A track plate position adjusting method and device, computer equipment and storage medium

Abstract

The application provides a track plate position adjusting method and device, computer equipment and a storage medium, and belongs to the field of railway transportation. The method comprises the following steps: obtaining the prism coordinates of a fine adjustment vehicle through a total station, and establishing a new coordinate system with the fine adjustment vehicle as a reference; under the new coordinate system, calculating the horizontal cylinder extension amount based on a preset target position; establishing a temporary coordinate system based on the track plate center, converting the fine adjustment vehicle vertical fine adjustment support center coordinates from the new coordinate system to the temporary coordinate system, and determining the vertical cylinder coordinates based on the conversion result; driving the horizontal cylinder to adjust the track plate; establishing a temporary new coordinate system with the preset target position as the center, converting the dynamic and static point coordinates of the vertical cylinder from the temporary new coordinate system to the new coordinate system, calculating the vertical cylinder extension amount, and driving the vertical cylinder to make the track plate reach the preset target position in the vertical direction. The method avoids the deficiency of relying on experience for repeated adjustment in the traditional method, and makes the whole fine adjustment process more efficient.

Description

Technical Field

[0001] This invention belongs to the field of railway transportation, and specifically relates to a method, device, computer equipment, and storage medium for adjusting the position of track slabs. Background Technology

[0002] CRTS III slab track, a type of ballastless track independently developed in my country, has been widely laid on railway lines both domestically and internationally. CRTS III track slabs mainly include models P5600, P4925, and P4856. To ensure the safe operation of high-speed trains, extremely high precision is required for the laying of the track slabs, with vertical and lateral precision requirements both ≤2mm. However, due to the size and weight of the track slabs—for example, the P5600 slab measures 2.5m × 5.6m and weighs approximately 7.5 tons—high-precision adjustment of the track slabs is extremely difficult.

[0003] The main process of track slab fine-tuning construction includes: 1) installing fine-tuning claws at the track slab hoisting holes; 2) installing prisms at CP III points on both sides of the track and setting up a total station on the track centerline where fine-tuning is required; 3) multiple construction workers simultaneously adjusting the four fine-tuning claws in conjunction with the fine-tuning terminal commands to adjust the spatial position of the track slab to the design coordinates. However, the current fine-tuning construction is mainly manual and requires the cooperation of multiple construction workers, which takes a long time.

[0004] Existing technology provides an automatic adjustment method for the installation position of track slabs. This method involves installing an adjuster on a fine-tuning claw. Based on the dimensional deviation between the track slab position after rough laying and the ideal position, a control console controls a motor to rotate, driving the adjuster to adjust the fine-tuning claw, thereby adjusting the track slab's installation position. However, this method only adjusts the dimensional deviation during the position adjustment process. The distance between the rough-laid track slab and the previously laid track slab is generally very close, typically less than 10mm. This can lead to problems during adjustment: if the adjustment dimension input by the control console based on the deviation is inappropriate, the track slab to be installed may block the previously laid track slab, preventing further movement. This necessitates moving the track slab a short distance from its original position and readjusting, resulting in low efficiency. In summary, existing research mainly relies on traditional construction processes, improving some equipment to replace manual labor, but fails to further improve the fine-tuning construction process to improve the laying quality and efficiency of ballastless track. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a method, apparatus, computer device, and storage medium for adjusting the position of a track slab.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A method for adjusting the position of a track slab, the method comprising:

[0008] The coordinates of the fine-tuning train and the track slab are obtained using a total station, and a new coordinate system based on the fine-tuning train is established.

[0009] In the new coordinate system, the first extension and retraction of the three sets of horizontal electric cylinders of the fine-tuning vehicle are calculated based on the preset target position;

[0010] A temporary coordinate system is established based on the center of the track plate. The coordinates of the center of the vertical fine-tuning support of the fine-tuning car are transformed from the new coordinate system to the temporary coordinate system. Based on the transformation result, the coordinates of the moving and stationary points of the vertical electric cylinder of the fine-tuning car in the temporary coordinate system are determined.

[0011] The track plate is adjusted to a preset target position in the horizontal direction based on the first extension amount driven by the horizontal electric cylinder.

[0012] A temporary new coordinate system is established with the preset target position as the center. The coordinates of the moving and stationary points of the vertical electric cylinder are transformed from the temporary coordinate system to the temporary new coordinate system, and then transformed to the new coordinate system. The second extension amount of the vertical electric cylinder is calculated based on the preset target position in the new coordinate system. Based on the second extension amount, the vertical electric cylinder is driven to adjust the track plate to reach the preset target position in the vertical direction.

[0013] The process of obtaining the coordinates of the fine-tuning vehicle and the track slab using a total station, and establishing a new coordinate system based on the fine-tuning vehicle, includes:

[0014] Obtain the spatial coordinates of the left, right, and rear prisms of the fine-tuning vehicle;

[0015] Calculate the position of the origin of the new coordinate system based on the spatial coordinates;

[0016] Construct a new coordinate system based on the origin of the new coordinate system;

[0017] In the new coordinate system, the first extension / retraction amount of the three sets of horizontal electric cylinders of the fine-tuning vehicle, calculated based on the preset target position, includes:

[0018] Obtain the initial coordinates of the moving point and fixed point of the horizontal electric cylinder in the new coordinate system;

[0019] Determine the coordinates of the moving point target based on the preset target position;

[0020] The length of the target electric cylinder is calculated based on the coordinates of the moving target and the coordinates of the fixed target as the first extension / retraction amount;

[0021] The process of converting the center coordinates of the vertical fine-tuning support of the fine-tuning vehicle from the new coordinate system to the temporary coordinate system includes:

[0022] Calculate the first direction angle between the new coordinate system and the temporary coordinate system;

[0023] The coordinates of the center of the vertical fine-tuning support are transformed from the new coordinate system to the temporary coordinate system by using the included angle in the first direction;

[0024] The coordinates of the moving and stationary points of the vertical electric cylinder are transformed from a temporary coordinate system to a temporary new coordinate system, and then to the new coordinate system. The second extension / retraction amount of the vertical electric cylinder is calculated based on the preset target position in the new coordinate system, including:

[0025] Calculate the second direction angle between the temporary coordinate system and the temporary new coordinate system, and the third direction angle between the temporary new coordinate system and the new coordinate system;

[0026] The coordinates of the vertical electric cylinder's moving and stationary points are transformed from the temporary coordinate system to a new temporary coordinate system by using the second directional angle, and then transformed to the new coordinate system by using the third directional angle.

[0027] The second extension / retraction amount is calculated based on the converted coordinates of the moving and stationary points of the vertical electric cylinder.

[0028] A track slab position adjustment device, applied to a track slab position adjustment method, the device comprising:

[0029] The measurement module is used to obtain the coordinates of the fine-tuning vehicle and the track slab using a total station, and to establish a new coordinate system based on the fine-tuning vehicle.

[0030] The calculation module is used to calculate the first extension and retraction of the three sets of horizontal electric cylinders of the fine-tuning vehicle based on the preset target position in the new coordinate system.

[0031] The conversion module is used to establish a temporary coordinate system based on the center of the track plate, convert the center coordinates of the vertical fine-tuning support of the fine-tuning car from the new coordinate system to the temporary coordinate system, and determine the coordinates of the moving and stationary points of the vertical electric cylinder of the fine-tuning car in the temporary coordinate system based on the conversion result.

[0032] The fine-tuning module is used to drive the horizontal electric cylinder to adjust the track plate to a preset target position in the horizontal direction based on the first extension amount; to establish a temporary new coordinate system centered on the preset target position; to transform the dynamic and static coordinates of the vertical electric cylinder from the temporary coordinate system to the temporary new coordinate system, and then to the new coordinate system; to calculate the second extension amount of the vertical electric cylinder based on the preset target position in the new coordinate system; and to drive the vertical electric cylinder to adjust the track plate to a preset target position in the vertical direction based on the second extension amount.

[0033] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for adjusting the position of a track slab.

[0034] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the aforementioned method for adjusting the position of a track slab.

[0035] The track slab position adjustment method provided by this invention has the following beneficial effects:

[0036] This method acquires the coordinates of the fine-tuning prism using a total station and establishes a new coordinate system. Combined with the coordinated control of horizontal and vertical electric cylinders, it achieves precision and automation in the track slab fine-tuning process. Compared to traditional adjustment methods, it first accurately calculates the extension and retraction of the electric cylinders through dynamic coordinate system transformation, allowing the track slab to be positioned to the preset position in one go. This completely solves the problem of repeated repositioning and readjustment required due to input deviations causing the track slab to collide with adjacent slabs, significantly improving construction efficiency and avoiding the shortcomings of traditional methods that rely on repeated adjustments based on experience. This makes the entire fine-tuning process more scientific and efficient. Therefore, this method excels in improving fine-tuning accuracy, reducing the number of adjustments, optimizing the adjustment process, and increasing construction efficiency, providing strong technical support for the construction of ballastless tracks for high-speed railways. Attached Figure Description

[0037] To more clearly illustrate the embodiments and design schemes of the present invention, the accompanying drawings required for this embodiment will be briefly described below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic flowchart of a track slab position adjustment method provided by the present invention according to an exemplary embodiment.

[0039] Figure 2 This is a schematic diagram of a total station and the locations of various measuring points according to an exemplary embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram illustrating the adjustment direction of a track plate to be adjusted according to an exemplary embodiment of the present invention.

[0041] Figure 4 This invention provides a relative relationship between a new coordinate system and an existing coordinate system according to an exemplary embodiment.

[0042] Figure 5 This is a schematic diagram of the moving point of a horizontal electric cylinder according to an exemplary embodiment of the present invention.

[0043] Figure 6 This is a schematic diagram of a temporary coordinate system provided by the present invention according to an exemplary embodiment.

[0044] Figure 7 This is a schematic diagram showing the relative positions of a vertical fine-tuning bracket for a fine-tuning vehicle according to an exemplary embodiment of the present invention.

[0045] Figure 8 This is a schematic diagram of the position of a fine-tuning vertical electric cylinder according to an exemplary embodiment of the present invention.

[0046] Figure 9 This is a schematic diagram of the extension and retraction of a horizontal electric cylinder according to an exemplary embodiment of the present invention.

[0047] Figure 10 This is a block diagram of a track slab position adjustment device provided by the present invention according to an exemplary embodiment. Detailed Implementation

[0048] To enable those skilled in the art to better understand and implement the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0049] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] First, this invention provides a method for adjusting the position of a track slab, specifically as follows: Figure 1 As shown, it includes the following steps:

[0051] S101. Obtain the coordinates of the fine-tuning car and the track slab using a total station, and establish a new coordinate system based on the fine-tuning car.

[0052] Specifically, the spatial coordinates of the left, right, and rear prisms of the fine-tuning vehicle can be obtained; the position of the origin of the new coordinate system can be calculated based on these spatial coordinates; and a new coordinate system can be constructed based on the position of the origin of the new coordinate system.

[0053] In one embodiment, the initial spatial positions of the fine-tuning vehicle and the track slab are first obtained based on the total station. An existing coordinate system with the total station as the reference and a new coordinate system with the intelligent fine-tuning vehicle as the reference are established respectively. The dynamic and static coordinates and initial lengths of the three sets of vertical electric cylinders and three sets of horizontal electric cylinders of the fine-tuning vehicle under the initial position conditions are obtained. The spatial coordinates of the fine-tuning vehicle and the track slab, as well as the angle between the new coordinate system and the existing coordinate system, are calculated.

[0054] The spatial coordinate data of the fine-tuning vehicle and the track slab based on the CPIII control network were obtained using a total station. Specifically, the coordinate data of the three prisms of the fine-tuning vehicle are as follows: the center coordinates of the left prism A (X... a Y a Z a ), the center coordinates of the right prism B (X) b Y b Z b ), the coordinates of the rear prism center C (X) c Y c Z cThe coordinate data for the four prisms on the track slab are as follows: Prism #1: (X1, Y1, Z1); Prism #2: (X2, Y2, Z2); Prism #5: (X5, Y5, Z5); Prism #6: (X6, Y6, Z6). A schematic diagram of the total station and the locations of each measuring point is shown below. Figure 2 As shown.

[0055] Furthermore, to facilitate the calculation of relevant parameters during track slab fine-tuning, it is necessary to define the signs for slab laying direction, elevation adjustment, and lateral adjustment. Specifically, adjusting the slab in the direction of increasing mileage is "+", and adjusting it in the direction of decreasing mileage is "-"; increasing elevation is "+", and decreasing elevation is "-"; using a total station as the reference to observe the backsight prism in the direction of increasing mileage, adjusting to the left of the track slab centerline is "+", and adjusting to the right of the track slab centerline is "-", as shown below. Figure 3 As shown.

[0056] During the fine-tuning process, a coordinate system based on a total station is involved, which this invention refers to as the existing coordinate system, and a coordinate system based on an intelligent fine-tuning vehicle is involved, which this invention refers to as the new coordinate system.

[0057] For the existing coordinate system, the longitudinal direction of the line is the Y-axis, the direction from the total station to the backsight prism is the positive Y-axis, the transverse direction of the line is the X-axis, the direction to the right is the positive X-axis, the vertical direction of the line is the Z-axis, and the vertical upward direction is the positive Z-axis. The origin of the coordinate system is O (0, 0, 0). The coordinate position of any point in space in this coordinate system is P (X, Y, Z).

[0058] For the new coordinate system, such as Figure 4 As shown, the longitudinal centerline of the fine-tuning vehicle is taken as the Y' axis, and the longitudinal centerline of the fine-tuning vehicle frame is consistent with the positive direction of the Y-axis of the total station. The transverse centerline of the fine-tuning vehicle is taken as the X' axis, with the positive direction of the X' axis to the right (consistent with the direction of the X-axis of the total station). The vertical direction of the fine-tuning vehicle is taken as the Z' axis, with the positive direction of the vertical upward direction (consistent with the direction of the Z-axis of the total station). The origin of the coordinate system is O' (0, 0, 0). The coordinate position of any point in space in this coordinate system is P' (X', Y', Z').

[0059] Let the origin O' of the new coordinate system be located at O'(X0, Y0, Z0) in the space of the existing coordinate system. The angular relationships between the coordinate axes X', Y', and Z' of the new coordinate system and the coordinate axes X, Y, and Z of the existing coordinate system are shown in Table 1.

[0060] Table 1. Angles between the new coordinate system and the existing coordinate system

[0061]

[0062] The transformation formula between the new coordinate system and the existing coordinate system is:

[0063]

[0064]

[0065]

[0066] The inverse transform formula is:

[0067]

[0068]

[0069]

[0070] The fine-tuning car comprises multiple structures, including three sets of horizontal electric cylinders and three sets of vertical electric cylinders that directly control the spatial position of the track slab. It is necessary to know the coordinates of each cylinder in both the horizontal and vertical directions. Combined with the relative position of the fine-tuning car structure and the track slab, when the fine-tuning car coincides with the longitudinal centerline of the track slab, the coordinates and lengths of the moving and stationary points of the three sets of horizontal electric cylinders are as follows:

[0071] No. 1 horizontal electric cylinder:

[0072] Coordinates of the moving point: M1(X') M1 ,0,Z' M1 ), that is, M1(0, 0, -2145)

[0073] Fixed point coordinates: N1 (-770, 0, 2909.4)

[0074] Electric cylinder length: L1 = 1085 ± 200

[0075] No. 2 horizontal electric cylinder:

[0076] Coordinates of the moving point: M2(X') M2 ,0,Z' M2 ), that is, M2(0, 0, -2145).

[0077] Fixed point coordinates: N2 (770, 0, 2909.4)

[0078] Electric cylinder length: L2 = 1085 ± 200

[0079] No. 3 horizontal electric cylinder:

[0080] Coordinates of the moving point: M3(X') M3 ,0,Z' M3 ), that is, M3(0, 0, 2145)

[0081] Fixed point coordinates: N3 (1236, 0, 2145)

[0082] Electric cylinder length: L3 = 1235 ± 250 mm

[0083] Similarly, when the fine-tuning trolley is parallel to the plane of the fine-tuning trolley frame, the coordinates and lengths of the fixed points of the three sets of vertical electric cylinder moving points are as follows:

[0084] Vertical electric cylinder No. 4:

[0085] Coordinates of the moving point: M4(621, Y') M4 ,1514), that is, M1(621,-200,1514).

[0086] Fixed point coordinates: N4 (621, 612, 1514)

[0087] Electric cylinder length: L4 = 895 ± 175

[0088] Vertical electric cylinder No. 5:

[0089] Coordinates of the moving point: M5 (-621, Y') M5 ,1514), that is, M5 (-621, -200, 1514).

[0090] Fixed point coordinates: N5 (-621, 612, 1514)

[0091] Electric cylinder length: L5 = 895 ± 175

[0092] Vertical electric cylinder No. 6:

[0093] Coordinates of the moving point: M6(0, Y') M6 ,-1514), that is, M6(0,-200,1514)

[0094] Fixed point coordinates: N6 (0, 612, 1514)

[0095] Electric cylinder length: L6 = 895 ± 175

[0096] Furthermore, when the longitudinal centerline of the fine-tuning car coincides with that of the track slab and the plane of the fine-tuning trolley is parallel to that of the fine-tuning car frame, the lengths of the universal joint connecting sleeve and the universal joint connecting seat in the fine-tuning car are respectively:

[0097] Universal joint connecting sleeve center distance length: L7=L8=L9=225

[0098] Length from the center of the universal joint connector to the flange face: L 10 =L 11 =L 12 =85

[0099] After establishing a spatial coordinate system based on the total station and the fine-tuning vehicle, and clarifying the spatial coordinates of the track slab and the key positions of the fine-tuning vehicle, a mathematical model for track slab fine-tuning needs to be constructed. First, the coordinate data of the three prisms of the fine-tuning vehicle obtained from the measurement need to be transformed into the new coordinate system, and the origin of the fine-tuning vehicle coordinates needs to be calculated.

[0100] The coordinate data of the left prism can be obtained by calculating:

[0101]

[0102]

[0103]

[0104]

[0105] The coordinate data of the right prism can be obtained by calculating:

[0106]

[0107]

[0108]

[0109]

[0110] The coordinate data of the rear prism can be obtained by calculating:

[0111]

[0112]

[0113]

[0114] Then the origin of the fine-tuning vehicle's coordinates can be obtained as:

[0115]

[0116]

[0117]

[0118] Furthermore, the angle between the new coordinate system and the existing coordinate system can be obtained as follows:

[0119]

[0120]

[0121]

[0122]

[0123]

[0124]

[0125]

[0126]

[0127] Based on the angles between the coordinate systems, the coordinates of the four prisms on the coarse-laid track slab can be determined as follows:

[0128]

[0129]

[0130]

[0131]

[0132] S102. Under this new coordinate system, calculate the first extension and retraction of the three sets of horizontal electric cylinders of the fine-tuning vehicle based on the preset target position.

[0133] Specifically, the initial coordinates of the moving point and fixed point of the horizontal electric cylinder in the new coordinate system can be obtained; the target coordinates of the moving point can be determined according to the preset target position; and the target electric cylinder length can be calculated as the first extension amount based on the target coordinates of the moving point and the fixed point.

[0134] Based on a clear understanding of the spatial coordinates of the fine-tuning vehicle and the track slab, as well as the angle between the new and existing coordinate systems, the calculations for the track slab fine-tuning process can begin, completing a high-precision adjustment of the track slab. First, the horizontal direction is adjusted. When the horizontal adjustment bracket of the fine-tuning vehicle coincides with the new coordinate system, the following mathematical relationship exists in the XY plane:

[0135] No. 1 horizontal electric cylinder:

[0136] Coordinates of moving point: M 1x (L0 / 2, 0), fixed point coordinates: N 1x (X'N1, Y'N1), Electric cylinder length: .

[0137] No. 2 horizontal electric cylinder:

[0138] Coordinates of moving point: M 2x (L0 / 2, 0), fixed point coordinates: N 2x (X'N2, Y'N2), Electric cylinder length: .

[0139] No. 3 horizontal electric cylinder:

[0140] Coordinates of moving point: M 3x (L0 / 2, 0), fixed point coordinates: N 3x (X'N3, Y'N3), Electric cylinder length: .

[0141] Where L0 is the center distance between the hinge points of the two moving points, which is 4290mm, L1=L2=1080mm, and L3=1235mm.

[0142] Based on this, the center C of the horizontal transverse support can be obtained. VJ Spatial coordinates and deflection angle θ1:

[0143]

[0144]

[0145]

[0146] Then as Figure 5 As shown, the coordinates of the moving points M1, M2, and M3 are as follows:

[0147]

[0148]

[0149]

[0150]

[0151] Where θ1 is positive when rotated counterclockwise according to the right-hand rule, and negative when rotated clockwise, the lengths of the three sets of horizontal electric cylinders after fine adjustment can be calculated:

[0152]

[0153]

[0154]

[0155] By calculating the difference in length between the electric cylinders before and after fine-tuning, the extension and retraction of the three sets of horizontal electric cylinders can be obtained.

[0156] S103. Establish a temporary coordinate system based on the center of the track plate, and transform the center coordinates of the vertical fine-tuning support of the fine-tuning car from the new coordinate system to the temporary coordinate system. Based on the transformation result, determine the coordinates of the moving and stationary points of the vertical electric cylinder of the fine-tuning car in the temporary coordinate system.

[0157] A temporary coordinate system is established with the center coordinates O (X", Y", Z) of the track slab as the origin, such as... Figure 6 As shown.

[0158] Specifically, the first directional angle between the new coordinate system and the temporary coordinate system can be calculated; the coordinates of the center of the vertical fine-tuning support can be transformed from the new coordinate system to the temporary coordinate system using the first directional angle.

[0159] In this step, it is necessary to clarify the reference points of each coordinate system, the transformation methods of each coordinate system, and the angles between each coordinate system. First, the relative position between the fine-tuning vehicle and the track slab needs to be calculated. The specific process is as follows:

[0160] Calculate the center coordinates of the track slab using the coordinates of the four prisms. This step takes prisms 1 and 5 as examples:

[0161]

[0162]

[0163]

[0164] To facilitate calculation, it is necessary to define the eigenvectors in each direction under the temporary coordinate system, where, The length of the eigenvector of the direction is denoted as half the distance between points 1 and 2, and it is parallel to the line connecting points 1 and 2. Then the spatial coordinates of point 7 are:

[0165]

[0166]

[0167]

[0168] The eigenvectors of the direction pass through the origin of the temporary coordinate system. The direction is perpendicular to the line connecting points 1 and 2, and the length is the distance between the origin of the temporary coordinate system and the line connecting points 1 and 2. Therefore, the spatial coordinates of point 8 can be calculated.

[0169]

[0170]

[0171]

[0172] in, , , ,

[0173] The eigenvectors of the direction pass through the origin of the temporary coordinate system. and with , If the directional feature vectors are perpendicular, then the spatial coordinates of point 9 are:

[0174]

[0175]

[0176] .

[0177] in,

[0178] , , , ,

[0179] , , , , ,

[0180] , .

[0181] Furthermore, the angle between the temporary coordinate system and the new coordinate system before the track slab fine-tuning construction can be obtained, as shown in Table 2:

[0182] Table 2 Angles between the temporary coordinate system and the new coordinate system

[0183]

[0184]

[0185]

[0186]

[0187]

[0188]

[0189]

[0190]

[0191]

[0192]

[0193] After determining the angle between the temporary coordinate system and the new coordinate system, the spatial coordinates C' of the center of the vertical fine-tuning support of the fine-tuning vehicle in the new coordinate system are required. HJ1 ,like Figure 7 As shown.

[0194] Let H be the height from the support surface of the track slab support device to the track slab prism. B1 Since the track slab and the vertical adjustment frame of the adjustment vehicle are not horizontal during the fine-tuning process, when the plate-grabbing mechanism of the adjustment vehicle is directly opposite the track slab support structure, it can be assumed that the vertical adjustment support is parallel to the track slab, that is, the center of the vertical adjustment support coincides with the center of the track slab, differing only in height H. J Let H be the height from the prism plane of the track slab to the plane of the support structure. B1 If the distance from the center plane of the concave ball of the vertical fine-tuning bracket to the plane of the grabbing plate mechanism is HZ, then H J =H Z -H B1 Therefore, the structural center point of the vertical fine-tuning support is used as the midpoint for finding the alignment, denoted as C'. HJ1 Its position in the temporary coordinate system is C” HJ1 (0, 0, H) J Then C' can be calculated. HJ1 Spatial position in the temporary coordinate system:

[0195]

[0196]

[0197]

[0198] With vertical fine-tuning support center C' HJ1 Using the origin of the coordinate system, the ball joint C' of the No. 4 vertical electric cylinder can be calculated. G41 Spatial coordinates:

[0199]

[0200]

[0201]

[0202] Similarly, the ball joint C' of vertical electric cylinders No. 5 and No. 6 can be obtained. G51 and C' G61 Spatial coordinates:

[0203]

[0204]

[0205]

[0206]

[0207]

[0208]

[0209] S104. Adjust the track plate horizontally based on the first extension amount; transform the dynamic and static coordinates of the vertical electric cylinder to a new coordinate system, calculate the second extension amount of the vertical electric cylinder based on the preset target position in the new coordinate system, and adjust the track plate vertically based on the second extension amount.

[0210] Specifically, based on the first extension amount, the horizontal electric cylinder is driven to adjust the track plate to a preset target position in the horizontal direction; a temporary new coordinate system is established with the preset target position as the center, and the dynamic and static coordinates of the vertical electric cylinder are transformed from the temporary coordinate system to the temporary new coordinate system, and then transformed to the new coordinate system. Under the new coordinate system, the second extension amount of the vertical electric cylinder is calculated based on the preset target position, and the vertical electric cylinder is driven to adjust the track plate to a preset target position in the vertical direction based on the second extension amount.

[0211] In this step, firstly, the horizontal electric cylinder is controlled to adjust the fine-tuning carriage bracket according to the horizontal extension and retraction, so that the track plate reaches the fine-tuning position in the vertical projection plane. Secondly, after the track plate reaches the target position in the horizontal direction, due to the change in the track plate position, in order to accurately calculate the second extension and retraction of the vertical electric cylinder, this step establishes a temporary new coordinate system centered on the preset target position as a transfer point, and transforms the moving and stationary points of the vertical electric cylinder to the new coordinate system. Specifically, the second direction angle between the temporary coordinate system and the temporary new coordinate system, and the third direction angle between the temporary new coordinate system and the new coordinate system are calculated. The coordinates of the moving and stationary points of the vertical electric cylinder are transformed from the temporary coordinate system to the temporary new coordinate system through the second direction angle, and then transformed to the new coordinate system through the third direction angle. The second extension and retraction is calculated based on the transformed coordinates of the moving and stationary points of the vertical electric cylinder, and the specific calculation method is the same as that of the first extension and retraction, which will not be repeated here.

[0212] In one embodiment, by controlling the coordinated operation of various mechanisms inside the fine-tuning vehicle, the track slab can be adjusted from its initial position to a preset target position. The spatial coordinates of each prism on the track slab after fine-tuning are as follows: prism #1 coordinates: 1#' (X1', Y1', Z1'), prism #2 coordinates: 2#' (X2', Y2', Z2'), prism #5 coordinates: 5#' (X5', Y5', Z5'), prism #6 coordinates: 6#' (X6', Y6', Z6').

[0213] By re-measuring with a total station and calculating and analyzing with slab layout software, the actual coordinates of the adjusted track slab are compared with the theoretical coordinates. If they are within the tolerance range of the construction specifications, the fine-tuning is deemed satisfactory. Otherwise, a second fine-tuning is required until it is satisfactory.

[0214] Specifically, after completing the fine-tuning of the horizontal position, further adjustments are needed to the three sets of vertical electric cylinders, such as... Figure 8 As shown, the movement range of the fine-tuning vehicle structure must first be clearly defined. Specifically, the longitudinal angle between the track slab and the horizontal plane should not exceed 4°, and the transverse angle should not exceed 7°. The minimum length of the three sets of vertical electric cylinders is 715mm, the stroke is 360mm, and the maximum length is 1075mm. Therefore, the movement of the three sets of electric cylinders is limited as follows: the length difference between vertical electric cylinder No. 4 and No. 5 should be less than 216mm; the length difference between vertical electric cylinder No. 4 and No. 6 should be less than 216mm; and the length difference between vertical electric cylinder No. 5 and No. 6 should be less than 150mm. Furthermore, the extension direction of the electric cylinder is positive, and the retraction direction is negative.

[0215] When the three sets of vertical electric cylinders are at any length, waiting for the fine-tuning mechanism to grab the track plate (the grabbing mechanism should be 30~50mm higher than the support device), the grabbing extension of the vertical electric cylinders can be calculated. At this time, let the lengths of the three sets of electric cylinders be L. 4x L 5x L 6x Then the ordinates of each moving point are:

[0216]

[0217]

[0218]

[0219] First, the vertical fine-tuning bracket needs to be adjusted to be parallel to the track slab, then:

[0220]

[0221]

[0222]

[0223] in:

[0224] ,

[0225] Once the vertical fine-tuning bracket is parallel to the track slab, the three sets of vertical electric cylinders extend simultaneously to complete the track slab gripping action. Further, the spatial position of the track slab must be adjusted using six sets of electric cylinders. First, the initial length values ​​of the three horizontal and three vertical electric cylinders must be recorded before the fine-tuning work begins. The three horizontal electric cylinders are not activated, and the three vertical electric cylinders remain at their retracted length. At this point, the spatial coordinates of the moving point of the vertical electric cylinders in the new coordinate system are: C' G42 (X') CG41 ,Y' CG41 Z' CG42 ), C' G52 (X') CG51 ,Y' CG51 Z' CG52 ), C' G62 (X') CG61 ,Y' CG61 Z' CG62 The angle between each point is ∠C. G5 C G4 C HJ =θ=tan -1 (621 / 3028). Based on this, the ball joint coordinates of each vertical fine-tuning support can be calculated separately:

[0226]

[0227]

[0228]

[0229]

[0230]

[0231]

[0232] in:

[0233]

[0234]

[0235]

[0236] , ,

[0237]

[0238]

[0239]

[0240]

[0241]

[0242]

[0243]

[0244]

[0245] Furthermore, C' on the vertical fine-tuning support can be calculated. G42 dot, C' G520 Point and C' G620 The spatial position of a point in an existing coordinate system:

[0246]

[0247]

[0248]

[0249] During the fine-tuning process, the spatial position of the track slab changes from its initial position to its laying position. During this process, C' on the vertical fine-tuning support... G42 dot, C' G520 Point and C' G620 The relationship between the point and the existing coordinate system remains unchanged. Therefore, a temporary new coordinate system for the track slab prism after fine-tuning construction can be established, and the angle between the temporary new coordinate system and the fine-tuning vehicle frame coordinate system can be calculated, as shown in Table 3.

[0250] Table 3 Angles between the temporary new coordinate system and the new coordinate system

[0251]

[0252]

[0253]

[0254]

[0255]

[0256]

[0257]

[0258]

[0259]

[0260]

[0261] Furthermore, C' can be... G42 dot, C' G520 Point and C' G620 The spatial position of a point is converted into spatial coordinates in the fine-tuning vehicle frame coordinate system (new coordinate system):

[0262]

[0263]

[0264]

[0265] After determining the spatial coordinates of the track slab before and after fine-tuning, the extension and retraction of the six sets of electric cylinders during the fine-tuning process can be calculated. For the three sets of vertical electric cylinders, the distance between the final position and the initial position after fine-tuning can be directly calculated.

[0266]

[0267]

[0268]

[0269] For three sets of horizontal electric cylinders, the first requirement is C. G73 C HJ30 coordinates and C HJ30 C G43 The angle θ9 between the line connecting the two points and the X-axis of the fine-tuning vehicle frame.

[0270]

[0271]

[0272]

[0273]

[0274]

[0275] Next, the coordinates of each moving point of the horizontal electric cylinder are required. For ease of understanding, a schematic diagram of the horizontal electric cylinder's extension and retraction during the fine-tuning process is provided, as shown below. Figure 9 As shown.

[0276]

[0277]

[0278]

[0279]

[0280] The lengths of the three sets of horizontal electric cylinders after fine-tuning are as follows:

[0281]

[0282]

[0283]

[0284] Considering that other actions of the first three groups of horizontal electric cylinders may cause changes in the length of the electric cylinders, let's assume that the changes in the length of each group of electric cylinders are ΔL. 12 ΔL 22 ΔL 32 Then, during fine-tuning, the extension and retraction amounts of the three sets of horizontal electric cylinders are as follows:

[0285]

[0286]

[0287]

[0288] At this point, the calculation of the extension and retraction data of the six sets of electric cylinders during the fine-tuning construction process has been completed. After adopting this method, the fine-tuning vehicle controls the length of the horizontal and vertical electric cylinders and uses the grippers to clamp the track plate, adjusting the track plate to the design position. During the adjustment process, the mechanical state of the track structure and construction equipment must be given special attention.

[0289] This method acquires the coordinates of the fine-tuning prism using a total station and establishes a new coordinate system. Combined with the coordinated control of horizontal and vertical electric cylinders, it achieves precision and automation in the track slab fine-tuning process. Compared to traditional adjustment methods, it first accurately calculates the extension and retraction of the electric cylinders through dynamic coordinate system transformation, allowing the track slab to be positioned to the preset position in one go. This completely solves the problem of repeated repositioning and readjustment required due to input deviations causing the track slab to collide with adjacent slabs, significantly improving construction efficiency and avoiding the shortcomings of traditional methods that rely on repeated adjustments based on experience. This makes the entire fine-tuning process more scientific and efficient. Therefore, this method excels in improving fine-tuning accuracy, reducing the number of adjustments, optimizing the adjustment process, and increasing construction efficiency, providing strong technical support for the construction of ballastless tracks for high-speed railways.

[0290] Secondly, the present invention also provides a track slab position adjustment device, such as... Figure 10 As shown, it includes:

[0291] The measurement module 1001 is used to obtain the coordinates of the fine-tuning vehicle and the track slab using a total station, and to establish a new coordinate system based on the fine-tuning vehicle.

[0292] The calculation module 1002 is used to calculate the first extension and retraction of the three sets of horizontal electric cylinders of the fine-tuning vehicle based on the preset target position in the new coordinate system.

[0293] The conversion module 1003 is used to establish a temporary coordinate system based on the center of the track plate, convert the center coordinates of the vertical fine-tuning support of the fine-tuning car from the new coordinate system to the temporary coordinate system, and determine the coordinates of the moving and stationary points of the vertical electric cylinder of the fine-tuning car in the temporary coordinate system based on the conversion result.

[0294] The fine-tuning module 1004 is used to drive the horizontal electric cylinder to adjust the track plate to a preset target position in the horizontal direction based on the first extension amount; to establish a temporary new coordinate system centered on the preset target position; to transform the dynamic and static coordinates of the vertical electric cylinder from the temporary coordinate system to the temporary new coordinate system, and then to the new coordinate system; to calculate the second extension amount of the vertical electric cylinder based on the preset target position in the new coordinate system; and to drive the vertical electric cylinder to adjust the track plate to a preset target position in the vertical direction based on the second extension amount.

[0295] Using the aforementioned device, the coordinates of the fine-tuning car prism are obtained through a total station, and a new coordinate system is established. Combined with the coordinated control of horizontal / vertical electric cylinders, the precision and automation of the track slab fine-tuning process are achieved. Compared to traditional adjustment methods, this method first accurately calculates the extension and retraction of the electric cylinders through dynamic coordinate system transformation, allowing the track slab to be positioned to the preset position in one go. This completely solves the problem of repeated repositioning and readjustment required due to input deviations causing the track slab to collide with adjacent slabs, significantly improving construction efficiency and avoiding the shortcomings of traditional methods that rely on repeated adjustments based on experience. This makes the entire fine-tuning process more scientific and efficient. Therefore, this method excels in improving fine-tuning accuracy, reducing the number of adjustments, optimizing the adjustment process, and increasing construction efficiency, providing strong technical support for the construction of ballastless tracks for high-speed railways.

[0296] The present invention also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 The steps for adjusting the position of the provided track slab.

[0297] This invention also provides a computer device. At the hardware level, the computer device includes a processor, an internal bus, a network interface, memory, and non-volatile memory, and may also include other hardware required for various operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then executes it to achieve the above-mentioned functions. Figure 1 The steps for adjusting the position of the provided track slab.

[0298] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0299] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0300] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0301] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0302] It should be noted that the above-described specific embodiments enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Therefore, although the present invention has been described in detail in this specification, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention; and all technical solutions and improvements that do not depart from the spirit and scope of the present invention are covered within the protection scope of the patent of the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for adjusting the position of a track slab, characterized in that, The method includes: The coordinates of the fine-tuning train and the track slab are obtained using a total station, and a new coordinate system based on the fine-tuning train is established. In the new coordinate system, the first extension and retraction of the three sets of horizontal electric cylinders of the fine-tuning vehicle are calculated based on the preset target position; A temporary coordinate system is established based on the center of the track plate. The coordinates of the center of the vertical fine-tuning support of the fine-tuning car are transformed from the new coordinate system to the temporary coordinate system. Based on the transformation result, the coordinates of the moving and stationary points of the vertical electric cylinder of the fine-tuning car in the temporary coordinate system are determined. The track plate is adjusted to a preset target position in the horizontal direction based on the first extension amount driven by the horizontal electric cylinder. A temporary new coordinate system is established with the preset target position as the center. The coordinates of the moving and stationary points of the vertical electric cylinder are transformed from the temporary coordinate system to the temporary new coordinate system, and then transformed to the new coordinate system. The second extension amount of the vertical electric cylinder is calculated based on the preset target position in the new coordinate system. Based on the second extension amount, the vertical electric cylinder is driven to adjust the track plate to reach the preset target position in the vertical direction. The process of obtaining the coordinates of the fine-tuning vehicle and the track slab using a total station, and establishing a new coordinate system based on the fine-tuning vehicle, includes: Obtain the spatial coordinates of the left, right, and rear prisms of the fine-tuning vehicle; Calculate the position of the origin of the new coordinate system based on the spatial coordinates; Construct a new coordinate system based on the origin of the new coordinate system; In the new coordinate system, the first extension / retraction amount of the three sets of horizontal electric cylinders of the fine-tuning vehicle, calculated based on the preset target position, includes: Obtain the initial coordinates of the moving point and fixed point of the horizontal electric cylinder in the new coordinate system; Determine the coordinates of the moving point target based on the preset target position; The length of the target electric cylinder is calculated based on the coordinates of the moving target and the coordinates of the fixed target as the first extension / retraction amount; The process of converting the center coordinates of the vertical fine-tuning support of the fine-tuning vehicle from the new coordinate system to the temporary coordinate system includes: Calculate the first direction angle between the new coordinate system and the temporary coordinate system; The coordinates of the center of the vertical fine-tuning support are transformed from the new coordinate system to the temporary coordinate system by using the included angle in the first direction; The coordinates of the moving and stationary points of the vertical electric cylinder are transformed from a temporary coordinate system to a temporary new coordinate system, and then to the new coordinate system. The second extension / retraction amount of the vertical electric cylinder is calculated based on the preset target position in the new coordinate system, including: Calculate the second direction angle between the temporary coordinate system and the temporary new coordinate system, and the third direction angle between the temporary new coordinate system and the new coordinate system; The coordinates of the vertical electric cylinder's moving and stationary points are transformed from the temporary coordinate system to a new temporary coordinate system by using the second directional angle, and then transformed to the new coordinate system by using the third directional angle. The second extension / retraction amount is calculated based on the converted coordinates of the moving and stationary points of the vertical electric cylinder.

2. A track slab position adjustment device, applied to the track slab position adjustment method according to claim 1, characterized in that, The device includes: The measurement module is used to obtain the coordinates of the fine-tuning vehicle and the track slab using a total station, and to establish a new coordinate system based on the fine-tuning vehicle. The calculation module is used to calculate the first extension and retraction of the three sets of horizontal electric cylinders of the fine-tuning vehicle based on the preset target position in the new coordinate system. The conversion module is used to establish a temporary coordinate system based on the center of the track plate, convert the center coordinates of the vertical fine-tuning support of the fine-tuning car from the new coordinate system to the temporary coordinate system, and determine the coordinates of the moving and stationary points of the vertical electric cylinder of the fine-tuning car in the temporary coordinate system based on the conversion result. The fine-tuning module is used to drive the horizontal electric cylinder to adjust the track plate to a preset target position in the horizontal direction based on the first extension amount; to establish a temporary new coordinate system centered on the preset target position; to transform the dynamic and static coordinates of the vertical electric cylinder from the temporary coordinate system to the temporary new coordinate system, and then to the new coordinate system; to calculate the second extension amount of the vertical electric cylinder based on the preset target position in the new coordinate system; and to drive the vertical electric cylinder to adjust the track plate to a preset target position in the vertical direction based on the second extension amount.

3. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in claim 1.

4. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method of claim 1.

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