A monitoring method, system, device and medium for the angular motion of the main rotating shaft of a switch machine

Abstract

The present disclosure relates to a method, system, device and medium for monitoring the angular motion of the main rotating shaft of a switch machine, belonging to the technical field of railway monitoring. The method for monitoring the angular motion of the main rotating shaft of the switch machine includes the following steps: Two gyroscopes are coaxially and oppositely superimposed along the axial direction of the main rotating shaft of the switch machine on the main rotating shaft of the switch machine to obtain the angular velocity information of the main rotating shaft of the switch machine; Based on the angular velocity information, it is judged whether the switch machine performs a conversion action and the smoothness of the conversion action, whether inertial unlocking exists, the angle information and direction of the rotation of the main rotating shaft of the switch machine are obtained, and whether there is an abnormal torque during the switching of the turnout is judged. This application can realize the rotation monitoring of the main rotating shaft, monitor the rotation angle of the main rotating shaft, assist in judging the action of the switch machine and the smooth state of the rotation of the main shaft of the switch machine, and can also monitor whether there is inertial unlocking of the switch machine.

Description

Technical Field

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

[0002] A switch machine is a key device in a railway signal system used to control the conversion and locking of turnouts. The switch machine can convert the turnout to the normal position or reverse position as required to control the driving direction of trains at railway intersections or bifurcations. After the turnout is turned to the required position and the switch rail is in close contact with the stock rail, the switch machine can achieve locking to prevent the turnout from being converted by external forces and ensure the safety of trains. The switch machine can correctly reflect the actual position of the turnout and give a corresponding indication after the switch rail is in close contact with the stock rail.

[0003] Currently, there are many technologies for monitoring the current, force, gap, etc. of switch machines, but the monitoring of the main rotating shaft of switch machines is relatively lacking.

[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 to solve the above problems.

[0006] The present disclosure achieves the above purpose through the following technical solutions:

[0007] A method for monitoring the angular motion of the main rotating shaft of a switch machine includes the following steps:

[0008] Two gyroscopes are coaxially and reversely superimposed along the axial direction of the main rotating shaft of the switch machine on the main rotating shaft of the switch machine to obtain the angular velocity information of the main rotating shaft of the switch machine;

[0009] Based on the angular velocity information, it is determined whether the switch machine performs a conversion action and the smoothness of the conversion action, whether inertial unlocking exists, the angle information and direction of the rotation of the main rotating shaft of the switch machine are obtained, and whether there is an abnormal torque during the switching process of the turnout is judged, so as to realize the monitoring of the angular motion of the main rotating shaft of the switch machine.

[0010] As a further optimized solution of the present disclosure, the two gyroscopes are respectively set as the first gyroscope and the second gyroscope. The rotation direction of the first gyroscope is set as the positive direction of the main rotating shaft of the switch machine, and the rotation direction of the second gyroscope is set as the reverse direction of the main rotating shaft of the switch machine. By subtracting the measurement values of the two gyroscopes, the temperature error and slow drift can be eliminated.

[0011] As a further optimization solution of the present disclosure, the angular velocity information of the main rotating shaft of the switch machine is one-half of the difference between the measured values of the first gyroscope and the second gyroscope.

[0012] As a further optimization solution of the present disclosure, determining whether the switch machine performs a switching action and the smoothness of the switching action based on the angular velocity information includes:

[0013] Obtain the angular velocity information ω and time data of the gyroscope in real time, and set the sampling frequency.

[0014] When the switch machine has no action to the normal / reverse position, the switch machine is in the 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 fluctuating near 0. By calculating the preset time average value, it is judged that the main rotating shaft of the switch machine does not rotate according to the set non-rotation threshold T_0.

[0015] When the switch machine performs an action, the main rotating shaft of the switch machine rotates; at this time, the angular velocity information ω measured by the gyroscope is the rotational angular velocity of the main rotating shaft of the switch machine; when ω>T_0, within the action time period, perform numerical integration on ω, calculate the total angle change θ, and judge whether the switch machine is in place by judging whether θ reaches the expected angle.

[0016] The rotation of the main rotating shaft of the switch machine is divided into three stages. The first stage is from static to rotational speed ω_r, the second stage is rotating at rotational speed ω_r for a preset time, and the third stage is decreasing from rotational speed ω_r to static; intercept the rotational speed data of the second stage and calculate the variance, or judge the number of data outside the positive and negative deviation thresholds of the rotational speed data in the second stage, so as to judge the smoothness of the rotation of the main rotating shaft of the switch machine.

[0017] As a further optimization solution of the present disclosure, determining whether there is inertial unlocking based on the angular velocity information includes:

[0018] Judge whether there are inertial unlocking characteristics in the rotational speed data of the third stage. If so, there is inertial unlocking; if not, there is no inertial unlocking.

[0019] As a further optimization solution of the present disclosure, obtaining the rotation angle and direction of the main rotating shaft of the switch machine based on the angular velocity information includes:

[0020] Obtain the angle information by integrating the angular velocity information for a fixed time period. The output of the gyroscope represents the clockwise and counterclockwise rotation directions through numerical signs.

[0021] As a further optimization solution of the present disclosure, determining whether there is torque abnormality during the switch of the turnout based on the angular velocity information includes:

[0022] Differentiate and calculate the angular velocity information 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, calculate the real-time torque information acting on the operating rod of the switch machine by the main rotating shaft of the switch machine, and judge whether there is an abnormal torque situation during the switchover of the turnout based on the torque information.

[0023] An angular motion monitoring system for the main rotating shaft of a switch machine, comprising:

[0024] An angular velocity acquisition module, configured to coaxially and oppositely stack two gyroscopes on the main rotating shaft of the switch machine along the axial direction of the main rotating shaft of the switch machine to acquire the angular velocity information of the main rotating shaft of the switch machine;

[0025] A monitoring module, configured to judge 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 inertial unlocking, obtain the angle information and direction of rotation of the main rotating shaft of the switch machine, and judge whether there is an abnormal torque during the switching of the turnout, so as to realize the angular motion monitoring of the main rotating shaft of the switch machine.

[0026] An electronic device, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0027] The memory is used for storing computer programs;

[0028] The processor is configured to execute the programs stored in the memory to implement the angular motion monitoring method of the main rotating shaft of the switch machine.

[0029] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the angular motion monitoring method of the main rotating shaft of the switch machine is implemented.

[0030] The beneficial effects of the present disclosure are as follows:

[0031] By monitoring the rotation angle of the main rotating shaft, the present disclosure assists in judging the action of the switch machine, the smooth state during the rotation of the main rotating shaft of the switch machine, determines whether there is inertial unlocking in the switch machine, and can also monitor whether there is an abnormal torque during the switching of the turnout, greatly improving safety. Description of the Drawings

[0032] Figure 1 is the flowchart of the method in the embodiment of the present disclosure;

[0033] Figure 2 is the installation and setting schematic diagram of the gyroscope in the embodiment of the present disclosure;

[0034] Figure 3 is the schematic diagram of three stages of the rotation of the main rotating shaft in the embodiment of the present disclosure;

[0035] Figure 4 is a schematic diagram of inertial unlocking in an embodiment of the present disclosure;

[0036] Figure 5 is a system structure block diagram in an embodiment of the present disclosure;

[0037] Figure 6 is a device structure block diagram in an embodiment of the present disclosure. Detailed implementation manners

[0038] The following further describes the present application in detail with reference to the accompanying drawings. It is necessary to point out here that the following detailed implementation manners are only used to further illustrate the present application and should not be construed as limiting the protection scope of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0039] As Figure 1 shown, a method for monitoring the angular motion of the main rotating shaft of a switch machine includes the following steps:

[0040] Two gyroscopes are coaxially and reversely superimposed along the axial direction of the main rotating shaft of the switch machine on the main rotating shaft of the switch machine to obtain the angular velocity information of the main rotating shaft of the switch machine;

[0041] Based on the angular velocity information, it is determined whether the switch machine performs a conversion action and the smoothness of the conversion action, whether inertial unlocking exists, the angle information and direction of the rotation of the main rotating shaft of the switch machine are obtained, whether there is abnormal torque during the switching of the turnout is judged, and temperature errors and slow drift are eliminated, so as to realize the monitoring of the angular motion of the main rotating shaft of the switch machine.

[0042] 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 components of the ZD6 type switch machine include:

[0043] Motor: provides power for the electric switch machine;

[0044] Reducer: reduces the speed of the motor to obtain sufficient torque and completes the transmission;

[0045] Friction coupling: prevents damage to the machine parts when the switch rail is blocked, and forms a friction connection between the output shaft and the main rotating shaft through a spring and a friction brake plate;

[0046] Main rotating shaft: is driven to rotate by the output shaft through a starting piece. A locking gear is installed on the main rotating shaft to convert the rotation into linear motion, drives the switch rail of the turnout to move through an action rod, and completes the locking function;

[0047] Operating lever: It is connected to the rack block. When operating normally, the rack block drives the operating lever. When the switch is squeezed, the shear pin breaks, and the operating lever separates from the rack block to avoid damage to the machine parts.

[0048] Indication lever: It consists of front and rear indication levers and two inspection blocks. It moves with the switch rail. Only when the switch rail is in close contact and locked, the inspection post of the automatic switch can fall into the notch of the indication lever to connect the switch indication circuit. When the switch is squeezed, the indication lever is pushed to lift the inspection post, thus disconnecting the switch indication circuit.

[0049] These rotating parts work together to ensure that the switch machine can control the conversion and locking of the switch safely and accurately to ensure the driving safety of the train.

[0050] Monitoring the angular motion of the main rotating parts of the switch machine can, for the ZD6 type switch machine, realize the rotation monitoring of the main rotating shaft, monitor the rotation angle of the main rotating shaft, and assist in judging the operation of the switch machine and the smooth state during the rotation of the main rotating shaft of the switch machine, etc.; for the ZDJ9 type switch machine, by monitoring the rotation of the ball screw of the switch machine, it can also assist in judging the operation of the switch machine and the smooth state of the operation of the switch machine, etc.

[0051] In addition, there is also a safety risk of inertial unlocking in the switch machine. By monitoring the angular motion of the main rotating shaft of the switch machine, it can be monitored whether there is an inertial unlocking situation in the switch machine. (Inertial unlocking of the switch machine refers to the phenomenon that due to the inertial effect of the internal mechanical parts of the switch machine, the locking device fails to lock normally or is accidentally unlocked during or after the conversion of the switch. Inertial unlocking affects the train operation safety and reduces the system reliability)

[0052] Taking the ZD6 type switch machine as an example, the main rotating shaft of the switch machine is driven by the output shaft through the starting piece to rotate. A locking gear is installed on the main rotating shaft to convert the rotation into linear motion, drive the switch rail of the switch through the operating lever, and complete the locking function. The operating lever is connected to the rack block. When operating normally, the rack block drives the operating lever.

[0053] For the ZD6 type switch machine, two single-axis microelectromechanical (MEMS) gyroscopes are coaxially and reversely superimposed along the axial direction of the main rotating shaft of the switch machine and installed on the main rotating shaft of the switch machine as shown in Figure 2 Two coaxially and reversely overlapping MEMS gyroscopes are used as sensing elements to output information through a conductive slip ring (the ZD6 gear-rack drive has no full-circle rotation and does not require a conductive slip ring). The processing board processes and calculates the information, and the result is transmitted to the monitoring and maintenance center. The gyroscope measures the angular motion of the main rotating shaft. According to the measured information of the gyroscope, that is, the angular velocity information, it can be judged whether the switch machine performs a conversion operation and the smoothness of the conversion operation.

[0054] Measurement information of the gyroscope: The gyroscope is used to measure the angular motion of an object, that is, the rotation rate around a single axis, usually in ° / s or rad / s.

[0055] How to judge whether the switch machine performs a conversion action and the smoothness of the conversion action based on this data:

[0056] S1: Obtain the angular velocity information ω and time data of the gyroscope in real time, and the sampling frequency is not less than 100Hz;

[0057] S2: When the switch machine has no action to the normal / reverse position, the switch machine is in the locked state and the main rotating shaft has no rotation. At this time, the angular velocity information ω of the gyroscope is data fluctuating around 0. By calculating the mean value for a certain time (1s) and judging according to the set no-rotation threshold T_0, it is determined that the main rotating shaft of the switch machine has no rotation.

[0058] S3: When the switch machine performs an action, the main rotating shaft rotates. At this time, the angular velocity information ω measured by the gyroscope is the rotational angular velocity of the main rotating shaft, and the sign of ω represents the rotation direction of the main rotating shaft. Through calibration, the normal / reverse position conversion relationship of the switch machine can be determined according to the sign of the gyro angular velocity. When ω>T_0, within the action time period, perform numerical integration on ω to calculate the total angle change θ, and the calculation formula is as follows:

[0059] ;

[0060] Judge whether the switch machine is in place by judging whether θ reaches the expected angle.

[0061] S4: Smoothness judgment: The rotation of the main rotating shaft driven by the motor is divided into three stages, as Figure 3 shown: The first stage - the main rotating shaft changes from static to the rotational speed ω_r, the second stage - the main rotating shaft rotates at ω_r for a period of time, and the third stage - the rotational speed of the main rotating shaft decreases from ω_r to static; The smoothness judgment method: Intercept the data of the second stage, calculate its variance, or judge the number of data outside the positive and negative deviation thresholds of this section of data to judge the smoothness of the rotation.

[0062] Judgment of inertial unlocking: Based on whether there are characteristics in the gyro angular velocity data, as Figure 4 shown.

[0063] In addition, by performing integral operation on the measured angular velocity information, the angle and direction of the 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:

[0064] The gyroscope measures and outputs the measured angular velocity information. The angle information can be obtained by integrating the angular velocity information for a fixed time length, and the calculation is as follows:

[0065] ;

[0066] In actual calculations, it can be calculated by summing the sampling period and the acceleration measurement value:

[0067] ;

[0068] The output of the gyroscope characterizes the clockwise and counterclockwise rotation directions through numerical signs.

[0069] At the same time, by differentiating the measured angular velocity information, the angular acceleration information of the main rotating shaft of the switch machine can be obtained. According to the relationship between angular acceleration, moment of inertia, and torque, the real-time torque information acting on the operating rod by the main rotating shaft can be calculated:

[0070] Differentiating the angular velocity information measured by the gyroscope can obtain the angular acceleration information. Angular acceleration is a physical quantity that describes the rate of change of an object's angular velocity with time. The calculation is as follows:

[0071] ;

[0072] According to the calculated angular acceleration and the moment of inertia I of the motor, the real-time torque can be calculated and obtained. The calculation is as follows:

[0073] ;

[0074] Among them, τ represents torque, and the unit is Newton-meter (N·m);

[0075] I represents the moment of inertia, and the unit is kilogram square meter (kg·m²);

[0076] α represents angular acceleration, and the unit is radian per second squared (rad / s²).

[0077] By monitoring the calculated torque in real time, it can be judged whether there is an abnormal torque situation during the switchover of the turnout.

[0078] Considering the temperature drift of the gyroscope, through the way of coaxial reverse superposition and using the difference of two measurement information, the common-mode error terms caused by temperature and environment are eliminated:

[0079] The measurement of the gyroscope consists of three parts, is the gyro measurement information, angular velocity information, temperature-related error, slow drift. Their relationship is as follows:

[0080] ;

[0081] By installing two gyroscopes of the same model along the main rotating shaft of the switch machine in opposite directions, if the rotation direction of the first gyroscope is defined as the positive direction of the main rotating shaft of the switch machine, then subtracting the measured values of the two gyroscopes can eliminate the temperature error term and the slow-varying drift term.

[0082] Similarly, for the ZDJ9 ball screw switch machine, installing the MEMS gyroscope on the ball screw can also monitor the smoothness of the switch machine conversion by using the measured angular velocity. By integrating the measured angular velocity, the number of turns (angle) of the ball screw rotation of the switch machine can be calculated. Similarly, the torque or axial force of the switch machine can also be calculated through the angular acceleration information obtained by differentiating the angular velocity.

[0083] For the ZDJ9 switch machine, the rotation of its ball screw is monitored by the gyroscope, and other monitoring and processing methods are the same as those described above.

[0084] In addition, by monitoring the angular velocity of the main rotating shaft of the switch machine, it is also possible to monitor whether there is an inertial unlocking situation for the switch machine. If angular velocity information in the opposite direction appears after the switch machine reaches its position, there is an inertial unlocking situation and an early warning needs to be issued in a timely manner.

[0085] Such as Figure 5 As shown, the embodiments of the present disclosure provide an angular motion monitoring system for the main rotating shaft of a switch machine, including:

[0086] An angular velocity acquisition module for coaxially and reversely stacking two gyroscopes along the axial direction of the main rotating shaft of the switch machine on the main rotating shaft of the switch machine to acquire the angular velocity information of the main rotating shaft of the switch machine;

[0087] A monitoring module for judging whether the switch machine performs a conversion action and the smoothness of the conversion action, determining whether there is inertial unlocking, obtaining the angle information and direction of the rotation of the main rotating shaft of the switch machine, judging whether there is an abnormal torque during the switchover of the turnout, and eliminating temperature errors and slow-varying drifts, so as to realize the angular motion monitoring of the main rotating shaft of the switch machine.

[0088] The implementation processes of the functions and roles of each module in the above system are specifically described in detail in the implementation processes of the corresponding steps in the above method, and will not be elaborated here.

[0089] For system embodiments, since they basically correspond to method embodiments, the relevant parts can be referred to the descriptions in the method embodiments. The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present disclosure. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0090] In the above embodiments, any number of all the modules can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Or, 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 the 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 chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by any other reasonable way of integrating or packaging circuits, etc., by hardware or firmware, or implemented in any one of the three implementation manners of software, hardware, and firmware, or in any appropriate combination of several of them. Or, at least one of all the modules can be at least partially implemented as a computer program module, and when the computer program module runs, it can execute the corresponding functions.

[0091] See Figure 6 , the electronic device provided by the embodiments of the present disclosure includes a processor 1110, a communication interface 1120, a memory 1130, and a communication bus 1140. Among them, the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other through the communication bus 1140;

[0092] The memory 1130 is used to store computer programs;

[0093] When the processor 1110 is used to execute the programs stored on the memory 1130, it implements the following switch machine main rotating shaft angular motion monitoring method.

[0094] The communication bus 1140 described above can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus 1140 can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity in illustration, only a thick line is used in the figure to represent it, but it does not mean that there is only one bus or one type of bus.

[0095] The communication interface 1120 is used for communication between the above-mentioned electronic device and other devices.

[0096] The memory 1130 can include a Random Access Memory (RAM), and can also include a non-volatile memory, such as at least one disk memory. Optionally, the memory 1130 can also be at least one storage device located far from the aforementioned processor 1110.

[0097] 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 gate or transistor logic devices, discrete hardware components.

[0098] The embodiments of the present disclosure also provide a computer-readable storage medium. A computer program is stored on the above-mentioned computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned monitoring method for the angular motion of the main rotating shaft of the switch machine is implemented.

[0099] The computer-readable storage medium can be included in the device / apparatus described in the above embodiments; it can also exist alone without being assembled into the device / apparatus. The above-mentioned computer-readable storage medium carries one or more programs, and when the one or more programs are executed, the monitoring method for the angular motion of the main rotating shaft of the switch machine according to the embodiments of the present disclosure is implemented.

[0100] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0101] The above-described embodiments merely represent several implementation manners of the present disclosure, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the patent scope of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several modifications and improvements can still be made, 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 whether there is a torque abnormality during the switching process of the turnout is determined, so as to realize the angular motion monitoring of the main rotating shaft of the switch machine; 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 speed ω_r, the second stage is rotating at the speed ω_r for a preset time, and the third stage is decreasing from the speed ω_r to static; intercepting the speed data of the second stage and calculating the variance, or judging the number of data outside the positive and negative deviation thresholds of the speed data of the second stage, to judge the smoothness of the rotation of the main rotating shaft of the switch machine; Determining whether there is inertia 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.

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: 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.

5. 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.

6. 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; A 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 angular motion monitoring of the main rotating shaft of the switch machine; 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 speed ω_r, the second stage is rotating at the speed ω_r for a preset time, and the third stage is decreasing from the speed ω_r to static; intercepting the speed data of the second stage and calculating the variance, or judging the number of data outside the positive and negative deviation thresholds of the speed data of the second stage, to judge the smoothness of the rotation of the main rotating shaft of the switch machine; 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.

7. 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 5.

8. 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 5 is implemented.

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