Method for tamping car level monitoring and track raising compensation and computer readable storage medium

Abstract

The application discloses a tamping car horizontal monitoring and track lifting compensation method and a computer readable storage medium. The method comprises the following steps: S10) acquiring signals from a front electronic pendulum, a middle electronic pendulum, a rear electronic pendulum, a left leveling sensor, a right leveling sensor and a measuring wheel; S20) performing calculation and comparison according to the acquired signals, judging whether the line level exceeds a limited value, and outputting a control signal to a tamping car electrical control system according to the calculation result; S30) executing track lifting operation and a walking prohibition function after alarm by the tamping car electrical control system control logic, and displaying and sending alarm information according to the output control signal. The application can solve the technical problems that the existing detection method cannot realize comprehensive abnormal analysis and control of the line level condition, cannot prohibit walking operation when detecting the level abnormality, and cannot realize automatic compensation of the tamping car track lifting.

Description

Technical Field

[0001] This application relates to the field of railway engineering machinery technology, and in particular to a method for level monitoring and track lifting compensation of a tamping machine for large railway track maintenance machinery, and a computer-readable storage medium thereof. Background Technology

[0002] A tamping machine is a large railway maintenance machine that automatically levels, lifts, and tamps the ballast to improve its density, increase track stability, and eliminate directional, left / right, and front / rear level deviations. This ensures the track meets design standards and maintenance regulations, guaranteeing safe train operation. Tamping machines are widely used in new railway line construction, major overhauls and cleaning of existing lines, and maintenance of operating lines. They perform track alignment, lifting, leveling, ballast tamping, and compaction of ballast on the ballast shoulders. This ensures the track's direction and level meet maintenance requirements and enhances track stability. However, a large portion of tamping machine operations are on engineering tracks or tracks after cleaning, where track conditions are often poor. Currently, monitoring the track's level relies mainly on manual measurement ahead of the vehicle or on operators observing electronic instruments. This lack of timely monitoring due to human negligence is unavoidable, posing safety hazards and potentially leading to derailments and other accidents, disrupting train operations. Meanwhile, in existing tamping machines, the manual correction of track lifting during track lifting operations is achieved through a potentiometer on the auxiliary track lifting handle, manually set by the operator based on the leveling gauge readings. This manual correction quality is highly dependent on the operator's experience, resulting in significant errors and increasing the workload for the operator at position 1. The existing electrical system of the tamping machine can measure track level using sensors such as electronic pendulums, but the driver or operator still needs to manually observe the instruments to confirm the level and assess the track's safety status, manually compensating for the lifting amount by observing the leveling gauge. The existing system cannot intelligently determine the track level, does not consider the need for automatic level assessment and safety alarms, and lacks automatic track lifting compensation functionality.

[0003] Among the existing technologies, the following technical solutions are mainly related to this application:

[0004] Prior art 1 is a Chinese invention application filed on December 28, 2015, and published on April 13, 2016, with publication number CN105484116A, by the Railway Construction Research Institute of the China Academy of Railway Sciences and the China Academy of Railway Sciences. This application discloses a device for detecting the level parameters of a track after tamping operation. The device is installed on the B measuring trolley and the rear of the tamping machine. Its main components include an electrical box 1 and a main unit box 2. The electrical box 1, which is equipped with an inclination sensor, is fixed to the B measuring trolley of the tamping machine. The control circuit board in the main unit box 2 acquires the level parameters detected by the electrical box 1 via a 4-core cable. After data processing, the data is sent to the display control card via RS232 communication protocol and then displayed on the display screen. The position of the triangle symbol at the bottom of the display screen indicates whether it is left or right superelevation. This application can detect the level parameters after tamping operation in real time and quickly, eliminating the need for a separate detection step, reducing labor intensity, improving detection efficiency, and ensuring efficient operation of the tamping machine. However, this application uses a new electrical box and tilt sensor to detect the horizontal parameters of the track. It only detects the horizontal parameters of the track after the tamping machine has been in operation. The detection results do not directly participate in the travel control of the tamping machine. Furthermore, it does not utilize the original vehicle sensors for detection. The detection data is limited, and it can only detect the amount of over-height and determine the direction of over-height. It does not have the functions of alarm and control to stop the vehicle.

[0005] Prior art 2 is a Chinese utility model patent applied for by Sun Guojun on December 28, 2020, and published on September 17, 2021, with publication number CN214215780U. This utility model discloses a railway track triangular pit alarm device based on a tamping machine, relating to the field of tamping machines. It includes a measuring trolley, which comprises running wheels, a crossbeam, a microcontroller, a processor, a distance sensor, a level sensor, an alarm, and an alarm deactivation button. The microcontroller is electrically connected to the processor, the alarm deactivation button, and the alarm. The processor is electrically connected to the distance sensor and the level sensor. The level sensor is mechanically connected to the crossbeam, and the distance sensor is mechanically connected to the running wheels. This utility model patent can detect the track level difference in real time during tamping machine operation, monitor the presence of triangular pits on the track, and issue a real-time alarm, ensuring train operation safety. However, this utility model collects data from level and distance sensors using a microcontroller, without specifying the sensor type. It can only detect horizontal triangular pits after the vehicle has been in operation, but does not cover the detection of lateral level or the track at the front end of the operation, thus failing to effectively prevent the tamping machine from derailing. Furthermore, this utility model only outputs alarm signals and does not directly participate in controlling vehicle stopping, nor does it have an automatic track-starting compensation function.

[0006] Prior art 3 is a Chinese invention application filed by Jinying Heavy Engineering Machinery Co., Ltd. on January 6, 2021, and published on August 20, 2021, with publication number CN113283277A. This application discloses an automatic detection and control method for track irregularities using a railway tamping vehicle, including data acquisition, data processing, and control execution steps. During data acquisition, the versine value, leveling value, and superelevation value at equidistant points in the area to be tamped on the railway line are measured using the three-point method. The directional deviation, lateral horizontal deviation, and longitudinal horizontal deviation of the railway line are obtained using a versine sensor, an electronic pendulum, and a leveling sensor. During data processing, an algorithm controller obtains the theoretical versine value, restores the waveform of the versine difference, obtains the front-end offset, obtains the theoretical leveling value, restores the waveform of the difference between the leveling values, and obtains the leveling correction value. During control execution, the computer outputs track irregularity parameters such as the theoretical versine value, front-end offset, theoretical leveling value, and leveling correction value, controlling the tamping vehicle to complete the track maintenance operation. This application boasts advantages such as simple structure, convenient maintenance, reliable detection data, and precise control process. However, it collects data from versine sensors, leveling sensors, electronic pendulums, etc., and focuses on describing a calculation method for the collected data, without specifying its actual application on the tamping machine. It also lacks alarm functions, automatic stop control, operational safety protection, and automatic track-lifting compensation functions.

[0007] The aforementioned existing technologies provide methods for detecting railway line level parameters or technical solutions for alarming abnormalities, but they do not provide comprehensive analysis and control of abnormalities in the level condition of the line, nor do they mention directly prohibiting travel operations when a level abnormality is detected, or automatic compensation for tamping machine lifting. As a result, operational safety cannot be guaranteed. Summary of the Invention

[0008] In view of this, the purpose of this application is to provide a method for monitoring the level of a tamping machine and compensating for track lifting, as well as a computer-readable storage medium, to solve the technical problems of existing level detection methods that fail to achieve comprehensive anomaly analysis and control for track level conditions, cannot prohibit travel operations when level anomalies are detected, and cannot achieve automatic track lifting compensation by the tamping machine.

[0009] To achieve the aforementioned objectives, this application specifically provides a technical implementation scheme for a tamping machine level monitoring and track lifting compensation method, which includes the following steps:

[0010] S10) Acquire signals from the front electronic pendulum, middle electronic pendulum, rear electronic pendulum, left leveling sensor, right leveling sensor and measuring wheel;

[0011] S20) Calculate and compare the acquired signals to determine whether the line level exceeds the limit value, and output control signals to the electrical control system of the tamping machine based on the calculation results;

[0012] S30) The control logic of the tamping machine's electrical control system performs track-starting operations and prohibits movement after an alarm, and displays and issues alarm information according to the output control signal.

[0013] Furthermore, in step S10), the DI module acquires the measurement wheel pulses and switch button logic signals, and the AI ​​module acquires the signals from the front electronic pendulum, middle electronic pendulum, rear electronic pendulum, left leveling sensor, and right leveling sensor. In step S20), real-time calculations are performed based on the acquired signals, and the logic control signals of the tamping machine's electrical control system and track-lifting compensation data are output based on the calculation results.

[0014] Furthermore, the switch button logic signals include a horizontal alarm function switch logic signal, an alarm manual reset button logic signal, and a manual lane start compensation / automatic lane start compensation switching switch logic signal. Step S20) includes:

[0015] When a horizontal alarm function switch logic signal is detected, an alarm and travel restriction control signal are output. If a horizontal over-limit alarm is triggered, the vehicle cannot move. After the hazard is eliminated, pressing the manual alarm reset button will restore vehicle operation and clear the alarm. When a manual / automatic track lifting compensation switch logic signal is detected, the track lifting amount will be automatically compensated during operation. If this logic signal is not detected, manual compensation mode will be maintained.

[0016] Furthermore, during the track-lifting operation, the values ​​from the left leveling sensor are acquired in real time. The left basic track-lifting amount, left settlement compensation amount, track-lifting reduction amount, automatic leveling correction compensation amount, and left superelevation difference correction value are used as the input for PID control. The values ​​from the left leveling sensor serve as the feedback for PID control, forming a closed loop for left track-lifting control. The PID control output signal, after amplification, controls the left track-lifting hydraulic valve to drive the left track-lifting device to perform the track-lifting action, completing the left track-lifting operation. Similarly, the values ​​from the right leveling sensor are acquired in real time. The right basic track-lifting amount, right settlement compensation amount, track-lifting reduction amount, automatic leveling correction compensation amount, and right superelevation difference correction value are used as the input for PID control. The values ​​from the right leveling sensor serve as the feedback for PID control, forming a closed loop for right track-lifting control. The PID control output signal, after amplification, controls the right track-lifting hydraulic valve to drive the right track-lifting device to perform the track-lifting action, completing the right track-lifting operation.

[0017] Furthermore, step S20) includes:

[0018] The difference between the theoretical superelevation at the front end and the value of the electronic pendulum at the middle end is calculated, and the difference between the left and right superelevation is calculated as the difference between the left and right leveling sensor values ​​and the right leveling sensor values. The difference between the left and right superelevation is used as the input for PID control, and the difference between the theoretical superelevation at the front end and the value of the electronic pendulum at the middle end is used as the feedback for PID control, thus forming a leveling correction control closed loop. The output value of PID control is used as the automatic compensation value for leveling correction and participates in the track lifting operation control.

[0019] Furthermore, in step S20), when the left rail superelevation is selected, the basic left track lifting amount and the basic right track lifting amount are calculated according to the following formulas:

[0020] Left basic starting distance = Manually given + Computer-given track geometry parameters + Front electronic pendulum value + Computer theoretical superelevation of track geometry parameters + Manual theoretical superelevation;

[0021] Right basic track starting quantity = manually given + computer-given track geometry parameters;

[0022] When the right rail superelevation is selected, the basic left track lifting amount and the basic right track lifting amount are calculated according to the following formulas:

[0023] Left basic starting distance = manually given + computer-given track geometry parameters;

[0024] Right basic starting distance = Manually given + Computer-given track geometry parameters + Front electronic pendulum value + Computer-theoretical superelevation of track geometry parameters + Manual theoretical superelevation.

[0025] Furthermore, step S20) includes:

[0026] The system acquires the value of the front electronic pendulum in real time. When the current value of the electronic pendulum is greater than the first limit value, it is determined that the front line level is out of limit, and a vehicle forward movement restriction signal is output to prohibit forward movement and issue an alarm signal.

[0027] Furthermore, step S20) includes:

[0028] The rear electronic pendulum value is acquired in real time. When the rear electronic pendulum value is greater than the second limit value, it is determined that the horizontal limit of the back-end line is exceeded, and a vehicle reverse restriction signal is output to prohibit reverse movement and issue an alarm signal.

[0029] Furthermore, step S20) includes:

[0030] The orthogonal pulse signal output from the measuring wheel is converted into vehicle travel distance, while the values ​​from the left and right leveling sensors are collected simultaneously. The longitudinal horizontal superelevation status is determined by calculating and comparing the changes in the left and right superelevation differences along the vehicle's track. The maximum and minimum values ​​of the left and right superelevation differences are calculated within a certain working length. When the difference between the maximum and minimum values ​​exceeds a third limit, it is determined that the longitudinal horizontal deviation exceeds the limit, a vehicle travel restriction signal is output, travel is prohibited, and an alarm signal is issued.

[0031] Furthermore, step S20) includes:

[0032] The system acquires the values ​​of the front and rear electronic pendulums in real time. When the difference between the current electronic pendulum value and the rear electronic pendulum value is greater than the fourth limit value, it is judged that the front and rear height difference exceeds the limit, there is a triangular pit or lateral level abnormality, and a vehicle travel restriction signal is output to prohibit reverse travel and issue an alarm signal.

[0033] Furthermore, step S20) includes:

[0034] The system monitors the tamping operation completion control signal in real time. When the signal is detected, it acquires the value of the electronic pendulum in real time. If the value of the electronic pendulum exceeds the fifth limit, it is determined that the operation level is out of limit, the ballast compaction of the track is insufficient, and there is potential superelevation. The system then outputs a vehicle travel restriction signal, prohibits vehicle movement, and issues an alarm signal.

[0035] This application also provides a specific technical implementation scheme for a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, it implements the tamping machine level monitoring and track lifting compensation method as described above.

[0036] By implementing the above-described technical solution of the tamping machine level monitoring and track lifting compensation method and the computer-readable storage medium provided in this application, the following beneficial effects are achieved:

[0037] (1) The tamping machine level monitoring and track lifting compensation method and computer-readable storage medium of this application utilize measurement data such as front, middle and rear electronic pendulums and work leveling sensors to automatically calculate the required track lifting compensation amount. According to the set control strategy, the track lifting amount can be automatically compensated during operation. At the same time, when it is determined that the level condition affects the safety of the vehicle, an alarm signal can be automatically issued and the vehicle movement can be restricted.

[0038] (2) The tamping machine level monitoring and track lifting compensation method and computer-readable storage medium of this application can automatically compensate for the track lifting amount during track lifting operation, which greatly reduces the workload of No. 1 operation position. After detecting abnormal track level, it immediately outputs a no-travel signal and reminds the driver to check and take further safety operation. By replacing manual monitoring with automatic monitoring, it effectively avoids the risks of untimely manual monitoring and data omission, and greatly enhances the safety of vehicle operation.

[0039] (3) The tamping machine level monitoring and track lifting compensation method and computer-readable storage medium of this application are based on the front, middle and rear electronic swing and leveling sensors of the existing electrical control system of the tamping machine. They can collect various data such as lateral level superelevation, longitudinal level superelevation, and triangular pits, and have alarm reminder and automatic parking control functions. At the same time, they participate in the control of the vehicle track lifting operation and can realize automatic compensation of track lifting amount. Under the premise of realizing the above functions, the modification of the original vehicle electrical system is convenient, successful and effective. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart of a specific embodiment of the tamping machine level monitoring and track lifting compensation method of this application;

[0042] Figure 2 This is a flowchart of the tamping machine level detection and alarm process in a specific embodiment of the tamping machine level monitoring and track lifting compensation method of this application;

[0043] Figure 3 This is a system structure block diagram of a specific embodiment of the tamping machine level monitoring and track lifting compensation device system on which the method of this application is based;

[0044] Figure 4 This is a control principle block diagram of a specific embodiment of the tamping machine level monitoring and track lifting compensation device on which the method of this application is based;

[0045] Figure 5 This is a functional block diagram of a specific embodiment of the tamping machine level monitoring and track lifting compensation device on which the method of this application is based;

[0046] Figure 6 This is a block diagram of the track lifting compensation control principle of a specific embodiment of the track lifting compensation device for the tamping machine on which the method of this application is based;

[0047] Figure 7 This is a schematic diagram of the structure of a specific embodiment of the tamping machine level monitoring and track lifting compensation method of this application applied to a tamping machine;

[0048] In the diagram: 1-Signal acquisition unit, 2-Data calculation and control unit, 3-Display and alarm unit, 4-Tamping machine electrical control system, 5-Leveling sensor, 6-Front electronic pendulum, 7-Middle electronic pendulum, 8-Rear electronic pendulum, 9-Measuring wheel, 10-Tamping machine level monitoring and track lifting compensation device, 11-Front driver's cab, 12-Rear driver's cab, 13-Detection trolley, 14-Tamping device, 15-Tamping head, 16-Rail, 17-Left track lifting device, 18-Left track lifting hydraulic valve, 19-First controller, 20-Third controller. Detailed Implementation

[0049] For the sake of clarity and reference, the technical terms, abbreviations, or acronyms used below will be recorded as follows:

[0050] AI module: Analog Input module, short for analog input module;

[0051] DI module: Short for Digital Input module;

[0052] DO module: Short for Digital Output module;

[0053] PID control: Proportion Integration Differentiation control.

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] As attached Figure 1 To be continued Figure 7 As shown, specific embodiments of the tamping machine level monitoring and track lifting compensation method and computer-readable storage medium of this application are given. The application will be further described below with reference to the accompanying drawings and specific embodiments.

[0056] The following describes in detail the technical solution of the tamping machine level monitoring and track lifting compensation method and computer-readable storage medium of the present invention, taking the DC-32 tamping machine as an example. Based on the existing electrical control system of the DC-32 tamping machine, and based on the analysis of the actual track level status and safety alarm control strategy during tamping machine operation, this application presents a technical solution for a track level monitoring alarm and automatic track lifting compensation device and system.

[0057] Example 1

[0058] This application utilizes measurement data from the front, middle, and rear electronic swing and leveling sensors of the tamping machine's electrical control system 4, and adds control and alarm protection devices to automatically calculate the required track lifting compensation. Based on the set control strategy, it automatically compensates for the track lifting amount during operation. Simultaneously, when it determines that the level condition affects vehicle safety, it automatically issues an alarm signal and restricts vehicle movement. Based on the current track level condition of the tamping machine's operating line, potential track conditions affecting operational safety mainly include front superelevation, rear superelevation, triangular pits, and potential superelevation caused by insufficient ballast compaction. For these conditions, specific embodiments of this application, based on the existing electrical control system of the tamping machine, formulate different monitoring and safety alarm judgment strategies.

[0059] As attached Figure 1 As shown, an embodiment of the tamping machine level monitoring and track lifting compensation method of this application specifically includes the following steps:

[0060] S10) Acquire signals from the front electronic pendulum 6, the middle electronic pendulum 7, the rear electronic pendulum 8, the left leveling sensor, the right leveling sensor, and the measuring wheel 9;

[0061] S20) Calculate and compare the acquired signals to determine whether the line level exceeds the limit value, and output a control signal to the tamping machine electrical control system 4 based on the calculation results;

[0062] S30) The control logic of the tamping machine's electrical control system 4 performs track-starting operations and prohibits movement after an alarm, and displays and issues alarm information based on the output control signal.

[0063] In step S10), the DI module acquires the measurement wheel pulses and switch button logic signals, and the AI ​​module acquires the signals from the front electronic pendulum 6, middle electronic pendulum 7, rear electronic pendulum 8, left leveling sensor, and right leveling sensor. In step S20), real-time calculations are performed based on the acquired signals, and the logic control signals and track-lifting compensation data of the tamping machine electrical control system 4 are output based on the calculation results.

[0064] The switch button logic signals further include a horizontal alarm function switch logic signal, an alarm manual reset button logic signal, and a manual / automatic track start compensation switch logic signal. Step S20) further includes:

[0065] When a horizontal alarm function switch logic signal is detected, an alarm and travel restriction control signal are output. If a horizontal over-limit alarm is triggered, the vehicle cannot move. After the hazard is eliminated, pressing the manual alarm reset button will restore vehicle operation and clear the alarm. When a manual / automatic track lifting compensation switch logic signal is detected, the track lifting amount will be automatically compensated during operation. If this logic signal is not detected, manual compensation mode will be maintained.

[0066] During the track-lifting operation, the left leveling sensor value (LLev) is acquired in real time. The left basic track-lifting amount, left settlement compensation amount, track-lifting reduction amount, automatic leveling correction compensation amount, and left superelevation correction value are used as the input for the left track-lifting amount (Z0_ZQIDAO) in PID control. The left leveling sensor value (LLev) serves as feedback for PID control, forming a closed loop for left track-lifting control. The PID control output signal is amplified and then controls the left track-lifting hydraulic valve to drive the left track-lifting device to perform the track-lifting action, completing the left track-lifting operation. Taking the DC-32 tamping machine as an example, the specific calculation process is shown in the following formula:

[0067] Left track lifting amount Z0_ZQIDAO = Left superelevation difference correction value + Leveling correction automatic compensation value + KL1 * Left basic track lifting amount - KL2 * Track lifting reduction amount + Left settlement compensation amount - Left leveling sensor value.

[0068] Wherein, KL1 is the given calculation ratio parameter for the left starting track, and KL2 is the ratio parameter for the reduction of the left starting track. The left superelevation correction value, the reduction of the starting track, and the left settlement compensation value are all given values.

[0069] During the track-lifting operation, the right leveling sensor value RLev is acquired in real time. The right basic track-lifting amount, right settlement compensation amount, track-lifting reduction amount, automatic leveling correction compensation amount, and right superelevation difference correction value are used as the input for the right track-lifting amount Z0_YQIDAO in PID control. The right leveling sensor value RLev serves as the feedback for PID control, forming a closed loop for right track-lifting control. The output signal of the PID control is amplified and then controls the right track-lifting hydraulic valve to drive the right track-lifting device to perform the track-lifting action, completing the right track-lifting operation. Taking the DC-32 tamping machine as an example, the specific calculation process is shown in the following formula:

[0070] Right track lifting amount Z0_YQIDAO = Right superelevation difference correction value + Leveling correction automatic compensation value + KR1 * Right basic track lifting amount - KR2 * Track lifting reduction amount + Right settlement compensation amount - Right leveling sensor value.

[0071] Wherein, KR1 is the given calculation ratio parameter for the right-starting track, and KR2 is the ratio parameter for the reduction of the right-starting track. The right superelevation correction value, the reduction of the starting track, and the right settlement compensation value are all given values.

[0072] Step S20) further includes:

[0073] The difference between the theoretical superelevation Supre at the front end and the value Mpen of the electronic pendulum is calculated, along with the left and right superelevation difference DIFF = left leveling sensor value LLev - right leveling sensor value RLev. The left and right superelevation difference DIFF is used as the setpoint for PID control, and the difference DIFF1 between the theoretical superelevation Supre at the front end and the value Mpen of the electronic pendulum is used as the feedback for PID control, forming a leveling correction control closed loop. The output value of the PID control is used as the automatic compensation value for leveling correction in the track lifting operation control. The specific calculation process is shown in the following formula:

[0074] Difference DIFF1 = Front-end theoretical ultra-high Supre-medium electronic pendulum value Mpen;

[0075] Left-right height difference DIFF = Left leveling sensor value LLev - Right leveling sensor value Rlev;

[0076] The automatic compensation value for leveling correction is Compens = Difference DIFF1 - Left and right height difference DIFF.

[0077] Taking the DC-32 tamping machine as an example, in step S20), when the left rail superelevation is selected, the left basic track lifting amount and the right basic track lifting amount are further calculated according to the following formulas:

[0078] Left basic starting distance = Manually given MAN_Q + Computer-given track geometry parameters (GAV) GAV_Q + Front electronic pendulum value Fpen + Theoretical superelevation of computer-given track geometry parameters (GAV) + Manual theoretical superelevation;

[0079] Right basic starting quantity = Manually given MAN_Q + Track geometry parameters (GAV) given by computer (GAV) GAV_Q.

[0080] When the right rail superelevation is selected, the basic left track lifting amount and the basic right track lifting amount are further calculated according to the following formulas:

[0081] Left basic starting quantity = Manually given MAN_Q + Track geometry parameters computer (GAV) given GAV_Q;

[0082] Right basic starting distance = Manually given MAN_Q + Computer-given track geometry parameters (GAV) GAV_Q + Forward electronic pendulum value Fpen + Computer-given track geometry parameters (GAV) theoretical superelevation + Manual theoretical superelevation.

[0083] Among them, the manually given MAN_Q, the computer-given track geometry parameter GAV_Q, the computer-generated theoretical superelevation of the track geometry parameter, and the manually given theoretical superelevation are all given values ​​of the tamping machine electrical control system 4.

[0084] When the horizontal distance of the track in front of the vehicle exceeds the limit, a vehicle forward movement restriction signal should be output, prohibiting movement and issuing an alarm signal. (See attached image) Figure 2 As shown, step S20) further includes:

[0085] The front electronic pendulum value Fpen is acquired in real time. When the current electronic pendulum value Fpen is greater than the first limit value LIMT1 (the limit value LIMT1 can be set), that is, when Fpen>LIMT1, it is determined that the front line level exceeds the limit, and a vehicle forward movement restriction signal is output to prohibit forward movement and issue an alarm signal.

[0086] When the horizontal distance of the vehicle's rear track exceeds the limit, a reverse movement restriction signal should be output to prohibit reverse movement and an alarm signal should be issued. (See attached image) Figure 2 As shown, step S20) further includes:

[0087] The rear electronic pendulum value Bpen is acquired in real time. When the rear electronic pendulum value Bpen is greater than the second limit value LIMT2 (the limit value LIMT2 can be set), that is, when Bpen>LIMT2, it is determined that the horizontal limit of the rear line is exceeded, and a vehicle reverse limit signal is output to prohibit reverse movement and issue an alarm signal.

[0088] When the longitudinal horizontal deviation is too large, unevenness or triangular pits will appear at the front and rear. In this case, a vehicle travel restriction signal should be output to prohibit movement and an alarm signal should be issued. (See attached image) Figure 2 As shown, step S20) further includes:

[0089] The orthogonal pulse signal output from measuring wheel 9 is converted into vehicle travel distance (DIST), and the values ​​of the left leveling sensor (LLev) and right leveling sensor (RLev) are simultaneously acquired. The vehicle travel distance (DIST) is acquired in real time, and the working base length value is read (this value can be set via the display alarm unit 3; for example, the DC-32 tamping machine can use the 11m distance between the center positions of the front and rear bogies as the working base length). The longitudinal horizontal superelevation status is determined by calculating and comparing the changes in the left and right superelevation differences of the vehicle track. Within a certain working base length, the maximum value (HDIFF_MAX) and minimum value (HDIFF_MIN) of the left and right superelevation differences (HDIFF) are calculated respectively. When the difference between the maximum value (HDIFF_MAX) and the minimum value (HDIFF_MIN) is greater than the third limit (LIMT3, which can be set), it is determined that the longitudinal horizontal deviation exceeds the limit, a vehicle travel restriction signal is output, travel is prohibited, and an alarm signal is issued. That is, calculate the left and right superelevation difference in real time: HDIFF = LLev - RLev. Calculate the maximum value HDIFF_MAX and minimum value HDIFF_MIN within the base length of one end. When HDIFF_MAX - HDIFF_MIN > LIMT3, it is judged that the longitudinal horizontal deviation exceeds the limit.

[0090] When the difference between the current and rear superelevation is too large, it indicates the presence of a triangular pit or lateral level abnormality. In this case, a vehicle travel restriction signal should be output to prohibit travel and an alarm signal should be issued. (See attached image) Figure 2 As shown, step S20) further includes:

[0091] The current electronic pendulum value Fpen and the subsequent electronic pendulum value Bpen are acquired in real time. When the difference between the current electronic pendulum value Fpen and the subsequent electronic pendulum value Bpen is greater than the fourth limit value LIMT4 (the limit value LIMT4 can be set), that is, when Fpen - Bpen >

[0092] When the LIMT4 timer is activated, it is determined that the front-to-rear height difference exceeds the limit, there is a triangular pit or lateral level abnormality, and a vehicle travel restriction signal is output to prohibit reverse travel and issue an alarm signal.

[0093] When the ballast compaction of a track is insufficient and there is a potential for superelevation, horizontal anomalies will occur after tamping. If horizontal limits are exceeded, a vehicle travel restriction signal should be issued, prohibiting movement and triggering an alarm. (See attached image) Figure 2 As shown, step S20) further includes:

[0094] The system monitors the tamping operation completion control signal Q0D in real time. When the tamping operation completion control signal Q0D is detected, the electronic pendulum value Mpen is acquired in real time. When the electronic pendulum value Mpen is determined to be greater than the fifth limit value LIMT5 (the limit value LIMT5 can be set), that is, when Mpen > LIMT5, it is determined that the operation level is out of limit, the ballast compaction of the track line is insufficient and there is potential superelevation, and a vehicle travel restriction signal is output to prohibit travel and issue an alarm signal.

[0095] The tamping machine level monitoring and track lifting compensation method described in Embodiment 1 of this application, based on the existing tamping machine electrical control system 4 hardware, can automatically compensate for track lifting work during leveling operations according to the above control strategy. Simultaneously, it can achieve timely monitoring and alarm protection in the event of various abnormal track levels. According to actual application needs, when an alarm occurs, the alarm state can be manually cleared and the running function restored. Furthermore, the alarm display unit 3 can display the values ​​of each sensor and the over-altitude value in real time, and can also set various thresholds or limits. The limits can be adjusted by the operator under different track conditions.

[0096] Example 2

[0097] An embodiment of the computer-readable storage medium of this application is provided, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the tamping machine level monitoring and track lifting compensation method as described in Embodiment 1.

[0098] Example 3

[0099] As attached Figure 3 As shown, an embodiment of the tamping machine level monitoring and track-lifting compensation device of this application, based on the method described in Embodiment 1, specifically includes: a signal acquisition unit 1, a data calculation and control unit 2, and a display and alarm unit 3. The signal acquisition unit 1 acquires values ​​from the front electronic pendulum 6, middle electronic pendulum 7, rear electronic pendulum 8, leveling sensor 5 (including left and right leveling sensors), and measuring wheel 9 of the tamping machine's electrical control system 4. The data calculation and control unit 2 calculates and compares the values ​​acquired by the signal acquisition unit 1 to determine whether the track level exceeds the limit value, and outputs a control signal to the tamping machine's electrical control system 4 based on the calculation result. The tamping machine's electrical control system 4 then executes the track-lifting operation and the alarm-triggered travel prohibition function (achieved by controlling the travel hydraulic valve). The display and alarm unit 3 displays and issues alarm information based on the control signal output by the data calculation and control unit 2.

[0100] The signal acquisition unit 1 further includes a DI module and an AI module. The DI module acquires the pulse signal of the measuring wheel and the logic signal of the switch button, while the AI ​​module acquires the values ​​of the front electronic pendulum 6, the middle electronic pendulum 7, the rear electronic pendulum 8, the left leveling sensor, and the right leveling sensor. The data calculation and control unit 2 performs real-time calculations based on the values ​​acquired by the signal acquisition unit 1, and outputs the logic control signals of the tamping machine's electrical control system and track-lifting compensation data based on the calculation results, as shown in the attached figure. Figure 4 and attached Figure 5 As shown. The display alarm unit 3 includes a data display module, an alarm indication module, and a parameter setting module. The data display module displays data in real time based on the data calculated and transmitted by the data control unit 2. The alarm indication module provides alarm prompts based on the data calculated and transmitted by the data control unit 2. The parameter setting module 3 sets parameters for the data calculation and alarm thresholds of the data calculation and control unit 2 via the communication port. The data calculation and control unit 2 can further employ a DO module or an embedded processing module with 24V digital output functionality.

[0101] The switch button logic signals further include a horizontal alarm function switch logic signal, an alarm manual reset button logic signal, and a manual / automatic lane start compensation switch logic signal. When the data calculation and control unit 2 detects the horizontal alarm function switch logic signal, it outputs an alarm and travel restriction control signal; otherwise, the horizontal alarm function is ineffective. When the data calculation and control unit 2 detects a horizontal over-limit alarm triggering the vehicle to stop, the vehicle cannot move. After eliminating the hazard, pressing the alarm manual reset button will restore vehicle movement and clear the alarm. When the data calculation and control unit 2 detects the manual / automatic lane start compensation switch logic signal, it automatically compensates for the lane start amount during operation; if this logic signal is not detected, it maintains the manual compensation mode.

[0102] As attached Figure 6 As shown, during the track-lifting operation, the signal acquisition unit 1 acquires and transmits the left leveling sensor values ​​to the data calculation and control unit 2 in real time. The data calculation and control unit 2 includes a first PID controller 19. The left basic track-lifting amount, left settlement compensation amount, track-lifting reduction amount, automatic compensation amount for leveling correction, and left superelevation correction value are given as the left track-lifting amount Z0_ZQIDAO of the first PID controller 19. The left leveling sensor value LLev is used as the feedback of the first PID controller 19, forming a left track-lifting control closed loop. Taking the DC-32 tamping machine as an example, its specific calculation process is shown in the following formula:

[0103] Left track lifting amount Z0_ZQIDAO = Left superelevation difference correction value + Leveling correction automatic compensation value + KL1 * Left basic track lifting amount - KL2 * Track lifting reduction amount + Left settlement compensation amount - Left leveling sensor value.

[0104] Wherein, KL1 is the given calculation ratio parameter for the left starting track, and KL2 is the ratio parameter for the reduction of the left starting track. The left superelevation correction value, the reduction of the starting track, and the left settlement compensation value are all given values.

[0105] The output signal of the first PID controller 19 is amplified and controls the left track hydraulic valve 18 to drive the left track device 17 to perform track lifting action, thus completing the left track lifting operation of the rail 16.

[0106] The structure of the right-starting track control is similar to that of the left-starting track control. Signal acquisition unit 1 acquires and transmits the right leveling sensor values ​​to the data calculation and control unit 2 in real time. The data calculation and control unit 2 includes a second PID controller. The right basic starting track quantity, right settlement compensation quantity, starting track reduction quantity, automatic leveling correction compensation quantity, and right superelevation difference correction value are used as the right starting track quantity Z0_YQIDAO given to the second PID controller. The right leveling sensor value RLev is used as feedback for the second PID controller, forming a closed loop for right-starting track control. Taking the DC-32 tamping machine as an example, the specific calculation process is shown in the following formula:

[0107] Right track lifting amount Z0_YQIDAO = Right superelevation difference correction value + Leveling correction automatic compensation value + KR1 * Right basic track lifting amount - KR2 * Track lifting reduction amount + Right settlement compensation amount - Right leveling sensor value.

[0108] Wherein, KR1 is the given calculation ratio parameter for the right-starting track, and KR2 is the ratio parameter for the reduction of the right-starting track. The right superelevation correction value, the reduction of the starting track, and the right settlement compensation value are all given values.

[0109] The output signal of the second PID controller is amplified and then controls the right track hydraulic valve to drive the right track lifting device to perform the track lifting action, thus completing the right track lifting operation of rail 16.

[0110] The data calculation and control unit 2 further includes a third PID controller 20. The left and right superelevation difference DIFF = left leveling sensor value LLEv - right leveling sensor value Rlev is used as the setpoint for the third PID controller 20, and the difference between the theoretical superelevation Supre and the electronic pendulum value Mpen is used as the feedback for the third PID controller 20, forming a leveling correction control closed loop. The output value of the third PID controller 20 serves as the automatic compensation value for leveling correction in the track lifting operation control, thereby replacing manual correction of the setpoint, reducing manual operation steps, and improving the accuracy of the compensation setpoint. The specific calculation process is shown in the following formula:

[0111] Difference DIFF1 = Front-end theoretical ultra-high Supre-medium electronic pendulum value Mpen;

[0112] Left-right height difference DIFF = Left leveling sensor value LLev - Right leveling sensor value Rlev;

[0113] The automatic compensation value for leveling correction is Compens = Difference DIFF1 - Left and right height difference DIFF.

[0114] Taking the DC-32 tamping machine as an example, when the left rail superelevation is selected, the data calculation and control unit 2 further calculates the left basic track lifting amount and the right basic track lifting amount according to the following formulas:

[0115] Left basic starting distance = Manually given MAN_Q + Computer-given track geometry parameters (GAV) GAV_Q + Front electronic pendulum value Fpen + Theoretical superelevation of computer-given track geometry parameters (GAV) + Manual theoretical superelevation;

[0116] Right basic starting quantity = Manually given MAN_Q + Track geometry parameters (GAV) given by computer (GAV) GAV_Q.

[0117] When right-side superelevation is selected, the data calculation and control unit further calculates the basic left track lifting amount and the basic right track lifting amount according to the following formulas:

[0118] Left basic starting quantity = Manually given MAN_Q + Track geometry parameters computer (GAV) given GAV_Q;

[0119] Right basic starting distance = Manually given MAN_Q + Computer-given track geometry parameters (GAV) GAV_Q + Forward electronic pendulum value Fpen + Computer-given track geometry parameters (GAV) theoretical superelevation + Manual theoretical superelevation.

[0120] Among them, the manually given MAN_Q, the computer-given track geometry parameter GAV_Q, the computer-generated theoretical superelevation of the track geometry parameter, and the manually given theoretical superelevation are all given values ​​of the tamping machine electrical control system 4.

[0121] Signal acquisition unit 1 acquires and transmits the current electronic pendulum value Fpen to data calculation and control unit 2 in real time. When the current electronic pendulum value Fpen is greater than the first limit value LIMT1, data calculation and control unit 2 determines that the front-end line is out of horizontal limit and outputs a vehicle forward movement restriction signal to prohibit forward movement and issue an alarm signal.

[0122] The signal acquisition unit 1 acquires and transmits the electronic pendulum value Bpen to the data calculation and control unit 2 in real time. When the electronic pendulum value Bpen is greater than the second limit value LIMT2, the data calculation and control unit 2 determines that the horizontal limit of the rear line is exceeded, outputs a vehicle reversing restriction signal, prohibits reversing and issues an alarm signal.

[0123] When the longitudinal horizontal deviation is too large, unevenness or triangular pits will appear at the front and rear. At this time, a vehicle travel restriction signal will be output to prohibit travel and issue an alarm signal. The mileage signal (DIST) of measuring wheel 9, the left leveling sensor value LLev, and the right leveling sensor value RLev are collected in real time. The measuring wheel 9 outputs a quadrature pulse signal. Depending on the sensor type, the left and right leveling sensors output analog voltage signals (analog leveling sensors) or digital communication signals (network leveling sensors). The signal acquisition unit 1 converts the quadrature pulse signal output by measuring wheel 9 into vehicle mileage DIST, and simultaneously acquires the left leveling sensor value LLev and the right leveling sensor value RLev. The data calculation and control unit 2 acquires the vehicle mileage DIST, and determines the longitudinal horizontal superelevation status by calculating and comparing the changes in the left and right superelevation difference HDIFF of the vehicle track. Within a certain working base length, the maximum value HDIFF_MAX and the minimum value HDIFF_MIN of the left and right superelevation difference HDIFF are calculated respectively. When the difference between the maximum value HDIFF_MAX and the minimum value HDIFF_MIN is greater than the third limit value LIMT3 (the limit value LIMT3 can be set), the data calculation and control unit 2 determines that the longitudinal horizontal deviation exceeds the limit, outputs a vehicle travel restriction signal, prohibits travel, and issues an alarm signal.

[0124] When the difference between the current and rear superelevation is too large, it indicates the presence of a triangular pit or lateral level abnormality. At this time, a vehicle travel restriction signal is output, prohibiting travel and issuing an alarm signal. The signal acquisition unit 1 acquires and transmits the front electronic pendulum value Fpen and the rear electronic pendulum value Bpen to the data calculation and control unit 2 in real time. When the difference between the current electronic pendulum value Fpen and the rear electronic pendulum value Bpen is greater than the fourth limit value LIMT4, the data calculation and control unit 2 determines that the front and rear superelevation difference exceeds the limit, indicating the presence of a triangular pit or lateral level abnormality, and outputs a vehicle travel restriction signal, prohibiting reverse travel and issuing an alarm signal.

[0125] During the operation, the tamping operation completion control signal Q0D is monitored in real time. When the tamping operation completion control signal Q0D is detected, the signal acquisition unit 1 acquires and transmits the electronic pendulum value Mpen to the data calculation and control unit 2 in real time. When the electronic pendulum value Mpen is greater than the fifth limit value LIMT5, the data calculation and control unit 2 determines that the operation level is out of limit, the ballast compaction of the track line is insufficient and there is potential superelevation, and outputs a vehicle travel restriction signal, prohibiting travel and issuing an alarm signal.

[0126] The tamping machine level monitoring and track-lifting compensation device 10 described in Example 3 is based on the tamping machine's electrical control system 4 and front, middle, and rear electronic swing and leveling sensors. It calculates and outputs the automatic compensation amount for track-lifting operations based on collected data, replacing the original method of manually adjusting potentiometers for compensation. This significantly improves compensation accuracy and reduces the workload of the operator at position 1. Simultaneously, by combining the actual track conditions and introducing a track level judgment mechanism, the data calculation and control unit 2 immediately outputs a prohibition signal upon detecting an abnormal track level, reminding the driver to check and take further safety precautions. Example 3 of this application replaces manual monitoring with technical means, effectively avoiding the risks of untimely manual monitoring and data omissions, and enhancing vehicle operation safety.

[0127] Example 4

[0128] As attached Figure 7 As shown, an embodiment of the tamping machine level monitoring and track-lifting compensation system based on the method described in Embodiment 1 specifically includes: the tamping machine level monitoring and track-lifting compensation device 10 and the tamping machine electrical control system 4 as described in Embodiment 3. The tamping machine electrical control system 4 includes a left leveling sensor, a right leveling sensor, a front electronic pendulum 6, a middle electronic pendulum 7, a rear electronic pendulum 8, a measuring wheel 9, and a track-lifting hydraulic valve 18, all connected to the tamping machine level monitoring and track-lifting compensation device 10. Taking a DC-32 type tamping machine as an example, the specific installation positions of the various level detection sensors and electronic pendulums in the tamping machine electrical control system 4 are shown in the attached diagram. Figure 5 As shown in the diagram, L indicates the vehicle's operating direction. The tamping machine has a front driver's cab 11 and a rear driver's cab 12 at the front and rear, respectively. A detection trolley 13 and a tamping device 14 are located in the middle of the tamping machine. A central electronic pendulum 7 is mounted on the detection trolley 13, and a tamping head 15 is mounted on the tamping device 14. A front electronic pendulum 6 and a measuring wheel 9 are located at the front of the tamping machine, and a rear electronic pendulum 8 is located at the rear. Leveling sensors 5 (including a left leveling sensor and a right leveling sensor) are located in the middle of the tamping machine.

[0129] In the description of this application, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it may be directly or indirectly set on another element; when an element is referred to as being "connected to" another element, it may be directly or indirectly connected to another element.

[0130] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0131] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0132] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this application can produce, should still fall within the scope of the technical content disclosed in this application.

[0133] By implementing the tamping machine level monitoring and track lifting compensation method and computer-readable storage medium described in the specific embodiments of this application, the following technical effects can be achieved:

[0134] (1) The tamping machine level monitoring and track lifting compensation method and computer-readable storage medium described in the specific embodiments of this application can automatically calculate the required track lifting compensation amount by using measurement data such as front, middle and rear electronic pendulums and work leveling sensors. According to the set control strategy, the track lifting amount can be automatically compensated during operation. At the same time, when it is determined that the level condition affects the safety of the vehicle, an alarm signal can be automatically issued and the vehicle movement can be restricted.

[0135] (2) The tamping machine level monitoring and track lifting compensation method and computer-readable storage medium described in the specific embodiments of this application can automatically compensate for the track lifting amount during track lifting operations, greatly reducing the workload of the No. 1 work position. After detecting an abnormal track level, it immediately outputs a prohibition signal and reminds the driver to check and take further safety operations. By replacing manual monitoring with automatic monitoring, it effectively avoids the risks of untimely manual monitoring and data omissions, and greatly enhances the safety of vehicle operation.

[0136] (3) The tamping machine level monitoring and track lifting compensation method and computer-readable storage medium described in the specific embodiments of this application are based on the front, middle and rear electronic swing and leveling sensors of the existing electrical control system of the tamping machine. They can collect various data such as lateral level superelevation, longitudinal level superelevation, and triangular pits, and have alarm reminder and automatic parking control functions. At the same time, they participate in the control of the vehicle track lifting operation and can realize automatic compensation of track lifting amount. Under the premise of realizing the above functions, the transformation of the original vehicle electrical system is convenient, successful and effective.

[0137] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0138] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Although this application has been disclosed above with reference to preferred embodiments, it is not intended to limit this application. Any person skilled in the art can make many possible variations and modifications to the technical solutions of this application using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the spirit and technical essence of this application. Therefore, any simple modifications, equivalent substitutions, equivalent changes, and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solutions of this application shall still fall within the protection scope of the technical solutions of this application.

Claims

1. A method for monitoring the level of a tamping machine and compensating for track lifting, characterized in that, Includes the following steps: S10) Acquire signals from the front electronic pendulum, middle electronic pendulum, rear electronic pendulum, left leveling sensor, right leveling sensor and measuring wheel; S20) Calculate and compare the acquired signals to determine whether the line level exceeds the limit value, and output control signals to the electrical control system of the tamping machine based on the calculation results; S30) The tamping machine's electrical control system control logic executes the track-starting operation and the prohibition of movement after an alarm, and displays and issues alarm information according to the output control signal; During track lifting operations, the values ​​from the left leveling sensor are acquired in real time. The left basic track lifting amount, left settlement compensation amount, track lifting reduction amount, automatic leveling correction compensation amount, and left superelevation difference correction value are used as the input for PID control, and the values ​​from the left leveling sensor are used as the feedback for PID control, forming a closed loop for left track lifting control. The output signal of PID control is amplified and then controls the left track lifting hydraulic valve to drive the left track lifting device to perform the track lifting action, completing the left track lifting operation. Similarly, the values ​​from the right leveling sensor are acquired in real time. The right basic track lifting amount, right settlement compensation amount, track lifting reduction amount, automatic leveling correction compensation amount, and right superelevation difference correction value are acquired as the input for PID control, and the values ​​from the right leveling sensor are used as the feedback for PID control, forming a closed loop for right track lifting control. The output signal of PID control is amplified and then controls the right track lifting hydraulic valve to drive the right track lifting device to perform the track lifting action, completing the right track lifting operation. Step S20) further includes: Calculate the difference between the theoretical superelevation at the front end and the value of the electronic pendulum at the middle end, and the difference between the left and right superelevation = the value of the left leveling sensor - the value of the right leveling sensor. Use the difference between the left and right superelevation as the input for PID control, and use the difference between the theoretical superelevation at the front end and the value of the electronic pendulum at the middle end as the feedback for PID control to form a leveling correction control closed loop. The output value of PID control is used as the automatic compensation value for leveling correction to participate in the track lifting operation control. In step S20), when the left rail superelevation is selected, the basic left track lifting amount and the basic right track lifting amount are calculated according to the following formulas: Left basic starting distance = manual setting + computer setting of track geometry parameters + front electronic pendulum value + computer theoretical superelevation of track geometry parameters + manual theoretical superelevation; Right basic track starting quantity = manually given + track geometry parameters given by computer; When the right rail superelevation is selected, the basic left track lifting amount and the basic right track lifting amount are calculated according to the following formulas: Left basic starting distance = manually given + computer-given track geometry parameters; The basic starting distance on the right is calculated as follows: (1) Manually given value + (2) Computer-given track geometry parameters + (3) Pre-electronic pendulum value + (4) Theoretical superelevation of track geometry parameters + (5) Manually given theoretical superelevation.

2. The method for monitoring the level of the tamping machine and compensating for track lifting according to claim 1, characterized in that: In step S10), the DI module collects the measurement wheel pulse and switch button logic signal, and the AI ​​module collects the signals of the front electronic pendulum, middle electronic pendulum, rear electronic pendulum, left leveling sensor and right leveling sensor; in step S20), real-time calculation is performed based on the acquired signals, and the logic control signal of the tamping machine electrical control system and track lifting compensation data are output based on the calculation results.

3. The method for monitoring the level of the tamping machine and compensating for track lifting according to claim 2, characterized in that, The switch button logic signals include a horizontal alarm function switch logic signal, an alarm manual reset button logic signal, and a manual lane start compensation / automatic lane start compensation switching switch logic signal; step S20) further includes: When the horizontal alarm function switch logic signal is detected, an alarm and travel restriction control signal are output; when the horizontal over-limit alarm is detected and the vehicle cannot travel, after the hazard is eliminated, the vehicle can resume travel and the alarm will be cleared by pressing the manual alarm reset button; when the manual track lifting compensation / automatic track lifting compensation switch logic signal is detected, the track lifting amount will be automatically compensated during operation; if the logic signal is not detected, the manual compensation mode will be maintained.

4. The method for monitoring the level of a tamping machine and compensating for track lifting according to claim 1, 2 or 3, characterized in that, Step S20) further includes: The system acquires the value of the front electronic pendulum in real time. When the current value of the electronic pendulum is greater than the first limit value, it is determined that the front line level is out of limit, and a vehicle forward movement restriction signal is output to prohibit forward movement and issue an alarm signal.

5. The method for monitoring the level of the tamping machine and compensating for track lifting according to claim 4, characterized in that, Step S20) further includes: The rear electronic pendulum value is acquired in real time. When the rear electronic pendulum value is greater than the second limit value, it is determined that the horizontal limit of the back-end line is exceeded, and a vehicle reverse restriction signal is output to prohibit reverse movement and issue an alarm signal.

6. The method for monitoring the level of a tamping machine and compensating for track lifting according to claim 1, 2, 3 or 5, characterized in that, Step S20) further includes: The orthogonal pulse signal output by the measuring wheel is converted into vehicle travel distance, and the values ​​of the left and right leveling sensors are collected simultaneously. The longitudinal horizontal superelevation status is determined by calculating and comparing the change in the superelevation difference between the left and right sides of the vehicle track. The maximum and minimum values ​​of the superelevation difference between the left and right sides are calculated within a certain working length. When the difference between the maximum and minimum values ​​is greater than the third limit value, it is determined that the longitudinal horizontal deviation exceeds the limit, and a vehicle travel restriction signal is output, prohibiting travel and issuing an alarm signal.

7. The method for monitoring the level of the tamping machine and compensating for track lifting according to claim 6, characterized in that, Step S20) further includes: The system acquires the values ​​of the front and rear electronic pendulums in real time. When the difference between the current electronic pendulum value and the rear electronic pendulum value is greater than the fourth limit value, it is judged that the front and rear height difference exceeds the limit, there is a triangular pit or lateral level abnormality, and a vehicle travel restriction signal is output to prohibit reverse travel and issue an alarm signal.

8. The method for monitoring the level of a tamping machine and compensating for track lifting according to claim 1, 2, 3, 5 or 7, characterized in that, Step S20) further includes: The system monitors the tamping operation completion control signal in real time. When the tamping operation completion control signal is detected, the value of the electronic pendulum is acquired in real time. When the value of the electronic pendulum is determined to be greater than the fifth limit value, it is determined that the operation level is out of limit, the ballast compaction of the track line is insufficient and there is potential superelevation. The system then outputs a vehicle travel restriction signal, prohibits travel, and issues an alarm signal.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium contains a computer program, which, when executed by a processor, implements the tamping machine level monitoring and track lifting compensation method as described in any one of claims 1 to 8.

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