A tamping operation control system

Abstract

The present invention discloses a tamping operation control system, including: an automatic tamping control host, a sleeper identification unit, and an image acquisition and foreign object identification unit. The automatic tamping control host obtains sleeper identification information through the sleeper identification unit, identifies the sleeper position in combination with the mileage signal of the measuring wheel, and obtains foreign object identification information in the area to be tamped through the image acquisition and foreign object identification unit, and provides a tamping down signal for the tamping vehicle to perform tamping operations, so as to realize the automatic tamping operation of the tamping vehicle. When the tamping head of the tamping vehicle is currently located in the ballast area and there are no foreign objects, the automatic tamping control host controls the tamping head to perform the tamping down action and realize automatic travel. The present invention can solve the technical problems of low automation degree and high labor intensity of operators in the existing tamping operation methods.

Description

Technical Field

[0001] The present invention relates to the technical field of rail engineering machinery, and in particular to large-scale railway tamping vehicles, mainly including intelligent tamping operation control systems of various tamping vehicle models such as D08-32, DCL-32, D08-32C, D09-32, CD08-475, and DWL-48. Background Art

[0002] A tamping machine is a typical large-scale track maintenance machine (referred to as a large machine), which is suitable for the construction of new railway lines, the cleaning and screening of existing lines, and the maintenance of operating lines. The tamping machine is mainly used for automatic leveling, track lifting and tamping of ballast, improving the density of the ballast of the roadbed, increasing the stability of the track, eliminating the directional deviation of the track, the left and right horizontal deviations, and the front and rear height deviations, so that the track line meets the requirements of the line design standards and line maintenance rules, and ensures the safe operation of the train. Tamping machines can be divided into single-sleeper, double-sleeper and four-sleeper tamping machines according to the number of sleepers tamped at the same time; they can be divided into line and turnout tamping machines according to the operation object; they can be divided into step-by-step and continuous walking tamping machines according to the operation walking mode; they can be divided into multi-functional tamping machines and single-function tamping machines according to the operation function; in addition, there are tamping machines with special functions such as dust prevention and noise prevention.

[0003] The commonly used filling material for railway ballasted track bed is stone ballast with a particle size of 20 to 70 mm. The track bed has a trapezoidal cross section and a normal thickness of 30 to 50 cm. Ballast tamping is the process of migrating ballast in a specified direction and increasing the density of ballast. When using a tamping vehicle for mechanized tamping, the track is usually lifted to a horizontal position determined by the measurement system and positioned laterally. Then, a pair of high-frequency vibrating tamping picks are used to insert ballast on both sides of the sleeper at the same time. The ballast is tamped and compacted by relative clamping at a specified depth, and the ballast is made to flow, gather and reorganize, which plays a role in stabilizing the position of the track after track shifting, improving the buffering capacity of the track bed, and eliminating certain line diseases (such as empty hangers, etc.).

[0004] The existing tamping vehicle operation modes include manual operation mode and automatic cycle operation mode (including automatic cycle 1X, automatic cycle 2X, etc.). Both operation modes require the operator at the operation position (position 1) to manually observe and determine the tamping position, and continuously operate the tamping device to lower and the operation travel foot switch. In addition, the operator is required to be proficient in the operation of the equipment and to maintain a high degree of concentration, which is labor-intensive. At present, there is no complete research on the automatic tamping control technology of the tamping vehicle, and it is limited to the sleeper identification technology. For example, Guangzhou Port Group Co., Ltd. applied on August 31, 2017 and announced on May 4, 2018. The Chinese utility model patent with announcement number CN207311477U discloses a detection system for sleeper identification and positioning and fastener defect detection. The system realizes sleeper positioning and fastener defect detection through a laser displacement sensor. The system includes a laser ranging system, a coding mileage wheel, a controller and a host computer, which can be installed on a track detection device. The measurement sensor of this technical solution only uses laser distance measuring sensors, and the number and relative position of sensors are not clear. There is a certain possibility of mis-positioning and missing positioning of sleepers, and it does not involve image recognition of foreign objects on the track. At the same time, it does not explain that the detection system can be applied to tamping vehicles. For example: On May 20, 2012, Liu Guanglu published a master's thesis entitled "Research on Railway Track Sleeper Positioning Technology" in the "Journal of Nanchang University". On the basis of the existing track inspection instrument, a set of sleeper positioning system was added, and the measurement results of the track inspection instrument were accurately positioned on the sleepers. This method uses a technical solution of eddy current proximity switches combined with software compensation, which has a high accuracy rate in sleeper positioning. However, the paper also did not mention foreign object detection in the ballast area, nor did it explain how to apply sleeper positioning technology on tamping vehicles. For another example, Zhang Jian's master's thesis "Design and Implementation of Automatic Control System for Tamping Vehicle" published in the Journal of Southwest Jiaotong University on April 1, 2014 proposed an automatic operation scheme for tamping vehicle to replace the manual input of track starting and track shifting during line precision tamping operations. It only added a control signal input method, and did not make any changes or improvements to the operation control and track measurement of the tamping vehicle itself. Therefore, the automatic tamping operation of the tamping vehicle cannot be realized.

[0005] Therefore, the above-mentioned prior arts either use proximity switches or metal induction sensors to detect the sleeper position, or use laser distance measuring sensors to detect the sleepers, but do not specify the number of sensors and the relative position relationship, which may lead to mis-positioning and missed positioning, affecting the safety, reliability and automated operation of the tamping operation. Moreover, these prior arts do not involve foreign body detection, automatic tamping action control and automatic tamping control logic design. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a tamping operation control system to solve the technical problems of low automation level and high labor intensity of operators in the existing tamping operation mode.

[0007] In order to achieve the above-mentioned invention object, the present invention specifically provides a technical implementation scheme of a tamping operation control system, and the tamping operation control system includes: an automatic tamping control host, a sleeper identification unit, and an image acquisition and foreign object identification unit. The automatic tamping control host obtains sleeper identification information through the sleeper identification unit, identifies the sleeper position in combination with the mileage signal of the measuring wheel, and obtains foreign object identification information in the area to be tamped through the image acquisition and foreign object identification unit, and provides a tamping down signal for the tamping vehicle to perform tamping operations, so as to realize the automatic tamping operation of the tamping vehicle. When the tamping head of the tamping vehicle is currently located in the ballast area and there are no foreign objects, the automatic tamping control host controls the tamping head to perform the tamping down action and realizes automatic travel.

[0008] Furthermore, the sleeper identification unit is installed at the bottom of the tamping vehicle and includes a sensor array and a signal processing module connected to the sensor array. The sensor array includes at least four laser sensors arranged in a row along the length direction of the sleeper and located above the inner side of the rail for identifying the sleeper and the ballast plane.

[0009] Furthermore, the sensor array also includes at least two spike induction switches arranged in a row with the laser sensor for identifying the inner or outer spikes of the two rails.

[0010] Furthermore, the sleeper identification unit is fixed to the front part of the bottom of the tamping vehicle through a mounting bracket. Rail alignment devices are provided on both sides of the mounting bracket along the length direction, and the rail alignment devices are elastically connected to the mounting bracket and are located above the rails. When the tamping vehicle is in operation, the rail alignment devices roll against the rails to ensure that the laser sensor and / or the spike induction switch are aligned with the spikes.

[0011] Furthermore, the measuring wheel is installed at the front part of the bottom of the tamping vehicle, and the sensor array is installed in front of the tamping head and behind the measuring wheel.

[0012] Preferably, the sensor array includes 6 to 10 laser sensors arranged on the inner side of the rail.

[0013] Furthermore, the image acquisition and foreign object recognition unit is installed at the bottom of the tamping vehicle, on the crossbeam in front of the tamping head, and is located at the rear of the sensor array. The image acquisition and foreign object recognition unit includes a trigger circuit board, a camera, an image processing module and a light source. If the sleeper is identified, the trigger circuit board sends a trigger pulse to the camera and the light source, the light source turns on the fill light, and the camera turns on the photo. After the image processing module processes the two-dimensional image captured by the photo, including image enhancement and foreign object recognition and positioning, the position of the sleeper and the characteristic information of the foreign object are obtained, and then the mileage information of the sleeper and the foreign object are calculated in combination with the pre-set relative position relationship information and transmitted to the automatic tamping control host.

[0014] Furthermore, the sleeper identification unit collects the mileage pulse signal of the measuring wheel, and records the current mileage information while identifying the sleepers. Each sleeper corresponds to a mileage point, and the spacing between the sleepers and the mileage point of the next tamping are calculated based on the mileage of the sleepers. The image acquisition and foreign object identification unit obtains the mileage information of each camera photo from the automatic tamping control host, and calculates the mileage information of each sleeper and foreign object after identifying the sleepers and foreign objects. The automatic tamping control host calculates the current mileage of the tamping head by collecting the mileage information of the tamping vehicle and the relative position between the tamping head and the tamping vehicle.

[0015] Furthermore, when the tamping vehicle is a step-by-step tamping vehicle, when the current running position of the tamping vehicle satisfies YA=Xn, it means that the tamping head has run to the lower insertion position, and the tamping head can perform the tamping lower insertion action. Wherein, Y is the kilometer mark of the current running position of the tamping vehicle, A is the distance between the locking position of the tamping head and the measuring wheel, and Xn is the kilometer mark of the center point between two adjacent sleepers. When the tamping vehicle is a continuous tamping vehicle, when the current running position of the tamping vehicle satisfies Y-A+H=Xn, it means that the tamping head has run to the lower insertion position, and the tamping head can perform the tamping lower insertion action. Wherein, Y is the kilometer mark of the current running position of the tamping vehicle, H is the displacement of the satellite car relative to the locking position, A is the distance between the locking position of the tamping head and the measuring wheel, and Xn is the kilometer mark of the center point between two adjacent sleepers.

[0016] Preferably, if the sleeper is not identified within a set time, the trigger circuit board sends a trigger pulse to the camera and the light source according to a preset mileage interval.

[0017] Furthermore, the relative position of the tamping head, the spacing of the sleepers, the tamping distance, the count value of the sleepers, and the measured distance value of the laser sensor can be viewed in real time through the human-machine interface of the automatic tamping control host. At the same time, the spacing between the laser sensor and the tamping head, the spacing limit value of the sleepers, the widening threshold of the tamping head, and the trigger interval parameters of the camera can be set through the human-machine interface of the automatic tamping control host. When manual intervention is required, the switch from automatic tamping to manual tamping mode can be achieved by touching the human-machine interface of the automatic tamping control host or operating the tamping mode switch installed.

[0018] Furthermore, the signal processing module obtains the signals from the sleeper identification unit and the measuring wheel, performs analysis and calculation, identifies the sleepers and marks the mileage information of the sleepers, calculates the mileage point of the next tamping, and sends the mileage of the sleepers and the mileage point information of the next tamping to the automatic tamping control host.

[0019] Furthermore, when the tamping mode of the tamping vehicle is switched to the manual tamping mode, the control logic of the automatic tamping control host outputting the tamping down-insertion signal is:

[0020] Q0B=[(Automatic circulation mode is on) & (Left and right tamping devices are in the middle position) & (Manual clamping signal is valid) + (Automatic circulation mode is off) & (Manual tamping pedal signal is valid) & (Hydraulic travel is allowed) + (Manual tamping pedal signal is valid) & (Automatic circulation is locked)] & (Tamming operation system is on) & (Tamping mode is not on).

[0021] When the tamping mode of the tamping vehicle is switched to the automatic tamping mode, the logical relationship of the tamping down-insertion signal output by the automatic tamping control host is:

[0022] Q0B=(The tamping head area is identified as the ballast area and there are no foreign objects) & (non-travel status) & (tamping operation system is connected) & (tamping-only mode is not enabled).

[0023] Furthermore, when the tamping mode of the tamping vehicle is switched to the manual tamping mode, the control logic of the automatic tamping control host outputting the forward operation travel signal is:

[0024] Q08=[(Automatic cycle mode is on) & (Manual tamping pedal signal is valid) & (Automatic cycle tamping is finished) & (Tamming operation system is on) + (Travel pedal signal is valid)] & (Forward travel signal is valid) & (Automatic cycle lock signal is invalid).

[0025] When the tamping mode of the tamping vehicle is switched to the automatic tamping mode, the control logic of the automatic tamping control host outputting the forward operation travel signal is:

[0026] Q08=(Automatic tamping delay ends) & (Automatic operation travel is allowed) & (Both left and right tamping devices are in the upper position) & (Tamming operation system is turned on) & (Forward travel signal is valid) & (Automatic cycle locking signal is invalid).

[0027] Furthermore, when the tamping vehicle is a continuous tamping vehicle, the satellite trolley of the tamping vehicle stops before the tamping down signal is generated, and the distance traveled by the satellite trolley from the generation of the stop signal of the satellite trolley to the stopping of the satellite trolley is the braking distance. The braking distance of the next tamping down position of the tamping head is calculated based on the set parameter value and the actual braking distance values ​​of several previous tamping downs. The stop signal of the satellite trolley is generated in advance before reaching the tamping down position based on the calculated braking distance value for the next tamping down.

[0028] Furthermore, a tamping mode switching switch is provided in the automatic tamping control host, and a tamping mode switching touch button is provided in the human-machine interaction interface of the automatic tamping control host. When one of the tamping mode switching switch and the tamping mode switching touch button is selected as the manual tamping mode, the automatic tamping control host cuts off and does not interfere with the operation control, and the operator performs the manual tamping operation according to the original operation procedure. When the tamping mode switching switch and the tamping mode switching touch button are simultaneously selected as the automatic tamping mode, the automatic tamping control host controls the tamping vehicle to perform the tamping operation, and the operator can switch the automatic tamping mode to the manual tamping mode at any time. Only when the tamping head enters the identification area of ​​the sleeper and the sleeper identification unit identifies a certain number of sleepers, is it allowed to switch from the manual tamping mode to the automatic tamping mode.

[0029] Preferably, when the sleeper identification unit detects that the current sleeper spacing exceeds a set value, the automatic tamping control host outputs a tamping head widening signal.

[0030] Preferably, when the sleeper identification unit and the image acquisition and foreign object identification unit detect that the sleeper spacing deviation from the standard value exceeds the set value or there are foreign objects in the ballast section that are not suitable for tamping and insertion, the ballast section is skipped and the insertion operation is not performed, and the automatic tamping control host generates an alarm signal to prompt the operator to choose whether to perform manual intervention operations.

[0031] By implementing the technical solution of the tamping operation control system provided by the present invention, the following beneficial effects are achieved:

[0032] (1) The tamping operation control system of the present invention realizes automatic tamping position recognition and automatic tamping operation control, which reduces the labor intensity of operators and greatly improves operation efficiency;

[0033] (2) The tamping operation control system of the present invention uses a multi-sensor array to identify the sleeper area and the ballast area in real time without the need to input additional operation files, and uses image recognition technology to determine foreign matter in the ballast area, ensuring a very high result recognition accuracy rate;

[0034] (3) The tamping operation control system of the present invention can effectively prevent damage to railway equipment and facilities and prevent metal debris from damaging the tamping head by identifying foreign objects in the track ballast area through image processing;

[0035] (4) The tamping operation control system of the present invention can accurately determine the position of the tamping pick (insert) in advance and automatically control the tamping pick and operation movement of the tamping vehicle, which greatly reduces the labor intensity of the operator and improves the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] For the purpose of reference and clarity, the technical terms, abbreviations or abbreviations used below are recorded as follows:

[0037] Display module: a human-computer interaction module based on operating system programming that constitutes the network node of the railway large-scale track maintenance machinery network control platform;

[0038] DO module: Digital Output Module, a common module in the network control platform of large-scale railway maintenance machinery;

[0039] CAN bus: The abbreviation of Control Area Network bus, which is an ISO internationally standardized serial communication protocol that supports distributed control or real-time control;

[0040] CCD camera: Charge Coupled Device (CCD) camera, CCD is a semiconductor device that can convert optical images into digital signals. There are many neatly arranged capacitors on the CCD that can sense light and convert images into digital signals. Through the control of external circuits, each small capacitor can transfer its charge to its adjacent capacitor. As a light-to-digital conversion element, CCD cameras have been widely used.

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0042] Figure 1 It is a system structure block diagram of a specific embodiment of the tamping operation control system of the present invention;

[0043] Figure 2 It is a system structure block diagram of another specific embodiment of the tamping operation control system of the present invention;

[0044] Figure 3 It is a schematic diagram of the arrangement structure of the sensor array of the sleeper identification unit in a specific embodiment of the tamping operation control system of the present invention;

[0045] Figure 4 It is a schematic diagram of the arrangement structure of the sensor array of the sleeper identification unit in another specific embodiment of the tamping operation control system of the present invention;

[0046] Figure 5 It is a front view of the arrangement structure of the sensor array above the sleeper in a specific embodiment of the tamping operation control system of the present invention;

[0047] Figure 6 It is a top view of the arrangement structure of the sensor array above the sleeper in a specific embodiment of the tamping operation control system of the present invention;

[0048] Figure 7 It is a structural block diagram of an image acquisition and foreign body identification unit in a specific embodiment of the tamping operation control system of the present invention;

[0049] Figure 8 It is a schematic diagram of the human-machine exchange interface of the automatic tamping control host in the tamping operation control system of the present invention;

[0050] Fig. 9 It is another schematic diagram of the human-machine exchange interface of the automatic tamping control host in the tamping operation control system of the present invention;

[0051] Fig.10 It is a schematic diagram of the principle of realizing mileage positioning in a specific embodiment of the tamping operation control system of the present invention;

[0052] Fig.11 It is a schematic diagram of the principle of realizing mileage positioning by another specific embodiment of the device for obtaining the position of sleepers for tamping operation of the present invention;

[0053] Fig.12 It is a schematic structural diagram of a tamping vehicle used in a specific embodiment of the tamping operation control system of the present invention;

[0054] Fig.13 It is a waveform principle diagram of a specific embodiment of the tamping operation control system of the present invention to realize the sleeper identification function;

[0055] In the figure: 10-tamping vehicle, 11-front driver's cab, 12-rear driver's cab, 13-satellite trolley, 20-sleeper, 30-rail, 40-ballast bed, 50-spike, 60-capacitor sleeper, 70-gauge pull rod, 100-tamping operation control system, 200-automatic tamping control host, 300-sleeper identification unit, 301-signal processing module, 302-mounting bracket, 303-laser sensor, 304-spike induction switch, 305-rail alignment device, 400-image acquisition and foreign object identification unit, 401-trigger circuit board, 402-camera, 403-lens, 404-image processing module, 405-light source, 500-electrical system of tamping vehicle, 600-measuring wheel, 700-tamping device, 701-tamping head, 800-on-board battery, 900-track lifting device. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] As attached Figure 1 To Attachment Fig.13 As shown, a specific embodiment of the tamping operation control system of the present invention is given, and the present invention is further described below in conjunction with the drawings and specific embodiments.

[0058] The tamping operation control system 100 described in the specific embodiment of the present invention collects signals from multiple laser (distance) sensors 303 and spike sensor switches 304, and accurately identifies the position of the sleeper 20 in combination with the mileage value of the measuring wheel 600. At the same time, the image acquisition and foreign object recognition unit 400 identifies metal foreign objects in the area to be tamped, thereby providing an accurate lower pick (tamping lower insertion) position for the tamping vehicle 10 to perform tamping operations. At the same time, the automatic tamping operation and travel of the tamping vehicle 10 are realized by modifying the underlying operation control logic of the tamping vehicle 10.

[0059] As attached Figure 1As shown, an embodiment of the tamping operation control system of the present invention specifically includes: an automatic tamping control host 200, a sleeper identification unit 300 and an image acquisition and foreign object identification unit 400. The sleeper identification unit 300 and the image acquisition and foreign object identification unit 400 respectively detect the ballast bed 40. The automatic tamping control host 200 obtains the sleeper identification information through the sleeper identification unit 300, identifies the sleeper position in combination with the mileage signal of the measuring wheel 600, and obtains the foreign object identification information in the area to be tamped through the image acquisition and foreign object identification unit 400, and provides a tamping down signal for the tamping vehicle 10 to perform the tamping operation, so as to realize the automatic tamping operation of the tamping vehicle 10. When the tamping head 701 of the tamping vehicle 10 is currently located in the ballast area and there is no foreign object, the automatic tamping control host 200 controls the tamping head 701 to perform the tamping down action and realize automatic travel. The automatic tamping control host 200 obtains an input logic signal from the tamping vehicle electrical system 500 and outputs an operation control signal to the tamping vehicle electrical system 500 , and the tamping vehicle electrical system 500 controls the tamping device 700 to operate.

[0060] As attached Fig.12 As shown, it is a structural schematic diagram of a tamping vehicle 10 used in a specific embodiment of the present invention, and L shows the working direction of the tamping vehicle 10. The tamping vehicle 10 includes a front driver's cab 11 and a rear driver's cab 12, and a satellite trolley 13 is arranged at the lower middle part of the tamping vehicle 10. The satellite trolley 13 is provided with a tamping device 700 for implementing tamping operations, and the tamping device 700 implements tamping operations through a tamping head 701, and implements track lifting and track shifting operations through a track lifting and shifting device 900. A measuring trolley (not shown in the figure) is also arranged at the front of the tamping vehicle 10, and the measuring trolley is provided with a measuring wheel 600. The bottom of the tamping vehicle 10 is also provided with a sleeper recognition unit 300 and an image acquisition and foreign body recognition unit 400.

[0061] The sleeper identification unit 300 is installed at the bottom of the tamping vehicle 10 and includes a sensor array and a signal processing module 301 connected to the sensor array. The sensor array can be a combination of laser sensors 303 and spike induction switches 304, or all of them can be laser sensors 303. If all of them are laser sensors 303, the sensor array includes a row of sensors along the length direction of the sleeper 20 (such as the attached Figure 4 , 5 At least four laser sensors 303 are arranged on the inner side of the rail 30 and above the rail 30 to identify the sleeper 20 and the ballast plane. The number of laser sensors 303 in the sensor array is generally 4 to 14, preferably 6 to 10, and they are arranged as dispersed and evenly as possible on the inner side of the rail 30. Figure 4As shown in FIG. 1 , the sensor array includes a total of 8 laser sensors 303, of which 6 are located on the inner side of the rail 30, 4 of which are used to identify the central plane of the sleeper 20, 2 of which are used to identify the spikes 50 on the inner side of the rail 30, and 2 of which are located on the outer side of the rail 30, for identifying the spikes 50 on the outer side of the rail 30. If a combination method is adopted, the sensor array also includes at least 2 spike induction switches 304 arranged in a row with the laser sensors 303 for identifying the spikes 50 on the inner or outer sides of the two rails 30, as shown in FIG. Figure 3 The embodiment shown includes a spike sensor switch 304 on each of the left and right outer sides of the rail 30. Considering that the spike sensor switch 304 may interfere with the rail surface when passing through the turnout and there may be false detection and missed detection of spikes in actual applications, it is only used as an auxiliary identification means. Figure 5 and 6 In the illustrated embodiment, the sensor array uses six laser sensors 303, and all six laser sensors 303 are arranged on the inner side of the rail 30, of which four are arranged on the upper middle part of the sleeper 20 for identifying the central plane of the sleeper 20, and the other two are arranged close to the inner side of the rail 30. This arrangement can achieve a detection accuracy of more than 99% for the sleeper 30 during actual application testing.

[0062] The laser (ranging) sensor 303 emits laser pulses to the object being detected through the internal laser diode. After being reflected by the object being detected, the laser pulses will scatter in different directions. Part of the scattered light will return to the receiver of the laser sensor 303, and an image will be generated on the photodiode of the laser sensor 303. The time from the emission of the laser pulse to the return of the scattered light to the receiver of the laser sensor 303 is recorded and processed, so that the distance between the target position and the laser sensor 303 can be determined.

[0063] There are two significant differences between the reflected signals of the laser from the sleeper 20 and the ballast. One is the distance. When the ballast does not cover the sleeper 20, the ballast is farther from the laser sensor 303 than the sleeper 20. The other is the flatness. The laser signal reflected from the sleeper 20 is flat and highly consistent, while the signal reflected from the ballast is chaotic. By judging the specific differences in the above two waveforms, the ballast and the sleeper 20 can be accurately distinguished, thus realizing the identification and positioning of the sleeper 20. Fig.13 As shown, I is the recognition waveform of the laser sensor 303, J is the recognition waveform of the spike induction switch 304, D is the recognition waveform of the spike 50, E is the recognition waveform of the sleeper 20, F is the recognition waveform of the ballast, and G is the recognition position of the sleeper 20.

[0064] Spike induction recognition is a supplementary means of laser recognition. Two spike induction switches 304 are added at the spikes 50 on the outside of the rail 30. The spike induction switches 304 generate a high-level signal when they are close to the spikes 50 and return to a low level when they leave the spikes. The signal processing module 301 uses a fuzzy algorithm to finally determine the sleeper 20. If most of the eight sensors (the number can be set according to the specific situation) recognize the sleeper 20, the recognition is considered valid, otherwise it is considered invalid. The sensors can also be grouped according to their specific layout positions, and a comprehensive judgment is made according to the recognition results of each group of sensors.

[0065] The measuring wheel 600 is installed at the front of the bottom of the tamping vehicle 10, and the sensor array is installed in front of the tamping head 701 and behind the measuring wheel 600. The signal processing module 301 obtains the signals of the sleeper identification unit 300 (aggregating the signals of multiple sensors) and the measuring wheel 600, performs analysis and calculation, identifies the sleeper 20 and marks the mileage information of the sleeper 20, calculates the mileage point of the next tamping, and sends the mileage of the sleeper 20 and the mileage point information of the next tamping to the automatic tamping control host 200 through the CAN bus.

[0066] The sleeper identification unit 300 is fixed to the front part of the bottom of the tamping vehicle 10 through the mounting bracket 302, and the sensor array and the signal processing module 301 are integrated on the mounting bracket 302. The entire mounting bracket 302 can be conveniently mounted directly on the position behind the measuring wheel 600 on the D point measuring trolley of the tamping vehicle 10. In order to ensure that the induction switch and the laser sensor 303 identified by the spike 50 are accurately aligned with the spike 50, a rail alignment device 305 is provided on both sides of the mounting bracket 302 along the length direction. The rail alignment device 305 is elastically connected to the mounting bracket 302 and is located above the rail 30, and is allowed to move left and right within a certain range. When the tamping vehicle 10 is in operation, the rail alignment device 305 rolls against the rail 30 to ensure that the laser sensor 303 and / or the spike induction switch 304 are aligned with the spike 50. The induction switch for identifying the spike 50 outside the rail 30 is allowed to rotate and can automatically avoid touching the ballast. The induction switch can be retracted and locked when driving at high speed. The signals of all laser sensors 303 and spike induction switches 304 are directly connected to the signal processing module 301 on the mounting bracket 302 through wires.

[0067] The automatic tamping control host 200 and the vehicle electrical system of the tamping vehicle 10 use the mileage signal output by the same measuring wheel 600 to ensure the synchronization of the mileage of each subsystem. The mileage measurement accuracy of the measuring wheel 600 is 1mm. The automatic tamping control host 200 uses relative mileage, that is, the starting point of this automatic tamping operation is the mileage zero point. The sleeper identification unit 300 collects the mileage signal by itself, identifies the sleeper 20 and records the current mileage. Each sleeper 20 corresponds to a mileage point. The spacing between the sleepers 20 and the mileage point of the next tamping are calculated based on the mileage of the sleepers 20 (generally, the gauge of the sleepers 20 is between 450mm and 750mm).

[0068] The image acquisition and foreign body identification unit 400 is installed at the bottom of the tamping vehicle 10, on the crossbeam in front of the tamping head 701, and is located at the rear of the sensor array. Figure 7 As shown, the image acquisition and foreign body identification unit 400 includes a trigger circuit board 401, a camera 402, an image processing module 404 and a light source 405. The camera 402 adopts a CCD camera, and the trigger circuit board 401 is powered by an on-board battery 800. The image coordinates of the sleeper 20, the capacitor sleeper 60, the gauge rod 70, etc. are extracted by online detection of 2D images, and the corresponding mileage position information (the presence or absence of foreign body information and the foreign body position information are transmitted to the automatic tamping control host 200) is obtained in real time by coordinate conversion. If the sleeper 20 is identified, the trigger circuit board 401 sends a trigger pulse to the camera 402 and the light source 405, the light source 405 turns on the fill light, and the camera 402 turns on the photo. After the image processing module 404 processes the two-dimensional image collected by the photo, including image enhancement and foreign body identification and positioning, the position of the sleeper 20 and the foreign body feature information are obtained, and then the mileage information of the sleeper 20 and the foreign body position is calculated in combination with the preset relative position relationship information and transmitted to the automatic tamping control host 200. If the sleeper 20 is not identified within the set time, the trigger circuit board 401 sends a trigger pulse to the camera 402 and the light source 405 according to the preset mileage interval.

[0069] The (industrial) camera 402 is equipped with a wide-angle lens 403. According to the received mileage trigger pulse, the light source 405 is turned on for fill light, and the camera 402 is turned on to take pictures. The image acquisition and foreign object recognition unit 400 is installed at the front of the bottom of the tamping vehicle 10, on the crossbeam before the tamping device 700. The main optical axis of the camera 402 is located above the center of the two rails 30 and slightly to the left, with a field of view of approximately 1200mm*900mm. The camera 402 and the light source 405 are turned on by the trigger circuit board 401, and the interval and duration of the opening can be set by the automatic tamping control host 200. The image processing module 404 consists of an industrial computer and a set of image processing software. The industrial computer adopts a fanless system, meets the IP40 protection level, and can better adapt to the working environment with more dust on site. The image processing software uses an image processing algorithm to enhance the collected two-dimensional image and identify and locate foreign objects, detect and locate the position information of foreign objects such as the sleeper 20, the capacitor sleeper 60, and the gauge rod 70 (which may also include the point rail, other metal debris in the ballast area, etc.) from the image data, and obtain accurate sleeper edge and foreign object feature information. Finally, combined with the calibrated information (including the distance between the tamping head 701 and the laser sensor 303, and the distance between the tamping vehicle 10 and the locking position of the satellite vehicle 13), the edge position of the sleeper 20 and the foreign object position information are calculated and transmitted to the automatic tamping control host 200.

[0070] The sleeper identification unit 300 collects the mileage pulse signal of the measuring wheel 600, and records the current mileage information while identifying the sleeper 20. Each sleeper 20 corresponds to a mileage point, and the spacing between the sleepers 20 and the mileage point of the next tamping are calculated based on the mileage of the sleeper 20. The image acquisition and foreign object identification unit 400 obtains the mileage information of each camera 402 from the automatic tamping control host 200, and calculates the mileage information of each sleeper 20 and foreign object after identifying the sleeper 20 and foreign objects. The automatic tamping control host 200 calculates the current mileage of the tamping head 701 by collecting the mileage information of the tamping vehicle 10 and the relative position between the tamping head 701 and the tamping vehicle 10.

[0071] The image acquisition and foreign object identification unit 400 obtains the mileage information of each photo taken from the automatic tamping control host 200 through the communication interface, and calculates the mileage point information of each sleeper 20 and foreign object after identifying the sleeper 20 and the foreign object. To calculate the mileage of a specific foreign object location, the automatic tamping control host 200 needs to obtain the mileage information from the automatic tamping control host 200, and the mileage information must be consistent with the mileage standard of the sleeper identification unit 300. Figure 1In the specific embodiment shown, the mileage information is transmitted from the (mileage) measuring wheel 600 to the sleeper identification unit 300, and the sleeper identification unit 300 then sends the mileage information to the automatic tamping control host 200 via the CAN bus, and the automatic tamping control host 200 then sends the mileage information to the image acquisition and foreign object identification unit 400 via the serial port, and this information exchange is carried out in real time. Figure 2 In another specific embodiment shown, it is also feasible that the mileage information is transmitted from the (mileage) measuring wheel 600 to the automatic tamping control host 200, and then the mileage information is sent to the sleeper identification unit 300 and the image acquisition and foreign object identification unit 400 respectively through the automatic tamping control host 200.

[0072] The automatic tamping control host 200 is based on the operation display and the digital output module, and communicates with the sleeper identification unit 300 through the CAN bus, and communicates with the image acquisition and foreign body identification unit 400 through the serial interface. In terms of hardware, the existing network platform operation display module (i.e., the B2 operation display, located at the operation position 1) and the DO module of the existing tamping vehicle 10 can be directly used as the automatic tamping control host 200, and communicate with the sleeper identification unit 300 through the CAN bus, and communicate with the image acquisition and foreign body identification unit 400 through the serial port. In addition, the automatic tamping underlying control logic and the human-computer interaction interface need to be added.

[0073] The automatic tamping control host 200 calculates the current mileage of the tamping head 701 by collecting the mileage information of the tamping vehicle 10 and the relative position between the tamping head 701 and the tamping vehicle 10. At this time, it is necessary to judge whether the tamping head 701 has run to the insertion operation position in two cases. When the tamping head 701 has run to the insertion operation position, the automatic tamping control host 200 sends a tamping insertion permission signal in combination with the information of the sleeper 20 and the foreign object, and the tamping vehicle 10 can perform the tamping insertion action.

[0074] As attached Fig.10 As shown, in the first case, when the tamping vehicle 10 is not equipped with a satellite trolley 13 (i.e., the tamping vehicle 10 is a step-type tamping vehicle), when the current running position of the tamping vehicle 10 satisfies YA=Xn, it means that the tamping head 701 has run to the lower insertion position, and the tamping head 701 can perform the tamping lower insertion action. Among them, Y is the kilometer mark of the current running position of the tamping vehicle 10, A is the distance between the locking position of the tamping head 701 and the measuring wheel 600, and Xn is the kilometer mark of the center point between two adjacent sleepers 20.

[0075] As attached Fig.11As shown, the second case is that when the tamping vehicle 10 is equipped with a satellite trolley 13 (i.e., the tamping vehicle 10 is a continuous tamping vehicle), when the current running position of the tamping vehicle 10 satisfies Y-A+H=Xn, it means that the tamping head 701 has run to the lower insertion position, and the tamping head 701 can perform the tamping lower insertion action. Among them, Y is the kilometer mark of the current running position of the tamping vehicle 10, H is the displacement of the satellite trolley 13 relative to the locking position, A is the distance between the locking position of the tamping head 701 and the measuring wheel 600, and Xn is the kilometer mark of the center point between two adjacent sleepers 20.

[0076] As attached Figure 8 and attached Fig. 9 As shown, the relative position of the tamping head 701, the spacing of the sleepers 20, the tamping travel distance, the count value of the sleepers 20, and the measured distance value of the laser sensor 303 can be viewed in real time through the human-machine interface of the automatic tamping control host 200. At the same time, the spacing between the laser sensor 303 and the tamping head 701, the spacing limit value of the sleepers 20, the tamping head widening threshold, and the trigger interval parameters of the camera 402 can be set through the human-machine interface of the automatic tamping control host 200. When manual intervention is required, the switch from the automatic tamping mode to the manual tamping mode can be realized by touching the human-machine interface of the automatic tamping control host 200 or operating the tamping mode switch installed. The automatic tamping bottom control software mainly includes automatic tamping control logic and tamping pick (insert) position correction calculation. Automatic pick, automatic operation travel, automatic widening and other actions can be realized by modifying the tamping vehicle program control logic without modifying the original vehicle electrical control hardware. During the operation, the tamping vehicle will have a braking distance from the running brake to the start of the pick. This distance will affect the tamping insertion position determined according to the identified sleeper position. By recording and analyzing the braking distances of the previous picks, the current parking position is corrected and calculated to ensure the accuracy of the pick (insertion) position. Figure 8 Among them, A is the tamping position (i.e. the position where the tamping pick is inserted), B is the pre-tamping position, and C is the area where there are foreign objects and tamping is prohibited.

[0077] The automatic tamping control host 200 (box B2 set at the No. 1 operating position of the tamping vehicle 10) is provided with a tamping mode (physical) switching switch, and the human-machine interaction interface of the automatic tamping control host 200 is provided with a tamping mode (virtual) switching touch button. When one of the tamping mode switching switch and the tamping mode switching touch button is selected as the manual tamping mode, the automatic tamping control host 200 is cut off and does not interfere with the operation control, and the operator performs the manual tamping operation according to the original operation procedure. When the tamping mode switching switch and the tamping mode switching touch button are simultaneously selected as the automatic tamping mode, the automatic tamping control host 200 controls the tamping vehicle 10 to perform the tamping operation, but the manual operation can still intervene to stop the operation, and the operator can switch the automatic tamping mode to the manual tamping mode at any time to ensure the safety of the operation. The automatic tamping control host 200 determines that the pick can be lowered based on the outputs of the sleeper recognition unit 300 and the image acquisition and foreign object recognition unit 400, as well as the current mileage of the tamping device 700, and then outputs an automatic pick lowering signal, replacing the manual tamping pedal signal to control the tamping device 700 to perform the lowering action.

[0078] When the tamping mode of the tamping vehicle 10 is switched to the manual tamping mode, the control logic of the automatic tamping control host 200 outputting the tamping down-insertion signal is:

[0079] Q0B=[(automatic circulation mode on) & (left and right tamping devices in the middle) & (manual clamping signal valid) + (automatic circulation mode off) & (manual tamping pedal signal valid) & (hydraulic travel allowed) + (manual tamping pedal signal valid) & (automatic circulation locked)] & (tamping operation system on) & (tamping mode not on);

[0080] When the tamping mode of the tamping vehicle 10 is switched to the automatic tamping mode, the logical relationship of the tamping down-insertion signal output by the automatic tamping control host 200 is:

[0081] Q0B=(The tamping head area is identified as the ballast area and there are no foreign objects) & (non-travel status) & (tamping operation system is connected) & (tamping-only mode is not enabled).

[0082] When the tamping mode of the tamping vehicle 10 is switched to the manual tamping mode, the control logic of the automatic tamping control host 200 outputting the forward operation travel signal is:

[0083] Q08=[(automatic cycle mode on) & (manual tamping pedal signal valid) & (automatic cycle tamping ended) & (tamping operation system connected) + (travel pedal signal valid)] & (forward travel signal valid) & (automatic cycle locking signal invalid);

[0084] When the tamping mode of the tamping vehicle 10 is switched to the automatic tamping mode, the control logic of the automatic tamping control host 200 outputting the forward operation travel signal is:

[0085] Q08=(Automatic tamping delay ends) & (Automatic operation travel is allowed) & (Both left and right tamping devices are in the upper position) & (Tamming operation system is turned on) & (Forward travel signal is valid) & (Automatic cycle locking signal is invalid).

[0086] Automatic tamping control can be achieved by modifying the underlying control logic program of the automatic tamping control host 200. Taking the D08-32 tamping vehicle 10 as an example, the automatic pick-off signal (i.e., tamping plug-in signal) can be defined as Q0B and connected to the underlying logic control program of the tamping vehicle. The manual / automatic switching switch signal is defined as X57, and the underlying control logic program of the automatic tamping control host 200 can be designed as follows:

[0087] If X57=0, then Q0B=[(X27+X28)* X15*X16*X26+X10*(~X27)*(~X28)* (~X04)+X10*X0E]* X19*(~X3E)

[0088] If X57=1, then Q0B =X58*(~X04)*X19*(~X3E)

[0089] Among them, the logic signals are defined as follows:

[0090] X57: Manual / automatic tamping switch, 0 is manual tamping mode, 1 is automatic tamping mode;

[0091] X58 (equivalent to the manual tamping pedal signal in manual tamping mode): automatic mode tamping head insertion signal, 0 means the tamping head is lifted and does not move, 1 means the tamping head is inserted downward;

[0092] X27: Automatic cycle 1X mode;

[0093] X28: Automatic cycle 2X mode;

[0094] X15: signal that the left tamping device is in the middle position (i.e. the position after the tamping device is retracted);

[0095] X16: right tamping device in neutral position signal;

[0096] X26: manual clamping operation (i.e., the signal for operating the clamping of the tamping pick);

[0097] X04: Hydraulic travel is allowed, the clamp is released, and the tamping head is lifted before it is satisfied, including forward and backward travel;

[0098] X0E: Automatic cycle lock;

[0099] X19: Tamping system is turned on;

[0100] X3E: Only track shifting without tamping;

[0101] X10: Manual tamping tamping pedal signal;

[0102] * is a logical AND operation, + is a logical OR operation, and ~ is a logical NOT operation.

[0103] When the D08-32 tamping vehicle 10 is performing tamping operations, if the automatic tamping mode is turned on, automatic operation travel can also be achieved. At this time, the automatic operation travel control can be achieved by modifying the underlying control logic program of the automatic tamping control host 200, defining the automatic operation travel signal as X58, and connecting to the underlying logic control program of the tamping vehicle. The manual / automatic switching switch signal is defined as X57, and the underlying control logic program of the automatic tamping control host 200 can be designed as:

[0104] If X57=0, Q08=[(X27+X28*(~X00))* X10*X19*X80+X11]* X22*(~X0E)

[0105] If X57=1, then Q08=(~X58)*X59*X13*X14*X19*X22*(~X0E)

[0106] Among them, the logic signals are defined as follows:

[0107] X57: Manual / automatic tamping switch, 0 is manual tamping mode, 1 is automatic tamping mode;

[0108] X58: Automatic mode tamping head insertion signal, 0 means the tamping head is lifted and does not move, 1 means the tamping head is inserted;

[0109] X59: Automatic tamping operation running signal (equivalent to manual tamping running pedal signal), 0 means the tamping vehicle stops, 1 means the tamping vehicle runs;

[0110] X13: left tamping head in the upper position (i.e. left tamping head in the locked position);

[0111] X14: right tamping head in the upper position (i.e. the right tamping head is in the locked position);

[0112] X27: automatic cycle 1X mode (i.e. the number of times the satellite trolley 13 stops once to perform tamping operation);

[0113] X28: Automatic cycle 2X mode;

[0114] X00: Automatic cycle 2X trigger, this signal is an intermediate signal used to record the number of 2X insertion times. The intermediate signal does not directly participate in the control, but only serves as the input end of other signals;

[0115] X19: tamping system is turned on (i.e., the tamping operation system is powered on and hydraulic pressure is established. At this time, when the tamping vehicle 10 moves to the specified position, the tamping operation can be performed);

[0116] X22: forward movement signal, 0 means invalid, 1 means valid;

[0117] X10: Manual tamping tamping pedal signal;

[0118] X80: Manual tamping delay end, which is the delay time from the tamping head 701 starting to be inserted to being lifted up. When the delay time is up, the signal changes from 0 to 1;

[0119] X11: Manual tamping travel pedal signal;

[0120] X0E: Automatic cycle lock;

[0121] * is a logical AND operation, + is a logical OR operation, and ~ is a logical NOT operation.

[0122] Only when the tamping head 701 enters the identification area of ​​the sleeper 20 and the sleeper identification unit 300 identifies a certain number of sleepers 20, is it allowed to switch from the manual tamping mode to the automatic tamping mode. The operator can switch from the automatic tamping mode to the manual tamping mode at any time. Since the sleeper identification unit 300 is installed at the front of the bottom of the tamping vehicle 10, only when the tamping device 700 enters the sleeper identification area and the sleeper identification unit 300 identifies a certain number of sleepers 20, is it allowed to switch from the manual tamping mode to the automatic tamping mode. When the tamping vehicle 10 is a continuous tamping vehicle, the satellite trolley 13 of the tamping vehicle 10 stops (speed is 0) before the tamping down signal is generated. The distance traveled by the satellite trolley 13 from the generation of the stop signal of the satellite trolley 13 to the stop of the satellite trolley 13 (speed is close to 0) is the braking distance. The braking distance of the next tamping down position of the tamping head 701 is calculated based on the set parameter value and the actual braking distance values ​​of several previous tamping downs. The stop signal of the satellite trolley 13 is generated in advance before reaching the tamping down position based on the calculated braking distance value for the next tamping down.

[0123] During the tamping operation, it is often encountered that the spacing between sleepers 20 in some sections is not standard. At this time, it is necessary to adjust the opening width of the outer pick of the tamping head 701 in time to prevent the pick from hitting the sleepers 20, and at the same time further improve the operation quality. Therefore, when working in a section with non-standard sleeper spacing, when the sleeper identification unit 300 detects that the spacing between the current sleepers 20 exceeds the set value, the automatic tamping control host 200 outputs a tamping head widening signal, and the tamping head widening includes three situations: front widening, rear widening, and front and rear widening at the same time.

[0124] At the same time, the tamping operation control system 100 has an alarm function. When the sleeper identification unit 300 and the image acquisition and foreign object identification unit 400 detect that the spacing of the sleepers 20 deviates from the standard value by more than the set value or there are foreign objects in the ballast section that are not suitable for tamping and insertion, the ballast section is skipped and the insertion operation is not performed. The automatic tamping control host 200 generates an alarm signal and alarms through a buzzer, prompting the operator to choose whether to perform manual intervention. In addition, the human-computer interaction interface of the tamping operation control system 100 can display data such as sleeper spacing, tamping travel distance, sleeper count, and laser measurement distance value in real time, which is convenient for operators to check track conditions and find faults.

[0125] By implementing the technical solution of the tamping operation control system described in the specific embodiment of the present invention, the following technical effects can be produced:

[0126] (1) The tamping operation control system described in the specific embodiment of the present invention realizes automatic tamping position recognition and automatic tamping operation control, which reduces the labor intensity of operators and greatly improves the operation efficiency;

[0127] (2) The tamping operation control system described in the specific embodiment of the present invention uses a multi-sensor array to identify the sleeper area and the ballast area in real time without the need to input additional operation files, and uses image recognition technology to determine foreign matter in the ballast area, ensuring a very high result recognition accuracy rate;

[0128] (3) The tamping operation control system described in the specific embodiment of the present invention can effectively prevent damage to railway equipment and facilities and prevent metal debris from damaging the tamping head by identifying foreign objects in the track ballast area through image processing;

[0129] (4) The tamping operation control system described in the specific embodiment of the present invention can accurately determine the position of the tamping pick (insert) in advance, and automatically control the tamping pick and operation movement of the tamping vehicle, which greatly reduces the labor intensity of the operator and improves the operation efficiency.

[0130] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0131] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as above in the preferred embodiment, it is not used to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A tamping operation control system, characterized in that: include: An automatic tamping control host (200), a sleeper identification unit (300) and an image acquisition and foreign object identification unit (400); the automatic tamping control host (200) obtains sleeper identification information through the sleeper identification unit (300), identifies the sleeper position in combination with the mileage signal of the measuring wheel (600), obtains foreign object identification information in the area to be tamped through the image acquisition and foreign object identification unit (400), and provides a tamping down signal for the tamping vehicle (10) to perform the tamping operation, so as to realize the automatic tamping operation of the tamping vehicle (10); when the tamping head (701) of the tamping vehicle (10) is currently located in the ballast area and there is no foreign object, the automatic tamping control host (2 00) controls the tamping head (701) to perform the tamping and inserting action and realize automatic movement; the image acquisition and foreign object recognition unit (400) is installed at the bottom of the tamping vehicle (10), on the crossbeam in front of the tamping head (701), and is located at the rear of the sensor array; the image acquisition and foreign object recognition unit (400) includes a trigger circuit board (401), a camera (402), an image processing module (404) and a light source (405); if the sleeper (20) is recognized, the trigger circuit board (401) sends a trigger pulse to the camera (402) and the light source (405), the light source (405) turns on the fill light, and the camera (402) turns on the photo. ; The image processing module (404) processes the two-dimensional image captured by the camera, including image enhancement and foreign object identification and positioning, to obtain the position of the sleeper (20) and the feature information of the foreign object, and then calculates the mileage information of the position of the sleeper (20) and the foreign object in combination with the preset relative position relationship information, and transmits the mileage information to the automatic tamping control host (200); the sleeper identification unit (300) collects the mileage pulse signal of the measuring wheel (600), and records the current mileage information while identifying the sleeper (20), each sleeper (20) corresponds to a mileage point, and calculates the spacing between the sleepers (20) and the mileage point of the next tamping according to the mileage of the sleepers (20); The image acquisition and foreign object recognition unit (400) obtains mileage information of each camera (402) taking a picture from the automatic tamping control host (200), and calculates the mileage information of each rail sleeper (20) and the foreign object after identifying the rail sleeper (20) and the foreign object; the automatic tamping control host (200) calculates the current mileage of the tamping head (701) by collecting the mileage information of the tamping vehicle (10) and the relative position between the tamping head (701) and the tamping vehicle (10); a tamping mode switching switch is provided on the automatic tamping control host (200), and a tamping mode switching touch button is provided on the human-machine interaction interface of the automatic tamping control host (200);When one of the tamping mode switching switch and the tamping mode switching touch button is selected as the manual tamping mode, the automatic tamping control host (200) is cut off and does not interfere with the operation control, and the operator performs the manual tamping operation according to the original operation procedure; when the tamping mode switching switch and the tamping mode switching touch button are simultaneously selected as the automatic tamping mode, the automatic tamping control host (200) controls the tamping vehicle (10) to perform the tamping operation, and the operator can switch the automatic tamping mode to the manual tamping mode at any time; only when the tamping head (701) enters the identification area of ​​the sleeper (20) and the sleeper identification unit (300) identifies a certain number of sleepers (20), is it allowed to switch from the manual tamping mode to the automatic tamping mode. ; 2. The tamping operation control system according to claim 1, characterized in that: The sleeper identification unit (300) is installed at the bottom of the tamping vehicle (10) and comprises a sensor array and a signal processing module (301) connected to the sensor array; the sensor array comprises at least four laser sensors (303) arranged in a row along the length direction of the sleeper (20) and located above the inner side of the rail (30) and used to identify the sleeper (20) and the ballast plane.

3. The tamping operation control system according to claim 2, characterized in that: The sensor array further comprises at least two spike induction switches (304) arranged in a row with the laser sensor (303) and used for identifying the spikes (50) on the inner side or the outer side of the two rails (30).

4. The tamping operation control system according to claim 3, characterized in that: The rail sleeper identification unit (300) is fixed to the front part of the bottom of the tamping vehicle (10) via a mounting bracket (302); rail alignment devices (305) are provided on both sides of the mounting bracket (302) along the length direction, and the rail alignment devices (305) are elastically connected to the mounting bracket (302) and are located above the rail (30); when the tamping vehicle (10) is in operation, the rail alignment devices (305) roll against the rail (30) to ensure that the laser sensor (303) and / or the spike induction switch (304) are aligned with the spike (50).

5. The tamping operation control system according to claim 2, 3 or 4, characterized in that: The measuring wheel (600) is installed at the front part of the bottom of the tamping vehicle (10), and the sensor array is installed in front of the tamping head (701) and behind the measuring wheel (600).

6. The tamping operation control system according to claim 5, characterized in that: The sensor array comprises 6 to 10 laser sensors (303) arranged inside the steel rail (30).

7. The tamping operation control system according to claim 1, 2, 3, 4 or 6, characterized in that: When the tamping vehicle (10) is a step-type tamping vehicle, when the current running position of the tamping vehicle (10) satisfies YA=Xn, it means that the tamping head (701) has run to the lowering position, and the tamping head (701) can perform the tamping lowering action; wherein Y is the kilometer mark of the current running position of the tamping vehicle (10), A is the distance between the locking position of the tamping head (701) and the measuring wheel (600), and Xn is the kilometer mark of the center point between two adjacent sleepers (20); the tamping vehicle (10) is a continuous When the tamping vehicle (10) is in operation, when the current operating position of the tamping vehicle (10) satisfies Y-A+H=Xn, it means that the tamping head (701) has run to the lower insertion position, and the tamping head (701) can perform the tamping lower insertion action; wherein Y is the kilometer mark of the current operating position of the tamping vehicle (10), H is the displacement of the satellite trolley (13) relative to the locking position, A is the distance between the locking position of the tamping head (701) and the measuring wheel (600), and Xn is the kilometer mark of the center point between two adjacent sleepers (20).

8. The tamping operation control system according to claim 7, characterized in that: If the sleeper (20) is not identified within a set time, the trigger circuit board (401) sends a trigger pulse to the camera (402) and the light source (405) according to a preset mileage interval.

9. The tamping operation control system according to claim 8, characterized in that: The relative position of the tamping head (701), the spacing of the sleepers (20), the tamping travel distance, the count value of the sleepers (20), and the measured distance value of the laser sensor (303) can be viewed in real time through the human-machine interaction interface of the automatic tamping control host (200); at the same time, the spacing between the laser sensor (303) and the tamping head (701), the spacing limit value of the sleepers (20), the tamping head widening threshold, and the trigger interval parameter of the camera (402) can be set through the human-machine interaction interface of the automatic tamping control host (200); when manual intervention is required, the automatic tamping mode can be switched to the manual tamping mode by touching the human-machine interaction interface of the automatic tamping control host (200) or by operating the tamping mode switching switch installed thereon.

10. The tamping operation control system according to claim 2, 3, 4, 6, 8 or 9, characterized in that: The signal processing module (301) acquires the signals of the sleeper identification unit (300) and the measuring wheel (600), performs analysis and calculation, identifies the sleeper (20) and marks the mileage information of the sleeper (20), calculates the mileage point of the next tamping, and sends the mileage of the sleeper (20) and the mileage point information of the next tamping to the automatic tamping control host (200).

11. The tamping operation control system according to claim 10, characterized in that: When the tamping mode of the tamping vehicle (10) is switched to the manual tamping mode, the control logic of the automatic tamping control host (200) outputting the tamping down signal is: Q0B=[(automatic circulation mode on) & (left and right tamping devices in the middle) & (manual clamping signal valid) + (automatic circulation mode off) & (manual tamping pedal signal valid) & (hydraulic travel allowed) + (manual tamping pedal signal valid) & (automatic circulation locked)] & (tamping operation system on) & (tamping mode not on); When the tamping mode of the tamping vehicle (10) is switched to the automatic tamping mode, the logical relationship of the tamping down signal output by the automatic tamping control host (200) is: Q0B=(The tamping head area is identified as the ballast area and there are no foreign objects) & (non-travel status) & (tamping operation system is connected) & (tamping-only mode is not enabled).

12. The tamping operation control system according to claim 10, characterized in that: When the tamping mode of the tamping vehicle (10) is switched to the manual tamping mode, the control logic of the automatic tamping control host (200) outputting a forward operation travel signal is: Q08=[(automatic cycle mode on) & (manual tamping pedal signal valid) & (automatic cycle tamping ended) & (tamping operation system connected) + (travel pedal signal valid)] & (forward travel signal valid) & (automatic cycle locking signal invalid); When the tamping mode of the tamping vehicle (10) is switched to the automatic tamping mode, the control logic of the automatic tamping control host (200) outputting a forward operation travel signal is: Q08=(Automatic tamping delay ends) & (Automatic operation travel is allowed) & (Both left and right tamping devices are in the upper position) & (Tamming operation system is turned on) & (Forward travel signal is valid) & (Automatic cycle locking signal is invalid).

13. A tamping operation control system according to claim 1, 2, 3, 4, 6, 8, 9, 11 or 12, characterized in that: When the tamping vehicle (10) is a continuous tamping vehicle, the satellite trolley (13) of the tamping vehicle (10) stops before the tamping insertion signal is generated. The distance traveled by the satellite trolley (13) from the generation of the stop signal of the satellite trolley (13) to the stop of the satellite trolley (13) is the braking distance. The braking distance of the next tamping insertion position of the tamping head (701) is calculated based on a set parameter value and actual braking distance values ​​of several previous tamping insertions. The stop signal of the satellite trolley (13) is generated in advance based on the calculated braking distance value of the next tamping insertion before reaching the tamping insertion position.

14. The tamping operation control system according to claim 13, characterized in that: When the sleeper identification unit (300) detects that the spacing of the current sleepers (20) exceeds a set value, the automatic tamping control host (200) outputs a tamping head widening signal.

15. The tamping operation control system according to claim 1, 2, 3, 4, 6, 8, 9, 11, 12 or 14, characterized in that: When the sleeper identification unit (300) and the image acquisition and foreign object identification unit (400) detect that the spacing of the sleepers (20) deviates from the standard value by more than a set value or that there are foreign objects in the ballast section that are not suitable for tamping and inserting, the ballast section is skipped and the inserting operation is not performed, and the automatic tamping control host (200) generates an alarm signal to prompt the operator to select whether to perform manual intervention.

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