Tamping operation control method

文档序号：1291214 发布日期：2020-08-07 浏览：22次中文

阅读说明：本技术 一种捣固作业控制方法 (Tamping operation control method ) 是由谭海波张雷胡震凡邱新华钟大力陈荣王金华韦佳斌朱为亮于 2020-06-02 设计创作，主要内容包括：本发明公开了一种捣固作业控制方法,包括以下步骤：S100)自动捣固控制主机通过轨枕识别单元获取轨枕识别信息,结合测量轮里程信号识别轨枕位置,并通过图像采集与异物识别单元获取待捣固区域内的异物识别信息；S200)当自动捣固控制主机根据轨枕位置及异物识别信息,判断捣固车的捣固头当前所处位置为道砟区域且无异物时,则输出捣固下插信号,控制捣固头执行捣固下插动作,实现捣固车的自动捣固作业和走行。本发明能解决现有捣固作业方式自动化程度低,操作人员劳动强度大的技术问题。(The invention discloses a tamping operation control method, which comprises the following steps: s100) the automatic tamping control host machine acquires sleeper identification information through a sleeper identification unit, identifies the position of a sleeper by combining measuring wheel mileage signals, and acquires foreign matter identification information in an area to be tamped through an image acquisition and foreign matter identification unit; s200) when the automatic tamping control host judges that the current position of the tamping head of the tamping car is a ballast area and has no foreign objects according to the position of the sleeper and the foreign object identification information, outputting a tamping downward insertion signal, controlling the tamping head to execute tamping downward insertion action, and realizing automatic tamping operation and walking of the tamping car. The tamping tool can solve the technical problems of low automation degree and high labor intensity of operators in the conventional tamping operation mode.)

1. A tamping operation control method is characterized by comprising the following steps:

s100) the automatic tamping control host (200) acquires sleeper identification information through a sleeper identification unit (300), identifies the position of a sleeper by combining mileage signals of a measuring wheel (600), and acquires foreign matter identification information in an area to be tamped through an image acquisition and foreign matter identification unit (400);

s200) when the automatic tamping control host (200) judges that the current position of the tamping head (701) of the tamping vehicle (100) is a ballast area and has no foreign objects according to the position of the sleeper and the foreign object identification information, outputting a tamping downward insertion signal, controlling the tamping head (701) to execute tamping downward insertion action, and realizing automatic tamping operation and traveling of the tamping vehicle (10).

2. The tamping operation control method according to claim 1, wherein: in the step S100), the automatic tamping control host (200) acquires sleeper identification information through a sleeper identification unit (300) installed at the bottom of the tamping vehicle (10); the sleeper identification unit (300) comprises a sensor array and a signal processing module (301) connected with the sensor array; the sensor array comprises at least 4 laser sensors (303) which are arranged in a row along the length direction of the sleeper (20), are positioned above the inner side of the steel rail (30) and are used for identifying the sleeper (20) and a railway ballast plane; the sensor array is mounted in front of a tamper head (701) of a tamper vehicle (10) at a location behind the measuring wheel (600).

3. The tamping operation control method according to claim 2, wherein: the sensor array further comprises at least 2 spike sensing switches (304) arranged in line with the laser sensors (303) for identifying the spikes (50) inside or outside the two rails (30).

4. The tamping operation control method according to claim 2 or 3, wherein said step S100) further comprises:

the signal processing module (301) analyzes and calculates after acquiring signals of the sleeper recognition unit (300) and the measuring wheel (600), recognizes the sleeper (20), marks mileage information of the sleeper (20), calculates a mileage point of next tamping, and sends the mileage of the sleeper (20) and the mileage point information of next tamping to the automatic tamping control host (200).

5. The tamping operation control method according to claim 4, wherein: in the step S100), the automatic tamping control host (200) acquires foreign matter identification information in an area to be tamped by an image acquisition and foreign matter identification unit (400) which is arranged at the bottom of the tamping vehicle (10), on a front cross beam of the tamping head (701) and at the rear position of the sensor array; the image acquisition and foreign matter identification unit (400) comprises a trigger circuit board (401), a camera (402), an image processing module (404) and a light source (405); if the sleeper (20) is identified, the trigger circuit board (401) sends a trigger pulse to the camera (402) and the light source (405), the light source (405) starts to supplement light, and the camera (402) starts to take a picture; the image processing module (404) performs processing including image enhancement and foreign object identification and positioning on the photographed two-dimensional image to obtain the position of the sleeper (20) and foreign object characteristic information, calculates mileage information of the sleeper (20) and the position of the foreign object by combining preset relative position relation information, and transmits the mileage information to the automatic tamping control host (200).

6. The tamping operation control method according to claim 5, wherein said step S100) further comprises:

if the tie (20) is not identified within a set time, the trigger circuit board (401) sends a trigger pulse to the camera (402) and the light source (405) according to a preset mileage interval.

7. The tamping operation control method according to claim 5 or 6, wherein said step S100) further comprises:

the sleeper identification unit (300) collects mileage pulse signals of the measuring wheel (600), records current mileage information while identifying sleepers (20), each sleeper (20) corresponds to one mileage point, and calculates the distance between the sleepers (20) and the mileage point of the next tamping according to the mileage of the sleepers (20); the image acquisition and foreign matter identification unit (400) acquires mileage information photographed by the camera (402) each time from the automatic tamping control host (200), and calculates the mileage information of each sleeper (20) and foreign matter after identifying the sleeper (20) and the foreign matter; the automatic tamping control host (200) calculates the current mileage of the tamping head (701) by acquiring the mileage information of the tamping vehicle (10) and the relative position between the tamping head (701) and the tamping vehicle (10).

8. The tamping operation control method according to claim 7, wherein said step S200) further comprises:

when the tamping vehicle (10) is a stepping tamping vehicle, when the current running position of the tamping vehicle (10) meets the condition that Y-A is equal to Xn, the tamping head (701) is operated to a downward inserting position, and the automatic tamping control host (200) judges that the tamping head (701) can execute tamping downward inserting action; wherein Y is a kilometer mark of the current running position of the tamping vehicle (10), A is a distance between a locking position of the tamping head (701) and the measuring wheel (600), and Xn is a kilometer mark of a central point between two adjacent sleepers (20);

when the tamping vehicle (10) is a continuous tamping vehicle, when the current running position of the tamping vehicle (10) meets the condition that Y-A + H is equal to Xn, the current running position represents that the tamping head (701) runs to a downward inserting position, and the automatic tamping control host (200) judges that the tamping head (701) can execute tamping downward inserting action; y is a kilometer mark of the current running position of the tamping vehicle (10), H is the displacement of the satellite trolley (13) relative to a locking position, A is the distance between the locking position of the tamping head (701) and the measuring wheel (600), and Xn is the kilometer mark of the central point between two adjacent sleepers (20).

9. The tamping operation control method according to claim 5, 6 or 8, wherein said step S200) further comprises:

checking the relative position of the tamping head (701), the distance between the sleepers (20), the tamping travelling distance, the counting value of the sleepers (20) and the measuring distance value of the laser sensor (303) in real time through a human-computer interaction interface of the automatic tamping control host (200); meanwhile, setting the spacing between the laser sensor (303) and the tamping head (701), the spacing limit value of the sleeper (20), the tamping head widening threshold value and the triggering interval parameter of the camera (402) through a human-computer interaction interface of the automatic tamping control host (200); when manual intervention is needed, switching from automatic tamping to manual tamping is realized through the touch of a human-computer interaction interface of the automatic tamping control host (200) or the operation of an additionally arranged tamping mode selector switch.

10. The tamping operation control method according to claim 9, wherein a tamping mode switch is provided on the automatic tamping control main machine (200), and a tamping mode switch touch key is provided on a human-computer interface of the automatic tamping control main machine (200); the method further comprises a step S300) comprising the following procedures:

s300) when one of the tamping mode switch and the tamping mode switching touch key is selected as a manual tamping mode, the automatic tamping control host (200) cuts off and does not interfere with operation control, and an operator executes manual tamping operation according to an original operation program; when the tamping mode switch and the tamping mode switching touch key are simultaneously selected to be in an automatic tamping mode, the automatic tamping control host (200) controls the tamping vehicle (10) to carry out tamping operation, and an operator can switch the automatic tamping mode to a manual tamping mode at any time; -allowing switching from manual tamping mode to automatic tamping mode only when said tamping head (701) enters the identification area of the sleepers (20) and said sleeper identification unit (300) identifies a certain number of sleepers (20);

the step S300) is executed without being sequenced with the steps S100) and S200).

11. The tamping operation control method according to claim 1, 2, 3, 5, 6, 8 or 10, wherein in said step S200), when the tamping mode of said tamping vehicle (10) is switched to the manual tamping mode, the control logic of said automatic tamping control host (200) outputting a tamping down-plug signal is:

Q0B & [ (automatic circulation mode on) & (left and right tamping means in the middle position) & (manual clamp signal active) + (automatic circulation mode off) & (manual tamping pedal signal active) & (hydraulic travel allowed) + (manual tamping pedal signal active) & (automatic circulation locked) ] & (tamping operation system on) & (not on only poke no tamper mode);

when the tamping mode of the tamping vehicle (10) is switched to the automatic tamping mode, the logic relation formula of the tamping downward insertion signal output by the automatic tamping control host (200) is as follows:

Q0B ═ (identify that the tamping head region is a ballast region and has no foreign object) & (non-running state) & (tamping operation system on) & (not started only dialing no tamping mode).

12. The tamping operation control method according to claim 11, wherein, in said step S200), when the tamping mode of said tamping vehicle (10) is switched to the manual tamping mode, the control logic of said automatic tamping control host (200) outputting the forward operation travel signal is:

q08 ═ automatic loop mode on & (manual tamping pedal signal active) & (automatic loop tamping end) & (tamping operation system on) + (running pedal signal active) ] & (forward running signal active) & (automatic loop lock signal inactive);

when the tamping mode of the tamping vehicle (10) is switched to the automatic tamping mode, the control logic of the automatic tamping control host (200) for outputting a forward operation walking signal is as follows:

q08 & (automatic tamping delay end) & (automatic operation running permission) & (left and right tamping devices are all in the upper position) & (tamping operation system on) & (forward running signal active) & (automatic circulation locking signal inactive).

13. The tamping operation control method according to claim 1, 2, 3, 5, 6, 8, 10 or 12, wherein said step S200) further comprises:

when the tamping vehicle (10) is a continuous tamping vehicle, the satellite trolley (13) of the tamping vehicle (100) stops before a tamping downward insertion signal is generated, the satellite trolley (13) stops after the stop signal of the satellite trolley (13) is generated, the distance traveled by the satellite trolley (13) is a braking distance, the braking distance of the next tamping downward insertion position of the tamping head (701) is calculated according to a set parameter value and actual braking distance values of the tamping downward insertion for a plurality of times, and the stop signal of the satellite trolley (13) is generated in advance according to the calculated next tamping downward insertion braking distance value before reaching the tamping downward insertion position.

14. The tamping operation control method according to claim 13, wherein said step S200) further comprises:

when the sleeper recognition unit (300) and the image acquisition and foreign matter recognition unit (400) detect that the deviation between the distance of the sleepers (20) and the standard value exceeds a set value or foreign matter exists in a railway ballast interval and is not suitable for tamping and downward inserting, the railway ballast interval is skipped over and downward inserting operation is not carried out, and an alarm signal is generated by the automatic tamping control host (200) to prompt an operator whether to select manual intervention operation or not.

15. The tamping operation control method according to claim 1, 2, 3, 5, 6, 8, 10, 12 or 14, wherein said step S200) further comprises:

when the sleeper identification unit (300) detects that the distance between the current sleepers (20) exceeds a set value, a tamping head widening signal is output by the automatic tamping control host (200).

Technical Field

The invention relates to the technical field of track engineering machinery, in particular to an intelligent tamping operation control method applied to large railway tamping vehicles, which mainly comprises various types of tamping vehicle types such as D08-32, DC L-32, D08-32C, D09-32, CD08-475, DW L-48 and the like.

Background

The tamping vehicle is a typical large road maintenance machine (called a large machine for short), and is suitable for new line construction of railway lines, and maintenance and cleaning operations of existing lines after large and medium maintenance and screening operations and operating lines. The tamping car is mainly used for automatically leveling, lifting and lining a track and tamping ballast of the track, improving the compactness of ballast of a ballast bed, increasing the stability of the track, eliminating the direction deviation, the left and right horizontal deviation and the front and back height deviation of the track, enabling a track line to meet the requirements of a line design standard and a line maintenance rule, and ensuring the safe operation of a train. The tamping vehicles can be divided into single-sleeper tamping vehicles, double-sleeper tamping vehicles and four-sleeper tamping vehicles according to the number of sleepers to be simultaneously tamped; the tamping vehicles can be divided into lines and turnout tamping vehicles according to operation objects; the operation walking mode can be divided into a stepping type walking tamping vehicle and a continuous type walking tamping vehicle; the operation function can be divided into a multifunctional tamping vehicle and a single-function tamping vehicle; in addition, the tamping vehicle has special functions of dust prevention, noise prevention and the like.

The common filling material for the ballast bed of the railway is stone ballast with the grain diameter of 20-70 mm, the section of the ballast bed is trapezoidal, the normal thickness is 30-50 cm, and the ballast tamping is a process of migrating the ballast in a specified direction and increasing the density of the ballast. When the tamping car is used for mechanical tamping, the track is usually lifted to a horizontal position determined by a measuring system and is transversely positioned, then the tamping picks which vibrate in a high-frequency vibration mode in pairs are simultaneously inserted into the ballast on two sides of the sleeper, relative clamping action is carried out at a specified depth position to tamp and compact the ballast, the ballast flows, is gathered and recombined, and the functions of stabilizing the position of the track after track shifting, improving the buffering capacity of a track bed, eliminating certain track diseases (such as empty hanging plates and the like) and the like are achieved.

The operation modes of the existing tamping vehicle comprise a manual operation mode and an automatic circulation operation mode (comprising an automatic circulation 1X mode, an automatic circulation 2X mode and the like), wherein the two operation modes require an operation position (one position) operator to manually observe and determine the tamping position, the tamping device is continuously operated to descend and operate a walking foot switch, an operator is required to be skilled in operating the equipment, meanwhile, the attention needs to be kept highly concentrated, and the labor intensity is high. At present, the automatic tamping control technology aiming at the tamping car has no relevant complete research and is only limited to the sleeper identification technology. Such as: the guangzhou gang group ltd applies for the application at 31/08/2017 and announces at 04/05/2018, and the publication number is CN207311477U, which is a chinese utility model patent discloses a detection system for sleeper identification and positioning and fastener defect detection. The system realizes sleeper positioning and fastener defect detection through the laser displacement sensor, comprises a laser ranging system, a coding mileage wheel, a controller and an upper computer, and can be installed on a track detection device. The technical scheme is that the measuring sensor only adopts a laser ranging sensor, the number and the relative position of the sensors are not determined, certain sleeper error positioning and missing positioning possibility is achieved, image recognition of track foreign bodies is not involved, and meanwhile the detection system can be applied to a tamping car. For another example: the study of railway track sleeper positioning technology, which is published by Liuguang Lu in 20.05.2012 in Nanchang university school newspaper by Liuguang, is that a set of sleeper positioning system is added on the basis of the existing track inspection tester to accurately position the measurement result of the track inspection tester to a sleeper. The method adopts the technical scheme that the eddy current type proximity switch is combined with software compensation, and the sleeper positioning accuracy is high. However, the paper also does not mention foreign body detection in the ballast area, nor does it describe how to apply the sleeper positioning technology to the tamping vehicle. The following steps are repeated: in 01 th 04 th month in 2014, a text of 'design and implementation of automatic operation control system of tamping vehicle' published in the university of southwest traffic journal 'by major' thesis, proposes an automatic operation scheme of tamping vehicle, which is used for replacing the manual input of track lifting amount and track shifting amount during the fine tamping operation of a line, only adds an input mode of a control signal, and does not make any change and improvement on the operation control and track measurement of the tamping vehicle, so that the automatic tamping operation of the tamping vehicle cannot be realized.

Therefore, in the prior art, the proximity switch and the metal induction sensor are independently used for detecting the position of the sleeper, or the laser ranging sensor is used for detecting the sleeper, but the arrangement number and the relative position relation of the sensors are not determined, so that the possibility of error positioning and missing positioning exists, and the safety, the reliability and the automatic operation process of tamping operation are influenced. Moreover, none of these prior art techniques relate to foreign object detection, and the control of automated tamping action and automated tamping control logic design.

Disclosure of Invention

In view of the above, the present invention is directed to a tamping operation control method, so as to solve the technical problems of low automation degree and high labor intensity of operators in the conventional tamping operation.

In order to achieve the above object, the present invention specifically provides a technical implementation scheme of a tamping operation control method, which includes the following steps:

s100) the automatic tamping control host machine acquires sleeper identification information through a sleeper identification unit, identifies the position of a sleeper by combining mileage signals of measuring wheels, and acquires foreign matter identification information in an area to be tamped through an image acquisition and foreign matter identification unit;

s200) when the automatic tamping control host judges that the current position of the tamping head of the tamping car is a ballast area and has no foreign objects according to the position of the sleeper and the foreign object identification information, outputting a tamping downward insertion signal, controlling the tamping head to execute tamping downward insertion action, and realizing automatic tamping operation and walking of the tamping car.

Further, in the step S100), the automatic tamping control host acquires the tie identification information through a tie identification unit installed at the bottom of the tamping vehicle. The sleeper identification unit comprises a sensor array and a signal processing module connected with the sensor array. The sensor array comprises at least 4 laser sensors which are arranged in a row along the length direction of the sleeper, are positioned above the inner side of the steel rail and are used for identifying the sleeper and the plane of the railway ballast. The sensor array is mounted in front of a tamping head of the tamping vehicle, behind the measuring wheel.

Further, the sensor array further comprises at least 2 spike sensing switches arranged in a line with the laser sensors for identifying the spikes inside or outside the two rails.

Further, the step S100) includes:

the signal processing module is used for analyzing and calculating after acquiring signals of the sleeper recognition unit and the measuring wheel, recognizing the sleeper, marking mileage information of the sleeper, calculating a mileage point of next tamping, and sending the mileage of the sleeper and the mileage point information of next tamping to the automatic tamping control host.

Further, in the step S100), the automatic tamping control host acquires the foreign matter identification information in the area to be tamped by an image acquisition and foreign matter identification unit which is installed at the bottom of the tamping vehicle, on a cross beam at the front part of the tamping head and at the rear part of the sensor array. The image acquisition and foreign matter identification unit comprises a trigger circuit board, a camera, an image processing module and a light source. If the sleeper is identified, the trigger circuit board sends trigger pulses to the camera and the light source, the light source starts to supplement light, and the camera starts to take pictures. The image processing module is used for processing the two-dimensional image acquired by photographing and including image enhancement and foreign matter identification and positioning to obtain the position of the sleeper and foreign matter characteristic information, calculating mileage information of the position of the sleeper and the foreign matter by combining preset relative position relation information and transmitting the mileage information to the automatic tamping control host.

Further, the step S100) includes:

and if the sleeper is not identified within the set time, the trigger circuit board sends a trigger pulse to the camera and the light source according to a preset mileage interval.

Further, the step S100) includes:

the sleeper recognition unit collects mileage pulse signals of the measuring wheels, records current mileage information while recognizing sleepers, each sleeper corresponds to one mileage point, and calculates the distance between the sleepers and the mileage point of the next tamping according to the mileage of the sleepers. The image acquisition and foreign matter identification unit acquires mileage information shot by the camera each time from the automatic tamping control host, and calculates the mileage information of each sleeper and foreign matter after identifying the sleeper and the foreign matter. The automatic tamping control host computer calculates the current mileage of the tamping head by acquiring the mileage information of the tamping vehicle and the relative position between the tamping head and the tamping vehicle.

Further, the step S200) includes:

when the current running position of the tamping vehicle meets Y-A (X-Xn), the tamping head is represented to run to the downward inserting position, and the automatic tamping control host machine judges that the tamping head can execute tamping downward inserting action. Y is the kilometer scale of the current running position of the tamping vehicle, A is the distance between the locking position of the tamping head and the measuring wheel, and Xn is the kilometer scale of the central point between two adjacent sleepers.

When the tamping vehicle is used for continuous tamping, when the current running position of the tamping vehicle meets Y-A + H ═ Xn, the current running position represents that the tamping head has run to the downward inserting position, and the automatic tamping control host judges that the tamping head can execute tamping downward inserting action. Y is the kilometer scale of the current running position of the tamping vehicle, H is the displacement of the satellite trolley relative to the locking position, A is the distance between the locking position of the tamping head and the measuring wheel, and Xn is the kilometer scale of the central point between two adjacent sleepers.

Further, the step S200) includes:

and checking the relative position of the tamping head, the distance between the sleepers, the tamping running distance, the counting value of the sleepers and the measuring distance value of the laser sensor in real time through a human-computer interaction interface of the automatic tamping control host machine. And simultaneously, setting the distance between the laser sensor and the tamping head, the spacing limit value of the sleeper, the widening threshold value of the tamping head and the triggering interval parameters of the camera through a human-computer interaction interface of the automatic tamping control host. When manual intervention is needed, switching from automatic tamping to manual tamping is realized through the touch of a human-computer interaction interface of the automatic tamping control host machine or the operation of an additionally arranged tamping mode selector switch.

Furthermore, the automatic tamping control host is provided with a tamping mode switching switch, and a human-computer interaction interface of the automatic tamping control host is provided with a tamping mode switching touch key. The method further comprises a step S300) comprising the following procedures:

s300) when one of the tamping mode switch and the tamping mode switching touch key is selected as the manual tamping mode, the automatic tamping control host machine cuts off and does not interfere with operation control, and an operator executes manual tamping operation according to an original operation program. When the tamping mode switch and the tamping mode switching touch key are simultaneously selected to be the automatic tamping mode, the automatic tamping control host controls the tamping vehicle to carry out tamping operation, and an operator can switch the automatic tamping mode to be the manual tamping mode at any time. Switching from the manual tamping mode to the automatic tamping mode is only allowed when the tamping head enters the identification area of the sleepers and the sleeper identification unit identifies a certain number of sleepers. The step S300) is executed without being sequenced with the steps S100) and S200).

Further, in the step S200), when the tamping mode of the tamping vehicle is switched to the manual tamping mode, the control logic of the automatic tamping control host for outputting the tamping downward-inserting signal is as follows:

Q0B & [ (automatic circulation mode on) & (left and right tamper is in the center position) & (manual clamp signal active) + (automatic circulation mode off) & (manual tamping pedal signal active) & (hydraulic travel allowed) + (manual tamping pedal signal active) & (automatic circulation locked) ] & (tamping operation system on) & (not on tamper-only mode).

When the tamping mode of the tamping car is switched to the automatic tamping mode, the logic relation formula of the tamping downward insertion signal output by the automatic tamping control host is as follows:

Q0B ═ (identify that the tamping head region is a ballast region and has no foreign object) & (non-running state) & (tamping operation system on) & (not started only dialing no tamping mode).

When the tamping mode of the tamping car is switched to the automatic tamping mode, the control logic of the automatic tamping control host for outputting forward operation walking signals is as follows:

Further, the step S200) includes:

when the tamping vehicle is a continuous tamping vehicle, the satellite trolley of the tamping vehicle stops before a tamping downward insertion signal is generated, the satellite trolley stops after the stop signal of the satellite trolley is generated, the distance traveled by the satellite trolley is a braking distance, the braking distance of the next tamping downward insertion position of the tamping head is calculated according to a set parameter value and actual braking distance values of the tamping downward insertion for a plurality of times before, and the stop signal of the satellite trolley is generated in advance according to the calculated next tamping downward insertion braking distance value before reaching the tamping downward insertion position.

Further, the step S200) includes:

when the deviation between the distance of the sleepers and the standard value is detected by the sleeper identification unit and the image acquisition and foreign matter identification unit to exceed a set value or foreign matter is not suitable for tamping and downward inserting in a railway ballast interval, the railway ballast interval is skipped to avoid downward inserting operation, and the automatic tamping control host generates an alarm signal to prompt an operator to select whether manual intervention operation is performed or not.

Further, the step S200) includes:

and when the sleeper identification unit detects that the distance between the current sleepers exceeds a set value, the automatic tamping control host machine outputs a tamping head widening signal.

By implementing the technical scheme of the tamping operation control method provided by the invention, the tamping operation control method has the following beneficial effects:

(1) the tamping operation control method realizes automatic tamping position identification and automatic tamping operation control, reduces the labor intensity of operators and greatly improves the operation efficiency;

(2) according to the tamping operation control method, the multi-sensor array is adopted to identify the sleeper area and the railway ballast area in real time, an operation file is not required to be additionally input, and an image identification technology is adopted to judge foreign matters in the railway ballast area, so that extremely high result identification accuracy is ensured;

(3) according to the tamping operation control method, foreign matters in the railway ballast area are identified through image processing, so that railway equipment facilities can be effectively prevented from being damaged, and metal impurities are prevented from damaging the tamping head;

(4) the tamping operation control method can accurately judge the position of the tamping lower pickaxe (inserting) in advance, automatically control the tamping lower pickaxe of the tamping vehicle and the operation running, greatly reduce the labor intensity of operators and improve the operation efficiency.

Drawings

For reference and clarity, the terms, abbreviations or abbreviations used hereinafter are as follows:

a display module: the human-computer interaction module forms a network node of a network control platform of the large-scale railway maintenance machinery based on operating system programming;

a DO module: a Digital Output Module (Digital Output Module) which is a universal Module in a network control platform of the large-scale railway maintenance machinery;

CAN bus: the Control Area Network (Control Area Network) bus is called for short, is an ISO international standardized serial communication protocol and supports distributed Control or real-time Control;

a CCD camera: a Charge Coupled Device (CCD), which is a semiconductor Device capable of converting an optical image into a digital signal, has a plurality of capacitors arranged in an orderly pattern, and senses light and converts the image into a digital signal. Under the control of an external circuit, each small capacitor can transfer its charged charge to its adjacent capacitor, and as a kind of optical-to-digital conversion element, CCD cameras have been widely used.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be derived by a person skilled in the art without inventive effort.

FIG. 1 is a process flow diagram of one embodiment of a tamping operation control method of the present invention;

FIG. 2 is a block diagram of a system configuration of one embodiment of a tamping operation control system on which the method of the present invention is based;

FIG. 3 is a block diagram of the system architecture of another embodiment of the tamping operation control system on which the method of the present invention is based;

FIG. 4 is a schematic diagram of the sensor arrangement of a tie identification unit in one embodiment of a tamping operation control system on which the method of the present invention is based;

fig. 5 is a schematic diagram of the sensor arrangement of a tie identification unit in another embodiment of a tamping operation control system on which the method of the present invention is based;

FIG. 6 is an elevation view of the placement of a sensor array above a tie in one embodiment of a tamping operation control system on which the method of the present invention is based;

FIG. 7 is a top plan view of the placement of a sensor array above a tie in one embodiment of a tamping operation control system on which the method of the present invention is based;

FIG. 8 is a block diagram of the image capture and foreign object identification unit of one embodiment of a tamping operation control system on which the method of the present invention is based;

fig. 9 is a schematic view of the man-machine interface of the automatic tamping control host in the tamping operation control system on which the method of the present invention is based;

fig. 10 is a schematic view of another human-machine interface of an automatic tamping control host in a tamping operation control system on which the method of the present invention is based;

FIG. 11 is a schematic diagram illustrating mileage positioning performed by one embodiment of the tamping operation control method of the present invention;

FIG. 12 is a schematic diagram of mileage positioning as implemented by another embodiment of the tamping operation control method of the present invention;

FIG. 13 is a schematic illustration of a tamping vehicle employed in one embodiment of the tamping operation control system on which the method of the present invention is based;

FIG. 14 is a schematic diagram of a waveform for implementing a tie identification function according to an embodiment of the tamping operation control method of the present invention;

in the figure: 10-tamping car, 11-front cab, 12-rear cab, 13-satellite car, 20-sleepers, 30-rails, 40-track bed, 50-spikes, 60-capacitive sleepers, 70-track-gauge tie rods, 100-tamping operation control system, 200-automatic tamping control host, 300-sleeper recognition unit, 301-signal processing module, 302-mounting bracket, 303-laser sensor, 304-spike sensing switch, 305-rail alignment device, 400-image acquisition and foreign object recognition unit, 401-trigger circuit board, 402-camera, 403-lens, 404-image processing module, 405-light source, 500-tamping car electrical system, 600-measuring wheel, 700-tamping device, 701-tamping head, 800-vehicle-mounted storage battery, 900-track lifting and lining device.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all 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 to 14, an embodiment of the tamping operation control method according to the present invention is shown, and the present invention will be further described with reference to the drawings and the embodiment.

The tamping operation control method described in the embodiment of the present invention accurately identifies the position of the sleeper 20 by collecting signals of the plurality of laser (distance) sensors 303 and the spike sensing switches 304 in combination with the mileage value of the measuring wheel 600, and identifies the metallic foreign object in the area to be tamped by the image collecting and foreign object identifying unit 400, thereby providing an accurate lower pick (lower insertion position for tamping) for the tamping vehicle 10, and simultaneously realizing the automatic tamping operation and traveling of the tamping vehicle 10 by modifying the bottom layer operation control logic of the tamping vehicle 10.

As shown in fig. 1, an embodiment of a tamping operation control method according to the present invention specifically includes the following steps:

s100) the automatic tamping control host 200 acquires the sleeper identification information through the sleeper identification unit 300, identifies the sleeper position by combining the mileage signal of the measuring wheel 600, acquires the foreign object identification information in the area to be tamped through the image acquisition and foreign object identification unit 400, and acquires the sleeper position information through the measuring wheel 600;

s200) when the automatic tamping control host 200 judges that the current position of the tamping head 701 of the tamping vehicle 100 is a ballast area and has no foreign matter according to the position of the sleeper and the foreign matter identification information, outputting a tamping plug-in signal, controlling the tamping head 701 to execute tamping plug-in action, and realizing automatic tamping operation and running of the tamping vehicle 10.

In step S100), the automatic tamping control unit 200 acquires the tie identification information through the tie identification unit 300 installed at the bottom of the tamping vehicle 10. The tie identification unit 300 includes a sensor array, and a signal processing module 301 connected to the sensor array. The sensor array includes at least 4 laser sensors 303 arranged in a row along the length of the tie 20 and above the inside of the rail 30 for identifying the tie 20 and the ballast plane. The sensor array is mounted in front of the tamper head 701 of the tamper vehicle 10, behind the measuring wheel 600.

The sensor array further comprises at least 2 spike sensing switches 304 arranged in line with the laser sensors 303 for identifying the spikes 50 inside or outside the two rails 30.

Step S100) further includes:

the signal processing module 301 obtains signals of the tie recognition unit 300 and the measuring wheel 600, performs analysis and calculation, recognizes the tie 20, marks mileage information of the tie 20, calculates a mileage point for next tamping, and sends the mileage of the tie 20 and the mileage point information for next tamping to the automatic tamping control host 200.

In step S100), the automatic tamping control unit 200 obtains the foreign object identification information in the area to be tamped by the image capturing and foreign object identifying unit 400 installed at the bottom of the tamping vehicle 10, on the front beam of the tamping head 701, and at the rear position of the sensor array. The image capturing and foreign object recognizing unit 400 includes a trigger circuit board 401, a camera 402, a lens 403, an image processing module 404, and a light source 405. If the sleeper 20 is identified, the trigger circuit board 401 sends a trigger pulse to the camera 402 and the light source 405, the light source 405 starts to supplement light, and the camera 402 starts to take a picture. The image processing module 404 performs processing including image enhancement and foreign object identification and positioning on the photographed two-dimensional image to obtain the position of the sleeper 20 and the foreign object feature information, calculates the mileage information of the sleeper 20 and the foreign object in the position by combining the preset relative position relationship information, and transmits the mileage information to the automatic tamping control host 200.

Step S100) further includes:

if the tie 20 is not identified within a set time, the trigger circuit board 401 sends a trigger pulse to the camera 402 and the light source 405 according to a preset mileage interval.

Step S100) further includes:

the tie recognition unit 300 collects the mileage pulse signal of the measuring wheel 600, records the current mileage information while recognizing the ties 20, one mileage point corresponding to each tie 20, and calculates the distance between the ties 20 according to the mileage of the ties 20, and the mileage point for the next tamping. The image collecting and foreign object identifying unit 400 obtains the mileage information photographed by the camera 402 each time from the automatic tamping control host 200, and calculates the mileage information of each sleeper 20 and foreign object after identifying the sleeper 20 and the foreign object. The automatic tamping control host 200 calculates the current mileage of the tamping head 701 by collecting mileage information of the tamping vehicle 10 and the relative position between the tamping head 701 and the tamping vehicle 10.

Step S200) further includes:

when the tamping vehicle 10 is a step-by-step tamping vehicle, when the current operation position of the tamping vehicle 10 satisfies Y-a ═ Xn, it represents that the tamping head 701 has been operated to the inserting position, and the automatic tamping control unit 200 determines that the tamping head 701 can perform the tamping inserting operation. Wherein Y is the kilometer of the current operating position of the tamper vehicle 10, a is the distance between the locking position of the tamper head 701 and the measuring wheel 600, and Xn is the kilometer of the center point between two adjacent sleepers 20;

when the tamping vehicle 10 is a continuous tamping vehicle, if the current operation position of the tamping vehicle 10 satisfies Y-a + H ═ Xn, it represents that the tamping head 701 has been operated to the inserting position, and the automatic tamping control unit 200 determines that the tamping head 701 can perform the tamping inserting operation. Wherein, Y is the kilometer of the current operating position of the tamping vehicle 10, H is the displacement of the satellite cart 13 relative to the locking position, a is the distance between the locking position of the tamping head 701 and the measuring wheel 600, and Xn is the kilometer of the center point between two adjacent sleepers 20.

Step S200) further includes:

the relative position of the tamping head 701, the distance between the sleepers 20, the tamping running distance, the counting value of the sleepers 20 and the measuring distance value of the laser sensor 303 are checked in real time through a human-computer interaction interface of the automatic tamping control host 200. Meanwhile, the distance between the laser sensor 303 and the tamping head 701, the distance limit value of the sleeper 20, the tamping head widening threshold value and the triggering interval parameters of the camera 402 are set through a human-computer interaction interface of the automatic tamping control host 200. When manual intervention is needed, switching from the automatic tamping mode to the manual tamping mode is realized through the touch of a human-computer interaction interface of the automatic tamping control host machine 200 or the operation of an additionally arranged tamping mode selector switch.

The automatic tamping control host 200 is provided with a tamping mode switching switch, and a tamping mode switching touch key is arranged on a human-computer interaction interface of the automatic tamping control host 200. The tamping operation control method described in the embodiment of the present invention further includes step S300), which includes the following steps:

s300) when one of the tamping mode switch and the tamping mode switching touch key is selected as the manual tamping mode, the automatic tamping control host 200 cuts off the non-intervention operation control, and the operator performs the manual tamping operation according to the original operation program. When the tamping mode switch and the tamping mode switching touch key are simultaneously selected to be the automatic tamping mode, the automatic tamping control host 200 controls the tamping vehicle 10 to carry out tamping operation, and an operator can switch the automatic tamping mode to be the manual tamping mode at any time. Switching from the manual tamping mode to the automatic tamping mode is only allowed when the tamping head 701 enters the identification area of the sleepers 20 and a certain number of sleepers 20 are identified by the sleeper identification unit 300. Step S300) is performed in no order with steps S100) and S200).

In step S200), when the tamping mode of the tamping vehicle 10 is switched to the manual tamping mode, the control logic of the automatic tamping control host 200 for outputting the tamping plug-in signal is:

when the tamping mode of the tamping vehicle 10 is switched to the automatic tamping mode, the logical relationship of the tamping down-insertion signal output by the automatic tamping control host 200 is as follows:

Q0B ═ (identify that the tamping head region is a ballast region and has no foreign object) & (non-running state) & (tamping operation system on) & (not started only dialing no tamping mode).

when the tamping mode of the tamping vehicle 10 is switched to the automatic tamping mode, the control logic of the automatic tamping control host 200 for outputting the forward operation running signal is as follows:

Step S200) further includes:

when the tamping vehicle 10 is a continuous tamping vehicle, the satellite trolley 13 of the tamping vehicle 100 stops before the tamping downward-inserting signal is generated, the satellite trolley 13 stops after the stop signal of the satellite trolley 13 is generated, the distance traveled by the satellite trolley 13 is a braking distance, the braking distance of the next tamping downward-inserting position of the tamping head 701 is calculated according to a set parameter value and actual braking distance values of the tamping downward-inserting position for a plurality of times, and the stop signal of the satellite trolley 13 is generated in advance according to the calculated next tamping downward-inserting braking distance value before reaching the tamping downward-inserting position.

Step S200) further includes:

when the sleeper recognition unit 300 and the image acquisition and foreign matter recognition unit 400 detect that the deviation between the distance between the sleepers 20 and the standard value exceeds a set value or that foreign matters exist in the railway ballast section and are not suitable for tamping and downward inserting, the railway ballast section is skipped over without downward inserting operation, and the automatic tamping control host 200 generates an alarm signal to prompt an operator to select whether to perform manual intervention operation.

Step S200) further includes:

when the tie recognition unit 300 detects that the distance between the current ties 20 exceeds a set value, a tamping head widening signal is output by the automatic tamping control host 200.

As shown in fig. 2, an embodiment of a tamping operation control system 100 according to the present invention specifically includes: the automatic tamping control host 200, the sleeper recognition unit 300 and the image acquisition and foreign object recognition unit 400. The sleeper recognition unit 300 and the image capturing and foreign matter recognition unit 400 detect the track bed 40, respectively. Automatic tamping control host 200 acquires sleeper identification information through sleeper recognition unit 300, combines the mileage signal identification sleeper position of measuring wheel 600 to acquire the foreign matter identification information in the region of waiting to tamp through image acquisition and foreign matter recognition unit 400, provide the tamping down-inserting signal for tamping car 10 carries out the tamping operation, in order to realize tamping car 10's automatic tamping operation. When the current position of the tamping head 701 of the tamping vehicle 10 is a ballast area and has no foreign objects, the automatic tamping control host 200 controls the tamping head 701 to perform tamping and downward inserting actions and realize automatic running. The automatic tamping control host 200 obtains the input logic signal from the tamping car electrical system 500, outputs the operation control signal to the tamping car electrical system 500, and controls the tamping device 700 to operate by the tamping car electrical system 500.

Referring to fig. 13, a schematic structural diagram of a tamping vehicle 10 applied to an embodiment of the present invention is shown, and L shows an operation direction of the tamping vehicle 10, the tamping vehicle 10 includes a front cab 11 and a rear cab 12, a satellite cart 13 is disposed below a middle portion of the tamping vehicle 10, the satellite cart 13 is provided with a tamping device 700 for tamping, the tamping device 700 implements tamping operation through a tamping head 701, and implements track lifting and track shifting operation through a track lifting and shifting device 900, a measuring cart (not shown) is further disposed at a front portion of the tamping vehicle 10, the measuring cart is provided with a measuring wheel 600, and a sleeper recognition unit 300 and an image collecting and foreign object recognition unit 400 are further disposed at a bottom of the tamping vehicle 10.

The tie identification unit 300 is mounted to the bottom of the tamping vehicle 10 and includes a sensor array and a signal processing module 301 connected to the sensor array. The sensor array may be formed by combining the laser sensor 303 and the spike sensing switch 304, or may be formed by using all of the laser sensors 303. If all laser sensors 303 are present, the sensor array includes at least 4 laser sensors 303 arranged in a row (shown as W in fig. 5, 6 and 7) along the length of the tie 20 and above the inner side of the rail 30 for identifying the tie 20 and the ballast plane. The number of the laser sensors 303 of the sensor array is generally 4-14, preferably 6-10, and the laser sensors are distributed and uniformly arranged as much as possible when the laser sensors are arranged on the inner side of the steel rail 30. As shown in fig. 5, the sensor array includes a total of 8 laser sensors 303, 6 on the inside of the rail 30, 4 for identifying the center plane of the tie 20, 2 for identifying the spikes 50 on the inside of the rail 30, and 2 on the outside of the rail 30 for identifying the spikes 50 on the outside of the rail 30. In combination, the sensor array further comprises at least 2 spike sensing switches 304 arranged in line with the laser sensors 303 for identifying the inner or outer spikes 50 of two rails 30, the embodiment shown in fig. 4 comprising 1 spike sensing switch 304 on each of the left and right outer sides of the rail 30. The spike sensing switch 304 is only used as an auxiliary identification means in consideration of the possibility of interference with the rail surface when passing through the turnout and the false detection and the missed detection of the spike in practical application. In the embodiment shown in fig. 6 and 7, the sensor array employs 6 laser sensors 303, and 6 laser sensors 303 are all disposed on the inner side of the rail 30, 4 of the laser sensors are disposed above the middle of the tie 20 for identifying the central plane of the tie 20, and the other 2 laser sensors are disposed close to the inner side of the rail 30 respectively, and the detection accuracy of the tie 30 in the actual application test process can reach more than 99%.

The laser (ranging) sensor 303 emits a laser pulse to an object to be detected through an internal laser diode, after the laser pulse is reflected by the object to be detected, the laser pulse is scattered in different directions, a part of scattered light rays are returned to a receiver of the laser sensor 303, an image is generated on a photodiode of the laser sensor 303, and the time from the emission of the laser pulse to the return of the scattered light rays to the receiver of the laser sensor 303 is recorded and processed, so that the distance between the target position and the laser sensor 303 can be determined.

The sleeper 20 and the railway ballast have two significant differences on the reflected signals of the laser, namely, the railway ballast is farther from the laser sensor 303 than the sleeper 20 under the condition that the railway ballast does not cover the sleeper 20 due to different distances; secondly, the flatness is different, the laser signals reflected by the sleepers 20 are flat and consistent in height, and the distances of the signals reflected by the railway ballasts are disordered. By judging the specific difference between the two waveforms, the railway ballast and the sleeper 20 can be accurately distinguished, and the identification and the positioning of the sleeper 20 are realized. As shown in fig. 14, I is an identification waveform of the laser sensor 303, J is an identification waveform of the spike sensing switch 304, D is an identification waveform of the spike 50, E is an identification waveform of the tie 20, F is an identification waveform of the ballast, and G is an identification position of the tie 20.

The spike sensing identification is a supplementary means of laser identification, and two spike sensing switches 304 are added to the spikes 50 on the outer side of the steel rail 30, so that a high level signal is generated when the spike sensing switches 304 approach the spikes 50, and the spike sensing switches return to a low level when the spikes leave. The signal processing module 301 adopts a fuzzy algorithm for the final determination of the tie 20, and if most sensors (the number of which can be set according to specific situations) in the 8 sensors identify the tie 20, the identification is considered to be valid, otherwise, the identification is considered to be invalid. Or grouping can be carried out according to the specific arrangement position of the sensors, and comprehensive judgment can be carried out according to the identification result of each group of sensors.

The measuring wheel 600 is mounted to the front of the bottom of the tamper vehicle 10 and the sensor array is mounted in front of the tamper head 701 and behind the measuring wheel 600. The signal processing module 301 obtains the signals of the tie recognition unit 300 (summarizing the signals of the plurality of sensors) and the measuring wheel 600, performs analysis and calculation, recognizes the tie 20, marks the mileage information of the tie 20, calculates the mileage point of the next tamping, and transmits the mileage of the tie 20 and the mileage point information of the next tamping to the automatic tamping control host 200 through the CAN bus.

The sleeper identification unit 300 is fixed to the front of the bottom of the tamping vehicle 10 by a mounting bracket 302, and the sensor array and the signal processing module 301 are integrated on the mounting bracket 302, so that the whole mounting bracket 302 can be conveniently and directly mounted behind the measuring wheel 600 on the D-point measuring trolley of the tamping vehicle 10. In order to ensure that the inductive switch and the laser sensor 303 identified by the spike 50 are accurately aligned with the spike 50, rail alignment devices 305 are provided on both left and right sides of the mounting bracket 302 in the length direction. Rail alignment device 305 is resiliently attached to mounting bracket 302 and is positioned above rail 30 and is allowed to move side-to-side to a limited extent. When the tamper vehicle 10 is in operational use, the rail alignment device 305 rolls against the rail 30 to ensure that the laser sensor 303 and/or the spike sensing switch 304 are aligned with the spike 50. The inductive switch used for identifying the spikes 50 on the outer side of the steel rail 30 allows rotation, can automatically avoid when touching the railway ballast, and can be retracted and locked when driving at a high speed. All signals of the laser sensor 303 and the spike sensing switch 304 are directly connected to the signal processing module 301 on the mounting bracket 302 through wires.

The automatic tamping control host 200 and the whole vehicle electrical system of the tamping vehicle 10 adopt the mileage signal output by the same measuring wheel 600 to ensure the synchronism of the mileage of each subsystem, and the mileage measuring precision of the measuring wheel 600 is 1 mm. The automatic tamping control host 200 adopts relative mileage, namely the starting point of the automatic tamping operation is the mileage zero point. The sleeper recognition unit 300 collects mileage signals by itself, records the current mileage while recognizing the sleepers 20, and each sleeper 20 corresponds to one mileage point. The spacing between ties 20 and the mileage point for the next tamping is calculated based on the mileage of ties 20 (typically the gauge of ties 20 is between 450mm and 750 mm).

The image acquisition and foreign object recognition unit 400 is mounted to the bottom of the tamper vehicle 10 on a beam in front of the tamper head 701 and at a location behind the sensor array. As shown in fig. 8, the image capturing and foreign object recognizing unit 400 includes a trigger circuit board 401, a camera 402, an image processing module 404 and a light source 405, the camera 402 is a CCD camera, and the trigger circuit board 401 is powered by a vehicle-mounted battery 800. The image coordinates of the sleeper 20, the capacitive sleeper 60, the gauge pull rod 70 and the like are extracted in a 2D image online detection mode, and corresponding mileage position information (whether foreign matter information exists or not and foreign matter position information is transmitted to the automatic tamping control host 200) is obtained in real time through coordinate conversion. If the sleeper 20 is identified, the trigger circuit board 401 sends a trigger pulse to the camera 402 and the light source 405, the light source 405 starts to supplement light, and the camera 402 starts to take a picture. The image processing module 404 performs processing including image enhancement and foreign object identification and positioning on the photographed two-dimensional image to obtain the position of the sleeper 20 and the foreign object feature information, calculates the mileage information of the sleeper 20 and the foreign object in the position by combining the preset relative position relationship information, and transmits the mileage information to the automatic tamping control host 200. If the tie 20 is not identified within a set time, the trigger circuit board 401 sends a trigger pulse to the camera 402 and the light source 405 at a predetermined mileage interval.

The (industrial) camera 402 is equipped with a wide-angle lens 403, and turns on a light source 405 for light supplement according to the received mileage trigger pulse, and simultaneously turns on the camera 402 to take a picture. The image acquisition and foreign object recognition unit 400 is mounted on the cross beam in front of the tamping apparatus 700 at the front of the bottom of the tamping vehicle 10. The main optical axis of the camera 402 is located off-left over the center of the two rails 30 and the field of view is approximately 1200mm 900 mm. The camera 402 and the light source 405 are controlled to be turned on by the trigger circuit board 401, and the turn-on interval and the turn-on duration can be set by the automatic tamping control host 200. The image processing module 404 is composed of an industrial personal computer and a set of image processing software. The industrial computer adopts a fan-free system, accords with the IP40 protection grade and can be better adapted to the working environment with more field dust. The image processing software performs image enhancement and foreign matter identification and positioning on the acquired two-dimensional image through an image processing algorithm, detects and positions the position information of the sleeper 20, the capacitive sleeper 60, the gauge pull rod 70 and other foreign matters (which may also include point rails, other ballast area metal foreign matters and the like) from the image data to obtain accurate sleeper edge and foreign matter characteristic information, and finally calculates the edge position of the sleeper 20 and the foreign matter position information to be transmitted to the automatic tamping control host 200 by combining the calibrated information (including the distance between the tamping head 701 and the laser sensor 303 and the distance between the tamping vehicle 10 and the locking position of the satellite trolley 13).

The tie recognition unit 300 collects the mileage pulse signal of the measuring wheel 600, records the current mileage information while recognizing the ties 20, one mileage point corresponding to each tie 20, and calculates the distance between the ties 20 according to the mileage of the ties 20, and the mileage point for the next tamping. The image collecting and foreign object identifying unit 400 obtains the mileage information photographed by the camera 402 each time from the automatic tamping control host 200, and calculates the mileage information of each sleeper 20 and foreign object after identifying the sleeper 20 and the foreign object. The automatic tamping control host 200 calculates the current mileage of the tamping head 701 by collecting mileage information of the tamping vehicle 10 and the relative position between the tamping head 701 and the tamping vehicle 10.

The image collecting and foreign object identifying unit 400 obtains the mileage information of each photographing from the automatic tamping control host 200 through the communication interface, and calculates the mileage point information of each sleeper 20 and the foreign object after identifying the sleeper 20 and the foreign object. To calculate the mileage of a specific foreign object position, the automatic tamping control unit 200 acquires mileage information, which is to be in accordance with the mileage standard of the tie recognition unit 300, from the automatic tamping control unit 200. In the embodiment shown in fig. 2, the mileage information is transmitted from the mileage measuring wheel 600 to the sleeper recognition unit 300, the sleeper recognition unit 300 transmits the mileage information to the automatic tamping control host 200 through the CAN bus, and the automatic tamping control host 200 transmits the mileage information to the image collecting and foreign object recognizing unit 400 through the serial port, and the information exchange is performed in real time. In another embodiment as shown in fig. 3, it is also possible that the mileage information is transmitted from the (mileage) measuring wheel 600 to the automatic tamping control unit 200, and then the mileage information is transmitted to the tie recognition unit 300 and the image collecting and foreign matter recognition unit 400 through the automatic tamping control unit 200, respectively.

The automatic tamping control host 200 communicates with the sleeper recognition unit 300 through a CAN bus based on an operation display and a digital output module, and communicates with the image collecting and foreign object recognition unit 400 through a serial interface. The existing network platform operation display module (i.e. B2 operation display, located at operation position No. 1) and DO module of the existing tamping vehicle 10 CAN be directly used as the automatic tamping control host 200 in hardware, and are communicated with the sleeper recognition unit 300 through the CAN bus, and communicated with the image acquisition and foreign object recognition unit 400 through the serial port, and in addition, the automatic tamping bottom layer control logic and the human-computer interaction interface are required to be added.

The automatic tamping control host 200 calculates the current mileage of the tamping head 701 by collecting mileage information of the tamping vehicle 10 and the relative position between the tamping head 701 and the tamping vehicle 10. At this time, it is necessary to determine whether the tamping head 701 has been moved to the drop work position in two cases. When the tamping head 701 has been moved to the drop-in operation position, the automatic tamping control unit 200 sends a tamping drop-in permission signal in combination with the information of the sleepers 20 and the foreign objects, and the tamping vehicle 10 can perform a tamping drop-in operation.

As shown in fig. 11, in the first case, when the tamping vehicle 10 is not provided with the satellite cart 13 (i.e., the tamping vehicle 10 is a walking-type tamping vehicle), when the current running position of the tamping vehicle 10 satisfies Y-a-Xn, it represents that the tamping head 701 has run to the lower-inserting position, and the tamping head 701 can perform the tamping lower-inserting action. Wherein Y is the kilometer scale of the current operating position of the tamper vehicle 10, a is the distance between the locking position of the tamper head 701 and the measuring wheel 600, and Xn is the kilometer scale of the center point between two adjacent sleepers 20.

As shown in fig. 12, in the second case, when the tamping vehicle 10 is provided with the satellite cart 13 (i.e. the tamping vehicle 10 is a continuous tamping vehicle), when the current running position of the tamping vehicle 10 satisfies Y-a + H ═ Xn, it represents that the tamping head 701 has run to the inserting position, and the tamping head 701 can perform the tamping inserting action. Wherein, Y is the kilometer of the current operating position of the tamping vehicle 10, H is the displacement of the satellite cart 13 relative to the locking position, a is the distance between the locking position of the tamping head 701 and the measuring wheel 600, and Xn is the kilometer of the center point between two adjacent sleepers 20.

As shown in fig. 9 and 10, the relative position of the tamping head 701, the distance between the sleepers 20, the tamping running distance, the count value of the sleepers 20, and the measured distance value of the laser sensor 303 can be checked in real time through the man-machine interface of the automatic tamping control host 200. Meanwhile, the distance between the laser sensor 303 and the tamping head 701, the distance limit value of the sleeper 20, the tamping head widening threshold value and the triggering interval parameters of the camera 402 can be set through a human-computer interaction interface of the automatic tamping control host machine 200. When manual intervention is needed, switching from the automatic tamping mode to the manual tamping mode can be realized through the touch of a human-computer interaction interface of the automatic tamping control host 200 or the operation of an additionally arranged tamping mode selector switch. The automatic tamping bottom layer control software mainly comprises an automatic tamping control logic and tamping lower pick (inserting) position correction calculation. The actions of automatic pick-off, automatic operation walking, automatic widening and the like are realized by modifying the program control logic of the tamping vehicle, and the electrical control hardware of the original vehicle is not required to be modified. The tamping vehicle has a braking distance from traveling braking to starting to get off the pick in the operation traveling process, the distance can influence the tamping downwards-inserting position determined according to the identified sleeper position, and the current parking position is corrected and calculated by recording and analyzing the braking distances of the previous picks so as to ensure the accuracy of the position of the next pick (inserting). In fig. 9, a indicates a tamping position (i.e., a tamping pick inserting position), B indicates a tamping pre-position, and C indicates a region where a foreign object is present and tamping is prohibited.

A tamping mode (entity) switch is arranged on the automatic tamping control host 200 (a box B2 arranged at a first operation position of the tamping vehicle 10), and a tamping mode (virtual) switching touch key is arranged on a human-computer interaction interface of the automatic tamping control host 200. When one of the tamping mode switch and the tamping mode switching touch key is selected as the manual tamping mode, the automatic tamping control host 200 cuts off the operation control without intervention, and the operator executes the manual tamping operation according to the original operation program. When the tamping mode switch and the tamping mode switching touch key are simultaneously selected to be the automatic tamping mode, the automatic tamping control host 200 controls the tamping car 10 to carry out tamping operation, but manual operation can still intervene to stop the operation, and an operator can switch the automatic tamping mode to the manual tamping mode at any time so as to ensure the operation safety. The automatic tamping control host 200 determines that an automatic pick-off signal can be output after the pick-off according to the outputs of the sleeper recognition unit 300 and the image acquisition and foreign object recognition unit 400 and the current mileage of the tamping device 700, and replaces a manual tamping pedal signal to control the tamping device 700 to execute the inserting action.

When the tamping mode of the tamping vehicle 10 is switched to the manual tamping mode, the control logic of the automatic tamping control host 200 for outputting the tamping downward-inserting signal is as follows:

Q0B ═ (identify that the tamping head region is a ballast region and has no foreign object) & (non-running state) & (tamping operation system on) & (not started only dialing no tamping mode).

When the tamping mode of the tamping vehicle 10 is switched to the manual tamping mode, the control logic of the automatic tamping control host 200 for outputting the forward operation travel signal is as follows:

The automatic tamping control can be realized by modifying the bottom layer control logic program of the automatic tamping control host 200, taking the model D08-32 tamping vehicle 10 as an example, the automatic pick-off signal (i.e. the tamping plug-in signal) can be defined as Q0B, and the automatic tamping control is accessed to the bottom layer logic control program of the tamping vehicle. Defining the manual/automatic switch signal as X57, the underlying control logic of the automatic tamper control host 200 may be designed to:

if X57 is 0, Q0B is [ (X27+ X28) × 15 × 16 × 26+ X10 (— X27) × 28 (— X04) + X10X 0E ] × 19 (— X3E)

If X57 is 1, then Q0B is X58 (X04) X19 (X3E)

Wherein, each logic signal is defined as follows:

x57: a manual/automatic tamping switch, wherein 0 is a manual tamping mode and 1 is an automatic tamping mode;

x58 (equivalent to manual tamping pedal signal in manual tamping mode): the automatic mode tamping head inserts signals downwards, wherein 0 is that the tamping head is lifted and does not move, and 1 is that the tamping head inserts downwards;

x27: automatic cycle 1X mode;

x28: automatic cycle 2X mode;

x15: left tamper in neutral (i.e., the position of the tamper after retrieval of the job);

x16: the right tamping device is in a middle signal;

x26: manual gripping operation (i.e., an operation signal for operating the tamping pick grip);

x04: the hydraulic running is allowed, the clamp is loosened, and the requirement can be met only after the tamping head is lifted, including the forward and backward running;

X0E: automatic cycle locking;

x19: the tamping system is switched on;

X3E: a track-shifting and tamping-free mode;

x10: manual tamping and tamping pedal signals;

a logical AND operation, + a logical OR operation, and-a logical NOT operation.

When the tamping vehicle 10 of model D08-32 is used for tamping, if the automatic tamping mode is started, automatic operation running can also be realized. At this time, the automatic operation running control can be realized by modifying the bottom layer control logic program of the automatic tamping control host 200, the automatic operation running signal is defined as X58, and the bottom layer logic control program of the tamping car is accessed. Defining the manual/automatic switch signal as X57, the underlying control logic of the automatic tamper control host 200 may be designed to:

if X57 ═ 0, Q08 ═ [ (X27+ X28 ═ X00)) × 10 ═ X19 × 80+ X11] × 22 ═ X0E)

If X57 is 1, Q08 is (X58) X59X 13X 14X 19X 22 (X0E)

Wherein, each logic signal is defined as follows:

x57: a manual/automatic tamping switch, wherein 0 is a manual tamping mode and 1 is an automatic tamping mode;

x58: the automatic mode tamping head inserts signals downwards, wherein 0 is that the tamping head is lifted and does not move, and 1 is that the tamping head inserts downwards;

x59: the running signal of the automatic tamping operation (equivalent to the running pedal signal of manual tamping), 0 is the stop of the tamping car, and 1 is the running of the tamping car;

x13: the left tamping head is up (i.e. the left tamping head is in the locked position);

x14: the right tamping head is up (i.e. the right tamping head is in the locked position);

x27: an automatic cycle 1X mode (i.e., the number of times the satellite cart 13 is parked once for tamping);

x28: automatic cycle 2X mode;

x00: the automatic cycle 2X trigger is used for recording an intermediate signal of 2X insertion times, and the intermediate signal is not directly involved in control and is only used as an input end of other signals;

x19: the tamping system is switched on (namely, the tamping operation system is electrified and hydraulic pressure is established, and the tamping downward inserting action can be executed when the tamping vehicle 10 runs to a specified position);

x22: forward walk signal, 0 is invalid and 1 is valid;

x10: manual tamping and tamping pedal signals;

x80: the manual tamping delay is finished, namely the delay time from the beginning of the downward insertion of the tamping head 701 to the lifting of the tamping head 701 is reached, and the signal is changed from 0 to 1 when the delay time is reached;

x11: manually tamping walking pedal signals;

X0E: automatic cycle locking;

a logical AND operation, + a logical OR operation, and-a logical NOT operation.

Switching from the manual tamping mode to the automatic tamping mode is only allowed when the tamping head 701 enters the identification area of the sleepers 20 and a certain number of sleepers 20 are identified by the sleeper identification unit 300. The operator can switch from the automatic tamping mode to the manual tamping mode at any time, and since the sleeper identification unit 300 is installed at the front part of the bottom of the tamping vehicle 10, the switching from the manual tamping mode to the automatic tamping mode is allowed only when the tamping device 700 enters the sleeper identification area and the sleeper identification unit 300 identifies a certain number of sleepers 20. When the tamping vehicle 10 is a continuous tamping vehicle, the satellite trolley 13 of the tamping vehicle 10 stops (the speed is 0) before the tamping downward-inserting signal is generated, the distance traveled by the satellite trolley 13 is a braking distance from the generation of the stopping signal of the satellite trolley 13 to the stop of the satellite trolley 13 (the speed is close to 0), the braking distance of the next tamping downward-inserting position of the tamping head 701 is calculated according to the set parameter value and the actual braking distance value of the tamping downward-inserting position for a plurality of times before, and the stopping signal of the satellite trolley 13 is generated in advance according to the calculated next tamping downward-inserting braking distance value before reaching the tamping downward-inserting position.

In the tamping operation process, the situation that the distance between the sleepers 20 in certain sections is not standard is also frequently encountered, and at the moment, the opening width of the pickaxe outside the tamping head 701 needs to be adjusted in time so as to prevent the pickaxe from colliding with the sleepers 20, and meanwhile, the operation quality can be further improved. Therefore, in the operation of the section with nonstandard sleeper interval, when the sleeper identification unit 300 detects that the interval of the current sleeper 20 exceeds the set value, the automatic tamping control host 200 outputs a tamping head widening signal, wherein the tamping head widening comprises three cases of front widening, rear widening and front and rear simultaneous widening.

Meanwhile, the tamping operation control system 100 has an alarm function, when the deviation between the distance between the sleepers 20 and the standard value is detected by the sleeper recognition unit 300 and the image acquisition and foreign matter recognition unit 400 to exceed a set value or when foreign matters exist in a railway ballast section and are not suitable for tamping and downward inserting, the railway ballast section is skipped to avoid downward inserting operation, the automatic tamping control host 200 generates an alarm signal and gives an alarm through a buzzer, and an operator is prompted to select whether to perform manual intervention operation. In addition, the man-machine interface of the tamping operation control system 100 can display data such as the distance between sleepers, the tamping traveling distance, the sleeper count and the laser measurement distance value in real time, so that an operator can check the track condition and find faults conveniently.

By implementing the technical scheme of the tamping operation control method described in the specific embodiment of the invention, the following technical effects can be produced:

(1) the tamping operation control method described in the specific embodiment of the invention realizes automatic tamping position identification and automatic tamping operation control, reduces the labor intensity of operators and greatly improves the operation efficiency;

(2) according to the tamping operation control method described in the specific embodiment of the invention, the sleeper area and the ballast area are identified in real time by adopting the multi-sensor array, an operation file is not required to be additionally input, and foreign matters in the ballast area are judged by adopting an image identification technology, so that extremely high result identification accuracy is ensured;

(3) according to the tamping operation control method described in the specific embodiment of the invention, foreign matters in a railway ballast area are identified through image processing, so that railway equipment facilities can be effectively prevented from being damaged, and metal foreign matters are prevented from damaging a tamping head;

(4) the tamping operation control method described in the specific embodiment of the invention can accurately judge the tamping lower pick (inserting) position in advance, automatically control the tamping lower pick of the tamping vehicle and the operation running, greatly reduce the labor intensity of operators and improve the operation efficiency.

The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or equivalent modifications, without departing from the spirit and scope of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

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