CN111319654A - Track switching method, device, storage medium and system - Google Patents
Track switching method, device, storage medium and system Download PDFInfo
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- CN111319654A CN111319654A CN202010075321.3A CN202010075321A CN111319654A CN 111319654 A CN111319654 A CN 111319654A CN 202010075321 A CN202010075321 A CN 202010075321A CN 111319654 A CN111319654 A CN 111319654A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L5/00—Local operating mechanisms for points or track-mounted scotch-blocks; Visible or audible signals; Local operating mechanisms for visible or audible signals
- B61L5/06—Electric devices for operating points or scotch-blocks, e.g. using electromotive driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L5/00—Local operating mechanisms for points or track-mounted scotch-blocks; Visible or audible signals; Local operating mechanisms for visible or audible signals
- B61L5/06—Electric devices for operating points or scotch-blocks, e.g. using electromotive driving means
- B61L5/067—Electric devices for operating points or scotch-blocks, e.g. using electromotive driving means using electromagnetic driving means
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Abstract
The invention provides a track switching method, a device, a storage medium and a system, wherein the method comprises the steps of receiving an operation instruction; acquiring the current position of a switching rail according to the operation instruction; judging whether the current position is a first position calibrated in advance; if the current position is the first position, the switching rail is controlled to decelerate, and the magnet device arranged on the switching rail can control the switching rail to operate until the switching rail operates to the target position. The invention can accurately position the operation position of the cutting transfer rail and effectively improve the operation control effect of the cutting transfer rail.
Description
Technical Field
The present invention relates to the field of rail transit technologies, and in particular, to a method, an apparatus, a storage medium, and a system for switching a rail.
Background
In the field of rail transit technology, it is often necessary to perform switching control on the rails of a rail vehicle.
In the related art, the track switching control usually reduces the impact force of the track switching process by a chain or a buffer.
In this way, when the cutting rotary rail moves too fast, the cutting rotary rail is easily knocked off after being in place, and the cutting rotary rail moves slowly to prevent the cutting rotary rail from being knocked off, so that the technical problems that the operation position of the cutting rotary rail cannot be accurately positioned and the operation control effect of the cutting rotary rail is poor exist in the related technology.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a track switching method, a track switching device, a storage medium and a track switching system, which can accurately position the operation position of a switching rail and effectively improve the operation control effect of the switching rail.
In order to achieve the above object, an embodiment of the first aspect of the present invention provides a track switching method, including: receiving an operation instruction; acquiring the current position of the switching rail according to the operation instruction; judging whether the current position is a first position calibrated in advance; and if the current position is the first position, controlling the cutting transfer rail to decelerate, and enabling the magnet device arranged on the cutting transfer rail to control the cutting transfer rail to operate until the cutting transfer rail operates to a target position.
According to the track switching method provided by the embodiment of the first aspect of the invention, the operation instruction is received, the current position of the switching rail is obtained according to the operation instruction, whether the current position is the first position calibrated in advance is judged, the switching rail is controlled to decelerate when the current position is the first position, the switching rail can be controlled to operate by the magnet device arranged on the switching rail until the switching rail operates to the target position, the operation position of the switching rail can be accurately positioned, and the operation control effect of the switching rail is effectively improved.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a track switching device, including: the receiving module is used for receiving an operation instruction; the acquisition module is used for acquiring the current position of the switching rail according to the operation instruction; the first judgment module is used for judging whether the current position is a pre-calibrated first position or not; and the control module is used for controlling the cutting transfer rail to decelerate when the current position is the first position, and calling a magnet device arranged on the cutting transfer rail to enable the cutting transfer rail to be controlled to operate until the cutting transfer rail operates to a target position.
The track switching device provided by the embodiment of the second aspect of the invention receives the operation instruction, acquires the current position of the switching track according to the operation instruction, judges whether the current position is the first position calibrated in advance, controls the switching track to decelerate when the current position is the first position, enables the magnet device arranged on the switching track to control the switching track to operate until the switching track operates to the target position, can accurately position the operation position of the switching track, and effectively improves the operation control effect of the switching track.
To achieve the above object, a readable storage medium according to a third embodiment of the present invention has a computer program stored thereon, where the computer program is executed by a processor to implement the track switching method according to the first embodiment of the present invention.
The readable storage medium provided by the embodiment of the third aspect of the present invention receives the operation instruction, obtains the current position of the switch rail according to the operation instruction, determines whether the current position is the first position calibrated in advance, controls the switch rail to decelerate when the current position is the first position, and enables the magnet device arranged on the switch rail to control the switch rail to operate until the switch rail operates to the target position, so as to accurately position the operation position of the switch rail and effectively improve the operation control effect of the switch rail.
To achieve the above object, a track switching system according to a fourth aspect of the present invention includes the track switching method according to the first aspect of the present invention.
According to the track switching system provided by the embodiment of the fourth aspect of the invention, the operation instruction is received, the current position of the switching rail is obtained according to the operation instruction, whether the current position is the first position calibrated in advance is judged, the switching rail is controlled to decelerate when the current position is the first position, the switching rail can be controlled to operate by the magnet device arranged on the switching rail until the switching rail operates to the target position, the operation position of the switching rail can be accurately positioned, and the operation control effect of the switching rail is effectively improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a track switching method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a track switching method according to another embodiment of the present invention;
fig. 3 is a flowchart illustrating a track switching method according to another embodiment of the present invention;
FIG. 4 is a schematic illustration of the deceleration process in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a track switching device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a track switching device according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of a track switching system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a flowchart illustrating a track switching method according to an embodiment of the present invention.
The present embodiment is exemplified in a case where the track switching method is configured as a track switching apparatus.
In this embodiment, the track switching method may be configured in the track switching device, the track switching device may be disposed in an execution control component of the switching track, and the execution control component of the switching track may be disposed in a background scheduling system in the cloud track system, which is not limited in this embodiment of the present invention.
The track switching method provided by the embodiment of the invention can be applied to the change control of the reversing and motion path of an automatic track transport Vehicle (ARV), can greatly reduce the control cost and reduce the control difficulty of a background dispatching system.
Referring to fig. 1, the method includes:
s101: an operation instruction is received.
The running instruction can be specifically issued by a switching background scheduling system.
In the specific execution process, the execution control component of the switch can receive the running instruction issued by the background scheduling system, so that the switch operation is controlled by combining the running instruction with the corresponding strategy according to the running instruction.
S102: and acquiring the current position of the switching rail according to the operation instruction.
In the embodiment of the invention, when the operation instruction is received, the current position of the switch rail can be triggered to be acquired according to the operation instruction, namely, the current position of the switch rail can be triggered to be acquired according to the operation instruction while the operation instruction is received, so that the timeliness of the current position identification is effectively guaranteed.
Optionally, a sensing signal of a position sensor disposed on the switch rail may be acquired according to the operation instruction, and the sensing signal may be analyzed to obtain the current position of the switch rail.
The position sensor may be, for example, a mechanical switch, a proximity sensor, a hall sensor, an optoelectronic switch, etc., and the position sensor can be used to detect the current position of the transfer rail, which is not limited to this.
When the method is executed, the sensing signal of the position sensor arranged on the switching rail can be acquired in real time while the operation instruction is received, and the sensing signal is analyzed in real time so as to obtain the current position of the switching rail, so that timeliness and accuracy of current position identification are guaranteed.
As an example, the position sensor includes a deceleration position sensor and a target position sensor, wherein the current position of the switching track may be determined by combining the deceleration position sensor and the target position sensor, when a sensing signal of the deceleration position sensor can be acquired, the current position is indicated to be near a first position calibrated in advance, the first position calibrated in advance indicates that the current switching track is operated to the time, the deceleration operation is required, when a sensing signal of the target position sensor can be acquired, the current position is indicated to be near a target position, the target position indicates a final position to which the switching track is required to be switched, thereby accurately identifying whether the current position is the first position calibrated in advance or the target position.
The current position of the switching rail can be effectively identified by reading the sensing signals of the deceleration position sensor and the in-place position sensor, and the possibility is provided for subsequent different control strategies.
S103: and judging whether the current position is a pre-calibrated first position.
After the current position of the switching track is identified, whether the current position is a pre-calibrated first position or not can be judged in real time, and the pre-calibrated first position indicates that the current switching track needs to be decelerated when the current switching track runs to the current position.
In specific execution, before judging whether the current position is the pre-calibrated first position, whether the current position is the target position is judged firstly, and when the current position is not the target position, the step of judging whether the current position is the pre-calibrated first position is triggered to be executed, so that whether the current position is the target position is detected doubly, control logic is complete, and control is safe.
For example, when an operation instruction sent by the background scheduling system is received, whether the operation instruction has reached the target position is judged through sensing signals of the deceleration position sensor and the in-place position sensor, if the operation instruction has reached the target position, the execution control component of the switching rail returns that the switching rail of the background scheduling system has reached the target position without moving, and if the operation instruction has not reached the target position, whether the current position is the first position calibrated in advance is judged.
S104: if the current position is the first position, the switching rail is controlled to decelerate, and the magnet device arranged on the switching rail can control the switching rail to operate until the switching rail operates to the target position.
When the current position of the switching rail is determined to be the first position, the current switching rail is indicated to run to the current position, the speed reduction operation is needed, the switching rail can be controlled to decelerate at the current time by the preset acceleration, and the switching rail can be controlled to run by the magnet device arranged on the switching rail until the switching rail runs to the target position. The magnet device may be an electromagnet or a device with an electromagnet. The magnet device enables control of the operation of the switch rail, namely: the electromagnet of the magnet device is electrified to generate magnetic force, the cutting and rotating rail is moved to the target position under the action of the magnetic force of the magnet device, and finally the cutting and rotating rail and the rail of the target position can be mutually attracted together, so that the cutting and rotating rail can completely reach the target position, a gap between the cutting and rotating rail and the target position is prevented, and the problem that the cutting and rotating are not in place is avoided.
The current position of the switching rail can be detected in real time in the process of controlling the operation of the switching rail by the magnet device, whether the switching rail operates to the target position or not is judged in real time according to the current position, and the operation control is stopped until the switching rail operates to the target position.
In the embodiment of the invention, the magnet device arranged on the cutting transfer rail can control the cutting transfer rail to operate, the continuous time after the cutting transfer rail operates to the target position is counted until the cutting transfer rail operates to the target position, and the cutting transfer rail is stopped to operate when the counted time reaches the first time threshold value, so that the cutting transfer rail can be effectively ensured to accurately operate to the target position.
The first time threshold mentioned above may be, for example, 100 ms.
As an example, after receiving an operation instruction and before controlling the switching rail to operate, firstly reading sensing signals of a deceleration position sensor and an in-position sensor, if no sensing signal is detected by any of 2 position sensors in the movement direction, controlling the switching rail to operate at an accelerated speed, and decelerating when reaching a first position calibrated in advance, and meanwhile, enabling the magnet device to control the switching rail to operate until the switching rail operates to a target position, and stopping controlling the switching rail to operate after delaying for 100ms, so as to ensure that the switching rail is completely in place through locked rotor.
In this embodiment, through receiving the operation instruction, and obtain the current position of cutting the transfer according to the operation instruction, judge whether the current position is the first position of demarcating in advance, and be the first position at the current position, then control is cut the transfer and is slowed down, and make the operation of control cutting the transfer by setting up in the magnet device who cuts the transfer, until cutting the transfer and move to the target location, can accurate location cut the operation position of transfer, effectively promote the operation control effect of cutting the transfer.
In the process of controlling the operation of the switching rail, the temperature of a driving motor is detected in real time, wherein the driving motor is used for driving an actuating mechanism, so that the actuating mechanism drives the switching rail to operate; and dynamically adjusting the running speed of the switching rail according to the temperature.
For example, in the process of controlling the switching operation, if the temperature of the driving motor body is detected to be too high, the operation speed can be correspondingly reduced, and the service life of the driving motor is prolonged.
Detecting the current value output by the driving motor in real time in the process of controlling the switching operation; if the current value is larger than the current threshold value, and the time for the switching rail to fail to operate to the target position reaches a second time threshold value, the switching rail is stopped to be controlled to operate, fault abnormal information is reported to a background dispatching system, safety of switching rail switching control can be effectively improved, the blocking condition and motor abnormality of a switching rail moving mechanism can be judged through current detection and fault detection, and rapid positioning during later maintenance is facilitated.
When the driving motor has a fault, the switching operation is stopped and the fault abnormal information is reported to the background dispatching system, so that the safety of switching control can be effectively improved, and the requirements on the cost and the precision of the driving motor are greatly reduced.
The driving motor includes, but is not limited to, a stepping motor, a dc motor, an ac motor, a servo motor, etc.
For example, the current value output by the driving motor and the driving motor fault condition can be detected in real time in the process of controlling the switching operation, if the detected current value is larger than the current threshold value (indicating that the current value is larger), meanwhile, the switching operation cannot reach the target position after long-time operation, at this moment, the structure is possibly blocked, but the driving motor does not report the fault, the switching operation can be correspondingly stopped and the fault abnormal information can be reported to a background dispatching system, and if the driving motor has the fault, the switching operation can be directly stopped and the fault abnormal information can be reported to the background dispatching system.
Fig. 2 is a flowchart illustrating a track switching method according to another embodiment of the present invention.
Referring to fig. 2, the method includes:
s201: when the switching rail is initially electrified, whether the current position of the switching rail is the target position is judged.
In the specific implementation process, when the switching rail is initially powered on, the sensing signal of the position sensor arranged on the switching rail can be acquired in real time, the sensing signal is analyzed to obtain the current position of the switching rail, and whether the current position of the switching rail is the target position or not is triggered and judged in real time.
When the switching orbit is initially electrified, the switching orbit, the ARV and other devices can also actively report the state and the current position of the switching orbit to the background scheduling system, and the background scheduling system decides whether the switching orbit needs to be controlled to operate, the corresponding operation direction and the like.
S202: if the target position is the target position, the switching rail is controlled to reversely run to a second position, and the second position is not between the first position and the target position.
S203: and controlling the switching track to switch in the direction to operate until the current position is updated to the first position, executing the step of controlling the switching track to decelerate, and enabling the magnet device arranged on the switching track to control the switching track to operate.
In this embodiment, it is considered that, during power-on initialization, since the switching track is not operated, therefore, even if the position sensor detects that the cutting and rotating rail reaches the target position before operation, the cutting and rotating rail can not be ensured to be completely attached to the target position, therefore, the present embodiment controls the switching rail to reversely move to the second position (the second position is not between the first position and the target position) at a low speed, then the direction is reversed to operate, and the magnet device enables the cutting and turning rail to operate until the target position is reached again, the cutting and rotating rail can execute operation action at any position of power-on initialization without corresponding potential safety hazard, effectively ensures that the cutting and rotating rail is completely attached to a target position, realizes accurate positioning, meanwhile, the magnet device arranged on the cutting transfer rail can control the cutting transfer rail to move to a target position, so that the collision noise of the cutting transfer rail is reduced.
In this embodiment, when the bisection switch is initially powered on, whether the current position of the bisection switch is the target position is determined, and the current position is the target position, the bisection switch is controlled to reversely run to the second position, the second position is not between the first position and the target position, and the bisection switch is controlled to reverse direction running until the current position is updated to the first position, the step of controlling the bisection switch to decelerate is executed, and the step of controlling the operation of the bisection switch by the magnet device arranged on the bisection switch enables the cut transition to be completely attached to the target position, so that accurate positioning is realized, and meanwhile, the step of controlling the operation of the bisection switch to the target position by the magnet device arranged on the bisection switch enables the cut transition to be controlled to run to the target position, so that the collision noise of the cut transition is reduced.
Fig. 3 is a flowchart illustrating a track switching method according to another embodiment of the present invention.
Referring to fig. 3, the method includes:
s301: an operation instruction is received.
S302: and acquiring the current position of the switching rail according to the operation instruction.
S303: and judging whether the current position is a pre-calibrated first position.
S304: if the current position is the first position, the switching rail is controlled to decelerate, and the magnet device arranged on the switching rail can control the switching rail to operate until the switching rail operates to the target position.
The descriptions of the steps S301 to S304 can refer to the above embodiments, and are not described herein again.
S305: and if the current position is not the first position and is not between the first position and the target position, controlling the switching rail to accelerate at a set acceleration or to rapidly operate at a preset speed.
And if the current position is not the first position and the current position is not between the first position and the target position, controlling the switching rail to operate at a set acceleration speed or at a preset speed quickly, and controlling the switching rail to decelerate until the current position is updated to the first position, and enabling the magnet device arranged on the switching rail to control the switching rail to operate until the switching rail operates to the target position.
S306: and if the current position is between the first position and the target position, directly executing the step of controlling the switching rail to decelerate, and enabling the switching rail to be controlled to run by a magnet device arranged on the switching rail until the switching rail runs to the target position.
And if the current position is between the first position and the target position, the current switching rail is indicated to run to an area needing deceleration control, at the moment, the step of controlling the switching rail to decelerate can be directly executed, and the magnet device arranged on the switching rail can control the switching rail to run until the switching rail runs to the target position.
The process of controlling the deceleration of the switching track can be illustrated as follows, and in particular, refer to fig. 4, where fig. 4 is a schematic diagram of the deceleration process in the embodiment of the present invention.
The running speed V of the rail cutting when the position is not decelerated (i.e. the current position is not between the first position and the target position)0The target speed V can be set by the background scheduling system according to the road condition grade of the cloud rail system and is not lower than the deceleration area (namely the area between the first position and the target position)1In the present embodiment, the deceleration is performed at a constant deceleration rate, considering that the sudden change of speed may cause an excessive load to the driving motor and cause the structure to vibrate, and the acceleration in the deceleration region is
So that when the switch rail is switched to the target position, the speed is just V1Thus not onlyThe requirement of speed reduction is met, the operation control efficiency of the switch rail is improved, the similar delay stop also adopts the scheme of stopping from speed reduction to 0, and the acceleration is a2＝-v1/t＝-v1/0.1＝-10·v1If required, a1And a2Equal, then can pass V0To obtain a desired target deceleration V1。
In the embodiment, the first position is calibrated in advance, the current position of the cutting rotary rail is not the first position, and the current position is not between the first position and the target position, the cutting rotary rail is controlled to operate at a set acceleration speed, so that the cutting rotary rail can move quickly in most of strokes, part of the strokes are reserved for running at a speed reduction stop, the problem of accurate positioning is effectively solved, meanwhile, the cutting rotary rail has lower collision noise in a low-speed in-place and in-place mode, and different control strategies are adopted according to the specific situation of the current position, so that the operation control of the cutting rotary rail is more refined and intelligent.
Fig. 5 is a schematic structural diagram of a track switching device according to an embodiment of the present invention.
Referring to fig. 5, the apparatus 500 includes:
a receiving module 501, configured to receive an operation instruction;
an obtaining module 502, configured to obtain a current position of a switch rail according to an operation instruction;
a first determining module 503, configured to determine whether the current position is a pre-calibrated first position;
and the control module 504 is configured to control the switching rail to decelerate when the current position is the first position, and call a magnet device arranged on the switching rail to enable the switching rail to be controlled to operate until the switching rail operates to a target position.
Optionally, in some embodiments, referring to fig. 6, the apparatus 500 further comprises:
a second judging module 505, configured to judge whether the current position is a target position, and when the current position is not the target position, trigger the first judging module to execute a step of judging whether the current position is a pre-calibrated first position;
the obtaining module 502 is specifically configured to:
acquiring a sensing signal of a position sensor arranged on the switching rail according to the operation instruction;
and analyzing the sensing signal to obtain the current position of the switching rail. .
Optionally, in some embodiments, referring to fig. 6, the control module 504 is further configured to:
when the current position is not the first position and the current position is not between the first position and the target position, controlling the switching rail to accelerate at a set acceleration or rapidly operate at a preset speed;
and when the current position is between the first position and the target position, directly executing the step of controlling the switching rail to decelerate, and calling a magnet device arranged on the switching rail to enable the switching rail to be controlled to operate until the switching rail operates to the target position.
Optionally, in some embodiments, referring to fig. 6, the apparatus 500 further comprises:
a timing module 506, configured to time a duration of time after the tangent rail moves to the target position;
the control module 504 is further configured to stop controlling the switching operation when the time obtained through timing reaches a first time threshold.
Optionally, in some embodiments, referring to fig. 6, the apparatus 500 further comprises:
a third determining module 507, configured to determine whether a current position of the handover is a target position when the handover is initially powered on;
the control module 504 is further configured to control the switching rail to reversely run to a second position when the current position of the switching rail is determined to be the target position, the second position is not between the first position and the target position, and control the switching rail to reverse to run until the current position is updated to the first position, execute the step of controlling the switching rail to decelerate, and enable the step of controlling the switching rail to run by a magnet device arranged on the switching rail.
Optionally, in some embodiments, referring to fig. 6, the apparatus 500 further comprises:
the detection module 508 is configured to detect the temperature of the driving motor in real time during the operation of the switching rail, where the driving motor is configured to drive the actuator, so that the actuator drives the switching rail to operate;
the control module 504 is further configured to dynamically adjust the speed of the switch rail operation according to the temperature.
Wherein,
the detection module 508 is further configured to detect a current value output by the driving motor in real time in a process of controlling the switching operation;
the control module 504 is further configured to stop controlling the switching track to operate when the current value is greater than the current threshold value and the time duration for the switching track not to operate to the target position reaches a second time threshold value, and report the fault exception information to the background scheduling system.
It should be noted that the foregoing explanations of the track switching method in the embodiments of fig. 1 to fig. 4 also apply to the track switching device 500 provided in this embodiment, and the implementation principles thereof are similar and will not be described herein again.
In this embodiment, through receiving the operation instruction, and obtain the current position of cutting the transfer according to the operation instruction, judge whether the current position is the first position of demarcating in advance, and be the first position at the current position, then control is cut the transfer and is slowed down, and make the operation of control cutting the transfer by setting up in the magnet device who cuts the transfer, until cutting the transfer and move to the target location, can accurate location cut the operation position of transfer, effectively promote the operation control effect of cutting the transfer.
Fig. 7 is a schematic structural diagram of a track switching system according to an embodiment of the present invention.
Referring to fig. 7, a track switching system 70, includes: the above embodiment proposes the track switching device 500.
It should be noted that the foregoing explanations on the track switching method embodiment in the embodiments of fig. 1 to fig. 4 also apply to the track switching system 70 of this embodiment, and the implementation principle is similar and will not be described herein again.
In this embodiment, through receiving the operation instruction, and obtain the current position of cutting the transfer according to the operation instruction, judge whether the current position is the first position of demarcating in advance, and be the first position at the current position, then control is cut the transfer and is slowed down, and make the operation of control cutting the transfer by setting up in the magnet device who cuts the transfer, until cutting the transfer and move to the target location, can accurate location cut the operation position of transfer, effectively promote the operation control effect of cutting the transfer.
In order to implement the above embodiments, an embodiment of the present invention proposes a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the track switching method of the foregoing method embodiments.
In this embodiment, through receiving the operation instruction, and obtain the current position of cutting the transfer according to the operation instruction, judge whether the current position is the first position of demarcating in advance, and be the first position at the current position, then control is cut the transfer and is slowed down, and make the operation of control cutting the transfer by setting up in the magnet device who cuts the transfer, until cutting the transfer and move to the target location, can accurate location cut the operation position of transfer, effectively promote the operation control effect of cutting the transfer.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (17)
1. A method of track switching, the method comprising:
receiving an operation instruction;
acquiring the current position of the switching rail according to the operation instruction;
judging whether the current position is a first position calibrated in advance;
and if the current position is the first position, controlling the cutting transfer rail to decelerate, and enabling the magnet device arranged on the cutting transfer rail to control the cutting transfer rail to operate until the cutting transfer rail operates to a target position.
2. The track switching method according to claim 1, wherein before determining whether the current position is the pre-calibrated first position, further comprising:
judging whether the current position is the target position;
and if the current position is not the target position, triggering and executing the step of judging whether the current position is a pre-calibrated first position.
3. The track switching method according to claim 1, wherein after determining whether the current position is the pre-calibrated first position, the method further comprises:
and if the current position is not the first position and the current position is not between the first position and the target position, controlling the switching rail to accelerate at a set acceleration or rapidly operate at a preset speed.
4. The track switching method according to claim 3, wherein after determining whether the current position is the pre-calibrated first position, further comprising:
and if the current position is between the first position and the target position, directly executing the step of controlling the cutting transfer rail to decelerate, and enabling a magnet device arranged on the cutting transfer rail to control the cutting transfer rail to operate until the cutting transfer rail operates to the target position.
5. The track switching method according to claim 1, wherein the controlling of the operation of the cutting rail by the magnet device provided to the cutting rail until the cutting rail is operated to the target position further comprises:
timing the time lasting after the cutting transfer rail operates to the target position;
and when the time obtained by timing reaches a first time threshold value, stopping controlling the switching rail to operate.
6. The track switching method according to any one of claims 1 to 5, wherein the obtaining the current position of the switching rail according to the operation instruction comprises:
acquiring a sensing signal of a position sensor arranged on the switching rail according to the operation instruction;
and analyzing the sensing signal to obtain the current position of the switching rail.
7. The track switching method according to claim 1, wherein before receiving the operation command, the method further comprises:
when the switching rail is initially electrified, judging whether the current position of the switching rail is the target position;
if the target position is the target position, controlling the switching rail to reversely run to a second position, wherein the second position is not between the first position and the target position;
and controlling the switching direction of the switching rail to operate until the current position is updated to the first position, executing the step of controlling the switching rail to decelerate, and enabling a magnet device arranged on the switching rail to control the switching rail to operate.
8. The track switching method according to claim 7, further comprising:
detecting the current value output by the driving motor in real time in the process of controlling the switching track to operate;
and if the current value is greater than the current threshold value and the time for which the switching rail fails to operate to the target position reaches a second time threshold value, stopping controlling the switching rail to operate and reporting fault abnormal information to a background dispatching system.
9. The track switching method according to any one of claims 1 to 5, further comprising:
detecting the temperature of a driving motor in real time in the process of controlling the operation of the switching rail, wherein the driving motor is used for driving an actuating mechanism, so that the actuating mechanism drives the switching rail to operate;
and dynamically adjusting the running speed of the switching rail according to the temperature.
10. A track switching device, characterized in that the device comprises:
the receiving module is used for receiving an operation instruction;
the acquisition module is used for acquiring the current position of the switching rail according to the operation instruction;
the first judgment module is used for judging whether the current position is a pre-calibrated first position or not;
and the control module is used for controlling the cutting transfer rail to decelerate when the current position is the first position, and calling a magnet device arranged on the cutting transfer rail to enable the cutting transfer rail to be controlled to operate until the cutting transfer rail operates to a target position.
11. The track switching device of claim 10, further comprising:
the second judging module is used for judging whether the current position is the target position or not, and triggering the first judging module to execute the step of judging whether the current position is a pre-calibrated first position or not when the current position is not the target position;
the acquisition module is specifically configured to:
acquiring a sensing signal of a position sensor arranged on the switching rail according to the operation instruction;
and analyzing the sensing signal to obtain the current position of the switching rail.
12. The track switching device of claim 10, wherein the control module is further configured to:
when the current position is not the first position and the current position is not between the first position and the target position, controlling the switching rail to accelerate at a set acceleration or rapidly operate at a preset speed;
and when the current position is between the first position and the target position, directly executing the steps of controlling the cutting transfer rail to decelerate, and calling a magnet device arranged on the cutting transfer rail to enable the cutting transfer rail to be controlled to operate until the cutting transfer rail operates to the target position.
13. The track switching device of claim 10, wherein the device further comprises:
the timing module is used for timing the time which lasts after the switching rail runs to the target position;
the control module is further used for stopping controlling the switching rail to operate when the time obtained through timing reaches a first time threshold value.
14. The track switching device of claim 10, further comprising:
the third judging module is used for judging whether the current position of the switching rail is the target position or not when the switching rail is initially electrified;
and the control module is also used for controlling the switching rail to reversely run to a second position when the current position of the switching rail is judged to be the target position, the second position is not between the first position and the target position, and controlling the switching rail to change the direction to run until the current position is updated to be the first position, executing control on the speed reduction of the switching rail, and enabling the magnet device arranged on the switching rail to control the running of the switching rail.
15. The track switching device of any one of claims 10 to 14, further comprising:
the detection module is used for detecting the temperature of a driving motor in real time in the process of controlling the operation of the switching rail, wherein the driving motor is used for driving an actuating mechanism, so that the actuating mechanism drives the switching rail to operate;
the control module is also used for dynamically adjusting the running speed of the switching track according to the temperature;
wherein,
the detection module is also used for detecting the current value output by the driving motor in real time in the process of controlling the operation of the switching track;
the control module is further configured to stop controlling the switching rail to operate and report fault abnormal information to a background scheduling system when the current value is greater than the current threshold and the time duration for the switching rail to fail to operate to the target position reaches a second time threshold.
16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the track switching method according to any one of claims 1 to 9.
17. A track switching system, comprising:
track switching device according to any one of the preceding claims 10-15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010075321.3A CN111319654A (en) | 2020-01-22 | 2020-01-22 | Track switching method, device, storage medium and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010075321.3A CN111319654A (en) | 2020-01-22 | 2020-01-22 | Track switching method, device, storage medium and system |
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| CN111319654A true CN111319654A (en) | 2020-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010075321.3A Pending CN111319654A (en) | 2020-01-22 | 2020-01-22 | Track switching method, device, storage medium and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112078627A (en) * | 2020-08-28 | 2020-12-15 | 嘉兴学院 | Rail transfer device for pipe gallery inspection |
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| CN2150117Y (en) * | 1993-02-18 | 1993-12-22 | 寸代维 | Electromagnetic rail switch |
| CN102336203A (en) * | 2010-07-15 | 2012-02-01 | 深圳华强智能技术有限公司 | Rail turnout mechanism |
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