Railway track panel automatic track laying system and method
By designing the automatic rail laying system for railway rails, the problems of poor rail laying accuracy and low efficiency in the existing technology are solved, and fully automatic laying and inspection and adjustment of rails are realized, which improves productivity and economic benefits.
Patent Information
- Application Number
- CN202411618176.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-13
- Publication Date
- 2025-03-21
AI Technical Summary
The existing technology lacks systematic rail shape detection and position adjustment in the rail arrangement operation, resulting in poor rail laying accuracy, low efficiency, and different quality, which increases the investment in subsequent time and material costs.
An automatic rail laying system for rail lading is designed, including rail storage and storage subsystem, rail traction laying subsystem, rail shape and margin detection subsystem and rail margin fine adjustment subsystem. Through the coordinated work of these subsystems, fully automatic laying and inspection fine adjustment of rails are realized.
It improves the productivity and economic benefits of rail assembly operations, realizes efficient and precise laying of rails, improves laying quality, and reduces the need for manual adjustment.
Smart Images
Figure CN119663695A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of railway laying, and in particular to an automatic railway track laying system and method. Background Art
[0002] Track panels are commonly used roadbed units in railway laying. Each track panel unit is usually 25 meters long. Multiple track panel units are connected end to end to form a railway track. Track panel construction is divided into two parts: assembly and connection. Assembly is mainly responsible for assembling sleepers, underrail materials, rails, fasteners and other parts into track panel units; connection mainly includes the transportation of track panels, splicing of track panels, and ballast laying or concrete pouring.
[0003] The assembly of rail tracks mainly relies on manpower. Workers carry or assemble sleepers, rails and fasteners manually or by operating mechanical equipment. Among them, the laying of rails often requires a large number of people. During the construction process, workers first need to operate a gantry hammock to lift the 25-meter-long rails from the storage area to the top of the assembly area. At this time, the sleepers and the materials under the rails should be in a state of complete assembly. When the rails are close to the fasteners, many workers hold the rails by hand to assist in positioning. After the rails slowly fall and completely fall on the fasteners, the workers use tools such as crowbars to adjust the position of the rails until the distance between the rails and the bosses of the iron pads meets the laying requirements. The laying process of the rails is considered to be over.
[0004] In the existing track assembly operation, there is often a lack of a more systematic rail shape and position detection and position fine-tuning process. In the above rail laying process, the most important adjustment method is for workers to simply measure the approximate position of the rails through direct observation or with the help of tools such as measuring instruments, and then use tools such as crowbars to make simple adjustments. The standard for measurement and adjustment is roughly judged by whether the gauge block can be installed normally.
[0005] A rail automatic assembly system and method based on intelligent control in the prior art describes a rail detection method based on machine vision technology and a rail margin fine-tuning mechanism. The rail detection process mainly uses a three-dimensional camera mounted on the working platform to scan the rail, and then obtains the rail shape and position data through methods such as point cloud registration; the rail margin fine-tuning mechanism includes a rail lateral movement mechanism and a rail lifting mechanism. The lateral movement mechanism is responsible for adjusting the rail locally, and the lifting mechanism is used to adjust the height of the rail.
[0006] The disadvantages of the above-mentioned prior art automatic rail assembly system and method based on intelligent control include: the rail laying process in the rail assembly operation mainly relies on manual work, and lacks a relatively systematic detection and fine-tuning process. The position of the rail laying is also only adjusted manually. There are problems such as poor rail laying accuracy and low laying efficiency in the entire construction process, and the quality of the laid rails is inconsistent, which increases the subsequent time and material cost investment.
[0007] A steel rail magnetic levitation conveying device for subway rail assembly equipment in the prior art describes a steel rail transportation mechanism based on the principle of permanent magnet magnetic levitation. Among them, the first conveying mechanism includes a conveyor belt and two rollers, a first permanent magnet is arranged on the outer periphery of the roller, a second permanent magnet is arranged on the inner surface of the conveyor belt, an upper support plate and a lower support plate are arranged between the two rollers, a third permanent magnet is arranged on the upper support plate, and a fourth permanent magnet is arranged on the lower surface of the lower support plate. The second conveying mechanism consists of a conveying trough, a conveying roller, and a lifting device.
[0008] The first conveying mechanism and the second conveying mechanism in the above-mentioned prior art respectively have similar functions to the rail storage subsystem and the rail margin fine-tuning subsystem in the present invention, but have the following disadvantages: the first conveying mechanism is not very feasible, the system rigidity is poor, and the conveyor belt is difficult to bear the weight of tens of tons of rails; the second conveying mechanism is arranged at the front end of the first conveying mechanism, and it is impossible to fine-tune the rails in the X, Y, and Z directions during the rail laying process, and it is difficult to ensure the laying efficiency and accuracy of the rails; the overall processability of the system is poor and the feasibility is not high.
[0009] There are various types of track laying units used in high-speed railway track laying operations in the prior art, such as an intelligent control method for the laying process of ballastless track rails, etc. When using this type of equipment to lay high-speed railway rails, a semi-automatic operation method of human-machine collaboration is mainly adopted. This type of unit system usually includes a rail storage car section, a rail push car section, a rail traction car section, a winch system and various levels of manipulators (clamps), a roller placement and recovery system, etc. The long rails used in high-speed railway tracks are generally stored in the storage car section behind the track laying machine. When laying, the winch system is first used to pull the rails out from the rear of the track laying machine and send them to the front end of the unit, and then the worker installs the front end of the rail on the clamp of the tractor, and the traction and laying operation of the long rails is completed by the tractor moving forward.
[0010] The track laying machine in the above-mentioned prior art is a device specially used in high-speed rail construction. The size of the machine is too large to be used in the construction site of the track. In addition, the track laying machine needs to keep moving forward during the laying of high-speed rail tracks, and the space requirements in the laying process of long rails are met by the method of advancing and laying. However, the length of the rails used in the track is relatively short, which is no longer suitable for the method of advancing and laying. Due to various limitations, the high-speed rail track laying machine cannot be used in the track laying process of the track.
[0011] Some automatic track laying equipment in the prior art are used in their own special working environments. For example, a lining trolley rail automatic laying device describes a track laying method based on a lining trolley for tunnel construction, and a rail laying vehicle describes a method for laying temporary tracks in mining operations. This type of equipment has different application scenarios from the present invention, and the rail construction process based on it is also different. Summary of the invention
[0012] The present invention provides a steel rail automatic laying system and method for railway track assembly, so as to effectively improve the productivity and economic benefits in the track assembly operation.
[0013] In order to achieve the above object, the present invention adopts the following technical scheme.
[0014] According to one aspect of the present invention, there is provided a railway track automatic track laying system, comprising: a rail storage subsystem, a rail traction laying subsystem, a rail shape and position and margin detection subsystem and a rail margin fine adjustment subsystem connected in sequence;
[0015] The automatic rail laying system is arranged in the site to form a work station, the rail storage subsystem is arranged at the rear of the site, and is docked with the rail traction vehicle by adjusting the foundation height; the rail traction and laying subsystem and the rail shape, position and margin detection subsystem are mounted on the rail operation vehicle, arranged in the working area of the site, and work across the rail row to be assembled; the rail margin fine-tuning subsystem is arranged in the middle of the sleepers of the rail row to be assembled, and is raised in height or retracted below the ground as needed.
[0016] Preferably, the rail storage system is composed of a plurality of rail silos, each of which is arranged at a set distance, and the rails to be laid are stored in the rail silos. The rail silos are composed of an upper rail silo, a rail silo chassis and a driving electric cylinder. When the rails are stored in the rail silo, they have degrees of freedom in two directions, X and Y. The X-direction degree of freedom is provided by the driving electric cylinder controlling the upper rail silo to move along the X direction on the rail silo chassis, and the Y-direction degree of freedom is provided by the rail working vehicle in the rail traction and laying system when traction and laying the rails.
[0017] Preferably, a longitudinal rail roller is installed on the upper surface of the rail silo, each rail in the rail silo is in contact with the longitudinal rail roller, each rail is stored in a funnel-shaped chamber composed of adjacent trapezoidal baffles, and a transverse rail roller is installed on the chassis of the rail silo, and the rail silo baffle is installed on the front side of the chassis of the rail silo.
[0018] Preferably, the rail traction and laying subsystem consists of a rail traction and laying mechanism and a rail working vehicle. The rail traction and laying mechanism is mounted on the rail working vehicle. The rail traction and laying mechanism uses an electromagnet to connect with the rail cross section. The beam support frame in the traction and laying mechanism provides support for the rails in traction, and rail guide wheels are installed on the beam support frame.
[0019] Preferably, the rail shape, position and margin detection subsystem consists of a line laser profile sensor, a rail operating vehicle and a computer. The line laser profile sensor uses a laser trigger to scan the rail, collects point cloud data of the detection target, and uploads the collected point cloud data to the computer. The computer calculates the shape and position data of the rail based on the point cloud data using a rail shape and position detection algorithm.
[0020] Preferably, the rail margin fine-tuning subsystem is composed of a plurality of fine-tuning modules, each of which is composed of a linear slide module, a servo lifting platform and a rail roller. The fine-tuning modules are arranged between the sleepers at intervals of a set number of sleepers. When the system is not working, the fine-tuning modules are sunk into the ground; when the rail traction and laying subsystem starts working, the height of the fine-tuning modules is raised to above the sleeper plane to receive the continuously moving rails during the traction process.
[0021] According to another aspect of the present invention, there is provided a method for automatic track laying of railway tracks, which is applied to the automatic track laying system of railway tracks, and the method comprises:
[0022] When the automatic rail laying system starts working, the positions of the rail silo and the fine adjustment modules are initialized. The initial height of each fine adjustment module exceeds the set distance of the rail bearing surface on the sleeper, and the rails are loaded into the rail silo;
[0023] The rail silo moves to move the first group of rails into the position to be laid. The first group of rails and the rail clamp on the rail operation vehicle are in a co-linear state. The rail operation vehicle moves toward the rail silo. When the rail clamp approaches the overhanging part of the rail to be laid, the vehicle speed slows down to ensure that the rail passes through the guide wheel and the lower surface of the rail contacts the roller, ensuring that the front end of the rail is flush with the electromagnet, and completing the docking of the rail and the clamp;
[0024] The rail operation vehicle moves forward, pulling the rails for laying. During the rail laying process, the rails gradually fall on the rail rollers of the fine-tuning module. The rail operation vehicle moves in the opposite direction, and the camera on the vehicle starts working. The camera collects point cloud data each time it passes the sleeper and uploads the collected point cloud data to the computer. The computer determines whether the rails are laid properly based on the point cloud data. When the shape and position of the rails are qualified, the height of the fine-tuning modules collectively decreases and enters the next step of the workflow. When the shape and position of the rails are unqualified, another rail fine-tuning operation is performed, and then the scanning and detection are re-performed until the shape and position of the rails are qualified. The height of the fine-tuning module continues to decrease until the upper surface of the fine-tuning module is completely sunk into the ground, and the rail laying and inspection fine-tuning operation process is completed.
[0025] Preferably, the computer determines whether the rail is laid properly according to the point cloud data, including:
[0026] The computer first performs denoising, outlier deletion and voxel downsampling preprocessing on the point cloud data, performs straight-through filtering on the preprocessed point cloud data to obtain target data containing only the edge of the rail and the target boss, reduces the dimension of the target data to an optimal reference plane, and automatically slices the reduced-dimensional data along the direction of the rail itself, calculates the distance between the edge of the rail and the target boss multiple times in multiple slices, selects and averages multiple groups of data, and finally obtains the distance between the rail and the iron pad boss in the point cloud data, and integrates the point cloud data collected on each sleeper according to the spatial position to obtain the overall deformation of the rail.
[0027] It can be seen from the technical solutions provided by the above-mentioned embodiments of the present invention that the system designed by the present invention is suitable for the construction scenarios of railway track assembly, can realize the fully automatic laying and inspection and fine-tuning operations of the rails, and has designed a complete set of rail construction process flows based on the system hardware composition. The whole set of processes has the advantages of high efficiency, high precision, and good laying quality, which helps to improve the productivity and economic benefits in the track assembly operations.
[0028] Additional aspects and advantages of the present invention will be given in part in the following description, which will become obvious from the following description, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.
[0030] Figure 1 A structural diagram of an automatic rail laying system for railway track assembly provided by an embodiment of the present invention;
[0031] Figure 2 A schematic diagram of the structure of a rail silo provided in an embodiment of the present invention;
[0032] Figure 3 A schematic structural diagram of a rail traction laying mechanism provided in an embodiment of the present invention;
[0033] Figure 4 A rail shape and position detection algorithm process provided by an embodiment of the present invention;
[0034] Figure 5 A schematic structural diagram of a rail fine-tuning module provided in an embodiment of the present invention;
[0035] Figure 6 A process flow of an automatic rail laying method for railway track assembly is provided in an embodiment of the present invention.
[0036] In the figure: 1-rail storage subsystem; 2-rail traction and laying subsystem; 3-rail shape and margin detection subsystem; 4-rail margin fine-tuning subsystem; 5-upper rail silo; 6-rail silo chassis; 7-driving electric cylinder; 8-longitudinal rail roller; 9-trapezoidal baffle; 10-transverse rail roller; 11-rail silo baffle; 12-high-power electromagnet; 13-rails to be laid; 14-crossbeam support frame; 15-rail guide wheel; 16-support frame roller; 17-margin fine-tuning mechanism; 18-rail lifting mechanism; 19-and rail roller. DETAILED DESCRIPTION
[0037] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.
[0038] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items.
[0039] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.
[0040] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings, and each embodiment does not constitute a limitation on the embodiments of the present invention.
[0041] Example 1
[0042] The structure of an automatic rail laying system for railway track assembly provided by an embodiment of the present invention is as follows: Figure 1 As shown, it comprises four subsystems, namely: a rail storage subsystem (1), a rail traction and laying subsystem (2), a rail shape and margin detection subsystem (3) and a rail margin fine-tuning subsystem (4).
[0043] The above-mentioned automatic rail laying system is arranged as a whole in a special site to form a fixed work station, which can repeat the work process to carry out continuous rail laying operations. Among them, the rail storage subsystem (1) is arranged at the rear of the site and docks with the rail traction vehicle by adjusting the foundation height; the rail traction laying subsystem (2) and the rail shape and margin detection subsystem (3) are mounted on the rail operation vehicle, arranged in the working area of the site and straddle the rail row to be assembled to work; the rail margin fine-tuning subsystem (4) is arranged in the middle of the sleepers of the rail row to be assembled, and can be raised or retracted below the ground as needed.
[0044] like Figure 1 As shown in , the rail storage system (1) is composed of a plurality of rail silos, each of which is arranged at intervals of 3m, and the rails to be laid are stored in the rail silos. Figure 2 As shown, the rail silo body is composed of an upper rail silo (5), a rail silo chassis (6) and a driving electric cylinder (7). When the rails are stored in the rail silo, they have two degrees of freedom in the X and Y directions: the X-direction freedom is provided by the driving electric cylinder (7) controlling the upper rail silo (5) to move on the rail silo chassis (6) along the X direction; the Y-direction freedom is provided by the rail operation vehicle in the rail traction and laying system when traction and laying the rails.
[0045] The upper rail bin (5) can accommodate up to 7 sets of rails. A longitudinal rail roller (8) is installed on the upper surface of the rail bin. Each rail in the rail bin contacts the longitudinal rail roller (8) to reduce the resistance of the rail when it moves along the Y direction. Each rail is stored in a funnel-shaped chamber composed of adjacent trapezoidal baffles (9). The cross-sectional shape of the chamber will help workers operate the hammock to continue the rail loading operation.
[0046] A transverse rail roller (10) is installed on the rail silo chassis (6) to reduce the movement resistance of the upper rail silo (5) on the rail silo chassis (6). A rail silo baffle (11) is installed on the front side of the rail silo chassis (6) to offset the impact of the rail on the upper rail silo (5) when the rail is towed and laid. The roller on the rail silo baffle (11) can also reduce the resistance of the upper rail silo (5) when it moves along the X direction.
[0047] Figure 3 The schematic diagram of the structure of a rail traction and laying mechanism provided by an embodiment of the present invention. The rail traction and laying subsystem (2) is mainly composed of a rail traction and laying mechanism and a rail operation vehicle, and the rail traction and laying mechanism is mounted on the rail operation vehicle. Figure 3 As shown, the main working principle of the rail traction and laying mechanism is to use a high-power electromagnet (12) to connect with the rail cross section, and then rely on the rail operation vehicle to provide power to complete the traction and laying operation. The crossbeam support frame (14) in the traction and laying mechanism can provide support for the rail (13) in traction, and is used to alleviate the deformation of the rail due to its own weight during the subsequent traction process. The crossbeam support frame (14) is also equipped with a rail guide wheel (15), which can correct the position of the rail when the traction and laying mechanism approaches the rail. The support frame roller (16) can reduce the movement resistance of the rail when it passes through the crossbeam support frame (14).
[0048] The rail shape and margin detection subsystem (3) is mainly composed of a line laser profile sensor, a rail operation vehicle, and a rail shape and position detection algorithm. The line laser profile sensor is an industrial camera based on the principle of laser triangulation. It can collect point cloud data of the detection target from a fixed direction and has the characteristics of good environmental robustness and high collection accuracy. This subsystem mainly uses the camera to scan the rail belly edge and the iron pad near the rail, and then uses the collected data to calculate the shape and position data of the rail, and provide data guidance for the fine-tuning operation of the rail margin fine-tuning subsystem.
[0049] When the rail traction laying subsystem (2) completes the laying operation, the rail operation vehicle can continue to drive the camera to complete the rail scanning operation. The camera uses a laser trigger method when scanning the rail. Whenever the camera detects that the sleeper enters the field of view, it starts a scan, and when the sleeper leaves the field of view, it stops scanning. In this way, the relative position between the rail and the fastener on all the sleepers passing through can be obtained. The point cloud data collected in the above process is uploaded to the computer, and the accurate distance between the edge of the rail and the iron pad boss in each point cloud is obtained through the rail shape and position detection algorithm.
[0050] The present invention provides a rail shape and position detection algorithm process as follows: Figure 4 As shown. After the camera uploads the point cloud data back to the computer, the point cloud data must first be preprocessed by denoising, deleting outliers, and downsampling voxels. The processed point cloud data can be calculated to obtain the optimal reference plane in the current point cloud data. In addition, the preprocessed point cloud data can be filtered through a straight-through filter to obtain target data containing only the edge of the rail and the target boss. The target data is reduced to the optimal reference plane, and the reduced-dimensional data is automatically sliced along the direction of the rail itself. The distance between the edge of the rail and the target boss is calculated multiple times in multiple slices, and multiple groups of data are selected and averaged to finally obtain the distance between the rail and the iron pad boss in the point cloud data. By integrating the point cloud data collected on each sleeper according to the spatial position, the overall deformation of the rail can be observed macroscopically.
[0051] The rail edge distance fine-tuning subsystem (4) is composed of a plurality of fine-tuning modules. The structure of the fine-tuning modules is as follows: Figure 5 As shown, each module is composed of a linear slide module (17), a servo lifting platform (18) and a rail roller (19), and these modules are arranged between the sleepers every 4 sleepers (2400mm). When the system is not working, the fine adjustment module is completely sunk into the ground; when the rail traction laying subsystem (2) starts working, the fine adjustment module is raised to a height above the sleeper plane to receive the continuously moving rails during the traction process.
[0052] Example 2
[0053] The processing flow of a method for automatically laying rails for railway track assembly provided by an embodiment of the present invention is as follows: Figure 6 As shown, the processing includes the following:
[0054] When the system starts working, the positions of the rail silo and the fine-tuning module are initialized first. The initial position of the rail silo needs to be ensured to be Figure 2In the position shown in the figure, at this time, the upper rail silo (5) is uniformly located on one side of the rail storage system, and the driving electric cylinder (7) is in a retracted state; the initial position of the fine adjustment module needs to ensure that its height exceeds the rail bearing surface on the sleeper (i.e., above the large rubber pad in the material under the rail) by about 40 mm, and the height of each fine adjustment module should be kept consistent.
[0055] Workers operate gantry hammocks and other equipment to load the rail silo. The loaded rails should extend 2m in the traction direction, and the rear end should be kept as flat as possible. The rail silo can accommodate 14 rails, which can ensure the laying of rails in 7 rail rows.
[0056] In a preferred embodiment of the present invention, the rail silo moves the first group of rails into a position to be laid, and at this time, the first group of rails should be in a co-linear state with the rail clamps on the rail working vehicle.
[0057] In a preferred embodiment of the present invention, the rail working vehicle moves toward the rail silo, and when the rail clamp approaches the protruding part of the rail to be laid, the vehicle speed is slowed down to ensure that the rail can pass through the guide wheel (15), and the lower surface of the rail contacts the roller (16), and finally ensure that the front end surface of the rail is flush with the electromagnet (12), completing the docking of the rail and the clamp. Thereafter, the electromagnet is energized to make the clamp suck the rail tightly.
[0058] In a preferred embodiment of the present invention, the rail working vehicle moves forward and pulls the rails for laying. During the rail laying process, the rails gradually fall onto the rail rollers (19) of the fine adjustment module.
[0059] In a preferred embodiment of the present invention, when the rail working vehicle reaches the laying end position, the rail clamp is powered off, and the rail falls completely onto the fine-tuning module.
[0060] In a preferred embodiment of the present invention, the fine-adjustment modules collectively descend slowly so that the lower surface of the rail is about 10 mm away from the sleeper bearing surface.
[0061] In a preferred embodiment of the present invention, the rail working vehicle moves in the reverse direction, and the camera on the vehicle starts to work. The camera collects data once each time it passes the rail sleeper, and a total of 62 sets of data are collected for a 25m long rail row.
[0062] In a preferred embodiment of the present invention, the camera uploads the collected data, the computer obtains the discrete shape and position data of the rail through calculation, and outputs the motion plan of the fine-tuning module.
[0063] In a preferred embodiment of the present invention, the fine-tuning module starts to move according to the fine-tuning scheme output by the computer, and gradually adjusts the rail to a suitable position.
[0064] In a preferred embodiment of the present invention, after the rails have completed the first inspection and fine-tuning operation, the rail working vehicle moves in the opposite direction again and performs another rail inspection process. The computer determines whether the rails have been laid properly based on the data collected this time: when the shape and position of the rails are qualified, the next step of the work process is entered; when the shape and position of the rails are unqualified, the rails are fine-tuned again, and then the scanning and inspection are performed again until the shape and position of the rails are qualified.
[0065] In a preferred embodiment of the present invention, the rail shape and position are qualified, and the fine adjustment module is collectively lowered again to make the rail completely fall on the rail bearing surface of the sleeper. In addition, the fine adjustment module needs to be continuously lowered until its upper surface is completely sunk into the ground.
[0066] At this point, a complete rail laying and inspection and fine-tuning process is completed.
[0067] To sum up, the system of the embodiment of the present invention is suitable for the construction scenario of railway track assembly, and can realize the fully automatic laying and inspection and fine-tuning operations of rails, and a complete set of rail construction process flows are designed based on the system hardware composition. The whole set of processes has the advantages of high efficiency, high precision, and good laying quality, which helps to improve the productivity and economic benefits in track assembly operations.
[0068] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.
[0069] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention or certain parts of the embodiments.
[0070] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.
[0071] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
Claims
1. A railway track automatic laying system, characterized in that: include: The rail storage subsystem, rail traction and laying subsystem, rail shape and position and margin detection subsystem and rail margin fine-tuning subsystem are connected in sequence; The automatic rail laying system is arranged in the site to form a work station, the rail storage subsystem is arranged at the rear of the site, and is docked with the rail traction vehicle by adjusting the foundation height; the rail traction and laying subsystem and the rail shape, position and margin detection subsystem are mounted on the rail operation vehicle, arranged in the working area of the site, and work across the rail row to be assembled; the rail margin fine-tuning subsystem is arranged in the middle of the sleepers of the rail row to be assembled, and is raised in height or retracted below the ground as needed.
2. The system according to claim 1, characterized in that The rail storage system is composed of a plurality of rail silos, each of which is arranged at a set distance, and the rails to be laid are stored in the rail silos. The rail silos are composed of an upper rail silo, a rail silo chassis and a driving electric cylinder. When the rails are stored in the rail silo, they have degrees of freedom in two directions, X and Y. The X-direction degree of freedom is provided by the driving electric cylinder controlling the upper rail silo to move along the X direction on the rail silo chassis, and the Y-direction degree of freedom is provided by the rail working vehicle in the rail traction and laying system when traction and laying the rails.
3. The system according to claim 2, characterized in that A longitudinal rail roller is installed on the upper surface of the rail silo, each rail in the rail silo is in contact with the longitudinal rail roller, and each rail is stored in a funnel-shaped chamber composed of adjacent trapezoidal baffles. A transverse rail roller is installed on the chassis of the rail silo, and the rail silo baffle is installed on the front side of the chassis of the rail silo.
4. The system according to claim 2, characterized in that The rail traction and laying subsystem consists of a rail traction and laying mechanism and a rail working vehicle. The rail traction and laying mechanism is mounted on the rail working vehicle. The rail traction and laying mechanism uses an electromagnet to connect with the rail cross section. The beam support frame in the traction and laying mechanism provides support for the rails in traction, and rail guide wheels are installed on the beam support frame.
5. The system according to claim 1, characterized in that The rail shape, position and margin detection subsystem consists of a line laser profile sensor, a rail working vehicle and a computer. The line laser profile sensor uses a laser trigger to scan the rail, collects point cloud data of the detection target, and uploads the collected point cloud data to the computer. The computer calculates the shape and position data of the rail based on the point cloud data using a rail shape and position detection algorithm.
6. The system according to claim 1, characterized in that The rail margin fine-tuning subsystem is composed of a plurality of fine-tuning modules, each of which is composed of a linear slide module, a servo lifting platform and a rail roller. The fine-tuning modules are arranged between the sleepers at intervals of a set number of sleepers. When the system is not working, the fine-tuning modules are sunk into the ground; when the rail traction and laying subsystem starts working, the height of the fine-tuning modules is raised to above the sleeper plane to receive the continuously moving rails during the traction process.
7. A method for automatically laying rail tracks, characterized in that: The method applied to the railway track automatic laying system according to any one of claims 1 to 6 comprises: When the automatic rail laying system starts working, the positions of the rail silo and the fine adjustment modules are initialized. The initial height of each fine adjustment module exceeds the set distance of the rail bearing surface on the sleeper, and the rails are loaded into the rail silo; The rail silo moves to move the first group of rails into the position to be laid. The first group of rails and the rail clamp on the rail operation vehicle are in a co-linear state. The rail operation vehicle moves toward the rail silo. When the rail clamp approaches the overhanging part of the rail to be laid, the vehicle speed slows down to ensure that the rail passes through the guide wheel and the lower surface of the rail contacts the roller, ensuring that the front end of the rail is flush with the electromagnet, and completing the docking of the rail and the clamp; The rail operation vehicle moves forward, pulling the rails for laying. During the rail laying process, the rails gradually fall on the rail rollers of the fine-tuning module. The rail operation vehicle moves in the opposite direction, and the camera on the vehicle starts working. The camera collects point cloud data each time it passes the sleeper and uploads the collected point cloud data to the computer. The computer determines whether the rails are laid properly based on the point cloud data. When the shape and position of the rails are qualified, the height of the fine-tuning modules collectively decreases and enters the next step of the workflow. When the shape and position of the rails are unqualified, another rail fine-tuning operation is performed, and then the scanning and detection are re-performed until the shape and position of the rails are qualified. The height of the fine-tuning module continues to decrease until the upper surface of the fine-tuning module is completely sunk into the ground, and the rail laying and inspection fine-tuning operation process is completed.
8. The method according to claim 7, characterized in that The computer determines whether the rail is laid properly according to the point cloud data, including: The computer first performs denoising, outlier deletion and voxel downsampling preprocessing on the point cloud data, performs straight-through filtering on the preprocessed point cloud data to obtain target data containing only the edge of the rail and the target boss, reduces the dimension of the target data to an optimal reference plane, and automatically slices the reduced-dimensional data along the direction of the rail itself, calculates the distance between the edge of the rail and the target boss multiple times in multiple slices, selects and averages multiple groups of data, and finally obtains the distance between the rail and the iron pad boss in the point cloud data, and integrates the point cloud data collected on each sleeper according to the spatial position to obtain the overall deformation of the rail.