CN111912903A - Self-powered ultrasonic guided wave broken rail real-time detection system and positioning method - Google Patents
Self-powered ultrasonic guided wave broken rail real-time detection system and positioning method Download PDFInfo
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Abstract
The invention discloses a self-powered ultrasonic guided wave broken rail real-time detection system, which comprises: the invention solves the problem of unstable power supply in the existing ultrasonic guided wave real-time rail break detection system, ensures the reliability of power supply of railway on-site monitoring equipment and further improves the accuracy of rail break positioning detection. The invention also discloses a broken rail positioning detection method, based on a mechanism of transmitting at the same end and receiving at the same end, firstly, a Kasami sequence is adopted to encode the transmitted ultrasonic guided wave signals, then decoding judgment is carried out, finally, the envelope is obtained for the decoded signals, and the time corresponding to the peak value of the envelope is calculated, so that the specific position of the broken rail is obtained, and the broken rail positioning detection is completed.
Description
Technical Field
The invention belongs to the technical field of nondestructive testing, relates to a self-powered ultrasonic guided wave broken rail real-time detection system, and further relates to a broken rail positioning detection method.
Background
With the rapid development of economy, the trends of high-speed railway passenger transportation and heavy freight transportation become more and more obvious. Meanwhile, the high-speed railway develops rapidly, and the seamless long-rail line is widely applied. In railway transportation systems, rails serve to support trains and guide the wheels of the trains forward. In order to guarantee the running safety of the train, new requirements are provided for detection efficiency, detection precision and the like of the damaged or broken state of the steel rail. At present, the existing detection method mainly comprises manual inspection, a hand-push type ultrasonic flaw detection trolley, a large-sized steel rail flaw detection vehicle and a track circuit, and the rest of the methods except the track circuit belong to off-line detection, but the track circuit has the defects of high price, high false alarm rate, unsuitability for installation on a wet road section and the like. However, in recent years, the ultrasonic guided wave technology has been widely used due to its advantages of low detection frequency, long detection distance, large coverage area, etc., and is particularly suitable for detecting damage or fracture of long-distance structures, such as pipes, rails, etc. In order to detect the damage or fracture state of the steel rail on line in real time, researchers develop a rail fracture real-time detection system based on ultrasonic guided waves, but the power supply, the signal-to-noise ratio and the positioning precision of the detection system become important factors influencing the reliability and the detection accuracy of the system. At present, the power supply of the railway field outdoor monitoring equipment usually depends on photovoltaic power generation, but the solar energy conversion efficiency is low and is greatly influenced by weather conditions, and particularly the effective illumination time of a mountain area is only a few hours. In order to ensure the stability of the power supply of the system, a larger area of solar cell panel is required, which results in higher cost of the power supply system, which limits the industrial application of the monitoring system to a certain extent. For the problem of low signal-to-noise ratio, the currently used methods mainly include increasing the transmitting power at the transmitting end, performing frequency dispersion compensation at the receiving end, and limiting the increase of the transmitting power by the peak value of the exciting voltage of the piezoelectric transducer. Even if the frequency dispersion is completely eliminated, the ultrasonic guided wave distance resolution cannot meet the high-precision rail breakage or damage positioning by adopting a pulse echo method.
Disclosure of Invention
The invention aims to provide a self-powered ultrasonic guided wave broken rail real-time detection system, which solves the problem of unstable power supply in the conventional ultrasonic guided wave real-time broken rail detection system.
The invention also aims to provide a broken rail positioning detection method, which can accurately measure the propagation time of ultrasonic guided wave signals and improve the positioning accuracy of broken rails.
The first technical scheme adopted by the invention is that a self-powered ultrasonic guided wave broken rail real-time detection system comprises:
the ultrasonic guided wave sending module is a transmitting node with a vibration energy collecting function and is used for transmitting ultrasonic guided wave signals;
the ultrasonic guided wave receiving module is a receiving node with a vibration energy collecting function and is used for receiving ultrasonic guided wave signals;
the communication module is used for sending rail breakage information to the cloud server, and the rail breakage information is obtained by judging and processing through the ultrasonic guided wave receiving module;
the terminal is connected with the cloud server and used for receiving the rail breakage information;
and the self-energy supply module is used for providing electric energy for the ultrasonic guided wave sending module, the ultrasonic guided wave receiving module and the communication module.
The first technical solution of the present invention is also characterized in that,
the ultrasonic guided wave sending module and the ultrasonic guided wave receiving module are arranged in an interactive mode with 1km as a detection interval, and the ultrasonic guided wave sending module or the ultrasonic guided wave receiving module located at one end point of the interactive arrangement is connected with the communication module.
The ultrasonic guided wave sending module comprises a coding excitation circuit and a communication interface circuit a which are connected together, the communication interface circuit a is respectively connected with a piezoelectric transducer a with a vibration energy collecting function and an NBIOT wireless communication module a with a positioning function, and the piezoelectric transducer a is fixed on a track to be detected;
the ultrasonic guided wave receiving module comprises a signal processing circuit and a communication interface circuit b which are connected together, the communication interface circuit b is respectively connected with a piezoelectric transducer b with a vibration energy collecting function and an NBIOT wireless communication module b with a positioning function, and the piezoelectric transducer b is fixed on a track to be detected.
The communication module comprises a communication interface circuit c and an NBIOT communication module which are connected together, wherein the communication interface circuit c is connected with the communication interface circuit a or the communication interface circuit b.
The self-powered module comprises a wind-solar complementary power generation module and a rail vibration power generation module, the wind-solar complementary power generation module and the rail vibration power generation module are both connected with the AC-DC power conversion module, and the AC-DC power conversion module is respectively connected with the communication interface circuit a and the communication interface circuit b.
The second technical scheme adopted by the invention is that a rail break positioning detection method is applied, the self-powered ultrasonic guided wave rail break real-time detection system of the first technical scheme of the invention is used for positioning detection, based on a mechanism of transmitting at the same end and receiving at the same end, firstly, a Kasami sequence is adopted to encode transmitted ultrasonic guided wave signals, then, the encoded ultrasonic guided wave signals are decoded and judged at a receiving node, finally, the decoded signals are enveloped, and the time corresponding to the peak value of the enveloped envelope is calculated, so that the specific position of the rail break is obtained, and the method is implemented according to the following steps:
step 1, coding an excitation signal by adopting a Kasami sequence to generate a coded ultrasonic guided wave signal, and transmitting the coded ultrasonic guided wave signal by a transmitting node;
step 3, the receiving node collects echo signals and decodes the collected echo signals to obtain decoded ultrasonic guided wave echo signals;
step 4, performing envelope extraction on the decoded ultrasonic guided wave echo signals by using Hilbert transform;
step 5, judging the envelope characteristics to obtain broken rail information, namely calculating a broken rail position if a coded ultrasonic guided wave signal is received within set time, and taking the broken rail position as broken rail information; otherwise, the broken rail is considered to occur in the blind area, and the broken rail is taken as broken rail information in the blind area;
and 7, distributing the broken rail detection information to each terminal through the Internet by the cloud server for processing, and completing the broken rail positioning detection.
The second technical solution of the present invention is also characterized in that,
the piezoelectric transducers a and b are each provided with two resonance frequencies f1And f2And both satisfy f1＞f2Wherein the resonant frequency f1Resonant frequency f for rail damage or breakage detection2Then for rail vibration energy recovery.
The excitation signal adopts a square wave signal with the frequency of 35kHz and the periodicity of 4;
the number of bits of the Kasami sequence is 63 bits, and based on the BPSK modulation technology, the expression of the coded excitation signal e [ k ] is as follows:
in formula (10), c [ m ]]Representing the oversampled signal of the 63-bit Kasami sequence used,
p[n]representing the number of cycles as NcA square wave signal of 4, n-k-i, where k denotes the length of the coded excitation signal and i denotes the signal length after oversampling the used 63-bit Kasami sequence; n is a radical ofsThe sampling point number of the square wave signal in one period is represented; l represents the length of the Kasami sequence used.
Decoding the acquired echo signals in the step 3 to obtain decoded ultrasonic guided wave echo signals, specifically, performing Binary Phase Shift Keying (BPSK) modulation and demodulation on the acquired echo signals, and calculating signals y after BPSK demodulationd[k]，
In formula (11), y [ l ]]Representing the acquired echo signal, i ═ i + k; p [ n ]]Representing the number of cycles as Nc4, n-i;
calculating the decoded ultrasonic guided wave echo signal t [ k ],
in formula (12), c [ m ] represents the used Kasami sequence at position 63, and m ═ i.
The calculation of the rail-breaking position is specifically,
assume that the distance between a transmitting node and a receiving node is L1When a rail is broken in a certain detection interval, the NBIOT wireless communication module a with a positioning function and the NBIOT wireless communication module b with a positioning function in the transmitting node and the receiving node at two ends of the broken rail respectively send coded ultrasonic guided wave signals for positioning the broken rail, and meanwhile, assuming that the position x away from the receiving node is a rail breaking position, x is calculated as follows:
in the formulas (13) and (14), x is the distance between the receiving node and the rail break position, and t1The time difference from the emission to the reception of the ultrasonic guided wave echo signal is the time difference of an NBIOT wireless communication module a with a positioning function; t is t2The time difference from the emission to the reception of the ultrasonic guided wave echo signal is the time difference of an NBIOT wireless communication module b with the positioning function; v. oftThe propagation velocity of the ultrasonic guided wave in the steel rail;
if t is1<t2Calculating the rail breaking position by adopting a formula (13); if t is1>t2Then, the broken rail position is calculated by equation (14).
The invention has the beneficial effects that:
the invention relates to a self-powered ultrasonic guided wave broken rail real-time detection system, which fully utilizes the characteristics of the ultrasonic guided wave broken rail detection system, adopts a dual-frequency piezoelectric transducer integrated rail vibration energy collection function in the detection system, solves the problem of unstable power supply in the existing ultrasonic guided wave real-time broken rail detection system, and fully utilizes the energy of three forms of a railway monitoring site: solar energy, wind energy and track vibration to guarantee the reliability of railway on-the-spot monitoring facilities power supply, further improved the accuracy that the broken rail location detected.
According to the rail break positioning detection method, the Kasami sequence is adopted to encode the excitation signal, the ultrasonic guided wave echo signal is decoded and then the envelope is extracted, so that the ultrasonic guided wave signal propagation time can be measured more accurately, the positioning accuracy of rail break is greatly improved, the reliability and the detection accuracy of the ultrasonic guided wave rail break detection system are improved, and the train operation safety is effectively guaranteed.
Drawings
Fig. 1 is a structural block diagram of a self-powered ultrasonic guided wave broken rail real-time detection system.
Fig. 2 is a flow chart of the positioning of the self-powered ultrasonic guided wave broken rail real-time detection system.
In the figure, 1, an ultrasonic guided wave sending module, 2, an ultrasonic guided wave receiving module, 3, a communication module, 4, a terminal, 5, a self-power supply module, 6, a piezoelectric transducer a, 7, an NBIOT wireless communication module a, 8, a piezoelectric transducer b and 9, an NBIOT wireless communication module b.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The invention discloses a self-powered ultrasonic guided wave broken rail real-time detection system, as shown in figure 1, comprising:
the ultrasonic guided wave sending module 1 is a sending node with a vibration energy collecting function and is used for sending ultrasonic guided wave signals, the ultrasonic guided wave sending module 1 comprises a coding excitation circuit and a communication interface circuit a which are connected together, the communication interface circuit a is respectively connected with a piezoelectric transducer a6 with a vibration energy collecting function and an NBIOT wireless communication module a7 with a positioning function, the piezoelectric transducer a6 is fixed on a track to be detected, and the piezoelectric transducer a6 is provided with two resonant frequencies f1And f2And both are full ofFoot f1＞f2Wherein the resonant frequency f1Resonant frequency f for rail damage or breakage detection2The method is used for recovering the vibration energy of the track;
the ultrasonic guided wave receiving module 2 is a receiving node with a vibration energy collecting function and is used for receiving ultrasonic guided wave signals, the ultrasonic guided wave receiving module comprises a signal processing circuit and a communication interface circuit b which are connected together, the communication interface circuit b is respectively connected with a piezoelectric transducer b8 with a vibration energy collecting function and an NBIOT wireless communication module b9 with a positioning function, the piezoelectric transducer b8 is fixed on a track to be detected, and the piezoelectric transducer b8 is provided with two resonant frequencies f1And f2And both satisfy f1＞f2Wherein the resonant frequency f1Resonant frequency f for rail damage or breakage detection2The method is used for recovering the vibration energy of the track;
the communication module 3 is used for sending rail break information to the cloud server, the rail break information is obtained by judging and processing through the ultrasonic guided wave receiving module 2, the communication module 3 comprises a communication interface circuit c and an NBIOT communication module which are connected together, and the communication interface circuit c is connected with the communication interface circuit a or the communication interface circuit b;
the terminal 4 is connected with the cloud server and used for receiving rail break information;
the self-powered module 5 is used for providing electric energy for the ultrasonic guided wave sending module 1, the ultrasonic guided wave receiving module 2 and the communication module 3, the self-powered module 5 comprises a wind and light complementary power generation module and a track vibration power generation module, the wind and light complementary power generation module and the track vibration power generation module are both connected with the AC-DC power supply conversion module, and the AC-DC power supply conversion module is respectively connected with the communication interface circuit a and the communication interface circuit b.
The ultrasonic guided wave sending module 1 and the ultrasonic guided wave receiving module 2 are arranged in an interactive mode with 1km as a detection region, and the ultrasonic guided wave sending module 1 or the ultrasonic guided wave receiving module 2 at one end point of the interactive arrangement is connected with the communication module 3.
The invention relates to a rail break positioning detection method, which is used for positioning detection by applying a self-powered ultrasonic guided wave rail break real-time detection system, based on a mechanism of transmitting at the same end and receiving at the same end, firstly, a Kasami sequence is adopted to encode transmitted ultrasonic guided wave signals, then, the encoded ultrasonic guided wave signals are decoded and judged at a receiving node, finally, envelopes are obtained for the decoded signals, and the time corresponding to the peak value of the envelopes is calculated, so that the specific position of rail break is obtained, as shown in figure 2, the method is implemented according to the following steps:
step 1, coding an excitation signal by adopting a Kasami sequence to generate a coded ultrasonic guided wave signal, and transmitting the coded ultrasonic guided wave signal by a transmitting node;
the excitation signal adopts a square wave signal with the frequency of 35kHz and the periodicity of 4;
the number of bits of the Kasami sequence is 63 bits, and based on the BPSK modulation technology, the expression of the coded excitation signal e [ k ] is as follows:
in formula (10), c [ m ]]Representing the oversampled signal of the 63-bit Kasami sequence used,
p[n]representing the number of cycles as NcA square wave signal of 4, n-k-i, where k denotes the length of the coded excitation signal and i denotes the signal length after oversampling the used 63-bit Kasami sequence; n is a radical ofsThe sampling point number of the square wave signal in one period is represented; l represents the length of the Kasami sequence used.
And 2, starting to detect echo signals of the coded ultrasonic guided wave signals at regular time.
Step 3, the receiving node collects echo signals and decodes the collected echo signals to obtain decoded ultrasonic guided wave echo signals;
the decoding process specifically includes performing Binary Phase Shift Keying (BPSK) modulation and demodulation on the acquired echo signal, and calculating a BPSK-demodulated signal yd[k]，
In formula (11), y [ l ]]Representing the acquired echo signal, i ═ i + k; p [ n ]]Representing the number of cycles as Nc4, n-i;
calculating the decoded ultrasonic guided wave echo signal t [ k ],
in formula (12), c [ m ] represents the used Kasami sequence at position 63, and m ═ i.
And 4, carrying out envelope extraction on the decoded ultrasonic guided wave echo signals by using Hilbert transform.
Step 5, judging the envelope characteristics to obtain broken rail information, namely calculating a broken rail position if a coded ultrasonic guided wave signal is received within set time, and taking the broken rail position as broken rail information; otherwise, the broken rail is considered to occur in the blind area, and the broken rail is taken as broken rail information in the blind area;
the calculation of the rail-breaking position is specifically,
assume that the distance between a transmitting node and a receiving node is L1When a rail is broken in a certain detection interval, the NBIOT wireless communication module a7 with a positioning function and the NBIOT wireless communication module b9 with a positioning function in the transmitting node and the receiving node at two ends of the broken rail respectively send coded ultrasonic guided wave signals for positioning the broken rail, and meanwhile, assuming that the position x away from the receiving node is a broken rail position, x is calculated as follows:
in the formulas (13) and (14), x is the distance between the receiving node and the rail break position, and t1To have a positioning functionThe time difference from the transmission to the reception of the ultrasonic guided wave echo signal by the NBIOT wireless communication module a 7; t is t2The time difference from the emission to the reception of the ultrasonic guided wave echo signal for the NBIOT wireless communication module b9 with the positioning function; v. oftThe propagation velocity of the ultrasonic guided wave in the steel rail;
if t is1<t2Calculating the rail breaking position by adopting a formula (13); if t is1>t2Then, the broken rail position is calculated by equation (14).
And 6, transmitting the track breaking information in the step 5 to a cloud server through the communication module 3.
And 7, distributing the broken rail detection information to each terminal 4 by the cloud server through the Internet for processing, and completing the broken rail positioning detection.
Claims (10)
1. The utility model provides a disconnected rail real-time detection system of supersound guided wave from energy supply which characterized in that includes:
the ultrasonic guided wave sending module (1) is a sending node with a vibration energy collecting function and is used for sending ultrasonic guided wave signals;
the ultrasonic guided wave receiving module (2) is a receiving node with a vibration energy collecting function and is used for receiving ultrasonic guided wave signals;
the communication module (3) is used for sending rail break information to the cloud server, and the rail break information is obtained by judging and processing the rail break information through the ultrasonic guided wave receiving module (2);
the terminal (4) is connected with the cloud server and used for receiving the rail break information;
and the self-energy supply module (5) is used for providing electric energy for the ultrasonic guided wave sending module (1), the ultrasonic guided wave receiving module (2) and the communication module (3).
2. The self-powered ultrasonic guided wave broken rail real-time detection system according to claim 1, wherein the ultrasonic guided wave transmitting module (1) and the ultrasonic guided wave receiving module (2) are arranged alternately with 1km as a detection interval, and the ultrasonic guided wave transmitting module (1) or the ultrasonic guided wave receiving module (2) at one end point of the alternate arrangement is connected with the communication module (3).
3. The self-powered ultrasonic guided wave broken rail real-time detection system of claim 1, wherein the ultrasonic guided wave transmission module (1) comprises a coding excitation circuit and a communication interface circuit a which are connected together, the communication interface circuit a is respectively connected with a piezoelectric transducer a (6) with a vibration energy collecting function and an NBIOT wireless communication module a (7) with a positioning function, and the piezoelectric transducer a (6) is fixed on a rail to be detected;
the ultrasonic guided wave receiving module comprises a signal processing circuit and a communication interface circuit b which are connected together, the communication interface circuit b is respectively connected with a piezoelectric transducer b (8) with a vibration energy collecting function and an NBIOT wireless communication module b (9) with a positioning function, and the piezoelectric transducer b (8) is fixed on a track to be detected.
4. The self-powered ultrasonic guided wave broken rail real-time detection system according to claim 3, wherein the communication module (3) comprises a communication interface circuit c and an NBIOT communication module which are connected together, and the communication interface circuit c is connected with the communication interface circuit a or the communication interface circuit b.
5. The self-powered ultrasonic guided wave broken rail real-time detection system of claim 3, wherein the self-powered module (5) comprises a wind-solar hybrid power generation module and a rail vibration power generation module, the wind-solar hybrid power generation module and the rail vibration power generation module are both connected with an AC-DC power conversion module, and the AC-DC power conversion module is respectively connected with the communication interface circuit a and the communication interface circuit b.
6. A rail break positioning detection method, which applies the self-powered ultrasonic guided wave rail break real-time detection system of any one of claims 1-5 to perform positioning detection, and is characterized in that based on a mechanism of same-end transmission and same-end reception, a Kasami sequence is firstly adopted to encode transmitted ultrasonic guided wave signals, then the encoded ultrasonic guided wave signals are decoded and judged at a receiving node, finally, an envelope is obtained for the decoded signals, and the time corresponding to the peak value of the envelope is calculated, so that the specific position of rail break is obtained, and the method is implemented according to the following steps:
step 1, coding an excitation signal by adopting a Kasami sequence to generate a coded ultrasonic guided wave signal, and transmitting the coded ultrasonic guided wave signal by a transmitting node;
step 2, starting echo signals of the timing detection coded ultrasonic guided wave signals;
step 3, the receiving node collects echo signals and decodes the collected echo signals to obtain decoded ultrasonic guided wave echo signals;
step 4, performing envelope extraction on the decoded ultrasonic guided wave echo signals by using Hilbert transform;
step 5, judging the envelope characteristics to obtain broken rail information, namely calculating a broken rail position if a coded ultrasonic guided wave signal is received within set time, and taking the broken rail position as broken rail information; otherwise, the broken rail is considered to occur in the blind area, and the broken rail is taken as broken rail information in the blind area;
step 6, the rail breakage information in the step 5 is sent to a cloud server through a communication module (3);
and 7, distributing the broken rail detection information to each terminal (4) through the Internet by the cloud server for processing, and finishing the broken rail positioning detection.
7. A method as claimed in claim 6, characterized in that piezoelectric transducers a (6) and b (8) are each provided with two resonance frequencies f1And f2And both satisfy f1＞f2Wherein the resonant frequency f1Resonant frequency f for rail damage or breakage detection2Then for rail vibration energy recovery.
8. The method according to claim 6, wherein the excitation signal is a square wave signal with a frequency of 35kHz and a cycle number of 4;
the number of bits of the Kasami sequence is 63 bits, and based on the BPSK modulation technology, the expression of the coded excitation signal e [ k ] is as follows:
in formula (10), c [ m ]]Representing the oversampled signal of the 63-bit Kasami sequence used,
p[n]representing the number of cycles as NcA square wave signal of 4, n-k-i, where k denotes the length of the coded excitation signal and i denotes the signal length after oversampling the used 63-bit Kasami sequence; n is a radical ofsThe sampling point number of the square wave signal in one period is represented; l represents the length of the Kasami sequence used.
9. The method as claimed in claim 8, wherein the step 3 of decoding the acquired echo signal to obtain the decoded ultrasonic guided wave echo signal is to perform Binary Phase Shift Keying (BPSK) modulation and demodulation on the acquired echo signal, and calculate the BPSK-demodulated signal yd[k]，
In formula (11), y [ l ]]Representing the acquired echo signal, i ═ i + k; p [ n ]]Representing the number of cycles as Nc4, n-i;
calculating the decoded ultrasonic guided wave echo signal t [ k ],
in formula (12), c [ m ] represents the used Kasami sequence at position 63, and m ═ i.
10. The method according to claim 6, wherein the calculating of the rail break position is specifically,
assume that the distance between a transmitting node and a receiving node is L1When a rail is broken in a certain detection interval, the NBIOT wireless communication module a (7) with a positioning function and the NBIOT wireless communication module b (9) with a positioning function in the transmitting node and the receiving node at two ends of the broken rail respectively send coded ultrasonic guided wave signals for positioning the broken rail, and meanwhile, assuming that the position x away from the receiving node is a broken rail position, x is calculated as follows:
in the formulas (13) and (14), x is the distance between the receiving node and the rail break position, and t1The time difference from the emission to the reception of the ultrasonic guided wave echo signal for the NBIOT wireless communication module a (7) with the positioning function; t is t2Time difference from emission to reception of ultrasonic guided wave echo signals for an NBIOT wireless communication module b (9) with a positioning function; v. oftThe propagation velocity of the ultrasonic guided wave in the steel rail;
if t is1<t2Calculating the rail breaking position by adopting a formula (13); if t is1>t2Then, the broken rail position is calculated by equation (14).
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| CN112485332A (en) * | 2020-11-16 | 2021-03-12 | 中国铁建重工集团股份有限公司 | Nondestructive testing system and nondestructive testing method based on pseudorandom coding |
| CN113358745A (en) * | 2021-05-21 | 2021-09-07 | 常州工学院 | Long-distance steel rail intelligent monitoring and defect positioning system and method |
| CN114802344A (en) * | 2022-04-30 | 2022-07-29 | 西安市轨道交通集团有限公司 | Ultrasonic wave and carrier broken rail monitoring system |
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