阅读说明：本技术 一种轨枕智能铺设系统及其方法 (Intelligent sleeper laying system and method ) 是由 伍艳良 马传松 曾观福 谢灵 杨少芹 于 2021-09-13 设计创作，主要内容包括：本发明涉及轨枕铺设技术领域,更具体地,涉及一种轨枕智能铺设系统及其方法,包括铺轨车,所述铺轨车内设有驾驶系统,所述铺轨车上设有若干GNSS移动站和360°棱镜组件,所述GNSS移动站无线通信连接有基站,所述360°棱镜组件无线通信连接有全站仪；所述系统还包括设于所述铺轨车内的控制系统,所述驾驶系统、GNSS移动站、360°棱镜组件、基站、全站仪均与控制系统通信连接。本发明能够实现自动放样以及输出,能够精准指导轨枕铺设,提高工作效率。(The invention relates to the technical field of sleeper laying, in particular to an intelligent sleeper laying system and a method thereof, wherein the intelligent sleeper laying system comprises a track laying vehicle, a driving system is arranged in the track laying vehicle, a plurality of GNSS mobile stations and a 360-degree prism assembly are arranged on the track laying vehicle, the GNSS mobile stations are in wireless communication connection with a base station, and the 360-degree prism assembly is in wireless communication connection with a total station; the system also comprises a control system arranged in the track laying vehicle, and the driving system, the GNSS mobile station, the 360-degree prism assembly, the base station and the total station are all in communication connection with the control system. The invention can realize automatic lofting and output, can accurately guide the sleeper laying and improve the working efficiency.)

1. A sleeper intelligent laying system comprises a rail laying vehicle (1), wherein a driving system is arranged in the rail laying vehicle (1), and the sleeper intelligent laying system is characterized in that a plurality of GNSS mobile stations (2) and 360-degree prism assemblies (3) are arranged on the rail laying vehicle (1), the GNSS mobile stations (2) are in wireless communication connection with a base station (4), and the 360-degree prism assemblies (3) are in wireless communication connection with a total station (7); the system further comprises a control system arranged in the track laying vehicle (1), and the driving system, the GNSS mobile station (2), the 360-degree prism assembly (3), the base station (4) and the total station (7) are all in communication connection with the control system.

2. Sleeper intelligent laying system according to claim 1, characterized in that the railcar (1) comprises a headstock (11) and a car body (12) connected to the headstock (11); the control system is arranged in the vehicle head (11); the three GNSS mobile stations (2) and the three 360-degree prism assemblies (3) are respectively arranged at the center line positions of the front end of the vehicle head (11), the front end of the vehicle body (12) and the rear end of the vehicle body; the three prism assemblies (3) with the angle of 360 degrees are also respectively arranged at the central line positions of the front end of the vehicle head (11), the front end of the vehicle body (12) and the rear end.

3. An intelligent sleeper laying method is characterized by comprising the following steps:

s1, dividing a design central line (6) into a plurality of point positions at certain intervals through a control system to obtain corresponding design central line coordinates and point position coordinates;

s2, setting a base station (4) according to the control points of the CPI, the CPII and the CPIII, and setting a plurality of GNSS mobile stations (2) on the track laying vehicle (1);

s3, setting a total station (7) according to a rear intersection orientation method of the total station, and setting a plurality of 360-degree prism assemblies (3) on the track laying vehicle (1);

s4, detecting the GNSS signal of the current position of the track laying vehicle (1) in real time: if the GNSS signals received by each GNSS mobile station (2) and the GNSS signals received by the base station (4) have signals sent by four or more same GNSS satellites (5), executing the step S5, otherwise executing the step S6;

s5, feeding back the current position coordinates of the track laying vehicle (1) to the control system through the GNSS mobile station (2), controlling the track laying vehicle (1) to move from the current point position to the next point position coordinate position along the design center line (6) to lay a sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation amount between the current position coordinate of the track laying vehicle (1) and the designed center line coordinate, and then adjusts and controls the moving direction of the track laying vehicle (1) in real time according to the deviation amount;

s6, feeding back the current position coordinates of the track laying vehicle (1) to the control system through the 360-degree prism assembly (3), controlling the track laying vehicle (1) to move to the coordinates of the next point position from the current point position along the design center line (6) to lay a sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation amount between the current position coordinate of the track laying vehicle (1) and the designed center line coordinate, and then adjusts and controls the moving direction of the track laying vehicle (1) in real time according to the deviation amount;

s7, if the rail laying vehicle (1) does not move to the position corresponding to the end point position coordinate position of the design center line (6), returning to the step S4, otherwise, completing laying of the sleeper.

4. Method for intelligent laying of sleepers according to claim 3, characterised in that in step S1 the points comprise a start point (61), an end point (63) and several intermediate points (62) between the start point (61) and the end point (63).

5. The intelligent sleeper laying method according to claim 4, wherein the step S5 specifically comprises the following steps:

s51, if the paved rail area has a paved partial rail, executing a step S52, otherwise executing a step S53;

s52, the control system controls the track laying vehicle (1) to move to the tail end of the partial track, and then step S54 is executed;

s53, the control system controls the track laying vehicle (1) to move to a position corresponding to the coordinate position of the starting point position (61) in the track laying area according to the coordinate of the starting point position (61), and then step S54 is executed;

s54, the control system controls the track laying vehicle (1) to move from the current point position to the next point position coordinate along the design center line (6) through the GNSS mobile station (2) and the base station (4) to lay the sleeper; in the moving process, the control system calculates the deviation amount between the current position coordinate and the next position coordinate of the track laying vehicle (1), then regulates and controls the moving direction of the track laying vehicle (1) in real time according to the deviation amount, and then executes the step S7.

6. The intelligent sleeper laying method according to claim 5, wherein the step S6 specifically comprises the following steps:

s61, if the track laying area has already laid partial tracks, executing a step S62, otherwise, executing a step S63;

s62, the control system controls the track laying vehicle (1) to move to the tail end of the partial track, and then step S64 is executed;

s63, the control system controls the track laying vehicle (1) to move to a position corresponding to the coordinate position of the starting point position (61) in the track laying area according to the coordinate of the starting point position (61), and then step S64 is executed;

s64, the control system controls the track laying vehicle (1) to move from the current point position to the next point position coordinate along the design center line (6) through the 360-degree prism assembly (3) and the total station (7) to lay the sleeper; in the moving process, the control system calculates the deviation amount between the current position coordinate and the next position coordinate of the track laying vehicle (1), then regulates and controls the moving direction of the track laying vehicle (1) in real time according to the deviation amount, and then executes the step S7.

7. The intelligent sleeper laying method according to claim 6, wherein in steps S54 and S64, the deviation amount includes a longitudinal deviation amount and a lateral deviation amount;

the calculation formula of the transverse deviation amount is as follows:

Ax+By+C＝0；

wherein d represents the amount of lateral deviation, and (x)₁,y₁) Representing the current position coordinates of the railcar (1); ax + By + C is 0 and represents a straight line expression passing through two point position coordinates, and the two point positions are adjacent to the current position coordinates of the track laying vehicle (1);

the calculation formula of the longitudinal deviation amount is as follows:

where v denotes the longitudinal deviation amount, and A, B, C denotes a coefficient in which a linear expression Ax + By + C is 0, respectively, (x)₂,y₂) (x) vertical foot point coordinates representing the current position coordinates of the track laying vehicle (1) to the design centerline (6)_N,y_N) Representing the coordinates of the next point location.

8. Sleeper intelligent laying method according to claim 6, characterized in that in step S54, when the measurable range of the base station (4) is exceeded, the base station (4) is re-set; in step S64, when the measurable range of the total station (7) is exceeded, the total station (7) is re-set.

9. The intelligent sleeper laying method according to claim 3, characterized in that in step S2, three GNSS mobile stations (2) are installed on the track laying truck (1), and the GNSS mobile stations (2) are located at the center line position of the track laying truck (1); in step S3, three 360 ° prism assemblies (3) are mounted on the track-laying vehicle (1), and the 360 ° prism assemblies (3) are located at the center line position of the track-laying vehicle (1).

10. Sleeper intelligent laying method according to claim 9, characterized in that the railcar (1) comprises a headstock (11) and a car body (12) connected to the headstock (11); the three GNSS mobile stations (2) are respectively arranged at the front end of the vehicle head (11), the front end and the rear end of the vehicle body (12); the three 360-degree prism assemblies (3) are also respectively arranged at the front end of the vehicle head (11), the front end of the vehicle body (12) and the rear end.

Technical Field

The invention relates to the technical field of sleeper laying, in particular to an intelligent sleeper laying system and method.

Background

When the track laying machine carries out track laying work, each sleeper loaded on the car body needs to be laid on the ballast at a certain interval, and the center position of each sleeper needs to accurately fall on a design central line of a rail line, so that the point positions and the moving route of the car head and the car body of the track laying machine determine the precision and the quality of the track laying work.

The traditional sleeper laying adopts a manual lofting mode, and the method mainly comprises the steps of laying a line almost matched with a line design central line on a railway line as a guide line, tracking the line through a camera at the middle point of the head of a track laying vehicle, and performing manual lofting. The method has certain human errors on manual centerline lofting and low working efficiency.

Chinese patent publication No. CN111519482A discloses a method for controlling a track-laying machine, and a track-laying machine system, in which a real-time coordinate of a head of the track-laying machine obtained by a total station and coordinates of two virtual coordinate points near the real-time coordinate point in a preset planned route are obtained, and a deviation condition of the track-laying machine with respect to a preset planned route is obtained according to the coordinates of the two virtual coordinate points and the real-time coordinate obtained by the total station, and finally the operation of the track-laying machine is guided.

However, the above scheme requires more times of station changing manually, and has the advantages of single mode and low automation degree.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides an intelligent sleeper laying method based on a GNSS and a total station, which can realize automatic lofting and output, can accurately guide sleeper laying and improve the working efficiency.

In order to solve the technical problems, the invention adopts the technical scheme that:

the sleeper intelligent laying system comprises a track laying vehicle, wherein a driving system is arranged in the track laying vehicle, a plurality of GNSS mobile stations and a 360-degree prism assembly are arranged on the track laying vehicle, the GNSS mobile stations are in wireless communication connection with a base station, and the 360-degree prism assembly is in wireless communication connection with a total station; the system also comprises a control system arranged in the track laying vehicle, and the driving system, the GNSS mobile station, the 360-degree prism assembly, the base station and the total station are all in communication connection with the control system.

Preferably, the track laying vehicle comprises a vehicle head and a vehicle body connected with the vehicle head; the control system is arranged in the vehicle head; the three GNSS mobile stations and the three 360-degree prism assemblies are respectively arranged at the center line positions of the front end of the vehicle head, the front end of the vehicle body and the rear end; the three 360-degree prism assemblies are also respectively arranged at the center line positions of the front end of the vehicle head, the front end of the vehicle body and the rear end.

The invention also provides an intelligent sleeper laying method, which comprises the following steps:

s1, dividing a design central line into a plurality of point positions according to a certain distance through a control system to obtain corresponding design central line coordinates and point position coordinates;

s2, setting a base station according to the control points of the CPI, the CPII and the CPIII, and setting a plurality of GNSS mobile stations on the track-laying vehicle;

s3, setting a total station according to a rear intersection orientation method of the total station, and setting a plurality of 360-degree prism assemblies on the track laying vehicle;

s4, detecting the GNSS signal of the current position of the track laying vehicle in real time: if the GNSS signals received by each GNSS mobile station and the GNSS signals received by the base station have signals transmitted by four or more same GNSS satellites, performing step S5, otherwise performing step S6;

s5, feeding back the current position coordinates of the track laying vehicle to the control system through the GNSS mobile station, controlling the track laying vehicle to move from the current point position to the next point position coordinate position along the design center line to lay a sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation between the current position coordinates of the track laying vehicle and the design center line coordinates, and then regulates and controls the moving direction of the track laying vehicle in real time according to the deviation;

s6, feeding back the current position coordinates of the track laying vehicle to the control system through the 360-degree prism assembly, controlling the track laying vehicle to move from the current point location to the next point location coordinates along the design center line to lay a sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation between the current position coordinates of the track laying vehicle and the design center line coordinates, and then regulates and controls the moving direction of the track laying vehicle in real time according to the deviation;

s7, if the rail laying vehicle does not move to the position corresponding to the end point position coordinate position of the designed center line, returning to the step S4, otherwise, completing laying of the sleeper rail.

Further, in step S1, the plurality of points includes a start point, an end point, and a plurality of intermediate points located between the start point and the end point.

Further, the step S5 specifically includes the following steps:

s51, if the paved rail area has a paved partial rail, executing a step S52, otherwise executing a step S53;

s52, the control system controls the track laying vehicle to move to the tail end of the partial track, and then step S54 is executed;

s53, the control system controls the track laying vehicle to move to a position corresponding to the coordinate position of the starting point position in the track laying area according to the coordinate of the starting point position, and then step S54 is executed;

s54, the control system controls the track laying vehicle to move from the current point location to the next point location coordinate along the design center line through the GNSS mobile station and the base station to lay the sleeper; in the moving process, the control system calculates the deviation amount between the current position coordinate and the next point coordinate of the track laying vehicle, then regulates and controls the moving direction of the track laying vehicle in real time according to the deviation amount, and then executes the step S7.

Further, the step S6 specifically includes the following steps:

s61, if the track laying area has already laid partial tracks, executing a step S62, otherwise, executing a step S63;

s62, the control system controls the track laying vehicle to move to the tail end of the partial track, and then step S64 is executed;

s63, the control system controls the track laying vehicle to move to a position corresponding to the coordinate position of the starting point position in the track laying area according to the coordinate of the starting point position, and then step S64 is executed;

s64, the control system controls the track laying vehicle to move from the current point location to the coordinate of the next point location along the design center line through the 360-degree prism assembly and the total station to lay the sleeper; in the moving process, the control system calculates the deviation amount between the current position coordinate and the next point coordinate of the track laying vehicle, then regulates and controls the moving direction of the track laying vehicle in real time according to the deviation amount, and then executes the step S7.

Further, in step S54 and step S64, the deviation amount includes a longitudinal deviation amount and a lateral deviation amount;

the calculation formula of the transverse deviation amount is as follows:

Ax+By+C＝0；

wherein d represents the amount of lateral deviation, and (x)₁,y₁) Representing current position coordinates of the railcar; the Ax + By + C is 0 and represents a straight line expression passing through coordinates of two point positions, and the two point positions are adjacent to the current position coordinates of the track laying vehicle;

the calculation formula of the longitudinal deviation amount is as follows:

where v denotes the longitudinal deviation amount, and A, B, C denotes a coefficient in which a linear expression Ax + By + C is 0, respectively, (x)₂,y₂) (x) a foot point coordinate representing a current position coordinate of the railcar to the design centerline_N,y_N) Representing the coordinates of the next point location.

Further, in step S54, when the measurable range of the base station is exceeded, the base station is re-established; in step S64, when the total station is out of the measurable range, the total station is reset.

Further, in step S2, three GNSS mobile stations are installed on the track-laying vehicle, and the GNSS mobile stations are located at the center line position of the track-laying vehicle; in step S3, three of the 360 ° prism assemblies are mounted on the track-laying vehicle, and the 360 ° prism assemblies are located at the center line position of the track-laying vehicle.

Further, the track laying vehicle comprises a vehicle head and a vehicle body connected with the vehicle head; the three GNSS mobile stations are respectively arranged at the front end of the vehicle head, the front end of the vehicle body and the rear end; the three 360-degree prism assemblies are also respectively arranged at the front end of the vehicle head, the front end of the vehicle body and the rear end of the vehicle body.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a sleeper intelligent laying system and a method thereof, wherein a track laying vehicle position measuring instrument is switched by detecting the strength of a GNSS signal, the track laying vehicle is measured by combining a GNSS technology and a total station, different measuring modes can be selected according to different environments, so that the measuring precision is improved, the application range can be enlarged, and the track laying efficiency is improved.

When the GNSS signal is strong, the base station is used as a reference point, the control system realizes mastering the deviation amount between the current position coordinate of the track laying vehicle and the point position coordinate of the designed central line through the GNSS mobile station, and the moving direction of the track laying vehicle is regulated and controlled in real time according to the deviation amount, so that the accurate directional movement of the track laying vehicle is realized; and when the GNSS signal is weak, the total station is used as a reference point, the control system realizes mastering of the deviation amount between the current position coordinate of the track laying vehicle and the point position coordinate of the designed center line through the 360-degree prism assembly, and then real-time regulation and control are carried out on the moving direction of the track laying vehicle according to the deviation amount, so that accurate directional movement of the track laying vehicle is realized.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent sleeper laying system according to the present invention;

FIG. 2 is a flowchart of an intelligent sleeper laying method based on GNSS and total station in the invention;

FIG. 3 is a schematic diagram of the communication connections between the railcars, the base stations, and the GNSS satellites of the present invention;

FIG. 4 is a schematic view of the structure of the centerline of the present invention;

FIG. 5 is a diagram illustrating the range of the base station of the present invention;

FIG. 6 is a schematic view of the measurable range of a total station according to the present invention;

FIG. 7 is a diagram illustrating the calculation of the deviation amount according to the present invention.

The graphic symbols are illustrated as follows:

the method comprises the following steps of 1-a track laying vehicle, 11-a vehicle head, 12-a vehicle body, 2-a GNSS mobile station, 3-360-degree prism assemblies, 4-a base station, 5-a GNSS satellite, 6-a design center line, 61-a starting point position, 62-a middle point position, 63-an end point position and 7-a total station.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

Example 1

Fig. 1 shows an embodiment of an intelligent sleeper laying system according to the present invention, which includes a track-laying vehicle 1, a driving system is provided in the track-laying vehicle 1, the track-laying vehicle 1 is provided with a plurality of GNSS mobile stations 2 and 360 ° prism assemblies 3, the GNSS mobile stations 2 are connected to a base station 4 in a wireless communication manner, and the 360 ° prism assemblies 3 are connected to a total station 7 in a wireless communication manner; the system also comprises a control system arranged in the track laying vehicle 1, the driving system, the GNSS mobile station 2 and the 360-degree prism assembly 3 are all in communication connection with the control system, and the base station 4 and the total station 7 are all in wireless communication connection with the control system. The GNSS mobile station 2 and the base station 4 are configured to receive signals transmitted from GNSS satellites.

As shown in fig. 1, the railcar 1 includes a head 11 and a body 12 connected to the head 11; the control system is arranged in the vehicle head 11; three GNSS mobile stations 2 and three 360-degree prism assemblies 3 are arranged, and the three GNSS mobile stations 2 are respectively arranged at the central line positions of the front end of the vehicle head 11, the front end of the vehicle body 12 and the rear end; the three 360-degree prism assemblies 3 are also respectively arranged at the central line positions of the front end of the vehicle head 11, the front end of the vehicle body 12 and the rear end.

The control system in the embodiment comprises a processor, and a display screen, a memory and a signal transceiver which are in communication connection with the processor.

Example 2

Fig. 1 to 7 show a first embodiment of an intelligent sleeper laying method according to the present invention, which includes the following steps:

s1, dividing a design central line 6 into a plurality of point positions according to a certain distance through a control system to obtain corresponding design central line coordinates and point position coordinates;

it should be noted that the distance may be determined according to the file provided by the design unit according to the actual situation, for example, when 0.6 meter of sleeper is required to be placed, and 8.4 meters of sleeper is required to be placed, then the distance is set to be 8.4 meters.

The plurality of points includes a start point 61, an end point 63, and a plurality of intermediate points 62 arranged between the start point 61 and the end point 63, as shown in fig. 4.

S2, setting a base station 4 according to control points of the CPI, the CPII and the CPIII, and setting a plurality of GNSS mobile stations 2 on the track-laying vehicle 1; in the embodiment, the base station 4 is a GNSS reference station;

the CPI is a basic plane control network, the CPII is a line plane control network, and the CPIII is a track control network; in the present embodiment, the railcar 1 is provided with three GNSS mobile stations 2, and specifically, the three GNSS mobile stations 2 are respectively installed at a centerline position of the front end of the car head 11, a centerline position of the front end of the car body 12, and a centerline position of the rear end of the car body 12.

S3, arranging a total station 7 according to a rear intersection orientation method of the total station, and arranging a plurality of 360-degree prism assemblies 3 on the track laying vehicle 1;

the track-laying vehicle 1 is provided with three 360-degree prism assemblies 3, and specifically, the three 360-degree prism assemblies 3 are respectively arranged at the center line position of the front end of the vehicle head 11, the center line position of the front end of the vehicle body 12 and the center line position of the rear end of the vehicle body 12.

S4, detecting GNSS signals of the current position of the track laying vehicle 1 in real time: if the GNSS signals received by each GNSS mobile station 2 and the GNSS signals received by the base station 4 have signals transmitted by four or more identical GNSS satellites 5, step S5 is executed, otherwise, step S6 is executed.

S5, feeding back the current position coordinates of the track laying vehicle 1 to the control system through the GNSS mobile station 2, controlling the track laying vehicle 1 to move from the current point position to the next point position coordinate position along the design center line 6 to lay a sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation between the current position coordinates of the track laying vehicle 1 and the design center line coordinates, and then regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation.

S6, feeding back the current position coordinates of the track laying vehicle 1 to the control system through the 360-degree prism assembly 3, controlling the track laying vehicle 1 to move from the current point location to the next point location coordinates along the design center line 6 to lay a sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation between the current position coordinates of the track laying vehicle 1 and the design center line coordinates, and then regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation.

S7, if the rail laying vehicle 1 does not move to the position corresponding to the coordinate position of the end point position 63, returning to the step S4, otherwise, completing laying of the sleeper.

It should be noted that, the sequence between step S2 and step S3 is not consecutive.

According to the invention, the measuring instruments at the position of the track laying vehicle 1 are switched by detecting the strength of GNSS signals, the track laying vehicle 1 is measured by combining the GNSS technology and the total station 7, different measuring modes can be selected according to different environments, so that the measuring precision is improved, the application range can be increased, and the track laying efficiency is improved.

When the GNSS signal is strong, the base station 4 is used as a reference point, the control system realizes mastering the deviation amount between the current position coordinate of the track laying vehicle 1 and the point position coordinate of the design central line 6 through the GNSS mobile station 2, and real-time regulation and control are carried out on the moving direction of the track laying vehicle 1 according to the deviation amount, so that accurate directional movement of the track laying vehicle 1 is realized; and when the GNSS signal is weak, the total station 7 is used as a reference point, the control system realizes mastering the deviation between the current position coordinate of the track laying vehicle 1 and the point position coordinate of the design center line 6 through the 360-degree prism assembly 3, and then regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation, so that the precise directional movement of the track laying vehicle 1 is realized.

Example 3

The present embodiment is similar to embodiment 2, except that step S5 in the present embodiment specifically includes the following steps:

s51, if the paved rail area has a paved partial rail, executing a step S52, otherwise executing a step S53;

it should be noted that, when the track laying is performed, two cases are divided, the first case is that the track has already been partially laid, and the track needs to be continuously laid next to the partially laid track, and then step S52 is executed at this time; in the second case, no track is laid in the track-laying area, step S53 is executed.

S52, controlling a driving system of the track laying vehicle 1 by the processor, enabling the track laying vehicle 1 to move to the tail end of the partial track, and then executing the step S54;

s53, the control system controls the track laying vehicle 1 to move to a position corresponding to the coordinate position of the starting point position 61 in the track laying area according to the coordinate of the starting point position 61, and then step S54 is executed;

s54, the control system controls the track laying vehicle 1 to move from the current point location to the next point location coordinate along the design center line 6 through the GNSS mobile station 2 and the base station 4 to lay the sleeper;

when the step S54 is executed for the first time, the railcar 1 is controlled to move from the starting point 61 to the intermediate point 62 adjacent thereto along the design center line 6; when the step S54 is not executed for the first time, the railcar 1 is controlled to move from the current intermediate point 62 to the next intermediate point 62 or the end point 63 along the design center line 6;

in the moving process, the control system respectively obtains the current position coordinates of the front end of the head 11, the front end of the body 12 and the rear end of the body 12 through the three GNSS mobile stations 2, then calculates the deviation amount between the three current position coordinates and the coordinates of the next point, then regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation amount, stops when the head 11 moves to the next point, and then executes the step S7;

wherein, as shown in fig. 7, the deviation amount includes a longitudinal deviation amount and a lateral deviation amount;

the calculation formula of the lateral deviation amount is as follows:

Ax+By+C＝0；

wherein d represents a lateral deviation amount, P₁Point (x)₁,y₁) Current position coordinates representing the front end of the vehicle head 11, the front end of the vehicle body 12 or the rear end of the vehicle body 12; ax + By + C-0 denotes passing through point M (x)_M,y_M) And N point (x)_N,y_N) Two linear expressions of point location coordinates, M points (x)_M,y_M) A point position, N points (x), which represents the point position the railcar 1 has passed and which is adjacent to its current position_N,y_N) A point position which represents that the railcar 1 has not passed by and is adjacent to the current position thereof;

the calculation formula of the longitudinal deviation amount is as follows:

where v denotes a longitudinal deviation amount, A, B, C denotes a coefficient in which the linear expression Ax + By + C is 0, and P denotes₂Point (x)₂,y₂) Coordinates (x) of a foot point representing coordinates of a current position of the front end of the vehicle head 11, the front end of the vehicle body 12, or the rear end of the vehicle body 12 to the design center line 6_N,y_N) Which represents the point location which the railcar 1 has not yet passed by and which is adjacent to its current location, i.e. also the coordinates of the next point location.

Specifically, when the track laying vehicle 1 moves from the starting point position 61 to the intermediate point position 62 adjacent to the starting point position along the design center line 6, the control system obtains a corresponding linear expression Ax + By + C as 0 through the starting point position 61 and the intermediate point position 62, obtains a corresponding deviation amount according to a calculation formula of the transverse and longitudinal deviation amounts, and then regulates and controls the moving direction of the track laying vehicle 1 in real time through the deviation amount.

In step S54, when the measurable range of the base station 4 is exceeded, the base station 4 is re-established, as shown in fig. 5. The measurable range of the base station 4 in this embodiment is 5000 meters. Specifically, the base station 4 can be switched synchronously by using the gap of the pull rail, so that the operation efficiency can be improved.

Step S6 in this embodiment specifically includes the following steps:

s61, if the track laying area has already laid partial tracks, executing a step S62, otherwise, executing a step S63;

s62, the processor controls a driving system of the track laying vehicle 1 to enable the track laying vehicle 1 to move to the tail end of a partial track, and then step S64 is executed;

s63, the control system controls the track laying vehicle 1 to move to a position corresponding to the coordinate position of the starting point position 61 in the track laying area according to the coordinate of the starting point position 61, and then step S64 is executed;

s64, the control system controls the track laying vehicle 1 to move from the current point location to the coordinate of the next point location along the design center line 6 through the 360-degree prism assembly 3 and the total station 7 to lay the sleeper;

in the moving process, the control system respectively obtains current position coordinates of the front end of the head 11, the front end of the body 12 and the rear end of the body 12 through the three 360-degree prism assemblies 3, then calculates deviation amounts between the three current position coordinates and coordinates of a next point, then regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation amounts, stops when the head 11 moves to the next point, and then executes the step S7;

wherein, as shown in fig. 7, the deviation amount includes a longitudinal deviation amount and a lateral deviation amount;

the calculation formula of the lateral deviation amount is as follows:

Ax+By+C＝0；

wherein d represents a lateral deviation amount, P₁Point (x)₁,y₁) Current position coordinates representing the front end of the vehicle head 11, the front end of the vehicle body 12 or the rear end of the vehicle body 12; ax + By + C is 0 and represents a straight line expression passing through M, N two point location coordinates, and M, N two point locations are adjacent to the current position coordinates of the railcar 1;

the calculation formula of the longitudinal deviation amount is as follows:

where v denotes a longitudinal deviation amount, A, B, C denotes a coefficient in which the linear expression Ax + By + C is 0, and P denotes₂Point (x)₂,y₂) And represents the coordinates of the current position of the front end of the vehicle head 11, the front end of the vehicle body 12 or the rear end of the vehicle body 12 to the coordinates of the drop foot point of the design central line 6.

In step S64, when the measurable range of the total station 7 is exceeded, the total station 7 is re-set, as shown in fig. 6. The measurable range of the total station 7 in this embodiment is 200 meters. Particularly, when the total station 7 is changed, the gap of the pull rail can be utilized to be synchronously carried out, so that the operation efficiency can be improved.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.