CN109398397A - A kind of track train intelligently unloads dirty system and method - Google Patents
A kind of track train intelligently unloads dirty system and method Download PDFInfo
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- CN109398397A CN109398397A CN201811477508.5A CN201811477508A CN109398397A CN 109398397 A CN109398397 A CN 109398397A CN 201811477508 A CN201811477508 A CN 201811477508A CN 109398397 A CN109398397 A CN 109398397A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000002699 waste material Substances 0.000 claims abstract description 48
- 238000003032 molecular docking Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000003137 locomotive effect Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims 1
- 238000007726 management method Methods 0.000 abstract description 55
- 238000003909 pattern recognition Methods 0.000 abstract description 4
- 239000010865 sewage Substances 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D35/00—Sanitation
- B61D35/005—Toilet facilities
- B61D35/007—Toilet facilities comprising toilet waste receiving, treatment, storage, disposal or removal devices
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- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention belongs to track trains to unload dirty technical field, it specifically provides a kind of track train and intelligently unloads dirty system and method, platform is managed including driving, station manages platform, unload dirty computing platform, vacuum unloads dirty unit and robot, the integrated information of train is sent to the station management platform that will be arrived at a station by driving management platform, management platform generation in station, which unloads to be sent to after dirty task, unloads dirty computing platform, it unloads dirty computing platform planning path and controls robot and be moved to the unloading near dirty position of the train toilet waste collector, robot, which is docked according to pattern recognition device with toilet waste collector, starts to unload dirty operation.The program improves the efficiency that dirty technique is unloaded at station, can cope with different automobile types automatically and that organizes into groups unloads dirty demand, full automatic working reduces the work and security risk for unloading dirty work, improve railway system's integrated automation and intelligent network degree without manually unloading dirt.
Description
Technical field
The invention belongs to track trains to unload dirty technical field, and in particular to a kind of track train intelligently unloads dirty system and side
Method.
Background technique
Current existing railway station, part whole the unloaded dirt of visitor are all made of and manually unload dirty mode, i.e., after train enters the station, arrange
Multiple multiple operators in scene are by connecting pipeline for the sewage discharge on train to collection site, train chief or crew's root
Obtain the liquid level variation of train foul water tank according to the instrument board on driving management platform, at the same site operation personnel and train chief or
Crew's call learns sewage discharge situation in real time, and when discharge is completed to stop unloading dirt and dismantles pipeline, whole process is without automatic control
The problems such as device processed, there are manual operation wholesomeness and poor safeties.Railway station nothing unloads dirty system automatically both at home and abroad at present
The research of aspect.
Summary of the invention
The purpose of the present invention is overcome the problems, such as that it is low to unload dirty intelligence degree for railway in the prior art.
For this purpose, the present invention provides a kind of track trains intelligently to unload dirty system, including driving management platform, station management are put down
Platform, unload dirty computing platform, vacuum unloads dirty unit and robot；
The integrated information that the driving management platform is used to send the train that will arrive at a station manages platform to the station, described
Integrated information includes the marshalling of arrival time, berthing time, vehicle and each compartment toilet waste collector real-time status of the train；
Station management platform unloads dirty computing platform to described for receiving the integrated information and sending task, described
Task includes unloading dirty request command and unloading dirty completion to order；
It is described to unload dirty computing platform for according to the task of station management platform and the state computation of the robot
Path, and control the robot and be moved to unloading dirty position and docking with toilet waste collector for the train toilet waste collector；
The vacuum unloads dirty unit and vacuumizes operation according to the mated condition start and stop of robot.
Preferably, the system also includes railway operations to manage platform, and the driving management platform and station manage platform
Between pass through the railway operation manage platform carry out information exchange.
Preferably, pass through wireless network 4G network communication, institute between the driving management platform and station management platform
It states station management platform and described unload is connected between dirty computing platform by cable network.
Preferably, the vehicle marshalling includes intensity of passenger flow, category of trains, locomotive power, line condition, station track and platform
Length.
Preferably, each compartment toilet waste collector real-time status include each toilet waste collector interface position and each toilet waste collector it is real-time
Storage situation.
Preferably, the path unloaded dirty computing platform and calculate each robot, and dirty position is unloaded according to toilet waste collector
Priority is determined with the distance of robot recently.
Preferably, the robot is equipped with pattern recognition device, position sensor and unloads dirty branch pipe, described to unload dirty branch pipe
Dirty unit is unloaded with the vacuum to connect.
Preferably, the vacuum unloads dirty unit and includes vacuum pump assembly and unload dirty general pipeline, described to unload dirty one end general pipeline and institute
The connection of vacuum pump assembly is stated, the dirty branch pipe that unloads on the other end and the robot is connected.
Preferably, the artificial movable type mechanical arm of the machine or stationary machine arm, the movable type mechanical arm is along cunning
Rail is mobile.
The present invention also provides a kind of track trains intelligently to unload dirty method characterized by comprising
Station management platform obtains the integrated information for the train that will be entered the station, the integrated information by driving management platform
Arrival time, berthing time, vehicle marshalling and each compartment toilet waste collector real-time status including the train；
After train enters the station, the station management platform unloads dirt to dirty computing platform sending is unloaded according to the integrated information of the train
Request command；
The computing platform is connected to unload dirty request command after, dirt is unloaded according to the toilet waste collector of the state of robot and the train
Location information calculates path；
The computing platform control the robot be moved to the train toilet waste collector unload dirty position and with toilet waste collector pair
It connects；
Vacuum, which unloads dirty unit and detects to open after the robot docks successfully with toilet waste collector, to be vacuumized and unloads dirty operation；
When driving management detection of platform to toilet waste collector empties, unloads dirty computing platform control vacuum and unload dirty unit and stop taking out very
Sky unloads dirty operation, and robot described in the station management platform courses returns to initial position.
Beneficial effects of the present invention: this track train provided by the invention intelligently unloads dirty system and method, including driving
Management platform, station management platform, unload dirty computing platform, vacuum unloads dirty unit and robot, driving management platform is by train
Integrated information is sent to the station management platform that will be arrived at a station, and management platform generation in station, which unloads to be sent to after dirty task, unloads dirty calculating
Platform, unloads dirty computing platform planning path and controls robot and be moved to the unloading near dirty position of the train toilet waste collector, machine
People, which is docked according to pattern recognition device with toilet waste collector, starts to unload dirty operation.The program improves the efficiency that dirty technique is unloaded at station, can
The dirty demand of unloading of automatic reply different automobile types and marshalling, full automatic working reduce the work and peace for unloading dirty work without manually unloading dirt
Full hidden danger improves railway system's integrated automation and intelligent network degree.
The present invention is described in further details below with reference to attached drawing.
Detailed description of the invention
Fig. 1 is the functional block diagram that track train of the present invention intelligently unloads dirty system and method.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", "upper", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on the figure
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes one or more of the features；In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or
It is more than two.
The embodiment of the invention provides a kind of track trains intelligently to unload dirty system, including driving management platform, station management
Platform, unload dirty computing platform, vacuum unloads dirty unit and robot, the driving manages platform.As shown in Figure 1, being directed to each list
The function of member is described as follows:
The integrated information that the driving management platform is used to send the train that will arrive at a station manages platform to the station, described
Integrated information includes vehicle marshalling and each compartment toilet waste collector real-time status；Driving management platform, that is, train control system, train
Long and crew is managed train by driving management platform, communicates between driving management platform and station management platform
The location information of train, vehicle marshalling and each compartment toilet waste collector real-time status are sent to and will be arrived by connection, driving management platform
The station station management platform stood.
Station management platform unloads dirty computing platform to described for receiving the integrated information and sending task, described
Task includes unloading dirty request command and unloading dirty completion to order.It follows that leading between station management platform and driving management platform
Letter connection, such as 4G network, plans according to the arrival time for the train that will be arrived at a station and berthing time length and unloads dirty request command
Priority, if berthing time is short, priority is high, preferentially assigns the handling the toilet waste collector of the train of the task, which includes
The toilet waste collector interface position information of train after unloading dirty process, then issues and unloads dirty completion order.Wherein, unload it is dirty complete with
No learnt by the compartment toilet waste collector real-time status of the offer of driving management platform, and level sensing is equipped in compartment toilet waste collector
Device, when liquid level drops to safety value, signal is passed to driving management platform by liquid level sensor, and station management platform obtains in real time
The information is taken, and is sent to and unloads dirty computer platform and vacuum unloads dirty unit, vacuum is unloaded dirty unit stopping and vacuumized.
It is described to unload dirty computing platform for according to the task of station management platform and the state computation of the robot
Path.It follows that unloading dirty computer platform according to the toilet waste collector interface position information of task priority and train come computer
The path of device people first determines the train of highest priority, then sends order so that the robot nearest from target position is mobile
Past.
The robot is moved to unloading dirty position and docking with toilet waste collector for the train toilet waste collector according to the path.Machine
Device people is moved to unload dirty position after, automatic butt toilet waste collector, specifically, robot body be set to driving station track between, in robot
End, which is equipped with, unloads dirty branch pipe, displacement sensor and image processing apparatus, and every mechanical arm can unload dirt to 1~2 compartment, unloads dirt
Branch pipe unloads dirty unit with vacuum and connect, and for extracting the pollutant in toilet waste collector, robot receives an assignment after instruction according to displacement
Sensor is moved to first task point before train enters the station and awaits orders, and robot receiving can be according to image procossing after starting to unload dirty instruction
Device is finely adjusted position and will unload dirty branch pipe and connects with driving toilet waste collector sewage draining exit.After all machines return to original position per capita,
It unloads dirty computing platform transmission and unloads dirty task completion application.Wherein image processing apparatus includes camera and processor, and camera is real
When obtain the interface message of front toilet waste collector and be transmitted back to processor, signal is passed to robot by processor, robot according to
The image information in front carries out matching and is further aligned completion docking.
The vacuum unloads dirty unit and vacuumizes operation according to the mated condition start and stop of robot.It follows that vacuum unloads dirt
Unit includes vacuum pump assembly and unloads dirty general pipeline, and is remotely controlled by unloading dirty computing platform, unloads dirty computing platform receiving and unloads dirt
The vacuum pump assembly for starting vacuum evacuation system after task forms negative pressure and extracts the pollutant of toilet waste collector out.Once unloading dirty appoint
After the completion of business, the defecate collection sewage in vacuum tank is evacuated to specified place and handled by blowdown pump startup.
Preferred scheme, the system also includes railway operations to manage platform, and the driving management platform and station manage
Platform is managed by the railway operation between platform and carries out information exchange.It follows that railway operation management platform connection row
Vehicle manages platform and station manages platform, is mainly used to transmit platform information and task application, railway operation management platform includes
Base station will be established between each platform by wireless network and be communicated.
Preferred scheme, the artificial movable type mechanical arm of machine or stationary machine arm, the movable type mechanical arm is along cunning
Rail is mobile.Stationary machine arm is arranged in platform, and chassis is motionless, only needs movable machinery arm that can be aligned.Movable type mechanical arm
It can move, be moved by sliding rail, i.e., it is interior AT STATION that sliding rail is set, it is also possible to mobile by driving wheel or pedipulator.
The workflow of technical solution of the present invention is as follows:
1, dirty task execution process is unloaded
Vehicle commander and crew, which issue according to driving task in driving management platform, before vehicle gets to the station unloads dirty application, together
The information such as Shi Fabu down time, parking duration and vehicle marshalling.
Dirty task requests to the station of unloading of railway operation management platform forwarding driving management platform manages platform.Station management
After dirty task requests are unloaded in platform receiving, is confirmed by administrative staff and issued and unload dirty task to unloading dirty computing platform.It can also not have to
Railway operation manages platform, direct communication between each platform.
It unloads dirty computing platform to be organized into groups according to the rain model received, match in conjunction with the train in our station stop position and our station
Standby robot quantity and initial position calculate it is optimal unload dirty path and task distribution, and each machine is handed down to instruction type
People, while starting vacuum pump assembly.
After each vacuum tank is evacuated to the negative pressure of setting after vacuum pump unit starting, stop working.
Each robot can be moved to first after taking orders under the control of displacement sensor before train is stopped and unload dirty appoint
Business point.
After train is stopped, robot is finely adjusted according to image processing apparatus to dirty position is unloaded, and is arranged with driving toilet waste collector
Dirty task is unloaded in mouth of a river connection, execution.
Multiple robots for unloading dirty task are executed after dirty task is unloaded in completion first, at once under the control of displacement sensor
Go to the second task point, after fine position, connection toilet waste collector sewage draining exit unloads dirt.
2, it unloads dirty task and completes process
Each robot complete it is all unload dirty task after, automatically return to initial position.
After all machines return to initial position per capita, dirty computing platform is unloaded by the application for completing to unload dirty task and is sent to vehicle
Station administration platform.
The dirty task of unloading of railway operation management platform forwarding station management platform completes application to driving management platform.
Train chief and crew operate driving management platform and receive to unload the application that dirty task is completed, and confirm.
It is primary unload dirty task after the completion of, vacuum evacuation system start dredge pump, defecate collection sewage in vacuum tank is evacuated to specified
Place is further processed.
Beneficial effects of the present invention: this track train provided by the invention intelligently unloads dirty system and method, including driving
Management platform, station management platform, unload dirty computing platform, vacuum unloads dirty unit and robot, driving management platform is by train
Integrated information is sent to the station management platform that will be arrived at a station, and management platform generation in station, which unloads to be sent to after dirty task, unloads dirty calculating
Platform, unloads dirty computing platform planning path and controls robot and be moved to the unloading near dirty position of the train toilet waste collector, machine
People, which is docked according to pattern recognition device with toilet waste collector, starts to unload dirty operation.The program improves the efficiency that dirty technique is unloaded at station, can
The dirty demand of unloading of automatic reply different automobile types and marshalling, full automatic working reduce the work and peace for unloading dirty work without manually unloading dirt
Full hidden danger improves railway system's integrated automation and intelligent network degree.
The foregoing examples are only illustrative of the present invention, does not constitute the limitation to protection scope of the present invention, all
It is within being all belonged to the scope of protection of the present invention with the same or similar design of the present invention.
Claims (10)
1. a kind of track train intelligently unloads dirty system, it is characterised in that: including driving management platform, station management platform, unload dirt
Computing platform, vacuum unload dirty unit and robot；
The integrated information that the driving management platform is used to send the train that will be arrived at a station manages platform to the station, described comprehensive
Close the marshalling of arrival time, berthing time, vehicle and each compartment toilet waste collector real-time status that information includes the train；
The station management platform unloads dirty computing platform, the task to described for receiving the integrated information and sending task
Including unloading dirty request command and unloading dirty completion order；
The state computation path unloaded dirty computing platform and be used to manage the task and the robot of platform according to the station,
And it controls the robot and is moved to unloading dirty position and docking with toilet waste collector for the train toilet waste collector；
The vacuum unloads dirty unit and vacuumizes operation according to the mated condition start and stop of robot.
2. track train according to claim 1 intelligently unloads dirty system, it is characterised in that: the system also includes railway fortune
Battalion's management platform manages platform by the railway operation between the driving management platform and station management platform and carries out information
Interaction.
3. track train according to claim 1 intelligently unloads dirty system, it is characterised in that: the driving management platform and institute
It states between station management platform through wireless network 4G network communication, the station management platform and described unloads between dirty computing platform
It is connected by cable network.
4. track train according to claim 1 intelligently unloads dirty system, it is characterised in that: the vehicle marshalling includes passenger flow
Density, category of trains, locomotive power, line condition, station track and platform length.
5. track train according to claim 1 intelligently unloads dirty system, it is characterised in that: each compartment toilet waste collector is real-time
State includes the interface position of each toilet waste collector and the real-time storage situation of each toilet waste collector.
6. track train according to claim 1 intelligently unloads dirty system, it is characterised in that: described to unload dirty computing platform calculating
The path of each robot, and priority is determined with the distance of robot recently according to the dirty position of unloading of toilet waste collector.
7. track train according to claim 1 intelligently unloads dirty system, it is characterised in that: the robot is equipped with image
Identification device, position sensor and dirty branch pipe is unloaded, it is described to unload dirty branch pipe and the vacuum is unloaded dirty unit and connected.
8. track train according to claim 7 intelligently unloads dirty system, it is characterised in that: the vacuum unloads dirty unit and includes
Vacuum pump assembly and dirty general pipeline is unloaded, it is described to unload dirty one end general pipeline and the vacuum pump assembly is connected, the other end and the robot
On the dirty branch pipe of unloading connect.
9. track train according to claim 1 intelligently unloads dirty system, it is characterised in that: the artificial mobile machine of the machine
Tool arm or stationary machine arm, the movable type mechanical arm are moved along sliding rail.
10. a kind of track train intelligently unloads dirty method characterized by comprising
Station management platform obtains the integrated information for the train that will be entered the station by driving management platform, and the integrated information includes
Arrival time, berthing time, vehicle marshalling and each compartment toilet waste collector real-time status of the train；
After train enters the station, the station management platform unloads dirty request to dirty computing platform sending is unloaded according to the integrated information of the train
Order；
The computing platform is connected to unload dirty request command after, dirty position is unloaded according to the toilet waste collector of the state of robot and the train
Information calculates path；
The computing platform controls the robot and is moved to unloading dirty position and docking with toilet waste collector for the train toilet waste collector；
Vacuum, which unloads dirty unit and detects to open after the robot docks successfully with toilet waste collector, to be vacuumized and unloads dirty operation；
When driving management detection of platform to toilet waste collector empties, unloads dirty computing platform control vacuum and unload dirty unit and stop vacuumizing unloading
Dirty operation, the station manage robot described in platform courses and return to initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477508.5A CN109398397B (en) | 2018-12-05 | 2018-12-05 | Intelligent dirt unloading system and method for rail train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477508.5A CN109398397B (en) | 2018-12-05 | 2018-12-05 | Intelligent dirt unloading system and method for rail train |
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| Publication Number | Publication Date |
|---|---|
| CN109398397A true CN109398397A (en) | 2019-03-01 |
| CN109398397B CN109398397B (en) | 2023-10-31 |
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ID=65457239
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811477508.5A Active CN109398397B (en) | 2018-12-05 | 2018-12-05 | Intelligent dirt unloading system and method for rail train |
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| Country | Link |
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| CN (1) | CN109398397B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111842362A (en) * | 2020-07-24 | 2020-10-30 | 北京宜世通信息技术有限公司 | Railway passenger station self-purging type vacuum sewage discharge pipeline cleaning system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111842362A (en) * | 2020-07-24 | 2020-10-30 | 北京宜世通信息技术有限公司 | Railway passenger station self-purging type vacuum sewage discharge pipeline cleaning system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109398397B (en) | 2023-10-31 |
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