A small intelligent track-laying machine based on rigid hoisting and a track-laying method

Abstract

This invention provides a small intelligent rail laying machine and method based on rigid hoisting. The rail laying machine includes a ceiling structure, hydraulic support legs, rail panel lifting devices, hydraulic braces, and steering wheels. The machine achieves intelligent control of span variation and rail panel laying through data transmission between a control center and various sensors. The machine autonomously completes span variation through wheel steering and the extension and retraction of the hydraulic braces, enabling free switching between curved and planar movement without the need for a separate span variation structure. The rail panel lifting devices include hydraulic rods fixed to the ceiling structure. A hook is located below the lifting beam connected to the hydraulic rods. The hook moves laterally within a sliding rail groove to fix or release the rail panel. The hydraulic rods, in conjunction with the extension and retraction of the hydraulic support legs, autonomously complete the hoisting operation, achieving fully intelligent control, which is convenient, fast, and saves labor and time costs. This invention is small in size, not limited by space, uses oblique support legs for reasonable force distribution, has a low overall center of gravity, and offers good safety and stability.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, and in particular relates to a small intelligent track laying machine and track laying method based on rigid hoisting. Background Technology

[0002] Traditional track-laying methods require the pre-installation of rails and running rails, which not only wastes construction time and costs but also damages the tunnel segment structure. In recent years, tire-mounted track-laying machines have been put into production, saving manpower and improving construction efficiency to some extent. However, current tire-mounted track-laying machines still require manual operation and assistance during construction, wasting manpower and posing safety hazards. Moreover, these machines are generally too large, making them unsuitable for track-laying work in areas such as station platforms and air-raid shelters due to space constraints. Furthermore, the machines' outriggers are upright but the tires are tilted, resulting in an unreasonable stress structure and excessively high suspension ropes, which can easily lead to overturning and track panel detachment. Existing technology (CN15583585A) discloses a novel trackless multi-functional track-laying equipment. This track-laying machine is comprehensive in function and highly intelligent; however, it still requires one operator to run the entire process, and multiple workers are needed to assist in installing the track panels, failing to completely free up labor and not effectively addressing the safety hazards during construction. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a small intelligent track laying machine and track laying method based on rigid hoisting, which solves the problems of high manpower consumption and safety hazards in the operation of traditional track laying equipment.

[0004] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0005] A small intelligent track laying machine based on rigid hoisting includes a ceiling structure, hydraulic support legs, track panel hangers, hydraulic braces, and steering wheels. A first tilt sensor for monitoring the levelness of the ceiling structure is installed below the ceiling structure, and hydraulic support legs are hinged at all four corners. A second tilt sensor for monitoring the angle between the hydraulic column and the vertical direction is installed on each hydraulic support leg. Steering wheels are installed at the bottom of each hydraulic support leg, and hydraulic braces are installed between the sides of the hydraulic support legs and the lower surface of the ceiling structure.

[0006] A rail row spreader is installed at the center position of the lower surface of the ceiling structure. The rail row spreader comprises two hydraulic rods with one end welded and fixed to the ceiling structure, and the other ends of the hydraulic rods are both connected to a spreader crossbeam. A slide rail groove is provided below the spreader crossbeam, an L-shaped hook is slidably installed in the slide rail groove, and a first visual sensor is provided at the middle position below the spreader crossbeam for positioning the lifting point; the hydraulic rods, the hooks, the hydraulic inclined braces and the steering wheels are all intelligently controlled by a control center, and the first visual sensor, the first inclination angle sensor and the second inclination angle sensor are all in signal connection with the control center.

[0007] Further, the ceiling structure is generally in a "日" shape, which is formed by welding a first cross bar, a second cross bar, a third cross bar, a first vertical bar and a second vertical bar, and first rotating shafts are respectively provided at four corners of the ceiling structure.

[0008] Further, the hydraulic support leg comprises a hydraulic column, the top end of the hydraulic column is assembled and connected with the first rotating shaft through an assembly groove, and the bottom of the hydraulic column is assembled and connected with the steering wheel through a second rotating shaft.

[0009] Further, a second inclined brace fixing point is provided on the upper side of the hydraulic column, two first hydraulic inclined brace fixing points are respectively provided below the first cross bar and the third cross bar of the ceiling structure, and two ends of the hydraulic inclined brace are respectively hinged and installed between the first hydraulic inclined brace fixing point and the second inclined brace fixing point.

[0010] A track laying method using the above small tire-type intelligent track laying machine based on rigid hoisting comprises the following processes:

[0011] S1, assembling a rail row at a track laying base;

[0012] S2, hoisting the rail row onto a rail transport vehicle by a gantry crane;

[0013] S3, transporting the rail row to a construction site by the rail transport vehicle;

[0014] S4, two track laying machines complete the span-changing operation, adjust the hydraulic support legs to an extended state, adjust the hydraulic rods of the rail row spreader to a shortened state, and adjust the hooks to an inwardly closed state; arrange a second visual sensor above the end of the laid steel rail, make the center point of the image captured by the second visual sensor face the middle position of the end face of the rail row to be laid, then use the second visual sensor to capture video images of the rail row to be laid from a front view perspective and transmit the images to the control center;

[0015] S5. After the control center controls the two track-laying machines to move towards the rail transport vehicle after the span change is completed, when the first vision sensor under the track panel sling identifies the position of the track panel to be laid, it transmits a signal to the control center. The control center records the displacement based on the moving speed and time of the track-laying machines, and controls the two track-laying machines to stop at the corresponding displacement length positions, initially positioning them at the two trisection points of the track panel. After calibrating the camera of the first vision sensor, the control center obtains the intrinsic and extrinsic parameter matrices, maps the current frame image of the track panel to the world coordinate system, and obtains the coordinates of the four corners of the rectangle formed by the sleeper and rail as (x1, y1), (x2, y2), (x3, y3), (x4, y4), and:

[0016]

[0017] In the formula, (x a y a The coordinates of the midpoint between the rail section and the gap between the rails in the current frame image are compared with the coordinates of the center point (x0, y0) of the first visual sensor. The position is adjusted by controlling the movement of the track-laying machine. a y a ), until x a =x0, y a =y0, at this time the hook is located in the middle of the gap between the sleeper and the rail of the track panel;

[0018] S6. The control center controls the hydraulic rods of the two track laying machines to extend synchronously to the set lifting length, ensuring that the upper height of the hook is lower than the lower height of the rail panel on the track transport vehicle at this time.

[0019] S7. The control center controls the hooks of the two track laying machines to expand outward synchronously to the set width, ensuring that the vertical section of the hook is close to the inside of the rail panel on the track transport vehicle.

[0020] S8. The control center controls the hydraulic rods on the two track laying machines to slowly shorten their extension length, so that the hook slowly lifts the track panel on the track transport vehicle to a suspended state.

[0021] S9. Two track laying machines, each carrying a track panel, move synchronously toward the section where track needs to be laid. When the hook of the first track laying machine passes the second vision sensor of the already laid track panel, it transmits a signal to the control center. The control center then begins to record the displacement based on the speed and time of the track laying machines. The two track laying machines stop after moving synchronously for a certain distance, reaching the track panel laying position.

[0022] S10. The control center controls the hydraulic support legs of the two track laying machines to shorten synchronously to the shortest distance, and the hydraulic rods begin to slowly extend, stopping after extending to the set length.

[0023] S11. After calibrating the camera using the second vision sensor, the control center obtains the intrinsic and extrinsic parameter matrices. It then maps the current frame image of the track panel to be laid onto the world coordinate system, obtaining the coordinates of the midpoint of the upper end face of the rail (y1, z1) and the coordinates of the two endpoints of the lower end face (y2, z2) and (y3, z3). Based on these three coordinates and the coordinates of the already laid rail end face (y1, z2, z3), the control center... i_o , z i_o Based on the positional relationship, the control center issues commands to control the track-laying machine to perform fine-tuning operations;

[0024] S12. After fine-tuning, the control center controls the hook to close inward to its minimum, and then the hydraulic rods gradually shorten until the lower end of the hook is higher than the height of the laid rail. Then the rail laying machine moves out of the construction area and moves and installs the second vision sensor above the end of the new section of laid rail.

[0025] S13: Repeat S5 to S12 to lay the next section of track until all the track sections are laid.

[0026] Furthermore, in S4, the track-laying machine's span variation process is as follows:

[0027] The initial state of the hydraulic support legs of the track-laying machine is vertical. When the track-laying machine changes span, firstly, based on the control of the control center, the steering wheels of the two hydraulic support legs on one side are turned towards the tunnel wall. Subsequently, the control center controls the extension of the hydraulic diagonal brace on one side, which unfolds the hydraulic support leg on that side, allowing the steering wheels to climb onto the tunnel wall. During this process, the control center receives in real time the angle θ1 between the hydraulic column and the vertical direction collected by the second tilt sensor on the hydraulic column, and θ1 and the extension amount ΔL of the hydraulic diagonal brace. x The relationship between them is: L a L represents the horizontal distance from the upper end of the hydraulic brace to the corner of its adjacent ceiling structure. b This indicates the vertical distance between the lower end of the hydraulic brace and the top of the hydraulic column;

[0028] While the hydraulic support legs are unfolding, the control center also receives real-time data from the first tilt sensor below the second crossbar, showing the angle between the ceiling structure and the horizontal direction. When the first tilt sensor records a positive angle between the ceiling structure and the horizontal direction, the hydraulic support legs are shortened; otherwise, they are extended to ensure the ceiling structure is level. When the hydraulic support legs are unfolded to the set angle, the steering wheels stop rolling and turn back to the driving direction, and the hydraulic bracing is fixed. Then, the other hydraulic support leg is unfolded to the same angle in the same way, completing the track-laying machine's span adjustment operation.

[0029] Furthermore, in S11, during the fine-tuning operation, the control center also provides real-time collision warnings to the track-laying machine: The distance between the rail end face and the second visual sensor in the current frame image is set to d, and the three coordinates of the next frame image are (y1′, z1′), (y2′, z2′), and (y3′, z3′), respectively. The distance between the rail end face and the second visual sensor in the next frame image is set to d′. The contact time t between the rail end face to be laid and the rail end face of the already laid sleeper is calculated. L , Δt is the time interval between the current frame and the next frame;

[0030] Then, the coordinates (y) of the end face of the rail to be laid are calculated using the following formula when the end face of the rail to be laid comes into contact with the end face of the rail already laid. i_a , z i_a ):

[0031]

[0032] By comparing (y) i_a , z i_a ) and (y i_o , z i_o The system determines whether the laying is normal based on the positional relationship of the tiles. If the laying is abnormal, a warning is issued, the laying work is temporarily stopped, and the laying can continue after the recalculation is correct. Otherwise, the administrator is notified to come to the site to check the problem.

[0033] The present invention has the following beneficial effects:

[0034] The track-laying machine designed in this invention is relatively small in size, making it suitable for track laying operations in confined spaces such as station platforms and air-raid shelter doors. Furthermore, the invention employs diagonal support legs, resulting in a rational overall stress structure, a low center of gravity, and guaranteed safety and stability, making it safer and more reliable to use. Under the comprehensive control of the control center, the track-laying machine can autonomously complete span-changing movements through wheel steering and the extension and retraction of hydraulic diagonal braces, eliminating the need for an additional span-changing structure. This allows for free switching between curved and planar movement. Moreover, the entire track-laying process is intelligently controlled, requiring no manual operation, making it convenient, fast, and saving labor and time costs. Attached Figure Description

[0035] Figure 1 This is a schematic diagram illustrating the use of the small intelligent track-laying machine based on rigid hoisting described in this invention;

[0036] Figure 2 This is a schematic diagram of the structure of the small intelligent track laying machine based on rigid hoisting described in this invention;

[0037] Figure 3 This is a schematic diagram of the ceiling structure described in this invention;

[0038] Figure 4 is a schematic structural view of the hydraulic support leg according to the present invention;

[0039] Figure 5 is a schematic structural view of the track panel spreader according to the present invention;

[0040] Figure 6 is a schematic structural view of the hydraulic diagonal brace according to the present invention;

[0041] Figure 7 is a schematic diagram of an image captured by a first visual sensor and positioning coordinate points;

[0042] Figure 8 is a schematic diagram of an image captured by a second visual sensor and positioning coordinate points.

[0043] In the figure: 1-ceiling structure; 11-first cross bar; 12-second cross bar; 13-third cross bar; 14-first vertical bar; 15-second vertical bar; 16-first hydraulic diagonal brace fixing point; 2-hydraulic support leg; 21-hydraulic column; 22-second diagonal brace fixing point; 23-assembly groove; 24-second rotating shaft; 3-track panel spreader; 31-hydraulic rod member; 32-spreader cross beam; 33-hook; 34-slide rail groove; 4-hydraulic diagonal brace; 41-hydraulic diagonal rod; 42-first hydraulic diagonal brace fixing point; 43-second diagonal brace fixing point; 5-steering wheel; DETAILED DESCRIPTION

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0045] As shown in Figure 1 , 2 , the small intelligent track laying machine based on rigid hoisting according to the present invention comprises a ceiling structure 1, a hydraulic support leg 2, a track panel spreader 3, a hydraulic diagonal brace 4 and a steering wheel 5.

[0046] As shown in Figure 2 , 3 , the ceiling structure 1 is generally in a "Japanese" shape, and is formed by welding a first cross bar 11, a second cross bar 12, a third cross bar 13, a first vertical bar 14 and a second vertical bar 15; a power supply system 18 and a first inclination sensor are arranged below the second cross bar 12, which are respectively used for providing power guarantee for various actions of the track laying machine and monitoring the levelness of the ceiling structure 1; the left and right sides below the first cross bar 11 and the third cross bar 13 are respectively spaced L a from the end point, a first hydraulic diagonal brace fixing point 16 is provided, which is used for fixing the hydraulic diagonal brace 4; first rotating shafts 17 are arranged at four corners of the ceiling structure 1, which are used for subsequent connection with the hydraulic support legs 2 and assisting in realizing the span changing operation of the track laying machine. L a represents distance.

[0047] As Figure 2 , 4 As shown, the hydraulic support leg 2 includes a hydraulic column 21, a second diagonal brace fixing point 22, an assembly groove 23, and a second rotating shaft 24. The top of the hydraulic support leg 2 (i.e., the top of the hydraulic column 21) is assembled and connected to the first rotating shaft 17 of the ceiling structure 1 through the assembly groove 23. The bottom of the hydraulic column 21 is assembled and connected to the steering wheel 5 through the second rotating shaft 24. The second diagonal brace fixing point 22 is located on one side of the upper part of the hydraulic support leg 2 (i.e., the upper part of the hydraulic column 21), and the second diagonal brace fixing point 22 is located at a distance L from the top of the hydraulic column 21. b At this location, a hydraulic diagonal brace 4 is fixed. A second tilt sensor is installed on each of the left and right hydraulic columns 21 to monitor the angle between the hydraulic column 21 and the vertical direction. b Indicates distance.

[0048] like Figure 2 , 5 As shown, the track panel lifting device 3 includes a hydraulic rod 31, a lifting beam 32, a hook 33, and a slide rail groove 34. One end of the hydraulic rod 31 is welded and fixed below the second horizontal bar 12 of the ceiling structure 1. The extension and retraction of the hydraulic rod 31 can control the up and down movement of the track panel lifting device 3. The other extension and retraction end of the hydraulic rod 33 is connected to the lifting beam 32. Two slide rail grooves 34 are opened below the lifting beam 32. The hook 33 is installed in the slide rail groove 34. The hook 33 can be controlled by the signal from the control center to move laterally within the slide rail groove 34. A first vision sensor is set at the middle position below the lifting beam 32 to locate the lifting point position. The center point of the image of the first vision sensor is directly above the middle position of the track panel to be laid. Then, the first vision sensor is used to take a video image of the track panel to be laid from a top-down perspective and transmit it to the control center for subsequent analysis and processing.

[0049] like Figure 2 , 6 As shown, the hydraulic diagonal brace 4 includes a hydraulic diagonal rod 41, a first hydraulic diagonal brace fixing point 42, and a second diagonal brace fixing point 43. The two ends of the hydraulic diagonal rod 41 are fixed to the ceiling structure 1 and the hydraulic support leg 2, respectively, and are used to adjust the angle of the hydraulic support leg 2 and improve the stability of the track laying machine. The steering wheel 5 is connected via a second rotating shaft 24 below the hydraulic support leg 2, enabling omnidirectional rotation.

[0050] The track-laying method using the aforementioned small intelligent track-laying machine based on rigid hoisting includes the following steps:

[0051] S1. Assemble the track panels: Assemble the track panels at the track-laying base;

[0052] S2. Lifting and transporting rail panels: The rail panels are lifted onto the rail transport vehicle using a gantry crane;

[0053] S3. Transporting track panels: Transporting track panels to the construction site using a track transport vehicle;

[0054] S4. Work preparation: The two track laying machines complete the span change action and adjust the hydraulic support leg 2 to be in the extended state, the hydraulic rod 31 of the track panel lifting device 3 to be in the shortened state, and the hook 33 to be in the inward closing state. A second vision sensor is set above the end of the laid rail and ensures that the center point of the second vision sensor camera image is in the middle position of the end face of the track panel to be laid. Then, the second vision sensor is used to take a video image of the track panel to be laid from a frontal view and transmit it to the control center.

[0055] The principle of the track-laying machine's span change is as follows: The initial state of the hydraulic support leg 2 is vertical. When the track-laying machine changes span, firstly, based on the control center, the steering wheels 5 of the two hydraulic support legs 2 on one side are turned towards the tunnel wall. Subsequently, the control center controls the extension of the hydraulic diagonal brace 4 on one side. The hydraulic support leg 2 on that side is unfolded by the hydraulic diagonal brace 4, causing the steering wheel 5 to slowly roll up the tunnel wall. Simultaneously, the control center receives data from the second tilt sensor on the hydraulic column 21 in real time. Based on the tilt angle, the extension amount of the hydraulic diagonal brace 4 is determined. When the second tilt sensor records an angle θ1 with the vertical direction, the hydraulic diagonal brace 4 synchronously extends by a length ΔL. x , While the hydraulic support leg 2 extends, the control center also receives real-time data from the first tilt sensor below the second crossbar 12, recording the angle between the ceiling structure 1 and the horizontal direction. Based on this data, the control center adjusts the extension or retraction of the hydraulic support leg 2 to maintain the horizontal position of the ceiling structure 1. Specifically, when the first tilt sensor records a positive angle between the ceiling structure 1 and the horizontal direction, the hydraulic support leg 2 is shortened; conversely, it is extended to ensure the ceiling structure 1 remains horizontal. When the hydraulic support leg 2 extends to the set angle, the steering wheel 5 stops rolling and turns back to the travel direction, and the hydraulic brace 4 is fixed, ensuring the stability of the hydraulic support leg 2 and the horizontal position of the ceiling structure 1. Then, the other hydraulic support leg 2 is extended to the same angle using the same method, thus completing the track-laying machine's span change operation. After the span change, the track-laying machine can travel smoothly on the curved track, facilitating subsequent track-laying operations.

[0056] S5. Lifting Point Positioning: After the span change is completed, the two track-laying machines move towards the track-carrying vehicle. When the first visual sensor under the track panel lifting device 3 on the track-laying machine identifies the position of the track panel to be laid, it transmits a signal to the control center. The control center begins to record the displacement based on the moving speed and time of the track-laying machines, and controls the two track-laying machines to stop at positions with displacement lengths of 8.33m and 16.66m respectively, initially positioning them at the two trisection points of the track panel; (Refer to...) Figure 7After calibrating the camera using the first visual sensor, the control center obtains the intrinsic and extrinsic parameter matrices, maps the current frame image of the track panel to the world coordinate system, and obtains the coordinates of the four corners of the rectangle formed by the sleepers and rails as (x1, y1), (x2, y2), (x3, y3), and (x4, y4), respectively.

[0057]

[0058] In the formula, (x a y a The coordinates of the midpoint between the rail section and the gap between the rails in the current frame image are compared with the coordinates of the center point (x0, y0) of the first visual sensor. The position is adjusted by controlling the movement of the track-laying machine. a y a ), until x a =x0, y a =y0, to ensure that the hook 33 is placed in the middle of the gap between the sleeper and the rail.

[0059] S6. Lifting device positioning: The control center controls the hydraulic rods 31 of the two track laying machines to extend synchronously to the set lifting length, ensuring that the upper end of the hook 33 is slightly lower than the lower end of the rail on the rail transport vehicle.

[0060] S7, Hook 33 positioning: The control center controls the hooks 33 of the two track laying machines to expand outward synchronously to the set width, ensuring that the vertical section of the hook 33 is exactly close to the inside of the rail on the rail transport vehicle.

[0061] S8. Rail panel lifting: The control center controls the hydraulic rods 31 on the two track laying machines to slowly shorten their extension length, so that the hooks 33 slowly lift the rail panels on the rail transport vehicle to a suspended state.

[0062] S9. Laying and Positioning: Two track laying machines lift the track panel and move synchronously towards the section where track needs to be laid. When the hook 33 of the first track laying machine passes the second vision sensor of the already laid track panel, it transmits a signal to the control center. The control center starts to record the displacement according to the speed and time of the track laying machine. After the two track laying machines move synchronously for 16.66m, they stop and reach the track panel laying position.

[0063] S10, Track panel lowering: The control center controls the hydraulic support legs 2 of the two track laying machines to shorten to the shortest distance simultaneously, and the hydraulic rods 31 begin to slowly extend, stopping after extending to the set length. At this time, the height of the track panel is about 300mm above the ground.

[0064] S11, Fine-tuning operation: Refer to... Figure 8After calibrating the camera using the second vision sensor, the intrinsic and extrinsic parameter matrices are obtained. The current frame image of the track panel to be laid is mapped onto the world coordinate system, and the coordinates of the midpoint of the upper end face of the rail to be laid are obtained as (y1, z1), and the coordinates of the two endpoints of the lower end face of the rail are (y2, z2) and (y3, z3). Based on these three coordinates and the coordinates of the already laid rail end face (y1, z2, z3), the coordinates of the midpoint of the upper end face of the rail to be laid are obtained. i_o , z i_o Based on the positional relationship, the control center issues commands to control the track-laying machine to perform fine-tuning operations;

[0065] Simultaneously, a collision warning is added: The distance between the rail end face and the second visual sensor in the current frame image is set to d. The three coordinates of the next frame image are (y1′, z1′), (y2′, z2′), and (y3′, z3′), respectively. The distance between the rail end face and the second visual sensor in the next frame image is set to d′. The contact time t between the rail end face to be laid and the rail end face of the already laid sleeper is calculated. L , Δt is the time interval between the current frame and the next frame;

[0066] Then, the coordinates (y) of the end face of the rail to be laid are calculated using the following formula when the end face of the rail to be laid comes into contact with the end face of the rail already laid. i_a , z i_a ):

[0067]

[0068] By comparing (y) i_a , z i_a ) and (y i_o , z i_o The system determines whether the laying is normal based on the positional relationship of the tiles. If the laying is abnormal, a warning is issued, the laying work is temporarily stopped, and the laying can continue after the recalculation is correct. Otherwise, the administrator is notified to come to the site to check the problem.

[0069] S12. First laying completed: The control center controls the hook 33 to close inward to its minimum, and then the hydraulic rod 31 gradually shortens until the lower end of the hook 33 is higher than the height of the laid rail. Then the track laying machine moves out of the construction area and moves and installs the second vision sensor above the end of the new section of laid rail to prepare for the next track laying.

[0070] S13: Repeat S5 to S12 to lay the next section of track until all the track sections are laid.

[0071] During the above-mentioned laying process, when laying the first track panel, the second vision sensor is placed on the open ground at the location to be laid and its height is adjusted. Then, the track panel is laid in the same way as described above.

[0072] In the embodiments described, the control of the steering wheel 5 and the movement of the hook 33 within the slide rail groove 34 by the control center are existing technologies and are not the focus of this invention. Therefore, this invention will not elaborate on the structure and specific control principles of the steering wheel 5 and its related power components, the hook 33 and its related power components. These embodiments are preferred implementations of this invention, but the invention is not limited to the above embodiments. Any obvious improvements, substitutions, or modifications that can be made by those skilled in the art without departing from the essence of this invention are within the scope of protection of this invention.

Claims

1. A small intelligent track-laying machine based on rigid hoisting, characterized in that, It comprises a ceiling structure (1), hydraulic support legs (2), a rail row sling (3), hydraulic inclined supports (4), and steering wheels (5); below the ceiling structure (1) is provided a first inclination sensor for monitoring the levelness of the ceiling structure (1), and the hydraulic support legs (2) are respectively hingedly installed at the four corners; each hydraulic support leg (2) is provided with a second inclination sensor for monitoring the included angle between the hydraulic column (21) and the vertical direction, the bottom of each hydraulic support leg (2) is provided with a steering wheel (5), and a hydraulic inclined support (4) is installed between the side edge of each hydraulic support leg (2) and the lower surface of the ceiling structure (1); The rail row sling (3) is installed at the center of the lower surface of the ceiling structure (1), the rail row sling (3) comprises two hydraulic rods (31) one end of which is welded and fixed to the ceiling structure (1), the other end of each hydraulic rod (31) is connected to a sling cross beam (32), a sliding rail groove (34) is arranged below the sling cross beam (32), an L-shaped hook (33) is slidably installed in the sliding rail groove (34), a first visual sensor is arranged at the middle position below the sling cross beam (32) for positioning the lifting point; the hydraulic rods (31), the hook (33), the hydraulic inclined supports (4) and the steering wheels (5) are all intelligently controlled by a control center, and the first visual sensor, the first inclination sensor and the second inclination sensor are all in signal connection with the control center; The ceiling structure (1) is generally in a "Japanese character" shape, which is welded and composed of a first cross bar (11), a second cross bar (12), a third cross bar (13), a first vertical bar (14) and a second vertical bar (15), and first rotating shafts (17) are respectively arranged at the four corners of the ceiling structure (1).

2. The small intelligent track laying machine based on rigid hoisting according to claim 1, characterized in that, The hydraulic support leg (2) comprises a hydraulic column (21), the top end of the hydraulic column (21) is assembled and connected with the first rotating shaft (17) through an assembling groove (23), and the bottom of the hydraulic column (21) is assembled and connected with the steering wheel (5) through a second rotating shaft (24).

3. The small intelligent track laying machine based on rigid hoisting according to claim 2, characterized in that, A second inclined support fixing point (22) is arranged on the upper side edge of the hydraulic column (21), two first hydraulic inclined support fixing points (16) are respectively arranged below the first cross bar (11) and the third cross bar (13) of the ceiling structure (1), and two ends of the hydraulic inclined support (4) are respectively hingedly installed between the first hydraulic inclined support fixing point (16) and the second inclined support fixing point (22).

4. A track-laying method using a small intelligent track-laying machine based on rigid hoisting as described in claim 1, characterized in that, It comprises the following processes: S1, assembling the rail row at the track laying base; S2, lifting the rail row onto a rail transport vehicle by a gantry crane; S3, transporting the rail row to the construction site by the rail transport vehicle; S4, two track laying machines complete the span changing operation, adjust the hydraulic support legs (2) to be in an extended state, the hydraulic rods (31) of the rail row sling (3) to be in a shortened state, and the hooks (33) to be in an inwardly converged state, arrange a second visual sensor above the end of the laid steel rail, ensure that the center point of image captured by the second visual sensor camera is directly facing the middle position of the end face of the rail row to be laid, then use the second visual sensor to shoot the video image of the rail row to be laid from a front view angle and transmit the video image to the control center; S5. After the control center controls the two track laying machines to move towards the rail transport vehicle after the span change is completed, when the first vision sensor under the track panel hoist (3) identifies the position of the track panel to be laid, it transmits a signal to the control center. The control center records the displacement according to the moving speed and time of the track laying machine, and controls the two track laying machines to stop at the corresponding displacement length positions respectively, and initially positions them at the two trisection points of the track panel; after the control center calibrates the camera of the first vision sensor, it obtains the internal and external parameter matrix, maps the current frame image of the track panel to the world coordinate system, and obtains the coordinates of the four corners of the rectangle formed by the sleeper and the rail as follows ( , (), , (), , (), , ),and: ； In the formula, ( ) represents the coordinates of the midpoint between the rail section and the gap between the rails in the current frame image, and is compared with the coordinates of the center point of the first visual sensor. By comparing the two, adjustments are made by controlling the movement of the track-laying machine. ),until , At this time, the hook (33) is located in the middle of the gap between the sleeper and the rail of the track panel; S6. The control center controls the hydraulic rods (31) of the two track laying machines to extend synchronously to the set hoisting length, ensuring that the upper height of the hook (33) is lower than the lower height of the rail panel on the track transport vehicle at this time. S7. The control center controls the hooks (33) of the two track laying machines to expand outward to the set width in a synchronized manner, so that the vertical section of the hook (33) is close to the inner side of the rail panel on the track transport vehicle. S8. The control center controls the hydraulic rods (31) on the two track laying machines to slowly shorten their extension length, so that the hook (33) slowly lifts the rail panel on the rail transport vehicle to a suspended state. S9. Two track laying machines lift the track panel and move synchronously to the section where track needs to be laid. When the hook (33) of the first track laying machine passes the second vision sensor of the already laid track panel, it transmits a signal to the control center. The control center starts to record the displacement according to the speed and time of the track laying machine. After the two track laying machines move synchronously for a distance, they stop and reach the track panel laying position. S10, The control center controls the hydraulic support legs (2) of the two track laying machines to shorten to the shortest distance simultaneously, and the hydraulic rods (31) begin to slowly extend and stop after extending to the set length; S11. After calibrating the camera using the second vision sensor, the control center obtains the intrinsic and extrinsic parameter matrices, maps the current frame image of the track panel to be laid onto the world coordinate system, and obtains the coordinates of the midpoint of the upper surface of the rail of the track panel to be laid as ( The coordinates of the two endpoints on the lower end face of the rail are ( (), Based on the three coordinates and the coordinates of the end face of the laid rail ( Based on the positional relationship of the track laying machine, the control center issues commands to control the machine to perform fine-tuning operations. S12. After fine-tuning, the control center controls the hook (33) to close inward to the minimum, and then the hydraulic rod (31) gradually shortens until the lower end of the hook (33) is higher than the height of the laid rail. Then the rail laying machine drives out of the construction area and moves and installs the second vision sensor above the end of the new section of laid rail. S13: Repeat S5 to S12 to lay the next section of track until all the track sections are laid.

5. The track-laying method according to claim 4, characterized in that, In S4, the track-laying machine's span variation process is as follows: The initial state of the hydraulic support legs (2) of the track laying machine is vertical. When the track laying machine changes span, firstly, based on the control of the control center, the steering wheels (5) of the two hydraulic support legs (2) on one side are turned towards the tunnel wall. Then, the control center controls the extension of the hydraulic brace (4) on one side, and the hydraulic support leg (2) on that side is unfolded through the hydraulic brace (4), so that the steering wheel (5) climbs onto the tunnel wall. During this process, the control center receives the angle between the hydraulic column (21) and the vertical direction collected by the second tilt sensor on the hydraulic column (21) in real time. , Elongation of hydraulic brace (4) The relationship between them is: , This indicates the horizontal distance from the upper end of the hydraulic brace (4) to the corner of its adjacent ceiling structure (1). This indicates the vertical distance between the lower end of the hydraulic brace (4) and the top of the hydraulic column (21); While the hydraulic support leg (2) is unfolded, the control center also receives the angle data between the ceiling structure (1) and the horizontal direction recorded by the first tilt sensor below the second crossbar (12) in real time. When the first tilt sensor records that the angle between the ceiling structure (1) and the horizontal direction is positive, the hydraulic support leg (2) is controlled to shorten; otherwise, the hydraulic support leg (2) is controlled to extend to ensure that the ceiling structure (1) is horizontal. When the hydraulic support leg (2) is unfolded to the set angle, the steering wheel (5) stops rolling and turns back to the driving direction, and the hydraulic diagonal brace (4) is fixed. Then, the other hydraulic support leg (2) is unfolded to the same angle in the same way to complete the span change operation of the track laying machine.

6. The track-laying method according to claim 4, characterized in that, In step S11, during the fine-tuning operation of the track-laying machine controlled by the control center, a collision warning is also issued in real time: the distance between the rail end face and the second visual sensor in the current frame image is set to... The three coordinates of the next frame image are ( ), ( ), ( In the next frame image, the distance from the rail end face to the second vision sensor is... Calculate the contact time between the end face of the rail to be laid and the end face of the rail with already laid sleepers. , , The time interval between the current frame and the next frame; Then, the coordinates of the end face of the rail to be laid when it comes into contact with the end face of the already laid rail are calculated using the following formula. ): ; By comparison ( )and( The system determines whether the laying is normal based on the positional relationship of the tiles. If the laying is abnormal, a warning is issued, the laying work is temporarily stopped, and the laying can continue after the recalculation is correct. Otherwise, the administrator is notified to come to the site to check the problem.

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