CN115285167A

CN115285167A - Automatic unhooking control method and device for train

Info

Publication number: CN115285167A
Application number: CN202210829386.1A
Authority: CN
Inventors: 杨涛; 黄曙光; 王汝贵; 李岩; 张彦召; 杨新杭; 王为耀
Original assignee: Beijing Huili Intelligent Technology Co ltd
Current assignee: Beijing Huili Intelligent Technology Co ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2022-11-04

Abstract

The embodiment of the disclosure provides an automatic unhooking control method, an automatic unhooking control device, a storage medium and electronic equipment for a train, wherein the method comprises the following steps: when the heavy train runs to a first preset position, acquiring the carriage number of a carriage to be unhooked; acquiring characteristic data corresponding to the to-be-unhooked carriage based on the carriage number; and controlling the executing device to move to the first executing position based on the characteristic data. And controlling the executing device to move to a second executing position based on the real-time position information and the environment information of the handle on the carriage to be unhooked. And controlling the executing device to execute unhooking operation at the second executing position and at preset time. The embodiment of the disclosure can realize automatic hook-off and hook-opening operation and realize the operation crossing with the automatic flow of the tippler.

Description

Automatic unhooking control method and device for train

Technical Field

The present disclosure relates to the field of train control technologies, and in particular, to an automatic unhooking control method and apparatus for a train, a storage medium, and an electronic device.

Background

As shown in fig. 1, in the prior art, before a car loaded with goods in a heavy train enters a tipper room to perform a dumping operation, the car needs to be separated from the train of the whole train, and at this time, a decoupling operation needs to be performed, wherein the decoupling operation refers to opening a coupler knuckle of a coupler of one of two adjacent cars including the car loaded with goods.

After the goods are unloaded, the carriage loaded with the goods in the heavy train is pushed out from the cab of the dumper to the transfer platform, the carriage is transferred to an empty train line by the transfer platform, the carriage needs to complete a hooking action with other empty carriages which are unloaded, so that the empty train is formed, and therefore, the unhooking operation needs to be executed at the moment. The hooking operation refers to that after a hook knuckle of one of adjacent carriages is opened, the two carriages collide with each other, and then the hooking can be realized.

The hook picking operation between the carriages can realize the opening of a hook tongue by rotating a handle, a mechanical locking function can be added in part of vehicle types, namely the handle is clamped in a clamping groove to avoid rotation, the rotation can be realized only after the handle is lifted up to be separated from the clamping groove for locking, therefore, the common hook picking action is rotation or the rotation after the handle is lifted up, and in addition, the rotation angles of the handles of different vehicle types are different.

In the existing process of carrying out unhooking and unhooking operations by personnel, the operation is often crossed with the automatic flow of the tipper, the space is narrow, and personnel safety accidents are easy to happen. In addition, the carriages of the same train are mixed and transported, namely, different handles or couplers of different carriages of the same train have different forms, different positions, different unhooking modes and the like.

Disclosure of Invention

In view of this, the embodiments of the present disclosure provide an automatic unhooking control method and apparatus for a train, a storage medium, and an electronic device, so as to solve the problems in the prior art.

In one aspect, the present disclosure provides an automatic unhooking control method for a train, which includes:

when the heavy train runs to a first preset position, acquiring the carriage number of a carriage to be unhooked;

acquiring characteristic data corresponding to the carriage to be unhooked based on the carriage number;

controlling an execution device to move to a first execution position based on the characteristic data;

controlling an executing device to move to a second executing position based on the real-time position information and the environment information of the handle on the carriage to be unhooked;

and controlling the executing device to execute unhooking operation at the second executing position and in preset time.

In some embodiments, the characteristic data includes at least a size of the car to be uncoupled, a type and size of the coupler on the car to be uncoupled, a shape and size of a handle to which the coupler corresponds, and a height of the handle.

In some embodiments, the real-time position information and the environment information of the handle on the car to be unhooked are acquired by the following methods:

scanning a vertical handle part of the handle in a direction parallel to the ground through a laser radar, extracting outline characteristics of the handle from scanned and obtained vertical handle point cloud data, and obtaining a real-time position of the vertical handle part to determine a target coordinate position of the handle;

scanning a transverse handle part of the handle in a direction vertical to the ground through a laser radar, extracting profile features of the handle from the scanned transverse handle point cloud data, and acquiring a real-time position of the transverse handle part to determine a target gripping point position of the handle and a rotation radius of a hook-off executing track;

acquiring image data of end face images of two adjacent carriages through an image collector;

and acquiring environmental information based on the vertical handle point cloud data, the horizontal handle point cloud data and the image data.

In some embodiments, obtaining corresponding location information based on the horizontal-handle point cloud data or the vertical-handle point cloud data comprises:

rearranging the scanned and obtained horizontal-handle point cloud data and vertical-handle point cloud data according to a spatial sequence;

performing clustering calculation on the horizontal handle point cloud data and the vertical handle point cloud data to remove peripheral noise points;

extracting enclosing frame information with directions from the vertical handle point cloud data and the horizontal handle point cloud data which are subjected to clustering calculation, and respectively calculating the target coordinate position and the target grasping point position of the handle based on the enclosing frame information.

In some embodiments, the unhooking operation is determined to be successful by:

whether the angle amplitude of the unhooking meets the rotating angle or not;

detecting whether a load curve of the heavy train is matched with a preset load curve after the hook is successfully unhooked or not during unhooking;

and (4) after the hook is unhooked, the shunting machine pulls the train to advance for a preset distance, and whether the distance between two adjacent carriages is increased or not is detected.

In some embodiments, the predetermined time is determined by:

acquiring the real-time speed of a heavy-duty shunting machine;

and when the real-time speed is in a preset range, determining the preset time.

In some embodiments, the unhooking operation comprises:

taking the accurate position coordinate of the handle as an aiming point, taking the accumulated weight of the size, the position, the number of inner points and the speed of the handle as a judgment standard, and planning and dividing an execution path of unhooking and a function curve of mechanical arm movement according to an elliptic track of a Cartesian coordinate space;

performing speed planning according to an execution path of a Cartesian coordinate space, and dividing a function curve of the execution path through the speed planning to obtain a plurality of track points;

and controlling the mechanical arm to drive the handle to simulate the action of the manual arm according to the plurality of track points, and finishing the unhooking work.

The embodiment of the present disclosure further provides an unhooking control device for a train, which includes:

the first acquisition module is used for acquiring the carriage number of the carriage to be unhooked when the heavy train runs to a first preset position;

the second acquisition module is used for acquiring the characteristic data corresponding to the carriage to be unhooked based on the carriage number;

the first control module is used for controlling the execution device to move to a first execution position based on the characteristic data;

the second control module is used for controlling the execution device to move to a second execution position based on the real-time position information and the environment information of the handle on the carriage to be unhooked;

and the execution control module is used for controlling the execution device to execute unhooking operation at the second execution position and in preset time.

Embodiments of the present disclosure further provide a storage medium storing a computer program, where the computer program implements the steps of any one of the methods described above when executed by a processor.

An embodiment of the present disclosure further provides an electronic device, which at least includes a memory and a processor, where the memory stores a computer program thereon, and the processor implements the steps of any one of the above methods when executing the computer program on the memory.

According to the embodiment of the disclosure, when a heavy train in the train is towed by the heavy train shunting machine to perform the dumping operation, the unhooking operation and the unhooking operation are automatically executed, the crossing operation with the automatic flow of the dumper is realized, and the safety accidents of personnel are prevented.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and for those skilled in the art, other drawings may be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic illustration of a prior art decoupling of cars from a train queue for an entire train to perform a decoupling operation;

FIG. 2 is a schematic diagram of an embodiment of the present disclosure performing a unhooking operation;

fig. 3 is a schematic structural diagram of an execution device in the unhooking system according to the embodiment of the disclosure;

FIG. 4 is a schematic diagram of a decoupling structure between train cars;

fig. 5 is a schematic structural view of a jaw in the unhooking system of the embodiment of the present disclosure;

fig. 6 is a schematic structural view of a support handle in the unhooking system according to the embodiment of the disclosure;

fig. 7 is a schematic diagram of a unhooking system performing a unhooking operation according to an embodiment of the present disclosure;

fig. 8 is an implementation diagram of a position detection device in the unhooking system according to the embodiment of the disclosure;

fig. 9 is a schematic diagram illustrating hook-off execution in the hook-off system according to the embodiment of the disclosure.

Fig. 10 is a schematic diagram illustrating steps in an automatic unhooking control method according to an embodiment of the disclosure;

fig. 11 is a schematic diagram illustrating steps in an automatic unhooking control method according to an embodiment of the disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and the like in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

To maintain the following description of the embodiments of the present disclosure clear and concise, a detailed description of known functions and known components is omitted from the present disclosure.

A first embodiment of the present disclosure provides a decoupling system for a train, where the train may be, for example, a train, the decoupling system is configured to separate a car to be dumped from a heavy train when the heavy train in the train is towed by a heavy train shunting machine for dumping operation, so as to facilitate the dumping operation by the dumper in a dumper room.

As shown in fig. 2, fig. 2 shows a schematic arrangement of the unhooking system for a train, which includes a vehicle type detecting device 10, a position detecting device 20, an executing device 30, and a control device 40. In the unhooking operation process through the embodiment, after a heavy train carrying goods runs to a first preset position, the train type detection device 10 detects and acquires the carriage number of the carriage to be unhooked, and the characteristic data of the carriage to be unhooked is determined based on the carriage number; controlling the executing device 30 to move to a first executing position based on the characteristic data, and keeping the executing device 30 and the vehicle to be unhooked in a follow-up relationship after the heavy train runs to a second preset position; further, the current position and the target position of the executing device 30 are determined by the position detecting device 20 and the executing device 30 is controlled to move to the second executing position, and the unhooking action is executed at the second executing position through the executing device 30.

The executing device 30 here at least includes a walking module, and the walking module here is used for moving the executing device 30 as a whole to a predetermined executing position, for example, by moving on a rail, and may also be implemented by other ways.

As shown in fig. 3, the executing device 30 further includes a robot arm 31 disposed on the walking module and an actuator 32 disposed at an end of the robot arm 31, where the actuator 32 includes, for example, a jaw for gripping the handle 50; preferably, as shown in fig. 5, the gripping jaws here are for example C-shaped, the gripping jaws of this shape being intended to grip a handle 50 on the car to be unhooked, the handle 50 here being part of a coupler on the car to be unhooked, which generally comprises a transverse shank 52 and a vertical shank 51, as shown in fig. 4, by means of which the gripping jaws 50, in particular C-shaped gripping jaws, can be effectively gripped, even in the presence of deformations and inclinations of the handle 50. The uncoupling operation can be performed by moving the actuating device 30 to a predetermined actuating position, wherein the uncoupling operation refers to the action of controlling the handle 50 by the clamping jaws, so that the coupler on the car to be uncoupled is opened.

The general unhooking mode comprises the steps of lifting a handle 50, then rotating the handle 50 and directly rotating the handle 50; by matching various uncoupling modes, handle states and handle shapes with vehicle types and coupler positions, the applicability of the embodiment of the invention is greatly enhanced, and the invention can be suitable for uncoupling railway carriages of various vehicle types.

For some car models, the end of the handle 50 on the coupler may be skewed in all directions (e.g., resulting in a high likelihood of collision), or at the same time other structures nearby and a vertical ladder on the side of the car, for example, may be skewed in a direction closer to the handle 50, resulting in interference with the operation of the handle 50, or the like, and if the jaws grip the handle 50 directly on the coupler, interference with other components may be very likely. In addition, the handle 50 of the car to be unhooked of some types needs to be lifted up and unlocked first to complete the unhooking action.

To this end, in some embodiments, as shown in fig. 6, a holder 33 is further provided on the actuator, and the lifting motion of the handle 50 can be performed by the holder 33. The lifting action is preferably stabilized by the use of the holder 33, but may be achieved in other ways, such as by friction when the jaws are closed, or by magnetic attraction.

As shown in fig. 7, when the unhooking operation is performed, the clamping jaws, in particular the C-shaped clamping jaws, can avoid obstacles formed by other components to tightly enter below the transverse handle 52 of the handle 50, namely above the vertical handle 51 of the handle 50, so as to avoid possible interference with other components when the clamping jaws grip below the vertical handle 51, so that the action of an artificial palm can be truly simulated, namely, the vertical handle 51 is firstly gripped in a virtual way, and the transverse handle 52 is lifted and preferably overlapped through the support handle 33, so that the handle 50 is disengaged from the locking device; then, the clamping jaw holds the upper part of the vertical handle 51 and quickly moves along the rod body of the vertical handle 51 to an oblique lower part far away from the end surface of the carriage, namely, the action of smoothing down by an artificial palm is simulated; in the process, the transverse handle 52 is ensured not to fall down through torque and speed control until the tail end of the vertical handle 51 is stably grasped.

The structure of the C-shaped clamping jaw has two functions, on one hand, the grabbing hook action can be quickly cleared, the clamping jaw is enabled to hold the lower end of the vertical handle 51 so as to be ready for unhooking, and the handle 50 cannot fall back to the locking device as a whole; on the other hand, the clamping jaws can be stroked downwards, so that the tail end of the vertical handle 51 is quickly separated from the original space (for example, the tail end is close to the vertical ladder and the motion in any direction is easy to interfere); and finally, finishing the rotary unhooking action according to a preset unhooking track and a preset unhooking flow.

Further, a link structure may be added to the robot arm 31, and the link is connected to the actuator 32 at the front end of the robot arm 31, so that the level of the actuator 32 can be maintained. Preferably, the linkage structure is a flexible linkage, so that when the actuator 32 is subjected to a large load, the linkage structure can deform to accommodate the large load and positional deviation.

Furthermore, to accommodate the rotation of the actuator 32 to match the rotation of the handle 50, the actuator 32 is free to rotate parallel to the axis of the cross-bar 52 of the handle 50, while self-resetting is achieved by means of a tension spring. Specifically, for example, in the case where the actuator 32 is a jaw, the initial state of the handle 50 is vertical before the jaw is operated, and the jaw performs a hook-off operation after rotating a certain angle around the lateral handle 52. In this way, the pivot axes of the jaws are parallel to the transverse handle 52, so that the jaws can rotate freely around the pivot axes, and the initial state of the jaws needs to be matched with the motion track of the jaws to meet the requirement of grasping the vertical handle 51. In the free state, the jaws cannot satisfy this initial state due to their own weight, and therefore a self-resetting device is required. The self-resetting is realized by adopting a tension spring, and the self-resetting can also be realized by adopting a motor drive or other modes.

Based on the above-mentioned operation manner of the unhooking system, a second embodiment of the present disclosure provides an automatic unhooking control method for an unhooking system, where the unhooking system may be any unhooking system in the first embodiment, and the automatic unhooking control method may be executed by the control device 40 in the first embodiment, as shown in fig. 10, and includes the following steps:

and S101, acquiring the carriage number of the carriage to be unhooked when the heavy train runs to a first preset position.

In this step, it is first necessary to acquire the car number of the car to be unhooked in the heavy train when the heavy train travels to the first predetermined position. Specifically, the vehicle type detecting device 10 is configured to detect and acquire a car number of the car to be unhooked after the heavy train with the cargo travels to a first predetermined position. Specifically, the vehicle type detection device 10 may, for example, acquire image data of the car to be unhooked, recognize a vehicle type number of the car to be unhooked from the image data by means of visual recognition, and send information of the vehicle type number to the control device 40.

Further, the image recognition technology based on deep learning can be adopted in the process of determining the corresponding relation between the acquired image data of the to-be-unhooked compartment and the vehicle type number, for example, a large amount of picture data of the to-be-unhooked compartment is acquired, and the picture data and the vehicle type number are trained, so that a corresponding recognition model of the vehicle type number is determined, and then the vehicle number is accurately recognized. Of course, the vehicle type detecting device 10 may also obtain the car number of the car to be unhooked in other manners. The control device 40 may send an unhooking permission instruction to the execution device 30 after receiving the model number of the car to be unhooked.

Due to the fact that the corresponding relation exists between the train type number of the train and the car coupler of the carriage, the train which is mixed and woven is considered to have different types of carriages, and the shape of the car coupler, the position of the car coupler, the applicable handle 50 and the like of the car coupler among the different types of carriages are different. The model number of the car to be unhooked acquired here is a unique feature number of the car, which corresponds to unique car information, coupler information corresponding to the car, information of the handle 50 corresponding to the coupler, and the like. In this way, by acquiring the model number of the car to be unhooked, the information such as the type and position of the handle 50 and the coupler required for the unhooking operation of the car to be unhooked can be uniquely determined.

And S102, acquiring characteristic data corresponding to the carriage to be unhooked based on the carriage number.

After the vehicle type number of the car to be unhooked is acquired in the step S101, in this step, the feature data corresponding to the car to be unhooked is acquired based on the vehicle type number.

Specifically, after the control device 40 retrieves and matches the characteristic data of the car to be unhooked based on the received car type number, for example, in a preset database based on the car type number, the characteristic data being used for representing detailed information of unhooking of the car to be unhooked so as to perform an unhooking operation, and for this purpose, the characteristic data at least includes car information of the car to be unhooked, coupler information of the car to be unhooked, and handle information corresponding to the coupler, wherein more specifically, the characteristic data may include information such as a size of the car to be unhooked, a type and a size of the coupler on the car to be unhooked, a shape and a size of the handle 50 corresponding to the coupler, a height of the handle 50, and the like.

Here, by introducing the vehicle type detection device 10 using the vehicle type discrimination machine vision technology, before the unhooking operation is performed on the car to be unhooked, the control device 40 can know the car number of the car to be unhooked in advance, and then acquire the car information, the car coupler information, the handle information, and the like of the car to be unhooked by retrieving information in the database, so that the subsequent unhooking operation can be performed only based on the above information. The handle information here includes, but is not limited to, a handle position including, for example, upright, forward-inclined, and backward-inclined, a handle shape including, for example, a tip bend, a straight rod, and the like.

S103, controlling the executing device to move to a first executing position based on the characteristic data.

After the feature data corresponding to the car to be unhooked is acquired based on the car type number in the above step S102, in this step, the execution device is controlled to move to the first execution position based on the feature data. As described above, the executing device 30 is used to execute a specific unhooking operation, and after an instruction of allowing unhooking is issued by the control device 40, the executing device 30 is first moved to a first executing position based on the characteristic data, where the first executing position may also be referred to as a pre-unhooking position, where the pre-unhooking position is a predetermined position between two cars including the car to be unhooked.

Specifically, the control device 40 sends a control command to guide the executing device 30 to move rapidly to the first executing position according to the characteristic data of the car to be unhooked, where the first executing position includes a position with a preset height and a preset depth at the end surface of the car to be unhooked, so that preparation can be made for the position detecting device 20 to continue to accurately detect the handle position and the surrounding environment condition corresponding to the coupler of the car to be unhooked.

And S104, controlling the executing device to move to a second executing position based on the real-time position information and the environment information of the handle.

After controlling the actuator to move to the first actuation position based on the characteristic data through step S103, in this step, the actuator is controlled to move to the second actuation position based on the acquired real-time position information and environment information of the handle. Specifically, after the actuating device 30 moves to the first actuating position, the actuating device 30 keeps a following state with the car to be unhooked, and real-time position information and environmental information of the handle can be acquired through the position detecting device 20.

Here, the position detecting device 20 is disposed on the executing device 30, for example, at an end of the mechanical arm 31 of the executing device 30, and is configured to sense a real-time position of the handle on the executing device 30 and an environment around the handle, which may interfere with a unhooking operation, and includes detecting real-time position information of the handle 50 on the executing device 30 and an environment condition. Specifically, the control device 40 controls the walking module in the actuating device 30 to achieve electrical tracking follow-up with a carriage gap of the carriage to be unhooked all the time, for example, along the track direction, so that the actuating device 30 and the handle 50 are kept in a close stable tracking state, and the position of the handle 50 and the surrounding environment are accurately detected by using a relatively wide time range of the whole tracking process.

In one embodiment, as shown in fig. 8, the position detecting device 20 herein at least includes a transverse lidar, a longitudinal lidar and an image collector, wherein the transverse lidar is capable of detecting in a direction parallel to the ground, the longitudinal lidar is capable of detecting in a direction perpendicular to the ground, the executing device 30 obtains a profile curve of two car edges by scanning based on the transverse lidar and the longitudinal lidar, so as to determine real-time position information of the handle 50 corresponding to the car to be unhooked, wherein the real-time position information at least includes transverse handle position information and vertical handle position information of the handle 50, wherein the target coordinate position of the handle 50 can be accurately determined by scanning the vertical handle 51 of the handle 50 to determine the position information of the vertical handle 51, and the transverse handle 52 of the handle 50 is scanned to determine the transverse handle position information, as shown in fig. 9, so as to determine the target grip position of the handle 50 in the longitudinal coordinate direction and the rotation radius of the unhooking trajectory of the clamping jaw, thereby achieving accurate grip position at the target coordinate position and the target grip position.

In this way, when the shunting machine pulls the shunting train to start moving towards the direction of the cab of the shunting car, the executing device 30 realizes electrical tracking following with the carriage gap of the to-be-unhooked carriage, and finally obtains the real-time position information of the handle 50 through the executing device 30, i.e. for example, a transverse laser radar, a longitudinal laser radar, an image collector and the like arranged on the mechanical arm 31.

Specifically, the executing device 30 can also cover and scan the contour of the peripheral object at the gap between two carriages in real time by matching the image collector with the transverse laser radar and the longitudinal laser radar, so as to obtain the contour curve of the edges of two adjacent carriages; further, according to the scanned contour curve of the edges of the two carriages, the dynamic position of the gap between the two carriages and the information of the surrounding environment are determined in real time.

Specifically, in the following process of the executing device 30 and the car to be unhooked, for example, the end of the mechanical arm 31 of the executing device 30, the transverse lidar, the longitudinal lidar and the image collector which are arranged at the end of the mechanical arm 31 extend into a gap between two adjacent cars, and the control device 40 controls the transverse lidar, the longitudinal lidar and the image collector to shoot and scan end faces of the adjacent cars. The ranges of the transverse lidar and the longitudinal lidar and the view angle of the image collector all cover the whole possible range of the handle 50. In this way, when the heavy-duty shunting machine pulls the heavy-duty train and the actuating device 30 works, the actuating device 30 follows the train in real time and moves synchronously with the to-be-unhooked carriage, so that the handle 50 and the to-be-unhooked carriage are kept relatively static, the identifying and positioning work of the handle 50 is carried out at this stage, and the actuating device 30 is controlled to move to a second execution position, wherein the second execution position refers to a position for executing unhooking operation, so that the mechanical arm 31 can be prevented from being directly collided when the mechanical arm 31 extends between the two carriages. The realization mode of the functions is that the carriage and the heavy-duty shunting machine are scanned by the laser radar, the image collector and the like carried on the mechanical arm 31 at the same time, the real-time positions of the carriage and the heavy-duty shunting machine are obtained, the encoder data of the heavy-duty shunting machine and the mechanical arm 31 are read at the same time, and the car following operation is realized more stably and reliably.

Further, the method specifically comprises the following steps of obtaining the real-time position information and the environmental information of the to-be-unhooked carriage:

s201, scanning a vertical handle part of the handle 50 in a direction parallel to the ground through the transverse laser radar, extracting outline characteristics of the handle from scanned and obtained vertical handle point cloud data, and obtaining a real-time position of the vertical handle part to determine a target coordinate position of the handle at the end part of the mechanical arm 31;

s202, scanning a transverse handle part of the handle in a direction perpendicular to the ground through the vertical laser radar, extracting contour features of the handle from scanned transverse handle point cloud data, and acquiring a real-time position of the transverse handle part to determine a target gripping point position of the handle and a rotation radius of a hook picking track;

s203, acquiring image data of end face images of two adjacent carriages through the image collector, and transmitting the image data to the control device 40 in real time;

and S204, acquiring environmental information based on the vertical-handle point cloud data, the horizontal-handle point cloud data and the image data, wherein the environmental information at least comprises position information of parts possibly interfering with unhooking actions around the handle, such as boarding ladders, escalators, handles, carriage special-shaped mechanisms and the like, so that the environment is identified and positioned.

Further, after the vertical-handle point cloud data or the horizontal-handle point cloud data is obtained, corresponding position information can be obtained based on the point cloud data, as shown in fig. 11, the method includes the following steps:

s301, rearranging the scanned and obtained horizontal handle point cloud data and vertical handle point cloud data according to a spatial sequence;

s302, performing cluster calculation on the horizontal handle point cloud data and the vertical handle point cloud data, wherein the point cloud data can be subjected to cluster calculation by comparing differences among objects in the process so as to remove peripheral noise points, and the rapidity of an algorithm is improved by adopting a breadth-first traversal method;

s303, extracting enclosing frame information with directions from the vertical handle point cloud data and the horizontal handle point cloud data which are subjected to clustering calculation, and respectively calculating the target coordinate position and the target grasping point position of the handle based on the enclosing frame information.

In another embodiment, the position detecting device 20 herein may include a laser radar and an image collector, the laser radar is arranged in an inclined manner (for example, at 45 degrees to the horizontal plane, or at other angles), and the vertical and horizontal handle portions of the handle can be scanned at the same time, and the profile features of the handle are extracted from the scanned vertical and horizontal handle point cloud data, so as to obtain the real-time positions of the vertical and horizontal handle portions, so as to determine the target gripping point position of the handle and the rotation radius of the unhooking trajectory, and the related manner herein refers to the description of the above two laser radars.

After acquiring the position information and the environment information of the handle, the control execution device 30 moves to a second execution position based on the target coordinate position and the target grip point position, where the second execution position has a corresponding relationship with the target coordinate position and the target grip point position.

And S105, controlling the executing device to unhook at the second executing position and in preset time.

After the actuator is controlled to move to the second execution position by the above step S104, in this step, the actuator is controlled to unhook at the second execution position and at a predetermined time. Specifically, the gripper is controlled to be pre-held in place according to the second execution position of the handle 50, specifically, the control device 40 controls the gripper at the end of the robot arm 31 according to the target coordinate position and the target grip point position of the handle 50, as shown in fig. 9, to bypass the vertical handle 51 according to the rotation radius of the unhooking trajectory, and holds the vertical handle 51 in the gripper, and performs the unhooking action at a predetermined time.

For the predetermined time, wherein the general manual unhooking procedure requires the shunting locomotive to pull the whole train to move, the unhooking action is executed after the train is stopped and the wheel clamping device clamps. However, the phenomenon that the track is uneven often exists on the site, and after the train is stopped stably, the train coupler is tensioned, the hook is difficult to unhook, and the success rate is reduced. Based on the working conditions, after the train decelerates and stops, the uncoupling action is performed most easily and successfully, because the train decelerates and stops, and the uncoupling is loosened due to inertia.

For this purpose, the predetermined time herein is determined by:

the control device 40 collects speed signals of the heavy-duty shunting machine provided by a PLC control system of the tippler in real time, real-time speed of the train is detected in real time through a radar for example, and when the real-time speed is within a preset range, the preset time is determined, hook-off operation is executed, and therefore the control device 40 can capture the moment when the train stops and stops.

Further, in the case where the control device 40 determines that the time at which the train will stop and not stop is captured, that is, the predetermined time, the robot arm 31 of the executing device 30 is controlled to immediately execute the unhooking action. The unhooking action executed by the executing device 30 is different according to different train types of different trains. For a series of vehicle types, for example, the mechanical arm 31 directly hooks off in a hooking track of circular arc motion, that is, the hooking track is vertical to the end surface of the carriage, and rotates about 70 to 90 degrees around the shaft on the plane where the handle 50 is located; for another series of vehicle models, for example, the handle 50 needs to be lifted up through the clamping jaw, the handle 50 is made to be separated from the locking device, and then unhooking is achieved according to a rotation track.

Further, when the executing device 30 finishes the unhooking action (for example, rotates about 70 to 90 degrees around the shaft of the transverse handle 52), the position and the amplitude of the action at this time are kept unchanged, that is, the supporting handle is not moved, and the control device 40 continues to control the heavy-duty shunting machine to start to pull the truck from the current stationary state. If the unhooking is successful, the two adjacent carriages are successfully separated, and the control device 30 sends a unhooking success instruction to a central control room of the tipper, for example; and if uncoupling fails and the coupler is not unlocked, the central control room of the tippler continuously controls the heavy-duty shunting machine to back-crash, the coupler is loosened in the back-crash process, and uncoupling is tried again.

In one embodiment, a velocity following motion model during unhooking velocity control is established and a motion planning method based on minimum turning radius constraints is used to control the mechanical arm 31 to quickly hold the handle 50. Firstly, taking the accurate position coordinate of the handle 50 as an aiming point, taking the accumulated weight of the size, the position, the number of inner points and the speed of the handle as a judgment standard, planning according to an elliptical track of a Cartesian coordinate space, and further dividing an execution path of unhooking, namely planning a function curve of the movement of the mechanical arm 31; further, according to the elliptic trajectory planning of the Cartesian coordinate space, further speed planning is carried out, and the function curve of the execution path is divided through the speed planning to obtain track points one by one; further, the mechanical arm 31 is controlled to rapidly and accurately grasp the handle according to a plurality of track points, and the action of the manual arm is simulated by a reasonable curve to complete unhooking work.

After the actuating device 30 completes the uncoupling action, instead of releasing the handle 50 to withdraw immediately, it may cause the coupler that has just been uncoupled to be picked up again, but instead of keeping the maximum rotation angle that can be reached by the handle 50 after the uncoupling, the shunting machine is started to pull the cars forward, so that the mechanical arm 31 follows the car synchronously, and the cars return to the standby position after detecting that the two cars have been successfully pulled apart by a predetermined distance (indicating that the coupler has been successfully opened). Through a large number of field experiments, the action can avoid the situation that a plurality of car couplers are opened and hung, thereby effectively improving the operation efficiency.

Further, after the hook releasing action is completed, the control device 40 determines whether the hook releasing is successful by the following conditions:

(1) Whether the angle amplitude of the unhooking meets the rotating angle or not, wherein the required rotating angles are different according to the carriage numbers of different carriages;

(2) Detecting a load curve of the heavy train when the hook is unhooked, wherein whether the load curve is matched with a preset load curve after the hook is unhooked successfully or not is judged;

(3) The mechanical arm 31 after unhooking keeps the support handle still, so that the heavy-duty shunting machine pulls the train to advance for a certain distance, and whether the distance between two adjacent carriages is increased or not is judged.

Wherein, if one of the two is not satisfied, the unhooking is judged to be failed. The executing device 30 exits from the second executing position at this time, a state signal of hook releasing failure is sent to the PLC control system of the tippler, the control device 30 controls the heavy-duty shunting machine to return to a collision car, then the position of the handle 50 is repositioned, and hook releasing action is executed again until hook releasing is successful.

Another embodiment of the present disclosure provides an unhooking control device for a train, which includes a first obtaining module, a second obtaining module, a first control module, a second control module, and an execution control module coupled to each other, wherein:

the second obtaining module is used for obtaining the characteristic data corresponding to the carriage to be unhooked based on the carriage number;

the first control module is used for controlling the execution device to move to a first execution position based on the characteristic data.

And the second control module is used for controlling the execution device to move to a second execution position based on the real-time position information and the environmental information of the handle on the carriage to be unhooked.

And the execution module is used for controlling the execution device to execute unhooking operation at the second execution position and in preset time.

scanning a vertical handle part of the handle in a direction parallel to the ground through a transverse laser radar, extracting outline characteristics of the handle from scanned vertical handle point cloud data, and acquiring a real-time position of the vertical handle part to determine a target coordinate position of the handle;

scanning a transverse handle part of the handle in a direction vertical to the ground through a vertical laser radar, extracting profile features of the handle from the scanned transverse handle point cloud data, and acquiring a real-time position of the transverse handle part to determine a target gripping point position of the handle and a rotation radius of a hook-off executing track;

and acquiring environmental information based on the vertical-handle point cloud data, the horizontal-handle point cloud data and the image data.

In some embodiments, the unhooking operation is determined to be successful by:

whether the angle amplitude of unhooking meets the rotating angle or not;

In some embodiments, the predetermined time is determined by:

acquiring the real-time speed of a heavy-duty shunting machine;

and when the real-time speed is in a preset range, determining the preset time.

In some embodiments, the unhooking operation comprises:

taking the accurate position coordinate of the handle as an aiming point, taking the accumulated weight of the size, the position, the number of inner points and the speed of the handle as a judgment standard, and planning and dividing an execution path of unhooking and a function curve of mechanical arm movement according to an elliptical track of a Cartesian coordinate space;

carrying out speed planning according to an execution path of a Cartesian coordinate space, and segmenting a function curve of the execution path through the speed planning to obtain a plurality of track points;

According to the embodiment of the disclosure, when a heavy train in the train is dragged by the heavy train shunting machine to perform the dumping operation, the unhooking and unhooking operation can be automatically executed, the operation crossed with the automatic flow of the dumper is realized, and the safety accidents of personnel are prevented.

Another embodiment of the present disclosure provides a storage medium, which is a computer-readable medium storing a computer program, which when executed by a processor implements the method provided by the first embodiment of the present disclosure, including the following steps S11 to S15:

s11, acquiring a carriage number of a carriage to be unhooked when the heavy train runs to a first preset position;

s12, acquiring characteristic data corresponding to the carriage to be unhooked based on the carriage number;

and S13, controlling the executing device to move to a first executing position based on the characteristic data.

And S14, controlling the executing device to move to a second executing position based on the real-time position information and the environment information of the handle on the carriage to be unhooked.

And S15, controlling the executing device to execute unhooking operation at the second executing position and in preset time.

Further, the computer program realizes other methods provided by the above embodiments of the present disclosure when executed by a processor

Another embodiment of the present disclosure provides an electronic device including at least a memory having a computer program stored thereon and a processor that, when executing the computer program on the memory, implements the method provided by any of the embodiments of the present disclosure. Illustratively, the electronic device computer program steps are as follows S21 to S25:

s21, acquiring the carriage number of a carriage to be unhooked when the heavy train runs to a first preset position;

s22, acquiring characteristic data corresponding to the to-be-unhooked carriage based on the carriage number;

and S23, controlling the executing device to move to a first executing position based on the characteristic data.

And S24, controlling the executing device to move to a second executing position based on the real-time position information and the environment information of the handle on the carriage to be unhooked.

And S25, controlling the executing device to execute unhooking operation at the second executing position and in preset time.

Further, the processor also executes the computer program in the fourth embodiment described above

The storage medium may be included in the electronic device; or may exist separately without being assembled into the electronic device.

The storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.

Alternatively, the storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.

Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the passenger computer, partly on the passenger computer, as a stand-alone software package, partly on the passenger computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the passenger computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It should be noted that the storage medium of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any storage medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.

Claims

1. An automatic unhooking control method for a train, comprising:

acquiring characteristic data corresponding to the to-be-unhooked carriage based on the carriage number;

2. The automatic unhooking control method according to claim 1, characterized in that said characteristic data comprise at least the dimensions of the car to be unhooked, the type and dimensions of the coupler on the car to be unhooked, the shape and dimensions of the handle corresponding to the coupler, the height of said handle.

3. The automatic unhooking control method according to claim 1, characterized in that the real-time position information and environmental information of the handle on the car to be unhooked are obtained by:

4. The automatic unhooking control method according to claim 3, wherein acquiring corresponding position information based on the horizontal-handle point cloud data or the vertical-handle point cloud data comprises:

rearranging the scanned and obtained horizontal handle point cloud data and vertical handle point cloud data according to a spatial sequence;

5. The automatic unhooking control method according to claim 1, characterized in that the unhooking operation determines success by:

whether the angle amplitude of unhooking meets the rotating angle or not;

6. The automatic unhooking control method according to claim 1, characterized in that said predetermined time is determined by:

acquiring the real-time speed of a heavy-duty shunting machine;

and when the real-time speed is in a preset range, determining the preset time.

7. The automatic unhooking control method according to claim 1, characterized in that said unhooking operation comprises:

8. An unhooking control device for a train, comprising:

9. A storage medium storing a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 7 when executed by a processor.

10. An electronic device comprising at least a memory, a processor, the memory having a computer program stored thereon, wherein the processor, when executing the computer program on the memory, is adapted to carry out the steps of the method of any of claims 1 to 7.