Method for automated fine adjustment of ballastless track and fine adjustment vehicle

Abstract

The application provides a method and a fine adjustment vehicle for automatically fine adjusting a ballastless track. The method comprises the following steps: obtaining an adjustment scheme of a target track; determining a fastener to be adjusted according to the adjustment scheme, and preparing a target fastener according to the number of the fastener to be adjusted; positioning the position of the fastener to be adjusted of the target track to obtain a positioning result, and replacing the fastener to be adjusted on two rails of the target track with the target fastener according to the positioning result. The two rails are adjusted simultaneously in an automatic fine adjustment mode, the operation efficiency of track fine adjustment is greatly improved, and in the process of track fine adjustment, the participation of workers is not required, the safety of the workers is ensured, and the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of track construction, in particular to an automatic fine adjustment method and fine adjustment vehicle for ballastless track. BACKGROUND

[0002] The track of high-speed railway can be divided into ballastless track structure and ballasted track structure, wherein the ballastless track refers to the track structure using concrete, asphalt mixture and other integral foundation to replace the granular ballast bed. The fine adjustment of the ballastless track refers to adjusting the height and plane state of the track plate to accurately place each bolt hole position, ensuring the placement accuracy of the fastener and reducing the adjustment amount of the track after the fastener is placed.

[0003] At present, the fine adjustment of the ballastless track of high-speed railway mostly relies on manual work. The entire process from track state measurement to ingredient, bulk material and fastener accessory replacement is completed by manual work with the help of some auxiliary machines. The principle of manual fine adjustment is that the first is to adjust the reference track and then adjust the non-reference track, and the second is to adjust the track alignment and gauge first and then adjust the elevation and level.

[0004] However, a large number of workers are needed during manual fine adjustment. Due to the multiple and complex procedures of fine adjustment, the efficiency of manual fine adjustment is low, resulting in low efficiency of track fine adjustment. SUMMARY

[0005] The application provides a kind of ballastless track automatic fine adjustment method and fine adjustment vehicle in the embodiment of the application, can effectively solve the problem of low efficiency of track fine adjustment.

[0006] According to the first aspect of the embodiment of the application, a kind of ballastless track automatic fine adjustment method is provided, applied to fine adjustment vehicle, this method includes:

[0007] Obtain the adjustment scheme of target track;

[0008] According to the adjustment scheme, determine the fastener to be adjusted, and prepare target fastener according to the number of fastener to be adjusted;

[0009] The position of the fastener to be adjusted of the target track is positioned to obtain a positioning result, and the fastener to be adjusted on the two rails of the target track is replaced with the target fastener according to the positioning result.

[0010] According to the second aspect of the embodiment of the application, a fine adjustment vehicle is provided, which includes an ingredient system, an image recognition positioning system and a mechanical hand;

[0011] The ingredient system is used to input the adjustment scheme of the target track;

[0012] The batching system is further configured to determine the fasteners to be adjusted according to the adjustment scheme, and prepare target fasteners according to the number of the fasteners to be adjusted.

[0013] The image recognition positioning system is configured to position the positions of the fasteners to be adjusted of the target track to obtain a positioning result, and the mechanical arm is configured to replace the fasteners to be adjusted on the two rails of the target track with the target fasteners according to the positioning result.

[0014] By using the automatic fine adjustment method of the ballastless track provided in the embodiments of the present application, an adjustment scheme of a target track is obtained; fasteners to be adjusted are determined according to the adjustment scheme, and target fasteners are prepared according to the number of the fasteners to be adjusted; the positions of the fasteners to be adjusted of the target track are positioned to obtain a positioning result, and the fasteners to be adjusted on the two rails of the target track are replaced with the target fasteners according to the positioning result. The two rails are adjusted in an automatic fine adjustment manner, which can greatly improve the work efficiency of track fine adjustment, and in the process of track fine adjustment, the participation of workers is not required, which can ensure the safety of workers and reduce the labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which are included to provide a further understanding of the present application, form a part of the present application and are included to further explain the present application and, together with the specification, serve to explain the present application. In the drawings:

[0016] Figure 1 A process flow diagram of the automatic fine adjustment of the ballastless track provided in the embodiments of the present application;

[0017] Figure 2 A flowchart of the automatic fine adjustment method of the ballastless track provided in an embodiment of the present application;

[0018] Figure 3 A flowchart of the automatic fine adjustment method of the ballastless track provided in another embodiment of the present application;

[0019] Figure 4 A flowchart of part of the automatic fine adjustment method of the ballastless track provided on the basis of the embodiments provided herein; Figure 3 A flowchart of part of the automatic fine adjustment method of the ballastless track provided on the basis of the embodiments provided herein;

[0020] Figure 5 A functional module diagram of the fine adjustment vehicle provided in an embodiment of the present application;

[0021] Figure 6 A functional module diagram of the fine adjustment vehicle provided in another embodiment of the present application. DETAILED DESCRIPTION

[0022] The track of high-speed railway can be divided into ballastless track structure and ballasted track structure, wherein the ballastless track refers to a track structure using a whole foundation of concrete, asphalt mixture or the like to replace a track bed of scattered granular ballast. The fine adjustment of the ballastless track refers to adjusting the height and plane state of the track slab to accurately position each bolt hole and ensure the placement accuracy of the fastener and reduce the adjustment amount of the track after the fastener is placed.

[0023] Specifically, the fine adjustment of the ballastless track can realize the adjustment of the track quality index (TQI) by adjusting the thickness of the pad plate (vertical direction) and the thickness of the block (horizontal direction) of the fastener. The track quality index is the sum of the standard deviations of the amplitudes of seven track geometric irregularities, i.e. level, left high-low, right high-low, left track alignment, right track alignment, triangular pit and track gauge, in a unit section of 200m track section.

[0024] At present, the fine adjustment of the ballastless track of high-speed railway mostly relies on manual work. The entire process from track state measurement to ingredient, bulk material and fastener accessory replacement is completed by manual work with the aid of some auxiliary machines. The principle of manual fine adjustment is that the first is to adjust the reference track and then to adjust the non-reference track, and the second is to adjust the track alignment and track gauge first and then to adjust the elevation and level.

[0025] However, a large number of workers are needed during manual fine adjustment. Due to the multiple and complex procedures of fine adjustment, the efficiency of manual fine adjustment is low, resulting in low efficiency of track fine adjustment.

[0026] The inventors found in the research that the automatic fine adjustment can be performed using automatic equipment during track fine adjustment. During the automatic fine adjustment, the smoothness index is realized by the principle of "peak clipping and valley filling" of the index curve graph of the main parameters (plane position, track gauge, elevation, level). In the adjustment operation, the whole replacement of the upper fastener or lower fastener of the fastener is used to replace the individual replacement of the height pad plate or track gauge block, the double-track simultaneous operation and vertical and horizontal progressive adjustment are used to replace the manual fine adjustment of "first adjusting the reference track and then adjusting the non-reference track", which can greatly improve the operation efficiency.

[0027] Therefore, an embodiment of the present application provides an automated fine-tuning method for ballastless track, which obtains an adjustment plan for a target track; determines the fasteners to be adjusted based on the adjustment plan, and prepares target fasteners according to the number of fasteners to be replaced as a whole; locates the position of the fasteners to be adjusted on the target track to obtain a positioning result, and simultaneously replaces the fasteners to be adjusted on both rails of the target track with the target fasteners based on the positioning result. Simultaneously adjusting two rails in an automated fine-tuning manner can significantly improve the efficiency of track fine-tuning. Furthermore, no staff participation is required during the track fine-tuning process, which ensures the safety of the staff and reduces labor costs.

[0028] The solutions in the embodiments of the present application can be implemented using various computer languages, such as the object-oriented programming language Java, the interpreted scripting language JavaScript, and Python.

[0029] In order to make the technical solutions and advantages of the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, and are not an exhaustive list of all the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0030] First see Figure 1 , shows a schematic diagram of the process flow of automated fine-tuning of ballastless track provided by an embodiment of the present application. This process flow is applicable to the automated fine-tuning of high-speed railway ballastless track laying and operation and maintenance using CPⅢ net and WJ-8 type fasteners, such as Figure 1 As shown in , track fine-tuning begins by obtaining the fine-tuning solution data through measurement. The fine-tuning vehicle then exits the track for automated fine-tuning. After automated fine-tuning, manual re-measurement confirms whether the adjusted track meets the requirements. If so, track fine-tuning concludes. If not, manual fine-tuning is performed until the track meets the requirements, concluding the process.

[0031] On this basis, see Figure 2 The embodiment of the present application provides an automated fine-tuning method for ballastless track, which can be applied to a fine-tuning vehicle and can include the following steps.

[0032] Step 110: Obtain an adjustment plan for the target orbit.

[0033] When fine-tuning of the ballastless track is required, the adjustment plan must be determined first. The determination of the adjustment plan depends on the track parameters of the target track, where the target track is the ballastless track that needs to be fine-tuned.

[0034] The track parameters of the target track can be obtained by manual use of a track measuring instrument or directly by a measurement module of the fine adjustment vehicle.

[0035] After obtaining the track parameters, the combination of fasteners under each rail support platform can be investigated, and an adjustment scheme can be calculated by a professional based on the track parameters and the combination of fasteners, and the adjustment scheme can be implemented after being approved by relevant departments. After obtaining the adjustment scheme manually, the content of the adjustment scheme can be input into the fine adjustment vehicle or sent to the fine adjustment vehicle in a fixed form to instruct the fine adjustment vehicle to adjust the target track according to the adjustment scheme.

[0036] In step 120, the fasteners to be adjusted are determined according to the adjustment scheme, and target fasteners are prepared according to the number of fasteners to be adjusted.

[0037] After the fine adjustment vehicle obtains the adjustment scheme, the batching system of the fine adjustment vehicle can determine the fasteners to be adjusted based on the adjustment scheme and prepare target fasteners according to the number of fasteners to be adjusted. Specifically, the number of fasteners to be adjusted in the adjustment scheme can be determined according to the adjustment scheme, and the parts of the target fasteners can be stored in the magazine bin according to the number. For example, the number of fasteners to be adjusted in the adjustment scheme is 10, and the fastener is usually composed of multiple parts, so at least 10 parts of the target fastener need to be prepared. In some embodiments, when preparing the target fastener, a certain amount of excess can be left, for example, the number of fasteners to be adjusted is 10, and 12 target fasteners can be prepared, which can be set according to the needs, but the number of prepared target fasteners is not less than the number of fasteners to be adjusted.

[0038] In some embodiments, the parts can be classified according to the part model, and the parts can be classified and stored in the magazine bin, and the parts of the target fastener can be taken out from the magazine bin when the target fastener is installed.

[0039] In step 130, the positions of the fasteners to be adjusted of the target track are positioned to obtain a positioning result, and the fasteners to be adjusted on the two rails of the target track are replaced with the target fasteners according to the positioning result.

[0040] After the target fastener is prepared, the fine adjustment vehicle can go on the track to adjust the target track. In some embodiments, before the fine adjustment vehicle goes on the track, CP III control network re-measurement, sleeper numbering and fastener inspection, existing fastener model review, total station preparation, data acquisition and processing, and preparation after scheme development can also be performed. After these preparations are correct, the fine adjustment vehicle can go on the track.

[0041] The smoothness index is realized by the principle of "peak clipping and valley filling" to the main parameter (plane position, track gauge, elevation, level) index curve in the embodiments of the present application, and the overall replacement of the fastener upper part fastener or fastener lower part fastener is used to replace the individual replacement of the height adjusting pad plate or the track gauge baffle in the track fine adjustment.

[0042] The track is usually composed of two rails, sleepers and the like, and the fine adjustment vehicle can position the position of the fastener to be adjusted on the target track to obtain a positioning result, and simultaneously replace the fastener to be adjusted on the two rails of the target track with the target fastener according to the positioning result.

[0043] As an optional mode, the step of preparing the target fastener according to the number of fasteners to be adjusted is specifically:

[0044] Preparing the target fastener according to the number of fasteners to be adjusted;

[0045] The step of replacing the fastener to be adjusted on the two rails of the target track with the target fastener according to the positioning result is specifically:

[0046] Simultaneously replacing the fastener to be adjusted on the two rails of the target track with the target fastener according to the positioning result.

[0047] In this way, all the fasteners to be adjusted are replaced in one time.

[0048] As an optional mode, the step of preparing the target fastener according to the number of fasteners to be adjusted is specifically:

[0049] Dividing the fasteners to be adjusted into batches, determining the fasteners to be adjusted in the batch, and preparing the target fastener in the batch according to the number of fasteners to be adjusted in the batch;

[0050] The step of positioning the position of the fastener to be adjusted on the target track to obtain a positioning result, and replacing the fastener to be adjusted on the two rails of the target track with the target fastener according to the positioning result is specifically:

[0051] Positioning the position of the fastener to be adjusted in the batch to obtain a positioning result, and simultaneously replacing the fastener to be adjusted in the batch on the two rails of the target track with the target fastener in the batch according to the positioning result;

[0052] Until the replacement of the fasteners to be adjusted in each batch is completed.

[0053] In this way, all the fasteners to be adjusted are divided into batches, the fasteners to be adjusted in the batch are replaced with the target fastener in the batch first, and then the fasteners to be adjusted in each batch are replaced batch by batch.

[0054] The target track usually has a certain length, and the operation range of the fine adjustment vehicle is limited, so the fine adjustment vehicle can determine the operation range of the current operation position; meanwhile, the positions of the to-be-adjusted fastenings on the two rails in the operation range are located, and the to-be-adjusted fastenings on the two rails are replaced with the target fastenings; after the to-be-adjusted fastenings on the two rails in the operation range are all replaced with the target fastenings, the fine adjustment vehicle runs to the next operation position until all the to-be-adjusted fastenings on the target track are replaced with the target fastenings. It should be noted that the belly of the fine adjustment vehicle can be provided with an operation trolley, which can perform operations such as disassembly and installation. After the fine adjustment vehicle enters the track, it can maintain a uniform speed. The operation trolley on the fine adjustment vehicle is stationary relative to the rail supporting table during operation, and is in step-by-step motion. After the to-be-adjusted fastenings in the current operation range are replaced, the operation trolley can quickly advance to the next operation position, match the speed of the fine adjustment vehicle, and then fine adjust the two rails in the current operation range until the to-be-adjusted fastenings on the entire target track are replaced with the target fastenings, and the fine adjustment is considered complete.

[0055] Specifically, the positions of the to-be-adjusted fastenings on the two rails in the operation range are located to obtain a positioning result. According to the positioning result, the to-be-adjusted fastenings on the two rails of the target track are simultaneously replaced with the target fastenings, which can be simultaneously lifting the two rails in the operation range. The to-be-adjusted fastenings on the rail tie of the two rails are located, and the helical spikes or rail supporting tables are located. After the helical spikes are removed, the fastenings on the upper part of the rail tie are removed first, and then the fastenings on the lower part of the rail tie are removed. The target fastenings are installed on the rail tie. After the fastenings are installed, they need to be in a full, tight, correct, tight, close and close state to ensure the accuracy of the overall replacement of the fastenings.

[0056] In some embodiments, after all the to-be-adjusted fastenings on the target track are replaced with the target fastenings, manual fine adjustment of the target track can continue. Specifically, the work personnel can check that the torque of each fastening meets the design requirements, and then use a track inspection instrument to perform line measurement on the adjusted target track. Line measurement can have two measurement results according to the selection of the coordinate system. One is an absolute measurement result obtained according to the absolute coordinate system of the line itself, and the other is a relative measurement result obtained by defining an arbitrary starting point of the line as 0 point. Here, the relative measurement result obtained by using the track inspection instrument can be used. According to the obtained relative measurement result, the work personnel can quickly understand the basic geometric state of the adjusted target track, and formulate an operation scheme that meets the relative change rate index for the two rails of the target track, eliminate the possible deviation on site to achieve the effect of fine adjustment, until it is confirmed that the target track meets the standard requirements, and the detection result data is submitted according to the relevant provisions. The manual fine adjustment method is the same as the existing method, and will not be described here.

[0057] The method for automatically fine-tuning the ballastless track provided by the embodiments of the present application obtains an adjustment scheme of a target track; determines fastenings to be adjusted according to the adjustment scheme, and prepares target fastenings according to the number of the fastenings to be adjusted; positions the positions of the fastenings to be adjusted of the target track to obtain a positioning result, and simultaneously replaces the fastenings to be adjusted on the two rails of the target track with the target fastenings according to the positioning result. The two rails are adjusted simultaneously in an automatic fine-tuning manner, which can greatly improve the work efficiency of track fine-tuning, and in the process of track fine-tuning, the participation of workers is not required, which can ensure the safety of workers and reduce the labor cost, and fully play the advantages of automatic equipment.

[0058] Please refer to Figure 3 The method for automatically fine-tuning the ballastless track provided by the embodiments of the present application obtains an adjustment scheme of a target track; determines fastenings to be adjusted according to the adjustment scheme, and prepares target fastenings according to the number of the fastenings to be adjusted; positions the positions of the fastenings to be adjusted of the target track to obtain a positioning result, and simultaneously replaces the fastenings to be adjusted on the two rails of the target track with the target fastenings according to the positioning result. The two rails are adjusted simultaneously in an automatic fine-tuning manner, which can greatly improve the work efficiency of track fine-tuning, and in the process of track fine-tuning, the participation of workers is not required, which can ensure the safety of workers and reduce the labor cost, and fully play the advantages of automatic equipment.

[0059] Step 210, an adjustment scheme of a target track is obtained.

[0060] Step 220, fastenings to be adjusted are determined according to the adjustment scheme, and target fastenings are prepared according to the number of the fastenings to be adjusted.

[0061] Step 210 and step 220 can refer to the corresponding parts of the foregoing embodiments, which will not be described here again.

[0062] Step 230, the work range of the current work position is determined.

[0063] Step 240, the positions of the fastenings to be adjusted of the two rails in the work range are positioned to obtain a positioning result, and the fastenings to be adjusted on the two rails are replaced with the target fastenings according to the positioning result.

[0064] After the fine-tuning vehicle is put on the track, the work range of the current work position can be determined, and the fastenings to be adjusted of the two rails in the work range are replaced first. Specifically, please refer to Figure 4 The positioning of the positions of the fastenings to be adjusted of the two rails in the work range and the replacement of the fastenings to be adjusted on the two rails with the target fastenings can include the following steps.

[0065] Step 241, the two rails in the work range are simultaneously lifted.

[0066] The fine adjustment vehicle can lift two rails in the operation range simultaneously through its rail lifting system, and the lifting amount of the two rails is less than or equal to 30 mm, and the difference between the lifting amounts of the two rails is less than or equal to 7 mm. For example, the two rails are A1 and A2, the lifting amount of rail A1 is X1, and the lifting amount of rail A2 is X2, then X1 and X2 are less than or equal to 30 mm, and the difference between X1 and X2 is less than or equal to 7 mm.

[0067] Before lifting the two rails, the fine adjustment vehicle can loosen a certain number of rail spikes in the operation range through the mechanical arm, and then lift the two rails simultaneously using the rail lifting system. In the embodiments of the present application, at least 16 rail spikes can be loosened, and the actual needs can be adjusted during implementation, which is not limited herein.

[0068] In step 242, the rail spikes or rail supports of the fasteners to be adjusted on the sleepers of the two rails are positioned, and after the rail spikes are removed, the upper part of the fasteners on the sleepers is removed first, and then the lower part of the fasteners on the sleepers is removed.

[0069] After lifting the two rails, the image recognition positioning system of the fine adjustment vehicle can accurately position the rail spikes of the fasteners to be adjusted on the sleepers based on image recognition, and based on the positioning result of the image recognition positioning system, the fine adjustment vehicle removes the rail spikes of the fasteners to be adjusted through the mechanical arm. After removing the rail spikes or rail supports of the fasteners to be adjusted, the fasteners are continued to be removed. For a whole fastener, only the upper part of the fastener on the sleeper can be removed, only the lower part of the fastener on the sleeper can be removed, or the whole fastener can be removed. In the operation range of one operation site, the upper part of the fasteners on the sleepers of the two rails in the operation range is removed first, and then the lower part of the fasteners on the sleepers is removed.

[0070] In step 243, the target fastener is installed on the sleeper.

[0071] After removing the fasteners to be adjusted in the operation range, the target fastener needs to be installed on the sleeper according to the adjustment scheme. During the process of removing the fasteners to be adjusted, the mechanical arm can place the removed upper part of the fastener on the sleeper into a first box, and place the removed lower part of the fastener on the sleeper into a second box. After the fasteners are removed, the batching system of the fine adjustment vehicle can transport the first box and the second box to a box warehouse. Transporting the removed fasteners to the box warehouse can realize the automatic recovery of the fasteners. After the first box and the second box arrive at the box warehouse, the batching system can replace the fasteners in the first box and the second box with target fasteners. It should be noted that the first box and the second box can have different shapes or different colors, so that the image positioning and recognition system can distinguish the first box and the second box.

[0072] The target fastener can include track-on components and track-under components, the track-on components are installed on the upper part of the sleeper, and the track-under components are installed on the lower part of the sleeper. As described in the foregoing embodiments, the components of the prepared target fastener can be stored according to the component models, and at this time, the corresponding components involved in the track-on components can be combined and placed in the first magazine according to the component models, and the corresponding components involved in the track-under components can be combined and placed in the second magazine. The number of the track-on components is the same as the number of the upper part fasteners of the sleeper removed from the first magazine, and the number of the track-under components is the same as the number of the lower part fasteners of the sleeper removed from the second magazine.

[0073] After the components of the target fastener are placed in the first magazine and the second magazine, the first magazine and the second magazine can be transported to the current work site, so that the fine adjustment vehicle can take out the track-on components from the first magazine and take out the track-under components from the second magazine for installation by the mechanical arm.

[0074] During installation of the target fastener, the image recognition positioning system can identify the first magazine and the second magazine, and guide the operation of the mechanical arm according to the identification result. Specifically, the mechanical arm can first take out the track-under components from the second magazine, install the track-under components to the lower part of the sleeper, then take out the track-on components from the first magazine, install the track-on components to the upper part of the sleeper, and finally tighten the helical spikes of the target fastener.

[0075] Step 250, after the target fasteners are replaced on the two steel rails in the work range, the fine adjustment vehicle runs to the next work site until all the target fasteners are replaced on the two steel rails of the target track.

[0076] After the target fasteners are replaced on the two steel rails in the work range, the next work site can be continued to run to, and the steps of steps 230 to 240 are executed until all the target fasteners are replaced on the target track, and the automatic fine adjustment of the target track ends.

[0077] The automatic fine adjustment method of the ballastless track provided by the embodiments of the present application simultaneously lifts the two steel rails in the work range during track fine adjustment; positions the helical spikes of the fastener to be adjusted on the sleeper, after the helical spikes of the fastener to be adjusted are removed, the fastener on the upper part of the sleeper is removed first, and then the fastener on the lower part of the sleeper is removed; and the target fastener is installed on the sleeper. The double steel rails are adjusted in an automatic fine adjustment manner, which can greatly improve the work efficiency of track fine adjustment, and the movement of the mechanical arm is guided by the image recognition positioning system, which can realize accurate disassembly and installation and improve the quality of track fine adjustment.

[0078] Referring to Figure 5 In one embodiment, the fine adjustment vehicle 300 can include a batching system 310, an image recognition positioning system 320, and a mechanical arm 330. The batching system 310 is configured to obtain an adjustment scheme for a target track. The batching system 310 is further configured to determine a fastener to be adjusted according to the adjustment scheme, and prepare target fasteners according to a number of the fastener to be adjusted. The image recognition positioning system 320 is configured to position a location of the fastener to be adjusted of the target track to obtain a positioning result. The mechanical arm 330 is configured to replace the fastener to be adjusted on two rails of the target track with the target fasteners according to the positioning result.

[0079] As an optional way, the batching system is specifically configured to:

[0080] determine the fastener to be adjusted according to the adjustment scheme, and prepare the target fasteners according to a number of the fastener to be adjusted as a whole;

[0081] The mechanical arm is specifically configured to:

[0082] replace the fastener to be adjusted on two rails of the target track with the target fasteners as a whole according to the positioning result.

[0083] In this way, all the fasteners to be adjusted are replaced as a whole at one time.

[0084] As an optional way, the batching system is specifically configured to:

[0085] determine the fastener to be adjusted according to the adjustment scheme, and prepare the target fasteners according to a number of the fastener to be adjusted as a whole;

[0086] The image recognition positioning system is specifically configured to:

[0087] position a location of the fastener to be adjusted of the target track to obtain a positioning result;

[0088] The mechanical arm is specifically configured to:

[0089] replace the fastener to be adjusted on two rails of the target track with the target fasteners according to the positioning result.

[0090] In this way, all the fasteners to be adjusted are divided into multiple batches, and first, the fastener to be adjusted of the current batch is replaced with the target fastener of the current batch; then, the fastener to be adjusted of each batch is replaced batch by batch.

[0091] Further, the dosing system 310 is configured to determine the number of fasteners to be adjusted according to the adjustment scheme, and store the parts of the target fastener in a magazine bin according to the number, and take the parts of the target fastener from the magazine bin when the target fastener is installed.

[0092] Further, the image recognition positioning system 320 is configured to determine the working range of the current working position, and position the fasteners to be adjusted on the two rails in the working range to obtain a positioning result, and instruct the manipulator 330 to replace the fasteners to be adjusted on the two rails with the target fastener according to the positioning result, and after the fasteners to be adjusted on the two rails in the working range are all replaced with the target fastener, the fine adjustment vehicle runs to the next working position until the fasteners to be adjusted on the two rails of the target track are all replaced with the target fastener.

[0093] Please refer to Figure 6 Another embodiment of the present application provides a fine adjustment vehicle 300, which further comprises a rail lifting system 340. The rail lifting system 340 is configured to simultaneously lift the two rails in the working range, and the image recognition positioning system 320 is configured to position the fasteners to be adjusted on the sleeper of the two rails, and the manipulator 330 is further configured to remove the fasteners on the upper part of the sleeper first and then remove the fasteners on the lower part of the sleeper after the helical spikes of the fasteners to be adjusted on the sleeper are removed, and the manipulator 330 is configured to install the target fastener to the sleeper.

[0094] Further, the lifting amount of the two rails is less than or equal to 30 mm, and the difference between the lifting amounts of the two rails is less than or equal to 7 mm.

[0095] Further, the manipulator 330 is further configured to place the removed fasteners on the upper part of the sleeper into a first magazine and place the removed fasteners on the lower part of the sleeper into a second magazine, and the dosing system 310 is further configured to transport the first magazine and the second magazine to a magazine bin, and replace the fasteners on the upper part of the sleeper in the first magazine with the parts on the rail and replace the fasteners on the lower part of the sleeper in the second magazine with the parts below the rail, and transport them to the current working position.

[0096] Further, the manipulator 330 is further configured to take the parts below the rail from the second magazine and install them to the lower part of the sleeper, and take the parts on the rail from the first magazine and install them to the upper part of the sleeper, and tighten the helical spikes of the target fastener.

[0097] As Figure 6 shown, the fine adjustment vehicle 300 further comprises a measurement module 350 configured to measure the target track to obtain track parameters, so as to instruct a person to calculate the adjustment scheme according to the track parameters.

[0098] The fine adjustment vehicle provided by the embodiment of the present application acquires an adjustment scheme of a target track; determines a fastener to be adjusted according to the adjustment scheme, and prepares a target fastener according to the number of the fastener to be adjusted; positions the position of the fastener to be adjusted of the target track to obtain a positioning result, and simultaneously replaces the fastener to be adjusted on the two rails of the target track with the target fastener according to the positioning result. The two rails are adjusted in an automatic fine adjustment manner, which can greatly improve the operation efficiency of track fine adjustment, and in the process of track fine adjustment, the participation of workers is not required, which can ensure the safety of workers and reduce the labor cost, and fully play the advantages of automatic equipment.

[0099] It should be explained that the skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the fine adjustment vehicle described above can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0100] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media containing computer usable program code (including but not limited to disk memory, CD-ROM, optical memory, etc.).

[0101] The present application is described with reference to flowcharts and / or block diagrams according to the method, device (system), and computer program product of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more blocks.

[0102] These computer program instructions can also be stored in a computer readable memory that can guide the computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer readable memory produce a product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more blocks.

[0103] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operations steps are performed on the computer or other programmable devices to generate computer-implemented processes, thus the instructions executed on the computer or other programmable devices provide processes for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or steps of the functions specified in the flow

[0104] Although the preferred embodiments of the application have been described, those skilled in the art will be able to make additional modifications and variations to these embodiments without departing from the spirit and scope of the application. Accordingly, it is intended that the appended claims be construed to include all such modifications and variations as fall within the scope of the application.

[0105] Obviously, various modifications and changes can be made to the present application by those skilled in the art without departing from the spirit and scope of the present application. Thus, it is intended that the present application encompass all such modifications and changes as fall within the scope of the claims and their equivalents.

Claims

1. An automated fine-tuning method for ballastless track, characterized in that: Applied to fine-tuning vehicles, the method includes: Obtaining an adjustment plan for the target orbit; Determine the fasteners to be adjusted according to the adjustment plan, and prepare target fasteners according to the number of fasteners to be adjusted that need to be replaced as a whole; Locating the position of the fastener to be adjusted on the target track to obtain a positioning result, and simultaneously replacing the fasteners to be adjusted on two rails of the target track with the target fasteners according to the positioning result; Determining the fasteners to be adjusted according to the adjustment plan, and preparing target fasteners according to the number of fasteners to be adjusted as a whole, including: determining the number of fasteners to be adjusted according to the adjustment plan; storing the components of the target fasteners in a magazine according to the number, and removing the components of the target fasteners from the magazine when installing the target fasteners; Positioning the position of the fastener to be adjusted on the target track to obtain a positioning result, and simultaneously replacing the fasteners to be adjusted on the two rails of the target track with the target fasteners according to the positioning result, including: determining an operating range of a current operating position; positioning the positions of the fasteners to be adjusted on the two rails within the operating range to obtain a positioning result, and simultaneously replacing the fasteners to be adjusted on the two rails with the target fasteners according to the positioning result; after all the fasteners to be adjusted on the two rails within the operating range are replaced with the target fasteners, the fine adjustment vehicle moves to the next operating position until all the fasteners to be adjusted on the two rails of the target track are replaced with the target fasteners; Positions of the fasteners to be adjusted of the two rails within the operating range are located to obtain a positioning result, and the fasteners to be adjusted on the two rails are simultaneously replaced with the target fasteners according to the positioning result, including: simultaneously lifting the two rails within the operating range; positioning the spiral spikes or rail supports of the fasteners to be adjusted on the sleepers of the two rails, after removing the spiral spikes, first removing the fasteners on the upper part of the sleeper, and then removing the fasteners on the lower part of the sleeper; and installing the target fasteners on the sleeper.

2. The method according to claim 1, characterized in that The lifting amount of the two rails is less than or equal to 30 mm, and the difference in the lifting amount of the two rails is less than or equal to 7 mm.

3. The method according to claim 1, characterized in that The target fastener includes an on-rail component and a below-rail component. Before installing the target fastener on the sleeper, the method further includes: Place the removed upper fasteners of the sleeper into the first material box, and place the removed lower fasteners of the sleeper into the second material box; transporting the first and second material boxes to a material box warehouse; The upper fasteners of the sleeper in the first material box are replaced as a whole with the upper rail parts, and the lower fasteners of the sleeper in the second material box are replaced as a whole with the lower rail parts, and are transported to the current working position.

4. The method according to claim 3, characterized in that The step of installing the target fastener on the sleeper comprises: Taking out the under-rail components from the second magazine, and installing the under-rail components on the lower part of the sleeper; Taking out the rail components from the first magazine and installing the rail components on the upper part of the sleeper; Tighten the screw spike of the target fastener.

5. A fine-tuning vehicle using the automated fine-tuning method for ballastless track according to any one of claims 1 to 4, characterized in that: The fine-tuning vehicle includes a batching system, an image recognition and positioning system, and a manipulator; The batching system is used to input the adjustment plan of the target track; The batching system is further configured to determine the fasteners to be adjusted according to the adjustment plan, and prepare target fasteners according to the number of fasteners to be adjusted for overall replacement; The image recognition and positioning system is used to locate the position of the fastener to be adjusted on the target track to obtain a positioning result, and the manipulator is used to simultaneously replace the fasteners to be adjusted on the two rails of the target track with the target fasteners according to the positioning result; The fine-tuning vehicle further comprises a rail lifting system, wherein the rail lifting system is used to simultaneously lift two rails of the target track; The image recognition and positioning system is used to locate the spiral spikes of the fasteners to be adjusted on the sleepers of the two rails. The manipulator is also used to remove the fasteners on the upper part of the sleeper and then remove the fasteners on the lower part of the sleeper after removing the spiral spikes; the manipulator installs the target fasteners to the sleeper.

6. The fine-tuning vehicle according to claim 5, characterized in that: The fine-tuning vehicle further includes a measurement module for measuring a target track and obtaining track parameters to instruct manual calculation of the adjustment plan based on the track parameters.

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