CN115684180A - Detection method for determining separation of subway bed pipe piece from seam - Google Patents
Detection method for determining separation of subway bed pipe piece from seam Download PDFInfo
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- CN115684180A CN115684180A CN202211414136.8A CN202211414136A CN115684180A CN 115684180 A CN115684180 A CN 115684180A CN 202211414136 A CN202211414136 A CN 202211414136A CN 115684180 A CN115684180 A CN 115684180A
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- 238000000926 separation method Methods 0.000 title claims description 17
- 239000011800 void material Substances 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000011156 evaluation Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 14
- 238000003708 edge detection Methods 0.000 claims description 3
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- 238000012423 maintenance Methods 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Abstract
The invention discloses a detection method for determining the gap of a subway bed pipe piece, which is based on a detection device, wherein the detection device comprises the following components: the top of the driving trolley is provided with a support; the mechanical arm is arranged above the support; the three-dimensional digital scanner is arranged at the free end of the mechanical arm and is provided with a lens sensor, and the three-dimensional digital scanner is driven by the mechanical arm to amplify, identify and detect the gap of the track bed; the processing terminal is in signal connection with the three-dimensional digital scanner; the detection method comprises the following steps: s1, a three-dimensional digital scanner carries out primary identification on a gap, a local enlarged image of the gap obtained by scanning is transmitted to a processing terminal, and S2, the processing terminal calculates the gap width d of a track bed; and S3, judging the void state of the lower part of the track bed through a functional relation between the gap and the void volume of the track bed, and performing void evaluation. The invention can carry out real-time and dynamic detection on the bottom gap of the track bed pipe piece and prevent the development of track bed cracks.
Description
Technical Field
The invention relates to the technical field of urban rail transit road bed disease treatment, in particular to a detection method for determining air separation of a subway bed pipe piece from a seam.
Background
With the continuous development of urban rail transit, the problem of overall damage of a track bed in a subway shield interval is increasingly prominent along with the gradual increase of subway traffic and the change of external environment, such as track bed crack separation, void, sinking, cracking, fracture and the like, and great hidden danger is buried for the healthy operation of urban rail transit. Among the above-mentioned track bed structure defects, the track bed open joint is the most common one widely distributed. Due to the uneven distribution of the elastic modulus and the poisson ratio of the materials on the two sides of the interface of the track bed, the side wall and the duct piece, the gap mixed loading is caused, and in order to maintain the continuity of displacement between the materials, the tensile stress and the shearing stress must be generated along the interface. The interlayer interface can generate larger tensile and shear stress under the action of temperature and external force, thereby generating a gap. After subway track bed segment separation is produced, under the dual function of long-term reciprocating vibration of train and soil and water load, arouse easily that side wall, section of jurisdiction vibrate the fracture, cause the reduction of corresponding structure bearing capacity, durability and waterproof nature, influence driving safety when serious, cause very big potential safety hazard for subway operation.
At present, no method for dynamically monitoring the bed gap in real time exists, and the main monitoring method comprises destructive detection and nondestructive detection;
the nondestructive testing comprises an experience judgment method, an estimation method, a geological radar side type and static level gauge testing. The method has the advantages of low speed, complicated procedures and incapability of realizing rapid and efficient track bed separation identification; the experience judgment method and the estimation method are greatly influenced by subjective judgment, and accurate judgment cannot be realized.
The damage monitoring mainly comprises a drilling camera shooting method, the damage to the track bed, side walls and duct pieces is to a certain degree, the structural safety is unfavorable, the measuring speed is low, and the quick and accurate judgment on the track bed gap cannot be realized. In view of the above, there is a need to improve the method for detecting track bed empty in the prior art to solve the above problems.
Disclosure of Invention
The invention aims to disclose a detection method for determining the gap of a subway bed pipe piece, which aims to solve the technical problems, realize the real-time and dynamic detection of the gap between the track bed and the bottom of the pipe piece, has high detection efficiency and low cost and effectively prevents the development of track bed cracks.
In order to achieve the above object, the present invention provides a detection method for determining a gap of a subway bed pipe piece, wherein the detection method is based on a detection device, and the detection device comprises:
the top of the driving trolley is provided with a support;
a robotic arm disposed above the support;
the three-dimensional digital scanner is arranged at the free end of the mechanical arm and is provided with a lens sensor, and the three-dimensional digital scanner is driven by the mechanical arm to amplify, identify and detect the gap of the track bed;
the processing terminal is in signal connection with the three-dimensional digital scanner;
the detection method comprises the following steps:
s1, the three-dimensional digital scanner carries out primary identification on the gap and transmits a local enlarged image of the gap obtained by scanning to a processing terminal,
s2, the processing terminal calculates the gap width d of the track bed;
s3, judging the void state of the lower ballast bed through a functional relation between the gap and the void volume of the ballast bed, and performing void evaluation;
the distance d from the seam L The relationship to the lower track bed void volume S is:
S max ＝[0.49+0.12ln(d L +0.02)]S 0
wherein S is max Is the maximum cross-sectional area of the void region, S min Is the minimum cross-sectional area of the void region, S 0 The cross-sectional area is designed for the scanning zone track bed.
As a further improvement of the present invention, step S2 includes the following substeps:
s21, defogging the off-seam picture through a DANet defogging algorithm;
s22, filtering and denoising the defogged seam separating picture;
s23, seam separation edge detection and width identification: after the crack separating picture is processed, the crack width is judged by taking the crack separating edge as a boundary point and enhancing the crack edge characteristic through identifying the gray value.
As a further improvement of the invention, a vertical telescopic assembly is arranged at the bottom of the mechanical arm and used for adjusting the height of the mechanical arm.
As a further improvement of the present invention, the robot arm includes:
the main cantilever is arranged above the vertical telescopic assembly and is hinged with the vertical telescopic assembly;
the secondary cantilever is hinged with the main cantilever;
and the main cantilever and the secondary cantilever swing towards the direction of the track bed gap and the scanning angle of the three-dimensional digital scanner is adjusted.
Compared with the prior art, the invention has the beneficial effects that: a pipeline separation judgment and void detection method for a subway bed is characterized in that a combination of a drive unit, a mechanical arm, a three-dimensional digital scanner, a lens sensor and a processing terminal is adopted to realize real-time dynamic detection of separation seams between a track bed and a pipeline, the separation seams are scanned and identified in an all-around and multi-angle manner on the premise of not damaging the safety of structures such as the track bed and the pipeline, and the precision and the identification efficiency are high; by a gap distance d L And the relation with the lower ballast bed void volume S, the void state of the lower ballast bed is judged, void assessment is carried out, the enlargement of the ballast bed separation joint can be prevented, and the maintenance cost of structures such as ballast beds, duct pieces and the like in the operation period is reduced in a timely judging and timely remedying mode.
Drawings
FIG. 1 is a schematic structural diagram of a detection device in the detection method for determining the gap of the subway bed pipe piece, and a driving trolley is omitted in the diagram;
FIG. 2 is a schematic view of the working state of a detection device in the detection method for determining the gap of the subway bed pipe piece according to the present invention;
FIG. 3 is a diagram of a detection method for determining the gap of a subway bed pipe piece.
In the figure: 11. a support; 12. a mechanical arm; 13. a three-dimensional digital scanner; 14. a lens sensor; 15. a processing terminal; 16. a vertical telescopic assembly; 121. a main boom; 122. a secondary cantilever; a. a duct piece; b. a ballast bed; c. and (5) separating the seam.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
Please refer to fig. 1 to 3, which illustrate a specific embodiment of a method for detecting a gap of a subway bed tube piece.
A detection method for determining separation of a segment a of a subway bed b is based on a detection device, and comprises the following steps: the top of the driving trolley is provided with a support 11; a robot arm 12 arranged above the support 11; the three-dimensional digital scanner 13 is arranged at the free end of the mechanical arm 12, the three-dimensional digital scanner 13 is provided with a lens sensor 14, and the three-dimensional digital scanner 13 is driven by the mechanical arm 12 to carry out amplification, identification and detection on the gap of the track bed b; the processing terminal 15 is in signal connection with the three-dimensional digital scanner 13, and the processing terminal 15 is a computer;
the detection method comprises the following steps: s1, the three-dimensional digital scanner 13 performs primary identification on a gap, a local enlarged view of a gap position c obtained through scanning is transmitted to a processing terminal 15, and S2, the processing terminal 15 calculates the gap width d of the track bed b; s3, judging the void state of the lower track bed b through a functional relation between the gap and the void volume of the track bed b, and performing void evaluation; the distance d from the seam L The relationship with the void volume S of the lower track bed b is:
S max ＝[0.49+0.12ln(d L +0.02)]S 0
wherein S is max Is the maximum cross-sectional area of the void region, S min Is the minimum cross-sectional area, S, of the void region 0 The cross-sectional area is designed for the scan area track bed b.
The step S2 comprises the following substeps: s21, defogging the off-slit picture by using a DANet defogging algorithm; s22, filtering and denoising the defogged seam separating picture; s23, seam separation edge detection and width identification: and after the crack separation picture processing, determining the crack width by taking the crack separation edge as a boundary point and identifying gray value enhanced crack edge characteristics.
The bottom of the mechanical arm 12 is provided with a vertical telescopic assembly 16, and the vertical telescopic assembly 16 is a pneumatic telescopic column and is used for adjusting the height of the mechanical arm 12.
The robot arm 12 includes: a main cantilever 121 arranged above the vertical telescopic assembly 16 and hinged with the vertical telescopic assembly 16; a secondary suspension arm 122 hinged to the primary suspension arm 121; the main suspension arm 121 and the sub-suspension arm 122 both swing towards the direction of track bed b separation and adjust the scanning angle of the three-dimensional digital scanner 13.
The three-dimensional digital scanner 13 realizes the space detection of the bottom gap of the segment a of the track bed b under the cooperative cooperation of the pneumatic telescopic column and the mechanical arm 12 structure, the pneumatic telescopic column enables the three-dimensional digital scanner 13 to realize the displacement transformation of a vertical plane, and the mechanical arm 12 structure enables the three-dimensional digital scanner 13 to realize the rotation transformation in a horizontal plane, so that the space full detection of the segment a of the track bed b is finally realized.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A detection method for determining the gap of a subway bed pipe sheet is characterized in that the detection method is based on a detection device, and the detection device comprises:
the top of the driving trolley is provided with a support;
a robotic arm disposed above the support;
the three-dimensional digital scanner is arranged at the free end of the mechanical arm and is provided with a lens sensor, and the three-dimensional digital scanner is driven by the mechanical arm to amplify, identify and detect the gap of the track bed;
the processing terminal is in signal connection with the three-dimensional digital scanner;
the detection method comprises the following steps:
s1, the three-dimensional digital scanner carries out primary identification on the gap and transmits a local enlarged image of the gap obtained by scanning to a processing terminal,
s2, the processing terminal calculates the gap width d of the track bed;
s3, judging the void state of the lower ballast bed through a functional relation between the gap and the void volume of the ballast bed, and performing void evaluation;
the gap distance d L The relationship to the lower track bed void volume S is:
S max ＝[0.49+0.12ln(d L +0.02)]S 0
wherein S is max Is the maximum cross-sectional area of the void region, S min Is the minimum cross-sectional area, S, of the void region 0 The cross-sectional area is designed for the scanning zone track bed.
2. The method for detecting the gap of the subway bed pipe slice according to claim 1, wherein the step S2 comprises the following substeps:
s21, defogging the off-slit picture by using a DANet defogging algorithm;
s22, filtering and denoising the defogged seam separating picture;
s23, seam separation edge detection and width identification: after the crack separating picture is processed, the crack width is judged by taking the crack separating edge as a boundary point and enhancing the crack edge characteristic through identifying the gray value.
3. The method for detecting the pipe piece gap judgment and the void of the subway bed as claimed in claim 1, wherein a vertical telescopic assembly is arranged at the bottom of the mechanical arm and used for adjusting the height of the mechanical arm.
4. The method for detecting a gap in a subway bed pipe according to claim 1, wherein said robot arm comprises:
the main cantilever is arranged above the vertical telescopic assembly and is hinged with the vertical telescopic assembly;
the secondary cantilever is hinged with the main cantilever;
and the main cantilever and the secondary cantilever swing towards the direction of the track bed gap and the scanning angle of the three-dimensional digital scanner is adjusted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211414136.8A CN115684180B (en) | 2022-11-11 | 2022-11-11 | Subway ballast tube piece gap judgment void detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211414136.8A CN115684180B (en) | 2022-11-11 | 2022-11-11 | Subway ballast tube piece gap judgment void detection method |
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| CN115684180A true CN115684180A (en) | 2023-02-03 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226288A (en) * | 2017-12-05 | 2018-06-29 | 中国建筑股份有限公司 | A kind of subway tunnel railway roadbed comes to nothing quantity monitoring method |
| CN113255177A (en) * | 2021-04-20 | 2021-08-13 | 东南大学 | Multi-scale virtual unit method-based roadbed void form identification method |
| CN113417700A (en) * | 2021-06-30 | 2021-09-21 | 中铁城市发展投资集团有限公司 | Dynamic monitoring system and method for stripping amount change of shield tunnel ballast bed-segment structure |
| CN215492328U (en) * | 2021-06-30 | 2022-01-11 | 中铁城市发展投资集团有限公司 | Subway tunnel ballast bed peeling test device |
| US20220112806A1 (en) * | 2020-10-13 | 2022-04-14 | Institute Of Rock And Soil Mechanics, Chinese Academy Of Sciences | Safety early warning method and device for full-section tunneling of tunnel featuring dynamic water and weak surrounding rock |
| CN115292841A (en) * | 2022-08-05 | 2022-11-04 | 东南大学 | Method for identifying state of shield tunnel ballast bed coming to empty |
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- 2022-11-11 CN CN202211414136.8A patent/CN115684180B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226288A (en) * | 2017-12-05 | 2018-06-29 | 中国建筑股份有限公司 | A kind of subway tunnel railway roadbed comes to nothing quantity monitoring method |
| US20220112806A1 (en) * | 2020-10-13 | 2022-04-14 | Institute Of Rock And Soil Mechanics, Chinese Academy Of Sciences | Safety early warning method and device for full-section tunneling of tunnel featuring dynamic water and weak surrounding rock |
| CN113255177A (en) * | 2021-04-20 | 2021-08-13 | 东南大学 | Multi-scale virtual unit method-based roadbed void form identification method |
| CN113417700A (en) * | 2021-06-30 | 2021-09-21 | 中铁城市发展投资集团有限公司 | Dynamic monitoring system and method for stripping amount change of shield tunnel ballast bed-segment structure |
| CN215492328U (en) * | 2021-06-30 | 2022-01-11 | 中铁城市发展投资集团有限公司 | Subway tunnel ballast bed peeling test device |
| CN115292841A (en) * | 2022-08-05 | 2022-11-04 | 东南大学 | Method for identifying state of shield tunnel ballast bed coming to empty |
Non-Patent Citations (2)
| Title |
|---|
| 张春毅;田秀淑;张旭;赵维刚;: "CRTSⅡ型无砟轨道CA砂浆层脱空的瞬态机械阻抗法检测试验研究", 国防交通工程与技术, no. 06, 20 November 2015 (2015-11-20) * |
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