CN118387560A - Sleeper portable carrying control method and system for railway construction - Google Patents
Sleeper portable carrying control method and system for railway construction Download PDFInfo
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Abstract
The invention provides a sleeper portable carrying control method and system for railway construction, and relates to the technical field of railway equipment, wherein the method comprises the following steps: acquiring the number and the quality of the sleepers in the slideway; acquiring sleeper position information through a first wireless ranging sensor and a reference wireless ranging sensor; acquiring second position information of a second wireless ranging sensor; determining a slideway load discrimination parameter, a sleeper motion discrimination parameter and a sleeper inclination discrimination parameter; determining whether the sleeper carrying mode of the ith control period needs to be adjusted; if the carrying mode of the ith control period needs to be adjusted, determining an adjusted carrying mode according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter, and continuing carrying the sleeper according to the adjusted carrying mode. According to the invention, the conveying efficiency of the sleeper can be optimized, and the safety of sleeper conveying is improved.
Description
Technical Field
The invention relates to the technical field of railway equipment, in particular to a sleeper portable conveying control method and system for railway construction.
Background
In the related art, CN108147029a discloses a sleeper portable handling device for railway construction. The technical problem that this scheme was solved is to provide a convenient and fast's sleeper portable handling device for railway construction that work efficiency is high. In order to solve the technical problems, the scheme provides the portable sleeper carrying device for railway construction, which comprises a bottom plate, universal wheels, a fixing mechanism, a first bearing seat, a mounting frame, an angle adjusting mechanism, a left-right moving mechanism, a moving plate, a height adjusting mechanism and a clamping mechanism; the universal wheels are fixedly connected to two sides of the bottom plate, and the fixing mechanism is fixedly connected to the side part of the bottom plate; the first bearing seat is fixedly connected to the bottom plate and is close to the top of the fixing mechanism. According to the scheme, the sleeper can be conveniently conveyed through the height adjusting mechanism, the angle adjusting mechanism and the left-right moving mechanism; the sleeper can be clamped more firmly through the clamping mechanism; thereby achieving the effects of convenience, rapidness and high working efficiency.
CN114044343a discloses a portable railway sleeper carrying device, which comprises a bottom plate, wherein four support columns are symmetrically and fixedly connected to the lower end of the bottom plate respectively, and four universal wheels are fixedly connected to the lower ends of the four support columns respectively; a rotating device is arranged at the middle position of the lower end of the bottom plate; the upper end of the bottom plate is respectively connected with a shell in a rotating way through two first rotating shafts; a working driving device is arranged at the upper end position of the inner side of the shell; the right end position outside the shell is provided with a working device. The device makes very sparingly physical power and manpower when the staff is carrying and transporting the sleeper body, and it is convenient to carry, can carry the sleeper to appointed place according to staff's ground needs to also protected staff's safety well, also greatly saved the time of railway construction, made staff's work efficiency improve greatly.
Based on the above related art, the technical problem of low sleeper carrying efficiency can be solved, however, the related art does not consider the safety problem in the sleeper carrying process, that is, the sleeper carrying mode cannot be controlled according to the slideway load condition, the sleeper motion condition and the sleeper inclination condition in the sleeper carrying process, so that the sleeper carrying safety is improved.
The information disclosed in the background section of the application is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides a method and a system for controlling the portable transportation of a sleeper for railway construction, which can solve the technical problems that the sleeper transportation mode can not be controlled according to the slideway load condition, the sleeper motion condition and the sleeper inclination condition in the sleeper transportation process in the related technology, and the sleeper transportation safety is improved.
According to a first aspect of the present invention, there is provided a sleeper portable transportation control method for railway construction, comprising: acquiring the number and the quality of the sleepers in the slideway at a plurality of moments in the ith control period; acquiring sleeper position information of the sleeper in the slideway at a plurality of moments in an ith control period through a first wireless ranging sensor arranged at a preset position of the sleeper and a reference wireless ranging sensor arranged at a starting point of the slideway; acquiring second position information of a second wireless ranging sensor arranged at the center of the top surface of the sleeper at a plurality of moments of an ith control period; determining a slideway load discrimination parameter, a sleeper motion discrimination parameter and a sleeper inclination discrimination parameter according to the number of the sleepers, the sleeper mass, the second position information and the sleeper position information; determining whether a sleeper carrying mode of an ith control period needs to be adjusted according to the slideway load distinguishing parameter, the sleeper motion distinguishing parameter and the sleeper inclination distinguishing parameter; if the carrying mode of the ith control period needs to be adjusted, determining an adjusted carrying mode according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter, and continuing carrying the sleeper according to the adjusted carrying mode.
According to a second aspect of the present invention, there is provided a sleeper portable transportation control system for railway construction, comprising: the sleeper quality module is used for acquiring the number and the sleeper quality of the sleepers in the slideway at a plurality of moments in the ith control period; the sleeper position module acquires sleeper position information of the sleeper in the slideway at a plurality of moments in an ith control period through a first wireless ranging sensor arranged at a preset position of the sleeper and a reference wireless ranging sensor arranged at a starting point of the slideway; the second position module is used for acquiring second position information of a second wireless ranging sensor arranged at the center of the top surface of the sleeper at a plurality of moments of an ith control period; the judging parameter module is used for determining a slideway load judging parameter, a sleeper motion judging parameter and a sleeper inclination judging parameter according to the sleeper quantity, the sleeper quality, the second position information and the sleeper position information; the judging module is used for determining whether a sleeper carrying mode of an ith control period needs to be adjusted according to the slideway load judging parameter, the sleeper movement judging parameter and the sleeper inclination judging parameter; and the adjusting module is used for determining an adjusted conveying mode according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter if the conveying mode of the ith control period needs to be adjusted, and continuing conveying the sleeper according to the adjusted conveying mode.
The technical effects are as follows: according to the invention, the load condition of the slideway, the movement condition of the sleeper and the inclination condition of the sleeper can be accurately analyzed in the sleeper carrying process, and further, whether the carrying mode needs to be adjusted or not is judged based on the load condition, the movement condition of the sleeper and the inclination condition of the sleeper, so that the sleeper carrying efficiency can be optimized and the sleeper carrying safety can be improved when the sleeper carrying mode is controlled. When the slide way load distinguishing parameters are determined, the slide way load distinguishing parameters can be determined according to the number of the sleeper and the sleeper quality, and in the calculation process, the carrying capacity overload condition and the carrying capacity light load condition of the slide way are considered, so that the comprehensiveness and the accuracy of the slide way load distinguishing parameters are improved. When the sleeper inclination parameters are determined, the sleeper inclination judging parameters can be determined according to the second position information and the reference position information, and in the operation process, the sleeper inclination conditions can be judged from the stability condition of a single sleeper and the overall stability condition of all sleepers in the slideway respectively, so that the comprehensiveness and the accuracy of the sleeper inclination judging parameters are improved. When the sleeper motion distinguishing parameter is determined, the sleeper motion distinguishing parameter can be determined according to sleeper position information and sleeper displacement change rate, and in the calculation process, the motion condition of the sleeper in the slideway can be judged according to three aspects of the position difference between two adjacent sleepers, the maximum speed of the sleeper and the minimum speed of the sleeper, so that the comprehensiveness and the accuracy of the sleeper motion distinguishing parameter are improved. When determining whether the sleeper carrying mode needs to be adjusted, whether the sleeper carrying mode of the ith control period needs to be adjusted or not can be determined according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter, and the load condition of the slideway, the movement condition of the sleeper and the inclination condition of the sleeper are referred to when judging whether the sleeper carrying mode needs to be adjusted or not, so that whether the current sleeper carrying mode is suitable for sleeper carrying at the next moment is judged.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed. Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other embodiments may be obtained according to these drawings without inventive effort to a person skilled in the art;
FIG. 1 is a schematic flow chart of a method for controlling portable transportation of sleepers for railway construction;
fig. 2 is a block diagram of a sleeper portable transport control system for railway construction.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 is a schematic flow chart of a method for controlling portable sleeper carrying for railway construction, the method comprising: step S101, obtaining the number and the quality of the sleepers in the slideway at a plurality of moments in the ith control period; step S102, at a plurality of moments in an ith control period, acquiring sleeper position information of a sleeper in a slideway through a first wireless ranging sensor arranged at a preset position of the sleeper and a reference wireless ranging sensor arranged at a starting point of the slideway; step S103, acquiring second position information of a second wireless ranging sensor arranged at the center of the top surface of the sleeper at a plurality of moments of an ith control period; step S104, determining a slideway load discrimination parameter, a sleeper motion discrimination parameter and a sleeper inclination discrimination parameter according to the sleeper quantity, the sleeper quality, the second position information and the sleeper position information; step 105, determining whether a sleeper carrying mode of an ith control period needs to be adjusted according to the slideway load distinguishing parameter, the sleeper motion distinguishing parameter and the sleeper inclination distinguishing parameter; step S106, if the carrying mode of the ith control period needs to be adjusted, determining an adjusted carrying mode according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter, and continuing carrying the sleeper according to the adjusted carrying mode.
According to the portable sleeper carrying control method for railway construction, disclosed by the embodiment of the invention, the load condition of the slideway, the movement condition of the sleeper and the inclination condition of the sleeper can be accurately analyzed in the sleeper carrying process, and further, whether the carrying mode needs to be adjusted or not is judged based on the load condition, the movement condition and the inclination condition of the sleeper, so that the sleeper carrying efficiency can be optimized and the sleeper carrying safety can be improved when the sleeper carrying mode is controlled.
According to one embodiment of the invention, in step S101, the number of sleepers and the sleeper quality in the runway are acquired at a plurality of times in the ith control period.
For example, prior to handling, the tie mass and tie size of the tie to be handled is determined, the appropriate track width is determined based on the tie size, and a plurality of ties are placed on the tracks and the tracks are used to handle the ties to the installation location. At a plurality of moments of the ith control period, the number of sleepers being carried in the slideway and the sleeper quality are obtained. Wherein, a control period can be set to one hour, and a time interval between adjacent moments can be set to two minutes, which is not limited in the present invention.
According to one embodiment of the present invention, in step S102, tie position information of the tie in the slide is acquired at a plurality of times in the ith control period by a first wireless ranging sensor provided at a preset position of the tie and a reference wireless ranging sensor provided at a start point of the slide.
For example, a first wireless ranging sensor is disposed at the center of any one side of the sleeper, a reference sensor is disposed at the end point of the start point of the slide rail on the same side as the first wireless ranging sensor, for example, the first wireless ranging sensors are all disposed at the center of the left side of the sleeper, the reference sensor is disposed at the start point of the left end point of the slide rail, and the sleeper position information indicating the displacement distance of the sleeper on the slide rail relative to the start point of the slide rail is determined based on the distance between the first wireless ranging sensor and the reference wireless ranging sensor and the distance of the center of the side of the sleeper from the slide rail.
According to one embodiment of the present invention, in step S103, second position information of a second wireless ranging sensor provided at the center of the top surface of the tie is acquired at a plurality of times of the ith control period.
For example, a second location information is determined by the distance of the second wireless ranging sensor and the reference wireless ranging sensor, the second location information representing location information of the center of the top surface of the tie in the runway.
According to one embodiment of the present invention, in step S104, a skid load discrimination parameter, a sleeper movement discrimination parameter, and a sleeper inclination discrimination parameter are determined based on the number of sleepers, the sleeper mass, the second position information, and the sleeper position information.
According to one embodiment of the present invention, step S104 includes: determining a slideway load discrimination parameter according to the number of the sleepers and the sleeper mass; acquiring reference position information of a reference wireless sensor; determining sleeper inclination discrimination parameters according to the second position information and the reference position information; and determining sleeper motion distinguishing parameters according to the sleeper position information.
For example, judging the load condition of the slideway according to the number of the sleepers and the sleeper quality, and determining the slideway load judging parameter; acquiring reference position information of a reference wireless sensor arranged at the starting point of the slideway in the slideway; when the whole sleeper rolls or tilts, the top surface of the sleeper tilts first, the tilting condition of the sleeper is judged according to the second position information and the reference position information which are arranged at the center of the top surface of the sleeper, and the sleeper tilting judgment parameter is determined.
According to one embodiment of the invention, determining the skid load discrimination parameters according to the number of sleepers and the sleeper quality comprises: determining a slide load discrimination parameter at the j-th time of the i-th control period according to formula (1)，（1）
Wherein,To control the j-th instant of the cycle,For a first preset ramp load threshold,For a second preset ramp load threshold,，The sleeper mass of the kth sleeper in the jth time slideway of the ith control period is K, the number of the sleepers in the jth time slideway of the ith control period is less than or equal to K, and K are positive integers.
In accordance with one embodiment of the present invention,To control the total mass of all ties on the skids at the j-th instant of the cycle,Representing the relative gap between the total mass of all ties on the runway at the j-th time of the control period and a first preset runway load threshold (e.g., an upper load threshold for the runway),The total weight of all sleepers on the slideway at the j-th moment of the control period is relatively different from a second preset slideway load threshold (for example, the lower load limit threshold of the slideway), when the total weight of the sleepers is larger than the first preset slideway load threshold, the total weight of the sleepers carried on the slideway is overlarge, the load capacity of the slideway is in an overload state, the damage or the failure of the slideway can be caused, the potential safety hazard in the carrying process is increased, when the total weight of the sleepers is smaller than the second preset slideway load threshold, the total weight of the sleepers carried on the slideway is too small, the load capacity of the slideway is in a light load state, the working efficiency of the slideway is too low, and the slideway can carry more sleepers at the same time.
According to the method, the slide way load judging parameters can be determined according to the number of the sleeper and the sleeper quality, the carrying capacity overload condition and the carrying capacity light load condition of the slide way are considered in the calculation process, and the comprehensiveness and the accuracy of the slide way load judging parameters are improved.
According to one embodiment of the present invention, determining the sleeper inclination discrimination parameter based on the second position information and the reference position information includes: determining sleeper inclination discrimination parameters at the j-th time of the i-th control period according to the formula (2)，（2）
Wherein if is a conditional function,For the preset tilt angle threshold value,For the second position information of the kth tie in the jth time slide of the ith control period,As the reference position information, there is provided,For the start time of the ith control period,And the second position information of the kth sleeper in the slideway at the beginning of the ith control period.
In accordance with one embodiment of the present invention,Representing the real-time space vector at the reference wireless ranging sensor to the second wireless sensor on the kth tie at the jth time of the i control periods,Is thatIs used to determine the transposed vector of (c),Representing the initial space vector at the reference wireless ranging sensor to the second wireless sensor on the kth tie at the beginning of the i control periods,The real-time space vector of the kth sleeper at the jth moment of the i control period is cosine similarity with the initial space vector of the kth sleeper at the beginning moment of the i control period, the closer the similarity is to 1, the smaller the inclination degree of the kth sleeper at the jth moment of the i control period is, the better the stability condition is, and the smaller the possibility that the sleeper rolls when being conveyed in a slideway is.
According to one embodiment of the present invention, in the formula (2), the following two cases can be expressed by the form of a conditional function when the following is satisfiedUnder the condition that the inclination degree of the kth sleeper at the jth moment of the ith control period is smaller than a preset inclination angle threshold value, the value of a conditional function is 1, and when the condition is not satisfiedAnd when the condition is met, the inclination degree of the kth sleeper at the jth moment of the ith control period is larger than a preset inclination angle threshold value, and the value of the condition function is 0. If the degree of inclination of the kth sleeper at the jth time of the ith control period satisfies the above condition, it means that the kth sleeper is less likely to roll or not roll at the jth time of the ith control period.The greater the ratio between the number of sleepers that are less likely to roll or the number of total sleepers in the skid, the more stable the entire sleeper in the skid, and less of a condition of tilting.
In this way, the sleeper inclination judging parameter can be determined according to the second position information and the reference position information, and in the operation process, the sleeper inclination condition can be judged from the stable condition of a single sleeper and the overall stable condition of all sleepers in the slideway, so that the comprehensiveness and the accuracy of the sleeper inclination judging parameter are improved.
According to one embodiment of the present invention, determining a sleeper motion discrimination parameter according to the sleeper position information includes: fitting is carried out according to the sleeper position information and the moment in the control period, and a sleeper displacement function is obtained; obtaining a sleeper displacement guide function according to the sleeper displacement function; according to the sleeper displacement guide function, determining sleeper displacement change rates at a plurality of moments in an ith control period; and determining sleeper movement distinguishing parameters according to the sleeper position information and the sleeper displacement change rate.
For example, fitting the tie position information and the time instant in the control period to obtain a tie displacement function describing the law of tie displacement increase with time in the control period; deriving a sleeper displacement function, obtaining a sleeper displacement derivative function, substituting the moments in the control period into the sleeper displacement derivative function, and determining sleeper displacement change rates at a plurality of moments in the ith control period; and judging the movement condition of the sleeper in the slideway according to the sleeper position information and the sleeper displacement change rate, and determining the sleeper movement judging parameter.
According to one embodiment of the present invention, determining a tie movement discrimination parameter based on the tie position information and the tie displacement change rate includes: determining sleeper motion discrimination parameters at the j-th time of the i-th control period according to the formula (3)，
（3）
Wherein if is a conditional function, min is a minimum function, max is a maximum function,For the preset safe distance threshold value,For a first preset speed threshold value,For a second preset speed threshold value,For the tie position information of the kth tie in the jth time slide of the ith control period,For the tie position information of the (k+1) th tie in the jth time slot of the ith control period,The sleeper displacement change rate of the kth sleeper in the jth time slide of the ith control period.
In accordance with one embodiment of the present invention,Indicating the difference in the positions of two adjacent sleepers in the slide at the j-th moment of the i-th control period,Representing the minimum position difference of two adjacent sleepers in the slideway, the processing of taking the minimum position difference can be used for determining the condition that collision is most likely to occur between the two adjacent sleepers and potential safety hazard exists,Representing the minimum position difference between two adjacent sleepers in the slideway and the difference between the minimum position difference and the preset safety distance threshold value, in the formula (3), the following two conditions can be represented by the form of a conditional function, when the condition is satisfiedUnder the condition that the minimum position difference between two adjacent sleepers in the slideway is smaller than a preset safety distance threshold value, the two sleepers possibly collide with each other, potential safety hazards exist, the value of a condition function is 0, and when the potential safety hazard is not satisfiedThe condition is a condition that indicates that the probability of a tie collision in the runway is low and the value of the condition function is 1.
In accordance with one embodiment of the present invention,Representing the maximum speed of the sleeper in the slideway, if the sleeper is out of control due to the excessive speed of the sleeper, the safety hidden trouble exists, and in the formula (3), the following two conditions can be represented by the form of a conditional function, when the condition is satisfiedIf the maximum value of the speed of K sleepers in the slideway at the j-th moment of the i-th control period is larger than the first preset speed threshold value, the sleepers can be out of control due to the too high speed, the value of the condition function is 0, and if the speed is not satisfiedAnd when the condition is met, the speed of K sleepers in the slideway is within a first preset speed threshold value, the possibility of out-of-control is small, and the value of the condition function is 2.
In accordance with one embodiment of the present invention,Representing the minimum speed of the sleeper in the slideway, if the conveying speed is too slow, the sleeper conveying efficiency is low, and the sleeper can collide with the sleeper at the rear to generate potential safety hazards, in the formula (3), the following two conditions can be represented by the form of a conditional function, when the condition is satisfiedUnder the condition that the minimum value of the speed of k sleepers in the slideway at the j-th moment of the i-th control period is smaller than a second preset speed threshold value, the sleepers possibly collide with the rear sleepers due to the too slow speed and influence the sleeper conveying efficiency, the value of the condition function is 0, when the speed is not satisfiedAnd when the conditions are met, the speed of k sleepers in the slideway is larger than a second preset speed threshold, the slideway is high in carrying efficiency on the sleepers, the potential safety hazard is less, and the value of the condition function is 4.
According to one embodiment of the present invention, the above-described multiple terms are combined to obtain formula (3), so that the movement condition of the sleeper at the j-th moment of the i-th control period is analyzed from multiple aspects.
In this way, the sleeper motion distinguishing parameter can be determined according to the sleeper position information and the sleeper displacement change rate, and in the calculation process, the motion condition of the sleeper in the slideway can be judged according to the three aspects of the position difference between two adjacent sleepers, the maximum speed of the sleeper and the minimum speed of the sleeper, so that the comprehensiveness and the accuracy of the sleeper motion distinguishing parameter are improved.
According to one embodiment of the present invention, in step S105, it is determined whether the sleeper carrying manner of the ith control period needs to be adjusted according to the slideway load discrimination parameter, the sleeper motion discrimination parameter, and the sleeper inclination discrimination parameter.
According to one embodiment of the present invention, step S105 includes: obtaining a slideway load condition A, a sleeper inclination condition B and a sleeper movement condition C according to a formula (4),
（4）
Wherein,A parameter threshold is determined for the first preset slideway load,A parameter threshold is determined for the second preset slideway load,，A sleeper motion judgment parameter threshold value is preset; and judging that the sleeper carrying mode of the ith control period needs to be adjusted under the condition that at least one of the slideway load condition A, the sleeper inclination condition B and the sleeper movement condition C is met.
According to one embodiment of the invention, in the ramp load condition a,The total weight of the sleeper carried in the slideway is too small, the load capacity of the slideway is in a light load state, the working efficiency of the slideway is too low, the slideway can simultaneously carry more sleepers,The total weight of the sleeper transported in the slideway is overlarge, the loading capacity of the slideway is in an overload state, damage or faults of the slideway can be caused, and potential safety hazards in the transportation process are increased. In the tie-tilt condition B,Indicating that there are ties in the track that are tilting or rolling out of the K ties being handled. In the sleeper movement condition C,The value of (2) is 7,The device indicates that in the sleeper carrying process, the phenomenon that the distance between two adjacent sleepers is too short, the sleeper speed is too high or the sleeper speed is too low exists, potential safety hazards exist, and the sleeper carrying efficiency is affected.
According to one embodiment of the present invention, in the case where at least one of the above slide load condition a, the tie inclination condition B, and the tie movement condition C is satisfied, it is determined that the tie carrying manner of the ith control period needs to be adjusted.
In this way, whether the sleeper carrying mode of the ith control period needs to be adjusted or not can be determined according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter, and the load condition of the slideway, the movement condition of the sleeper and the inclination condition of the sleeper are referred to when judging whether the sleeper carrying mode needs to be adjusted or not, so that whether the current sleeper carrying mode is suitable for sleeper carrying at the next moment or not is judged.
According to one embodiment of the present invention, in step S106, if the handling mode of the ith control period needs to be adjusted, the adjusted handling mode is determined according to the slide load determination parameter, the sleeper motion determination parameter, and the sleeper inclination determination parameter, and the sleeper is continuously handled according to the adjusted handling mode.
For example, if the conveying mode of the ith control period needs to be adjusted, determining an adjusted conveying mode according to the slideway load distinguishing parameter, the sleeper motion distinguishing parameter and the sleeper inclination distinguishing parameter, and continuing to convey the sleeper according to the adjusted conveying mode, wherein the conveying modes comprise: sleeper handling speed, sleeper upper chute speed (speed at which a sleeper is lifted and stably fixed on a chute using a lifting device), sleeper lower chute speed (speed at which a sleeper is unloaded using a lifting device when the sleeper is handled to a target position), sleeper fixation, and the like.
According to one embodiment of the present invention, step S106 includes: when the slideway load condition A is satisfiedIn the condition, at the j+1th moment of the ith control period, the speed of the upper slideway of the sleeper is reduced and the speed of the lower slideway of the sleeper is increased; when the slideway load condition A is satisfiedUnder the condition, at the j+1th moment of the ith control period, the speed of the slide way on the sleeper is increased; when the sleeper inclination condition B is satisfiedIn the condition, at the j+1th moment of the ith control period, the sleeper in the slideway is fixed,A sleeper inclination judgment parameter threshold value is preset; when the sleeper inclination condition B is satisfiedUnder the condition, at the j+1th moment of the ith control period, suspending carrying and fixing the sleeper in the slideway; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between the two sleepers closest to each other is controlled to be increased; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, slowing down the carrying speed of the sleeper with the highest speed in the slideway; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between two nearest sleepers is controlled to be increased, and the carrying speed of the sleeper with the highest speed in the slideway is slowed down; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the carrying speed of the sleeper with the smallest speed in the slideway is accelerated; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between two nearest sleepers is controlled to be increased, and the carrying speed of the sleeper with the smallest speed in the slideway is accelerated; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the carrying speed of the sleeper with the highest speed in the slideway is slowed down, and the carrying speed of the sleeper with the lowest speed in the slideway is increased; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between the two nearest sleepers is controlled to be increased, the carrying speed of the sleeper with the highest speed in the slideway is slowed down, and the carrying speed of the sleeper with the smallest speed in the slideway is accelerated.
For example, when the slide load condition A is satisfiedWhen the conditions are met, the total weight of the sleeper conveyed in the slideway is overlarge, the load capacity of the slideway is in an overload state, the slideway can be damaged or failed, the total weight of the sleeper conveyed in the slideway needs to be reduced, and a worker is informed of slowing down the speed of the sleeper on the sleeper and speeding up the speed of the sleeper under the sleeper; when the slideway load condition A is satisfiedWhen the conditions are met, the total weight of the sleeper conveyed in the slideway is too small, the load capacity of the slideway is in a light load state, the working efficiency of the slideway is too low, the slideway can simultaneously convey more sleepers, and a worker is informed of accelerating the slideway speed on the sleeper, so that the sleeper conveying efficiency is improved; in when the sleeper inclination condition B is satisfiedUnder the condition that fewer sleepers which are inclined or rolling occur in K sleepers which are being carried in the slideway, the staff is informed of fixing the sleepers, and when the sleeper inclination condition B is metUnder the condition that more inclined or rolling sleepers exist in K sleepers being carried in the slideway, the potential safety hazard is large, and staff is informed to temporarily stop carrying and fix the sleepers in the slideway; when the sleeper movement condition C is satisfiedWhen the minimum position difference of two adjacent sleepers in the slideway is smaller than a preset safety distance threshold, collision possibly occurs between the two sleepers, potential safety hazards exist, and workers are informed of controlling the distance between the two nearest sleepers to be increased; when the sleeper movement condition C is satisfiedIndicating that a sleeper with too high carrying speed exists in the slideway, and informing a worker to slow down the carrying speed of the sleeper with the highest speed in the slideway, wherein the sleeper can be out of control due to the too high carrying speed; when the sleeper movement condition C is satisfiedWhen the minimum position difference of two adjacent sleepers in the slideway is smaller than a preset safety distance threshold, collision can occur between the two sleepers, the sleepers in the slideway can be out of control due to the fact that the speed is too high, and staff is informed to control the distance between the two nearest sleepers to be increased and slow down the carrying speed of the sleeper with the maximum speed in the slideway; when the sleeper movement condition C is satisfiedWhen the sleeper is too slow to carry, the sleeper possibly collides with the sleeper at the rear due to the too slow carrying speed, the sleeper carrying efficiency is affected, and a worker is informed of accelerating the carrying speed of the sleeper with the minimum speed in the slideway; when the sleeper movement condition C is satisfiedWhen the minimum position difference of two adjacent sleepers in the slideway is smaller than a preset safety distance threshold, and the sleeper with too slow carrying speed exists in the slideway, a worker is informed of controlling the distance between the two nearest sleepers to be increased and accelerating the carrying speed of the sleeper with the smallest speed in the slideway; when the sleeper movement condition C is satisfiedWhen the sleeper with the highest speed in the slideway is in the slideway, and the sleeper with the lowest speed in the slideway is in the slideway; when the sleeper movement condition C is satisfiedAnd when the minimum position difference of two adjacent sleepers in the slideway is smaller than a preset safety distance threshold, the two sleepers possibly collide, and a worker is informed of controlling the distance between the two nearest sleepers to increase, so that the carrying speed of the sleeper with the highest speed in the slideway is reduced, and the carrying speed of the sleeper with the lowest speed in the slideway is accelerated. After the carrying speed of the sleeper is adjusted, the adjusted carrying speed is within a range from a first preset speed threshold value to a second preset speed threshold value.
According to the portable sleeper carrying control method for railway construction, disclosed by the embodiment of the invention, the load condition of the slideway, the movement condition of the sleeper and the inclination condition of the sleeper can be accurately analyzed in the sleeper carrying process, and further, whether the carrying mode needs to be adjusted or not is judged based on the load condition, the movement condition and the inclination condition of the sleeper, so that the sleeper carrying efficiency can be optimized and the sleeper carrying safety can be improved when the sleeper carrying mode is controlled. When the slide way load distinguishing parameters are determined, the slide way load distinguishing parameters can be determined according to the number of the sleeper and the sleeper quality, and in the calculation process, the carrying capacity overload condition and the carrying capacity light load condition of the slide way are considered, so that the comprehensiveness and the accuracy of the slide way load distinguishing parameters are improved. When the sleeper inclination parameters are determined, the sleeper inclination judging parameters can be determined according to the second position information and the reference position information, and in the operation process, the sleeper inclination conditions can be judged from the stability condition of a single sleeper and the overall stability condition of all sleepers in the slideway respectively, so that the comprehensiveness and the accuracy of the sleeper inclination judging parameters are improved. When the sleeper motion distinguishing parameter is determined, the sleeper motion distinguishing parameter can be determined according to sleeper position information and sleeper displacement change rate, and in the calculation process, the motion condition of the sleeper in the slideway can be judged according to three aspects of the position difference between two adjacent sleepers, the maximum speed of the sleeper and the minimum speed of the sleeper, so that the comprehensiveness and the accuracy of the sleeper motion distinguishing parameter are improved. When determining whether the sleeper carrying mode needs to be adjusted, whether the sleeper carrying mode of the ith control period needs to be adjusted or not can be determined according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter, and the load condition of the slideway, the movement condition of the sleeper and the inclination condition of the sleeper are referred to when judging whether the sleeper carrying mode needs to be adjusted or not, so that whether the current sleeper carrying mode is suitable for sleeper carrying at the next moment is judged.
Fig. 2 is a block diagram of a tie portable handling control system for railway construction, the system comprising: the sleeper quality module is used for acquiring the number and the sleeper quality of the sleepers in the slideway at a plurality of moments in the ith control period; the sleeper position module acquires sleeper position information of the sleeper in the slideway at a plurality of moments in an ith control period through a first wireless ranging sensor arranged at a preset position of the sleeper and a reference wireless ranging sensor arranged at a starting point of the slideway; the second position module is used for acquiring second position information of a second wireless ranging sensor arranged at the center of the top surface of the sleeper at a plurality of moments of an ith control period; the judging parameter module is used for determining a slideway load judging parameter, a sleeper motion judging parameter and a sleeper inclination judging parameter according to the sleeper quantity, the sleeper quality, the second position information and the sleeper position information; the judging module is used for determining whether a sleeper carrying mode of an ith control period needs to be adjusted according to the slideway load judging parameter, the sleeper movement judging parameter and the sleeper inclination judging parameter; and the adjusting module is used for determining an adjusted conveying mode according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter if the conveying mode of the ith control period needs to be adjusted, and continuing conveying the sleeper according to the adjusted conveying mode.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (9)
1. The portable sleeper carrying control method for railway construction is characterized by comprising the following steps of: acquiring the number and the quality of the sleepers in the slideway at a plurality of moments in the ith control period; acquiring sleeper position information of the sleeper in the slideway at a plurality of moments in an ith control period through a first wireless ranging sensor arranged at a preset position of the sleeper and a reference wireless ranging sensor arranged at a starting point of the slideway; acquiring second position information of a second wireless ranging sensor arranged at the center of the top surface of the sleeper at a plurality of moments of an ith control period; determining a slideway load discrimination parameter, a sleeper motion discrimination parameter and a sleeper inclination discrimination parameter according to the number of the sleepers, the sleeper mass, the second position information and the sleeper position information; determining whether a sleeper carrying mode of an ith control period needs to be adjusted according to the slideway load distinguishing parameter, the sleeper motion distinguishing parameter and the sleeper inclination distinguishing parameter; if the carrying mode of the ith control period needs to be adjusted, determining an adjusted carrying mode according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter, and continuing carrying the sleeper according to the adjusted carrying mode.
2. The sleeper portable transportation control method for railway construction according to claim 1, determining a slideway load discrimination parameter, a sleeper movement discrimination parameter and a sleeper inclination discrimination parameter from the number of sleepers, the sleeper mass, the second position information and the sleeper position information, comprising: determining a slideway load discrimination parameter according to the number of the sleepers and the sleeper mass; acquiring reference position information of a reference wireless sensor; determining sleeper inclination discrimination parameters according to the second position information and the reference position information; and determining sleeper motion distinguishing parameters according to the sleeper position information.
3. The sleeper portable transportation control method for railway construction according to claim 2, determining a slide load discrimination parameter according to the number of sleepers and the sleeper mass, comprising: according to the formulaDetermining a slide load discrimination parameter at the j-th moment of the i-th control periodWherein, the method comprises the steps of, wherein,To control the j-th instant of the cycle,For a first preset ramp load threshold,For a second preset ramp load threshold,，The sleeper mass of the kth sleeper in the jth time slideway of the ith control period is K, the number of the sleepers in the jth time slideway of the ith control period is less than or equal to K, and K are positive integers.
4. The sleeper portable conveying control method for railway construction according to claim 3, determining sleeper inclination discrimination parameters based on the second position information and the reference position information, comprising: according to the formulaDetermining sleeper inclination discrimination parameters at the j-th moment of the i-th control periodWherein if is a conditional function,For the preset tilt angle threshold value,For the second position information of the kth tie in the jth time slide of the ith control period,As the reference position information, there is provided,For the start time of the ith control period,And the second position information of the kth sleeper in the slideway at the beginning of the ith control period.
5. The sleeper portable transportation control method for railway construction according to claim 4, determining sleeper movement discrimination parameters based on the sleeper position information, comprising: fitting is carried out according to the sleeper position information and the moment in the control period, and a sleeper displacement function is obtained; obtaining a sleeper displacement guide function according to the sleeper displacement function; according to the sleeper displacement guide function, determining sleeper displacement change rates at a plurality of moments in an ith control period; and determining sleeper movement distinguishing parameters according to the sleeper position information and the sleeper displacement change rate.
6. The portable tie handling control method for railway construction according to claim 5, determining tie movement discrimination parameters from the tie position information and the tie displacement change rate, comprising: according to the formula
，
Determining a tie movement discrimination parameter at a j-th time of an i-th control periodWherein if is a conditional function, min is a minimum function, max is a maximum function,For the preset safe distance threshold value,For a first preset speed threshold value,For a second preset speed threshold value,For the tie position information of the kth tie in the jth time slide of the ith control period,For the tie position information of the (k+1) th tie in the jth time slot of the ith control period,The sleeper displacement change rate of the kth sleeper in the jth time slide of the ith control period.
7. The sleeper portable transportation control method for railway construction according to claim 6, determining whether or not a sleeper transportation mode of an ith control period needs to be adjusted according to the slide load discrimination parameter, the sleeper movement discrimination parameter, and the sleeper inclination discrimination parameter, comprising: according to the formulaObtaining a slideway load condition A, a sleeper inclination condition B and a sleeper movement condition C, wherein,A parameter threshold is determined for the first preset slideway load,A parameter threshold is determined for the second preset slideway load,，A sleeper motion judgment parameter threshold value is preset; and judging that the sleeper carrying mode of the ith control period needs to be adjusted under the condition that at least one of the slideway load condition A, the sleeper inclination condition B and the sleeper movement condition C is met.
8. The portable transportation control method for railway construction sleeper according to claim 7, if the transportation mode of the ith control period needs to be adjusted, determining an adjusted transportation mode according to the slideway load discrimination parameter, the sleeper movement discrimination parameter and the sleeper inclination discrimination parameter, and continuing to transport the sleeper according to the adjusted transportation mode, comprising: when the slideway load condition A is satisfiedIn the condition, at the j+1th moment of the ith control period, the speed of the upper slideway of the sleeper is reduced and the speed of the lower slideway of the sleeper is increased; when the slideway load condition A is satisfiedUnder the condition, at the j+1th moment of the ith control period, the speed of the slide way on the sleeper is increased; when the sleeper inclination condition B is satisfiedIn the condition, at the j+1th moment of the ith control period, the sleeper in the slideway is fixed,A sleeper inclination judgment parameter threshold value is preset; when the sleeper inclination condition B is satisfiedUnder the condition, at the j+1th moment of the ith control period, suspending carrying and fixing the sleeper in the slideway; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between the two sleepers closest to each other is controlled to be increased; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, slowing down the carrying speed of the sleeper with the highest speed in the slideway; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between two nearest sleepers is controlled to be increased, and the carrying speed of the sleeper with the highest speed in the slideway is slowed down; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the carrying speed of the sleeper with the smallest speed in the slideway is accelerated; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between two nearest sleepers is controlled to be increased, and the carrying speed of the sleeper with the smallest speed in the slideway is accelerated; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the carrying speed of the sleeper with the highest speed in the slideway is slowed down, and the carrying speed of the sleeper with the lowest speed in the slideway is increased; when the sleeper movement condition C is satisfiedAt the j+1th moment of the ith control period, the distance between the two nearest sleepers is controlled to be increased, the carrying speed of the sleeper with the highest speed in the slideway is slowed down, and the carrying speed of the sleeper with the smallest speed in the slideway is accelerated.
9. A sleeper portable transport control system for railway construction, characterized by comprising: the sleeper quality module is used for acquiring the number and the sleeper quality of the sleepers in the slideway at a plurality of moments in the ith control period; the sleeper position module acquires sleeper position information of the sleeper in the slideway at a plurality of moments in an ith control period through a first wireless ranging sensor arranged at a preset position of the sleeper and a reference wireless ranging sensor arranged at a starting point of the slideway; the second position module is used for acquiring second position information of a second wireless ranging sensor arranged at the center of the top surface of the sleeper at a plurality of moments of an ith control period; the judging parameter module is used for determining a slideway load judging parameter, a sleeper motion judging parameter and a sleeper inclination judging parameter according to the sleeper quantity, the sleeper quality, the second position information and the sleeper position information; the judging module is used for determining whether a sleeper carrying mode of an ith control period needs to be adjusted according to the slideway load judging parameter, the sleeper movement judging parameter and the sleeper inclination judging parameter; and the adjusting module is used for determining an adjusted conveying mode according to the slideway load judging parameter, the sleeper motion judging parameter and the sleeper inclination judging parameter if the conveying mode of the ith control period needs to be adjusted, and continuing conveying the sleeper according to the adjusted conveying mode.
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| CN202410850129.5A CN118387560A (en) | 2024-06-27 | 2024-06-27 | Sleeper portable carrying control method and system for railway construction |
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| CN117262626A (en) * | 2023-11-20 | 2023-12-22 | 中建安装集团有限公司 | Intelligent sleeper transportation system and transportation method |
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| WO2012025172A1 (en) * | 2010-08-27 | 2012-03-01 | Franz Plasser Bahnbaumaschinen-Industriegesellschaft Mbh | Measuring device and method for scanning ties |
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