure 18 A time curve of the loading force of an intelligent loading device provided in an embodiment of the present invention; Figure 19 This is an application flowchart of an intelligent mileage recording device provided in an embodiment of the present invention; Figure 20 A diagram illustrating a track bed lateral resistance prediction model provided in an embodiment of the present invention; Figure 21 An interface diagram of a real-time detection and evaluation system for longitudinal resistance of a track bed provided in an embodiment of the present invention;

[0018] Figure 22 A graph showing the measurement results of track mileage and longitudinal resistance of the track bed, provided as an embodiment of the present invention; Figure 23 This is a diagram illustrating the real-time evaluation results of the longitudinal resistance of a track bed longitudinal resistance real-time detection and evaluation system provided in an embodiment of the present invention. Figure 24 This is a diagram showing the predicted results of the sleeper lateral resistance of a real-time detection and evaluation system for longitudinal resistance of track bed provided in an embodiment of the present invention. The attached diagram lists the components represented by each number as follows: 1. First bolt remover; 2. Second bolt remover; 3. Third bolt remover; 4. Fourth bolt remover; 5. First roller; 6. Second roller; 7. Third roller; 8. Fourth roller; 9. Axle; 10. First ballast remover; 11. First ballast remover cylinder; 12. Second ballast remover; 13. Second ballast remover cylinder; 14. First track lifting claw; 15. First vertical track lifting cylinder; 16. First horizontal track lifting cylinder; 17. First track lifting support rod; 18. First track lifting support cylinder; 19. Second track lifting claw; 20. Second vertical track lifting cylinder; 21. Second horizontal track lifting cylinder; 22. Second track lifting support rod; 23. Second track lifting support cylinder; 24. First jack; 25. First jack horizontal cylinder; 26. First jack vertical cylinder; 27. Second jack; 28. 29. Second jack horizontal cylinder; 30. Second jack vertical cylinder; 31. First sleeper displacement acquisition camera; 32. Second sleeper displacement acquisition camera; 33. Measuring point mileage recorder; 34. Drive device; 35. Data storage and real-time detection and evaluation system for longitudinal resistance of track bed; 36. Display support rod; 37. First lighting lamp; 38. Second lighting lamp. Detailed Implementation

[0019] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0020] Example 1: refer to Figures 1-4 As shown, an intelligent detection device for longitudinal resistance of railway ballast track includes a detection vehicle. The inside of the detection vehicle includes an automatic bolt removal device, a travel control device, an intelligent ballast removal and backfilling device, an automatic track lifting device, an intelligent loading and sleeper displacement testing device, a measuring point mileage recording device, a drive device 33, a display, a real-time detection and evaluation system for longitudinal resistance of the track, and a night lighting system, so as to realize the movement of the detection vehicle along the track and achieve automatic detection.

[0021] refer to Figures 5-8 As shown, the automatic bolt removal device includes a first bolt remover 1, a second bolt remover 2, a third bolt remover 3, and a fourth bolt remover 4, respectively positioned on the front and rear sides of the moving trolley. The automatic bolt removal device is used to remove sleeper fasteners. Each bolt remover 3 is an inverted U-shaped structure to remove sleeper fasteners on the inner and outer sides of the track. The end is an internal hexagonal sleeve that is adapted to the sleeper fastener bolt and is rotated by hydraulic drive. refer to Figure 9 As shown, the control and travel device includes a first roller 5, a second roller 6, a third roller 7, and a fourth roller 8 respectively installed at the four corners of the bottom of the inspection vehicle. An axle 9 is provided between the first roller 5 and the third roller 7, and an axle 9 is also provided between the second roller 6 and the fourth roller 8. The third roller 7 and the fourth roller 8 are controlled by the drive device to realize the movement of the inspection vehicle, so as to drive the inspection vehicle to move along the track. The axle 9 is used to ensure that the rotation speed of the rollers on both sides is consistent, so as to ensure the stability of the inspection vehicle when it moves.

[0022] refer to Figure 9 and Figure 10 As shown, the intelligent ballast removal and backfilling device includes a first ballast removal cylinder 11 and a second ballast removal cylinder 13 that move horizontally along a predetermined track inside the inspection vehicle. The first ballast removal cylinder 11 is vertically downward mounted with a first ballast remover 10, and the second ballast removal cylinder 13 is vertically downward mounted with a second ballast remover 12. By the lateral movement and vertical extension and retraction of the two ballast removal cylinders, the movement of the two ballast removers 12 in multiple directions can be controlled, thereby removing the ballast and gravel from the sleeper box. The intelligent ballast removal and backfilling device also includes a first sleeper displacement acquisition camera 30 and a second sleeper displacement acquisition camera 31 to realize intelligent automatic ballast removal and backfilling operations and achieve real-time monitoring; refer to Figure 11 and Figure 12 As shown, the automatic track lifting device includes a first horizontal track lifting cylinder 16 and a second horizontal track lifting cylinder 21 placed on both sides of the inspection vehicle. The output end of the first horizontal track lifting cylinder 16 is vertically arranged with a first vertical track lifting cylinder 15, and the output end of the first vertical track lifting cylinder 15 is downwardly arranged with a first track lifting claw 14. The output end of the second horizontal track lifting cylinder 21 is vertically arranged with a second vertical track lifting cylinder 20, and the output end of the second vertical track lifting cylinder 20 is downwardly arranged with a second track lifting claw 19. The first track lifting claw 14 and the second track lifting claw 19 are used to accurately grasp the bottom of the rail. The horizontal and vertical track lifting cylinders can control the movement of the track lifting claws on both sides to grasp the bottom of the rail and lift the rail. The automatic track lifting device also includes a first track lifting support cylinder 18 and a second track lifting support cylinder 23 located at the bottom of the inspection vehicle. The output end of the first track lifting support cylinder 18 is provided with a first track lifting support rod 17 facing downward, and the output end of the second track lifting support cylinder 23 is provided with a second track lifting support rod 22 facing downward. The first track lifting support rod 17 and the second track lifting support rod 22 move downward to contact the ballast, and are used to support and fix the inspection vehicle.

[0023] refer to Figures 13-17 As shown, the intelligent loading and sleeper displacement testing device includes a first jack vertical cylinder 26 and a second jack vertical cylinder 29 placed at the bottom of the testing vehicle. The output end of the first jack vertical cylinder 26 faces downward and is equipped with a first jack horizontal cylinder 25. The output end of the first jack horizontal cylinder 25 is equipped with a first jack 24. The output end of the second jack vertical cylinder 29 faces downward and is equipped with a second jack horizontal cylinder 28. The output end of the second jack horizontal cylinder 28 is equipped with a second jack 27. The first jack 24 and the second jack 27 are both placed in fixed positions between two adjacent sleeper boxes. The ends of the first jack 24 and the second jack 27 are equipped with automatic leveling devices, which rotate around a rotating axis by a movable hydraulic cylinder. The rotation range is 0~50° to ensure that the jack can apply stable pressure to the track and make the jack flush with the side of the sleeper. The first sleeper displacement acquisition camera 30 and the second sleeper displacement acquisition camera 31 can monitor them in real time for automatic adjustment.

[0024] refer to Figure 1 and Figure 19 As shown, the mileage recording device includes a mileage recorder 32 for dynamically calibrating the absolute mileage and outputting the final mileage S; The mileage information is transmitted to the data storage and the real-time longitudinal resistance detection system for the track bed. Its key features include: utilizing the BeiDou-3 system to acquire real-time positioning data of the track as the raw input for mileage calculation; enhancing positioning accuracy through the combined use of RTK (Real-Time Dynamic Differential) and PPP (Precise Point Positioning) technologies; automatically switching to PPP mode when the signal is blocked or poor, and seamlessly returning to RTK mode after signal recovery to ensure uninterrupted high-precision positioning; and employing BeiDou dual-frequency signals to suppress ionospheric errors; establishing a ballast track spatial mapping model after obtaining latitude and longitude coordinates from the BeiDou system; converting BeiDou latitude and longitude coordinates into a track mileage chain based on a track digital twin library and NPP projection matching algorithm; in extreme scenarios where BeiDou signals fail, integrating inertial navigation (INS) and odometers to maintain positioning continuity and correct errors, switching the positioning source according to the BeiDou signal status; and finally, combining the results of trackside feature detection.

[0025] refer to Figure 19As shown, the drive unit 33 uses a sodium-ion rechargeable battery pack with a range of 500km, which can meet the normal working requirements of the intelligent inspection vehicle for rapid detection of longitudinal resistance of ballast track.

[0026] refer to Figure 20-24 As shown, the display and real-time detection and evaluation system for longitudinal resistance of the track bed includes a display support rod 35 fixed on the top of the inspection vehicle. A data storage device and a real-time detection and evaluation system for longitudinal resistance of the track bed 34 are installed on the top of the display support rod 35. The real-time detection and evaluation system for longitudinal resistance of the track bed can display the relationship between mileage and longitudinal resistance of the track bed in real time. It mainly consists of parameter setting, data management and dynamic evaluation modules for longitudinal resistance of the track bed. The parameter setting module mainly includes basic information such as track grade, sleeper type and starting mileage. The data management module includes data processing, saving, importing and exporting, real-time display of data curves, measurement time, track name, standard value of longitudinal resistance, evaluation result of track longitudinal resistance and predicted transverse resistance of the track bed. The real-time display of data curves displays the curve of track mileage and current measured value of longitudinal resistance of the track bed in real time. The dynamic evaluation module for longitudinal resistance of the ballast bed assesses the longitudinal stability of the track in real time by setting a standard value for longitudinal resistance. The standard value for the dynamic evaluation module for longitudinal resistance of the ballast bed is reasonably set according to railway design specifications and industry standards. If the measured value is greater than or equal to the standard value, the longitudinal stability of the track is determined to be up to standard; otherwise, it is not up to standard and an early warning is issued. The module also displays the mileage of the track with insufficient longitudinal resistance in real time. In addition, by establishing a numerical simulation model of ballasted track, simulation data of longitudinal and transverse resistance of the track bed under different ballast gradation and compaction conditions are calculated. A prediction model for transverse resistance of the track bed is constructed based on a gated recurrent neural network-particle swarm optimization algorithm and trained on the simulation dataset. Finally, the model is fine-tuned using field-measured longitudinal and transverse resistance data of the track, thereby realizing the prediction of the transverse resistance curve of the sleeper by inputting the ballast gradation and longitudinal resistance curve of the track bed, providing important data support for track maintenance. refer to Figure 1 As shown, the night lighting system includes a first light 36 and a second light 37 installed on both sides of the forward end of the inspection vehicle, providing good visibility for the night operation of the intelligent inspection vehicle for quickly inspecting the longitudinal resistance of ballast track.

[0027] Example 2: A longitudinal resistance assessment system for ballasted railway tracks includes a test vehicle that moves along the track via a controlled traveling device. Once in position, the test vehicle activates a bolt removal mode. The bolt remover moves along the track direction, and when it aligns with the corresponding fastener, a vertical hydraulic cylinder aligns the fastener nut. The device automatically rotates, generating a loosening torque to remove the fastener. The initial loosening torque is 200 N·m. In special circumstances, the loosening torque is gradually increased in 5 N·m increments until the fastener bolts are completely removed. A single measurement requires removing fasteners from five sleepers; the two middle sleepers are the focus of the measurement. After measurement, the fastener nut is aligned with the bolt, and a tightening torque of 200 N·m is applied for installation. The inspection vehicle runs smoothly on the track. During the longitudinal resistance measurement of the ballasted track bed, when the roller travels 1.2m, braking is required, and the fastener bolt removal mode is activated. After removing the fasteners of two sleepers, the intelligent inspection vehicle restarts and proceeds to the removal area for the next two sleepers. After removing the fasteners of five sleepers, the longitudinal resistance of the middle two sleepers is measured. After the section measurement is completed, the trolley automatically installs the bolts. The inspection vehicle's non-inspection speed is 25km / h, the bolt removal speed is 1km / h, and the formal measurement speed is 0km / h.

[0028] Furthermore, the intelligent ballast removal and backfilling device is activated by controlling the horizontal and vertical movement of the ballast removers on both sides through the ballast removal cylinder to adjust the position of the ballast removers, effectively removing the ballast and gravel in the sleeper box, and realizing intelligent automatic ballast removal and backfilling operations. The intelligent ballast removal system pre-divides the ballast into its original form and its three-dimensional form after ballast removal. The specific steps include: (1) using two cameras on the left and right to perform three-dimensional shape recognition of the ballast and record the original form of the ballast; (2) activating the ballast removal device to remove the ballast until the pre-input three-dimensional form after ballast removal is reached; (3) measuring the longitudinal resistance of the track bed on the sleeper to be tested, and backfilling the ballast to its original state after the measurement is correct. This process can not only monitor the ballast removal situation in real time according to the pre-set ballast excavation form and adjust the working state of the ballast remover in a timely manner, but also realize that the ballast is automatically backfilled after the measurement is completed, restoring the ballast to its normal state; The automatic track lifting device is activated, and the track lifting cylinder controls the lateral and vertical movement of the track lifting claws on both sides, so that the track lifting claws can accurately grasp the bottom of the rail. The first track lifting support rod is moved vertically by the first vertical track lifting cylinder to contact the ballast, which serves to support and fix the test vehicle. After the track lifting support rod is placed securely, the vertical track lifting cylinder can be operated again to raise the rail by 5~10mm, ensuring that there is no friction between the rail pad and the rail, thereby reducing the test error.

[0029] Furthermore, the intelligent loading and sleeper displacement acquisition device is activated. The hydraulic cylinder places the jack in a fixed position between the two sleeper boxes to ensure that it can be loaded effectively. By adjusting the vertical hydraulic cylinder of the jack, the height of the jack can be precisely adjusted according to the position and side shape of the sleeper. The centroid of the jack is adjusted to 1 / 2 of the distance from the top surface of the sleeper. The two jacks are placed at position d, and the size of d is set according to the position of the sleeper. The horizontal hydraulic cylinder of the jack is adjustable in length and has the function of loading according to a preset force value Fi during operation, ensuring that a steadily increasing force can be applied during operation. The sleeper position testing system is equipped with a first sleeper displacement acquisition camera and a second sleeper displacement acquisition camera, which can detect sleeper position changes in real time and automatically capture the loading force. F i The system measures sleeper displacement under load. Furthermore, this method allows operators to ensure accurate jack placement. Through the coordinated operation of intelligent loading and sleeper position testing devices, the longitudinal resistance of the ballast track can be measured, and the loading force recorded. F i The sleeper displacement under the action provides a basis for subsequent data analysis; After the two jacks are placed, Fi should be increased slowly. At the same time, the first sleeper displacement acquisition camera and the second sleeper displacement acquisition camera should synchronously acquire the longitudinal displacement of the two sleepers. When the sleeper displacement is about to reach 2mm, the acquisition frequency should be increased. Finally, the longitudinal load corresponding to 2mm should be read as the longitudinal resistance of the test sleeper.

[0030] Furthermore, loading force F i The loading force (kN) should be increased slowly, and when the loading force of a single jack exceeds 6kN, the rate of increase in loading force needs to gradually decrease. The specific loading formula is as follows: 0 <t<6 (1) t≥6(2) In the formula, t is the loading time, and k1 is the loading rate, which is taken as 1 kN / s.

[0031] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating systems not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. An intelligent detection device for longitudinal resistance of ballast track bed in railways, comprising a detection vehicle, characterized in that: The interior of the inspection vehicle includes an automatic bolt removal device, a travel control device, an intelligent ballast removal and backfilling device, an automatic track lifting device, an intelligent loading and sleeper displacement testing device, a measuring point mileage recording device, a drive device (33), a display, a real-time detection and evaluation system for longitudinal resistance of the track bed, and a night lighting system.

2. The intelligent detection device for longitudinal resistance of ballast track bed according to claim 1, characterized in that: The automatic bolt removal device includes a first bolt remover (1), a second bolt remover (2), a third bolt remover (3), and a fourth bolt remover (4) respectively placed on the front and rear sides of the moving trolley. The automatic bolt removal device is used to remove sleeper fasteners; The control and travel device includes a first roller (5), a second roller (6), a third roller (7) and a fourth roller (8) respectively installed at the four corners of the bottom of the inspection vehicle. An axle (9) is provided between the first roller (5) and the third roller (7), and an axle (9) is also provided between the second roller (6) and the fourth roller (8). The third roller (7) and the fourth roller (8) are controlled by a drive device to realize the movement of the inspection vehicle.

3. The intelligent detection device for longitudinal resistance of ballast track bed according to claim 1, characterized in that: The intelligent ballast removal and backfilling device includes a first ballast removal cylinder (11) and a second ballast removal cylinder (13) that move horizontally along a predetermined track inside the testing vehicle. The first ballast removal cylinder (11) is vertically downward equipped with a first ballast remover (10), and the second ballast removal cylinder (13) is vertically downward equipped with a second ballast remover (12). The intelligent ballast removal and backfilling device also includes a first sleeper displacement acquisition camera (30) and a second sleeper displacement acquisition camera (31) for realizing intelligent automatic ballast removal and backfilling operations. The automatic track lifting device includes a first horizontal track lifting cylinder (16) and a second horizontal track lifting cylinder (21) placed on both sides of the inspection vehicle. The output end of the first horizontal track lifting cylinder (16) is vertically provided with a first vertical track lifting cylinder (15). The output end of the first vertical track lifting cylinder (15) is downwardly provided with a first track lifting claw (14). The output end of the second horizontal track lifting cylinder (21) is vertically provided with a second vertical track lifting cylinder (20). The output end of the second vertical track lifting cylinder (20) is downwardly provided with a second track lifting claw (19). The first track lifting claw (14) and the second track lifting claw (19) are used to accurately grip the bottom of the rail. The automatic track lifting device includes a first track lifting support cylinder (18) and a second track lifting support cylinder (23) located at the bottom of the inspection vehicle. The first track lifting support cylinder (18) has a first track lifting support rod (17) with its output end facing downward, and the second track lifting support cylinder (23) has a second track lifting support rod (22) with its output end facing downward. The first track lifting support rod (17) and the second track lifting support rod (22) move downward to contact the ballast, which is used to support and fix the inspection vehicle.

4. The intelligent detection device for longitudinal resistance of ballast track bed according to claim 3, characterized in that: The intelligent loading and sleeper displacement testing device includes a first jack vertical cylinder (26) and a second jack vertical cylinder (29) placed at the bottom of the testing vehicle. The output end of the first jack vertical cylinder (26) is downward and is equipped with a first jack horizontal cylinder (25). The output end of the first jack horizontal cylinder (25) is equipped with a first jack (24). The output end of the second jack vertical cylinder (29) is downward and is equipped with a second jack horizontal cylinder (28). The output end of the second jack horizontal cylinder (28) is equipped with a second jack (27). The first jack (24) and the second jack (27) are placed in a fixed position between two adjacent sleeper boxes. The first jack (24) and the second jack (27) are both equipped with an automatic leveling device at their ends. The device rotates around the rotating shaft by a movable oil cylinder, with a rotation range of 0~50°, so that the jack is flush with the side of the sleeper.

5. The intelligent detection device for longitudinal resistance of ballast track bed according to claim 1, characterized in that: The measuring point mileage recording device includes a measuring point mileage recorder (32) for dynamically calibrating the absolute mileage and outputting the final mileage S; The display and the real-time detection and evaluation system for longitudinal resistance of the track bed include a display support rod (35) fixed on the top of the detection vehicle. The top of the display support rod (35) is equipped with a data storage device and a real-time detection and evaluation system for longitudinal resistance of the track bed (34). The real-time detection and evaluation system for longitudinal resistance of the track bed can display the relationship between mileage and longitudinal resistance of the track bed in real time. It mainly consists of a parameter setting module, a data management module, and a dynamic evaluation module for longitudinal resistance of the track bed. The parameter setting module mainly includes basic information such as track grade, sleeper type, and starting mileage. The data management module includes data processing, saving, importing and exporting, a real-time display area for data curves, measurement time, track name, standard value of longitudinal resistance, evaluation results of longitudinal resistance of the track, and predicted transverse resistance of the track bed. The real-time display area for data curves displays the curve of the track mileage and the current measured value of longitudinal resistance of the track bed in real time. The night lighting system includes a first light (36) and a second light (37) installed on both sides of the front end of the inspection vehicle, providing good visibility for the night operation of the intelligent inspection vehicle for rapidly inspecting the longitudinal resistance of ballast track.

6. A longitudinal resistance assessment system for ballast track in railways, characterized in that: The inspection vehicle, controlled by the traveling device, moves along the track. After the inspection vehicle is in position, the fastener bolt removal mode is activated. The bolt remover can move along the track direction. When it is aligned with the corresponding fastener, the vertical hydraulic cylinder aligns the fastener nut, and the device automatically rotates to generate a loosening torque to remove the fastener. The initial value of the loosening torque is 200 N·m. In special circumstances, the loosening torque is gradually increased in 5 N·m increments until the fastener bolt is completely removed. One measurement requires the removal of fasteners from five sleepers. The two sleepers in the middle are the objects to be measured. After the measurement is completed, the fastener nut is aligned with the bolt, and a tightening torque of 200 N·m is applied for installation. The inspection vehicle runs smoothly on the track. During the longitudinal resistance test of the ballasted track bed, when the roller travels 1.2m, braking is required and the fastener bolt removal mode is activated. After removing the fasteners of two sleepers, the intelligent inspection vehicle is restarted and enters the removal area for the next two sleepers. After removing the fasteners of five sleepers, the longitudinal resistance of the middle two sleepers is measured. After the section measurement is completed, the trolley is controlled to automatically install bolts. The inspection vehicle travels at a speed of 25km / h in non-inspection mode, 1km / h when removing bolts, and 0km / h during formal measurement.

7. A longitudinal resistance assessment system for ballast track as described in claim 6, characterized in that: The intelligent ballast removal and backfilling device is activated by controlling the horizontal and vertical movement of the ballast removers on both sides through the ballast removal cylinder to adjust the position of the ballast removers and effectively remove the ballast and gravel in the sleeper box, realizing intelligent and automatic ballast removal and backfilling operations; the intelligent ballast removal system pre-divides the ballast into its original form and its three-dimensional form after ballast removal. The specific steps include: (1) Use two cameras to perform three-dimensional shape recognition of the ballast and record the original shape of the ballast; (2) Start the ballast removal device to remove ballast until the three-dimensional shape of the ballast after removal is reached as pre-input; (3) Measure the longitudinal resistance of the track bed for the sleeper to be tested. After the measurement is correct, backfill the ballast to its original state. This process can not only monitor the ballast removal in real time according to the pre-set ballast excavation form and adjust the working state of the ballast remover in time, but also realize that the ballast is automatically backfilled after the measurement is completed and the ballast is restored to its normal state. The automatic track lifting device is activated, and the track lifting cylinder controls the lateral and vertical movement of the track lifting claws on both sides, so that the track lifting claws can accurately grasp the bottom of the rail. The first track lifting support rod is moved vertically by the first vertical track lifting cylinder to contact the ballast, which serves to support and fix the test vehicle. After the track lifting support rod is placed securely, the vertical track lifting cylinder can be operated again to raise the rail by 5~10mm, ensuring that there is no friction between the rail pad and the rail, thereby reducing the test error.

8. The longitudinal resistance assessment system for ballast track as described in claim 7, characterized in that: The intelligent loading and sleeper displacement acquisition device is activated. The hydraulic cylinder places the jack in a fixed position between the two sleeper boxes to ensure effective loading. The height of the jack can be precisely adjusted according to the position and side shape of the sleeper by adjusting the vertical hydraulic cylinder of the jack. The centroid of the jack is adjusted to 1 / 2 of the distance from the top surface of the sleeper. The two jacks are placed at position d, and the size of d is set according to the position of the sleeper. The horizontal hydraulic cylinder of the jack is adjustable in length and has the function of loading according to a preset force value Fi during operation, ensuring that a steadily increasing force can be applied during operation. The sleeper position testing system is equipped with a first sleeper displacement acquisition camera and a second sleeper displacement acquisition camera, which can detect sleeper position changes in real time and automatically capture the loading force. F i The system measures sleeper displacement under load. Furthermore, this method allows operators to ensure accurate jack placement. Through the coordinated operation of intelligent loading and sleeper position testing devices, the longitudinal resistance of the ballast track can be measured, and the loading force recorded. F i The sleeper displacement under the action provides a basis for subsequent data analysis; After the two jacks were placed F i The displacement should be increased slowly, and the first sleeper displacement acquisition camera and the second sleeper displacement acquisition camera should simultaneously acquire the longitudinal displacement of the two sleepers. When the sleeper displacement is about to reach 2mm, the acquisition frequency should be increased, and the longitudinal load corresponding to 2mm should be read as the longitudinal resistance of the test sleeper.

9. A longitudinal resistance assessment system for ballast track as described in claim 8, characterized in that: Loading force F i The loading force (kN) increases slowly, and when the loading force of a single jack exceeds 6kN, the rate of increase in loading force needs to gradually decrease; the specific loading formula is as follows: 0<t<6 （1） t≥6（2） In the formula, t is the loading time, and k1 is the loading rate, which is taken as 1 kN / s.

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