CN113276907A - Track detection method and system based on inertial navigation system and combination of multiple sensors - Google Patents
Track detection method and system based on inertial navigation system and combination of multiple sensors Download PDFInfo
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- CN113276907A CN113276907A CN202110748939.6A CN202110748939A CN113276907A CN 113276907 A CN113276907 A CN 113276907A CN 202110748939 A CN202110748939 A CN 202110748939A CN 113276907 A CN113276907 A CN 113276907A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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Abstract
The invention discloses a track detection method based on an inertial navigation system and a combination of various sensors, which comprises the following steps: the inertial navigation trolley is provided with a plurality of sensors for detecting track data information, wherein the sensors comprise a distance measurement sensor, an angle measurement sensor, an inertial sensor, a mileage sensor, a coordinate acquisition sensor and an image sensor, the irregularity quality index of each section of track is calculated according to the data information detected by the plurality of sensors on the inertial navigation trolley, when the irregularity quality index of a certain section of track is greater than a quality index threshold value, information is transmitted to overhaul the section of track, when the irregularity quality index of a certain section of track is less than or equal to the quality index threshold value, the irregularity quality index is compared with the irregularity quality index of the section of track calculated at the last time, whether the irregularity quality index of the section of track needs to be compared is judged according to the difference, and whether the track board needs to be overhauled is analyzed and judged.
Description
Technical Field
The invention relates to the technical field of track detection, in particular to a track detection method and system based on an inertial navigation system and a combination of various sensors.
Background
The high-speed railway track disease detection and diagnosis technology is one of the most concerned key technologies of domestic and foreign scientific research institutions, high-tech enterprises and railway management institutions, and along with the rapid development of sensor technology, high-precision laser measurement technology, computer technology and image processing and analysis technology, the high-speed railway track disease detection technology makes great progress in recent years. In the aspects of measuring geometric parameters and detecting irregularity of a high-speed railway track, research work mainly centers on two aspects of high-precision detection of static geometric parameters of the track and quick and efficient detection of dynamic parameters of the track, and at present, two means of adopting a static rail inspection trolley and a high-speed dynamic inspection train are mainly adopted. However, in any technical means, in the prior art, after the track irregularity is detected, the track is overhauled, which is not favorable for the safe running of the train on the track.
Disclosure of Invention
The present invention is directed to a method and a system for detecting a track based on an inertial navigation system and a combination of multiple sensors, so as to solve the problems mentioned in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: a track detection method based on an inertial navigation system and a combination of multiple sensors comprises the following steps:
the inertial navigation trolley is provided with a plurality of sensors for detecting track data information, including a distance measuring sensor, an angle measuring sensor, an inertial sensor, a mileage sensor, a coordinate acquisition sensor and an image sensor,
calculating the irregularity quality index of each section of track according to data information detected by various sensors on the inertial navigation trolley, if the irregularity quality index Q1 of a certain section of track is greater than a quality index threshold value, transmitting information to overhaul the section of track,
if the irregularity quality index Q1 of a certain section of track is less than or equal to the quality index threshold value, calculating Q1-Q0, wherein Q0 is the latest calculated irregularity quality index of the section of track, when Q1-Q0 is greater than the preset difference threshold value, if the irregularity parameter of the time of the section of track is greater than the irregularity parameter of the latest section of track,
and analyzing the information of each track plate in the section of track, and judging whether the track plate needs to be overhauled.
Further, the analyzing the information of each track slab in the section of track includes:
the image sensor collects the image information of each track plate in the section of track, the number of the track plates in the section of track is set as M, M is a natural number, the image of each track plate is subjected to edge detection to obtain the crack information on the track plate, the crack information comprises front crack information and side crack information, the crack reference value is calculated according to the crack information,
sorting the crack reference values of the track slabs in a descending order, and selecting N track slabs before sorting as suspected track slabs, wherein N is a natural number and is smaller than M;
and comparing the suspected track slab with information in an overhaul database for further judgment and analysis, wherein the overhaul database is used for storing the repaired track slab information.
Further, the calculating the fracture reference value according to the fracture information includes:
obtaining the length L1 of the front crack along the direction perpendicular to the track and the width K1 of the front crack along the direction parallel to the track, so that the reference value P1= a × L1/L0+ b × K1/K0 of the front crack, a + b =1, and a and b are between 0 and 1;
obtaining the height H1 of the side crack along the direction perpendicular to the track and the width K2 along the direction parallel to the track, then the reference value P2= c H1/H0+ d K2/K0 of the side crack, c + d =1, c and d are between 0 and 1, wherein L0 is the length of the track plate, K0 is the width of the track plate, H0 is the height of the track plate,
a reference value Pz = u P1+ v P2 for the crack of a certain track plate, wherein u + v =1, u is smaller than v, and u and v are between 0 and 1.
Further, the comparing the suspected track slab with the information in the overhaul database for further judgment and analysis includes:
if the historical repair information of the in-doubt track slab exists in the overhaul database, obtaining a repair reference value X = Vc/Vz of the in-doubt track slab, wherein Vc is the volume of the repair material used by the in-doubt track slab, and Vz is the volume of the track slab;
comparing the repairing reference value with a preset reference value, if the repairing reference value is greater than the preset reference value, obtaining the time interval between the repairing time of the suspected track slab and the current time,
when the time interval is larger than the interval threshold, the crack image of the suspected track slab and the crack image before repair are compared in similarity,
when the time interval is less than or equal to the interval threshold, acquiring the average value of the highest temperature of the latest period of time every day, and if the average value is more than or equal to the preset average value, comparing the similarity of the crack image of the suspected track slab with the crack image before repair;
and when the similarity of the crack image of the suspected track slab and the crack image before repair is compared, if the similarity is greater than or equal to a similarity threshold, the suspected track slab is the track slab to be repaired.
Further, the comparing the suspected track slab with the information in the overhaul database for further judgment and analysis further comprises:
if the similarity between the crack image of the suspected track slab and the crack image before repair is less than the similarity threshold,
and respectively extracting the end point positions of all cracks from the current crack image and the crack image before repair of the suspected track slab, wherein if the distance between the end point position of a certain crack in the current crack image and the end point position of a certain crack in the crack image before repair on the track slab is smaller than the end point distance reference value, the suspected track slab is the track slab to be overhauled.
Further, the comparing the suspected track slab with the information in the overhaul database for further judgment and analysis includes:
if the maintenance database does not have the historical repair information of the in-doubt track slabs, the distances between each in-doubt track slab and other in-doubt track slabs are respectively collected,
then the span reference value of a certain suspected track slab
Wherein, in the step (A),
for the distance between the in-doubt track slab and the ith other in-doubt track slab,
sorting the span reference values of all in-doubt track plates in a descending order, selecting the first in-doubt track plate as a central track plate, drawing a circular area by taking the central track plate as the center and taking the preset value radius as the radius, and selecting the in-doubt track plates in the circular area as track plates to be overhauled.
An orbit detection system based on an inertial navigation system and a combination of multiple sensors, the orbit detection system comprising:
the system comprises an inertial navigation trolley, a track data acquisition unit and a track data acquisition unit, wherein the inertial navigation trolley is provided with a plurality of sensors for detecting track data information, and the sensors comprise a distance measurement sensor, an angle measurement sensor, an inertial sensor, a mileage sensor, a coordinate acquisition sensor and an image sensor;
the irregularity mass index calculation module is used for calculating the irregularity mass index of each section of track according to data information detected by various sensors on the inertial navigation trolley;
the irregularity quality index comparison module is used for comparing the irregularity quality index of each section of track with a quality index threshold, transmitting information to overhaul the section of track when the irregularity quality index is greater than the quality index threshold, and transmitting information to enable the preset difference value calculation comparison module to work when the irregularity quality index is less than or equal to the quality index threshold;
the preset difference value calculation and comparison module is used for calculating the difference between the irregularity quality index of the section of track and the irregularity quality index of the section of track calculated at the last time, and when the difference is greater than a preset difference value threshold value, the high and low irregularity parameter calculation and comparison module works;
the unevenness parameter calculation and comparison module is used for comparing the unevenness parameter of the section of track with the unevenness parameter of the section of track at the last time, and when the unevenness parameter of the section of track at the last time is larger than the unevenness parameter of the section of track at the last time, the track board maintenance analysis and judgment module works;
and the track plate maintenance analysis and judgment module is used for analyzing the information of each track plate in the section of track and judging whether the track plate needs to be maintained or not.
Further, the track slab maintenance analysis and judgment module comprises:
the image crack information acquisition module is used for acquiring the image information of each track board in the section of track, setting the number of the track boards in the section of track as M, setting M as a natural number, respectively carrying out edge detection on the image of each track board to acquire crack information on the track boards, wherein the crack information comprises front crack information and side crack information, and calculating a crack reference value according to the crack information;
the in-doubt track selecting module is used for sorting the crack reference values of the track slabs from large to small, selecting N track slabs before sorting as in-doubt track slabs, wherein N is a natural number and is less than M;
the database comparison and analysis module is used for comparing the suspected track slab with information in an overhaul database for further judgment and analysis, wherein the overhaul database is used for storing information of the repaired track slab;
when the maintenance database has the history repairing information of the track slab in question, the first processing and analyzing module is used for analyzing the track slab in question,
and when the historical repairing information of the in-doubt track slab does not exist in the overhaul database, the second processing and analyzing module is used for analyzing the in-doubt track slab.
Further, the first process analysis module comprises:
the repairing reference value calculating and comparing module is used for calculating a repairing reference value X = Vc/Vz of the in-doubt track slab, wherein Vc is the volume of a repairing material used by the in-doubt track slab, Vz is the volume of the track slab, the repairing reference value is compared with a preset reference value, and when the repairing reference value is larger than the preset reference value, the time interval comparing module works;
the time interval comparison module is used for acquiring the time interval between the repair time of the suspected track slab and the current time, enabling the similarity comparison module to work when the time interval is greater than an interval threshold value, and enabling the temperature acquisition comparison module to work when the time interval is less than or equal to the interval threshold value;
the temperature acquisition and comparison module is used for acquiring the average value of the highest temperature of the day in the last period of time and enabling the similarity comparison module to work when the average value is larger than or equal to a preset average value;
the similarity comparison module is used for comparing the similarity of the crack image of the suspected track slab with the crack image before repair, setting the suspected track slab as a track slab to be overhauled when the similarity corresponding to a certain suspected track slab is greater than or equal to a similarity threshold, and enabling the endpoint position acquisition and comparison module to work when the similarity corresponding to a certain suspected track slab is less than the similarity threshold;
and the end point position acquisition and comparison module is used for respectively extracting the end point positions of all cracks from the crack image of the time of the suspected track slab and the crack image before repair, and if the distance between the end point position of a certain crack in the crack image of the time of the suspected track slab and the end point position of a certain crack in the crack image before repair on the track slab is smaller than the end point distance reference value, the suspected track slab is the track slab to be repaired.
Further, the second process analysis module includes:
the in-doubt track slab distance acquisition module is used for acquiring the distance between each in-doubt track slab and other in-doubt track slabs;
a span reference value calculating and sorting module for calculating the span reference value of each in-doubt track plate according to the acquisition result of the in-doubt track plate distance acquisition module
Wherein, in the step (A),
the distance between a certain in-doubt track slab and the ith other in-doubt track slab is set, and the span reference values of all in-doubt track slabs are arranged in the order from small to largeSequencing;
and the circular area division and selection module is used for selecting the first in-doubt track slab in sequence as a central track slab, drawing a circular area by taking the central track slab as the center and taking the preset radius as the center, and selecting the in-doubt track slab in the circular area as the track slab to be overhauled.
Compared with the prior art, the invention has the following beneficial effects: the invention firstly detects the irregularity condition of the track through the inertial navigation trolley, judges whether to analyze the cracks on the track plate according to the irregularity condition of the track after the irregularity condition of the track meets the requirement, and prevents the cracks on the track plate from influencing expansion and influencing the irregularity of the track to cause unsafe running of the train on the track.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a track detection system based on an inertial navigation system and various sensor combinations according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a track detection method based on an inertial navigation system and a combination of multiple sensors comprises the following steps:
the system comprises an inertial navigation trolley, a plurality of sensors for detecting track data information, a plurality of sensors and a plurality of image sensors, wherein the sensors comprise a distance measurement sensor, an angle measurement sensor, an inertial sensor, a mileage sensor, a coordinate acquisition sensor and an image sensor;
calculating the irregularity quality index of each section of track according to data information detected by various sensors on the inertial navigation trolley, if the irregularity quality index Q1 of a certain section of track is greater than a quality index threshold value, transmitting information to overhaul the section of track,
the track irregularity quality index is a comprehensive index and an evaluation method for describing the overall quality state of a track in a section by adopting a mathematical statistics method, the track irregularity quality index is a statistical result of dynamic detection data of height, track direction, track distance, level and triangular pits, the value is closely related to the smoothness of the track state, the discrete degree of the track state in a section of area is indicated, and when the value of the irregularity quality index is larger, the smoothness degree of the track is worse, and the fluctuation is larger. The irregularity quality index is the sum of standard deviations of seven geometric irregularities such as left height, right height, left rail direction, right rail direction, rail distance, level, triangular pits and the like in a preset section, the inertial navigation trolley is provided with various sensors for detecting data of the rail, and the irregularity quality index of the rail is calculated according to the detected data;
if the irregularity quality index Q1 of a certain section of track is less than or equal to the quality index threshold, calculating Q1-Q0, wherein Q0 is the latest calculated irregularity quality index of the section of track, and when Q1-Q0 is greater than the preset difference threshold, if the roughness parameter of the section of track is greater than the roughness parameter of the section of track, analyzing the information of each track board in the section of track, and judging whether to overhaul the track board;
comparing the unsmooth quality index of the track with the unsmooth quality index calculated at the last time, judging the trend of the track, and if the Q1-Q0 is larger than a preset difference threshold value, indicating that the track has a trend of developing unsmooth; the height refers to the fluctuation variation of the top surface of the steel rail in the vertical direction along the longitudinal direction, and the parameter of the irregularity in the embodiment is the difference between the measured height and the theoretical height.
The analyzing the information of each track slab in the section of track comprises:
the image sensor collects the image information of each track plate in the section of track, the number of the track plates in the section of track is set as M, M is a natural number, the image of each track plate is subjected to edge detection to obtain the crack information on the track plate, the crack information comprises front crack information and side crack information, the crack reference value is calculated according to the crack information,
calculating the fracture reference value from the fracture information includes:
obtaining the length L1 of the front crack along the direction perpendicular to the track and the width K1 of the front crack along the direction parallel to the track, so that the reference value P1= a × L1/L0+ b × K1/K0 of the front crack, a + b =1, and a and b are between 0 and 1;
obtaining the height H1 of the side crack along the direction perpendicular to the track and the width K2 along the direction parallel to the track, then the reference value P2= c H1/H0+ d K2/K0 of the side crack, c + d =1, c and d are between 0 and 1, wherein L0 is the length of the track plate, K0 is the width of the track plate, H0 is the height of the track plate,
a crack reference value Pz = u × P1+ v × P2 for a certain track plate, wherein u + v =1, u is smaller than v, and u and v are between 0 and 1; in this embodiment, P1=0.5 × L1/L0+0.5 × K1/K0, P2=0.45 × H1/H0+0.54 × K2/K0, and Pz =0.32 × P1+0.68 × P2, the track plate is substantially rectangular parallelepiped in shape, the tracks are laid on the track plate, the plane between the two tracks is the front surface of the track plate, the plane on the left side or the right side of the track plate is the side surface of the track plate, and when the front crack reference value and the side crack reference value are calculated, the largest crack on the front surface of the track plate and the largest crack on the side surface of the track plate are selected to calculate the reference value; in the application, considering that the separation of the track slab and the mortar layer is more easily caused by the cracks in the side cracks in the direction parallel to the track and is one of the main reasons of the upward arching and the upward tilting of the track slab, when the crack reference value is calculated, the ratio weight of the width of the crack in the side cracks in the direction parallel to the track is higher than the ratio weight of the width of the crack in the side cracks in the direction perpendicular to the track, and the ratio weight of the reference value of the side cracks is higher than the ratio weight of the reference value of the front cracks;
sorting the crack reference values of the track slabs in a descending order, and selecting N track slabs before sorting as suspected track slabs, wherein N is a natural number and is smaller than M;
when cracks are generated on the front surface of the track slab, the cracks may extend to cause cracks to be generated on the side surface of the track slab, when cracks are generated on the side surface of the track, the track slab may be separated from the mortar layer, and the track slab may be arched upwards or four corners of the track slab may be tilted to affect the smoothness of the track.
And comparing the suspected track slab with information in an overhaul database for further judgment and analysis, wherein the overhaul database is used for storing repaired track slab information:
when historical repairing information of the in-doubt track slab exists in the overhaul database, obtaining a repairing reference value X = Vc/Vz of the in-doubt track slab, wherein Vc is the volume of a repairing material used by the in-doubt track slab, and Vz is the volume of the track slab;
comparing the repairing reference value with a preset reference value, if the repairing reference value is greater than the preset reference value, obtaining the time interval between the repairing time of the suspected track slab and the current time,
when the time interval is larger than the interval threshold, the crack image of the suspected track slab and the crack image before repair are compared in similarity,
when the time interval is less than or equal to the interval threshold, acquiring the average value of the highest temperature of the latest period of time every day, and if the average value is more than or equal to the preset average value, comparing the similarity of the crack image of the suspected track slab with the crack image before repair;
wherein, when the crack image of the track slab in question and the crack image before repairing are compared in similarity,
if the similarity is more than or equal to the similarity threshold, the suspected track slab is a track slab to be overhauled;
if the similarity between the crack image of the suspected track slab and the crack image before repair is less than the similarity threshold,
respectively extracting the end point positions of all cracks from the crack image of the suspect track slab and the crack image before repair, wherein if the distance between the end point position of a certain crack in the crack image of the suspect track slab and the end point position of a certain crack in the crack image before repair on the track slab is smaller than an end point distance reference value, the suspect track slab is a track slab to be repaired; when the track slab is repaired by using the repairing material, although a certain repairing effect can be achieved, the repaired viscosity is smaller than that of the track slab, so that repaired cracks are likely to crack again after the repairing time is long or the temperature difference change is large, and therefore, whether the cracks on the track slab are likely to extend from the cracks repaired before is doubted; the extracting of the end point position of each crack in the present application refers to extracting a start point position or an end point position of the crack from the crack image, and the distance compared with the end point distance reference value may be a distance between a start point of the crack of the current crack image of the suspected track slab and a start point of the crack image before repair, a distance between a start point of the crack of the current crack image of the suspected track slab and an end point of the crack image before repair, a distance between an end point of the crack of the current crack image of the suspected track slab and an end point of the crack image before repair, or a distance between an end point of the crack of the current crack image of the suspected track slab and a start point of the crack image before repair.
When the maintenance database does not have the historical repair information of the in-doubt track slabs, the distances between each in-doubt track slab and other in-doubt track slabs are respectively collected,
then the span reference value of a certain suspected track slab
Wherein, in the step (A),
for the distance between the in-doubt track slab and the ith other in-doubt track slab,
sorting the span reference values of all in-doubt track plates in a descending order, selecting the first in-doubt track plate as a central track plate, drawing a circular area by taking the central track plate as the center and taking the preset value radius as the radius, and selecting the in-doubt track plates in the circular area as track plates to be overhauled. The environments and the stress of the adjacent track slabs are relatively similar, when more doubtful track slabs are arranged in a certain area, the probability of problems in the area is higher, and therefore analysis and maintenance are carried out on the area where the doubtful track slabs are more dense. And further acquisition and analysis can be carried out on the track slab to be overhauled by other modes such as an infrared device.
An orbit detection system based on an inertial navigation system and a combination of multiple sensors, the orbit detection system comprising:
the system comprises an inertial navigation trolley, a track data acquisition unit and a track data acquisition unit, wherein the inertial navigation trolley is provided with a plurality of sensors for detecting track data information, and the sensors comprise a distance measurement sensor, an angle measurement sensor, an inertial sensor, a mileage sensor, a coordinate acquisition sensor and an image sensor;
the irregularity mass index calculation module is used for calculating the irregularity mass index of each section of track according to data information detected by various sensors on the inertial navigation trolley;
the irregularity quality index comparison module is used for comparing the irregularity quality index of each section of track with a quality index threshold, transmitting information to overhaul the section of track when the irregularity quality index is greater than the quality index threshold, and transmitting information to enable the preset difference value calculation comparison module to work when the irregularity quality index is less than or equal to the quality index threshold;
the preset difference value calculation and comparison module is used for calculating the difference between the irregularity quality index of the section of track and the irregularity quality index of the section of track calculated at the last time, and when the difference is greater than a preset difference value threshold value, the high and low irregularity parameter calculation and comparison module works;
the unevenness parameter calculation and comparison module is used for comparing the unevenness parameter of the section of track with the unevenness parameter of the section of track at the last time, and when the unevenness parameter of the section of track at the last time is larger than the unevenness parameter of the section of track at the last time, the track board maintenance analysis and judgment module works;
and the track plate maintenance analysis and judgment module is used for analyzing the information of each track plate in the section of track and judging whether the track plate needs to be maintained or not.
The track slab overhauling, analyzing and judging module comprises:
the image crack information acquisition module is used for acquiring the image information of each track board in the section of track, setting the number of the track boards in the section of track as M, setting M as a natural number, respectively carrying out edge detection on the image of each track board to acquire crack information on the track boards, wherein the crack information comprises front crack information and side crack information, and calculating a crack reference value according to the crack information;
the in-doubt track selecting module is used for sorting the crack reference values of the track slabs from large to small, selecting N track slabs before sorting as in-doubt track slabs, wherein N is a natural number, N is smaller than M, and N is larger than 1;
the database comparison and analysis module is used for comparing the suspected track slab with information in an overhaul database for further judgment and analysis, wherein the overhaul database is used for storing information of the repaired track slab;
when the maintenance database has the history repairing information of the track slab in question, the first processing and analyzing module is used for analyzing the track slab in question,
and when the historical repairing information of the in-doubt track slab does not exist in the overhaul database, the second processing and analyzing module is used for analyzing the in-doubt track slab.
The first process analysis module includes:
the repairing reference value calculating and comparing module is used for calculating a repairing reference value X = Vc/Vz of the in-doubt track slab, wherein Vc is the volume of a repairing material used by the in-doubt track slab, Vz is the volume of the track slab, the repairing reference value is compared with a preset reference value, and when the repairing reference value is larger than the preset reference value, the time interval comparing module works;
the time interval comparison module is used for acquiring the time interval between the repair time of the suspected track slab and the current time, enabling the similarity comparison module to work when the time interval is greater than an interval threshold value, and enabling the temperature acquisition comparison module to work when the time interval is less than or equal to the interval threshold value;
the temperature acquisition and comparison module is used for acquiring the average value of the highest temperature of the day in the last period of time and enabling the similarity comparison module to work when the average value is larger than or equal to a preset average value;
the similarity comparison module is used for comparing the similarity of the crack image of the suspected track slab with the crack image before repair, setting the suspected track slab as a track slab to be overhauled when the similarity corresponding to a certain suspected track slab is greater than or equal to a similarity threshold, and enabling the endpoint position acquisition and comparison module to work when the similarity corresponding to a certain suspected track slab is less than the similarity threshold;
and the end point position acquisition and comparison module is used for respectively extracting the end point positions of all cracks from the crack image of the time of the suspected track slab and the crack image before repair, and if the distance between the end point position of a certain crack in the crack image of the time of the suspected track slab and the end point position of a certain crack in the crack image before repair on the track slab is smaller than the end point distance reference value, the suspected track slab is the track slab to be repaired.
The second process analysis module includes:
the in-doubt track slab distance acquisition module is used for acquiring the distance between each in-doubt track slab and other in-doubt track slabs;
a span reference value calculating and sorting module for calculating the span reference value of each in-doubt track plate according to the acquisition result of the in-doubt track plate distance acquisition module
Wherein, in the step (A),
sorting the span reference values of each in-doubt track slab from small to large according to the distance between a certain in-doubt track slab and the ith other in-doubt track slab;
and the circular area division and selection module is used for selecting the first in-doubt track slab in sequence as a central track slab, drawing a circular area by taking the central track slab as the center and taking the preset radius as the center, and selecting the in-doubt track slab in the circular area as the track slab to be overhauled.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A track detection method based on an inertial navigation system and a combination of multiple sensors is characterized by comprising the following steps:
the inertial navigation trolley is provided with a plurality of sensors for detecting track data information, including a distance measuring sensor, an angle measuring sensor, an inertial sensor, a mileage sensor, a coordinate acquisition sensor and an image sensor,
calculating the irregularity quality index of each section of track according to data information detected by various sensors on the inertial navigation trolley, if the irregularity quality index Q1 of a certain section of track is greater than a quality index threshold value, transmitting information to overhaul the section of track,
if the irregularity quality index Q1 of a certain section of track is less than or equal to the quality index threshold value, calculating Q1-Q0, wherein Q0 is the latest calculated irregularity quality index of the section of track, when Q1-Q0 is greater than the preset difference threshold value, if the irregularity parameter of the time of the section of track is greater than the irregularity parameter of the latest section of track,
and analyzing the information of each track plate in the section of track, and judging whether the track plate needs to be overhauled.
2. The method of claim 1, wherein the method comprises: the analyzing the information of each track slab in the section of track comprises:
the image sensor collects the image information of each track plate in the section of track, the number of the track plates in the section of track is set as M, M is a natural number, the image of each track plate is subjected to edge detection to obtain the crack information on the track plate, the crack information comprises front crack information and side crack information, the crack reference value is calculated according to the crack information,
sorting the crack reference values of the track slabs in a descending order, and selecting N track slabs before sorting as suspected track slabs, wherein N is a natural number and is smaller than M;
and comparing the suspected track slab with information in an overhaul database for further judgment and analysis, wherein the overhaul database is used for storing the repaired track slab information.
3. The method of claim 2, wherein the method comprises: the calculating the fracture reference value according to the fracture information includes:
obtaining the length L1 of the front crack along the direction perpendicular to the track and the width K1 of the front crack along the direction parallel to the track, so that the reference value P1= a × L1/L0+ b × K1/K0 of the front crack, a + b =1, and a and b are between 0 and 1;
obtaining the height H1 of the side crack along the direction perpendicular to the track and the width K2 along the direction parallel to the track, then the reference value P2= c H1/H0+ d K2/K0 of the side crack, c + d =1, c and d are between 0 and 1, wherein L0 is the length of the track plate, K0 is the width of the track plate, H0 is the height of the track plate,
a reference value Pz = u P1+ v P2 for the crack of a certain track plate, wherein u + v =1, u is smaller than v, and u and v are between 0 and 1.
4. The method of claim 2, wherein the method comprises: the step of comparing the suspected track slab with the information in the overhaul database for further judgment and analysis comprises the following steps:
if the historical repair information of the in-doubt track slab exists in the overhaul database, obtaining a repair reference value X = Vc/Vz of the in-doubt track slab, wherein Vc is the volume of the repair material used by the in-doubt track slab, and Vz is the volume of the track slab;
comparing the repairing reference value with a preset reference value, if the repairing reference value is greater than the preset reference value, obtaining the time interval between the repairing time of the suspected track slab and the current time,
when the time interval is larger than the interval threshold, the crack image of the suspected track slab and the crack image before repair are compared in similarity,
when the time interval is less than or equal to the interval threshold, acquiring the average value of the highest temperature of the latest period of time every day, and if the average value is more than or equal to the preset average value, comparing the similarity of the crack image of the suspected track slab with the crack image before repair;
and when the similarity of the crack image of the suspected track slab and the crack image before repair is compared, if the similarity is greater than or equal to a similarity threshold, the suspected track slab is the track slab to be repaired.
5. The method of claim 2, wherein the method comprises: the step of comparing the suspected track slab with the information in the overhaul database for further judgment and analysis further comprises the following steps:
if the similarity between the crack image of the suspected track slab and the crack image before repair is less than the similarity threshold,
and respectively extracting the end point positions of all cracks from the current crack image and the crack image before repair of the suspected track slab, wherein if the distance between the end point position of a certain crack in the current crack image and the end point position of a certain crack in the crack image before repair on the track slab is smaller than the end point distance reference value, the suspected track slab is the track slab to be overhauled.
6. The method of claim 2, wherein the method comprises: the step of comparing the suspected track slab with the information in the overhaul database for further judgment and analysis comprises the following steps:
if the maintenance database does not have the historical repair information of the in-doubt track slabs, the distances between each in-doubt track slab and other in-doubt track slabs are respectively collected,
then the span reference value of a certain suspected track slab
Wherein, in the step (A),
for the distance between the in-doubt track slab and the ith other in-doubt track slab,
sorting the span reference values of all in-doubt track plates in a descending order, selecting the first in-doubt track plate as a central track plate, drawing a circular area by taking the central track plate as the center and taking the preset value radius as the radius, and selecting the in-doubt track plates in the circular area as track plates to be overhauled.
7. The utility model provides a track detecting system based on inertial navigation system and multiple sensor combination which characterized in that: the track detection system comprises:
the system comprises an inertial navigation trolley, a track data acquisition unit and a track data acquisition unit, wherein the inertial navigation trolley is provided with a plurality of sensors for detecting track data information, and the sensors comprise a distance measurement sensor, an angle measurement sensor, an inertial sensor, a mileage sensor, a coordinate acquisition sensor and an image sensor;
the irregularity mass index calculation module is used for calculating the irregularity mass index of each section of track according to data information detected by various sensors on the inertial navigation trolley;
the irregularity quality index comparison module is used for comparing the irregularity quality index of each section of track with a quality index threshold, transmitting information to overhaul the section of track when the irregularity quality index is greater than the quality index threshold, and transmitting information to enable the preset difference value calculation comparison module to work when the irregularity quality index is less than or equal to the quality index threshold;
the preset difference value calculation and comparison module is used for calculating the difference between the irregularity quality index of the section of track and the irregularity quality index of the section of track calculated at the last time, and when the difference is greater than a preset difference value threshold value, the high and low irregularity parameter calculation and comparison module works;
the unevenness parameter calculation and comparison module is used for comparing the unevenness parameter of the section of track with the unevenness parameter of the section of track at the last time, and when the unevenness parameter of the section of track at the last time is larger than the unevenness parameter of the section of track at the last time, the track board maintenance analysis and judgment module works;
and the track plate maintenance analysis and judgment module is used for analyzing the information of each track plate in the section of track and judging whether the track plate needs to be maintained or not.
8. The system according to claim 7, wherein the system comprises: the track slab overhauling, analyzing and judging module comprises:
the image crack information acquisition module is used for acquiring the image information of each track board in the section of track, setting the number of the track boards in the section of track as M, setting M as a natural number, respectively carrying out edge detection on the image of each track board to acquire crack information on the track boards, wherein the crack information comprises front crack information and side crack information, and calculating a crack reference value according to the crack information;
the in-doubt track selecting module is used for sorting the crack reference values of the track slabs from large to small, selecting N track slabs before sorting as in-doubt track slabs, wherein N is a natural number and is less than M;
the database comparison and analysis module is used for comparing the suspected track slab with information in an overhaul database for further judgment and analysis, wherein the overhaul database is used for storing information of the repaired track slab;
when the maintenance database has the history repairing information of the track slab in question, the first processing and analyzing module is used for analyzing the track slab in question,
and when the historical repairing information of the in-doubt track slab does not exist in the overhaul database, the second processing and analyzing module is used for analyzing the in-doubt track slab.
9. The system according to claim 8, wherein the system comprises: the first process analysis module includes:
the repairing reference value calculating and comparing module is used for calculating a repairing reference value X = Vc/Vz of the in-doubt track slab, wherein Vc is the volume of a repairing material used by the in-doubt track slab, Vz is the volume of the track slab, the repairing reference value is compared with a preset reference value, and when the repairing reference value is larger than the preset reference value, the time interval comparing module works;
the time interval comparison module is used for acquiring the time interval between the repair time of the suspected track slab and the current time, enabling the similarity comparison module to work when the time interval is greater than an interval threshold value, and enabling the temperature acquisition comparison module to work when the time interval is less than or equal to the interval threshold value;
the temperature acquisition and comparison module is used for acquiring the average value of the highest temperature of the day in the last period of time and enabling the similarity comparison module to work when the average value is larger than or equal to a preset average value;
the similarity comparison module is used for comparing the similarity of the crack image of the suspected track slab with the crack image before repair, setting the suspected track slab as a track slab to be overhauled when the similarity corresponding to a certain suspected track slab is greater than or equal to a similarity threshold, and enabling the endpoint position acquisition and comparison module to work when the similarity corresponding to a certain suspected track slab is less than the similarity threshold;
and the end point position acquisition and comparison module is used for respectively extracting the end point positions of all cracks from the crack image of the time of the suspected track slab and the crack image before repair, and if the distance between the end point position of a certain crack in the crack image of the time of the suspected track slab and the end point position of a certain crack in the crack image before repair on the track slab is smaller than the end point distance reference value, the suspected track slab is the track slab to be repaired.
10. The system according to claim 8, wherein the system comprises: the second process analysis module includes:
the in-doubt track slab distance acquisition module is used for acquiring the distance between each in-doubt track slab and other in-doubt track slabs;
a span reference value calculating and sorting module for calculating the span reference value of each in-doubt track plate according to the acquisition result of the in-doubt track plate distance acquisition module
Wherein, in the step (A),
sorting the span reference values of each in-doubt track slab from small to large according to the distance between a certain in-doubt track slab and the ith other in-doubt track slab;
and the circular area division and selection module is used for selecting the first in-doubt track slab in sequence as a central track slab, drawing a circular area by taking the central track slab as the center and taking the preset radius as the center, and selecting the in-doubt track slab in the circular area as the track slab to be overhauled.
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