Rail detection method and device, computer device and computer readable storage medium

Abstract

The application relates to a rail detection method and device, computer equipment and a computer readable storage medium. The method comprises the following steps: determining a target detection point on an arc surface to be detected in a rail to be detected; determining a current incident point of each transmitting array element of an ultrasonic phased array probe on the surface of the rail to be detected; for each transmitting array element, determining the propagation time of the ultrasonic wave transmitted by the transmitting array element to reach a corresponding reference detection point and the evaluation result corresponding to the reference detection point according to the current incident point of the transmitting array element; in the case that the evaluation result corresponding to each transmitting array element all indicates that the target incident point corresponding to the transmitting array element is the current incident point, controlling different transmitting array elements to transmit ultrasonic waves to the current incident point according to the time difference between the propagation times corresponding to different transmitting array elements. The method can improve the accuracy of rail detection.

Description

Technical Field

[0001] This application relates to the field of nondestructive testing technology, and in particular to a rail inspection method, apparatus, computer equipment, and computer-readable storage medium. Background Technology

[0002] Rails are key load-bearing components of railway transportation systems. The area under the rails is prone to fatigue cracks, delamination, and other defects due to long-term exposure to alternating loads and the shielding effect of the fastener system.

[0003] In traditional technology, the arc at the junction of the rail web and the rail base is usually used as the incident surface. By incident ultrasonic waves at the arc at the rail base, the detection of the side rail base area is achieved by using the primary wave and the secondary wave formed by reflection from the rail base plane.

[0004] However, traditional methods are not fully adapted to the complex curved surface structure of the rail base arc, resulting in the incident ultrasonic waves being incident at an oblique angle in most areas, causing a large amount of ultrasonic energy to be reflected and lost at the interface, which in turn leads to low accuracy in rail inspection. Summary of the Invention

[0005] Therefore, it is necessary to provide a rail inspection method, apparatus, computer equipment, and computer-readable storage medium that can improve the accuracy of rail inspection in response to the above-mentioned technical problems.

[0006] Firstly, this application provides a rail inspection method, including:

[0007] Determine the target inspection points on the internal curved surface of the rail to be inspected; and,

[0008] Determine the current incident point of each transmitting element of the ultrasonic phased array probe on the surface of the rail to be inspected; wherein the arc surface to be inspected and the surface are equidistant curved surfaces;

[0009] For each transmitting element, based on the current incident point of the transmitting element, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point is determined, as well as the evaluation result corresponding to the reference detection point. The reference detection point is located on the arc surface to be tested, and the evaluation result characterizes whether the target incident point corresponding to the transmitting element is the current incident point. The target incident point is the incident point of the transmitting element on the surface of the rail to be tested when the ultrasonic wave emitted by the transmitting element reaches the target detection point.

[0010] If the evaluation results for each transmitting element indicate that the target incident point corresponding to the transmitting element is the current incident point, then based on the time difference between the propagation times of different transmitting elements, the transmitting elements are controlled to transmit ultrasonic waves to the current incident point; wherein, the ultrasonic waves transmitted by different transmitting elements to the current incident point simultaneously reach the target detection point.

[0011] In one embodiment, the method further includes:

[0012] If the evaluation result for any launch element indicates that the target incident point for that launch element is not the current incident point, the current incident point is adjusted to obtain a new current incident point.

[0013] For the transmitting element, based on the new current incident point, return to execute the operation of determining the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point according to the current incident point of the transmitting element.

[0014] In one embodiment, if the evaluation result for any transmitting element indicates that the target incident point corresponding to that transmitting element is not the current incident point, the current incident point is adjusted, including:

[0015] If the evaluation result for any launch element indicates that the target incident point corresponding to the launch element is not the current incident point and this is the first adjustment, predict the first adjustment direction, and adjust the current incident point according to the first adjustment direction and the adjustment step size corresponding to the first adjustment direction.

[0016] If the evaluation result for any transmitting element indicates that the target incident point corresponding to the transmitting element is not the current incident point and this is not the first adjustment, a second adjustment direction is determined based on the difference between the current propagation duration and the previous propagation duration, and the current incident point is adjusted based on the adjustment step size corresponding to the second adjustment direction.

[0017] In one embodiment, determining the target detection point on the inner curved surface of the rail to be inspected includes:

[0018] Determine the extension line of the line connecting the center of the array element of the ultrasonic phased array probe and the center of the corresponding arc surface of the rail surface to be tested;

[0019] Determine the intersection point of the extension line and the inner curved surface of the rail to be inspected to obtain the target inspection point.

[0020] In one embodiment, the array elements in the ultrasonic phased array probe are linearly arranged; before determining the extension line of the line connecting the center of the array elements of the ultrasonic phased array probe to the center of the arc surface corresponding to the surface of the rail to be tested, the method further includes:

[0021] The target coordinate system is determined based on the array element arrangement direction of the ultrasonic phased array probe and the positional relationship between the ultrasonic phased array probe and the rail to be inspected.

[0022] Determine the coordinates of the first transmitting element in the ultrasonic phased array probe in the target coordinate system, and the coordinates of the last transmitting element in the target coordinate system.

[0023] In one embodiment, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point is determined based on the current incident point of the transmitting element, including:

[0024] Based on the launch position of the launch element and the current incident point of the launch element, determine the current incident angle, the current refraction angle, the first propagation path and the second propagation path; wherein, the first propagation path is the propagation distance of the ultrasonic wave emitted by the launch element from the launch element to the incident point, and the second propagation path is the propagation distance of the ultrasonic wave emitted by the launch element from the current incident point to the corresponding reference point.

[0025] Based on the first sound wave velocity, the second sound wave velocity, the first propagation path, and the second propagation path, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point is determined; wherein, the first sound wave velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the first propagation path, and the second sound wave velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the second propagation path.

[0026] In one embodiment, the evaluation result corresponding to the reference detection point is determined based on the current incident point of the transmitting array element, including:

[0027] The first evaluation value is determined based on the ratio of the sine value corresponding to the current incident angle to the velocity of the first sound wave;

[0028] The second evaluation value is determined based on the ratio of the cosine value corresponding to the current refraction angle to the second sound wave velocity;

[0029] The evaluation result corresponding to the reference detection point is determined based on the difference between the first evaluation value and the second evaluation value.

[0030] Secondly, this application also provides a rail inspection device, comprising:

[0031] The processing module is used to determine the target detection points on the internal curved surface of the rail to be inspected; and,

[0032] The processing module is also used to determine the current incident point of each transmitting element of the ultrasonic phased array probe on the surface of the rail to be tested; wherein the arc surface to be tested and the surface are equidistant curved surfaces;

[0033] The calculation module is used to determine, for each transmitting element, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point, and the evaluation result corresponding to the reference detection point, based on the current incident point of the transmitting element. The reference detection point is located on the arc surface to be tested, and the evaluation result characterizes whether the target incident point corresponding to the transmitting element is the current incident point. The target incident point is the incident point of the transmitting element on the surface of the rail to be tested when the ultrasonic wave emitted by the transmitting element reaches the target detection point.

[0034] The detection module is used to control different transmitting array elements to emit ultrasonic waves toward the current incident point based on the time difference between the propagation times of different transmitting array elements, when the evaluation results corresponding to each transmitting array element indicate that the target incident point corresponding to the transmitting array element is the current incident point; wherein, the ultrasonic waves emitted by different transmitting array elements toward the current incident point simultaneously reach the target detection point.

[0035] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described rail inspection method.

[0036] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described rail inspection method.

[0037] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps in the above-described rail inspection method.

[0038] The aforementioned rail inspection method, apparatus, computer equipment, and computer-readable storage medium, by first determining the target inspection point on the arc surface to be inspected and matching each transmitting element of the ultrasonic phased array probe with the current incident point on the surface of the rail to be inspected, calculates the propagation time of the ultrasonic wave to the reference inspection point and the evaluation result using the current incident point, and when the evaluation results all determine that the current incident point is the target incident point, controls the ultrasonic wave emission based on the time difference between the propagation times of each transmitting element, which enables the ultrasonic waves emitted by each transmitting element to converge synchronously to the target inspection point. This not only alleviates the large amount of ultrasonic energy reflection loss caused by the oblique incidence of ultrasonic waves, but also improves the focusing energy of ultrasonic waves at the target inspection point, thereby improving the accuracy and reliability of rail defect detection. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a diagram illustrating the application environment of the rail inspection method in some embodiments of this application;

[0041] Figure 2 This is a flowchart illustrating the rail inspection method in some embodiments of this application;

[0042] Figure 3 This is a flowchart illustrating the rail inspection method in some embodiments of this application;

[0043] Figure 4 This is a flowchart illustrating the rail inspection method in some other embodiments of this application;

[0044] Figure 5 This is a flowchart illustrating the rail inspection method in some embodiments of this application;

[0045] Figure 6 This is a schematic diagram illustrating the propagation time calculation of the rail inspection method in some embodiments of this application;

[0046] Figure 7 This is a structural block diagram of the rail inspection device in some embodiments of this application;

[0047] Figure 8 This is a diagram showing the internal structure of a computer device in some embodiments of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments or any combination of multiple embodiments.

[0050] The rail inspection method provided in this application can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 sends a rail inspection request to server 104, and server 104 receives the request to execute the rail inspection method. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, drones, low-altitude aircraft, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart vehicle devices, projection devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. Server 104 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0051] In one exemplary embodiment, such as Figure 2 As shown, a rail inspection method is provided, which is applied to... Figure 1 Taking the server in the example of this, the explanation includes:

[0052] Step 202: Determine the target detection point on the inner curved surface of the rail to be inspected.

[0053] In this process, ultrasonic waves emitted by different transmitting elements towards the current incident point simultaneously reach the target detection point.

[0054] The rail to be tested can be a rail with a curved bottom structure; the curved surface to be tested can be an arc-shaped testing area where defects are frequently found inside the rail bottom; the target testing point can be a specific spatial point on the curved surface to be tested that is pre-defined and on which ultrasonic energy is to be focused.

[0055] Optionally, based on the user's inspection requirements and the fact that the rail to be inspected adopts a curved rail base structure, the internal curved surface to be inspected of the rail can be determined. For example, if the user's inspection requirement is to detect whether there are defects at a preset distance (e.g., 1cm) from the surface of the curved rail base structure inside the rail, then the curved surface formed by all points 1cm away from the surface of the curved rail base structure is the curved surface to be inspected. Then, based on the user's inspection requirements, any point on the curved surface to be inspected can be determined as the target inspection point.

[0056] Step 204: Determine the current incident point of each transmitting element of the ultrasonic phased array probe on the surface of the rail to be tested.

[0057] Among them, the surface to be tested and the surface of the rail to be tested are equidistant curved surfaces.

[0058] An ultrasonic phased array probe can be a detection device for transmitting and receiving ultrasonic waves, comprising multiple independently controllable transmitting array elements; a transmitting array element can be a single array element inside the ultrasonic phased array probe whose transmission timing can be independently controlled; the current incident point can be the incident position of the ultrasonic waves emitted by the transmitting array element on the surface of the rail to be tested, and each transmitting array element corresponds to an independent incident point.

[0059] Optionally, for each transmitting element, a position can be randomly selected on the surface of the rail to be tested as the current incident point; alternatively, a position near the intersection of the extension line connecting the transmitting element and the center of the circle with the surface of the rail to be tested can be selected as the current incident point; where the center of the circle is the corresponding center position on the surface of the rail to be tested.

[0060] Step 206: For each transmitting element, based on the current incident point of the transmitting element, determine the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point, and the evaluation result corresponding to the reference detection point.

[0061] Among them, the reference detection point is located on the arc surface to be detected; the evaluation result characterizes whether the target incident point corresponding to the transmitting element is the current incident point; the target incident point is the incident point of the transmitting element on the surface of the rail to be detected when the ultrasonic wave emitted by the transmitting element reaches the target detection point.

[0062] The propagation time can refer to the total time it takes for an ultrasonic wave to travel from the transmitting element through a coupling medium (such as water) to the current incident point, and then through the surface of the rail to the corresponding reference detection point. The coupling medium can be an intermediate medium filled between the ultrasonic phased array probe and the surface of the rail to be tested, used to transmit ultrasonic waves.

[0063] Optionally, the position (i.e., coordinates) of each transmitting element, the position of the current incident point, and the position of the reference detection point can be determined in the same coordinate system. The propagation speed of the ultrasonic wave in the coupling medium (such as water) and the propagation speed of the ultrasonic wave in the rail to be tested can be obtained. Then, for each transmitting element, the propagation path of the ultrasonic wave in the coupling medium can be calculated based on the position of the transmitting element and the position of the current incident point. The propagation path of the ultrasonic wave in the rail to be tested can be calculated based on the position of the current incident point and the position of the reference detection point. Finally, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point can be calculated by combining the propagation speed of the ultrasonic wave in the coupling medium and the propagation speed of the ultrasonic wave in the rail to be tested. The propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point can be determined based on the sum of the propagation time of the ultrasonic wave in the coupling medium and the propagation time of the ultrasonic wave in the rail to be tested.

[0064] Optionally, the current incident angle and current refraction angle of the ultrasonic wave can be determined based on the location of the reference detection point. The current incident angle can be the angle between the incident sound ray and the normal to the rail bottom surface at the current incident point; the current refraction angle can be the angle between the refracted sound ray and the normal to the rail bottom surface at the current incident point. Combined with the propagation speed of the ultrasonic wave in the coupling medium (such as water) and the propagation speed of the ultrasonic wave in the rail to be tested, it is verified whether the reference detection point conforms to Snell's law, thus determining the evaluation result corresponding to the reference detection point. If the reference detection point conforms to Snell's law, it indicates that the target incident point corresponding to the transmitting element is the current incident point; otherwise, it indicates that the target incident point corresponding to the transmitting element is not the current incident point.

[0065] Step 208: If the evaluation results for each transmitting element indicate that the target incident point corresponding to the transmitting element is the current incident point, control the different transmitting elements to transmit ultrasonic waves to the current incident point according to the time difference between the propagation times corresponding to different transmitting elements.

[0066] The process involves iterating through the evaluation results of all transmitting array elements to determine if the current incident point of all elements is the target incident point. If all conditions are met, the optimal total propagation time for each transmitting array element is read. For example, the shortest propagation time required for the ultrasonic wave to travel from the transmitting array element to the target detection point is the optimal total propagation time. Using the array element with the longest propagation time as a benchmark, the time difference between other array elements and this benchmark is calculated and used as the transmission delay time for each array element. Each transmitting array element is triggered sequentially according to the delay time, so that all ultrasonic waves arrive at each target detection point simultaneously, thereby achieving synchronous focusing of ultrasonic waves at the target detection point.

[0067] In the above-mentioned rail inspection method, the target inspection point on the arc surface to be inspected is first determined, and the current incident point on the rail surface to be inspected is matched for each transmitting element of the ultrasonic phased array probe. The propagation time of the ultrasonic wave to the reference inspection point and the evaluation result are calculated using the current incident point. When the evaluation results determine that the current incident point is the target incident point, the ultrasonic wave emission is controlled according to the time difference between the propagation times of each transmitting element. This enables the ultrasonic waves emitted by each transmitting element to converge synchronously to the target inspection point, which not only alleviates the large amount of ultrasonic energy reflection loss caused by the oblique incidence of ultrasonic waves, but also improves the focusing energy of ultrasonic waves at the target inspection point, thereby improving the accuracy and reliability of rail defect detection.

[0068] In one exemplary embodiment, such as Figure 3 As shown, the rail inspection method also includes:

[0069] Step 302: If the evaluation result for any transmitting element indicates that the target incident point for that transmitting element is not the current incident point, adjust the current incident point to obtain a new current incident point.

[0070] Optionally, if the evaluation result for any transmitting element indicates that the current incident point does not conform to Snell's law, meaning that the target incident point corresponding to the transmitting element is not the current incident point, then the current incident point needs to be adjusted to obtain a new current incident point. Specifically, the current incident point is adjusted according to a preset adjustment direction and adjustment step size. The preset adjustment direction can be determined in advance based on geometric relationships, for example, clockwise or counterclockwise along an arc; the adjustment step size can be preset according to actual detection requirements.

[0071] Step 304: For the transmitting element, based on the new current incident point, return to the operation of determining the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point according to the current incident point of the transmitting element.

[0072] Optionally, for transmitting array elements that have not obtained an optimal current incident point, the total propagation time of the ultrasonic wave emitted by the transmitting array element from itself, through the new current incident point, to the reference detection point is recalculated using the adjusted new current incident point as a benchmark. This forms a closed-loop iteration of adjusting the incident point, calculating the propagation time, and evaluating and verifying, continuously approaching the optimal incident point that meets the focusing requirements. The optimal current incident point can be the target incident point located on the arc of the rail surface to be inspected, corresponding to the transmitting array element of the ultrasonic phased array probe; and at this incident point, the ultrasonic wave can satisfy Snell's law of refraction, allowing it to propagate accurately to the target detection point after refraction, with the corresponding propagation time being the optimal total propagation time.

[0073] Optionally, an example can be given of finding the refraction point coordinates (x_ti, y_ti) that minimizes the total delay time t of the emission array elements, i.e., the target incident point. Taking a single array element as an example, such as... Figure 6 As shown, the coordinates of the array elements are: ( , = (0, 0.6), (unit: mm); Focal coordinates: ( , = (−9.62, 20.63), (unit: mm); Center of arc: ( , = (0.7, 10), (unit: mm); radius of the arc R = 12.6 mm. Velocity of sound: =1480 m / s = 1.480 mm / μs, =5900 m / s=5.900 mm / μs.

[0074] First iteration (initial estimate k=0):

[0075] Initial guess of the refraction point ( , The initial incident point (i.e., the point of incidence) can be selected near the intersection of the line connecting the transmitting element and the center of the circle and the arc. It can be selected as a reasonable estimated point under the geometric relationship between the element and the arc, such as (2.50, 8.80), and this point must approximately satisfy the arc equation:

[0076] ;

[0077] but:

[0078] ;

[0079] Calculate the distance from the center of the circle: The value in mm is much smaller than the radius of 12.6 mm, indicating that the point is not on the arc. Correction: A point that satisfies the equation of a circle should be chosen.

[0080] set up( , )=( If we simply take θ = -20° (approximately -0.349 radians), then:

[0081] ;

[0082] ;

[0083] That is, take ( , = (12.54, 5.69) mm.

[0084] verify:

[0085] ;

[0086] Calculate the sound path in water :

[0087] Application formula: ;

[0088] mm;

[0089] Calculate the sound path in the workpiece :

[0090] Application formula: ;

[0091] mm;

[0092] Calculate the interface normal and angle (for verifying Snell's law):

[0093] The direction of the normal vector of the arc at the point of refraction (i.e., the point of incidence) is the vector from the center of the circle to that point:

[0094] ;

[0095] Incident sound ray direction vector (array element -> refraction point):

[0096] ;

[0097] Refracted sound ray direction vector (refraction point -> focal point):

[0098] ;

[0099] Calculate the angle of incidence at this point. (The angle between the direction of the sound ray from the array element to the refraction point and the interface normal) is... and The included angle (supplementary angle):

[0100] ;

[0101] (Approximately 42.1°);

[0102] Similarly, calculate the angle of refraction at that point. (The angle between the direction of the sound ray from the refraction point to the focal point and the interface normal) is... and The included angle (supplementary angle):

[0103] ;

[0104] (Approximately 166.0°);

[0105] Its acute angle portion: (Approximately 14°);

[0106] In practical applications, we take the acute angle, that is... ;

[0107] Verify whether Snell's law is satisfied and calculate the delay time:

[0108] calculate:

[0109] ; ;

[0110] The two are not equal. This indicates that the current refraction point does not satisfy the acoustic refraction law and is only used for initial delay calculations. Calculate the total delay time t. (0) :

[0111] ;

[0112] Second iteration (optimization adjustment k=1):

[0113] Adjusting the refraction point coordinates: To optimize the sound path and approximate Snell's law, the refraction point is typically moved along a circular arc. Based on gradient information or optimization algorithms (such as the simplex method), the angle parameter θ is adjusted. For example, θ is adjusted from -0.349 rad to -0.400 rad (approximately -22.9°).

[0114] ;

[0115] ;

[0116] That is, take ( , = (12.30, 5.09) mm.

[0117] Recalculate all parameters:

[0118] mm;

[0119] mm;

[0120] ;

[0121]

[0122] 13.09mm;

[0123]

[0124] ;

[0125] Calculate the angle:

[0126] ;

[0127] ;

[0128] ;

[0129] (Take the acute angle);

[0130] Verifying Snell's Law:

[0131] ; ;

[0132] They are still not equal, but the proportions have changed.

[0133] Calculate the total delay time:

[0134] ;

[0135] Comparison and judgment:

[0136] ;

[0137] The reduction in total latency indicates that this adjustment (θ reduced from -0.349 to -0.400) is an optimization in the right direction. This demonstrates that the adjustment is on the right track.

[0138] Finally, repeat the process of adjusting the refraction point coordinates, calculating the sound path and angle, and calculating the delay time. Each iteration determines the adjustment direction and step size of the next refraction point based on current and historical data (e.g., using optimization algorithms such as gradient descent or Newton's method), aiming to minimize t and ultimately satisfy Snell's law. When the delay time difference between two adjacent iterations is (e.g., 0.01 μs):

[0139] ;

[0140] Furthermore, when the difference between the calculated values ​​on both sides of Snell's law is sufficiently small, the iteration terminates. At this point, the obtained ( , This is the optimal refraction point for the array element under the current focus setting, and its corresponding... This is the optimal delay time. By performing this iterative optimization in parallel on all array elements, the delay rule for the entire array element group to achieve normal focusing can be obtained.

[0141] In this embodiment, by controlling the emission delay of each transmitting element in real time, the incident wave front can be made parallel to the complex surface of the workpiece to be inspected, thereby improving the energy transmittance of ultrasonic waves on the bottom arc surface of the track; reducing the influence of the workpiece surface geometry on the detection results, and thus reducing the detection blind zone caused by the geometry.

[0142] In one exemplary embodiment, such as Figure 4 As shown, if the evaluation result for any launch element indicates that the target incident point corresponding to that launch element is not the current incident point, the current incident point is adjusted, including:

[0143] Step 402: If the evaluation result of any transmitting element indicates that the target incident point of the transmitting element is not the current incident point and it is the first adjustment, predict the first adjustment direction, and adjust the current incident point according to the first adjustment direction and the adjustment step size corresponding to the first adjustment direction.

[0144] The first adjustment direction can be the direction of the current incident point (such as clockwise / counterclockwise) during the first adjustment; the adjustment step size corresponding to the first adjustment direction can be the preset position movement amount used during the first adjustment, which is used to control the magnitude of the current incident point moving along the arc surface to be detected each time.

[0145] Optionally, if the evaluation result of any transmitting element shows that the current incident point is not the target incident point, and this is the first adjustment of the incident point; based on the position of the target detection point and the geometric relationship of the arc surface to be detected, the direction of movement of the incident point along the arc (e.g., clockwise / counterclockwise) is determined; according to the first adjustment direction and the corresponding adjustment step size, the current incident point is moved along the arc of the rail bottom surface to obtain a new current incident point, which serves as the calculation benchmark for the next iteration. The preset step size can be an empirical step size or a movement step size determined based on the curvature of the arc for the first adjustment.

[0146] Step 404: If the evaluation result of any transmitting element indicates that the target incident point of the transmitting element is not the current incident point and it is not the first adjustment, determine the second adjustment direction based on the difference between the current propagation duration and the previous propagation duration, and adjust the current incident point according to the second adjustment direction and the adjustment step size corresponding to the second adjustment direction.

[0147] The second adjustment direction can be the direction of the current incident point (such as clockwise / counterclockwise) during non-first adjustments, and the second adjustment direction can be the same as or opposite to the first adjustment direction; the adjustment step size corresponding to the second adjustment direction can be the preset position movement amount used during non-first adjustments.

[0148] Optionally, if the evaluation result of any one of the transmitting elements shows that the current incident point is not the target incident point, and this incident point has been adjusted at least once, it is considered a non-first adjustment; the propagation time obtained in this iteration is subtracted from the propagation time in the previous iteration to obtain the propagation time difference value; the sign of the difference value is used to determine whether the previous adjustment improved the path, thereby determining the direction of movement of the incident point along the orbital bottom arc in this iteration. For example, a negative difference value indicates that this adjustment is optimizing in the correct direction, that is, the adjustment direction is correct; according to the second adjustment direction and the corresponding adjustment step size, the current incident point is updated to obtain a new current incident point.

[0149] In this embodiment, by adopting different direction determination methods for the first adjustment and non-first adjustments of the incident point, the first adjustment can quickly determine the first direction and accelerate the starting speed of iterative optimization. The non-first adjustments can adaptively correct the adjustment direction and step size according to the changes in propagation time, so that the incident point stably approaches the optimal position. This not only improves the overall efficiency of iterative optimization, but also ensures the stability and accuracy of the incident point iterative convergence.

[0150] In one exemplary embodiment, such as Figure 5 As shown, the target detection points on the inner curved surface of the rail to be inspected are determined, including...

[0151] Step 502: Determine the extension line of the line connecting the center of the array element of the ultrasonic phased array probe and the center of the corresponding arc surface of the rail surface to be tested.

[0152] Among them, the center of the array element can be the geometric center of all transmitting array elements in the ultrasonic phased array probe, serving as the reference point for the ultrasonic wave emission of the transmitting array element; the center of the arc surface can be the geometric center of the arc on the surface of the rail to be tested.

[0153] Optionally, based on the coordinates of the array element center and the center coordinates of the arc on the surface of the rail to be inspected, the array element center and the arc center can be connected by a straight line and further extended to obtain a geometric reference line, i.e., an extension line, for determining the target detection point.

[0154] Step 504: Determine the intersection point of the extension line and the inner arc surface of the rail to be inspected to obtain the target inspection point.

[0155] Optionally, the extension line between the determined array element center and the center of the arc surface is extended further into the rail; the spatial intersection point between this extension line and the pre-set arc surface inside the rail to be tested is calculated; this intersection point is taken as the target detection point to which the ultrasonic waves converge.

[0156] In this embodiment, by connecting the center of the array element with the center of the arc on the bottom surface of the rail and extending the line, the intersection of the extended line with the arc surface to be detected inside is taken as the target detection point. This ensures that the target detection point is located in the common normal direction of each incident point on the arc on the bottom surface of the rail, thereby ensuring that all refracted ultrasonic waves can be stably converged to the same target detection point.

[0157] In an exemplary embodiment, before determining the extension line of the line connecting the element center of the ultrasonic phased array probe and the center of the arc surface corresponding to the surface of the rail to be tested, the method further includes: determining a target coordinate system based on the element arrangement direction of the ultrasonic phased array probe and the positional relationship between the ultrasonic phased array probe and the rail to be tested; determining the first element coordinates of the first transmitting element in the ultrasonic phased array probe in the target coordinate system, and the second element coordinates of the last transmitting element in the target coordinate system; and determining the element center of the ultrasonic phased array probe based on the first element coordinates and the second element coordinates.

[0158] In this process, the array elements in the ultrasonic phased array probe are arranged linearly; the array element arrangement direction can be the straight line direction in which multiple transmitting array elements in the ultrasonic phased array probe are arranged sequentially; the target coordinate system can be a two-dimensional or three-dimensional rectangular coordinate system specifically established for this detection, used to uniformly describe the coordinates of the transmitting array elements, the center of the arc, the incident point, and the target detection point; the coordinates of the first array element can be the coordinate values ​​of the first transmitting array element in the target coordinate system; the coordinates of the second array element can be the coordinate values ​​of the last transmitting array element in the target coordinate system.

[0159] Optionally, a unified target coordinate system is established based on the arrangement direction of the probe array elements and the relative position of the probe and the rail. Under this coordinate system, the coordinates of the first element of the first transmitting element and the coordinates of the second element of the last transmitting element are obtained. The midpoint of the first and second element coordinates is calculated to obtain the array element center of the entire probe.

[0160] Optionally, a unified target coordinate system can be established with the probe array element arrangement direction as the X-axis and the direction perpendicular to the probe array element arrangement direction as the Y-axis, with the origin at the center of the intersection of the probe array element arrangement direction and the probe shape.

[0161] Optionally, when the transmitting elements in the ultrasonic phased array probe are arranged in a matrix, a target coordinate system is established based on the arrangement direction of the elements and the positional relationship between the probe and the rail to be tested; the first and last elements located at the diagonal positions in the matrix arrangement are selected, and their coordinates in the target coordinate system are determined respectively; the arithmetic mean of the coordinates of the two diagonal elements is taken, and the obtained midpoint coordinates are used as the element center of the entire ultrasonic phased array probe.

[0162] In this embodiment, by establishing a unified target coordinate system and determining the overall array element center of the probe based on the coordinates of the first and last array elements, it is possible to ensure that all geometric calculations are performed under the same reference, thereby improving the accuracy and consistency of coordinate calculations. Using the midpoint of the first and last array elements as the array element center can alleviate the geometric error caused by the deviation of a single array element, thereby improving the accuracy of the subsequent extension line and the target detection point position.

[0163] In an exemplary embodiment, determining the propagation time of the ultrasonic wave emitted by the transmitting array element to the corresponding reference detection point based on the current incident point of the transmitting array element includes: determining the current incident angle, the current refraction angle, the first propagation path, and the second propagation path based on the transmitting position of the transmitting array element and the current incident point of the transmitting array element; and determining the propagation time of the ultrasonic wave emitted by the transmitting array element to the corresponding reference detection point based on the first sound wave velocity, the second sound wave velocity, the first propagation path, and the second propagation path.

[0164] Wherein, the first propagation path is the distance the ultrasonic wave emitted by the transmitting element travels from the transmitting element to the incident point, and the second propagation path is the distance the ultrasonic wave emitted by the transmitting element travels from the current incident point to the corresponding reference point; the first sound velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the first propagation path, for example, the propagation speed of ultrasonic waves in a coupling medium (such as water); the second sound velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the second propagation path, for example, the propagation speed of ultrasonic waves in a rail.

[0165] The current incident angle can be the angle between the incident sound ray and the normal to the rail bottom surface at the current incident point; the current refraction angle can be the angle between the refracted sound ray and the normal to the rail bottom surface at the current incident point.

[0166] Optionally, the current incident angle, current refraction angle, and two propagation paths of the ultrasonic wave in the coupling medium and the rail are calculated based on the emission position of the transmitting element and the current incident point. Combined with the sound wave velocity in the corresponding medium, the propagation time of the two paths is calculated separately and accumulated to obtain the total propagation time, which is the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point.

[0167] In this embodiment, the propagation path and propagation duration are calculated in segments, and the incident angle and refraction angle information are obtained simultaneously to ensure the accuracy and reliability of the propagation duration calculation; at the same time, it provides a quantifiable evaluation basis for the iteration process, making the incident point adjustment more directional, so as to improve the overall iteration efficiency and detection accuracy.

[0168] In an exemplary embodiment, determining the evaluation result corresponding to the reference detection point based on the current incident point of the transmitting array element includes: determining a first evaluation value based on the ratio of the sine value corresponding to the current incident angle to the first sound wave velocity; determining a second evaluation value based on the ratio of the cosine value corresponding to the current refraction angle to the second sound wave velocity; and determining the evaluation result corresponding to the reference detection point based on the difference between the first evaluation value and the second evaluation value.

[0169] The first evaluation value can be composed of the ratio of the sine of the current incident angle to the first sound wave velocity, and is used to characterize the propagation characteristics on the incident side; the second evaluation value can be composed of the ratio of the sine of the current refraction angle to the second sound wave velocity, and is used to characterize the propagation characteristics on the refraction side.

[0170] Optionally, the sine value of the current incident angle is calculated and then divided by the first sound wave velocity to obtain a first evaluation value; the sine value of the current refraction angle is calculated and then divided by the second sound wave velocity to obtain a second evaluation value; the difference between the first and second evaluation values ​​is calculated; and the magnitude of the difference is used to determine whether the current incident point satisfies Snell's law, thus obtaining an evaluation result. For example, if the difference between the first and second evaluation values ​​is greater than or equal to a preset threshold, it indicates that the current incident point does not satisfy Snell's law; conversely, if the difference between the first and second evaluation values ​​is less than the preset threshold, it indicates that the current incident point satisfies Snell's law.

[0171] In this embodiment, by constructing a first evaluation value and a second evaluation value based on Snell's law, and using the difference between the two as the evaluation basis, it is possible to accurately determine whether the current incident point meets the ultrasonic refraction condition from a physical perspective, providing a clear judgment standard for iterative optimization, alleviating subjective errors, and making the direction of incident point adjustment clear.

[0172] In one exemplary embodiment, such as Figure 6 As shown, the method also includes: establishing a coordinate system (i.e., the target coordinate system), determining the position of the probe array element and the center of the arc surface of the rail bottom (i.e., the center of the arc surface corresponding to the surface of the rail to be inspected); calculating the coordinates of the sound ray center array element (i.e., the array element center); determining the coordinates of the sound ray focus (i.e., the target detection point), extending to the water / workpiece interface; calculating the sound path and refraction angle of each transmitting array element in the water and workpiece based on Snell's law; iteratively optimizing the refraction point coordinates (i.e., the current incident point) to minimize the total delay time; and aligning the wavefront with the normal of the rail bottom arc surface to achieve a vertical incident effect.

[0173] Optionally, determine the origin of the coordinate system. , Using the direction of the probe array element arrangement as the X-axis and the direction perpendicular to the direction of the probe array element arrangement as the Y-axis, with the origin at the center of the intersection of the two ends of the probe array element arrangement direction and the probe outline; determine the coordinates of the center of the circle. , Determine the coordinates of the center of the circle based on the structural shape and the positional relationship of the workpiece; determine the coordinates of the probe array elements. , : Determine the coordinates of each array element based on the starting point of the probe assembly on the structure and the spacing between the probe array elements, where i = 1, 2, 3, ...; Determine the coordinates of the center array element (i.e., the center of the array element):

[0174] ;

[0175] ;

[0176] in, It is the x-coordinate of the center element of the calculated sound ray; y is the y-coordinate of the center element of the calculated sound ray; xes and yes are the coordinates of the starting element (i.e., the first element) in the sound ray scanning settings. , It is the coordinate of the end element (i.e., the coordinate of the second element) in the calculated acoustic ray scan settings.

[0177] Determine the coordinates of the vocal ray focus: , , , As the two endpoints of the line segment, it extends to intersect with the water / workpiece interface (i.e., the surface of the rail to be inspected). , And using this as the starting point, the focal distance is extended as the final coordinate of the vocal ray focal point. , (i.e., target detection points). Based on the Pythagorean theorem and Snell's law, the delay time (i.e., propagation duration) of each array element can be calculated:

[0178] Pythagorean theorem:

[0179]

[0180]

[0181] Snell's Law:

[0182]

[0183] in , These are the coordinates of the refraction point (current incident point) of the array element's acoustic rays on the circular arc surface; It is the sound range of the array element in the water; It is the acoustic path of the array element inside the workpiece, from the refraction point to the focal point; , These are the incident angle and refraction angle of the array element at the water / workpiece interface; This represents the total delay time of the array elements.

[0184] Using the above formula, , Iterate and adjust to find the final result. , (i.e., the target incident point) to minimize the total delay time of the array elements.

[0185] To more comprehensively demonstrate this solution, this embodiment presents a rail inspection method, specifically including:

[0186] 1. Determine the target coordinate system based on the array element arrangement direction of the ultrasonic phased array probe and the positional relationship between the ultrasonic phased array probe and the rail to be inspected;

[0187] 2. Determine the coordinates of the first transmitting element in the ultrasonic phased array probe in the target coordinate system, and the coordinates of the last transmitting element in the target coordinate system.

[0188] 3. Determine the element center of the ultrasonic phased array probe based on the coordinates of the first and second array elements;

[0189] 4. Determine the extension line connecting the center of the array element of the ultrasonic phased array probe to the center of the corresponding arc surface of the rail surface to be tested;

[0190] 5. Determine the intersection point of the extension line and the inner curved surface of the rail to be inspected to obtain the target inspection point; and,

[0191] 6. Determine the current incident point of each transmitting element of the ultrasonic phased array probe on the surface of the rail to be inspected;

[0192] 7. For each transmitting element, determine the current incident angle, current refraction angle, first propagation path and second propagation path based on the transmitting position and the current incident point of the transmitting element;

[0193] 8. For each transmitting element, determine the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point based on the first sound wave velocity, the second sound wave velocity, the first propagation path and the second propagation path.

[0194] 9. For each transmitting element, determine the first evaluation value based on the ratio of the sine value corresponding to the current incident angle to the first sound wave velocity; determine the second evaluation value based on the ratio of the cosine value corresponding to the current refraction angle to the second sound wave velocity; and determine the evaluation result corresponding to the reference detection point based on the difference between the first evaluation value and the second evaluation value.

[0195] 10. If the evaluation results for each transmitting element indicate that the target incident point corresponding to the transmitting element is the current incident point, control the different transmitting elements to transmit ultrasonic waves to the current incident point based on the time difference between the propagation times corresponding to different transmitting elements.

[0196] The specific process of the above steps can be found in the description of the above method embodiments. The implementation principle and technical effect are similar, and will not be repeated here.

[0197] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0198] Based on the same inventive concept, this application also provides a rail inspection device for implementing the rail inspection method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more rail inspection device embodiments provided below can be found in the limitations of the rail inspection method described above, and will not be repeated here.

[0199] In one exemplary embodiment, such as Figure 7 As shown, a rail inspection device is provided, comprising: a processing module 71, a calculation module 72, and a detection module 73, wherein:

[0200] Processing module 71 is used to determine the target detection point on the inner surface of the rail to be inspected; and,

[0201] The processing module 71 is also used to determine the current incident point of each transmitting element of the ultrasonic phased array probe on the surface of the rail to be tested; wherein the arc surface to be tested and the surface are equidistant curved surfaces;

[0202] The calculation module 72 is used to determine, for each transmitting element, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point, and the evaluation result corresponding to the reference detection point, based on the current incident point of the transmitting element. The reference detection point is located on the arc surface to be tested, and the evaluation result characterizes whether the target incident point corresponding to the transmitting element is the current incident point. The target incident point is the incident point of the transmitting element on the surface of the rail to be tested when the ultrasonic wave emitted by the transmitting element reaches the target detection point.

[0203] The detection module 73 is used to control different transmission array elements to emit ultrasonic waves toward the current incident point based on the time difference between the propagation times of different transmission array elements, when the evaluation results corresponding to each transmission array element indicate that the target incident point corresponding to the transmission array element is the current incident point; wherein, the ultrasonic waves emitted by different transmission array elements toward the current incident point simultaneously reach the target detection point.

[0204] In one embodiment, the calculation module 72 is further configured to:

[0205] If the evaluation result for any launch element indicates that the target incident point for that launch element is not the current incident point, the current incident point is adjusted to obtain a new current incident point.

[0206] For the transmitting element, based on the new current incident point, return to execute the operation of determining the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point according to the current incident point of the transmitting element.

[0207] In one embodiment, the calculation module 72 is further configured to:

[0208] If the evaluation result for any launch element indicates that the target incident point corresponding to the launch element is not the current incident point and this is the first adjustment, predict the first adjustment direction, and adjust the current incident point according to the first adjustment direction and the adjustment step size corresponding to the first adjustment direction.

[0209] If the evaluation result for any transmitting element indicates that the target incident point corresponding to the transmitting element is not the current incident point and this is not the first adjustment, a second adjustment direction is determined based on the difference between the current propagation duration and the previous propagation duration, and the current incident point is adjusted based on the adjustment step size corresponding to the second adjustment direction.

[0210] In one embodiment, the processing module 71 is further configured to:

[0211] Determine the extension line of the line connecting the center of the array element of the ultrasonic phased array probe and the center of the corresponding arc surface of the rail surface to be tested;

[0212] Determine the intersection point of the extension line and the inner curved surface of the rail to be inspected to obtain the target inspection point.

[0213] In one embodiment, the processing module 71 is further configured to:

[0214] The target coordinate system is determined based on the array element arrangement direction of the ultrasonic phased array probe and the positional relationship between the ultrasonic phased array probe and the rail to be inspected.

[0215] Determine the coordinates of the first transmitting element in the ultrasonic phased array probe in the target coordinate system, and the coordinates of the last transmitting element in the target coordinate system.

[0216] The element centers of the ultrasonic phased array probe are determined based on the coordinates of the first and second array elements.

[0217] In one embodiment, the calculation module 72 is further configured to:

[0218] Based on the launch position of the launch element and the current incident point of the launch element, determine the current incident angle, the current refraction angle, the first propagation path and the second propagation path; wherein, the first propagation path is the propagation distance of the ultrasonic wave emitted by the launch element from the launch element to the incident point, and the second propagation path is the propagation distance of the ultrasonic wave emitted by the launch element from the current incident point to the corresponding reference point.

[0219] Based on the first sound wave velocity, the second sound wave velocity, the first propagation path, and the second propagation path, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point is determined; wherein, the first sound wave velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the first propagation path, and the second sound wave velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the second propagation path.

[0220] In one embodiment, the calculation module 72 is further configured to:

[0221] The first evaluation value is determined based on the ratio of the sine value corresponding to the current incident angle to the velocity of the first sound wave;

[0222] The second evaluation value is determined based on the ratio of the cosine value corresponding to the current refraction angle to the second sound wave velocity;

[0223] The evaluation result corresponding to the reference detection point is determined based on the difference between the first evaluation value and the second evaluation value.

[0224] Each module in the aforementioned rail inspection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0225] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs in the non-volatile storage media to run. The database stores propagation time data corresponding to each transmitting array element. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a rail inspection method.

[0226] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0227] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0228] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0229] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0230] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0231] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0232] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0233] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for inspecting rails, characterized in that, The method includes: Determine the target inspection points on the internal curved surface of the rail to be inspected; and, Determine the current incident point of each transmitting element of the ultrasonic phased array probe on the surface of the rail to be tested; wherein the arc surface to be tested and the surface are equidistant curved surfaces; For each transmitting element, based on the current incident point of the transmitting element, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point is determined, as well as the evaluation result corresponding to the reference detection point; wherein, the reference detection point is located on the arc surface to be tested, and the evaluation result characterizes whether the target incident point corresponding to the transmitting element is the current incident point, and the target incident point is the incident point of the transmitting element on the surface of the rail to be tested when the ultrasonic wave emitted by the transmitting element reaches the target detection point. If the evaluation results for each transmitting element indicate that the target incident point corresponding to the transmitting element is the current incident point, then based on the time difference between the propagation times of different transmitting elements, the transmitting elements are controlled to transmit ultrasonic waves to the current incident point; wherein, the ultrasonic waves transmitted by different transmitting elements to the current incident point simultaneously reach the target detection point.

2. The method according to claim 1, characterized in that, The method further includes: If the evaluation result for any transmitting element indicates that the target incident point corresponding to the transmitting element is not the current incident point, the current incident point is adjusted to obtain a new current incident point. For the transmitting element, based on the new current incident point, return to the operation of determining the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point according to the current incident point of the transmitting element.

3. The method according to claim 2, characterized in that, The step of adjusting the current incident point when the evaluation result for any transmitting element indicates that the target incident point corresponding to that transmitting element is not the current incident point includes: If the evaluation result for any transmitting element indicates that the target incident point corresponding to the transmitting element is not the current incident point and this is the first adjustment, a first adjustment direction is predicted, and the current incident point is adjusted according to the first adjustment direction and the adjustment step size corresponding to the first adjustment direction. If the evaluation result for any transmitting element indicates that the target incident point corresponding to the transmitting element is not the current incident point, and this is not the first adjustment, a second adjustment direction is determined based on the difference between the current propagation duration and the previous propagation duration, and the current incident point is adjusted based on the second adjustment direction and the adjustment step size corresponding to the second adjustment direction.

4. The method according to any one of claims 1-3, characterized in that, The process of determining the target detection point on the inner curved surface of the rail to be inspected includes... Determine the extension line of the line connecting the center of the array element of the ultrasonic phased array probe and the center of the arc surface corresponding to the surface of the rail to be tested; The intersection point of the extension line and the inner arc surface of the rail to be inspected is determined to obtain the target inspection point.

5. The method according to claim 4, characterized in that, The array elements in the ultrasonic phased array probe are linearly arranged; before determining the extension line of the line connecting the center of the array elements of the ultrasonic phased array probe and the center of the arc surface corresponding to the surface of the rail to be tested, the method further includes: The target coordinate system is determined based on the array element arrangement direction of the ultrasonic phased array probe and the positional relationship between the ultrasonic phased array probe and the rail to be tested. Determine the first element coordinates of the first transmitting element in the ultrasonic phased array probe in the target coordinate system, and the second element coordinates of the last transmitting element in the target coordinate system. The element centers of the ultrasonic phased array probe are determined based on the coordinates of the first and second array elements.

6. The method according to any one of claims 1-3, characterized in that, The step of determining the propagation time of the ultrasonic wave emitted by the transmitting array element to the corresponding reference detection point based on the current incident point of the transmitting array element includes: Based on the emission position of the emission element and the current incident point of the emission element, the current incident angle, the current refraction angle, the first propagation path, and the second propagation path are determined; wherein, the first propagation path is the propagation distance of the ultrasonic wave emitted by the emission element from the emission element to the incident point, and the second propagation path is the propagation distance of the ultrasonic wave emitted by the emission element from the current incident point to the corresponding reference point. Based on the first sound wave velocity, the second sound wave velocity, the first propagation path, and the second propagation path, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point is determined; wherein, the first sound wave velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the first propagation path, and the second sound wave velocity is the propagation speed of the ultrasonic wave emitted by the transmitting element in the medium corresponding to the second propagation path.

7. The method according to claim 6, characterized in that, Based on the current incident point of the transmitting array element, determine the evaluation result corresponding to the reference detection point, including: The first evaluation value is determined based on the ratio of the sine value corresponding to the current incident angle to the velocity of the first sound wave; The second evaluation value is determined based on the ratio of the cosine value corresponding to the current refraction angle to the second sound wave velocity; The evaluation result corresponding to the reference detection point is determined based on the difference between the first evaluation value and the second evaluation value.

8. A rail inspection device, characterized in that, The device includes: The processing module is used to determine the target detection points on the internal curved surface of the rail to be inspected; and, The processing module is also used to determine the current incident point of each transmitting element of the ultrasonic phased array probe on the surface of the rail to be tested; wherein the arc surface to be tested and the surface are equidistant curved surfaces; The calculation module is used to determine, for each transmitting element, the propagation time of the ultrasonic wave emitted by the transmitting element to the corresponding reference detection point, and the evaluation result corresponding to the reference detection point, based on the current incident point of the transmitting element; wherein, the reference detection point is located on the arc surface to be tested, and the evaluation result characterizes whether the target incident point corresponding to the transmitting element is the current incident point, and the target incident point is the incident point of the transmitting element on the surface of the rail to be tested when the ultrasonic wave emitted by the transmitting element reaches the target detection point; The detection module is used to control different transmitting array elements to emit ultrasonic waves toward the current incident point based on the time difference between the propagation times of different transmitting array elements, when the evaluation results corresponding to each transmitting array element indicate that the target incident point corresponding to the transmitting array element is the current incident point; wherein, the ultrasonic waves emitted by different transmitting array elements toward the current incident point simultaneously reach the target detection point.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

Images