Tooth entering method for toothed rail railway transition section, control system and medium

Abstract

The invention relates to the technical field of rail traffic rack railways, in particular to a rack railway transition section tooth entering method, a control system and a medium, and the method comprises the following steps: S1, monitoring train driving information received by a train; the train running information comprises a wheel linear speed, a wheel driving speed and a rotation angle of a bogie gear; controlling a driving device according to the wheel linear speed, and adjusting the angular speed of a bogie gear to enable the linear speed of the bogie gear to be matched with the wheel linear speed; s2, after the linear speed of the bogie gear is matched with the linear speed of the wheel, real-time position information of train running is monitored; a meshing posture point is preset according to the real-time position information, the wheel linear speed and the rotation angle of the bogie gear; wherein the meshing posture point is a point position where the gear is in a meshing posture; and S3, distance information of the train running from the meshing posture point to the toothed rail section is obtained based on the meshing posture point, the gear is controlled to conduct posture adjustment according to the distance information, and gear entering is kept when the gear is driven into the toothed rail section.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit rack railways, and in particular to a rack railway transition section tooth insertion method, a control system and a medium. Background Art

[0002] As a new type of rail transit system, mountain rack rail transit has broad application prospects in tourist attractions and has attracted much attention due to its strong climbing ability. The transition of traditional trains from wheel-rail to rack rail requires the addition of other auxiliary mechanical devices at the rack rail, and requires strict control of the vehicle speed during the transition phase to achieve correct engagement between the gear and the rack rail. However, the added auxiliary mechanical devices will make the structure of the train more complicated, leading to increased maintenance difficulty and cost, and it is impossible to ensure that the gear and rack rail are engaged when the train runs at a uniform speed. Summary of the invention

[0003] The purpose of the present invention is to overcome the problem in the prior art that it is impossible to ensure that the gear and the rack can be meshed when the train is traveling at a constant speed, and to provide a rack railway transition section meshing method, control system and medium.

[0004] In a first aspect, the present invention provides a method for gear insertion in a transition section of a rack railway, the method being used for gear insertion when a train travels from a wheel-rail section to a rack-rail section, comprising the following steps:

[0005] S1, monitoring train travel information; the train travel information includes wheel linear speed, wheel driving speed, and rotation angle of bogie gear; controlling the driving device according to the wheel linear speed, adjusting the angular velocity of the bogie gear, so that the linear velocity of the bogie gear matches the wheel linear velocity;

[0006] S2. Preset the meshing posture point according to the real-time position information of the train, the linear speed of the wheel and the rotation angle of the bogie gear; wherein the meshing posture point is the point position when the gear is in the meshing posture;

[0007] S3, based on the meshing posture point, obtaining the distance information of the train from the meshing posture point to the rack section, and controlling each bogie gear to adjust its posture according to the distance information, so as to ensure that the gear can enter the rack section;

[0008] During steps S1 to S2, the linear velocity of the wheel matches the linear velocity of the bogie gear.

[0009] The present invention discloses a method for gear entry in a transition section of a rack railway. The method adjusts the linear speed of the bogie gear to be the same as the linear speed of the wheel by collecting the train travel information during the period when the train travels from the wheel-rail section to the rack-rail section, thereby ensuring that the subsequent trains are smoother when entering the gear in the rack-rail section. Subsequently, the real-time position information of the train travel is collected to derive the meshing attitude point of the train during the travel process, and the distance from the meshing attitude point to the rack-rail section is obtained through the meshing attitude point, so that the train can adjust the attitude of the bogie gear within a specified distance, thereby ensuring that the train can remain stable and safe during the transition process of the rack-rail section.

[0010] Preferably, in step S1, after the linear velocity of the bogie gear is adjusted to match the linear velocity of the wheel, the driving device is controlled to adjust the angular acceleration of the bogie gear so that the angular velocity of the bogie gear remains constant.

[0011] The effect of this solution is to ensure that after the linear speed of the train's bogie gear is the same as the wheel linear speed, no angular acceleration is applied to the gear, so that the linear speed of the bogie gear is always the same as the wheel linear speed during the train's travel.

[0012] Preferably, in step S3, the specific process of obtaining the distance information from the meshing posture point to the rack rail segment is as follows:

[0013] S31. When the linear speed of the wheels of the train matches the linear speed of the bogie gear, the train continues to travel and continuously monitors the real-time position information of the train;

[0014] A mathematical model is established based on the real-time position information combined with the train speed and the rotation angle of the bogie gear to calculate the meshing attitude point;

[0015] S32, after the meshing posture point is preset by the mathematical model, the distance between the meshing posture point and the rack segment is calculated according to the real-time position of the meshing posture point;

[0016] S33, adjusting the rotation speed of the bogie gear according to the distance between the meshing attitude point and the rack track segment;

[0017] Preferably, the mathematical model of the preset meshing posture point is:

[0018]

[0019] θ(T+ΔT)=θ(q);

[0020]

[0021] Where: point q is located on the gear pitch circle and is a randomly selected point representing the attitude of the bogie gear when the bogie gear is meshing with the rack; (x q ,y q): represents the position of point q in the Cartesian coordinate system, x represents the horizontal coordinate, and y represents the vertical coordinate; θ(q): represents the angle rotated by the bogie gear at the meshing posture point; ΔT: represents the additional time for the bogie gear to reach the meshing posture; D: represents the distance traveled by the train to the meshing posture point after the linear velocity of the wheel matches the linear velocity of the bogie gear; T is the total rotation time of the wheel between the first transponder and the second transponder; w2(t) is the rotation speed of the bogie gear; w1(t) is the wheel rotation speed; r is the pitch circle radius of the bogie gear; θ ij is the real-time information of the bogie gear angle, i represents the i-th bogie gear, and j represents the data of each bogie gear at the j-th measured point.

[0022] Preferably, the step S32 is:

[0023] Φ = L1-D;

[0024] Where: Φ is the distance between the meshing posture point and the rack segment;

[0025] L1 is the distance the train travels to the meshing point after the linear velocity of the wheel matches the linear velocity of the bogie gear;

[0026] Preferably, a Kalman filter algorithm is introduced in step S1 and step S2, correction data is obtained based on the Kalman filter algorithm, and the train travel information and the real-time position information of the travel are adjusted according to the correction data.

[0027] Preferably, the correction data is obtained based on the Kalman filter algorithm, and the correction data includes state correction data and observation correction data, which are specifically as follows:

[0028] Status Modification Data: x k =Ax k-1 +Bu k +ω k ;

[0029] Observe the revised data: y k =Cx k +v k ;

[0030] Where: x k is the state quantity; x k-1 is the value of the current state at the last moment; u k is the input quantity; ω k is the environmental influencing variable; A is the state transfer matrix; B is the control matrix; y k is the observed quantity; v k is the observation noise.

[0031] In a second aspect, the present invention provides a cog railway transition section tooth entry control system for executing the above method;

[0032] The system includes a first transponder, a second transponder, an engagement segment transponder, a head transponder antenna, a displacement scanning sensor, a speed sensor, and an angle sensor;

[0033] First balise: used to detect the train's travel position and control the train's bogie gear linear speed changes;

[0034] Second transponder: used to detect the matching of the linear velocity of the wheel and the linear velocity of the bogie gear;

[0035] Front transponder antenna: used to communicate with the first transponder and the second transponder;

[0036] Meshing segment transponder: used to detect the distance information between the wheel and the rack segment;

[0037] Displacement scanning sensor: used to monitor the real-time position information of the train;

[0038] Angle sensor: used to monitor the rotation angle information of the bogie gear;

[0039] Speed ​​sensor: used to monitor train speed information.

[0040] Preferably, the locomotive transponder antenna is arranged at the locomotive head of the train, and is used to receive the first transponder, the second transponder and the meshing section transponder signals;

[0041] The first transponder is arranged between the rails on which the train travels. The first transponder is arranged near the starting point of the train. When the train passes the first transponder, the transponder antenna on the front of the train communicates with the first transponder. At this time, the train adjusts the gear entry speed and starts the speed sensor and the angle sensor to collect information.

[0042] The meshing section transponder is arranged near the meshing point. When the train reaches the meshing section transponder, the control system adjusts the rotation speed of the bogie gear to match the vehicle speed and meshing posture, thereby ensuring smooth meshing of the rack and the train gear at normal speed.

[0043] The second transponder is arranged between the first transponder and the meshing segment transponder, and is used to provide train position and status data.

[0044] Preferably, the displacement scanning sensor is located on the train and is used for real-time scanning of the distance between the second transponder and the frontmost gear of the train during the travel of the train.

[0045] In a third aspect, the present invention provides a computer-readable medium having stored thereon instructions executable by a processor, wherein when the instructions are executed by the processor, the processor executes the above-mentioned method for tooth insertion of a transition section of a rack railway.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. The present invention is a method for gear entry in a transition section of a rack railway. The method adjusts the linear speed of the bogie gear to be the same as the linear speed of the wheel by collecting the train travel information during the period when the train travels from the wheel-rail section to the rack-rail section, so as to ensure that the subsequent trains enter the gear more smoothly in the rack-rail section. Then, the real-time position information of the train travel is collected to derive the meshing attitude point of the train during the travel process, and the distance from the meshing attitude point to the rack-rail section is obtained through the meshing attitude point, so that the train can adjust the attitude of the bogie gear within the specified distance, so as to ensure that the train can remain stable and safe during the transition process of the rack-rail section. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the arrangement of railroad section balises;

[0049] Figure 2 It is a schematic diagram of meshing posture points;

[0050] Figure 3 is a flow chart of the tooth insertion method of the present invention;

[0051] Figure 4 The present invention introduces a Kalman filter algorithm excitation diagram.

[0052] Markings in the figure: 1-first transponder; 2-second transponder; 3-engagement segment transponder; 4-engagement posture point. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below in conjunction with test examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0054] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0055] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0056] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0057] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0058] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection methods in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two components.

[0059] Example 1

[0060] like Figure 1-Figure 3 As shown, the present invention provides a method for inserting a transition section of a rack railway into a tooth, comprising the following steps:

[0061] S1, monitoring train travel information received by the train; the train travel information includes train travel speed, wheel driving speed, and rotation angle of bogie gear;

[0062] S2, controlling the driving device according to the wheel driving speed, adjusting the angular velocity of the bogie gear so that the linear velocity of the bogie gear matches the linear velocity of the wheel;

[0063] S3, after the linear speed is matched, the real-time position information of the train is monitored; according to the real-time position information, the train speed and the rotation angle of the bogie gear, the meshing posture point 4 is preset; wherein the meshing posture point 4 is the position where the gear is in the best meshing posture during the period when the train travels to the rack section;

[0064] S4, based on the meshing posture point 4, obtaining the distance information of the train from the meshing posture point 4 to the rack track section, controlling the gear to adjust its posture according to the distance information, and keeping the gear in the best meshing posture for tooth engagement;

[0065] Among them, when the train reaches the meshing posture point 4, the posture of the bogie gear can mesh with the rack segment (that is, the posture of the bogie gear at the meshing posture point 4 is the same as the posture when the bogie gear and the rack segment are meshed).

[0066] Example 2

[0067] This embodiment 2 is a specific implementation of a method for inserting teeth in a transition section of a rack railway in embodiment 1:

[0068] S21, when the train reaches the first transponder 1, the transponder antenna on the front of the train receives a signal through the first transponder 1, and the signal is fed back to the drive device to drive the bogie gear to rotate. The train collects the wheel linear speed, and controls the drive device to apply driving force to the bogie gear through the wheel linear speed;

[0069] In the process of the train moving towards the first balise 1, the driving device of the bogie gear is in an unresponsive state, and the bogie gear is in a stationary state;

[0070] S22, when the train reaches the second transponder 2, the head transponder antenna communicates with the second transponder 2 to monitor the linear speed of the bogie gear to ensure that the linear speed of the bogie gear matches the linear speed of the wheel;

[0071] S23, the train continues to travel to the second transponder 2, and collects the position information of the train in real time through the displacement scanning sensor to obtain the distance between the frontmost wheel of the train and the second transponder 2; and constructs a mathematical model according to the train travel speed and the rotation angle of the bogie gear in the train travel information, and calculates the meshing posture point 4 through the mathematical model, and ensures that the bogie gear is in the meshing position when it reaches the rack section through the meshing posture point 4;

[0072] S24, when the train subsequently runs to the meshing section transponder, the head transponder antenna communicates with the meshing section transponder, and the driving device adjusts the rotation speed of the bogie gear according to the data collected from S21 to S23, to ensure that the linear speed of the bogie gear is the same as the linear speed of the wheel and that the bogie gear enters the rack section in a meshing posture, so that the meshing of the bogie gear and the rack is achieved without changing the speed of the train;

[0073] Furthermore, the rotation speed of the bogie gear is adjusted in S24 by controlling the angular acceleration of the bogie gear through the driving device, so that the angular acceleration of the bogie gear remains stable after matching, and no additional driving force is applied, thereby ensuring the stability of the bogie gear when the train travels to the meshing section;

[0074] Furthermore, the meshing posture point 4 refers to the point at which the bogie gear rotates to the meshing posture after the train passes the second transponder 2, and the meshing posture is the posture at which the bogie gear is meshed with the gear.

[0075] In one or more embodiments, in step S21 and step S22, the adjustment process of the linear speed of the bogie gear is as follows: after the head transponder antenna communicates with the first transponder 1, the train speed and the rotation angle of the bogie gear are collected in real time through the angle sensor and the speed sensor, and the driving device is controlled according to the collected information, and the driving device applies a driving force to the bogie gear. After the head transponder antenna communicates with the second transponder 2, the driving device stops applying a driving force to the bogie gear. At this time, the linear speed of the bogie gear is the same as the linear speed of the wheel, and a mathematical model can be constructed:

[0076] v1(t)=w1(t).R;

[0077]

[0078] v2(t)=w2(t).r;

[0079] v1(t)=v2(t);

[0080]

[0081] Where: v1(t) is the linear velocity of the wheel; w1(t) is the wheel speed; R is the wheel radius; w2(t) is the speed of the bogie gear; a(t) is the angular acceleration of the bogie gear; v2(t) is the linear velocity of the bogie gear; r is the pitch circle radius of the bogie gear; T is the total rotation time of the wheel between the first transponder 1 and the second transponder 2; d is the distance between the first transponder 1 and the second transponder 2;

[0082] Since the first transponder 1 and the second transponder 2 are set in advance, that is, d (the distance between the first transponder 1 and the second transponder 2) is known, it can be seen from the above formula that when the train travels from the first transponder 1 to the second transponder 2, by controlling a(t), v1(t) (wheel linear velocity) and v2(t) (bogie gear linear velocity) can be matched.

[0083] In one or more embodiments, when the train enters the second transponder 2, the distance between the frontmost wheel of the train and the second transponder 2 is obtained by a displacement scanning sensor; the obtained distance information (the distance between the frontmost wheel of the train and the second transponder 2) is combined with the train travel information to establish a mathematical model, and the distance traveled by the train when the bogie gear is in a meshing posture is obtained, and the meshing posture point 4 is obtained. The specific process is as follows:

[0084]

[0085] θ(T+ΔT)=θ(q);

[0086]

[0087] Where: point q is located on the gear pitch circle and is a randomly selected point representing the attitude of the bogie gear when the bogie gear is meshing with the rack; (x q ,y q ): represents the position of point q in the Cartesian coordinate system, x represents the horizontal coordinate, and y represents the vertical coordinate; θ(q): represents the angle rotated by the bogie gear at the meshing posture point; ΔT: represents the additional time for the bogie gear to reach the meshing posture; D: represents the distance traveled by the train to the meshing posture point after the linear velocity of the wheel matches the linear velocity of the bogie gear; T is the total rotation time of the wheel between the first transponder and the second transponder; w2(t) is the rotation speed of the bogie gear; w1(t) is the wheel rotation speed; r is the pitch circle radius of the bogie gear; θ ij is the real-time information of the bogie gear angle, i represents the i-th bogie gear, and j represents the data of each bogie gear at the j-th measured point;

[0088] Known Bring in The distance between the meshing posture point 4 and the second transponder 2 can be calculated, thereby determining the meshing posture point 4;

[0089] Furthermore, after obtaining the distance between the meshing posture point 4 and the second transponder 2, the distance from the meshing posture point 4 to the meshing segment transponder 3 can be deduced, thereby knowing the distance from the meshing posture point 4 to the meshing segment transponder 3 when the gear is in the best meshing posture. The specific process is as follows:

[0090] Φ = L1-D;

[0091] Where: Φ is the distance between the meshing attitude point 4 and the meshing section transponder 3; L1 is the distance the train travels to the meshing point after the wheel linear speed matches the bogie gear linear speed; D: represents the distance the train travels to the meshing attitude point after the wheel linear speed matches the bogie gear linear speed;

[0092] Furthermore, when the train reaches the meshing section transponder 3, the front transponder antenna communicates with the meshing section transponder 3, and adjusts the rotation speed of the bogie gear according to the distance between the meshing posture point 4 and the meshing section transponder 3 in the optimal meshing posture of the gear, so that the train speed matches the optimal meshing posture of the gear, ensuring that the train enters the gear smoothly without changing the speed.

[0093] Example 3

[0094] This embodiment 3 is based on the embodiment 2, and introduces the Kalman filter technology to correct the measured data, wherein the Kalman filter is used to correct the real-time position, train speed, and bogie gear rotation angle collected during the running process of the train:

[0095] The data collected by the displacement scanning sensor in S23 on the distance between the front end gear of the train and the second transponder 2 are corrected. The corrected data include state correction data and observation correction data. The specific correction process is as follows:

[0096] Correction process of status data: x k =Ax k-1 +Bu k +ω k ;

[0097] Correction process of observation data: y k =Cx k +v k ;

[0098] Where: x k is the state quantity; x k-1 is the value of the current state at the last moment; u k is the input quantity; ω k is the environmental influencing variable; A is the state transfer matrix; B is the control matrix; y k is the observed quantity; v k is the observation noise;

[0099] This step is because in the rail transit system, when the train transitions in the rack section, a large amount of sensor data needs to be accurately processed and interpreted. These data may be affected by various factors, resulting in noise interference, such as mechanical vibration, electromagnetic interference, or temperature fluctuations. These interferences may mislead the decision of the control system, thereby affecting the safety and efficiency of the train operation. This method introduces Kalman filtering technology to estimate and correct the data errors caused by the above noise sources in real time, thereby ensuring the accuracy of sensor data and the reliability of system response. Improving the accuracy of sensor data processing, Kalman filtering helps to improve the operating efficiency and safety of train control systems, such as Figure 4 shown.

[0100] Example 4

[0101] The present invention provides a cog railway transition section tooth entry control system, which is used to execute the above method;

[0102] The system includes a first transponder 1, a second transponder 2, an engagement section transponder 3, a head transponder antenna, a displacement scanning sensor, a speed sensor, and an angle sensor;

[0103] First balise 1: used to detect the train's running position and control the train to change the linear speed of the bogie gear;

[0104] Second transponder 2: used to detect the matching of the linear velocity of the wheel and the linear velocity of the bogie gear;

[0105] Vehicle head transponder antenna: used for communicating with the first transponder 1 and the second transponder 2;

[0106] Meshing segment transponder 3: used to detect the distance information between the wheel and the rack segment;

[0107] Displacement scanning sensor: used to monitor the real-time position information of the train;

[0108] Angle sensor: used to monitor the rotation angle information of the bogie gear;

[0109] Speed ​​sensor: used to monitor train speed information.

[0110] In one or more embodiments, the first transponder 1 is arranged between the rails on which the train travels, and the first transponder 1 is arranged near the starting point of the train. When the train passes the first transponder 1, the front transponder antenna communicates with the first transponder 1, and the train adjusts the gear entry speed and starts the speed sensor and the angle sensor to collect information.

[0111] The meshing section transponder 3 is arranged near the meshing point. When the train reaches the meshing section transponder 3, the control system adjusts the rotation speed of the bogie gear to match the vehicle speed and the meshing posture, thereby ensuring smooth meshing of the rack and the train gear at normal speed.

[0112] The second balise 2 is disposed between the first balise 1 and the meshing segment balise 3 and is used to provide train position and status data;

[0113] The displacement scanning sensor is located on the train and is used for real-time scanning of the distance between the second transponder 2 and the frontmost gear of the train during the running of the train.

[0114] Example 5

[0115] The present invention provides a computer-readable medium on which instructions executable by a processor are stored. When the instructions are executed by the processor, the processor executes the above-mentioned method for tooth insertion of a transition section of a rack railway.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for gear insertion in a transition section of a rack railway, the method being used for gear insertion when a train travels from a wheel-rail section to a rack-rail section, characterized in that: The following steps are involved: S1, monitoring train travel information; the train travel information includes wheel linear speed, wheel driving speed, and rotation angle of bogie gear; controlling the driving device according to the wheel linear speed, adjusting the angular velocity of the bogie gear, so that the linear velocity of the bogie gear matches the wheel linear velocity; S2, preset the meshing posture point (4) according to the real-time position information of the train, the linear speed of the wheels and the rotation angle of the bogie gear; wherein the meshing posture point (4) is the point when the bogie gear rotates to the meshing posture; S3. Based on the meshing posture point (4), the distance information of the train from the meshing posture point (4) to the rack section is obtained, and each bogie gear is controlled to adjust its posture according to the distance information to ensure that the gear can enter the rack section when entering the rack section.

2. A method for inserting teeth into a transition section of a rack railway according to claim 1, characterized in that: In step S1, after the linear velocity of the bogie gear is adjusted to match the linear velocity of the wheel, the driving device is controlled to adjust the angular acceleration of the bogie gear so that the angular velocity of the bogie gear remains constant.

3. A method for inserting a gear into a transition section of a rack railway according to claim 1, characterized in that: The specific process of obtaining the distance information of the train from the meshing posture point (4) to the rack section based on the meshing posture point (4) is as follows: S31. When the linear speed of the wheels of the train matches the linear speed of the bogie gear, the train continues to travel and continuously monitors the real-time position information of the train; A mathematical model is established based on the real-time position information in combination with the train speed and the rotation angle of the bogie gear, and the real-time position of the meshing posture point (4) is preset based on the mathematical model; S32, calculating the distance between the meshing posture point (4) and the rack segment according to the real-time position of the meshing posture point (4); S33, adjusting the rotation speed of the bogie gear according to the distance between the meshing attitude point (4) and the rack section.

4. A method for inserting a gear into a transition section of a rack railway according to claim 3, characterized in that: The mathematical model is: θ(T+ΔT)=θ(q); Where: point q is located on the gear pitch circle and is a randomly selected point representing the attitude of the bogie gear when the bogie gear is meshing with the rack; (x q ,y q ): represents the position of point q in the Cartesian coordinate system, x represents the horizontal coordinate, and y represents the vertical coordinate; θ(q): represents the angle that the bogie gear rotates at the meshing posture point; ΔT: represents the additional time for the bogie gear to reach the meshing posture; D: represents the distance the train travels to the meshing posture point after the linear speed of the wheel matches the linear speed of the bogie gear; T is the total rotation time of the wheel between the first transponder and the second transponder; w2(t) is the speed of the bogie gear; w1(t) is the wheel speed; r is the pitch circle radius of the bogie gear; θ ij is the real-time information of the bogie gear angle, i represents the i-th bogie gear, and j represents the data of each bogie gear at the j-th measured point.

5. The method for inserting a gear into a transition section of a rack railway according to claim 1, characterized in that: In step S1 and step S2, a Kalman filter algorithm is introduced, correction data is obtained based on the Kalman filter algorithm, and the travel information and real-time position information of the train are adjusted according to the correction data.

6. A method for inserting teeth into a transition section of a rack railway according to claim 5, characterized in that: In the correction data obtained based on the Kalman filter algorithm, the correction data includes state correction data and observation correction data, which are as follows: Status Modification Data: x k =Ax k-1 +Bu k +ω k ; Observe the revised data: y k =Cx k +v k ; Where: x k is the state quantity; x k-1 is the value of the current state at the last moment; u k is the input quantity; ω k is the environmental influencing variable; A is the state transfer matrix; B is the control matrix; y k is the observed quantity; v k is the observation noise.

7. A rack railway transition section tooth entry control system, characterized in that: Used to perform the method according to any one of claims 1 to 6; The system comprises a first transponder (1), a second transponder (2), an engagement section transponder (3), a vehicle head transponder antenna, a displacement scanning sensor, a speed sensor and an angle sensor; First transponder (1): used to detect the running position of the train and control the linear speed change of the bogie gear; The second transponder (2) is used to detect the matching condition between the linear velocity of the wheel and the linear velocity of the bogie gear; Vehicle head transponder antenna: used for communicating with the first transponder (1) and the second transponder (2); Meshing segment transponder: used to detect the distance information between the wheel and the rack segment; Displacement scanning sensor: used to monitor the real-time position information of the train; Angle sensor: used to monitor the rotation angle information of the bogie gear; Speed ​​sensor: used to monitor train speed information.

8. A rack railway transition section tooth entry control system according to claim 7, characterized in that: The locomotive transponder antenna is arranged at the locomotive head of the train and is used to receive signals from the first transponder (1), the second transponder (2) and the meshing section transponder (3); The first transponder (1) is arranged between the rails on which the train travels, and the first transponder (1) is arranged close to the starting point of the train. When the train passes the first transponder (1), the transponder antenna on the front of the train communicates with the first transponder (1), and at this time, the train adjusts the angular velocity of the bogie gear and starts the speed sensor and the angle sensor to collect information; The meshing section transponder (3) is arranged near the meshing point, and when the train reaches the meshing section transponder (3), the control system adjusts the rotation speed of the bogie gear to match the vehicle speed and the meshing posture, thereby ensuring smooth meshing of the rack rail and the bogie gear at normal speed; The second balise (2) is arranged between the first balise (1) and the meshing segment balise (3) and is used to provide train position and status data.

9. A rack railway transition section tooth entry control system according to claim 7, characterized in that: The displacement scanning sensor is located on the train and is used for real-time scanning of the distance between the second transponder and the frontmost gear of the train during the running of the train.

10. A computer-readable medium having stored thereon instructions executable by a processor, wherein when the instructions are executed by the processor, the processor executes a method for inserting a transition section of a rack railway into teeth as claimed in any one of claims 1 to 6.

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