Track rack high-precision automatic positioning system and pose planning method

Abstract

The present application relates to the technical field of track panel frame installation and adjustment, in particular to a high-precision automatic positioning system for track panel frames and a pose planning method, wherein an adjustable support mechanism capable of longitudinal, transverse and rotational adjustment is installed on the track panel frame, the measurement module comprises a measurement prism and a wireless transmission module installed on the track panel frame, and the processing module comprises a computer terminal installed with processing software and a total station instrument for measurement in cooperation with the measurement prism, the processing module is electrically connected with the adjustable support mechanism on the track panel frame through the wireless transmission module, and the beneficial effects are as follows: the total station instrument is used to measure the positioning track panel center line of the measurement prism and the track panel assembly, the left-right height difference of the track panel frame is measured by the tilt sensor, the data is transmitted to the notebook computer, data processing is completed, the data is transmitted to the adjustable support mechanism, and automatic fine adjustment is realized.

Description

Technical Field

[0001] This invention relates to the field of track panel installation and adjustment technology, specifically to a high-precision automatic positioning system and posture planning method for track panels. Background Technology

[0002] During railway construction, the process is divided into base plate construction and track bed slab construction. During track bed slab construction, track frame is used for positioning to ensure the positional accuracy of the sleepers after installation and to achieve the purpose of limiting movement, so that the cast track bed slab meets the construction requirements.

[0003] After installation, existing track panels are typically calibrated using a fine-tuning trolley that runs along the track, followed by adjustment. This adjustment method requires repeated measurement and adjustment at the same location, which severely impacts overall construction efficiency. Furthermore, the adjustment process can easily cause the track panels to shift, affecting overall construction accuracy. Therefore, the installation and fine-tuning of track panels under current technology requires extensive experience in adjustment and construction, placing extremely high demands on construction techniques. Summary of the Invention

[0004] The purpose of this invention is to provide a high-precision automatic positioning system and pose planning method for track panels to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A high-precision automatic positioning system for rail panels includes a measurement module mounted on an adjustable rail panel and a processing module located on a central control unit. The rail panel is equipped with an adjustable support mechanism that can be adjusted longitudinally, laterally, and rotatably. The measurement module includes a measuring prism and a wireless transmission module mounted on the rail panel. The processing module includes a computer terminal with processing software and a total station that works with the measuring prism to perform measurements. The processing module is electrically connected to the adjustable support mechanism on the rail panel via the wireless transmission module.

[0006] Preferably, the rail panel is installed on the upper end of the base plate, the base plate is provided with a steel frame cage, and multiple sets of sleepers are laid on the steel cage at intervals. The main body of the rail panel is pressed and installed on the sleepers.

[0007] Preferably, the outer side of the base plate is provided with four sets of support legs, the four sets of support legs are connected to the rail frame, and the support legs and the rail frame are provided with a longitudinal adjustment mechanism that can adjust the longitudinal height, a lateral adjustment mechanism that can adjust the lateral position, and a rotation mechanism that can adjust the angle.

[0008] Preferably, the main body of the track panel frame includes a pair of longitudinal beams pressed onto the sleepers, the pair of longitudinal beams being distributed parallel to each other at intervals, the pair of longitudinal beams being fixedly connected by crossbeams distributed at intervals, and the crossbeams being vertically installed between the pair of longitudinal beams.

[0009] Preferably, the wireless transmission module is fixedly installed on the crossbeam, and the processing module includes a wireless communication base station and a base station antenna. The wireless transmission module transmits the detected information to the computer terminal through the wireless communication base station and the base station antenna.

[0010] Preferably, the measuring prism is configured in two sets, and the measuring module also includes a pair of tilt sensors. The measuring prism, tilt sensors and wireless transmission module are configured as a set of measuring components, and at least one set of measuring components is provided on the crossbeams at both ends of the track frame.

[0011] Preferably, the measuring prisms are configured in four groups, and all four groups of measuring prisms are mounted on the longitudinal beams, with the connection positions of the legs and the longitudinal beams on the rail frame coinciding with the mounting positions of the measuring prisms.

[0012] Preferably, the longitudinal adjustment mechanism, the lateral adjustment mechanism, and the rotation mechanism are all driven by servo motors, which are controlled by a computer terminal via a wireless transmission module.

[0013] A pose planning method based on the above-mentioned high-precision automatic positioning system for track panels, the pose planning method comprising the following steps: Step 1: Measure the measuring prism on the track panel using a total station, and calculate the height and lateral adjustment values ​​of the four legs based on the measured data; Step 2: After the calculation is completed, the data is transmitted to the wireless communication module on the four legs, and the servo motors automatically adjust to the calculation position. Step 3: After the first adjustment is completed, re-measure the measuring prism on the track panel frame using a total station; Step 4: Calculate the difference between the height of the four outriggers and the lateral adjustment value based on the measured data. If the difference is less than the limit, the track frame adjustment is complete; if the residual difference is greater than the limit, repeat the adjustment until the limit meets the requirements.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention establishes a novel double-block ballastless track fine-tuning system. Traditional double-block ballastless track fine-tuning systems use a Borg fine-tuning trolley, which completes data acquisition through collaboration with the tool rail, followed by manual fine-tuning. The fine-tuning system of this application uses a total station to determine the center line of the track panel using a measuring prism and to measure the track panel assembly. An inclination sensor measures the left and right height difference of the track panel frame. The data is transmitted to a laptop computer for processing and then transmitted to an adjustable support mechanism, achieving automatic fine-tuning. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention; Figure 2 This is a three-dimensional structural diagram of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the structure of Embodiment 2 of the present invention; Figure 4 This is a three-dimensional structural diagram of Embodiment 2 of the present invention; Figure 5 This is a top view of Embodiment 2 of the present invention.

[0016] In the diagram: 1. Rail panel frame; 2. Inclination sensor; 3. Measuring prism; 4. Wireless transmission module; 5. Base plate; 6. Sleeper; 7. Reinforcing cage; 8. Support leg; 11. Longitudinal beam; 12. Rotation mechanism; 13. Longitudinal adjustment mechanism; 14. Lateral adjustment mechanism; 15. Crossbeam. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1 to 5 The present invention provides a technical solution: Example 1: A high-precision automatic positioning system for rail panel frames. The automatic positioning system includes a measurement module installed on an adjustable rail panel frame 1 and a processing module located on a central control host. An adjustable support mechanism that can be adjusted longitudinally, laterally, and rotatably is installed on the rail panel frame 1. The rail panel frame 1 is installed on the upper end of a base plate 5. A steel frame cage 7 is provided on the base plate 5. Multiple sets of sleepers 6 are laid on the steel cage 7 at intervals. The main body of the rail panel frame 1 is pressed and installed on the sleepers 6. Four sets of support legs 8 are provided on the outer side of the base plate 5. The four sets of support legs 8 are connected to the rail panel frame 1. A longitudinal adjustment mechanism 13 that can adjust the longitudinal height, a lateral adjustment mechanism 14 that can adjust the lateral position, and a rotation mechanism 12 that can adjust the angle are provided between the support legs 8 and the rail panel frame 1. The longitudinal adjustment mechanism 13, the lateral adjustment mechanism 14, and the rotation mechanism 12 are all driven by servo motors. The servo motors are controlled by a computer terminal through a wireless transmission module 4.

[0019] The adjustable support mechanism enables precise positional adjustment of the rail frame 1.

[0020] The measurement module includes a measuring prism 3 and a wireless transmission module 4 mounted on the track frame 1. The processing module includes a computer terminal with processing software and a total station that works with the measuring prism 3 to perform measurements. The processing module is electrically connected to the adjustable support mechanism on the track frame 1 via the wireless transmission module 4. The main body of the track frame 1 includes a pair of longitudinal beams 11 pressed onto the sleepers 6. The pair of longitudinal beams 11 are spaced parallel to each other and are fixedly connected by spaced crossbeams 15. The crossbeams 15 are vertically installed between the pair of longitudinal beams 11. The wireless transmission module 4 is fixedly installed on the crossbeams 15. The processing module includes a wireless communication base station and a base station antenna. The wireless transmission module 4 transmits the detected information to the computer terminal via the wireless communication base station and the base station antenna.

[0021] By designing a "slab-type" track frame 1, the overall strength meets the requirements for converting the construction of double-block ballastless track bed slabs to Type III slab construction. Fine-tuning of this project is completed by simulating Type III slab measurement and fine-tuning. The control system of the entire system is completed by a laptop computer + control software + wireless communication base station + base station antenna. The track fine-tuning trolley is no longer used. After the total station is set up freely, the control software installed on the laptop computer controls the total station to complete all measurement, calculation and control work.

[0022] The measuring prism 3 is set in two sets, and the measuring module also includes a pair of tilt sensors 2. The measuring prism 3, tilt sensors 2 and wireless transmission module 4 are set as a set of measuring components. At least one set of measuring components is set on the crossbeams 15 at both ends of the track frame 1.

[0023] Working principle: The total station measures the two measuring prisms 3 on the track frame 1, and reads the values ​​of the two tilt sensors 2 through the wireless data module 4. Based on the coordinates of the measuring prisms 3 and the data of the tilt sensors 2, the height and lateral adjustment values ​​of the four legs 8 are calculated. After the calculation is completed, the data is transmitted to the wireless communication module 4 on the four legs 8, and the servo motors automatically adjust to the calculated position.

[0024] After the first adjustment, the two measuring prisms 3 on the track frame 1 are re-measured using a total station, and the values ​​of the two tilt sensors 2 are read through the wireless data module 4. The difference between the height of the four legs 8 and the lateral adjustment value is calculated based on the coordinates of the measuring prisms 3 and the data of the tilt sensors 2. If the difference is less than the limit, the adjustment of the track frame 1 is completed; if the residual is greater than the limit, the adjustment is repeated until the limit meets the requirements.

[0025] A pose planning method based on a high-precision automatic positioning system for rail panels, the pose planning method comprising the following steps: Step 1: Measure the measuring prism 3 on the track panel 1 using a total station, and calculate the height and lateral adjustment values ​​of the four support legs 8 based on the measured data; Step 2: After the calculation is completed, the data is transmitted to the wireless communication module 4 on the four legs 8, and the servo motors automatically adjust to the calculation position. Step 3: After the first adjustment is completed, measure the prism 3 on the track panel frame 1 using a total station; Step 4: Calculate the difference between the height of the four support legs 8 and the lateral adjustment value based on the measured data. If the difference is less than the limit, the adjustment of the track frame 1 is complete; if the residual difference is greater than the limit, repeat the adjustment until the limit meets the requirements.

[0026] Example 2: Based on Example 1, the measuring prism 3 is set to four groups, and the four groups of measuring prism 3 are all installed on the longitudinal beam 11. The connection position of the support leg 8 and the longitudinal beam 11 on the rail frame 1 coincides with the installation position of the measuring prism 3.

[0027] The total station measures the four measuring prisms 3 on the track frame 1, and calculates the height and lateral adjustment values ​​of the four support legs 8 based on the coordinates of the measuring prisms 3. After the calculation is completed, the data is transmitted to the wireless communication module 4 on the four support legs 8, and the servo motor automatically adjusts to the calculated position.

[0028] The center line of the track panel is located by measuring prism 3 using a total station, the elevation of the track panel is measured, and the left and right height difference of the track panel frame 1 is measured. The data is then transmitted to a laptop computer for data processing and then transmitted to the adjustable support mechanism for automatic fine adjustment.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision automatic positioning system for a rail panel, the automatic positioning system comprising a measuring module mounted on an adjustable rail panel (1) and a processing module located on a central control unit, wherein the rail panel (1) is equipped with an adjustable support mechanism that can be adjusted longitudinally, laterally, and rotatably, characterized in that: The measurement module includes a measuring prism (3) and a wireless transmission module (4) installed on the track frame (1). The processing module includes a computer terminal with processing software installed and a total station that works with the measuring prism (3) to perform measurements. The processing module is electrically connected to the adjustable support mechanism on the track frame (1) through the wireless transmission module (4).

2. The high-precision automatic positioning system for track panels according to claim 1, characterized in that: The rail frame (1) is installed on the upper end of the base plate (5). A steel frame cage (7) is provided on the base plate (5). Multiple sets of sleepers (6) are laid on the steel cage (7) at intervals. The main body of the rail frame (1) is pressed and installed on the sleepers (6).

3. The high-precision automatic positioning system for rail panel as described in claim 2, characterized in that: The base plate (5) is provided with four sets of support legs (8) on the outside. The four sets of support legs (8) are connected to the rail frame (1). The support legs (8) and the rail frame (1) are provided with a longitudinal adjustment mechanism (13) that can adjust the longitudinal height, a lateral adjustment mechanism (14) that can adjust the lateral position, and a rotation mechanism (12) that can adjust the angle.

4. The high-precision automatic positioning system for rail panel according to claim 2, characterized in that: The main body of the track frame (1) includes a pair of longitudinal beams (11) pressed onto the sleepers (6). The pair of longitudinal beams (11) are distributed in parallel with intervals between them. The pair of longitudinal beams (11) are fixedly connected by crossbeams (15) distributed at intervals between them. The crossbeams (15) are vertically installed between the pair of longitudinal beams (11).

5. The high-precision automatic positioning system for rail panel as described in claim 4, characterized in that: The wireless transmission module (4) is fixedly installed on the crossbeam (15). The processing module includes a wireless communication base station and a base station antenna. The wireless transmission module (4) transmits the detected information to the computer terminal through the wireless communication base station and the base station antenna.

6. The high-precision automatic positioning system for rail panel according to claim 5, characterized in that: The measuring prism (3) is set in two sets, and the measuring module also includes a pair of tilt sensors (2). The measuring prism (3), tilt sensors (2) and wireless transmission module (4) are set as a set of measuring components. At least one set of measuring components is set on the crossbeam (15) at both ends of the track frame (1).

7. The high-precision automatic positioning system for rail panel according to claim 5, characterized in that: The measuring prism (3) is set in four groups, and the four groups of measuring prisms (3) are all installed on the longitudinal beam (11). The connection position of the longitudinal beam (11) on the support leg (8) and the rail frame (1) coincides with the installation position of the measuring prism (3).

8. The high-precision automatic positioning system for rail panel according to claim 3, characterized in that: The longitudinal adjustment mechanism (13), the lateral adjustment mechanism (14) and the rotation mechanism (12) are all driven by servo motors, which are controlled by a computer terminal via a wireless transmission module (4).

9. A pose planning method implemented by the high-precision automatic positioning system for track panels according to any one of claims 1-8, characterized in that: The pose planning method includes the following steps: Step 1: Measure the measuring prism (3) on the track panel frame (1) using a total station, and calculate the height and lateral adjustment values ​​of the four legs (8) based on the measured data; Step 2: After the calculation is completed, the data is transmitted to the wireless communication module (4) on the four legs (8), and the servo motors automatically adjust to the calculation position; Step 3: After the first adjustment is completed, measure the prism (3) on the track panel frame (1) using a total station. Step 4: Calculate the difference between the height of the four legs (8) and the lateral adjustment value based on the measured data. If the difference is less than the limit, the adjustment of the track frame (1) is completed; if the residual is greater than the limit, the adjustment is repeated until the limit is met.

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