CN115684180A - A method for determining the separation and void detection of subway track bed segments - Google Patents

Abstract

The invention discloses a detection method for determining the separation and void of a subway track bed segment. The detection method is based on a detection device. The detection device includes: a driving trolley with a support arranged on the top; The scanner is arranged at the free end of the mechanical arm. The three-dimensional digital scanner is equipped with a lens sensor. Driven by the mechanical arm, the three-dimensional digital scanner can zoom in, identify and detect the departure seam of the ballast bed; the processing terminal is connected with the signal of the three-dimensional digital scanner The detection method includes the following steps: S1, the three-dimensional digital scanner initially identifies the separation gap, and transmits the partially enlarged image of the separation gap obtained by scanning to the processing terminal, S2, the processing terminal calculates the separation width d of the ballast bed ; S3, through the functional relationship between the separation gap and the ballast bed void volume, judge the void state of the lower ballast bed, and perform void evaluation. The invention can carry out real-time and dynamic detection on the separation seam at the bottom of the ballast bed segment, so as to prevent the development of cracks in the ballast bed.

Description

A method for determining the separation and void detection of subway track bed segments

technical field

The invention relates to the technical field of urban rail transit track bed disease control, and more particularly relates to a method for detecting gaps in a track bed segment.

Background technique

With the continuous development of urban rail transit, the overall damage problem of the track bed in the subway shield section has become increasingly prominent with the gradual increase of the subway traffic volume and the change of the external environment, such as track bed separation, void, subsidence, cracking, fracture, etc. , It has laid a great hidden danger to the healthy operation of urban rail transit. Among the above-mentioned ballast bed structural diseases, the ballast bed separation joint is the most common and widely distributed one. Due to the non-uniform distribution of the elastic modulus and Poisson's ratio of the materials on both sides of the interface between the ballast bed, the side wall, and the segment, the mixed loading is caused by the gap. In order to maintain the continuity of the displacement between the materials, tensile stress and shear stress must be generated along the interface. . Under the action of temperature and external force, the interlayer interface will generate large tensile and shear stress, thereby generating separation. After the separation of the segment of the subway track bed, under the double action of the long-term reciprocating vibration of the train and the water and soil load, it is easy to cause the side wall and the segment to vibrate and crack, resulting in a decrease in the bearing capacity, durability and water resistance of the corresponding structure, and seriously affecting the driving Safety has caused great potential safety hazards to subway operations.

At present, there is no method for real-time dynamic monitoring of ballast bed separation. The main monitoring methods include destructive testing and non-destructive testing;

Non-destructive testing includes empirical judgment method, estimation method, geological radar side type and static level test. The above methods are slow and complicated, and cannot realize fast and efficient ballast bed separation identification; the empirical judgment method and estimation method are greatly affected by subjective judgments, and cannot achieve accurate judgments.

Damage monitoring mainly includes borehole camera method, which has a certain degree of damage to the ballast bed, side walls, and segments, which is unfavorable for structural safety, and the measurement speed is slow, so it is impossible to quickly and accurately judge the separation of the ballast bed. In view of this, it is necessary to improve the ballast bed void detection method in the prior art to solve the above problems.

Contents of the invention

The purpose of the present invention is to disclose a method for determining the separation and voiding of a subway track bed segment. In order to solve the above technical problems, real-time and dynamic detection of the separation between the ballast bed and the bottom of the segment is realized, and the detection efficiency is high and the cost is low. , Effectively prevent the development of cracks in the ballast bed.

In order to achieve the above object, the present invention provides a method for detecting the separation of the segment of the subway track bed from the seam, the detection method is based on a detection device, and the detection device includes:

Drive the trolley, with a support on the top;

a mechanical arm arranged above the support;

A three-dimensional digital scanner, arranged at the free end of the mechanical arm, the three-dimensional digital scanner is equipped with a lens sensor, and the three-dimensional digital scanner is driven by the mechanical arm to zoom in, recognize and detect the departure seam of the ballast bed;

A processing terminal connected to the three-dimensional digital scanner signal;

The detection method comprises the following steps:

S1, the three-dimensional digital scanner initially identifies the separation seam, and transmits the partially enlarged image of the separation seam obtained by scanning to the processing terminal,

S2, the processing terminal calculates the separation width d of the ballast bed;

S3, judge the void state of the lower ballast bed through the functional relationship between the separation gap and the void volume of the ballast bed, and perform void evaluation;

The relationship between the gap distance d _L and the void volume S of the lower ballast bed is:

S _max =[0.49+0.12ln(d _L +0.02)]S ₀

Among them, S _max is the maximum cross-sectional area of the void area, S _min is the minimum cross-sectional area of the void area, and S ₀ is the design cross-sectional area of the ballast bed in the scanning area.

As a further improvement of the present invention, step S2 includes the following sub-steps:

S21, using the DANet dehazing algorithm to dehaze the off-slit image;

S22, performing filtering and denoising on the separated seam picture after the defogging is completed;

S23. Edge detection and width recognition of the crack: after the crack image is processed, the edge of the crack is used as a boundary point, and the crack edge feature is enhanced by identifying the gray value to determine the crack width.

As a further improvement of the present invention, a vertical telescopic assembly is arranged at the bottom of the mechanical arm for adjusting the height of the mechanical arm.

As a further improvement of the present invention, the mechanical arm includes:

The main cantilever is arranged above the vertical telescopic assembly and is hinged with the vertical telescopic assembly;

a secondary cantilever hinged to the main cantilever;

Both the main cantilever and the secondary cantilever swing towards the direction of the gap of the ballast bed and adjust the scanning angle of the three-dimensional digital scanner.

Compared with the prior art, the beneficial effect of the present invention is: a subway track bed segment separation and void detection method, through the combination of the drive, the mechanical arm, the three-dimensional digital scanner, the lens sensor and the processing terminal, to realize the track bed Real-time dynamic detection of the separation seam between the pipe and the pipeline, without compromising the structural safety of the ballast bed and segments, scans and recognizes the separation seam from all directions and from multiple angles, with high precision and high identification efficiency; through the separation distance d _L and The relationship between the void volume S of the lower ballast bed, judging the void state of the lower ballast bed, and evaluating the void can prevent the enlargement of the ballast bed gap, and reduce the structure of the ballast bed and segments during the operation period through timely judgment and timely remedial measures. maintenance costs.

Description of drawings

Fig. 1 is a schematic structural view of a detection device in a method for determining the separation of a subway track bed segment from a gap and a void detection method according to the present invention, and the driving trolley is omitted in the figure;

Fig. 2 is a schematic diagram of the working state of the detection device in a method for determining the separation of a subway track bed segment from the seam and the void detection method of the present invention;

Fig. 3 is a method for detecting the separation of a segment of a subway track bed according to the present invention.

In the figure: 11, support; 12, mechanical arm; 13, three-dimensional digital scanner; 14, lens sensor; 15, processing terminal; 16, vertical telescopic component; 121, main cantilever; 122, secondary cantilever; piece; b, ballast bed; c, part from the seam.

Detailed ways

The present invention will be described in detail below in conjunction with the implementations shown in the drawings, but it should be noted that these implementations are not limitations of the present invention, and those of ordinary skill in the art based on the functions, methods, or structural changes made by these implementations Equivalent transformations or substitutions all fall within the protection scope of the present invention.

Please refer to FIG. 1 to FIG. 3 for a specific implementation of a method for determining the separation and void detection of a subway track bed segment according to the present invention.

A detection method for determining the separation of segment a of subway track bed b, the detection method is based on a detection device, and the detection device includes: a driving trolley, a support 11 is arranged on the top; a mechanical arm 12 is arranged on the Above the bearing 11; a three-dimensional digital scanner 13 is arranged at the free end of the mechanical arm 12, and the three-dimensional digital scanner 13 is equipped with a lens sensor 14, and the three-dimensional digital scanner 13 is driven by the mechanical arm 12 Next, zoom in, identify and detect the departure seam of the ballast bed b; the processing terminal 15 is signal-connected with the three-dimensional digital scanner 13, and the processing terminal 15 is a computer;

The detection method includes the following steps: S1, the three-dimensional digital scanner 13 conducts a preliminary identification of the departure seam, and transmits the partially enlarged image of the departure seam c obtained by scanning to the processing terminal 15, S2, the processing terminal 15 Calculating the separation width d of the ballast bed b; S3, judging the void state of the lower ballast bed b through the functional relationship between the separation distance and the void volume of the ballast bed b, and performing void evaluation; the separation distance d _L The relationship with the void volume S of the lower ballast bed b is:

S _max =[0.49+0.12ln(d _L +0.02)]S ₀

Among them, S _max is the maximum cross-sectional area of the void area, S _min is the minimum cross-sectional area of the void area, and S ₀ is the design cross-sectional area of the ballast bed b in the scanning area.

Step S2 includes the following sub-steps: S21, using the DANet dehazing algorithm to defog the image of the separation seam; S22, performing filtering and denoising on the separation seam image after the defogging is completed; S23, detecting the edge of the separation seam and identifying the width: After the above-mentioned image processing of the fracture, the edge of the fracture is taken as the boundary point, and the crack edge characteristics are enhanced by identifying the gray value to judge the fracture width.

A vertical telescopic assembly 16 is arranged at the bottom of the mechanical arm 12 , and the vertical telescopic assembly 16 is a pneumatic telescopic column for adjusting the height of the mechanical arm 12 .

The mechanical arm 12 includes: a main boom 121 arranged above the vertical telescopic assembly 16 and hinged with the vertical telescopic assembly 16; a secondary boom 122 hinged with the main boom 121; Both the main cantilever 121 and the secondary cantilever 122 swing toward the direction of the separation of the ballast bed b and adjust the scanning angle of the three-dimensional digital scanner 13 .

The three-dimensional digital scanner 13 realizes the space detection of the gap at the bottom of the ballast bed b segment a under the cooperative structure of the pneumatic telescopic column and the mechanical arm 12. The pneumatic telescopic column enables the three-dimensional digital scanner 13 to realize the displacement transformation of the vertical plane, and the mechanical arm The structure of 12 enables the three-dimensional digital scanner 13 to realize the rotation transformation in the horizontal plane, and finally realize the spatial full detection of the separation gap of the segment a of the ballast bed b.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be 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.

Images