CN-121677520-B - Track state holographic detection system based on magnetic force sensing and application method thereof

CN121677520BCN 121677520 BCN121677520 BCN 121677520BCN-121677520-B

Abstract

The invention particularly relates to a track state holographic detection system based on magnetic force sensing and a use method thereof, the track state holographic detection system comprises a magnetic force sensing detection module and a magnetic marking module, wherein the magnetic force sensing detection module comprises a sensing array adjusting mechanism, the tail end of the sensing array adjusting mechanism is symmetrically provided with sensor mounting seats along two sides of a steel rail and moves in multiple directions, a closed loop linear Hall sensing array is arranged on the sensor mounting seats and distributed along the section outline of the steel rail, the sensing array adjusting mechanism adjusts the spatial position and the gesture of the sensor array by moving in multiple directions, and the magnetic marking module comprises a magnetic marking unit, the magnetic marking unit comprises permanent magnets arranged at the rail bottom and the sleeper end of the track, and the magnetic marking unit and the magnetic force sensing detection module generate signal detection reaction. The multi-dimensional holographic detection system has the advantages that the multi-dimensional holographic detection capability of the track state monitoring system is improved, and the magnetic interference problem in a complex environment is solved.

Inventors

LI SHAOLIANG
DING YU
FAN BAOMING
XU MINGFA
LI QUAN
WU NANNAN
LIAO PENG

Assignees

中铁上海工程局集团华海工程有限公司
中铁上海工程局集团(苏州)轨道交通科技研究院有限公司
中铁上海工程局集团有限公司

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (7)

1. The track state holographic detection system based on magnetic force sensing is characterized by comprising a magnetic force sensing detection module and a magnetic marking module; the magnetic force sensing detection module includes: the sensor array adjusting mechanism is symmetrically provided with sensor mounting seats at the tail end along the two sides of the steel rail and moves in multiple directions, A closed-loop linear Hall sensor array which is arranged on a sensor mounting seat and distributed along the section outline of a steel rail, a multichannel sensor comprising a rail head area, a rail web area and a rail bottom area, The sensor array adjusting mechanism adjusts the spatial position and the gesture of the sensor array by making multidirectional movement; the magnetic marking module includes: the magnetic marking unit is used as a positioning reference of magnetic force sensing and is in signal detection reaction with the magnetic force sensing detection module, and the marking interval of the magnetic marking unit is matched with the sleeper interval; The sensor array adjustment mechanism includes: the transverse moving assembly comprises a transverse moving bracket, wherein the transverse moving bracket is spanned on the track through two supporting legs, a transverse ball screw which is transversely arranged is further arranged on the transverse moving bracket, and the transverse ball screw is driven by a servo motor which is arranged at one end; the vertical compensation mechanism comprises a vertical moving bracket which is in threaded fit with the transverse ball screw and transversely moves along with the transverse ball screw, a vertical ball screw is also arranged on the vertical moving bracket and driven by a vertical motor arranged at one end, The sensor mounting plate is in threaded fit with the vertical ball screw; The gesture adjusting joints are of a cross universal joint structure and are arranged at two transverse ends of the sensor mounting plate, and the other ends of the gesture adjusting joints are connected with the sensor mounting seat; The vertical torque motor is arranged on the sensor mounting plate along the horizontal and longitudinal directions, and a rotating shaft of the vertical torque motor penetrates through the gesture adjusting joint to drive the gesture adjusting joint to swing in the vertical direction; The horizontal torque motor is arranged on the gesture adjusting joint along the vertical direction, and a rotating shaft of the horizontal torque motor penetrates through the sensor mounting seat to drive the sensor mounting seat to swing in the horizontal direction; the attitude adjusting joint is matched with a horizontal torque motor and a vertical torque motor to realize real-time adjustment of the pitch angle and the yaw angle of the sensing array; The sensor array adjustment mechanism still is equipped with the horizontal compensation subassembly of high accuracy, sets up between sensor mounting panel and vertical removal support, includes: The device comprises a guide rail base in threaded fit with a vertical ball screw on a vertical moving support, a guide rail horizontally and transversely arranged on the guide rail base, a sliding block in sliding fit with the guide rail, a sensor mounting plate fixedly connected with one side of the sliding block, a telescopic end of a telescopic cylinder arranged on the guide rail base, and a sliding block fixedly connected with the sliding block, wherein the telescopic end of the telescopic cylinder drives the sliding block to reciprocate on the sliding rail to drive the sensor mounting plate to reciprocate in the horizontal direction, so that a symmetrical axis of a sensing array on the sensor mounting plate is completely overlapped with a symmetrical axis of a single-strand rail; The sensor is characterized by further comprising a disc spring group arranged between the sensor mounting plate and the vertical motor, wherein the disc spring group is sleeved on the vertical ball screw and is formed by overlapping a plurality of standard conical annular disc springs, so that the sensor array can elastically float in a certain range and can generate limit guide for vertical displacement of the sensor mounting plate.
2. The magnetic sensing based track state holographic detection system of claim 1, wherein the closed loop linear hall sensor array comprises twenty-four channel sensors, wherein a rail head region is arranged with ten channels, a rail web region is arranged with eight channels, and a rail foot region is arranged with four channels.
3. The track state holographic detection system based on magnetic force sensing of claim 1, wherein the sensor mount is further provided with: the inertial sensor feeds back data to realize closed-loop control and detects the parallelism between the reference surface of the sensing array and the center line of the rail row; And the grating ruler is provided with a detection head facing the track panel, and the displacement of the sensor array adjusting mechanism is monitored in real time.
4. The holographic track state detection system based on magnetic force sensing as claimed in claim 1, wherein the magnetic mark module further comprises a magnetic mark fixing device, the magnetic mark fixing device is composed of a steel rail mark clamping seat and a sleeper mark embedded part, the steel rail mark clamping seat is made of austenitic stainless steel materials and is attached to the bottom of a steel rail through a dovetail groove structure, the sleeper mark embedded part is of a T-shaped structure, one side of the T-shaped structure is embedded in a sleeper, the other end of the T-shaped structure is exposed outside, and a permalloy magnetic shielding sleeve is integrated.
5. The track state holographic detection system based on magnetic force sensing of claim 1, wherein, The system also comprises a system hardware module, wherein the system hardware module comprises multi-source data acquisition hardware, motion control hardware and environment monitoring hardware; The multi-source data acquisition hardware adopts an FPGA+ARM architecture to realize synchronous acquisition and preprocessing of sensor array signals; The motion control hardware adopts a PLC main controller and is matched with a servo driver to realize the accurate control of the adjusting mechanism, and the environment monitoring hardware integrates a temperature sensor, a humidity sensor and a dust concentration sensor; The protection module comprises a permalloy magnetic shielding layer, a micro positive pressure maintaining device and a temperature control device, and is used for inhibiting the interference of an external magnetic field, preventing dust invasion and maintaining the working temperature of the system; The damping device comprises a damping device, a damping device and a robot connecting mechanism, wherein the damping device comprises a quick-change interface component and a damping unit, the quick-change interface component adopts a mortise-tenon type positioning structure and is matched with a pneumatic locking device, the damping unit comprises two groups of metal rubber dampers, and vibration damping is achieved in XYZ three axes.
6. A method for using a magnetic force sensing-based track state holographic detection system, which adopts the magnetic force sensing-based track state holographic detection system as claimed in any one of claims 1 to 5, and is characterized in that the method comprises the following steps: Acquiring magnetic field distribution data acquired by multichannel closed-loop linear Hall sensors distributed along the section profile of a steel rail; Preprocessing the magnetic field distribution data, including eliminating pulse interference by adopting wavelet threshold filtering, compensating ambient magnetic field drift by adopting self-adaptive Kalman filtering, compensating temperature drift of a correction sensor, and removing low-frequency drift by wavelet transformation; Inputting the preprocessed magnetic field distribution data into an improved U-Net network, wherein the improved U-Net network adopts MobileNetV-style inverted residual block reconstruction basic feature extraction units, and parameters are reduced through 1X 1 convolution dimension-increasing, depth separable convolution feature extraction and 1X 1 convolution dimension-reducing processes; the ECA attention module and the gating attention mechanism are fused between the encoder and the decoder, wherein the ECA attention module generates an adaptive weight map to carry out fine screening on the characteristics through the dependency relationship between adaptive average pooling and lightweight 1D convolution dynamic learning channels; processing the magnetic field image through the improved U-Net network, and predicting the key size parameter of the steel rail; and fusing the predicted key size parameters and geometric parameters of the steel rail to generate a track panel digital holographic model, so as to realize holographic detection of the track state.
7. The method of claim 6, wherein the parameter increment of the ECA attention module in the improved U-Net network is controlled within 1%, and the dual attention mechanisms cooperate to enhance the feature capturing capability of the model to the target boundary and the small-size defect; The improved U-Net network adopts bilinear interpolation as an up-sampling means, so that the checkerboard artifact problem generated by transposition convolution is avoided, and the smoothness and the spatial consistency of an output segmentation map are ensured; The improved U-Net network adopts a lightweight architecture design, can be deployed in edge equipment or an embedded system, and processes track detection data in real time in an engineering scene with limited resources.

Description

Track state holographic detection system based on magnetic force sensing and application method thereof Technical Field The invention relates to the technical field of track engineering based on magnetic force detection, in particular to a track state holographic detection system based on magnetic force sensing and a use method thereof. Background In the field of rail transit operation and maintenance, geometric parameter accuracy of a rail structure is directly related to driving safety and driving comfort. At present, the track state detection technology mainly comprises modes of optical detection, manual inspection, automatic detection equipment and the like. However, these conventional methods have a number of limitations. The precision of optical detection equipment such as a laser measurement system is remarkably attenuated in complex environments such as tunnel dust, water mist and the like, the detection success rate is generally less than 60%, and the all-weather operation requirement is difficult to meet. The manual inspection mode has low efficiency, the detection speed is only 50 meters/hour, the detection speed is greatly influenced by human factors, the data reliability is poor, and the holographic detection of all the parameters of the track cannot be realized. The existing automatic detection equipment adopts a single sensor scheme, has detection dead zones, has poor rail adaptability, generally needs to be independently configured with special equipment aiming at steel rails with different specifications, and increases maintenance cost. In addition, under extreme environmental conditions, such as high temperature (more than or equal to 60 ℃), low temperature (less than or equal to-20 ℃) or high vibration environment, the stability of the existing equipment is greatly reduced, and the existing equipment is more obvious in particular in a magnetic field interference environment and lacks an effective magnetic shielding and compensation mechanism. Part of automatic detection equipment still depends on the driving of an internal combustion engine, so that the modern green construction concept is not met, and the noise pollution problem exists. Although geomagnetic sensing technology has been applied to the field of rail attitude measurement, the prior art can only realize simple detection of basic angle parameters, multi-dimensional holographic detection capability has not been formed yet, and the problem of magnetic interference in a complex environment has not been solved effectively. These problems severely restrict the accuracy, efficiency and application range of the track detection, and are difficult to meet the urgent requirements of high-accuracy, high-efficiency and all-weather detection of modern track traffic, and development of a novel track state detection system is needed to overcome the technical bottlenecks. Disclosure of Invention The invention aims to overcome the defects of the prior art, provide a track state holographic detection system based on magnetic force sensing and a use method thereof, and aims to improve the multi-dimensional holographic detection capability of the track state detection system, solve the magnetic interference problem in a complex environment, overcome the technical defects that the detection precision is easily interfered by the complex environment such as dust and water mist, the detection efficiency of a manual and single sensor is low, the blind area exists, the track-type adaptation capability is insufficient, the special configuration is needed, the stability is poor in extreme temperature and magnetic field environment, the environmental protection and noise problem caused by depending on internal combustion driving are solved, and the like, thereby realizing the high reliability, the high efficiency, the full parameter and all-weather detection of the track geometric parameter, and meeting the requirement of green operation. The magnetic force sensing holographic detection system comprises a magnetic force sensing detection module and a magnetic marking module, wherein the magnetic force sensing detection module comprises a sensing array adjusting mechanism, the tail end of the sensing array adjusting mechanism is symmetrically provided with sensor mounting seats along two sides of a steel rail and moves in multiple directions, a closed loop linear Hall sensing array is arranged on the sensor mounting seats and distributed along the section outline of the steel rail, the sensing array adjusting mechanism is used for adjusting the spatial position and the gesture of the sensor array by moving in multiple directions, the magnetic marking module comprises a magnetic marking unit, the magnetic marking unit comprises permanent magnets arranged at the rail bottom of a rail and at the end part of a sleeper, the magnetic marking unit is used as a positioning reference of magnetic force sensing, the magnetic marking unit generates signal detection re