CN113802422B - Intelligent sleeper laying system and method - Google Patents
Intelligent sleeper laying system and method Download PDFInfo
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- CN113802422B CN113802422B CN202111070103.1A CN202111070103A CN113802422B CN 113802422 B CN113802422 B CN 113802422B CN 202111070103 A CN202111070103 A CN 202111070103A CN 113802422 B CN113802422 B CN 113802422B
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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
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/16—Transporting, laying, removing, or replacing rails; Moving rails placed on sleepers in the track
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
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 360-degree prism assemblies 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 assemblies are 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 automatic laying-out and outputting device can realize automatic laying-out and outputting, accurately guide sleeper laying and improve working efficiency.
Description
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 is used for laying tracks, each sleeper loaded on the vehicle body is required to be laid on ballast according to a certain interval, and the center position of each sleeper is required to be accurately dropped on a design center line of a rail line, so that the track laying accuracy and quality of the track laying operation are determined by the positions and the moving route of the track laying vehicle head and the vehicle body.
The traditional sleeper laying adopts a manual laying-out mode, and the method mainly comprises the steps of laying a line which almost coincides with the line design central line on a railway line to serve as a guide line, tracking the line through a camera at the middle point of the railway laying-out head, and carrying out manual laying-out. The method has certain human error in manual midline lofting and low working efficiency.
The Chinese patent document with the publication number of CN111519482A discloses a navigation control method of a track laying machine, the track laying machine and a track laying machine system, wherein real-time coordinates of a track laying machine head are obtained through a total station, two virtual coordinate point coordinates close to real-time coordinate points in a preset planning route are obtained, the deviation condition of the track laying machine relative to the preset planning route is obtained according to the two virtual coordinate point coordinates and the real-time coordinates obtained through the total station, and finally the track laying machine is guided to operate.
However, the above scheme requires more times of station changing manually, and has single mode and lower 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 GNSS and total stations, which can realize automatic lofting and output, accurately guide sleeper laying and improve working efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
the intelligent sleeper 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 360-degree prism assemblies 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 assemblies are 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 GNSS mobile stations and the 360-degree prism assembly are respectively arranged at the front end of the headstock, the front end of the headstock and the center line position of the rear end of the headstock; the three 360-degree prism assemblies are also respectively arranged at the central line positions of the front end of the headstock, the front end of the headstock and the rear end of the headstock.
The invention also provides an intelligent sleeper paving method, which comprises the following steps:
s1, dividing a design center line into a plurality of point positions according to a certain interval by a control system to obtain corresponding design center line coordinates and point position coordinates;
s2, setting a base station according to a control point of CPI, CPII, CPIII, and setting a plurality of GNSS mobile stations on the track laying vehicle;
s3, setting a total station according to a total station rear intersection orientation method, and setting a plurality of 360-degree prism assemblies on the track laying vehicle;
s4, detecting GNSS signals 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 four or more signals sent by the same GNSS satellites, executing the step S5, otherwise executing the step S6;
s5, feeding back the current position coordinates of the track laying vehicle to the control system through a 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 a step S7; in the moving process, the control system calculates the deviation between the current position coordinate of the track laying vehicle and the designed center line coordinate, 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 position to the next point position coordinates along the design center line to lay the sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation between the current position coordinate of the track laying vehicle and the designed center line coordinate, and then regulates and controls the moving direction of the track laying vehicle in real time according to the deviation;
s7, if the track laying vehicle does not move to the position corresponding to the end point position coordinate position of the design center line, returning to the step S4, and if not, finishing the track laying.
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 part of tracks are already arranged at the track paving area, 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 initial point in the track laying area according to the coordinate of the initial point, and then step S54 is executed;
s54, the control system controls the track laying vehicle to move from the current point position to the next point position coordinate along the design center line through a GNSS mobile station and a base station to lay the track laying vehicle; in the moving process, the control system calculates the deviation between the current position coordinate and the next point position 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, and then executes the step S7.
Further, the step S6 specifically includes the following steps:
s61, if the paved part of tracks are already arranged at the track paving area, 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 initial point in the track laying area according to the coordinate of the initial point, and then step S64 is executed;
s64, the control system controls the track laying vehicle to move from the current point position to the next point position coordinate along the design center line through a 360-degree prism assembly and a total station to lay the track laying vehicle; in the moving process, the control system calculates the deviation between the current position coordinate and the next point position 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, 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 lateral deviation is as follows:
Ax+By+C＝0；
wherein d represents the lateral deviation amount, (x) 1 ,y 1 ) Representing current position coordinates of the railcar; ax+by+c=0 represents a linear expression passing through two point coordinates adjacent to the current position coordinates of the railcar;
the calculation formula of the longitudinal deviation is as follows:
where v denotes the longitudinal deviation amount, A, B, C denotes coefficients of the linear expression ax+by+c=0, respectively, (x) 2 ,y 2 ) Representing the coordinates of the current position of the railcar to the coordinates of the foot drop point of the design midline, (x) 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 newly set up; in step S64, when the measurable range of the total station is exceeded, the total station is newly set up.
Further, in step S2, three GNSS mobile stations are mounted on the rail-laying vehicle, and the GNSS mobile stations are located at the center line position of the rail-laying vehicle; in step S3, three 360 ° prism assemblies are mounted on the rail-laying vehicle, and the 360 ° prism assemblies are located at the center line of the rail-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 headstock, the front end of the headstock and the rear end of the headstock; the three 360-degree prism assemblies are also respectively arranged at the front end of the headstock, the front end of the headstock and the rear end of the headstock.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to an intelligent sleeper laying system and a method thereof, which are used for switching a track laying vehicle position measuring instrument by detecting the intensity of GNSS signals, measuring the track laying vehicle by combining a GNSS technology and a total station, and selecting different measuring modes according to different environments so as to improve the measuring precision, further increase the application range and improve the track laying efficiency.
When the GNSS signals are stronger, the base station is used as a datum point, the control system grasps the deviation between the current position coordinates of the track laying vehicle and the coordinates of the point positions of the central line in the design 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, so that the accurate directional movement of the track laying vehicle is realized; when the GNSS signals are weak, the total station is used as a datum point, the control system can grasp the deviation between the current position coordinates of the track laying vehicle and the coordinates of the center line point of the design through the 360-degree prism assembly, and then the moving direction of the track laying vehicle can be regulated and controlled in real time according to the deviation, so that the accurate directional movement of the track laying vehicle can be realized.
Drawings
FIG. 1 is a schematic diagram of a sleeper intelligent laying system according to the present invention;
FIG. 2 is a flow chart of a method for intelligent sleeper laying based on GNSS and total station according to the present invention;
FIG. 3 is a schematic diagram of a communication link between a railcar, a base station, and a GNSS satellite in accordance with the present invention;
FIG. 4 is a schematic view of the structure of the present invention;
FIG. 5 is a diagram illustrating the measurable range of a base station according to the present invention;
FIG. 6 is a schematic diagram of the measurable range of the total station of the present invention;
FIG. 7 is a schematic diagram of the deviation calculation of the present invention.
The graphic indicia are illustrated as follows:
1-track laying vehicle, 11-locomotive, 12-vehicle body, 2-GNSS mobile station, 3-360 DEG prism assembly, 4-base station, 5-GNSS satellite, 6-design center line, 61-starting point, 62-middle point, 63-end point and 7-total station.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated 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 numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth 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 indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
Example 1
The embodiment of the intelligent sleeper paving system comprises a rail paving vehicle 1, wherein a driving system is arranged in the rail paving vehicle 1, a plurality of GNSS mobile stations 2 and 360-degree prism assemblies 3 are arranged on the rail paving 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, 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 by 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 headstock 11; the GNSS mobile stations 2 and the 360-degree prism assembly 3 are respectively provided with three, and the three GNSS mobile stations 2 are respectively arranged at the front end of the headstock 11, the front end of the car body 12 and the central line position of the rear end; three 360-degree prism assemblies 3 are also respectively arranged at the front end of the headstock 11, the front end of the car body 12 and the central line of the rear end.
The control system in this embodiment includes a processor, and a display screen, a memory, and a signal transceiver communicatively coupled to the processor.
Example 2
Fig. 1 to 7 show a first embodiment of an intelligent sleeper paving method according to the present invention, which includes the following steps:
s1, dividing a design center line 6 into a plurality of points according to a certain interval by a control system to obtain corresponding design center line coordinates and point coordinates;
it should be noted that the interval may be determined according to the actual situation according to the file provided by the design unit, for example, when 0.6 m is required to place one sleeper, and when 14 sleepers are placed, the interval is set to be 8.4 m.
The plurality of points include a start point 61 and 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 a control point of CPI, CPII, CPIII, and setting a plurality of GNSS mobile stations 2 on the track laying vehicle 1; in this embodiment, the base station 4 is a GNSS reference station;
wherein, CPI is the basic plane control network, CPII is the line plane control network, CPII is the track control network; in this embodiment, three GNSS mobile stations 2 are mounted on the rail laying vehicle 1, and specifically, the three GNSS mobile stations 2 are respectively mounted at a center line position at a front end of the vehicle head 11, a center line position at a front end of the vehicle body 12, and a center line position at a rear end of the vehicle body 12.
S3, setting a total station 7 according to a total station rear intersection orientation method, and setting a plurality of 360-degree prism assemblies 3 on the track laying vehicle 1;
wherein, 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 four or more signals from the same GNSS satellites 5, step S5 is performed, otherwise step S6 is performed.
S5, feeding back the current position coordinates of the track laying vehicle 1 to a 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 a step S7; in the moving process, the control system calculates the deviation between the current position coordinate of the track laying vehicle 1 and the designed center line coordinate, 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 a control system through the 360-degree prism assembly 3, controlling the track laying vehicle 1 to move from the current point position to the next point position coordinates along the design center line 6 to lay a sleeper, and then executing a step S7; in the moving process, the control system calculates the deviation between the current position coordinate of the track laying vehicle 1 and the designed center line coordinate, and then regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation.
S7, if the track laying vehicle 1 does not move to the position corresponding to the coordinate position of the end point 63, returning to the step S4, otherwise, finishing sleeper laying.
It should be noted that there is no sequence between the step S2 and the step S3.
According to the invention, the rail-laying vehicle 1 position measuring instrument is switched by detecting the strength of the GNSS signals, and the rail-laying vehicle 1 is measured by combining the GNSS technology and the total station 7, so that different measuring modes can be selected according to different environments, the measuring precision can be improved, the application range can be increased, and the rail-laying efficiency can be improved.
When the GNSS signal is stronger, the base station 4 is used as a datum point, the control system grasps the deviation between the current position coordinate of the track laying vehicle 1 and the position coordinate of the center line 6 point in the design through the GNSS mobile station 2, and the moving direction of the track laying vehicle 1 is regulated and controlled in real time according to the deviation, so that the accurate directional movement of the track laying vehicle 1 is realized; when the GNSS signal is weak, the total station 7 is used as a reference point, the control system can grasp the deviation between the current position coordinate of the track laying vehicle 1 and the position coordinate of the center line 6 point in design through the 360-degree prism assembly 3, and then regulate and control the moving azimuth of the track laying vehicle 1 in real time according to the deviation, so that the accurate 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 part of tracks are already arranged at the track paving area, executing a step S52, otherwise executing a step S53;
it should be noted that, when the track is laid, the first case is that the track has been partially laid, and the track needs to be laid continuously immediately after the partially laid track is laid, and then step S52 is executed; the second case is that the track laying section has not laid the track yet, step S53 is performed.
S52, controlling a driving system of the track laying vehicle 1 by the processor to enable the track laying vehicle 1 to move to the tail end of a part of the track, and then executing a 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 61 in the track laying area according to the coordinate of the starting point 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;
when step S54 is performed for the first time, the railcar 1 is controlled to move along the design centerline 6 from the starting point 61 to the intermediate point 62 adjacent thereto; when the step S54 is not executed for the first time, the railcar 1 is controlled to move from the current middle point 62 to the next middle point 62 or the end point 63 along the design center line 6;
in the moving process, the control system respectively obtains current position coordinates of the front end of the headstock 11, the front end of the car body 12 and the rear end of the car body 12 through three GNSS mobile stations 2, calculates deviation values between the three current position coordinates and the next point position coordinate, regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation values, stops when the headstock 11 moves to the next point position, and then executes 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:
Ax+By+C＝0；
wherein d represents the lateral deviation amount, P 1 Point (x) 1 ,y 1 ) Representing the current position coordinates 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; ax+by+c=0 means that the point M (x M ,y M ) And point N (x) N ,y N ) Linear expression of two point coordinates, M point (x M ,y M ) Representing the point where the railcar 1 has passed and is adjacent to its current location, point N (x N ,y N ) A point representing that the railcar 1 has not passed and is adjacent to its current location;
the calculation formula of the longitudinal deviation is as follows:
where v denotes the longitudinal deviation amount, A, B, C denotes the coefficients of the linear expressions ax+by+c=0, P, respectively 2 Point (x) 2 ,y 2 ) Representing the coordinates of the current position of the front end of the head 11, the front end of the body 12 or the rear end of the body 12 to the coordinates of the drop foot point of the design centerline 6, (x) N ,y N ) Representing a point location of the railcar 1 that has not passed and is adjacent to its current location, i.e., also representing the coordinates of the next point location.
Specifically, when the track laying vehicle 1 moves from the initial point 61 to the middle point 62 adjacent to the initial point 61 along the design center line 6, the control system obtains a corresponding linear expression ax+by+c=0 through the initial point 61 and the middle point 62, obtains a corresponding deviation according to a calculation formula of the transverse deviation and the longitudinal deviation, and then regulates and controls the moving direction of the track laying vehicle 1 in real time through the deviation.
In step S54, when the measurable range of the base station 4 is exceeded, the base station 4 is newly set up 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 synchronize with the gap between the pull rails when changing the station, and the working efficiency can be improved.
In this embodiment, step S6 specifically includes the following steps:
s61, if the paved part of tracks are already arranged at the track paving area, executing a step S62, otherwise executing a step S63;
s62, controlling a driving system of the track laying vehicle 1 by the processor to enable the track laying vehicle 1 to move to the tail end of a part of the track, and then executing a step S64;
s63, the control system controls the track laying vehicle 1 to move to a position corresponding to the coordinate position of the starting point 61 in the track laying area according to the coordinate of the starting point 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 track;
in the moving process, the control system respectively obtains current position coordinates of the front end of the headstock 11, the front end of the car body 12 and the rear end of the car body 12 through three 360-degree prism assemblies 3, calculates deviation values between the three current position coordinates and the next point position coordinates, regulates and controls the moving direction of the track laying vehicle 1 in real time according to the deviation values, stops when the headstock 11 moves to the next point position, and then executes 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:
Ax+By+C＝0；
wherein d represents the lateral deviation amount, P 1 Point (x) 1 ,y 1 ) Representing the current position coordinates 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; ax+by+c=0 represents a linear expression passing through M, N two-point coordinates, and M, N two points are adjacent to the current position coordinates of the railcar 1;
the calculation formula of the longitudinal deviation is as follows:
where v denotes the longitudinal deviation amount, A, B, C denotes the coefficients of the linear expressions ax+by+c=0, P, respectively 2 Point (x) 2 ,y 2 ) The coordinates of the current position of the front end of the head 11, the front end of the body 12 or the rear end of the body 12 are represented to the coordinates of the drop foot point of the design center line 6.
In step S64, when the measurable range of the total station 7 is exceeded, the total station 7 is newly set up as shown in fig. 6. The measurable range of the total station 7 in this embodiment is 200 meters. Specifically, the total station 7 can be synchronized with the gap between the pull rails when changing stations, and the working efficiency can be improved.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (9)
1. The laying method applied to the sleeper intelligent laying system is characterized by comprising the sleeper intelligent laying system, and comprises a track laying vehicle (1), wherein a driving system is arranged in the track 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 track laying vehicle (1), the GNSS mobile stations (2) are connected with a base station (4) in a wireless communication mode, and the 360-degree prism assemblies (3) are connected with a total station (7) in a wireless communication mode; 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; the laying method comprises the following steps:
s1, dividing a design center line (6) into a plurality of point positions according to a certain interval by a control system to obtain corresponding design center line coordinates and point position coordinates;
s2, setting a base station (4) according to a control point of CPI, CPII, 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 total station rear intersection orientation method, and setting a plurality of 360-degree prism assemblies (3) on the track laying vehicle (1);
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 four or more signals sent by the 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 between the current position coordinate of the track laying vehicle (1) and the designed center line coordinate, 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 position to the next point position coordinates along the design center line (6) to lay the sleeper, and then executing the step S7; in the moving process, the control system calculates the deviation between the current position coordinate of the track laying vehicle (1) and the designed center line coordinate, and then regulates and controls the moving direction of the track laying vehicle (1) in real time according to the deviation;
s7, if the track 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, and if not, finishing sleeper laying.
2. The laying method applied to the intelligent sleeper laying system according to claim 1, wherein in step S1, the plurality of points includes a start point (61) and an end point (63), and further includes a plurality of intermediate points (62) located between the start point (61) and the end point (63).
3. The laying method applied to the intelligent sleeper laying system according to claim 2, wherein the step S5 specifically includes the steps of:
s51, if the paved part of tracks are already arranged at the track paving area, 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 (61) in the track laying area according to the coordinate of the starting point (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 between the current position coordinate and the next point 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, and then executes the step S7.
4. A laying method applied to an intelligent sleeper laying system according to claim 3, wherein the step S6 specifically includes the steps of:
s61, if the paved part of tracks are already arranged at the track paving area, 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 (61) in the track laying area according to the coordinate of the starting point (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) for laying the sleeper; in the moving process, the control system calculates the deviation between the current position coordinate and the next point 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, and then executes the step S7.
5. The laying method applied to the intelligent sleeper laying system according to claim 4, wherein in step S54 and step S64, the deviation amount includes a longitudinal deviation amount and a lateral deviation amount;
the calculation formula of the lateral deviation is as follows:
Ax+By+C＝0；
wherein d represents the lateral deviation amount, (x) 1 ,y 1 ) -representing the current position coordinates of the railcar (1); ax+by+c=0 represents a linear expression passing through two point coordinates adjacent to the current position coordinates of the railcar (1);
the calculation formula of the longitudinal deviation is as follows:
where v denotes the longitudinal deviation amount, A, B, C denotes coefficients of the linear expression ax+by+c=0, respectively, (x) 2 ,y 2 ) Representing the coordinates of the current position of the railcar (1) to the coordinates of the foot point of the design midline (6), (x) N ,y N ) Representing the coordinates of the next point location.
6. -the laying method applied to an intelligent sleeper laying system according to claim 4, characterized in that in step S54, when the measurable range of the base station (4) is exceeded, the base station (4) is re-established; in step S64, when the measurable range of the total station (7) is exceeded, the total station (7) is newly set up.
7. The laying method applied to the sleeper intelligent laying system according to claim 1, wherein in step S2, three GNSS mobile stations (2) are installed on the railway track laying vehicle (1), and the GNSS mobile stations (2) are located at a center line position of the railway track laying vehicle (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 a center line position of the track laying vehicle (1).
8. -laying method applied to an intelligent sleeper laying system according to claim 7, characterized in that the rail laying vehicle (1) comprises a head (11) and a body (12) connected to the head (11); the three GNSS mobile stations (2) are respectively arranged at the front end of the headstock (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 headstock (11) and the front and rear ends of the vehicle body (12).
9. -laying method applied to an intelligent sleeper laying system according to claim 1, characterized in that the rail laying vehicle (1) comprises a head (11) and a body (12) connected to the head (11); the control system is arranged in the headstock (11); the GNSS mobile stations (2) and the 360-degree prism assemblies (3) are respectively arranged at the front end of the headstock (11) and the middle line positions of 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 headstock (11) and the central line positions of the front end and the rear end of the vehicle body (12).
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