CN109606420B - Intelligent railway water supply system and method - Google Patents
Intelligent railway water supply system and method Download PDFInfo
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- CN109606420B CN109606420B CN201811360267.6A CN201811360267A CN109606420B CN 109606420 B CN109606420 B CN 109606420B CN 201811360267 A CN201811360267 A CN 201811360267A CN 109606420 B CN109606420 B CN 109606420B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K11/00—Serving peculiar to locomotives, e.g. filling with, or emptying of, water, sand, or the like at the depots
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- Train Traffic Observation, Control, And Security (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of train water feeding, and particularly provides an intelligent railway water feeding system and method. The whole process is fully automatic, manual water feeding is not needed, the work and potential safety hazards of water feeding workers are reduced, the overall automation and intelligent networking degree of a railway system are improved, the traditional tedious and inefficient manual water feeding mode is replaced, the efficiency of a station water feeding process is improved, in addition, the water feeding requirements of different vehicle types and marshalling can be automatically met, water feeding of each carriage is achieved according to the requirement, and waste is avoided.
Description
Technical Field
The invention belongs to the technical field of railway train water supply, and particularly relates to an intelligent railway water supply system and method.
Background
At present, most stations of the railways in China are fed with water manually, no automatic control device is used for feeding water, the manual operation is poor in sanitation and safety, a water tank and a water feeding system cannot resist low-temperature working environments, potential safety hazards exist in water feeding work, and the like. The prior art does not systematically combine a water feeding device, a water feeding pipe network, a sensing system and a control system of a station or train preparation station, only discusses an automatic water feeding device, most of existing patents relate to a certain water feeding device, the intelligent degree and reliability of the water feeding device are far lower than those of the intelligent water feeding robot provided by the invention, more importantly, a plurality of automatic water feeding systems researched before are difficult to popularize due to inconsistent positions of water tanks of various vehicle types in operation and the like, and the water feeding system has limitations.
Disclosure of Invention
The invention aims to solve the problem of low water feeding efficiency of a train in the prior art.
To this end, the present invention provides an intelligent railway water supply system comprising: the system comprises a railway operation management system, a driving management platform, a station management platform, a water feeding robot computing platform and at least one mobile water feeding robot;
the railway operation management system is used for carrying out information interaction on the driving management platform, the station management platform and the water feeding robot computing platform;
the driving management platform is used for uploading the arrival time, the stop time, the train type grouping and the water quantity required by the water tanks of the carriages of the train to the train railway operation management system;
the station management platform is used for sending a water feeding task to the water feeding robot computing platform according to the information of the driving management platform;
the water feeding robot computing platform starts a water feeding task, calculates a water feeding path and water feeding task distribution according to the information of the driving management platform, and respectively gives the water feeding path and the water feeding task distribution to each mobile water feeding robot;
each movable water feeding robot moves a water storage tank for automatically docking a train and automatically feeding water.
Preferably, the mobile water feeding robot comprises a water feeding device, a displacement sensor, an image processing device, a moving device and a drainage device, wherein the moving device acquires the position of the water feeding robot according to the displacement sensor and controls the water feeding robot to move to the vicinity of the water storage tank, and the water feeding device is aligned to a water injection port of the water storage tank through the image processing device.
Preferably, the mobile water feeding robot further comprises a drainage device, and the drainage device is aligned to an overflow port of a water storage tank of the train through the image processing device.
Preferably, a water level sensor is arranged in the water storage tank, and the water level sensor is electrically connected with the driving management platform.
Preferably, the water feeding device is connected with the platform reservoir through a water pipe, the water feeding device comprises a water feeding valve, and the water feeding valve is electrically connected with a controller of the movable water feeding robot.
Preferably, the system further comprises a plurality of global cameras, wherein the global cameras are used for monitoring the working state of the mobile water-feeding robot and feeding back the working state to the station management platform.
The invention also provides an intelligent railway water supply method, which comprises the following steps:
the train operation management platform uploads the arrival time, the stop time, the train type grouping and the water quantity required to be added by each carriage water tank of the train to a train railway operation management system, and the railway operation management system carries out real-time interaction on the information of the train operation management platform and the information of the station management platform;
the station management platform gives a water feeding instruction to the water feeding robot computing platform, and the water feeding robot computing platform starts a water feeding task, calculates a water feeding path and water feeding task distribution according to the information of the driving management platform and respectively gives the water feeding path and the water feeding task distribution to each mobile water feeding robot;
after the water feeding tasks are executed, the water feeding robots return to the original positions, and the water feeding robot computing platform sends a water feeding task completion application to the station management platform.
Preferably, when the mobile water feeding robot with a plurality of water feeding tasks finishes the first water feeding task, the second water feeding point is automatically moved to feed water.
The invention has the beneficial effects that: according to the intelligent railway water feeding system and method provided by the invention, when a train is about to enter a station, the water feeding robot computing platform distributes water feeding tasks for each mobile water feeding robot according to the arrival time, the stop time, the train model grouping and the water feeding quantity required by each carriage water tank, each mobile robot automatically moves to the vicinity of a water feeding position according to the water feeding tasks, then water feeding is started by water feeding port butt joint through the image processing device, and the water feeding is automatically returned to the original position after the completion of water feeding. The whole process is fully automatic, manual water feeding is not needed, the work and potential safety hazards of water feeding workers are reduced, the overall automation and intelligent networking degree of a railway system are improved, the traditional tedious and inefficient manual water feeding mode is replaced, the efficiency of a station water feeding process is improved, in addition, the water feeding requirements of different vehicle types and marshalling can be automatically met, water feeding of each carriage is achieved according to the requirement, and waste is avoided.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a framework of an intelligent railroad water supply system;
FIG. 2 is a schematic flow chart of the intelligent railway water supply method of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second" may include one or more such features, either explicitly or implicitly; in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The embodiment of the invention provides an intelligent railway water supply system, which comprises: the system comprises a railway operation management system, a driving management platform, a station management platform, a water feeding robot computing platform and at least one mobile water feeding robot;
the railway operation management system is used for carrying out information interaction on the driving management platform, the station management platform and the water feeding robot computing platform;
the driving management platform is used for uploading the arrival time, the stop time, the train type grouping and the water quantity required by the water tanks of the carriages of the train to the train railway operation management system;
the station management platform is used for sending a water feeding task to the water feeding robot computing platform according to the information of the driving management platform;
the water feeding robot computing platform starts a water feeding task, calculates a water feeding path and water feeding task distribution according to the information of the driving management platform, and respectively gives the water feeding path and the water feeding task distribution to each mobile water feeding robot;
each movable water feeding robot moves a water storage tank for automatically docking a train and automatically feeding water.
As shown in fig. 1, the conventional railway system includes a railway operation management system, a driving management platform and a station management platform, the driving management platform is controlled by a train manager in a train cab, the station management platform is controlled by an attendant at each station, and information sharing is performed between the driving management platform and the station management platform by the railway operation management system. The station manager controls the mobile water feeding robot to feed water through the station management platform and the water feeding robot computing platform, and the train manager and the crews upload and receive information through the driving management platform. The driving management platform and the station management platform exchange information through a railway operation management system. The movable water feeding robot main body is arranged between the driving tracks, and can feed water to 1-3 carriages according to the optimal water feeding path and water feeding task distribution result of the water feeding robot computing platform. The mobile water feeding robot mainly comprises a water conveying pipeline, a water feeding device, a displacement sensor, an image processing device, a mobile device and a water draining device. After receiving the task instruction, the movable water feeding robot can move to the first task point for standby before the train enters the station by the displacement sensor. After the mobile water feeding robot receives the water feeding starting instruction, the position of the mobile water feeding robot can be finely adjusted according to the image processing device, the water feeding device is connected with the water storage tank, and the water feeding instruction is executed according to the required water feeding amount. And after all the mobile water feeding robots return to the original positions, the water feeding robot computing platform sends a water feeding task completion application to the station management platform. The water storage tank contains a water level sensor. The water level sensor can convey the current water amount of the water storage tank. The driving management platform is operated by a train owner and a crewmember, can group the arrival time, the stop time and the train type before arriving at the station, and the water quantity of each carriage water tank is required to be uploaded to the platform. The driving management platform can accept the application of finishing the water supply task forwarded by the railway operation management system. The driving management platform is operated by a train owner and a crewmember, and is confirmed after receiving the application of finishing the water supply task. The railway operation management system is connected with the driving management platform and the station management platform and is mainly used for transmitting platform information and application. The station management platform is operated by station management personnel, and can deliver a water feeding task to the water feeding robot computing platform after receiving information. The water feeding robot calculating platform calculates the optimal water feeding path and water feeding task distribution according to the received stop time, train type grouping and water feeding quantity required by each carriage water tank by combining the number and initial positions of the water feeding robots equipped by the station, and issues task instructions to the mobile water feeding robots.
Preferably, the mobile water feeding robot comprises a water feeding device, a displacement sensor, an image processing device, a moving device and a drainage device, wherein the moving device obtains the position of the water feeding robot according to the displacement sensor and controls the water feeding robot to move to the vicinity of the water storage tank, and the water feeding device is aligned to a water injection port of the water storage tank through the image processing device. After the water feeding robot acquires tasks, the water feeding robot is moved to the vicinity of a water filling port of the water storage tank through information of the displacement sensor, and then the alignment connection is further positioned through the image processing device.
Preferably, the mobile water feeding robot further comprises a drainage device, and the drainage device is aligned to an overflow port of a water storage tank of the train through the image processing device. Therefore, when the water storage tank needing water supply is provided with the water filling port and the overflow port, the water supply device and the water discharge device are connected at the same time, so that the water supply can be known to be finished by flowing out of the water discharge device when the water storage tank is full of water without the information of the water level sensor in the water storage tank.
Preferably, a water level sensor is arranged in the water storage tank, and the water level sensor is electrically connected with the driving management platform. Therefore, a train manager or a crewmember of the driving management platform knows the water level condition in the corresponding water storage tank according to each water level sensor, then the information is fed back to the railway operation management system in real time through the wireless network, the railway operation management system transmits the information to the station management platform, and the crewmember of the station management platform can know the water level condition of the water storage tank in real time, so that the water feeding task of the water feeding robot can be conveniently controlled.
Preferably, the water feeding device is connected with the platform reservoir through a water pipe, the water feeding device comprises a water feeding valve, and the water feeding valve is electrically connected with a controller of the movable water feeding robot. Therefore, the controller of the water feeding robot can sense whether the butt joint is finished or not according to the sensor at the tail end of the mechanical arm, for example, a pressure sensor is arranged in front of the tail end water feeding device, extrusion can occur when the water feeding device is communicated with the water injection port, the pressure sensor can sense, and then the controller controls the water valve to be opened to start water injection.
The water feeding steps of the embodiment of the invention are as follows:
the train operation management platform uploads the arrival time, the stop time, the train type grouping and the water quantity required to be added by each carriage water tank of the train to a train railway operation management system, and the railway operation management system carries out real-time interaction on the information of the train operation management platform and the information of the station management platform;
the station management platform gives a water feeding instruction to the water feeding robot computing platform, and the water feeding robot computing platform starts a water feeding task, calculates a water feeding path and water feeding task distribution according to the information of the driving management platform and respectively gives the water feeding path and the water feeding task distribution to each mobile water feeding robot;
after the water feeding tasks are executed, the water feeding robots return to the original positions, and the water feeding robot computing platform sends a water feeding task completion application to the station management platform.
From this, as shown in fig. 2, the water supply is divided into two large processes, namely, a water supply task execution process and a water supply task completion process.
1. Execution flow of water supply task
Before the vehicle arrives at the station, a water level sensor in the water storage tank conveys the current water level of the water tank, and a vehicle length and a crewman issue a water supply application on a driving management platform according to the water level and driving tasks, and issue information such as parking time, parking duration, vehicle type grouping and the like. The railway operation management system forwards the water supply application of the driving management platform to the station management platform. After receiving the water supply application, the station management platform confirms and issues a water supply task to the water supply robot computing platform by a manager. And the water feeding robot computing platform computes the optimal water feeding path and task allocation according to the received water feeding task, the vehicle information, the number and the initial position of the mobile water feeding robots of the self station, and sends the optimal water feeding path and task allocation to each mobile water feeding robot in a command form. After receiving the command, each mobile water feeding robot can move to the first water feeding task point under the control of the displacement sensor before the train stops. After the train stops, the movable water feeding robot carries out fine adjustment on the water feeding position according to the image processing device, is connected with the travelling water tank and executes a water feeding task. After the first water feeding task is finished, the mobile water feeding robot for executing the water feeding tasks immediately goes to a second task point under the control of the displacement sensor, and is connected with the water tank for water feeding after the position is finely adjusted.
2. Water supply task completion flow
After all the water feeding tasks are completed, each movable water feeding robot automatically returns to the initial position. After all the mobile water feeding robots return to the initial positions, the water feeding robot computing platform sends the application for completing the water feeding task to the station management platform. The railway operation management system forwards the water supply task completion application of the station management platform to the driving management platform. And the train manager and the crewmember operate the driving management platform to accept the application of finishing the water supply task and confirm the application. And finishing the station water feeding process.
Preferably, when the mobile water feeding robot with a plurality of water feeding tasks finishes the first water feeding task, the mobile water feeding robot automatically moves the second water feeding point to feed water. Therefore, when water is needed to be supplied to a plurality of places of the train carriage, the movable water supply robot for executing a plurality of water supply tasks immediately goes to a second task point under the control of the displacement sensor after the first water supply task is completed, and is connected with the water tank for water supply after the position is finely adjusted.
The invention has the beneficial effects that: according to the intelligent railway water feeding system and method provided by the invention, when a train is about to enter a station, the water feeding robot computing platform distributes water feeding tasks for each mobile water feeding robot according to the arrival time, the stop time, the train model grouping and the water feeding quantity required by each carriage water tank, each mobile robot automatically moves to the vicinity of a water feeding position according to the water feeding tasks, then water feeding is started by water feeding port butt joint through the image processing device, and the water feeding is automatically returned to the original position after the completion of water feeding. The whole process is fully automatic, manual water feeding is not needed, the work and potential safety hazards of water feeding workers are reduced, the overall automation and intelligent networking degree of a railway system are improved, the traditional tedious and inefficient manual water feeding mode is replaced, the efficiency of a station water feeding process is improved, in addition, the water feeding requirements of different vehicle types and marshalling can be automatically met, water feeding of each carriage is achieved according to the requirement, and waste is avoided.
The foregoing examples are merely illustrative of the present invention and are not intended to limit the scope of the present invention, and all designs that are the same or similar to the present invention are within the scope of the present invention.
Claims (8)
1. An intelligent railway water supply system, comprising: the system comprises a railway operation management system, a driving management platform, a station management platform, a water feeding robot computing platform and at least one mobile water feeding robot;
the railway operation management system is used for carrying out information interaction on the driving management platform, the station management platform and the water feeding robot computing platform;
the driving management platform is used for uploading the arrival time, the stop time, the train type grouping and the water quantity required by the water tanks of the carriages of the train to the train railway operation management system;
the station management platform is used for sending a water feeding task to the water feeding robot computing platform according to the information of the driving management platform;
the water feeding robot computing platform starts a water feeding task, calculates a water feeding path and water feeding task distribution according to the information of the driving management platform, and respectively gives the water feeding path and the water feeding task distribution to each mobile water feeding robot;
each movable water feeding robot moves a water storage tank for automatically docking a train and automatically feeding water.
2. The intelligent railroad water service system of claim 1, wherein: the mobile water feeding robot comprises a water feeding device, a displacement sensor, an image processing device, a moving device and a drainage device, wherein the moving device acquires the position of the water feeding robot according to the displacement sensor and controls the water feeding robot to move to the vicinity of the water storage tank, and the water feeding device is aligned to a water injection port of the water storage tank through the image processing device.
3. The intelligent railroad water service system of claim 2, wherein: the movable water feeding robot further comprises a drainage device, and the drainage device is aligned to an overflow port of a water storage tank of the train through the image processing device.
4. The intelligent railroad water service system of claim 2, wherein: the water storage tank is internally provided with a water level sensor, and the water level sensor is electrically connected with the driving management platform.
5. The intelligent railroad water service system of claim 2, wherein: the water feeding device is connected with the platform reservoir through a water pipe and comprises a water feeding valve, and the water feeding valve is electrically connected with a controller of the movable water feeding robot.
6. The intelligent railroad water service system of claim 1, wherein: the system also comprises a plurality of global cameras, wherein the global cameras are used for monitoring the working state of the mobile water-feeding robot and feeding back the working state to the station management platform.
7. An intelligent railway water feeding method is characterized by comprising the following steps:
the train operation management platform uploads the arrival time, the stop time, the train type grouping and the water quantity required to be added by each carriage water tank of the train to a train railway operation management system, and the railway operation management system carries out real-time interaction on the information of the train operation management platform and the information of the station management platform;
the station management platform gives a water feeding instruction to the water feeding robot computing platform, and the water feeding robot computing platform starts a water feeding task, calculates a water feeding path and water feeding task distribution according to the information of the driving management platform and respectively gives the water feeding path and the water feeding task distribution to each mobile water feeding robot;
after the water feeding tasks are executed, the water feeding robots return to the original positions, and the water feeding robot computing platform sends a water feeding task completion application to the station management platform.
8. The intelligent railway watering method according to claim 7, wherein: when the movable water feeding robot with a plurality of water feeding tasks finishes the first water feeding task, the second water feeding point is automatically moved to feed water.
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111086539B (en) * | 2020-01-06 | 2024-07-02 | 石家庄铁道大学 | Full-automatic carriage water supply system |
| CN111443741A (en) * | 2020-04-21 | 2020-07-24 | 神华天津煤炭码头有限责任公司 | Stacker, automatic water feeding system of stacker, method, device and storage medium |
| CN112644525A (en) * | 2020-12-31 | 2021-04-13 | 苏州立创致恒电子科技有限公司 | Water supply control system and water supply control method for automatically supplying water when train stops |
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