Walking device and control method thereof for passing through harmful space of turnout

Abstract

The invention relates to a walking device and a control method for the walking device to pass through a harmful space of a turnout. Two groups of rail supporting mechanisms; four guide wheel groups; the track detection module is arranged at the end of the walking framework and used for collecting track characteristic data, and the track detection module is a laser radar or an image sensor; the control system is used for performing data processing on the track characteristic data, identifying harmful space of the turnout and automatically controlling loading and unloading of the track supporting force of the track supporting mechanism; and the mileage sensor is used for measuring mileage data D of advancing of the walking framework. According to the walking device, by arranging the track detection module, the track supporting mechanism, the mileage sensor and the control system, when the walking device passes through a turnout section, track supporting force borne by the guide wheel set is automatically unloaded and loaded, full-automatic avoiding of harmful space is formed, the risk of manual operation is eliminated, and the working efficiency is improved. And the transverse stability of operation of the grinding trolley and the safety of equipment are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of railway bed maintenance equipment, in particular to a walking device and a control method thereof through a turnout harmful space. BACKGROUND

[0002] Railway is one of the important transportation carriers, and plays a decisive role in the development of world economy. Turnout is a kind of line connection equipment that makes locomotive and vehicle turn into another track, and is also one of the weak links of the track, which is usually laid in large quantities in stations, marshalling yards and vehicle depots. Turnout can fully exert the passing capacity of the line and plays an especially important role in the railway line.

[0003] Under the action of high-speed heavy-load train movement and alternating load of wheel-rail relationship, fatigue hardening gradually occurs on the surface of the turnout section rail, and continuously intensifies and develops with time, evolving into diseases such as hardening cracks, corrugation, side wear, fat edge and peeling block, which brings safety hazards to the normal operation of the railway. Therefore, the diseases of the turnout section must be treated and repaired regularly. Due to the complex structure of the turnout section and the existence of weak structures such as the point rail and the center rail, the existing large track maintenance machinery cannot fully cover the grinding and repair, and the common repair method is to use small track maintenance machinery or a grinding machine to grind the complex structure area manually, which has the disadvantages of low grinding efficiency, poor grinding operation environment, high labor intensity, and grinding quality depending on the technical level and experience of the construction personnel. Therefore, using large track maintenance machinery to carry out full-range operation and maintenance of the turnout section will be the development direction of the future turnout section rail maintenance.

[0004] The turnout section includes complex structures such as point rail, guard rail and frog center rail, and the track gauge of different sections of the turnout varies greatly. At the same time, in order to meet the precision requirements of the profile grinding and repair of the turnout section rail, the grinding device needs high positioning accuracy and control accuracy. Therefore, a walking mechanism capable of smoothly passing through the turnout section is needed to carry the grinding device. Due to the complexity of the structure of the turnout section, the existing rail grinding car is divided into main line grinding and turnout grinding car. The main line grinding car can only grind the main line section, and the walking mechanism of the grinding device does not have the ability to pass through the turnout. The usual practice is to lift the walking mechanism at a distance from the turnout, pass through the turnout, and then lower the walking mechanism to start grinding. The existing turnout grinding car has the ability to pass through the turnout, but the structure design of the rail supporting device is unreasonable. When passing through the turnout harmful space, i.e. the area where the track continuity is interrupted, the application and unloading of the rail supporting force need to be controlled artificially. Once the human operation fails, the rail supporting force is not unloaded in time, and the guide wheel will enter the area where the track continuity is interrupted under the action of the rail supporting force, which is easy to cause the collision between the guide wheel and the frog center, and even the safety accident of the guide wheel entering the abnormal walking space. SUMMARY

[0005] The invention aims to provide a walking device and a control method thereof through a turnout harmful space, so as to automatically unload and load the support rail force borne by the guide wheel group when the walking device passes through the turnout section, to form full-automatic avoidance of the turnout harmful space, to eliminate the risk of manual operation failure, and to ensure the transverse stability and equipment safety of the grinding trolley operation.

[0006] To achieve the above-mentioned purpose, the technical scheme provided by the invention is as follows:

[0007] In a first aspect, the invention provides a walking device, comprising:

[0008] A walking frame, comprising two moving frames arranged side by side in the transverse direction of the track, namely a first moving frame and a second moving frame;

[0009] Two groups of rail support mechanisms are arranged at the front and rear ends of the walking frame in the direction of travel, the rail support mechanism comprises a transverse driving device, a first guide plate assembly and a second guide plate assembly, the two ends of the transverse driving device are connected to the first guide plate assembly and the second guide plate assembly respectively, the first guide plate assembly is connected to the first moving frame, and the second guide plate assembly is connected to the second moving frame;

[0010] Four groups of guide wheel groups are arranged at the four corners of the walking frame to support the walking frame on the track;

[0011] A track detection module is arranged at the end of the walking frame for collecting track feature data, and the track detection module is a laser radar or an image sensor;

[0012] A control system is used for data processing of the track feature data, identification of the turnout harmful space, and automatic control of the loading and unloading of the support rail force of the rail support mechanism, and the turnout harmful space is an area where the track continuity is interrupted in the turnout section; and

[0013] A mileage sensor is electrically connected to the control system for measuring the mileage data D of the walking frame, and the mileage data D is stored in the storage module of the control system.

[0014] In an embodiment, the transverse driving device is a hydraulic cylinder, the piston rod and the cylinder body of which are connected to the first guide plate assembly and the second guide plate assembly respectively, a connecting rod mechanism is arranged between the first guide plate assembly and the second guide plate assembly to form a parallelogram kinematic pair.

[0015] In an embodiment, the track detection module is a laser radar arranged at the front and rear ends of the walking frame for collecting three-dimensional point cloud data of the track.

[0016] In one embodiment, the mileage sensor is a rotary encoder installed on the wheel shaft of the guide wheel set, and the mileage sensor is further configured to measure the real-time travel speed v(t) of the running frame in real time.

[0017] In one embodiment, the running device further comprises a wheel track detection sensor arranged between the left and right guide wheel sets at the lower part of the running frame, and configured to detect the actual wheel track between the left and right guide wheel sets in real time, and the wheel track detection sensor is electrically connected to the control system.

[0018] In a second aspect, the present application provides a control method for a running device to pass through a turnout harmful space, which is implemented based on the aforementioned running device and comprises the following steps:

[0019] The grinding trolley provided with the running device is lowered onto the straight section of the track, and the control system controls the rail supporting mechanism to apply a rail supporting force so that the guide wheels of the guide wheel set tightly abut the inner side of the rail of the track.

[0020] Before the grinding trolley enters the turnout section, the track detection module is used to collect track feature data in real time, and the control system is used to process the track feature data to identify the turnout harmful space and calculate the length L1 of the turnout harmful space and the distance between the turnout harmful space and the grinding trolley.

[0021] When it is detected that the distance between the turnout harmful space and the grinding trolley is reduced to equal to the safety threshold S, the mileage data D recorded in the control system is reset to zero, and the control system triggers an unloading instruction, and the rail supporting mechanism releases the rail supporting force.

[0022] The grinding trolley continues to travel, and when the mileage data D satisfies D>L0+S+L1, the grinding trolley passes through the turnout harmful space, wherein L0 is the length of the vehicle body of the grinding trolley, the control system triggers a loading instruction, and the rail supporting mechanism re-applies the rail supporting force so that the guide wheels of the guide wheel set tightly abut the inner side of the rail of the track.

[0023] In one embodiment, the transverse driving device is a hydraulic cylinder, the control system controls the solenoid valve of the hydraulic cylinder to lose power when the control system triggers the unloading instruction, and the safety threshold S is 1 m.

[0024] In one embodiment, the front and rear ends of the walking frame are provided with the laser radar, the grinding trolley can pass through the turnout section in two directions, and when the grinding trolley passes through the turnout section in the opposite direction, real-time detection is performed by the laser radar at the other end; the laser radar collects three-dimensional point cloud data of the track, and the control system processes the three-dimensional point cloud data, generates a three-dimensional model, and performs feature recognition and measurement on the three-dimensional model.

[0025] In one embodiment, the mileage sensor is also used to measure the real-time running speed v(t) of the walking frame, the safety threshold S is a dynamic safety threshold calculated by the control system, and the calculation of the safety threshold S is based on the preset static safety distance S0, and also considers the influence of the real-time running speed v(t), the real-time acceleration a(t) and the system response delay time Δt, and the calculation formula is:

[0026]

[0027] Wherein, the preset static safety distance S0 is set by manual input into the control system, the real-time acceleration a(t) is calculated by differentiating the real-time running speed v(t), the system response delay time Δt is set by manual input after considering the control system and the mechanical system, and k1 and k2 are dynamic compensation coefficients.

[0028] In one embodiment, the walking device further comprises a wheel track detection sensor arranged between the left and right guide wheel groups at the lower part of the walking frame, for real-time detection of the actual wheel track between the left and right guide wheel groups, and the control system pre-stores a standard wheel track, and when the actual wheel track deviates from the standard wheel track by more than a preset threshold, the transverse driving device of the rail supporting mechanism is triggered to perform dynamic compensation loading.

[0029] Compared with the prior art, the beneficial effects of the present application are:

[0030] The walking device provided by the present application realizes automatic unloading of the rail supporting force on the guide wheel group when approaching the harmful space of the turnout, automatic loading of the rail supporting force on the guide wheel group after passing through the harmful space of the turnout, and full-automatic avoidance of the guide wheel group to the harmful space, eliminates the risk of manual operation errors, and guarantees the transverse stability and equipment safety of the grinding trolley operation.

[0031] The running device provided by the present invention adopts a control method for the harmful space of the turnout, utilizes a track detection module to collect track characteristic data in real time, utilizes a control system to identify the harmful space of the turnout, calculates the length L1 of the harmful space of the turnout, compares the distance between the harmful space of the turnout and the grinding trolley with the safety threshold S, and cooperates with a mileage sensor to identify the state of the running device approaching and passing through the harmful space of the turnout, controls the rail supporting mechanism to automatically unload and load the rail supporting force exerted on the guide wheel group, realizes the fully automatic avoidance of the running device to the harmful space of the turnout, eliminates the risk of manual operation errors, and ensures the lateral stability of the grinding trolley operation and the safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Hereinafter, the present invention will be described in more detail based on embodiments with reference to the accompanying drawings.

[0033] Fig. 1 1 is a schematic structural diagram of a running device provided in Embodiment 1 of the present invention;

[0034] Fig. 2 It is a structural diagram of the rail support mechanism and the guide wheel group;

[0035] Fig. 3 It is a cross-sectional view of the rail support mechanism.

[0036] Reference numerals:

[0037] 1. First mobile frame;

[0038] 2. Second mobile frame;

[0039] 3. Guide wheel set;

[0040] 4. Rail support mechanism;

[0041] 5. Track;

[0042] 6. Mounting seat;

[0043] 7. Pin;

[0044] 8. First guide plate assembly;

[0045] 9. Second guide plate assembly;

[0046] 10. Connecting plate;

[0047] 11. Connecting rod mechanism;

[0048] 12. Transverse drive device;

[0049] 13. Track detection module. DETAILED DESCRIPTION

[0050] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0051] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0052] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements inside, it can be wireless connection, or it can be wired connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0053] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0054] The present application provides a walking device and a control method thereof through a turnout harmful space, which realizes automatic unloading and loading of the support rail force on the guide wheel group when the walking device passes through the turnout section, forms full-automatic avoidance of the turnout harmful space, eliminates the risk of manual operation failure, and guarantees the transverse stability and equipment safety of the grinding trolley operation.

[0055] Embodiment one

[0056] As Figs. 1 to 3As shown, the present application provides a walking device for a polishing trolley, comprising a walking frame, two groups of rail supporting mechanisms 4, four groups of guide wheel sets 3, a track detection module 13, a control system and an odometer sensor; the walking frame comprises two moving frames arranged side by side along the transverse direction of the track, which are respectively a first moving frame 1 and a second moving frame 2; the two groups of rail supporting mechanisms 4 are arranged at the front and rear ends of the walking frame in the direction of travel, and the rail supporting mechanism 4 comprises a transverse driving device 12, a first guide plate assembly 8 and a second guide plate assembly 9, the two ends of the transverse driving device 12 are respectively connected to the first guide plate assembly 8 and the second guide plate assembly 8, the first guide plate assembly 8 is connected to the first moving frame 1, and the second guide plate assembly 9 is connected to the second moving frame 2; the four groups of guide wheel sets 3 are arranged at the four corners of the walking frame to support the walking frame on the track 5, the first guide plate assembly 8 and the second guide plate assembly 9 are respectively connected to an installation seat 6 through a pin shaft 7, the installation seat 6 is connected to a connecting plate 10, and the connecting plate 10 is connected to the guide wheel set 3; the track detection module 13 is arranged at the end of the walking frame and is used for collecting track feature data, and the track detection module 13 is a laser radar or an image sensor; the control system is used for identifying the harmful space of the turnout and the spatial position relationship between the polishing trolley and the harmful space of the turnout by performing data processing on the track feature data, and automatically controlling the loading and unloading of the rail supporting force of the rail supporting mechanism 4, and the harmful space of the turnout is the area where the continuity of the track 5 is interrupted in the turnout section; the odometer sensor is electrically connected to the control system and is used for measuring the mileage data D of the walking frame, and the mileage data D is stored in the storage module of the control system.

[0057] As shown in the embodiment, Fig. 2 and Fig. 3 The transverse driving device 12 is a hydraulic cylinder, and the piston rod and the cylinder body thereof are respectively connected to the first guide plate assembly 8 and the second guide plate assembly 9; a connecting rod mechanism 11 is arranged between the first guide plate assembly 8 and the second guide plate assembly 9 to form a parallelogram kinematic pair.

[0058] In other embodiments, the transverse driving device 12 can also be an electro-hydraulic push rod.

[0059] In the embodiment, the track detection module 13 is a laser radar and is arranged at the front and rear ends of the walking frame, and is used for collecting three-dimensional point cloud data of the track 5; the control system performs three-dimensional modeling by performing data processing on the three-dimensional point cloud data, identifies the harmful space of the turnout, that is, the area where the continuity of the track 5 is interrupted, and calculates the length L1 of the harmful space of the turnout and the distance between the harmful space of the turnout and the polishing trolley.

[0060] In this embodiment, the mileage sensor is a rotary encoder installed on the wheel shaft of the guide wheel set 3. In combination with the size of the guide wheel of the guide wheel set, the control system can calculate the mileage data D of the running gear. The mileage sensor is also used to measure the real-time running speed v(t) of the running gear. The real-time running speed v(t) can be measured by applying the rotary encoder.

[0061] In this embodiment, the running device further comprises a wheel track detection sensor arranged between the left and right guide wheel sets 3 at the lower part of the running gear, which is used to detect the actual wheel track between the left and right guide wheel sets 3 in real time. The wheel track detection sensor is electrically connected to the control system. By setting the wheel track detection sensor, a control closed loop is formed, which can improve the control accuracy and ensure that the grinding trolley will not derail due to too small wheel track when it is accidentally subjected to lateral force after the rail supporting force is completely unloaded.

[0062] The running device provided by the present application comprises a track detection module 13, a rail supporting mechanism 4, a mileage sensor and a control system. When the running device passes through the turnout section and approaches the harmful space of the turnout, the rail supporting force on the guide wheel set 3 is automatically unloaded. After passing through the harmful space of the turnout, the rail supporting force on the guide wheel set 3 is automatically loaded. The guide wheel set 3 automatically avoids the harmful space, eliminates the risk of manual operation errors, and ensures the lateral stability and equipment safety of the grinding trolley operation.

[0063] Embodiment two

[0064] The present application provides a control method for a running device passing through a harmful space of a turnout. The method is realized based on the aforementioned running device and comprises the following steps:

[0065] S1. Lower the grinding trolley provided with the running device onto the straight section of the track 5. The control system controls the rail supporting mechanism 4 to apply the rail supporting force, so that the guide wheels of the guide wheel set 3 tightly adhere to the inner side of the rail of the track 5.

[0066] S2. Before the grinding trolley enters the turnout section, the track detection module 13 is used to collect track feature data in real time, and the control system is used to process the track feature data to identify the harmful space of the turnout and calculate the length L1 of the harmful space of the turnout and the distance between the harmful space of the turnout and the grinding trolley, so as to obtain the real-time positional relationship between the grinding trolley and the harmful space of the turnout.

[0067] Preferably, an on-track inductive switch is arranged below the running device and close to the track 5. When the grinding trolley is lowered onto the straight section of the track 5, the on-track inductive switch senses that the grinding trolley is on the track, and the control system automatically controls the rail supporting mechanism 4 to apply the rail supporting force, so that the guide wheels of the guide wheel set 3 tightly adhere to the inner side of the rail of the track 5.

[0068] S3. When the distance between the turnout harmful space and the grinding trolley is detected to be reduced to equal to the safety threshold S, the mileage data D recorded in the control system is set to zero, and at the same time, the control system triggers the unloading instruction, the rail supporting mechanism releases the rail supporting force, the guide wheels of the guide wheel set 3 lose the outward force, and the lateral distance relative to the rail remains unchanged, so that the grinding trolley can smoothly pass through the turnout harmful space.

[0069] S4. The grinding trolley continues to travel, and when the mileage data D satisfies D > L0+S+L1, the grinding trolley passes through the turnout harmful space, wherein L0 is the length of the vehicle body of the grinding trolley, the control system triggers the loading instruction, and the rail supporting mechanism 4 re-applies the rail supporting force, so that the guide wheels of the guide wheel set 3 are again subjected to outward force and tightly adhere to the inner side of the rail.

[0070] In this embodiment, the lateral driving device 12 is a hydraulic cylinder, and when the control system triggers the unloading instruction, the control system controls the oil cylinder solenoid valve of the hydraulic cylinder to lose power, the oil cylinder acting force is unloaded, the guide wheels lose the outward force, the lateral distance relative to the rail remains unchanged, and the grinding trolley can smoothly pass through the turnout harmful space. The safety threshold S is set to 1 m.

[0071] Preferably, the front and rear ends of the running frame are each provided with a laser radar, and the grinding trolley can travel in both directions through the turnout section. When the grinding trolley passes through the turnout section in the opposite direction, real-time detection is performed by the laser radar at the other end; the laser radar collects three-dimensional point cloud data of the track, the control system processes the three-dimensional point cloud data, generates a three-dimensional model, and performs feature recognition and measurement on the three-dimensional model.

[0072] When the grinding trolley is in the non-grinding working state and is only moving quickly on the track 5, it is not appropriate to simply set a static safety threshold S, and it is necessary to consider a certain compensation for the safety threshold S based on the moving speed of the grinding trolley, the recognition and calculation delay of the control system, and the execution delay of the mechanical system. In order to solve this problem, the odometer sensor is also used to measure the real-time running speed v(t) of the running frame in real time, the safety threshold S is a dynamic safety threshold calculated by the control system, and the calculation of the safety threshold S is based on the pre-set static safety distance S0, and also considers the influence of the real-time running speed v(t), the real-time acceleration a(t) and the system response delay time Δt. The calculation formula is:

[0073]

[0074] Wherein, the preset static safety distance S0 is set by manual input to the control system, the real-time acceleration a(t) is calculated by differentiating the real-time running speed v(t), the system response delay time Delta t is set by manual after considering the response delay factors of the control system and the mechanical system, k1 and k2 are dynamic compensation coefficients, which can be calibrated by experiment, and can also be set by manual according to experience, for example, set k1=0.2, k2=0.3.

[0075] In the embodiment, the running device further comprises a wheel track detection sensor arranged between the left and right guide wheel groups 3 at the lower part of the running frame, for real-time detection of the actual wheel track between the left and right guide wheel groups 3, the control system pre-stores a standard wheel track, and when the deviation between the actual wheel track and the standard wheel track exceeds a preset threshold, the transverse driving device of the rail supporting mechanism is triggered to perform dynamic compensation loading, which can improve the control accuracy and also ensure that the grinding trolley will not derail due to too small wheel track when accidentally subjected to lateral force after the rail supporting force is completely unloaded.

[0076] The running device provided by the application controls the turnout harmful space by using the track detection module 13 to collect track feature data in real time, using the control system to identify the turnout harmful space, calculating the length L1 of the turnout harmful space, comparing the distance between the turnout harmful space and the grinding trolley with the safety threshold S, and cooperating with the mileage sensor to identify the state of the running device approaching and passing through the turnout harmful space, and controlling the rail supporting mechanism 4 to automatically unload and load the rail supporting force on the guide wheel group 3, so as to realize the full-automatic avoidance of the running device to the turnout harmful space, eliminate the risk of manual operation errors, and ensure the transverse stability and equipment safety of the grinding trolley operation.

[0077] Although the application has been described with reference to the preferred embodiments, various modifications can be made to it without departing from the scope of the application, and equivalent substitutions can be made to the components thereof. In particular, the technical features mentioned in each embodiment can be combined in any manner as long as there is no structural conflict. The application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A running device, characterized in that: include: The running frame includes two movable frames arranged in parallel along the transverse direction of the track, namely a first movable frame and a second movable frame; Two sets of rail support mechanisms are respectively provided at the front and rear ends of the traveling direction of the running frame, and the rail support mechanisms include a transverse driving device, a first guide plate assembly, and a second guide plate assembly. The two ends of the transverse driving device are respectively connected to the first guide plate assembly and the second guide plate assembly. The first guide plate assembly is connected to the first moving frame, and the second guide plate assembly is connected to the second moving frame. Four sets of guide wheels are respectively arranged at the four corners of the running frame to support the running frame on the track; A track detection module is provided at the end of the running frame and is used to collect track feature data. The track detection module is a laser radar or an image sensor; a control system for processing the track characteristic data, identifying a harmful space in the turnout and automatically controlling the loading and unloading of the support force of the support mechanism, wherein the harmful space in the turnout is an area where the track continuity is interrupted in the turnout section; as well as A mileage sensor is electrically connected to the control system and is used to measure mileage data D of the running structure. The mileage data D is stored in a storage module of the control system.

2. The running device according to claim 1, characterized in that: The transverse drive device is a hydraulic cylinder, whose piston rod and cylinder body are respectively connected to the first guide plate assembly and the second guide plate assembly; a connecting rod mechanism is set between the first guide plate assembly and the second guide plate assembly to form a parallelogram kinematic pair.

3. The running device according to claim 1, characterized in that: The track detection module is a laser radar, which is respectively arranged at the front and rear ends of the running frame and is used to collect three-dimensional point cloud data of the track.

4. The running device according to claim 1, characterized in that: The mileage sensor is a rotary encoder installed on the axle of the guide wheel group, and the mileage sensor is also used to measure the real-time travel speed v(t) of the running frame in real time.

5. The running device according to claim 1, characterized in that: It also includes a wheelbase detection sensor, which is arranged between the left and right guide wheel groups at the lower part of the running frame and is used to detect the actual wheelbase between the left and right guide wheel groups in real time. The wheelbase detection sensor is electrically connected to the control system.

6. A method for controlling a running device passing through a harmful space of a turnout, characterized in that: The running device according to any one of claims 1 to 5 is implemented, comprising the following steps: The grinding trolley equipped with the running device is lowered onto the straight section of the track, and the control system controls the rail supporting mechanism to apply a rail supporting force so that the guide wheels of the guide wheel group are closely attached to the inner side of the rail of the track; Before the grinding trolley enters the turnout section, the track detection module is used to collect track characteristic data in real time, and the control system is used to process the track characteristic data to identify the turnout harmful space and calculate the length L1 of the turnout harmful space and the distance between the turnout harmful space and the grinding trolley; When it is detected that the distance between the harmful space of the turnout and the grinding trolley is reduced to equal to the safety threshold S, the mileage data D recorded in the control system is reset to zero. At the same time, the control system triggers an unloading instruction, and the rail supporting mechanism releases the rail supporting force; The grinding trolley continues to move. When the mileage data D satisfies D>L0+S+L1, the grinding trolley passes through the harmful space of the switch, where L0 is the body length of the grinding trolley. The control system triggers the loading instruction, and the rail supporting mechanism re-applies the rail supporting force to make the guide wheels of the guide wheel group close to the inner side of the rail of the track.

7. The method for controlling a running device passing through a harmful space of a turnout according to claim 6, characterized in that: The transverse driving device is a hydraulic cylinder. When the control system triggers the unloading instruction, the control system controls the cylinder solenoid valve of the hydraulic cylinder to lose power, and the safety threshold S is 1m.

8. The method for controlling a running device passing through a harmful space of a turnout according to claim 6, characterized in that: The laser radar is provided at both the front and rear ends of the running frame. The grinding trolley can move in both directions through the switch section. When the grinding trolley passes through the switch section in the opposite direction, the laser radar at the other end performs real-time detection; the laser radar collects three-dimensional point cloud data of the track, and the control system processes the three-dimensional point cloud data, generates a three-dimensional model, and performs feature recognition and measurement on the three-dimensional model.

9. The method for controlling a running device passing through a harmful space of a turnout according to claim 6, characterized in that: The mileage sensor is also used to measure the real-time travel speed v(t) of the running frame in real time. The safety threshold S is a dynamic safety threshold calculated by the control system. The calculation of the safety threshold S is based on the preset static safety distance S0 and also takes into account the effects of the real-time travel speed v(t) of the running frame, the real-time acceleration a(t), and the system response delay time Δt. The calculation formula is: Among them, the preset static safety distance S0 is manually input into the control system for setting, the real-time acceleration a(t) is calculated by differentiating the real-time travel speed v(t), and the system response delay time Δt is manually set after comprehensively considering the two response delay factors of the control system and the mechanical system. k1 and k2 are dynamic compensation coefficients.

10. The method for controlling a running device passing through a harmful space of a turnout according to claim 6, characterized in that: The running device also includes a wheelbase detection sensor, which is arranged between the left and right guide wheel groups at the lower part of the running frame, and is used to detect the actual wheelbase between the left and right guide wheel groups in real time. The control system pre-stores the standard track gauge. When it is detected that the deviation between the actual wheelbase and the standard track gauge exceeds a preset threshold, the lateral drive device of the track support mechanism is triggered to perform dynamic compensation loading.

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