CN111304976A - Control system and method for continuously traveling automatic positioning tamping area - Google Patents
Control system and method for continuously traveling automatic positioning tamping area Download PDFInfo
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- CN111304976A CN111304976A CN202010104415.9A CN202010104415A CN111304976A CN 111304976 A CN111304976 A CN 111304976A CN 202010104415 A CN202010104415 A CN 202010104415A CN 111304976 A CN111304976 A CN 111304976A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
- E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
- E01B27/13—Packing sleepers, with or without concurrent work on the track
- E01B27/16—Sleeper-tamping machines
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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Abstract
The invention relates to a control system and a method for a continuous-running automatic positioning tamping area, wherein the control system comprises a control host PLC (programmable logic controller) for processing data, a tag for transmitting a signal, a receiver for receiving the tag signal and a running distance sensor for checking a running distance, the tag comprises a first tag (4) and a second tag (5), the first tag (4) is arranged on a sleeper (2) on a track (1) at a non-connecting plate (3), the second tag (5) is arranged on the sleeper (2) on the track (1) at a connecting plate (3), and the control host PLC, the receiver and the running distance sensor are arranged on a tamping vehicle body (6). The invention can effectively reduce the times of misoperation or accidents caused by visual errors of operators, effectively reduce the times of front and back positioning adjustment of vehicles in operation, reduce labor intensity, improve operation efficiency and reduce the damage probability of sleepers in the operation process.
Description
Technical Field
The invention relates to a control system and a control method of railway maintenance equipment, in particular to a control system and a control method of a continuously-running automatic positioning tamping area.
Background
Under the conditions that the current railway transportation volume is continuously increased and the running speed is continuously improved, the railway line needs to be maintained and repaired at irregular intervals, wherein the leveling, track-shifting and tamping operation of the line is the key for ensuring the good running of the railway line. At present, the following technical defects exist in the tamping operation process of the line: operating personnel intensity of labour is big, and a large amount of operations still must rely on the operative hand to go on through handle or shift knob, need ground personnel to inform the operative hand on the car through gesture or intercom simultaneously, not only lead to not good enough to the accurate judgement of tamping head plug-in position, and the operating efficiency is low, and the tamping process easily causes the damage to the sleeper, easily because of misoperation emergence accident. The problems are further exacerbated by the increased workload of railway maintenance and repair as the operating time progresses and the speed of the train increases.
At present, when tamping operation is carried out, the following control systems and methods are mainly used for judging tamping positions:
1. determining whether the tamping head is positioned between two adjacent sleepers or not by means of operator vision or camera images;
2. determining whether the tamping head is positioned between two adjacent sleepers by means of the data assistance of the cart measuring wheel;
3. the detection of the spikes by means of the sensors assists in determining whether the tamping head is located between two adjacent sleepers.
Currently, these control systems and methods are difficult to accurately position the tamping longitudinal position in actual operation, or due to the technical degree of operators, or due to the position deviation of sleeper maintenance for many times, or due to the loss of spikes or obstacles on the spikes, etc., and the operators need to adjust and correct in real time through walking forward/backward buttons or pedals in an operation room. If a fishplate or a special condition occurs, ground personnel need to inform the operators through gestures or interphones. Therefore, the overall operation efficiency is low, the labor intensity of personnel is high, and the probability of damage to the sleeper is high. Therefore, in order to solve the related technical problems of complicated operation of longitudinal positioning personnel and accidents caused by misoperation in the prior tamping operation, a control system and a method for continuously traveling and automatically positioning a tamping area are provided, which become technical problems to be solved by the technical personnel in the field.
The Chinese invention patent with patent number ZL201910774509.4 relates to an automatic operation control system of a railway turnout tamping vehicle, compared with the prior art, the automatic operation control system comprises: an automatic job control host for processing data; the program control system is connected with the automatic operation control host and is used for controlling the movement of the device; the traveling distance pulse acquisition module is connected with the automatic operation control host and is used for acquiring the traveling distance of the railway turnout tamping vehicle; the tamping device telescopic distance sensing device is connected with the automatic operation control host; the tamping device deflection distance sensing device is connected with the automatic operation control host; the tamping device rotating angle sensing device is connected with the automatic operation control host; the tamping device transverse moving distance sensing device is connected with the automatic operation control host machine, and the auxiliary track lifting device telescopic distance sensing device is connected with the automatic operation control host machine; the track lifting and lining device connected with the automatic operation control host moves back and forth to the distance sensing device; and the outer tamping pick turnover angle sensing device is connected with the automatic operation control host. The application provides a railway switch tamping car automatic operation control system, compares in prior art, and it can reduce the demand to the manpower, improves the operating quality, improves the operating efficiency, reduces the accident rate. However, this invention does not allow for a continuously running, automatically positioned tamping area and thus improvements are still needed.
The invention relates to a Chinese invention patent with the patent number ZL201910775333.4, which relates to an automatic operation realization method of a turnout tamping vehicle, and compared with the prior art, the method comprises the following steps: identifying the current position of a turnout where a tamping car is located; calculating to obtain a preset position extended by the outer tamping device, a preset position deflected by the outer tamping device, a preset position extended by the auxiliary track lifting device, a preset angle rotated by the tamping device and a preset position moved by the track lifting and lining device; a predetermined position of lateral movement of the tamping unit; the external tamping pickaxe is turned over by a preset angle; controlling the outer tamping unit to reach a predetermined position where the outer tamping unit extends; controlling the outer tamping unit to reach a predetermined position of deflection of the outer tamping unit; and controlling the auxiliary track lifting device to reach the preset position where the auxiliary track lifting device extends out. Compared with the prior art, the automatic control system can reduce the labor cost, improve the operation quality and the operation efficiency and reduce the accident rate. The application also relates to an automatic operation device of the railway turnout tamping vehicle, and the automatic operation device has the beneficial effects. However, this invention does not allow for a continuously running, automatically positioned tamping area and thus improvements are still needed.
Disclosure of Invention
In order to solve the technical defects of inaccurate positioning of a tamping area, complex manual operation of operation and easy occurrence of operation errors to cause accidents when the tamping car continuously runs in the conventional automatic operation control system and automatic operation device of the railway switch tamping car, the technical scheme of the control system for continuously running and automatically positioning the tamping area adopted by the invention is as follows:
the utility model provides a control system in continuous walking automatic positioning tamping area, is including the control host computer PLC who is used for handling data, be used for the label of transmitting signal, be used for receiving the receiver of label signal and the walking distance sensor who is used for walking apart from the check-up, the label includes first label and second label, first label sets up on the sleeper of non-connecting plate department on the track, the second label sets up on the sleeper of connecting plate department on the track, control host computer PLC, receiver and walking distance sensor install on the tamping car automobile body.
Preferably, the first tag and the second tag both use rfid electronic tags, and the receiver both uses a rfid receiver.
In any of the above aspects, preferably, the receiver includes a vehicle body left side first receiver, a vehicle body left side second receiver, a vehicle body right side first receiver, and a vehicle body right side second receiver.
In any of the above aspects, it is preferable that the vehicle further comprises an actuator, and the actuator comprises at least a running gear and a working gear.
In any of the above schemes, preferably, the control host PLC collects the signals of the receivers and the data of the travel distance sensor, performs data processing and logic judgment, automatically positions the tamping area, and outputs control signals to the corresponding execution mechanisms.
In any of the above schemes, preferably, d1 is a horizontal distance between adjacent sleepers, d2 is a horizontal distance between the first tag and the second tag on the left and right sides of the same sleeper, d3 is a horizontal distance between the front and rear receivers on the same side, d4 is a horizontal distance between the left and right receivers, d5 is a vertical distance between the tag and the receiver, and the receiver receiving distance is d0, where d1= d3, d1< d2, d1< d4, d5< d1/2, and d0< d 1/2.
In any of the above schemes, preferably, when d5 is not less than d0< d1/2, the tag signal is received by the first receiver on the left side of the vehicle body, the second receiver on the left side of the vehicle body, the first receiver on the right side of the vehicle body and the second receiver on the right side of the vehicle body, and the vehicle body of the tamping vehicle is located in the tamping area.
In any of the above aspects, it is preferred that when d0> d1/2, the tamper vehicle body is now located in a non-tamping region; when the signal of the second label is received, the connection board area is entered.
In any of the above embodiments, the running wheel distance sensor outputs a running signal, and the running signal is processed and converted into a left running distance L1 and a right running distance L2 by the control host PLC.
In order to solve the technical defects of inaccurate tamping area positioning, complex manual operation and easy occurrence of misoperation to cause accidents during continuous running of the tamping car in the conventional automatic operation method of the railway turnout tamping car and the automatic operation realization method of the turnout tamping car, the technical scheme of the method for automatically positioning the tamping area by continuous running adopted by the invention is as follows:
a method of continuously traveling an automatically positioned tamping zone, the method being implemented by a control system of any of the above preferred embodiments, comprising setting a longitudinal tolerance of the first left-hand receiver of the vehicle body to E11 with respect to the second left-hand receiver of the vehicle body, a longitudinal tolerance of the first right-hand receiver of the vehicle body to E12 with respect to the second right-hand receiver of the vehicle body, a longitudinal tolerance of the first left-hand receiver of the vehicle body to E21 with respect to the first right-hand receiver of the vehicle body, and a longitudinal tolerance of the second left-hand receiver of the vehicle body to E22 with respect to the second right-hand receiver of the vehicle body, comprising the steps of:
step 1: calibrating parameters before operation starting: the first receiver on the left side of the vehicle body and the second receiver (9) on the left side of the vehicle body are respectively arranged above two adjacent first labels on the left side, the first receiver on the left side of the vehicle body, the second receiver on the left side of the vehicle body and the two adjacent first labels on the left side are positioned on the same plane, and at the moment, the first receiver on the left side of the vehicle body and the second receiver on the left side of the vehicle body receive signals of the two adjacent first labels on the left side; the first receiver on the right side of the vehicle body and the second receiver on the right side of the vehicle body are respectively arranged above two adjacent first labels on the right side, the first receiver on the right side of the vehicle body, the second receiver on the right side of the vehicle body and the two adjacent first labels on the right side are positioned on the same plane, and at the moment, the first receiver on the right side of the vehicle body and the second receiver on the right side of the vehicle body receive signals of the two adjacent first labels on the right side; respectively calibrating an L1 initial value, an L2 initial value, d1, d2, d3, d4, d5, E11, E12, E21 and E22;
step 2: the tamping vehicle starts to work, and the equipment moves forwards;
and step 3: continuing the walking forward until the signals of the first receiver on the left side of the vehicle body, the second receiver on the left side of the vehicle body, the first receiver on the right side of the vehicle body and the second receiver on the right side of the vehicle body are lost;
and 4, step 4: when the first receiver on the left side of the vehicle body receives a signal and the second receiver on the left side of the vehicle body does not receive the signal, recording L1 and L2 at the moment, which are respectively L111 and L121, continuing walking until the second receiver on the left side of the vehicle body receives the signal, recording L1 and L2 at the moment, which are respectively L112 and L122, judging the values of L112-L111 and L122-L121 and the size of E11 at the moment, and if the values are larger than E11, outputting an alarm and executing the step 8; if the current value is less than or equal to E11, continuing to advance and executing the next step;
and 5: if the first receiver on the right side of the vehicle body and the second receiver on the right side of the vehicle body do not receive the signals at the moment, the walking is continued until the first receiver on the right side of the vehicle body receives the signals, L1 and L2 at the moment are recorded as L211 and L221 respectively, the sizes of L211-L111 and E21 are judged at the moment, and if the sizes of the L211-L111 and the E21 are larger than E21, an alarm is output and a step 8 is executed; if the current value is less than or equal to E21, continuing to walk to execute the next step;
step 6: if the second receiver on the right side of the vehicle body receives the signal at the moment, and records the L1 and the L2 at the moment as L212 and L222 respectively, the sizes of L212-L211 and E12 are judged at the moment, and if the L1 and the L2 are larger than E12, an alarm is output and a step 7 is executed; judging the sizes of L222-L221 and E22, if the sizes are larger than E22, outputting an alarm and executing a step 8; if L212-L211 is not less than E12 and L222-L221 is not less than E22, stopping running and advancing in a delayed mode and executing the step 7;
and 7: the control host PLC outputs correct signals of the operation area, automatically executes the actions of relevant mechanisms, and automatically enters the step 2 after the actions are finished; if the automatic operation needs to be finished, entering the step 8;
and 8: the running is stopped.
Preferably, the steps 1 to 8 are control flows for receiving the first tag signal, the sequence of each receiver in each step is adjustable, the control mode and the calculation method are the same, and the calculation is performed according to the respective operation error.
In any of the above schemes, preferably, when each receiver receives the second tag signal for the first time, the control host PLC determines that the second tag signal enters the track connection area at this time, and outputs a corresponding control signal, and the traveling forward control flow is the same as that in steps 1 to 8.
Compared with the prior art, the invention has the beneficial effects that: the number of times of misoperation or accident caused by visual error of an operator can be effectively reduced, and the number of times of front and back positioning adjustment of the vehicle in the operation process is effectively reduced, so that the labor intensity of the operator is reduced, the operation efficiency is improved, and the damage probability of the sleeper in the operation process is reduced. Meanwhile, whether the equipment enters a track connection area or not can be automatically reminded, corresponding control signals can be automatically output, the labor intensity of ground personnel is further reduced, and the track lifting and lining device in the track connection area is promoted to be correctly changed, so that the service life of the equipment is greatly prolonged. According to the invention, the error numerical values in the operation process are compared and processed through the PLC control system, so that whether the transverse position of the sleeper is good or not can be effectively judged, and an error prompt is given, thereby facilitating the operation of operators. The invention is not only suitable for tamping vehicles, but also suitable for all equipment needing to detect the position or the area of the sleeper.
Drawings
Fig. 1 is a schematic diagram of the framework of a preferred embodiment of the control system for continuously traveling automatic positioning of the tamping zone according to the present invention.
Fig. 2 is a schematic view of the general arrangement of a preferred embodiment of the control system for continuously traveling automatic positioning of the tamping zone according to the present invention.
Fig. 3 is a schematic diagram of a control system for continuously traveling automatic tamping zone positioning according to the present invention illustrating the relative position of the tag and receiver in the embodiment of fig. 2.
Description of reference numerals:
1, track; 2, sleeper; 3, connecting a plate; 4 a first label; 5 a second label; 6, tamping the vehicle body; 7, a first receiver on the left side of the vehicle body; 8, a first receiver at the right side of the vehicle body; 9 a second receiver on the left side of the vehicle body; 10 a second receiver on the right side of the vehicle body;
d 1: horizontal distance between adjacent sleepers;
d 2: the horizontal distance between the labels on the left side and the right side of the same sleeper;
d 3: the horizontal distance between the front receiver and the rear receiver on the same side;
d 4: horizontal distance between the left and right receivers;
d 5: the tag is at a perpendicular distance from the receiver.
Detailed Description
The preferred solution of the control system for the continuously running automatic positioning tamping zone is described in detail below with reference to fig. 1 to 3:
the utility model provides a control system in continuous walking automatic positioning tamping area, includes the control host computer PLC who is used for handling data, is used for the label of transmitting signal, is used for receiving the receiver of label signal and the walking distance sensor who is used for walking apart from the check-up, the label includes first label 4 and second label 5, and first label 4 sets up on track 1 on sleeper 2 of non-connecting plate 3 department, and second label 5 sets up on track 1 on sleeper 2 of connecting plate 3 department, control host computer PLC, receiver and walking distance sensor install on tamping car automobile body 6.
The first tag 4 and the second tag 5 both adopt FRID electronic tags or signal transmitters, and the receivers both adopt FRID receivers.
The receivers include a vehicle body left side first receiver 7, a vehicle body left side second receiver 9, a vehicle body right side first receiver 8, and a vehicle body right side second receiver 10.
The device comprises an execution mechanism, wherein the execution mechanism at least comprises a walking mechanism and a working mechanism.
The control host PLC collects signals of all the receivers and data of the traveling distance sensor, processes data and logically judges, automatically positions tamping areas and outputs control signals to corresponding actuating mechanisms.
Setting d1 as the horizontal distance of adjacent sleepers 2, d2 as the horizontal distance of the first tag 4 and the second tag 5 on the left side and the right side of the same sleeper 2, d3 as the horizontal distance of the receiver on the front side and the rear side of the same sleeper 2, d4 as the horizontal distance of the receiver on the left side and the right side, d5 as the vertical distance of the tag and the receiver, and the receiver receiving distance is d0, wherein d1= d3, d1< d2, d1< d4, d5< d1/2, and d0< d 1/2.
When d5 is not less than d0< d1/2, the first receiver 7 on the left side of the vehicle body, the second receiver 9 on the left side of the vehicle body, the first receiver 8 on the right side of the vehicle body and the second receiver 10 on the right side of the vehicle body on the tamping vehicle 6 all receive the label signals, and at the moment, the tamping vehicle body 6 is located in a tamping area.
When d0> d1/2, the tamping vehicle body 6 is located in a non-tamping area; when the signal of the second tag 5 is received, it is interpreted to enter the area of the web 3.
The walking wheel distance sensor outputs walking signals, and the walking signals are processed and converted into a left side walking distance L1 and a right side walking distance L2 through the control host machine PLC.
The preferred solution of the method for continuously traveling and automatically positioning the tamping zone is described in detail below with reference to fig. 1 to 3:
a method of continuously traveling an automatically located tamping zone, the method being practiced with the continuously traveling automatically located tamping zone control system of any of the above embodiments of the method, including setting the longitudinal tolerance of the first left body receiver 7 to the second left body receiver 9 to E11, the longitudinal tolerance of the first right body receiver 8 to the second right body receiver 10 to E12, the longitudinal tolerance of the first left body receiver 7 to the first right body receiver 8 to E21, and the longitudinal tolerance of the second left body receiver 9 to the second right body receiver 10 to E22, comprising the steps of:
step 1: calibrating parameters before operation starting: the first receiver 7 on the left side of the vehicle body and the second receiver 9 on the left side of the vehicle body are respectively arranged above two adjacent first tags 4 on the left side, the first receiver 7 on the left side of the vehicle body, the second receiver 9 on the left side of the vehicle body and the two adjacent first tags 4 on the left side are positioned on the same plane, and at the moment, the first receiver 7 on the left side of the vehicle body and the second receiver 9 on the left side of the vehicle body receive signals of the two adjacent first tags 4 on the left side; the first receiver 8 on the right side of the vehicle body and the second receiver 10 on the right side of the vehicle body are respectively arranged above the two adjacent first tags 4 on the right side, the first receiver 8 on the right side of the vehicle body, the second receiver 10 on the right side of the vehicle body and the two adjacent first tags 4 on the right side are positioned on the same plane, and at the moment, the first receiver 8 on the right side of the vehicle body and the second receiver 10 on the right side of the vehicle body receive signals of the two adjacent first tags 4 on the right side; respectively calibrating an L1 initial value, an L2 initial value, d1, d2, d3, d4, d5, E11, E12, E21 and E22;
step 2: the tamping vehicle starts to work, and the equipment moves forwards;
and step 3: the walking and advancing are continued until signals of the first receiver 7 on the left side of the vehicle body, the second receiver 9 on the left side of the vehicle body, the first receiver 8 on the right side of the vehicle body and the second receiver 10 on the right side of the vehicle body are lost;
and 4, step 4: when the first receiver 7 on the left side of the vehicle body receives a signal and the second receiver 9 on the left side of the vehicle body does not receive the signal, recording L1 and L2 at the moment, respectively being L111 and L121, continuing walking until the second receiver 9 on the left side of the vehicle body receives the signal, recording L1 and L2 at the moment, respectively being L112 and L122, judging the values of L112-L111 and L122-L121 and the size of E11 at the moment, and if the values are larger than E11, outputting an alarm and executing the step 8; if the current value is less than or equal to E11, continuing to advance and executing the next step;
and 5: if the first receiver 8 on the right side of the vehicle body and the second receiver 10 on the right side of the vehicle body do not receive signals at the moment, the walking is continued until the first receiver 8 on the right side of the vehicle body receives the signals, L1 and L2 at the moment are recorded as L211 and L221 respectively, the sizes of L211-L111 and E21 are judged at the moment, and if the sizes are larger than E21, an alarm is output and the step 8 is executed; if the current value is less than or equal to E21, continuing to walk to execute the next step;
step 6: if the second receiver 10 on the right side of the vehicle body receives the signal at the moment, and records the L1 and the L2 at the moment as L212 and L222 respectively, the sizes of L212-L211 and E12 are judged at the moment, and if the sizes are larger than E12, an alarm is output and step 7 is executed; judging the sizes of L222-L221 and E22, if the sizes are larger than E22, outputting an alarm and executing a step 8; if L212-L211 is not less than E12 and L222-L221 is not less than E22, stopping running and advancing in a delayed mode and executing the step 7;
and 7: the control host PLC outputs correct signals of the operation area, automatically executes the actions of relevant mechanisms, and automatically enters the step 2 after the actions are finished; if the automatic operation needs to be finished, entering the step 8;
and 8: the running is stopped.
The steps 1 to 8 are control flows for receiving the signal of the first tag 4, the sequence of each receiver in each step is adjustable, the control mode and the calculation method are the same, and the calculation is carried out according to the respective operation error.
And when each receiver receives a second tag 5 signal for the first time, the control host PLC judges that the receiver enters a track connection area at the moment and outputs a corresponding control signal, and the walking forward control flow is the same as the steps 1 to 8.
At least one electronic tag is arranged on a single sleeper 2, and at least one receiver is arranged on a single device. The receiver collects data and processes the data through the control host PLC or a circuit board or an electronic circuit.
The above embodiments are only preferred embodiments, wherein the components and the connection relationships of the control system and the steps of the method are not limited to the above embodiments, and the arrangement and the connection relationships of the components and the steps of the control system and the method can be arbitrarily arranged and combined to form a complete technical solution.
Claims (10)
1. The utility model provides a control system of continuous walking automatic positioning tamping area, is including the control host computer PLC who is used for handling data, the label that is used for transmitting the signal, be used for receiving the receiver of label signal and the walking distance sensor who is used for walking apart from the check-up, its characterized in that, the label includes first label (4) and second label (5), and first label (4) set up on sleeper (2) of non-connecting plate (3) department on track (1), and second label (5) set up on sleeper (2) of connecting plate (3) department on track (1), control host computer PLC, receiver and walking distance sensor install on tamping car automobile body (6).
2. The continuously traveling tamping zone control system according to claim 1, wherein the first tag (4) and the second tag (5) are rfid tags and the receivers are rfid receivers.
3. The continuously traveling control system for automatically positioning a tamping area according to claim 2, wherein said receivers comprise a first left-hand receiver (7), a second left-hand receiver (9), a first right-hand receiver (8) and a second right-hand receiver (10).
4. A continuously traveling control system for automatically positioning a tamping area as claimed in claim 3, comprising actuators including at least a traveling mechanism and a working mechanism.
5. The continuous-feed automatic tamping area positioning control system as claimed in claim 4, wherein said control host PLC collects said receiver signals, distance sensor data, performs data processing, logic determination, automatic positioning of tamping areas, and outputs control signals to corresponding said actuators.
6. The control system for a continuously traveling automatic tamping area as claimed in claim 5, wherein d1 is set as the horizontal distance between adjacent sleepers (2), d2 is the horizontal distance between the first tag (4) and the second tag (5) on the left and right sides of the same sleeper (2), d3 is the horizontal distance between the front and rear receivers on the same side, d4 is the horizontal distance between the receivers on the left and right sides, d5 is the vertical distance between the tags and the receivers, and the receiver receiving distance is d0, wherein d1= d3, d1< d2, d1< d4, d5< d1/2, and d0< d 1/2.
7. The continuously running control system for automatically positioning the tamping zone according to claim 6, wherein when d5 is not less than d0< d1/2, the first receiver (7) on the left side of the vehicle body (6), the second receiver (9) on the left side of the vehicle body, the first receiver (8) on the right side of the vehicle body and the second receiver (10) on the right side of the vehicle body receive the tag signal, and the tamping zone is located by the tamping vehicle body (6).
8. The continuously running control system for automatically positioning the tamping zone according to claim 6, wherein when d0> d1/2, the tamping vehicle body (6) is now located in a non-tamping zone; when the signal of the second label (5) is received, the instruction enters the area of the connecting plate (3).
9. The continuous-running automatic tamping area control system according to claim 7 or 8, wherein the running wheel distance sensors output running signals which are converted into a left running distance L1 and a right running distance L2 by the PLC of the control host.
10. A method of continuously traveling automatically positioning a tamping zone, carried out by the control system of any of claims 1 to 9, comprising setting the longitudinal tolerance of the first left-hand receiver (7) and the second left-hand receiver (9) of the vehicle body to E11, the longitudinal tolerance of the first right-hand receiver (8) and the second right-hand receiver (10) of the vehicle body to E12, the longitudinal tolerance of the first left-hand receiver (7) and the first right-hand receiver (8) of the vehicle body to E21, and the longitudinal tolerance of the second left-hand receiver (9) and the second right-hand receiver (10) of the vehicle body to E22, characterized by the steps of:
step 1: calibrating parameters before operation starting: the first receiver (7) on the left side of the vehicle body and the second receiver (9) on the left side of the vehicle body are respectively arranged above two adjacent first labels (4) on the left side, the first receiver (7) on the left side of the vehicle body, the second receiver (9) on the left side of the vehicle body and the two adjacent first labels (4) on the left side are positioned on the same plane, and at the moment, the first receiver (7) on the left side of the vehicle body and the second receiver (9) on the left side of the vehicle body receive signals of the two adjacent first labels (4) on the left; the first receiver (8) on the right side of the vehicle body and the second receiver (10) on the right side of the vehicle body are respectively arranged above the two adjacent first labels (4) on the right side, the first receiver (8) on the right side of the vehicle body, the second receiver (10) on the right side of the vehicle body and the two adjacent first labels (4) on the right side are positioned on the same plane, and at the moment, the first receiver (8) on the right side of the vehicle body and the second receiver (10) on the right side of the vehicle body receive signals of the two adjacent first labels (4) on the; respectively calibrating an L1 initial value, an L2 initial value, d1, d2, d3, d4, d5, E11, E12, E21 and E22;
step 2: the tamping vehicle starts to work, and the equipment moves forwards;
and step 3: the walking and advancing are continued until signals of the first receiver (7) on the left side of the vehicle body, the second receiver (9) on the left side of the vehicle body, the first receiver (8) on the right side of the vehicle body and the second receiver (10) on the right side of the vehicle body are lost;
and 4, step 4: when the first receiver (7) on the left side of the vehicle body receives a signal and the second receiver (9) on the left side of the vehicle body does not receive the signal, recording L1 and L2 at the moment, which are respectively L111 and L121, continuing the walking process until the second receiver (9) on the left side of the vehicle body receives the signal, recording L1 and L2 at the moment, which are respectively L112 and L122, judging the values of L112-L111 and L122-L121 and the size of E11 at the moment, and if the values are larger than E11, outputting an alarm and executing the step 8; if the current value is less than or equal to E11, continuing to advance and executing the next step;
and 5: if the first receiver (8) on the right side of the vehicle body and the second receiver (10) on the right side of the vehicle body do not receive signals at the moment, the walking is continued until the first receiver (8) on the right side of the vehicle body receives the signals, L1 and L2 at the moment are recorded as L211 and L221 respectively, the sizes of L211-L111 and E21 are judged at the moment, and if the sizes of the L211-L111 and the E21 are larger than E21, an alarm is output and the step 8 is executed; if the current value is less than or equal to E21, continuing to walk to execute the next step;
step 6: if the second receiver (10) on the right side of the vehicle body receives the signal at the moment, and records the L1 and the L2 at the moment as L212 and L222 respectively, the sizes of L212-L211 and E12 are judged at the moment, and if the sizes are larger than E12, an alarm is output and a step 7 is executed; judging the sizes of L222-L221 and E22, if the sizes are larger than E22, outputting an alarm and executing a step 8; if L212-L211 is not less than E12 and L222-L221 is not less than E22, stopping running and advancing in a delayed mode and executing the step 7;
and 7: the control host PLC outputs correct signals of the operation area, automatically executes the actions of relevant mechanisms, and automatically enters the step 2 after the actions are finished; if the automatic operation needs to be finished, entering the step 8;
and 8: the running is stopped.
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