A tamping method, device and computer readable storage medium

Abstract

The embodiments of the present application provide a tamping method, device and computer-readable storage medium. The method comprises: obtaining line parameter information and rail track lifting amount; obtaining the cavity volume after track lifting according to the line parameter information and rail track lifting amount; and controlling the tamping pick to perform a clamping action at the lower insertion position according to the cavity volume after track lifting to achieve the tamping operation on the current target sleeper. The tamping method provided in the embodiments of the present application is adopted, and the clamping action of the tamping pick is controlled by the rail track lifting amount, so that the ballast density under the sleepers at different positions is more uniform, thereby improving the quality of the tamping operation.

Description

Technical Field

[0001] The present application relates to the field of railway line maintenance and repair, and in particular to a tamping method, equipment and computer-readable storage medium. Background Art

[0002] Tamping operation is one of the main tasks of ballasted railway track maintenance, which can effectively restore the geometric parameters of the railway line, improve the stability of the track bed, and ensure the safety of train driving. In the existing tamping operation, the tamping clamping pressure and clamping time are given according to the actual work experience of the technicians, and usually the parameters given on the same section of the line are the same. However, in reality, the amount of track lifting is determined by the line parameters, and on the same section of the line, the amount of track lifting at different locations is usually different. This makes the volume of the cavity formed under the rear sleeper different, and theoretically the required degree of clamping is also different.

[0003] The existing tamping operation method cannot adapt to the different cavity volumes on the same section of the line, resulting in different densities of the ballast under the sleepers after the tamping operation. The line parameters will change after subsequent stabilization operations or after the train passes, and the ideal tamping effect cannot be achieved. Summary of the invention

[0004] In order to solve one of the above technical defects, a tamping method, device and computer-readable storage medium are provided in the embodiments of the present application.

[0005] According to a first aspect of an embodiment of the present application, a tamping method is provided, the method comprising:

[0006] Obtain line parameter information and rail lift;

[0007] Obtaining the volume of the cavity after the track is raised according to the line parameter information and the amount of rail track raised;

[0008] According to the volume of the cavity after track lifting, the tamping pick is controlled to perform a clamping action at the lower insertion position to realize the tamping operation of the current target sleeper.

[0009] According to a second aspect of the embodiment of the present application, a tamping device is provided, the device comprising a frame, an opening and closing drive device, a tamping arm, a tamping pick, a lower insertion drive device and a control module, the opening and closing drive device and the tamping arm are both hinged on the frame, one end of the tamping arm is connected to the output end of the opening and closing drive device, and the other end of the tamping arm is connected to the tamping pick;

[0010] The opening and closing driving device is used to control the clamping action of the tamping pick through the tamping arm;

[0011] The lower insertion driving device is used to control the lower insertion position of the tamping pick;

[0012] The control module comprises:

[0013] Memory;

[0014] Processor; and

[0015] Computer programs;

[0016] Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect of the embodiment of the present application.

[0017] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored; the computer program is executed by a processor to implement the method described in the first aspect of the embodiment of the present application.

[0018] By adopting the tamping method provided in the embodiment of the present application, the clamping action of the tamping pick is controlled by the amount of rail lifting, so that the density of the ballast under the sleepers at different positions is more uniform, thereby improving the quality of the tamping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 A schematic diagram of a tamping method provided in this application;

[0021] Figure 2 A logical schematic diagram of a tamping method provided in Example 1 of the present application;

[0022] Figure 3 A logical schematic diagram of a tamping method provided in Example 2 of the present application;

[0023] Figure 4 A logical schematic diagram of a tamping method provided in Example 3 of the present application;

[0024] Figure 5 A schematic diagram of the structure of a tamping device provided in Example 4 of the present application;

[0025] Figure 6 This is a schematic diagram of the arrangement of the tamping picks described in an embodiment of the present application.

[0026] Reference numerals:

[0027] 1. Opening and closing drive device, 2. Tamping arm, 3. Tamping pick, 4. Insertion drive device, 5. Frame, 6. Control module, 7. Sleeper, 8. Ballast, 9. Rail, 10. Rail lifting amount. DETAILED DESCRIPTION

[0028] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0029] Example 1

[0030] like Figure 1 As shown, this embodiment provides a tamping method, which includes:

[0031] S101, obtaining line parameter information and rail lift amount;

[0032] S102, obtaining the volume of the cavity after the track is raised according to the line parameter information and the rail raising amount;

[0033] S103, controlling the tamping pick to perform a clamping action at the lower insertion position according to the volume of the cavity after track lifting to achieve tamping operation on the current target sleeper.

[0034] Specifically, Figure 2 As shown, the tamping method proposed in this embodiment requires certain preparations before implementation. First, the line parameter information is obtained, including the parameter information of the sleepers and rails. The parameter information of the sleepers and rails can be obtained by manual input or by image recognition, etc., and this embodiment does not make any special restrictions. The rail lift is the displacement of the rail during the tamping operation. This displacement is the value required to move to restore the ideal state of the line, and is related to the state of the line during maintenance. The rail lift can be obtained by manual detection or other detection methods based on the geometric parameters of the line. This embodiment also does not make any special restrictions. At the same time, since in the actual line maintenance process, the rail lift of the left rail and the right rail of the same sleeper are also different. Therefore, this embodiment needs to obtain the left rail lift and the right rail lift respectively, so that the tamping operation effect is better.

[0035] After determining the sleeper parameter information, rail parameter information and rail track lifting amount, the cavity volume and tamping depth after track lifting are calculated. Among them, the calculation of the cavity volume after track lifting can be accurately obtained based on the geometry of the sleeper bottom surface and the track lifting trajectory simulation. This embodiment provides a calculation method:

[0036] V Z =W1×B×F Z

[0037] V Y =W1×B×F Y

[0038] Among them, V Z and V Y are the volumes of the left and right track cavities, respectively; W1 is the bottom width of the sleeper cross section; B is the clamping width of the tamping pick; and F Z and F Y They are the left rail rise and the right rail rise respectively.

[0039] The tamping depth is usually defined as the distance between the upper edge of the tamping pick and the top surface of the rail. In this embodiment, the tamping depth H = H1 + H2 + H3, where H1 is the height of the sleeper, H2 is the height of the rail, and H3 is the optimal distance between the upper edge of the tamping pick and the bottom surface of the sleeper. The optimal distance H3 is a set value, which is usually set within the range of 15 mm to 20 mm in engineering applications.

[0040] The lower insertion position of the tamping pick can be controlled according to the tamping depth, so that the tamping pick performs a clamping action at the lower insertion position. In this embodiment, the tamping pick can be controlled to perform a clamping action according to the volume of the cavity after the track is started and the parameter information of the tamping equipment.

[0041] Specifically, the theoretical clamping stroke is calculated based on the cavity volume after track starting and the parameter information of the tamping equipment. The calculation process is as follows:

[0042] Definition S Z To control the theoretical clamping stroke of the left cylinder of the left pick of the tamping pick, S Y To control the theoretical clamping stroke of the right cylinder of the right pick of the tamping pick, the pick height is H4, the clamping area is A, and the ratio of the cylinder clamping stroke to the pick stroke is β, then

[0043] A=B×H4

[0044] S Z =α×V Z / A×β

[0045] S Y =α×V Y / A×β

[0046] Wherein, α is a correction coefficient, which can be obtained through experiments. The ratio β of the cylinder clamping stroke to the pick stroke can be obtained through motion simulation. This embodiment provides a simplified algorithm:

[0047] Define the distance between the clamping cylinder-tamping arm hinge point and the tamping arm-frame hinge point as L1, and the distance between the tamping arm-frame hinge point and the pick palm as L2, then

[0048] β=L1 / L2

[0049] Then, the theoretical clamping strokes of the cylinder are:

[0050] S Z=α×W1×F Z / H4×L1 / L2

[0051] S Y =α×W1×F Y / H4×L1 / L2

[0052] The theoretical clamping stroke can be used to control the clamping action of the tamping pick. At the same time, in the process of the tamping pick being in the lower insertion position and performing the clamping action, the present embodiment obtains the stroke of the tamping pick for the clamping action in real time, and determines whether the stroke of the tamping pick for the clamping action reaches the maximum clamping stroke. If reached, the current target sleeper is once again subjected to the cycle tamping operation in situ; if not, the tamping preparation for the next sleeper is entered. At the same time, it is determined whether the number of cycle tamping operations in situ reaches the preset maximum number. If reached, the tamping preparation for the next sleeper is directly entered. Among them, the maximum clamping stroke is the maximum stroke of the oil cylinder that controls the clamping action of the tamping pick.

[0053] Example 2

[0054] like Figure 3 As shown, this embodiment adds a process of detecting the clamping pressure of the tamping pick during the clamping action on the basis of the first embodiment.

[0055] Specifically, based on the theoretical clamping stroke calculation proposed in Example 1, the basic clamping stroke S0 is set. Z , S Y When the actual clamping stroke S is greater than the basic clamping stroke S0, the actual clamping stroke S Z' , S Y' That is, the theoretical clamping stroke S Z , S Y When the theoretical clamping stroke of the cylinder is S Z , S Y When the actual clamping stroke S is less than the basic clamping stroke S0, the actual clamping stroke S Z' , S Y' The basic clamping stroke S0 is used, so that the clamping action of the tamping pick can be controlled by the oil cylinder according to the actual clamping stroke, and the change of the clamping pressure can be detected during the clamping action of the tamping pick.

[0056] Specifically, when the tamping pick completes the clamping action according to the actual clamping stroke, and the clamping pressure does not reach the preset clamping pressure, the stroke of the tamping pick for the clamping action is increased until the clamping pressure reaches the preset clamping pressure. The preset clamping pressure is a pre-set value, and it can be considered that when the clamping pressure reaches the preset clamping pressure, the ballast has the optimal density. If the stroke of the tamping pick for the clamping action reaches the maximum clamping stroke, and the clamping pressure still does not reach the preset clamping pressure, the current target sleeper is tamped for the second time in situ. At the same time, it is determined whether the number of in-situ cyclic tamping operations has reached the preset maximum number. If so, the tamping preparation for the next sleeper is directly entered.

[0057] Example 3

[0058] like Figure 4 As shown, this embodiment adds a rail settlement detection process on the basis of Embodiment 2.

[0059] Specifically, the rail settlement after each tamping operation is completed is detected. If the rail settlement exceeds the preset settlement, a secondary tamping operation is performed on the current target sleeper in situ. Similarly, it is necessary to determine whether the number of cyclic tamping operations in situ has reached the preset maximum number. If so, the tamping preparation for the next sleeper is directly entered.

[0060] Example 4

[0061] like Figure 5 As shown, this embodiment provides a tamping device, which includes a frame 5, an opening and closing drive device 1, a tamping arm 2, a tamping pick 3, a lower insertion drive device 4 and a control module 6.

[0062] The control module 6 includes:

[0063] Memory;

[0064] Processor; and

[0065] Computer programs;

[0066] Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in Example 1 of the present application.

[0067] In this embodiment, the opening and closing driving device 1 and the tamping arm 2 are both hinged on the frame 5, one end of the tamping arm 2 is connected to the output end of the opening and closing driving device 1, and the other end of the tamping arm 2 is connected to the tamping pick 3. A schematic diagram of the arrangement of the tamping pick 3 is shown as follows: Figure 6 As shown, the actual distribution of the tamping pick 3 is related to the design of the tamping equipment. The opening and closing drive device 1 is used to control the clamping action of the tamping pick 3 through the tamping arm 2. The insertion drive device 4 is used to control the insertion position of the tamping pick 3. Figure 5It can be seen that due to the existence of the rail lift 10, a cavity volume is formed below the sleeper 7 after it is lifted. The tamping pick 3 pushes the ballast 8 into the cavity volume through the clamping action, so that the sleeper 7 is stably arranged below the rail 9.

[0068] By using the tamping equipment provided in the embodiment of the present application, the clamping action of the tamping pick is controlled by the amount of rail lifting, so that the density of the ballast under the sleepers at different positions is more uniform, thereby improving the quality of the tamping operation.

[0069] Example 5

[0070] This embodiment provides a computer-readable storage medium on which a computer program is stored; the computer program is executed by a processor to implement a tamping method. The tamping method can refer to the contents described in embodiments 1 to 3, and will not be described in detail in this embodiment.

[0071] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0072] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0075] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0077] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0078] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0079] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A tamping method, characterized in that: The method comprises: Obtain line parameter information and rail lift; Obtaining the volume of the cavity after the track is raised according to the line parameter information and the amount of rail track raised; According to the volume of the cavity after track lifting, the tamping pick is controlled to perform a clamping action at the lower insertion position to realize the tamping operation of the current target sleeper.

2. The method according to claim 1, characterized in that The method further comprises: Get the tamping depth; The lower insertion position of the tamping pick is controlled according to the tamping depth.

3. The method according to claim 1, characterized in that The method further comprises: Get parameter information of tamping equipment; Obtaining a theoretical clamping stroke according to parameter information of the tamping equipment and the volume of the cavity after the track is started; Controlling the tamping pick to perform a clamping action according to the theoretical clamping stroke; Obtaining the stroke of the tamping pick for clamping action; When the stroke of the clamping action of the tamping pick reaches the maximum clamping stroke, the tamping operation is performed on the current target sleeper again, otherwise, preparation for the tamping operation of the next target sleeper is entered.

4. The method according to claim 3, characterized in that The method further comprises: Set the basic clamping stroke; Acquire an actual clamping stroke according to the basic clamping stroke and the theoretical clamping stroke; Controlling the clamping action of the tamping pick according to the actual clamping stroke, and obtaining the clamping pressure during the clamping action of the tamping pick; When the tamping pick completes the clamping action according to the actual clamping stroke and the clamping pressure does not reach the preset clamping pressure, the stroke of the tamping pick for the clamping action is increased until the clamping pressure reaches the preset clamping pressure.

5. The method according to claim 4, characterized in that The method further comprises: When the stroke of the tamping action of the tamping pick reaches the maximum clamping stroke and the clamping pressure does not reach the preset clamping pressure, the tamping operation is performed again on the current target sleeper, otherwise, preparation for the tamping operation of the next target sleeper is entered.

6. The method according to claim 4, characterized in that The method further comprises: Obtain the rail settlement after tamping operation on the current target sleeper; When the rail settlement exceeds the preset settlement, the tamping operation is performed again on the current target sleeper, otherwise the tamping operation preparation for the next target sleeper is entered.

7. The method according to claim 1, characterized in that The method further comprises: Get the number of tamping operations performed on the current target sleeper; When the number of tamping operations on the current target sleeper reaches the preset maximum number, preparation for tamping operations on the next target sleeper is entered.

8. The method according to any one of claims 1 to 7, characterized in that: The line parameter information includes sleeper parameter information and rail parameter information, the rail track rise includes left rail track rise and right rail track rise, and the method further includes: According to the sleeper parameter information, rail parameter information and the left rail track raising amount, the cavity volume and tamping depth of the left rail after track raising are obtained; According to the sleeper parameter information, rail parameter information and the right rail track raising amount, the cavity volume and tamping depth of the right rail after track raising are obtained; Controlling the lower insertion position of the tamping pick according to the tamping depth of the left rail and the tamping depth of the right rail; According to the volume of the cavity after the left rail starts and the volume of the cavity after the right rail starts, the tamping pick is controlled to perform a clamping action at the lower insertion position to achieve a tamping operation on the current target sleeper.

9. A tamping device, characterized in that: The device comprises a frame, an opening and closing drive device, a tamping arm, a tamping pick, a lower insertion drive device and a control module, wherein the opening and closing drive device and the tamping arm are both hinged on the frame, one end of the tamping arm is connected to the output end of the opening and closing drive device, and the other end of the tamping arm is connected to the tamping pick; The opening and closing driving device is used to control the clamping action of the tamping pick through the tamping arm; The lower insertion driving device is used to control the lower insertion position of the tamping pick; The control module comprises: Memory; Processor; and Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon; the computer program is executed by a processor to implement the method according to any one of claims 1 to 8.

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