Method, system and equipment for monitoring angular motion of main rotating shaft of switch machine and medium

Abstract

The invention relates to a method, a system, equipment and a medium for monitoring angular motion of a main rotating shaft of a switch machine, and belongs to the technical field of railway monitoring, the method for monitoring angular motion of the main rotating shaft of the switch machine comprises the following steps: coaxially and reversely superposing two gyroscopes on the main rotating shaft of the switch machine along the axial direction of the main rotating shaft of the switch machine, the angular velocity sensor is used for acquiring angular velocity information of a main rotating shaft of the switch machine; based on the angular velocity information, judging whether the switch machine carries out conversion action and the smoothness of the conversion action, judging whether inertial unlocking exists, obtaining angle information and direction of rotation of a main rotating shaft of the switch machine, and judging whether moment abnormity exists in the switching process of the turnout. Rotation monitoring of the main rotating shaft can be achieved, the rotating angle of the main rotating shaft can be monitored, the action of the switch machine and the smooth state of rotation of the main shaft of the switch machine can be judged in an auxiliary mode, and whether the switch machine has the inertial unlocking condition or not can be monitored.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway monitoring, and in particular relates to a method, system, equipment and medium for monitoring the angular motion of a main rotating shaft of a switch machine. Background Art

[0002] The switch is a key device in the railway signal system for controlling the switching and locking of turnouts. The switch can switch the turnout to the fixed or reverse position as needed to control the direction of the train at the railway intersection or fork. After the turnout is turned to the required position and the point rail is in close contact with the base rail, the switch can be locked to prevent external forces from switching the turnout and ensure the safety of the train. The switch can correctly reflect the actual position of the turnout, and give a corresponding indication when the point rail of the turnout is in close contact with the base rail.

[0003] At present, there are many technologies for monitoring the current, force, gap, etc. of switch machines, but there is a lack of monitoring of the main rotating shaft of the switch machine.

[0004] Therefore, it is necessary to provide a new method for monitoring the angular motion of the main rotating shaft of a switch machine to solve the above technical problems. Summary of the invention

[0005] The purpose of the present disclosure is to provide a method, system, device and medium for monitoring the angular motion of the main rotating shaft of a switch machine in order to solve the above-mentioned problems.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions: A method for monitoring the angular motion of a main rotating shaft of a switch machine comprises the following steps: Two gyroscopes are coaxially and reversely arranged on the main rotating shaft of the switch machine along the axis of the main rotating shaft of the switch machine to obtain angular velocity information of the main rotating shaft of the switch machine; Based on the angular velocity information, it is determined whether the switch machine performs a switching action and the smoothness of the switching action, whether there is inertia unlocking, the angle information and direction of the rotation of the main rotating shaft of the switch machine are obtained, and it is determined whether there is torque abnormality during the switching process of the turnout, so as to realize the angular motion monitoring of the main rotating shaft of the switch machine.

[0007] As a further optimization scheme of the present invention, the two gyroscopes are respectively set as a first gyroscope and a second gyroscope, the rotation direction of the first gyroscope is set to the positive direction of the main rotating shaft of the switch machine, and the rotation direction of the second gyroscope is set to the reverse direction of the main rotating shaft of the switch machine. The measurement values ​​of the two gyroscopes are subtracted to eliminate the temperature error and slow drift.

[0008] As a further optimization solution of the present disclosure, the angular velocity information of the main rotating shaft of the switch machine is half of the difference between the measurement value of the first gyroscope and the measurement value of the second gyroscope.

[0009] As a further optimization solution of the present disclosure, judging whether the switch machine performs a switching action and the smoothness of the switching action based on the angular velocity information includes: Obtain the angular velocity information ω and time data of the gyroscope in real time and set the adopted frequency; When the switch machine does not move when it reaches the fixed / reverse position, the switch machine is in a locked state, and the main rotating shaft of the switch machine does not rotate; at this time, the angular velocity information ω of the gyroscope is data that fluctuates around 0, and by calculating the preset time mean, it is determined according to the set no-rotation threshold T_0 that the main rotating shaft of the switch machine does not rotate; When the switch machine is in motion, the main rotating shaft of the switch machine rotates; at this time, the angular velocity information ω measured by the gyroscope is the rotation angular velocity of the main rotating shaft of the switch machine; when ω>T_0, ω is numerically integrated within the action time period to calculate the total angle change θ, and whether the switch machine is in place is determined by judging whether θ reaches the expected angle; The rotation of the main rotating shaft of the switch machine is divided into three stages, the first stage is from static to rotation speed ω_r, the second stage is rotating at the rotation speed ω_r for a preset time, and the third stage is decreasing from the rotation speed ω_r to static; the speed data of the second stage is intercepted and the variance is calculated, or the number of data of the speed data of the second stage outside the positive and negative deviation thresholds is determined to determine the smoothness of the rotation of the main rotating shaft of the switch machine.

[0010] As a further optimization solution of the present disclosure, determining whether inertial unlocking exists based on the angular velocity information includes: It is determined whether the speed data of the third stage has an inertia unlocking feature. If so, inertia unlocking exists; if not, inertia unlocking does not exist.

[0011] As a further optimization scheme of the present disclosure, obtaining the angle and direction of rotation of the main rotating shaft of the switch machine based on the angular velocity information includes: The angle information is obtained by integrating the angular velocity information of the timing length, and the gyroscope output represents the clockwise or counterclockwise rotation direction through a numerical sign.

[0012] As a further optimization solution of the present disclosure, judging whether there is a torque abnormality during the switch switching process based on the angular velocity information includes: The angular velocity information is differentiated to obtain the angular acceleration information of the main rotating shaft of the switch machine. According to the relationship between angular acceleration, moment of inertia and torque, the real-time torque information of the main rotating shaft of the switch machine acting on the switch machine operating rod is calculated. According to the torque information, it is determined whether there is any abnormal torque during the switching process of the turnout.

[0013] A switch machine main rotating shaft angular motion monitoring system, comprising: An angular velocity acquisition module is used to coaxially and oppositely stack two gyroscopes on the main rotating shaft of the switch machine along the axis of the main rotating shaft of the switch machine to obtain angular velocity information of the main rotating shaft of the switch machine; The monitoring module is used to determine whether the switch machine performs a switching action and the smoothness of the switching action based on the angular velocity information, determine whether there is inertia unlocking, obtain the angle information and direction of rotation of the main rotating shaft of the switch machine, and determine whether there is torque abnormality during the switching process of the turnout, so as to realize the angular movement monitoring of the main rotating shaft of the switch machine.

[0014] An electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, for storing computer programs; The processor is used to execute the program stored in the memory to implement the method for monitoring the angular movement of the main rotating shaft of the switch machine.

[0015] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, a method for monitoring the angular motion of a main rotating shaft of a switch machine is implemented.

[0016] The beneficial effects of the present disclosure are: The present invention monitors the rotation angle of the main rotating shaft to assist in judging the action of the switch machine, the smoothness of the rotation of the main rotating shaft of the switch machine, and whether the switch machine has inertia unlocking. It can also monitor whether there is torque abnormality during the switching process of the turnout, thereby greatly improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a method flow chart in an embodiment of the present disclosure; Figure 2 is a schematic diagram of the installation and setting of a gyroscope in an embodiment of the present disclosure; Figure 3 is a schematic diagram of three stages of rotation of the main rotating shaft in an embodiment of the present disclosure; Figure 4 is a schematic diagram of inertial unlocking in an embodiment of the present disclosure; Figure 5 is a system structure block diagram in an embodiment of the present disclosure; Figure 6 It is a block diagram of the device structure in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0019] like Figure 1 As shown, a method for monitoring the angular motion of the main rotating shaft of a switch machine comprises the following steps: Two gyroscopes are coaxially and reversely arranged on the main rotating shaft of the switch machine along the axis of the main rotating shaft of the switch machine to obtain angular velocity information of the main rotating shaft of the switch machine; Based on the angular velocity information, it is determined whether the switch machine performs a switching action and the smoothness of the switching action, whether there is inertia unlocking, the angle information and direction of the rotation of the main rotating shaft of the switch machine are obtained, it is determined whether there is torque abnormality during the switching process of the turnout, and the temperature error and slow drift are eliminated, so as to realize the angular motion monitoring of the main rotating shaft of the switch machine.

[0020] In this embodiment, taking the most commonly used ZD6 type switch machine and ZDJ9 type switch machine as examples, the specific functions of the rotating parts of the ZD6 type switch machine include: Electric motor: provides power for the electric switch machine; Reducer: Reduces the speed of the motor to obtain sufficient torque and complete the transmission; Friction coupling: prevents damage to the machine parts when the point rail is blocked, and forms a friction connection between the output shaft and the main rotating shaft through springs and friction brake plates; Main rotating shaft: driven by the output shaft through the starting plate, the locking gear is installed on the main rotating shaft, which converts the rotation into translation, drives the switch point rail to move through the action rod, and completes the locking effect; Action rod: connected to the rack block. In normal operation, the rack block drives the action rod; in the case of extrusion, the extrusion pin breaks, and the action rod and the rack block are separated to avoid damage to the machine parts; Indicator rod: It is composed of front and rear indicator rods and two inspection blocks. It moves with the switch rail. Only when the switch rail is tightly attached and locked, the inspection column of the automatic switch can fall into the gap of the indicator rod to connect the switch indication circuit. When the switch is squeezed, the indicator rod is pushed to lift the inspection column, thereby disconnecting the switch indication circuit. These rotating parts work together to ensure that the switch machine can safely and accurately control the switching and locking of the turnouts to ensure the safety of train travel.

[0021] The angular motion monitoring of the main rotating parts of the switch machine can realize the rotation monitoring of the main rotating shaft for the ZD6 switch machine, monitor the rotation angle of the main rotating shaft, and assist in judging the action of the switch machine and the smoothness of the rotation of the main rotating shaft of the switch machine. For the ZDJ9 switch machine, by monitoring the rotation of the ball screw of the switch machine, it can also assist in judging the action of the switch machine and the smoothness of the action of the switch machine.

[0022] In addition, there is a safety risk of inertial unlocking in switch machines. By monitoring the angular motion of the switch machine's main rotating shaft, it is possible to monitor whether the switch machine has inertial unlocking. (Inertial unlocking of a switch machine refers to the phenomenon that the locking device fails to lock normally or is accidentally unlocked during or after the switch is completed due to the inertia of the switch machine's internal mechanical components. Inertial unlocking affects driving safety and reduces system reliability.) Taking the ZD6 type switch machine as an example, the main rotating shaft of the switch machine is driven to rotate by the output shaft through the starting plate. The locking gear is installed on the main rotating shaft to convert the rotation into translation, and the action rod drives the switch point rail to move and complete the locking effect. The action rod is connected to the rack block. In normal operation, the rack block drives the action rod.

[0023] For the ZD6 type switch machine, two single-axis micro-electromechanical systems (MEMS) gyroscopes are coaxially and oppositely stacked on the main rotating shaft of the switch machine. Figure 2 As shown, two coaxial and reversely overlapped MEMS gyroscopes are used as sensing elements to output information through a conductive slip ring (ZD6 gear rack transmission does not have a full rotation, so no conductive slip ring is required). The processing board processes and calculates the information, and the results are transmitted to the monitoring and maintenance center. The gyroscope measures the angular motion of the main rotating shaft. Based on the measurement information of the gyroscope, that is, the angular velocity information, it can be determined whether the switch machine performs the conversion action and the smoothness of the conversion action; Gyroscope measurement information: Gyroscopes are used to measure the angular motion of an object, that is, the rotation rate around a single axis, usually in degrees / second or rad / second.

[0024] How to judge whether the switch machine performs the switching action and the smoothness of the switching action based on these data: S1: Obtain the angular velocity information ω and time data of the gyroscope in real time, with a sampling frequency of not less than 100 Hz; S2: When the switch machine does not move to the fixed / reverse position, the switch machine is in a locked state, and the main rotating shaft does not rotate. At this time, the angular velocity information ω of the gyroscope is data that fluctuates around 0. By calculating the average value for a certain period of time (1s), it is judged that the main rotating shaft of the switch machine does not rotate according to the set no-rotation threshold T_0.

[0025] S3: When the switch machine is in action, the main rotating shaft rotates. At this time, the angular velocity information ω measured by the gyroscope is the angular velocity of the main rotating shaft. The sign of ω indicates the rotation direction of the main rotating shaft. Through calibration, the fixed-reverse position conversion relationship of the switch machine can be determined according to the sign of the gyroscope angular velocity. When ω>T_0, within the action time period, ω is numerically integrated to calculate the total angle change θ. The calculation formula is as follows: ; By judging whether θ reaches the expected angle, it can be judged whether the switch machine is in place.

[0026] S4: Smoothness judgment: The motor drives the main rotating shaft to rotate in three stages, such as Figure 3 As shown: the first stage - the main rotating shaft rotates from static to ω_r, the second stage - the main rotating shaft rotates at ω_r for a period of time, and the third stage - the main rotating shaft decreases from the ω_r speed to static; the smoothness judgment method: intercept the second stage data, calculate its variance, or judge the number of data in this section that are outside the positive and negative deviation thresholds, which is used to judge the smoothness of the rotation.

[0027] Inertial unlocking judgment: Check whether the gyroscope angular velocity data has characteristics, such as Figure 4 shown.

[0028] In addition, by integrating the measured angular velocity information, the angle and direction of rotation of the main rotating shaft of the switch machine can be obtained, which can also assist in judging whether the switch machine is in place: The gyroscope measures and outputs the measured angular velocity information. The angle information can be obtained by integrating the angular velocity information of the timing length. The calculation is as follows: ; In actual calculation, the sampling period and the acceleration measurement value can be summed up to calculate: ; The gyro output represents the clockwise or counterclockwise rotation direction through the numerical sign.

[0029] At the same time, the measured angular velocity information is differentiated to obtain the angular acceleration information of the main rotating shaft of the switch machine. According to the relationship between angular acceleration, moment of inertia and torque, the real-time torque information of the main rotating shaft acting on the action rod can be calculated: The angular acceleration can be obtained by differentiating the angular velocity information measured by the gyroscope Information, angular acceleration is a physical quantity that describes the rate of change of an object's angular velocity over time. The calculation is as follows: ; According to the calculated angular acceleration And the motor's moment of inertia I, the real-time torque can be calculated and obtained as follows: ; Wherein, τ represents torque (torque), the unit is Newton meter (N m); I represents the moment of inertia, and its unit is kilogram square meter (kg·m²); α is the angular acceleration in radians per second squared (rad / s²).

[0030] By monitoring the calculated torque in real time, it is possible to determine whether there is any abnormal torque during the switch switching process.

[0031] Taking into account the temperature drift of the gyroscope, the common mode error term caused by temperature and environment is eliminated by using the coaxial reverse superposition method and the difference of two measurement information: The measurement of the gyroscope consists of three parts: is the gyro measurement information, Angular velocity information, Temperature-dependent errors, Slow drift, their relationship is as follows: ; By installing two gyroscopes of the same model along the main rotating axis of the switch machine, facing each other, and if the rotation direction of the first gyroscope is taken as the positive direction of the main rotating axis of the switch machine, then the temperature error term and the slow drift term can be eliminated by subtracting the measurement values ​​of the two gyroscopes.

[0032] Similarly, for the ZDJ9 ball screw switch machine, the MEMS gyroscope is installed on the ball screw, and the measured angular velocity can also be used to monitor the smoothness of the switch machine's conversion. The number of rotations (angles) of the switch machine's ball screw can be calculated by integrating the measured angular velocity. The torque or axial force of the switch machine can also be calculated by the angular acceleration information obtained by differentiating the angular velocity.

[0033] The ZDJ9 switch machine monitors the rotation of its ball screw through a gyroscope, and other monitoring and processing methods are the same as above.

[0034] In addition, by monitoring the angular velocity of the main rotating shaft of the switch machine, it is also possible to monitor whether the switch machine has inertial unlocking. If it is detected that the angular velocity information in the opposite direction appears after the switch machine is in place, inertial unlocking exists and timely warning is required.

[0035] like Figure 5 As shown, an embodiment of the present disclosure provides a system for monitoring the angular motion of a main rotating shaft of a switch machine, comprising: An angular velocity acquisition module is used to coaxially and oppositely stack two gyroscopes on the main rotating shaft of the switch machine along the axis of the main rotating shaft of the switch machine to obtain angular velocity information of the main rotating shaft of the switch machine; The monitoring module is used to determine whether the switch machine performs a switching action and the smoothness of the switching action based on the angular velocity information, determine whether there is inertia unlocking, obtain the angle information and direction of rotation of the main rotating shaft of the switch machine, determine whether there is torque abnormality during the switching process of the turnout, and eliminate temperature errors and slow-changing drifts, so as to realize angular motion monitoring of the main rotating shaft of the switch machine.

[0036] The implementation process of the functions and effects of each module in the above system is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0037] For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the disclosed solution. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0038] In the above embodiments, any number of all modules can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. At least one of all modules can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in a suitable combination of any of them. Alternatively, at least one of all modules can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be executed.

[0039] See also Figure 6 , an electronic device provided by an embodiment of the present disclosure includes a processor 1110, a communication interface 1120, a memory 1130 and a communication bus 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other through the communication bus 1140; Memory 1130, for storing computer programs; The processor 1110 is used to implement the following method for monitoring the angular motion of the main rotating shaft of the switch machine when executing the program stored in the memory 1130.

[0040] The communication bus 1140 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1140 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0041] The communication interface 1120 is used for communication between the above electronic device and other devices.

[0042] The memory 1130 may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory 1130 may also be at least one storage device located away from the processor 1110.

[0043] The above-mentioned processor 1110 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0044] The embodiment of the present disclosure further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for monitoring the angular motion of the main rotating shaft of a switch machine as described above is implemented.

[0045] The computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed, the method for monitoring the angular motion of the main rotating shaft of the switch machine according to the embodiment of the present disclosure is implemented.

[0046] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0047] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present disclosure. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure.

Claims

1. A method for monitoring the angular motion of the main rotating shaft of a switch machine, characterized in that: The following steps are involved: Two gyroscopes are coaxially and reversely arranged on the main rotating shaft of the switch machine along the axis of the main rotating shaft of the switch machine to obtain angular velocity information of the main rotating shaft of the switch machine; Based on the angular velocity information, it is determined whether the switch machine performs a switching action and the smoothness of the switching action, whether there is inertia unlocking, the angle information and direction of the rotation of the main rotating shaft of the switch machine are obtained, and it is determined whether there is torque abnormality during the switching process of the turnout, so as to realize the angular motion monitoring of the main rotating shaft of the switch machine.

2. A method for monitoring the angular motion of the main rotating shaft of a switch machine according to claim 1, characterized in that: The two gyroscopes are respectively set as the first gyroscope and the second gyroscope, the rotation direction of the first gyroscope is set to the positive direction of the main rotation axis of the switch machine, and the rotation direction of the second gyroscope is set to the reverse direction of the main rotation axis of the switch machine. The measurement values ​​of the two gyroscopes are subtracted to eliminate the temperature error and slow drift.

3. A method for monitoring the angular motion of the main rotating shaft of a switch machine according to claim 2, characterized in that: The angular velocity information of the main rotating shaft of the switch machine is half of the difference between the measurement value of the first gyroscope and the measurement value of the second gyroscope.

4. A method for monitoring the angular motion of the main rotating shaft of a switch machine according to claim 1, characterized in that: Judging whether the switch machine performs a switching action and the smoothness of the switching action based on the angular velocity information includes: Obtain the angular velocity information ω and time data of the gyroscope in real time and set the sampling frequency; When the switch machine does not move when it reaches the fixed / reverse position, the switch machine is in a locked state, and the main rotating shaft of the switch machine does not rotate; at this time, the angular velocity information ω of the gyroscope is data that fluctuates around 0, and by calculating the preset time mean, it is determined according to the set no-rotation threshold T_0 that the main rotating shaft of the switch machine does not rotate; When the switch machine is in motion, the main rotating shaft of the switch machine rotates; at this time, the angular velocity information ω measured by the gyroscope is the rotation angular velocity of the main rotating shaft of the switch machine; when ω> T_0, ω is numerically integrated within the action time period to calculate the total angle change θ, and whether the switch machine is in place is determined by judging whether θ reaches the expected angle; The rotation of the main rotating shaft of the switch machine is divided into three stages, the first stage is from static to rotation speed ω_r, the second stage is rotating at the rotation speed ω_r for a preset time, and the third stage is decreasing from the rotation speed ω_r to static; the speed data of the second stage is intercepted and the variance is calculated, or the number of data of the speed data of the second stage outside the positive and negative deviation thresholds is determined to determine the smoothness of the rotation of the main rotating shaft of the switch machine.

5. A method for monitoring the angular motion of the main rotating shaft of a switch machine according to claim 4, characterized in that: Determining whether there is inertial unlocking based on the angular velocity information includes: It is determined whether the speed data of the third stage has an inertia unlocking feature. If so, inertia unlocking exists; if not, inertia unlocking does not exist.

6. A method for monitoring the angular motion of the main rotating shaft of a switch machine according to claim 1, characterized in that: Obtaining the rotation angle and direction of the main rotating shaft of the switch machine based on the angular velocity information includes: The angle information is obtained by integrating the angular velocity information of the timing length, and the gyroscope output represents the clockwise or counterclockwise rotation direction through a numerical sign.

7. A method for monitoring the angular motion of the main rotating shaft of a switch machine according to claim 1, characterized in that: Judging whether there is a torque abnormality in the switch switching process based on the angular velocity information includes: The angular velocity information is differentiated to obtain the angular acceleration information of the main rotating shaft of the switch machine. According to the relationship between angular acceleration, moment of inertia and torque, the real-time torque information of the main rotating shaft of the switch machine acting on the switch machine operating rod is calculated. According to the torque information, it is determined whether there is any abnormal torque during the switching process of the turnout.

8. A system for monitoring the angular motion of the main rotating shaft of a switch machine, characterized in that: include: An angular velocity acquisition module is used to coaxially and oppositely stack two gyroscopes on the main rotating shaft of the switch machine along the axis of the main rotating shaft of the switch machine to obtain angular velocity information of the main rotating shaft of the switch machine; The monitoring module is used to determine whether the switch machine performs a switching action and the smoothness of the switching action based on the angular velocity information, determine whether there is inertia unlocking, obtain the angle information and direction of rotation of the main rotating shaft of the switch machine, and determine whether there is torque abnormality during the switching process of the turnout, so as to realize the angular movement monitoring of the main rotating shaft of the switch machine.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, for storing computer programs; The processor is used to execute the program stored in the memory to implement the method for monitoring the angular motion of the main rotating shaft of the switch machine according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for monitoring the angular motion of the main rotating shaft of a switch machine according to any one of claims 1 to 7 is implemented.

Images