Tamping operation control method and system, tamping wagon, electronic equipment and medium

Abstract

The invention provides a tamping operation control method and system, a tamping wagon, electronic equipment and a medium, and the method comprises the steps: collecting an electric signal of a steel rail edge, and obtaining a sleeper position according to the electric signal of the steel rail edge; the tamping position of a tamping wagon is obtained according to the sleeper position; the relation between the braking distance and the speed of the tamping wagon is obtained, the braking adjusting amount is set, and the early braking amount of the tamping wagon is obtained according to the relation between the braking distance and the speed of the tamping wagon and the braking adjusting amount; and controlling the tamping wagon to move to a tamping position according to the early braking amount, and controlling the tamping wagon to pick and perform tamping operation at the tamping position. According to the method, the braking distance can be predicted more accurately through the relation between the speed of the tamping wagon and the braking distance and introduction of the braking adjusting amount, meanwhile, the braking distance can be corrected when the tamping wagon is braked every time, the tamping wagon can reach the tamping position more accurately, and tamping operation is safer and smoother.

Description

Technical Field

[0001] The present application relates to the field of rail transit, and in particular to a tamping operation control method, system, tamping vehicle, electronic equipment and medium. Background Art

[0002] At present, tamping operations are mostly carried out manually with a low degree of automation. In some existing technical studies on automatic pick operations, it is proposed to detect the position of the sleepers by means of lasers, induction switches, cameras, etc., and combine the braking and positioning control of the tamping vehicle to automatically lower the pick to achieve automatic tamping functions.

[0003] However, in terms of braking positioning control, since the vehicle speed continues to change during the tamping operation, the existing technology mainly relies on the average value of past braking distances for speculation, and cannot effectively predict the next braking distance, which leads to deviations in the position of the pick under the tamping vehicle, affecting the stability and safety of the tamping operation. Summary of the invention

[0004] In order to solve one of the above-mentioned technical defects, a tamping operation control method, system, tamping vehicle, electronic equipment and medium are provided in the embodiments of the present application.

[0005] A first aspect of an embodiment of the present application provides a tamping operation control method, the method comprising:

[0006] Collecting electrical signals from the rail edge, and obtaining the sleeper position according to the electrical signals from the rail edge;

[0007] Obtaining a tamping position of the tamping vehicle according to the sleeper position;

[0008] Obtaining the relationship between the braking distance and the speed of the tamping vehicle and setting a braking adjustment amount, and obtaining the advance braking amount of the tamping vehicle according to the relationship between the braking distance and the speed of the tamping vehicle and the braking adjustment amount;

[0009] The tamping vehicle is controlled to move to the tamping position according to the advance braking amount, and the tamping vehicle is controlled to lower the pickaxe to perform tamping operation at the tamping position.

[0010] A second aspect of an embodiment of the present application provides a tamping operation control system, the system comprising an eddy current sensor and a processor, the eddy current sensor being used to collect electrical signals from the edge of a rail, the processor being configured with processor-executable operating instructions to execute the tamping operation control method as described in the first aspect of an embodiment of the present application.

[0011] A third aspect of an embodiment of the present application provides a tamping vehicle, the tamping vehicle comprising the tamping operation control system described in the second aspect of the embodiment of the present application, and the eddy current sensor is arranged on the body of the tamping vehicle.

[0012] A fourth aspect of the embodiments of the present application provides an electronic device, including: a processor and a memory;

[0013] Among them, one or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the electronic device executes the method described in the first aspect of the embodiment of the present application.

[0014] A fifth aspect of an embodiment of the present application provides a computer storage medium, including computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method described in the first aspect of the embodiment of the present application.

[0015] By adopting the tamping operation control method provided in the embodiment of the present application, through the relationship between the tamping vehicle speed and the braking distance, and introducing the braking adjustment amount, the braking distance can be predicted more accurately. At the same time, the braking distance can be corrected every time the tamping vehicle brakes, so that the tamping vehicle can reach the tamping position more accurately, making the tamping operation safer and smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A flow chart of the tamping operation control method provided in Example 1 of the present application;

[0018] Figure 2 The relationship between braking distance and speed of different types of tamping vehicles;

[0019] Figure 3 This is a schematic diagram of the safe distance of the pickaxe under the tamping vehicle;

[0020] Figure 4 This is a schematic diagram when the distance between the front tamping pick of the tamping vehicle and the adjacent sleeper does not meet the safety distance;

[0021] Figure 5 This is a schematic diagram of the tamping pick position of the tamping vehicle after adjustment. DETAILED DESCRIPTION

[0022] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0023] Example 1

[0024] like Figure 1 As shown, this embodiment provides a tamping operation control method, the method comprising:

[0025] S101, collecting electrical signals from the rail side, and obtaining the sleeper position according to the electrical signals from the rail side.

[0026] In this embodiment, the electrical signal of the rail edge is collected by a long-distance inductive sensor, which can be implemented by an eddy current sensor. Of course, if there are other sensors that can realize inductive signal collection, they can also be used in the technical solution of collecting electrical signals from the rail edge in this embodiment.

[0027] In this embodiment, the process of collecting the electrical signal at the edge of the rail and obtaining the position of the sleeper according to the electrical signal at the edge of the rail includes:

[0028] S1011, obtaining electrical signals of a first preset number of rail edges collected by an eddy current sensor during the driving of the tamping vehicle and mileage information of the tamping vehicle;

[0029] S1012, forming an electric signal wave from the electric signals of a first preset number of rail edges in a collection order, and determining an electric signal corresponding to a peak in the electric signal wave;

[0030] S1013, determining the position of the rail side fastener bolt based on the mapping relationship between the mileage information and the electrical signal corresponding to the wave peak in the electrical signal wave;

[0031] S1014. Obtain the sleeper position according to the position of the rail side fastener bolts.

[0032] Specifically, when the tamping vehicle is traveling on the track, the eddy current sensor can collect electrical signals from multiple rail edges at a preset frequency, or can collect electrical signals from multiple rail edges at a preset mileage. The mileage information of the tamping vehicle can be obtained through a wheel encoder provided on the tamping vehicle, which is directly obtainable according to the prior art and will not be described in detail in this embodiment.

[0033] After the eddy current sensor acquires multiple (first preset number) electrical signals, an electrical signal wave can be formed according to the acquisition order of the electrical signals. When the acquisition period of the eddy current sensor and the travel speed of the tamping vehicle are known, the order of the electrical signals in the electrical signal wave can be converted into the mileage of the tamping vehicle. Or when the relationship between the eddy current sensor acquisition and the mileage of the tamping vehicle is known, the mileage of the tamping vehicle can be determined by the order of the electrical signals in the electrical signal wave. That is, the eddy current sensor can collect electrical signals from the edge of the rail based on the mileage of the engineering vehicle, so that there is a mapping relationship between the mileage of the engineering vehicle and the electrical signal.

[0034] If no crest is found in the electric signal wave, then wait for the electric signal wave to be updated and judge again. When the distance traveled by the tamping vehicle is sufficient, the formed electric signal wave may include a plurality of crests, each of which corresponds to a first electric signal.

[0035] The eddy current sensor can sample the rail edge according to preset rules, where the preset rules include but are not limited to sampling at a fixed frequency, fixed mileage, a preset transformation frequency and / or a preset transformation mileage, so that a mapping relationship can be established between the electrical signal collected by the eddy current sensor and the mileage traveled by the tamping vehicle.

[0036] Since the electric signal sensed by the eddy current sensor when it passes through the fastener bolt on the rail is the strongest when sampling the rail edge, the position of the fastener bolt on the rail can be determined based on the mapping relationship between the first electric signal corresponding to the peak in the electric signal wave and the mileage information. The position of the sleeper can be obtained based on the position of the fastener bolt on the rail edge.

[0037] In the above process, the eddy current sensor collects the electrical signal at the edge of the rail, processes the received electrical signal to obtain an electrical signal wave, determines the first electrical signal corresponding to the peak in the electrical signal wave, and determines the position of the fastener bolt at the edge of the rail based on the mapping relationship between the first electrical signal and the mileage information, thereby further obtaining the position of the sleeper. Compared with the use of photoelectric sensors, since the eddy current sensor relies on the principle of ferromagnetic induction, it can avoid the problem of detection failure due to ballast coverage. At the same time, the eddy current sensor has a longer range and can be installed at a higher position on the tamping vehicle to reduce the risk of ballast colliding with the eddy current sensor, and the position of the fastener bolt can be accurately determined.

[0038] S102: Obtaining a tamping position of the tamping vehicle according to the sleeper position.

[0039] Specifically, after obtaining the position of the sleeper, the position where the tamping pick is required can be calculated, that is, the tamping vehicle needs to stop accurately at the designated position where the tamping pick is required, so that the tamping pick can be accurately placed at the predetermined position.

[0040] S103, obtaining the relationship between the braking distance and the speed of the tamping vehicle and setting a braking adjustment amount, and obtaining the advance braking amount of the tamping vehicle according to the relationship between the braking distance and the speed of the tamping vehicle and the braking adjustment amount.

[0041] Specifically, in this embodiment, in order to achieve accurate parking braking of the tamping vehicle at a designated tamping position, the braking amount is predicted by obtaining the relationship between the braking distance and the speed of the tamping vehicle and introducing the braking adjustment amount.

[0042] First, this embodiment uses a braking performance test to obtain the relationship between the braking distance and speed of different types of tamping vehicles, such as Figure 2 As shown. There are certain differences between the braking distance and speed of tamping vehicles of different models. It is necessary to test the braking distance and speed of all currently known tamping vehicles as much as possible to obtain more complete test data. After obtaining the test data of this relationship, the test data can be fitted to generate the equation of speed v-braking distance s: s=f(v). Through this equation, a reasonable prediction can be made for the braking distance required by the tamping vehicle at the current speed, and the predicted value obtained by the prediction can be recorded as the basic braking amount A.

[0043] Secondly, considering that the line conditions are variable due to the influence of slope, weather factors, etc. during the tamping operation, which in turn has a certain impact on the braking of the tamping vehicle. This embodiment introduces a braking adjustment amount B based on the basic braking amount A. The braking adjustment amount is calculated by the error value E obtained by the deviation between the actual position of the tamping vehicle and the predetermined position at each stop.

[0044] Finally, after obtaining the basic braking amount A and the braking adjustment amount B, the advance braking amount R=A+B of the rail vehicle can be obtained.

[0045] The process of obtaining the braking adjustment amount B in this embodiment is as follows: a cumulative amount C is set, and the cumulative amount C is the accumulation of the error value E generated each time the tamping vehicle stops. The cumulative amount C is set with a maximum cumulative value Cmax and a minimum cumulative value Cmin. The braking adjustment amount B can be obtained by multiplying the cumulative amount C by a weight coefficient w.

[0046] The advance braking amount obtained in the above manner, on the one hand, can make a more accurate prediction of the braking distance of the tamping vehicle through the speed of the tamping vehicle; on the other hand, the introduction of the braking adjustment amount B can dynamically correct the braking amount of the tamping vehicle according to past parking errors, thereby realizing adaptive control and adjustment of the braking amount of the tamping vehicle.

[0047] S104, controlling the tamping vehicle to move to a tamping position according to the advance braking amount, and controlling the tamping vehicle to lower a pickaxe to perform tamping operation at the tamping position.

[0048] Specifically, after obtaining the advance braking amount, the braking system of the tamping vehicle can control the tamping vehicle to stop accurately at the calculated tamping position according to the advance braking amount, and then perform the tamping operation. Generally speaking, in this embodiment, the tamping vehicle can perform automatic tamping after reaching the tamping position, that is, automatically lower the pick and automatically tamping.

[0049] In this embodiment, after the tamping vehicle reaches the tamping position, it is necessary to determine whether the pick can be safely lowered. Otherwise, if the rail sleeper contacts the tamping pick, it is easy to cause damage, which poses a great safety hazard. In this embodiment, the tamping vehicle usually has three rows of tamping picks, namely, the front row of tamping picks, the middle row of tamping picks, and the rear row of tamping picks. In order to ensure smooth and safe lowering of the picks, the three rows of tamping picks need to maintain a certain safety distance between the two adjacent rail sleepers to avoid splitting or shifting the sleepers.

[0050] Specifically, first, after the tamping vehicle reaches the tamping position, it is necessary to calculate the distance between each row of tamping picks and two adjacent sleepers, that is, the distance between the front row of tamping picks and the two adjacent sleepers corresponding to them, the distance between the middle row of tamping picks and the two adjacent sleepers corresponding to them, and the distance between the rear row of tamping picks and the two adjacent sleepers corresponding to them. Since the sleeper positions have been obtained in the above process, the distance between each row of tamping picks and two adjacent sleepers can be calculated based on the sleeper information. Only when the distances between the front row of tamping picks, the middle row of tamping picks, and the rear row of tamping picks and the two adjacent sleepers meet the safety distance, can it be determined that it is safe to lower the picks this time, and the lowering operation is allowed.

[0051] like Figure 3 As shown, 1 is the front row tamping pick, 2 is the middle row tamping pick, 3 is the rear row tamping pick, 4 is the sleeper, 5 is the left rail, 6 is the right rail, 7 is the distance between the center of the front row tamping pick and the center line of the front adjacent sleeper, and 8 is the distance between the center of the front row tamping pick and the center line of the rear adjacent sleeper. Only when the distances between 7 and 8 meet the safety distance, can it be determined that it is safe to lower the front row tamping pick. Correspondingly, the distances between the center of the middle row tamping pick and the center line of the rear row tamping pick and the adjacent sleepers in front and behind must meet the safety distance. Only then can it be determined that it is safe to lower the pick, and the operation of lowering the pick is allowed. Figure 4 As shown, although the distances between the middle row of tamping picks and the rear row of tamping picks and their two adjacent sleepers meet the safety distance requirements, the distance S1 between the front row of tamping picks and the adjacent sleepers behind them does not meet the safety distance, and the tamping pick operation cannot be performed at this time.

[0052] The above process of calculating the distance between the tamping pick and two adjacent sleepers is associated with the widening function of the tamping pick. If the tamping pick uses the widening function, the threshold of the above safety distance will be adjusted accordingly.

[0053] Normally, the tamping machine automatically aligns the picks in the middle row in the middle of two adjacent sleepers. Since the spacing between two adjacent sleepers is not completely uniform during the sleeper laying process, this conventional alignment method is not the optimal solution. Because when the middle row of tamping picks is located in the middle of two adjacent sleepers, although the distance between the middle row of tamping picks and the two adjacent sleepers is greater than the safety distance, the distance between the front row of tamping picks and the rear row of tamping picks and the two adjacent sleepers is likely to be compressed below the safety distance, resulting in the front row of tamping picks or the rear row of tamping picks being unable to be put down.

[0054] In this regard, the present embodiment introduces a fine-tuning mechanism in the position planning of the lower pick of the tamping vehicle. Specifically, first, the lower pick position is still preset by the conventional middle row tamping pick centering method, that is, the middle row tamping pick of the tamping vehicle is still placed in the middle of two adjacent sleepers. Then, when the middle row tamping pick is placed in the middle of two adjacent sleepers, the distance between the front row tamping pick and the rear row tamping pick and the two adjacent sleepers is calculated according to the sleeper position. If the distance between the front row tamping pick and the rear row tamping pick and the two adjacent sleepers still meets the safety distance at this time, the lower pick operation can be performed. However, if the distance between the front row tamping pick or the rear row tamping pick and the two adjacent sleepers is less than the safety distance, the positions of the front row tamping pick, the middle row tamping pick and the rear row tamping pick are adjusted, and the distance between the front row tamping pick, the middle row tamping pick and the rear row tamping pick and the two adjacent sleepers is calculated again. When the distance between the front row tamping picks, the middle row tamping picks and the rear row tamping picks and the two adjacent sleepers is greater than or equal to the preset safety distance, the tamping vehicle will carry out the pick operation. Otherwise, it means that the sleeper spacing at the tamping position is uneven and the pick operation cannot be carried out, which does not meet the standard for pick operation, and the tamping position needs to be marked.

[0055] It should be noted that the front row tamping picks, the middle row tamping picks and the rear row tamping picks of the tamping vehicle are usually a whole. When adjusting the positions, the positions of the front row tamping picks, the middle row tamping picks and the rear row tamping picks are moved as a whole and cannot be controlled separately. Therefore, in this embodiment, after each adjustment of the position of the tamping picks, the distance between each row of tamping picks and two adjacent sleepers needs to be recalculated to ensure the accuracy of the data.

[0056] like Figure 5 As shown, when Figure 4As shown, since the distance between the front row tamping pick and the adjacent sleeper behind it does not meet the safety distance requirement, the front row tamping pick, the middle row tamping pick and the rear row tamping pick are moved forward as a whole, thereby increasing the distance S2 between the front row tamping pick and the adjacent sleeper behind it, until S2 reaches the safety distance. At this time, the distance between the rear row tamping pick and the adjacent sleeper in front of it changes from S3 to S4. Although the distance between the rear row tamping pick and the adjacent sleeper in front of it has become smaller, the reduced S4 still meets the safety distance requirement, and the pick operation can still be performed.

[0057] During the process of the tamping vehicle performing automatic driving, automatic pickaxe lowering or automatic tamping operations, a system failure may occur, resulting in the inability to perform automatic operations, thus affecting the progress of the tamping operation. Therefore, in accordance with the strict safety level requirements of the rail transit industry, this embodiment cooperates with the operator's manual switching during the automatic tamping operation.

[0058] In this embodiment, an enabling pedal is provided on the tamping vehicle, through which the start and stop instructions of the automatic tamping operation can be triggered, and the automatic tamping operation can be started or paused according to the instructions for starting or pausing the automatic tamping operation. The automatic tamping operation will only be performed when the operator continues to step on the enabling pedal. Once an abnormal situation occurs in the automatic tamping system, the operator releases the enabling pedal, and the automatic tamping operation stops immediately. It can be switched to manual operation by the operator through other means (such as a button), ensuring the safety of the tamping operation process.

[0059] Specifically, during the automatic tamping operation of the tamping vehicle, the system may determine that it is unable to perform the pick operation. This situation may be caused by a variety of reasons, such as the lack of a spike fastener on a sleeper on the line, resulting in abnormal detection, or the system determines that the distance between the tamping pick and the sleeper is less than the safe distance and the pick cannot be lowered. When the above-mentioned abnormality occurs, the automatic tamping system will suspend all automatic tamping actions and transfer the operating rights to the operator in the operating room. The operator can perform manual operations according to the current position. The manual operation referred to in this embodiment includes but is not limited to moving the tamping pick forward and backward to adjust the position of the pick, the pick operation, or no operation. When the operator manually handles the current abnormal situation, step on the enabling pedal again, and keep the enabling pedal in the stepped state. At this time, the automatic tamping system will take over again and operate the next tamping position.

[0060] In this embodiment, the switching process between automatic and manual operations is convenient and continuous, and can flexibly and quickly handle abnormal suspension conditions of the automatic tamping system, or be used to manually take over small areas where the automatic tamping function is not desired, such as special pickaxe positions with cables and capacitor pillows.

[0061] By adopting the tamping operation control method provided in the embodiment of the present application, through the relationship between the tamping vehicle speed and the braking distance, and introducing the braking adjustment amount, the braking distance can be predicted more accurately. At the same time, the braking distance can be corrected every time the tamping vehicle brakes, so that the tamping vehicle can reach the tamping position more accurately, making the tamping operation safer and smoother.

[0062] Example 2

[0063] Corresponding to Example 1, this embodiment proposes a tamping operation control system, which includes an eddy current sensor and a processor. The eddy current sensor is used to collect electrical signals from the rail edge, and the processor is configured with processor-executable operation instructions to execute the tamping operation control method described below:

[0064] Collecting electrical signals from the rail edge, and obtaining the sleeper position according to the electrical signals from the rail edge;

[0065] Obtaining a tamping position of the tamping vehicle according to the sleeper position;

[0066] Obtaining the relationship between the braking distance and the speed of the tamping vehicle and setting a braking adjustment amount, and obtaining the advance braking amount of the tamping vehicle according to the relationship between the braking distance and the speed of the tamping vehicle and the braking adjustment amount;

[0067] The tamping vehicle is controlled to move to the tamping position according to the advance braking amount, and the tamping vehicle is controlled to lower the pickaxe to perform tamping operation at the tamping position.

[0068] The tamping operation control system proposed in this embodiment can more accurately predict the braking distance by introducing the braking adjustment amount through the relationship between the tamping vehicle speed and the braking distance, and can also correct the braking distance every time the tamping vehicle brakes, so that the tamping vehicle can reach the tamping position more accurately, making the tamping operation safer and smoother. The specific working principle of the tamping operation control system proposed in this embodiment can refer to the content recorded in Example 1, and this embodiment will not be repeated here.

[0069] Example 3

[0070] This embodiment provides a tamping vehicle, which includes a tamping operation control system. The tamping operation control system can refer to the contents described in Example 2, and this embodiment will not be repeated here. Among them, the eddy current sensor in the tamping operation control system can be set on the body of the tamping vehicle to collect electrical signals from the edge of the rail to provide data information for calculating the position of the sleeper.

[0071] An enabling pedal is also provided in the operating room of the tamping vehicle. The enabling pedal can be manipulated by the operator. Under the action of external force, the enabling pedal causes the processor to trigger an instruction to start the automatic tamping operation. Without the action of external force, the enabling pedal causes the processor to trigger an instruction to suspend the automatic tamping operation. That is, the automatic tamping operation will only be performed when the operator continues to step on the enabling pedal. Once an abnormal situation occurs in the automatic tamping system, the operator releases the enabling pedal, and the automatic tamping operation stops immediately. The operation can be switched to manual operation by the operator through other means (such as a button) to ensure the safety of the tamping operation process.

[0072] Example 3

[0073] This embodiment provides an electronic device, including: a processor and a memory;

[0074] Wherein, one or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the electronic device performs the following method:

[0075] Collecting electrical signals from the rail edge, and obtaining the sleeper position according to the electrical signals from the rail edge;

[0076] Obtaining a tamping position of the tamping vehicle according to the sleeper position;

[0077] Obtaining the relationship between the braking distance and the speed of the tamping vehicle and setting a braking adjustment amount, and obtaining the advance braking amount of the tamping vehicle according to the relationship between the braking distance and the speed of the tamping vehicle and the braking adjustment amount;

[0078] The tamping vehicle is controlled to move to the tamping position according to the advance braking amount, and the tamping vehicle is controlled to lower the pickaxe to perform tamping operation at the tamping position.

[0079] Example 4

[0080] This embodiment provides a computer storage medium including computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the following method:

[0081] Collecting electrical signals from the rail edge, and obtaining the sleeper position according to the electrical signals from the rail edge;

[0082] Obtaining a tamping position of the tamping vehicle according to the sleeper position;

[0083] Obtaining the relationship between the braking distance and the speed of the tamping vehicle and setting a braking adjustment amount, and obtaining the advance braking amount of the tamping vehicle according to the relationship between the braking distance and the speed of the tamping vehicle and the braking adjustment amount;

[0084] The tamping vehicle is controlled to move to the tamping position according to the advance braking amount, and the tamping vehicle is controlled to lower the pickaxe to perform tamping operation at the tamping position.

[0085] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0086] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0087] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A tamping operation control method, characterized in that: The method comprises: Collecting electrical signals from the rail edge, and obtaining the sleeper position according to the electrical signals from the rail edge; Obtaining a tamping position of the tamping vehicle according to the sleeper position; Obtaining the relationship between the braking distance and the speed of the tamping vehicle and setting a braking adjustment amount, and obtaining the advance braking amount of the tamping vehicle according to the relationship between the braking distance and the speed of the tamping vehicle and the braking adjustment amount; The tamping vehicle is controlled to move to the tamping position according to the advance braking amount, and the tamping vehicle is controlled to lower the pickaxe to perform tamping operation at the tamping position.

2. The method according to claim 1, characterized in that The process of collecting the electrical signal at the rail edge and obtaining the sleeper position according to the electrical signal at the rail edge includes: Acquire electrical signals of a first preset number of rail edges collected by an eddy current sensor during the driving of the tamping vehicle and mileage information of the tamping vehicle; The electrical signals of the first preset number of rail edges are collected to form an electrical signal wave in a sequence, and the electrical signal corresponding to the peak in the electrical signal wave is determined; Determine the position of the rail side fastener bolt based on the mapping relationship between the mileage information and the electrical signal corresponding to the wave peak in the electrical signal wave; The sleeper position is obtained according to the position of the rail side fastener bolts.

3. The method according to claim 1, characterized in that: The process of obtaining the relationship between the braking distance and the speed of the tamping vehicle and setting the braking adjustment amount, and obtaining the advance braking amount of the tamping vehicle according to the relationship between the braking distance and the speed of the tamping vehicle and the braking adjustment amount includes: Obtaining the relationship between the braking distance and speed of tamping vehicles of different models, fitting a speed-braking distance equation according to the relationship between the braking distance and speed of tamping vehicles of different models, and obtaining a basic braking amount according to the speed-braking distance equation; Obtaining the actual position of the tamping vehicle at each stop, obtaining an error value according to a deviation between the actual position and a predetermined position, and obtaining a braking adjustment amount according to the error value; The advance braking amount is obtained according to the basic braking amount and the braking adjustment amount.

4. The method according to claim 3, characterized in that The process of obtaining the actual position of the tamping vehicle at each stop, obtaining an error value according to a deviation between the actual position and a predetermined position, and obtaining a braking adjustment amount according to the error value includes: Setting a cumulative amount, the cumulative amount being the accumulation of error values ​​generated each time the tamping vehicle stops; A weight coefficient is set, and the weight coefficient is multiplied by the accumulation amount to obtain the braking adjustment amount.

5. The method according to claim 1, characterized in that: The process of controlling the tamping vehicle to perform tamping operation by lowering the pickaxe at the tamping position comprises: The actual distance between each row of tamping picks of the tamping vehicle and two adjacent sleepers is calculated according to the position of the sleepers. When the actual distance is greater than or equal to the preset safety distance, the tamping vehicle performs the pick lowering operation.

6. The method according to claim 5, characterized in that The process of calculating the actual distance between each row of tamping picks of the tamping vehicle and two adjacent sleepers, and when the actual distance is greater than or equal to the preset safety distance, the tamping vehicle performs the pick operation includes: Place the middle row of tamping picks of the tamping vehicle between two adjacent sleepers; Calculate the distances between the front row tamping picks and the rear row tamping picks and the two adjacent sleepers respectively when the middle row tamping picks are placed in the middle of the two adjacent sleepers according to the sleeper positions; When the distances between the front row tamping picks, the middle row tamping picks and the rear row tamping picks and two adjacent sleepers are greater than or equal to the preset safety distance, the tamping vehicle performs the pick operation; When the distance between the front row tamping picks or the rear row tamping picks and two adjacent sleepers is less than the preset safety distance, the positions of the front row tamping picks, the middle row tamping picks and the rear row tamping picks are adjusted until the distances between the front row tamping picks, the middle row tamping picks and the rear row tamping picks and two adjacent sleepers are greater than or equal to the preset safety distance, and the tamping vehicle performs the lowering operation.

7. The method according to claim 6, characterized in that After adjusting the positions of the front row, middle row and rear row of tamping picks, when the distance between any one of the front row, middle row or rear row of tamping picks and two adjacent sleepers is still less than the preset safety distance, the position of the tamping vehicle is marked.

8. The method according to claim 1, characterized in that: The method further comprises: Get the start and stop instructions of automatic tamping operation; The automatic tamping operation is started or stopped according to the automatic tamping operation start and stop instruction.

9. A tamping operation control system, characterized in that: The system includes an eddy current sensor and a processor, wherein the eddy current sensor is used to collect electrical signals from the edge of the rail, and the processor is configured with processor-executable operation instructions to execute the tamping operation control method as described in any one of claims 1 to 8.

10. A tamping vehicle, characterized in that: The tamping vehicle comprises the tamping operation control system as claimed in claim 9, and the eddy current sensor is arranged on the body of the tamping vehicle.

11. The tamping vehicle according to claim 10, characterized in that The tamping vehicle further comprises an enabling pedal, which is disposed in an operating room of the tamping vehicle. When an external force is applied to the enabling pedal, the processor is triggered to provide an instruction to start an automatic tamping operation. When no external force is applied to the enabling pedal, the processor is triggered to provide an instruction to suspend an automatic tamping operation.

12. An electronic device, characterized in that: include: Processor and memory; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the electronic device executes the method according to any one of claims 1 to 8.

13. A computer storage medium, characterized in that: The method comprises computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method according to any one of claims 1 to 8.

Images