CN112706798A - Cross-track maintenance method, device, system, control center and storage medium - Google Patents
Cross-track maintenance method, device, system, control center and storage medium Download PDFInfo
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- CN112706798A CN112706798A CN202110036124.5A CN202110036124A CN112706798A CN 112706798 A CN112706798 A CN 112706798A CN 202110036124 A CN202110036124 A CN 202110036124A CN 112706798 A CN112706798 A CN 112706798A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K13/00—Other auxiliaries or accessories for railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
Abstract
The embodiment of the application provides a cross-track maintenance method, a device, a system, a control center and a storage medium, wherein the cross-track maintenance system comprises the control center, a maintenance robot and a lifter, wherein each maintenance track is correspondingly provided with at least one lifter; the control center is used for controlling the maintenance robot to move to the position of the target lifter from the current maintenance station track and controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track, wherein the target lifter is a lifter arranged in the target maintenance station track; the lifter is used for driving the maintenance robot to ascend or descend; the overhaul robot is used for overhauling the bottom of the train arranged on the target overhaul station. After the maintenance work of each maintenance robot in one maintenance station track is completed, the maintenance robot can reach another maintenance station track through the elevator to continue maintenance operation, cross-station track maintenance is realized, and maintenance efficiency is improved.
Description
Technical Field
The application relates to a detection technology of a motor train unit, in particular to a cross-track maintenance method, a device, a system, a control center and a storage medium.
Background
Along with the soaring of Chinese economy in recent years, the rapid development of a high-speed railway business is realized, a plurality of high-speed railway lines are gradually opened, the number of running motor trains is increased year by year, the corresponding motor trains bear heavier and heavier maintenance tasks, and the operation pressure is higher and higher.
The existing train bottom inspection equipment (such as a bottom inspection robot or an LU (fault current) flaw detector) is configured in a mode of single-channel single equipment, namely, one bottom inspection equipment is arranged in each inspection station, a special running track needs to be laid for the bottom inspection equipment in the inspection station, and the moving range of the bottom inspection equipment is the laying range of the running track. Because each overhaul station road is not communicated with each other, the bottom inspection equipment can only overhaul the motor train unit parked on the overhaul station road, and cannot realize cross-station road operation, so that the overhaul efficiency is low.
Disclosure of Invention
The embodiment of the application provides a cross-track maintenance method, a cross-track maintenance device, a cross-track maintenance system, a control center and a storage medium, and is used for solving the problem that cross-track maintenance cannot be performed in the prior art.
According to a first aspect of an embodiment of the application, the cross-track maintenance system comprises a control center, a maintenance robot and a lifter, wherein at least one lifter is correspondingly arranged on each maintenance track;
the control center is used for controlling the maintenance robot to move to the position of a target elevator from the current maintenance station track and controlling the target elevator to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track, wherein the target elevator is an elevator correspondingly arranged on the target maintenance station track;
the lifter is used for driving the maintenance robot to ascend or descend;
and the overhaul robot is used for overhauling the bottom of the train arranged on the target overhaul station track.
In an alternative embodiment, the bottom of the service robot is provided with tracks or tires.
In an alternative embodiment, the elevator is arranged at both ends or in the middle of the access track.
According to a second aspect of the embodiments of the present application, there is provided a cross-track maintenance method applied to a control center, the method including:
controlling the maintenance robot to move from the current maintenance station track to the position of a target lifter, wherein the target lifter is a lifter arranged in the target maintenance station track;
and controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track.
In an optional embodiment, the controlling the service robot to move from the currently located service station to the location of the target lift includes:
controlling the maintenance robot to move to the position of the initial lifter according to the cross-track maintenance instruction, wherein the initial lifter is a lifter arranged in the maintenance track where the maintenance robot is currently located;
controlling the starting elevator to ascend so that the maintenance robot reaches the horizontal ground;
and controlling the maintenance robot to move to the position of the target lifter.
In an optional implementation manner, before controlling the inspection robot to move to the position of the starting elevator according to the cross-track inspection command, the controlling the inspection robot to move from the current inspection track to the position of the target elevator further includes:
judging whether the starting elevator is positioned at the bottom of the overhaul station track or not;
and if not, controlling the initial elevator to descend to the bottom of the service station.
In an alternative embodiment, before controlling the service robot to move from the currently located service aisle to the location of the target lift, the method further comprises:
judging whether the target lifter is positioned on the horizontal ground or not;
and if not, controlling the target lifter to ascend to the horizontal ground.
In an optional embodiment, the method further comprises:
acquiring the working state of the maintenance robot, wherein the working state comprises any one of idling, charging and maintenance;
judging whether the working state of the maintenance robot is idle or not;
and if so, sending a cross-track maintenance instruction to the maintenance robot.
According to a third aspect of the embodiments of the present application, there is provided a cross-track maintenance device applied to a control center, the device including:
the control module is used for controlling the maintenance robot to move from the current maintenance station track to the position of the target lifter, wherein the target lifter is a lifter arranged in the target maintenance station track;
the control module is also used for controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track.
In an alternative embodiment, the apparatus further comprises:
the data acquisition module is used for acquiring the working state of the maintenance robot, wherein the working state comprises any one of idling, charging and maintenance;
the judging module is used for judging whether the working state of the maintenance robot is idle or not;
and the instruction sending module is used for sending a cross-track maintenance instruction to the maintenance robot when the maintenance robot is in an idle state.
According to a fourth aspect of the embodiments of the present application, there is provided a control center, including: the cross-track maintenance system comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, when the control center runs, the processor and the memory are communicated through the bus, and the machine readable instructions are executed by the processor to execute the cross-track maintenance method.
According to a fifth aspect of embodiments of the present application, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, performs the cross-track service method described above.
The embodiment of the application provides a cross-track maintenance method, a device, a system, a control center and a storage medium, wherein the cross-track maintenance system comprises the control center, a maintenance robot and a lifter, wherein each maintenance track is correspondingly provided with at least one lifter; the control center is used for controlling the maintenance robot to move to the position of the target lifter from the current maintenance station track and controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track, wherein the target lifter is a lifter arranged in the target maintenance station track; the lifter is used for driving the maintenance robot to ascend or descend; the overhaul robot is used for overhauling the bottom of the train arranged on the target overhaul station. After the maintenance work of each maintenance robot in one maintenance station track is completed, the maintenance robot can reach another maintenance station track through the elevator to continue maintenance operation, cross-station track maintenance is realized, and maintenance efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a cross-track maintenance system provided in an embodiment of the present application;
FIG. 2 is a schematic view of a service robot provided in an embodiment of the present application;
FIG. 3 is a flowchart of a cross-track maintenance method according to an embodiment of the present disclosure;
fig. 4 is a schematic motion diagram of a service robot provided in an embodiment of the present application;
fig. 5 is a flowchart illustrating sub-steps of step S11 according to an embodiment of the present disclosure;
fig. 6 is a second flowchart of a cross-track maintenance method according to an embodiment of the present application;
FIG. 7 is a functional block diagram of a cross-track maintenance device provided in an embodiment of the present application;
fig. 8 is a schematic diagram of a control center provided in an embodiment of the present application.
Icon: 10-a cross-track maintenance system; 11-a control center; 111-a processor; 112-a memory; 113-a bus; 12-maintenance robot; 13-a lift; 110-a cross-track maintenance device; 1101-a control module; 1102-a data acquisition module; 1103-judging module; 1104-instruction sending module.
Detailed Description
In the process of implementing the application, the inventor finds that the external overhaul of the train is mainly divided into three major parts, namely a roof, a train side and a running part (namely a train bottom).
When the running part (namely the train bottom) of the motor train unit is overhauled, a bottom inspection robot is usually adopted at present. But the scheme of current carrying out the vehicle bottom maintenance through end inspection robot all adopts the mode of single strand railway list equipment, sets up an end inspection robot in every maintenance station way promptly, and the end inspection robot realizes the removal of position through the orbit of laying in maintaining the station way, and the home range of end inspection robot is orbit's laying scope promptly. Because each overhaul station is not communicated with each other, the bottom inspection robot can only overhaul the motor train unit parked on the overhaul station, the station crossing operation cannot be realized, after one bottom inspection robot finishes the operation, the bottom inspection robot can only wait for other bottom inspection robots, the overhaul efficiency is low, and the overhaul resource waste is caused.
In addition, the operation tracks laid in the overhaul station tracks need to be maintained manually, which also increases the overhaul cost.
Therefore, how to implement the cross-track operation is a technical problem to be solved by the technical personnel in the field.
In order to solve the above problems, the inventor finds in research that, in the prior art, a new overhaul station is added between two overhaul stations, that is, another overhaul station perpendicular to the two overhaul stations is added between two adjacent and parallel overhaul stations, so as to communicate the two overhaul stations, and an overhaul robot realizes inter-station movement through the newly added overhaul station, aiming at a cross-station overhaul implementation method.
However, this kind of mode needs extra construction, seriously influences the progress of normal maintenance work, simultaneously, owing to receive the restriction of rail mounted maintenance robot kinematics principle, the maintenance robot needs enough big turning radius just can accomplish to turn to the operation, that is to say, two adjacent maintenance station tracks's distance can not be too close, otherwise the maintenance robot can't turn to, just also can't realize striding the station track motion. Therefore, if the scheme is to be realized, the existing overhaul station tracks of the overhaul workshop need to be rebuilt, and the requirements on manpower and material resources are high.
In view of the above problems, the inventor proposes an embodiment of the present application to provide a cross-track maintenance system, which includes a control center, a maintenance robot and a lift, wherein each maintenance track is provided with at least one lift; the control center is used for controlling the maintenance robot to move to the position of the target lifter from the current maintenance station track and controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track, wherein the target lifter is a lifter arranged in the target maintenance station track; the lifter is used for driving the maintenance robot to ascend or descend; the overhaul robot is used for overhauling the bottom of the train arranged on the target overhaul station. In the cross-track maintenance system provided by the application, after the maintenance work of each maintenance robot in one maintenance track is completed, the maintenance robot can reach another maintenance track through the elevator to continue maintenance operation, cross-track maintenance is realized, and maintenance efficiency is improved.
The scheme in the embodiment of the application can be implemented by adopting various computer languages, such as object-oriented programming language Java and transliterated scripting language JavaScript.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a cross-track maintenance system 10 according to an embodiment of the present disclosure, in which the cross-track maintenance system 10 includes a control center 11, a maintenance robot 12, and a lift 13. The control center 11 is communicatively connected to the service robot 12 and the elevator 13. For example, the maintenance robot 12 and the elevator 13 may be provided with a radio frequency communication module for realizing wireless communication with the control center 11.
The overhaul station track is a tunnel lower than the horizontal ground, the motor train unit train to be overhauled is parked on the overhaul station track, and the overhaul robot 12 moves in the overhaul station track, so that the image data of the bottom of the motor train unit train can be collected, the collected image data is sent to the data analysis center to be analyzed, and finally the overhaul result of the bottom of the motor train is obtained.
In the present embodiment, the elevators 13 are respectively arranged at least one end of the different access tracks, i.e. at least one elevator 13 is arranged in each access track. The control center 11 is used for controlling the maintenance robot 12 to move from the current maintenance station to the position of the target elevator and controlling the target elevator to descend so as to drive the maintenance robot 12 to reach the bottom of the target maintenance station, wherein the target elevator is an elevator arranged in the target maintenance station.
The elevator 13 is used for driving the maintenance robot 12 to ascend to the horizontal ground from the interior of the maintenance station or descend to the interior of the maintenance station from the horizontal ground, so that cross-station maintenance of the maintenance robot 12 can be realized. The maintenance robot 12 is used to perform maintenance on the bottom of the train set on the target maintenance station track.
Alternatively, in other embodiments of this embodiment, the control center 11 may also be communicatively connected to the service robot 12 and the plurality of elevators 13 by other means (e.g., local area network or 5G communication technology, etc.).
Optionally, in this embodiment, the bottom of the inspection robot 12 is provided with a track or a tire, and the inspection robot 12 can move in the inspection station through the track or the tire without depending on the running track.
As shown in fig. 2, fig. 2 is a schematic view of a service robot provided in an embodiment of the present application. In fig. 2, the bottom of the inspection robot 12 is provided with a crawler, and the inspection robot 12 realizes the back-and-forth movement in the inspection station by means of the crawler.
Optionally, in other embodiments of this embodiment, the maintenance robot 12 may also adopt a wheel type motion manner, that is, a plurality of tires are disposed at the bottom of the maintenance robot 12, so as to realize free movement of the maintenance robot.
Because the maintenance robot 12 of this application adopts wheeled or crawler-type to remove, consequently this application need not additionally to lay the orbit in overhauing the stock path, also need not to carry out artifical the maintenance to the orbit, has greatly reduced the cost of overhaul.
Optionally, in this embodiment, the maintenance station may be provided with two elevators 13, the two elevators are respectively disposed at two ends or any position in the middle of the maintenance station, and the maintenance robot 12 may ascend to the horizontal ground or descend to the bottom of the maintenance station through the elevator 13 disposed at any end.
The cross-track maintenance method provided by the embodiment of the application is described in detail below with reference to the accompanying drawings.
Referring to fig. 3, fig. 3 is a flowchart of a cross-track maintenance method according to an embodiment of the present application. In the present embodiment, the cross-track inspection method is applied to the control center 11 in fig. 1, and the control center 11 can control the inspection robot 12 and the elevator 13 to move. The method comprises the following steps:
and step S11, controlling the inspection robot to move from the current inspection station to the position of the target lifter.
Wherein, the target lifter is a lifter correspondingly arranged on the target maintenance station track.
And step S12, controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track.
In the above steps, after the maintenance work of the maintenance robot 12 in one maintenance station track is completed, the maintenance robot can reach the other maintenance station track (and the target maintenance station track) through the lifter 13 to continue the maintenance operation, thereby realizing the cross-station track maintenance and improving the maintenance efficiency.
As shown in fig. 4, fig. 4 is a schematic motion diagram of a service robot provided in an embodiment of the present application. For example, if the maintenance work of the maintenance robot 12 in the a maintenance station is completed, the maintenance robot 12 may be assigned a task to go to the B maintenance station for maintenance. At this moment, the control center 11 firstly controls the maintenance robot 12 to reach the position where the elevator B corresponding to the B maintenance station track is located, and then controls the elevator B corresponding to the B maintenance station track to descend, so as to send the maintenance robot 12 to the bottom of the B maintenance station track for subsequent maintenance operation.
It is worth mentioning that fig. 4 shows a schematic position diagram of three different phases of a service robot 12 for showing that the service robot can reach the bottom of the service aisle and can move at the bottom of the service aisle via the elevator.
Optionally, referring to fig. 5, fig. 5 is a flowchart illustrating a sub-step of step S11 according to an embodiment of the present disclosure. In the present embodiment, step S11 includes the following sub-steps:
and a substep S111, controlling the maintenance robot to move to the position of the initial elevator according to the cross-track maintenance instruction.
Wherein, the initial lift is a lift arranged in a maintenance station track where the maintenance robot is currently located.
And a substep S112 of controlling the initial elevator to ascend so that the inspection robot reaches the horizontal ground.
And a substep S113 of controlling the maintenance robot to move to the position of the target lifter.
In the above substeps, since the bottom of the overhaul station is lower than the horizontal ground, if the cross-station overhaul operation of the overhaul robot 12 is to be realized, the control center 11 is first required to control the overhaul robot 12 to move to the position corresponding to the initial elevator in the overhaul station where the overhaul robot is currently located, and then the initial elevator is controlled to ascend, so that the overhaul robot 12 is driven to ascend, and the overhaul robot 12 reaches the horizontal ground.
When the maintenance robot 12 reaches the horizontal ground, the maintenance robot 12 is controlled to move to the position of the target elevator.
For example, if the cross-track maintenance instruction is that the maintenance robot 12 in the maintenance track a overhauls the bottom of the motor train unit train on the maintenance track B, the maintenance robot 12 needs to be controlled to move to the position where the elevator a arranged in the maintenance track a is located, then the elevator a is controlled to ascend, so that the maintenance robot 12 reaches the horizontal ground, after the maintenance robot reaches the horizontal ground 12, the maintenance robot 12 is controlled to move to the position where the elevator B arranged in the maintenance track B is located, and finally the elevator B is controlled to descend, so that the maintenance robot 12 reaches the maintenance track B.
Optionally, in this embodiment, the maintenance robot 12 is provided with a distance sensor (e.g., a laser radar, a depth camera, etc.), an image sensor, etc., where the distance sensor is used to combine with a corresponding positioning algorithm to construct and position a map in real time, the image sensor is used to combine with a corresponding image processing algorithm to sense an environment, and meanwhile, a path is planned through a built-in algorithm and data such as environment information and position information acquired in real time, so as to avoid collision, and thus, the maintenance robot 12 can move to other maintenance tracks.
In addition, in this embodiment, a chassis of the inspection robot 12 may be modeled, and an optimal operation parameter (for example, a linear velocity or an angular velocity) when the inspection robot 12 moves along the planned path is calculated, so as to ensure that the inspection robot can move stably and smoothly.
Optionally, with reference to fig. 5, in this embodiment, before the sub-step S111, the step S11 further includes:
and a substep S114 of determining whether the starting elevator is located at the bottom of the access station.
And a substep S115, if not, controlling the initial elevator to descend to the bottom of the service station.
In the above substeps, before controlling the maintenance robot to move to the initial elevator, it is also necessary to determine whether the initial elevator is located at the bottom of the maintenance track, and if the initial elevator is not located at the bottom of the maintenance track, the maintenance robot located in the maintenance track cannot reach the position where the initial elevator is located. Therefore, when the starting elevator is not located at the bottom of the service station, it is necessary to control the starting elevator to descend to the bottom of the service station, and then control the service robot 12 to move to the position where the starting elevator is located. When the inspection robot 12 reaches the position of the initial lift, the initial lift is controlled to ascend so that the inspection robot 12 reaches the level ground.
Optionally, referring to fig. 6, fig. 6 is a second flowchart of a cross-track maintenance method provided in the embodiment of the present application. In this embodiment, before step S11, the method further includes:
in step S13, it is determined whether the target lifter is located on a level ground.
In step S14, if not, the control target lifter is raised to the horizontal ground.
In the above steps, before controlling the inspection robot 12 to move from the current inspection station to the target elevator, it is further required to determine whether the target elevator is located on a horizontal ground, and if not, the inspection robot 12 cannot reach the designated position. Therefore, it is necessary to control the target lifter to ascend to the horizontal ground and then control the service robot 12 to move to the target lifter.
Optionally, with continued reference to fig. 6, in this embodiment, before step S11, the cross-track service method further includes:
and step S15, acquiring the working state of the maintenance robot. The working state of the maintenance robot comprises any one of idling, charging and maintenance.
And step S16, judging whether the working state of the inspection robot is idle.
And step S17, if yes, sending a cross-track maintenance instruction to the maintenance robot.
In the above steps, when the maintenance robot is controlled to move to other maintenance tracks for maintenance, the working state of the maintenance robot 12 needs to be acquired at first, wherein the working state of the maintenance robot 12 includes idle state, maintenance state and charging state, and if the maintenance robot 12 is in maintenance or charging state, the maintenance robot 12 at this time belongs to a non-schedulable state. Therefore, it is necessary to determine whether the working state of the inspection robot 12 is idle, and if so, the control center 11 sends a cross-track inspection instruction to the inspection robot 12. The cross-track maintenance instruction may include identification information (e.g., ID) of the maintenance robot 12, identification information of the target maintenance track, identification information of the current maintenance track, and the like.
After receiving the cross-track maintenance instruction, the maintenance robot 12 goes to the position of the corresponding elevator to complete one cross-track maintenance.
Optionally, in this embodiment, the cross-track maintenance system 10 may include a plurality of maintenance robots 12, and the plurality of maintenance robots 12 may also realize cooperative maintenance operation under the control of the control center 11, that is, the plurality of maintenance robots 12 may be controlled to simultaneously maintain different car numbers of the same train of motor train units, so as to further improve maintenance efficiency.
In the cooperative maintenance, it is first necessary to determine the number of the maintenance robots 12 for the cooperative maintenance and the target train track, for example, the target train track a may be allocated with 3 maintenance robots 12 for the cooperative maintenance. Then, according to the working states (idle, in maintenance and in charging) of all the maintenance robots 12, the ID or serial number of the maintenance robot 12 which can be used for coordinated maintenance scheduling is provided, and then, according to the model of the motor train unit to be maintained and the number of the maintenance robots 12, specific working interval sections are allocated to each maintenance robot 12, for example, the maintenance robot No. 1 is responsible for the carriages No. 1-5, the maintenance robot No. 2 is responsible for the carriages No. 6-10, and the maintenance robot No. 3 is responsible for the carriages No. 11-16.
Then, the control center 11 generates a corresponding scheduling instruction according to the allocation scheme, and sends the scheduling instruction to the maintenance robot 12, so that the maintenance robot 12 can be controlled to move to a specified position according to the scheduling instruction, and maintenance work is completed.
After the completion of the maintenance, the maintenance robot 12 moves to the charging position or receives the next scheduling instruction to complete the next cooperative maintenance operation.
In summary, the embodiment of the present application provides a cross-track maintenance system, which includes a control center, a maintenance robot and a lift, wherein each maintenance track is provided with at least one lift; the control center is used for controlling the maintenance robot to move to the position of the target lifter from the current maintenance station track and controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track, wherein the target lifter is a lifter arranged in the target maintenance station track; the lifter is used for driving the maintenance robot to ascend or descend; the overhaul robot is used for overhauling the bottom of the train arranged on the target overhaul station. In the cross-track maintenance system provided by the application, after the maintenance work of each maintenance robot in one maintenance track is completed, the maintenance robot can reach another maintenance track through the elevator to continue maintenance operation, cross-track maintenance is realized, and maintenance efficiency is improved.
Meanwhile, the maintenance robot 12 of the present application moves in a wheel type or crawler type, so that the present application does not need to additionally lay an operation track in the maintenance station track, and does not need to manually maintain the operation track, thereby greatly reducing the maintenance cost.
Referring to fig. 7, an embodiment of the present application further provides a cross-track maintenance device 110, which is applied to a control center 11 of a cross-track maintenance system, where the control center 11 is in communication connection with a maintenance robot 12 and a plurality of elevators 13, where the maintenance robot 12 is disposed in a maintenance track, and at least one elevator 13 is disposed in each maintenance track, and the device includes:
the control module 1101 is used for controlling the maintenance robot to move from the current maintenance station to the position of a target elevator, wherein the target elevator is an elevator arranged in the target maintenance station; the control module 1101 is further configured to control the target elevator to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station.
Optionally, in this embodiment, the apparatus further includes:
the data acquiring module 1102 is configured to acquire a working state of the maintenance robot, where the working state includes any one of idle state, charging state, and maintenance state.
And the judging module 1103 is configured to judge whether the working state of the maintenance robot is idle.
And the instruction sending module 1104 is configured to send a cross-track maintenance instruction to the maintenance robot when the maintenance robot is in an idle state.
Fig. 8 is a schematic view of a control center 11 provided in the embodiment of the present application, and fig. 8 is a schematic view of the control center 11 provided in the embodiment of the present application. In the embodiment, the control center 11 includes a processor 111, a memory 112 and a bus 113, the memory 112 stores machine-readable instructions executable by the processor 111, when the control center 11 runs, the processor 111 communicates with the memory 112 through the bus 113, and the machine-readable instructions are executed by the processor 111 to perform the cross-track service method.
The embodiment of the application also provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the cross-track maintenance method is executed.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. The cross-track maintenance system is characterized by comprising a control center, a maintenance robot and a lifter, wherein each maintenance track is correspondingly provided with at least one lifter;
the control center is used for controlling the maintenance robot to move to the position of a target elevator from the current maintenance station track and controlling the target elevator to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track, wherein the target elevator is an elevator correspondingly arranged on the target maintenance station track;
the lifter is used for driving the maintenance robot to ascend or descend;
and the overhaul robot is used for overhauling the bottom of the train arranged on the target overhaul station track.
2. The system of claim 1, wherein the bottom of the service robot is provided with tracks or tires.
3. The system of claim 1, wherein the elevators are disposed at either end or at any position in the middle of the access aisle.
4. A cross-track maintenance method, applied to the control center of any one of claims 1 to 3, the method comprising:
controlling the maintenance robot to move from the current maintenance station track to the position of a target lifter, wherein the target lifter is a lifter arranged in the target maintenance station track;
and controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track.
5. The method of claim 4, wherein controlling the service robot to move from the currently located service aisle to the location of the target lift comprises:
controlling the maintenance robot to move to the position of the initial lifter according to the cross-track maintenance instruction, wherein the initial lifter is a lifter arranged in the maintenance track where the maintenance robot is currently located;
controlling the starting elevator to ascend so that the maintenance robot reaches the horizontal ground;
and controlling the maintenance robot to move to the position of the target lifter.
6. The method of claim 5, wherein controlling the service robot to move from a currently located service aisle to a location of a target elevator prior to controlling the service robot to move to the location of the originating elevator according to the cross-aisle service instruction further comprises:
judging whether the starting elevator is positioned at the bottom of the overhaul station track or not;
and if not, controlling the initial elevator to descend to the bottom of the service station.
7. The method of claim 4, wherein prior to controlling the service robot to move from the currently located service aisle to the location of the target lift, the method further comprises:
judging whether the target lifter is positioned on the horizontal ground or not;
and if not, controlling the target lifter to ascend to the horizontal ground.
8. The method of claim 4, further comprising:
acquiring the working state of the maintenance robot, wherein the working state comprises any one of idling, charging and maintenance;
judging whether the working state of the maintenance robot is idle or not;
and if so, sending a cross-track maintenance instruction to the maintenance robot.
9. A cross-track maintenance device, applied to the control center of any one of claims 1 to 3, the device comprising:
the control module is used for controlling the maintenance robot to move from the current maintenance station track to the position of the target lifter, wherein the target lifter is a lifter arranged in the target maintenance station track;
the control module is also used for controlling the target lifter to descend so as to drive the maintenance robot to reach the bottom of the target maintenance station track.
10. The apparatus of claim 9, further comprising:
the data acquisition module is used for acquiring the working state of the maintenance robot, wherein the working state comprises any one of idling, charging and maintenance;
the judging module is used for judging whether the working state of the maintenance robot is idle or not;
and the instruction sending module is used for sending a cross-track maintenance instruction to the maintenance robot when the maintenance robot is in an idle state.
11. A control center, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the control center is operating, the machine-readable instructions when executed by the processor performing the method of any of claims 4-8.
12. A storage medium, having stored thereon a computer program which, when executed by a processor, performs the method according to any one of claims 4-8.
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| CN202110036124.5A CN112706798A (en) | 2021-01-12 | 2021-01-12 | Cross-track maintenance method, device, system, control center and storage medium |
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