Railway hump hook lifting operation robot system and method

Abstract

The embodiment of the invention discloses a railway hump hook lifting operation robot system and method. The railway hump hook lifting operation robot system comprises a loading unit, a hook separating unit, an unloading unit, a returning unit and a central control unit. Wherein the hook separation unit comprises a hook separation robot, and the hook separation unit is used for carrying out hook separation on a vehicle set to be unhooked; the return unit comprises a carrying robot, and the return unit is used for returning the hook separating robot; the loading unit is located in front of a hook lifting operation area, and the loading unit is used for loading the carrying robot and the hook separating robot; the unloading unit is located behind the hook lifting operation area and used for unloading the hook separating robot. The loading unit and the unloading unit adopt the same equipment and mainly comprise an axle counting sensor, a speed measuring sensor, a visual sensor, a monitoring camera and a loading and unloading robot; the central control unit comprises a main controller and a monitoring terminal.

Description

Technical Field

[0001] This specification relates to the field of railway hook lifting technology, and in particular to a railway hump hook lifting operation robot system and method. Background Art

[0002] Hump ​​hook lifting operation is an important part of the transportation production work in railway marshalling yards and section stations.

[0003] In existing technology, hook lifting operations over humps still rely primarily on hook lifters, who are shunting the train onto the humps while the locomotive is being used to push it up. This method requires hook lifting and verification while following the train on the ground, posing significant safety risks and making it easy to miss or pick up the wrong hook. While rail-mounted robots are used in some scenarios, they cannot lift hooks from switches and are not suitable for situations where there are more than three consecutive short train sets.

[0004] Based on this, a railway hump hook lifting operation robot system and method are needed to realize the automation and unmanned operation of the hump hook lifting operation. Summary of the Invention

[0005] The embodiments of this specification provide a railway hump hook-lifting robot system and method to address the following technical issues: Prior art hump hook-lifting operations still primarily rely on hook lifters performing the work while shunting locomotives and pushing trains onto the hump. This method requires hook-lifting operations and verification while following the train on the ground, posing significant safety risks and prone to missed or incorrect hooks. Although rail-mounted robots are used for hump hook-lifting operations in some scenarios, these robots cannot lift hooks on switches and are difficult to adapt to situations where three or more consecutive hooks are short train sets.

[0006] The present invention also provides a railway hump hook lifting robot system, which includes:

[0007] Loading unit, hook unit, unloading unit, return unit and central control unit;

[0008] in,

[0009] The hook separation unit includes: a hook separation robot, and the hook separation unit is used to separate the hooks from the vehicle group to be unhooked;

[0010] The return unit includes: a transport robot, and the return unit is used to return the hook separation robot;

[0011] The loading unit is located in front of the hook lifting operation area, and is used to load the transport robot and the hook separating robot;

[0012] The unloading unit is located behind the hook lifting operation area, and is used to unload the hook separation robot;

[0013] The loading unit and the unloading unit use the same equipment, mainly including: axle counting sensor, speed sensor, visual sensor, monitoring camera, loading and unloading robot;

[0014] The central control unit includes: a main controller and a monitoring terminal.

[0015] The present invention also provides a method for lifting a hook on a railway hump, the method comprising:

[0016] The railway hump hook lifting operation robot system is used to realize automated railway hump hook lifting operation.

[0017] The railway hump hook lifting robot system provided in the embodiment of this specification includes: a loading unit, a hook separation unit, an unloading unit, a return unit and a central control unit; wherein the hook separation unit includes: a hook separation robot, which is used to separate the hooks from the vehicle group to be unhooked; the return unit includes: a handling robot, which is used to return the hook separation robot; the loading unit is located before the hook lifting operation area, and is used to load the handling robot and the hook separation robot; the unloading unit is located after the hook lifting operation area, and is used to unload the hook separation robot; the loading unit and the unloading unit use the same equipment, mainly including: an axle counting sensor, a speed sensor, a visual sensor, a monitoring camera, and a loading and unloading robot; the central control unit includes: a main controller and a monitoring terminal, which can realize that the hook lifting location is not restricted by the ground switch, resonates with the truck when lifting the hook, avoids the bumpy control when lifting the hook on the road, and can realize automatic control of the hook lifting process, without the need for manual following the vehicle to lift the hook, reducing personal safety risks and improving the accuracy of hook lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 This is a schematic diagram of the hump dismantling and shunting operation process;

[0020] Figure 2 This is a schematic diagram of the hump hook lifting operation scene;

[0021] Figure 3 This is a schematic diagram of the hook lifting operation process;

[0022] Figure 4 A schematic diagram of the structure of a railway hump hook lifting robot system provided in an embodiment of this specification;

[0023] Figure 5 A schematic diagram of the control process of the railway hump hook lifting operation robot system provided in an embodiment of this specification;

[0024] Figure 6 A schematic diagram of the automated hook separation process provided in the embodiments of this specification;

[0025] Figure 7 A schematic diagram of the centroid axis provided in an embodiment of this specification. DETAILED DESCRIPTION

[0026] In order to help those skilled in the art better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] Hump ​​dismantling and shunting operations are divided into three stages: transfer, trailering, and hump pushing. Figure 1 shown.

[0028] After taking over the shift at the peak line, the dismantling shunting locomotive first enters the arrival yard alone, then turns back to hook up the train to be dismantled, and finally pushes the train to be dismantled up the peak for dismantling. After the dismantling of one train is completed, the shunting locomotive returns to the arrival yard along the original peak route to continue dismantling the next train.

[0029] The hump hook lifting operation is a work task in the peak pushing stage. The hook lifting is completed during the movement of the train to be released on the peak. The hook lifting operation area extends from the entrance of the peak pushing line to the peak top, with a length of more than 200 meters. In order to ensure a safe interval between the rear hook train and the front hook train, after each hook lifting, it is necessary to wait until the last car of the hook lifting train is unhooked from the peak pushing train before the next hook train can be lifted. Whether the last car of the hook lifting train can be unhooked from the peak pushing train depends on whether the center of gravity of the hook lifting train has passed the peak top, and the position of the center of gravity is positively correlated with the number of cars in the hook lifting train. Usually: the fewer the number of cars in the hook lifting train, the closer the unhooking point is to the peak top; the more the number of cars, the farther the unhooking point is from the peak top. Specifically, Figure 2 shown.

[0030] The hook lifting operation of each hook car group is divided into three steps: finding the hook, removing the hook, and protecting the hook. The hook removal step must be completed before the center of gravity of the car group passes the peak, otherwise the hook tongue will be tightened and the coupler cannot be unlocked. Figure 3 shown.

[0031] (1) Finding the hook

[0032] Find the coupler of the last car in the set to be hooked up, confirm the number of cars in the set to be hooked up and the car number of the last car to ensure that it is consistent with the plan.

[0033] (2) Unhooking

[0034] Lift the hook lever of the coupler to be lifted until the coupler is unlocked.

[0035] (3) Hook guard

[0036] After the coupler is unlocked, it continues to escort the hook-lifting train for a distance until it is confirmed that the last car of the hook-lifting train is uncoupled from the peak-pushing train and a uncoupling signal is issued.

[0037] Hump ​​hook-lifting robots come in three main configurations: ground-track, overhead-track, and wheel-track. For the ground-track version, the robot moves along a guide rail laid on the ground on one side of the track in the hook-lifting operation area, following the vehicle to lift the hook. However, since there are switches in the hook-lifting operation area, and guide rails cannot be laid on switches, the robot cannot cross the switch area to lift the hook. For the overhead-track version, the robot hangs on a guide rail erected in the air on one side of the track in the hook-lifting operation area, following the vehicle to lift the hook. However, the robot cannot cross the switch area to lift the hook. Wheel-track versions use wheels or tracks as their chassis. While they can cross switch areas to lift the hook, they need to overcome the irregular vibration of the robotic arm caused by ground bumps, making them more difficult to control.

[0038] The existing technology uses manual hook lifting or rail-type robot hook lifting methods, both of which have many problems:

[0039] (1) Problems with manual hook lifting

[0040] When following a vehicle to lift a hook, the operator's body must be placed in the vehicle's gear, which poses a high safety risk of being hit, scratched, or crushed by the vehicle. This can lead to missed or incorrect hooks being lifted. Furthermore, manual hook lifting operations are not recorded, making analysis and traceability difficult for daily management.

[0041] (2) Problems with the rail-type robot hook

[0042] The hook-lifting operation area is located on a switch, where rails cannot be laid. Therefore, rail-mounted robots cannot lift hooks on switches. Furthermore, rail-mounted robots use the same robot to locate, remove, and secure the hook. Each time a hook is lifted, it must follow the current train to the hook-release position before returning to locate the next hook. Because the peak train is always moving forward, when a train with consecutive short trains is encountered, the window for hook removal by the following train becomes increasingly shorter. This makes rail-mounted robots difficult to adapt to situations where there are more than three consecutive short trains.

[0043] Based on this, an embodiment of this specification provides a hump hook lifting robot system to realize automated hump hook lifting.

[0044] In order to further understand the railway hump hook lifting operation robot system provided in the embodiments of this specification, the system will be described in detail below.

[0045] Figure 4 This is a schematic diagram of the structure of the railway hump hook lifting robot system provided in the embodiment of this specification. Figure 4 As shown, loading unit, hook unit, unloading unit, return unit and central control unit;

[0046] in,

[0047] The hook separation unit includes: a hook separation robot, and the hook separation unit is used to separate the hooks from the vehicle group to be unhooked;

[0048] The return unit includes: a transport robot, and the return unit is used to return the hook separation robot;

[0049] The loading unit is located in front of the hook lifting operation area, and is used to load the transport robot and the hook separating robot;

[0050] The unloading unit is located behind the hook lifting operation area, and is used to unload the hook separation robot;

[0051] The loading unit and the unloading unit use the same equipment, mainly including: axle counting sensor, speed sensor, visual sensor, monitoring camera, loading and unloading robot;

[0052] The central control unit includes: a main controller and a monitoring terminal.

[0053] In the embodiment of this specification, the loading and unloading robot is composed of a slide rail, a robotic arm and a clamp. The slide rail is laid on the ground to support the robotic arm and the clamp; the robotic arm moves along the slide rail to realize the loading and unloading of the hook robot; the clamp is fixed at the end of the robotic arm to realize the grasping and placement of the hook robot.

[0054] In the embodiment of this specification, the hook-lifting robot consists of a base and a robotic arm. The base is attached to the truck pedal, and the robotic arm performs the hook lifting operation.

[0055] In the embodiment of this specification, the transport robot is composed of a chassis and a bracket. The chassis enables ground movement, and the bracket enables the carrying of the hook-separating robot.

[0056] In the embodiment of this specification, the loading and unloading robots are installed in the hook lifting operation area of ​​the peak train. At least two loading and unloading robots are installed between the entrance and exit of the hook lifting operation area. Each loading and unloading robot can grab at least one hook separation robot at a time.

[0057] in,

[0058] At least one loading and unloading robot is installed at the entrance of the hook lifting operation area, and is used to load the hook separation robot onto the passing truck;

[0059] At least one loading and unloading robot is installed at the exit of the hook lifting operation area to unload the hook separation robot from a passing truck.

[0060] In the embodiment of this specification, the hook separation robot operates in the hook lifting operation area of ​​the peak train, and at least two hook separation robots are used between the entrance and exit of the hook lifting operation area:

[0061] in,

[0062] The hook separation robot is loaded onto a truck at the entrance of the hook lifting operation area and completes the hook lifting process before arriving at the exit of the hook lifting operation area.

[0063] The hook separation robot is unloaded at the exit of the hook lifting operation area.

[0064] In the embodiment of this specification, the handling robot operates in the hook lifting operation area of ​​the peak train. At least one handling robot is used between the entrance and exit of the hook lifting operation area. Each handling robot can carry at least one hook separation robot:

[0065] in,

[0066] The transport robot hands over the carried hook separation robot to the loading and unloading robot at the entrance of the hook lifting operation area to load the robot onto the truck;

[0067] The transport robot carries the hook-unloading robot unloaded from the truck by the loading and unloading robot at the exit of the hook lifting operation area.

[0068] The transport robot circulates between the entrance and exit of the hook lifting operation area, and transports the hook separation robot unloaded at the exit to the entrance of the hook lifting operation area.

[0069] In the embodiment of this specification, one set of axle counting sensors is installed at each loading and unloading robot to obtain the wheel count of the passing truck before the loading and unloading robot loads or unloads the hooking robot onto the truck.

[0070] In the embodiment of this specification, the speed sensor is installed at the entrance and exit of the hook lifting operation area respectively:

[0071] in,

[0072] The speed sensor installed at the entrance of the hook lifting operation area is used to measure the speed of the train entering the hook lifting operation area, and when the train has completely entered the hook lifting operation area, the speed of the rear train is measured;

[0073] The speed sensor installed at the exit of the hook lifting operation area is used to measure the speed of the train leaving the hook lifting operation area.

[0074] In the embodiment of this specification, one set of visual sensors is installed at each loading and unloading robot to capture the attachment position features of the hook robot on the truck before the loading and unloading robot loads or unloads the hook robot onto the truck and output the attachment position coordinates.

[0075] In the embodiment of this specification, at least two sets of monitoring cameras are installed between the entrance and exit of the hook operation area:

[0076] in,

[0077] The monitoring camera installed at the entrance of the hook lifting operation area is used to collect working images of the loading and unloading robots, hook separating robots, and transport robots at the entrance of the hook lifting operation area.

[0078] The monitoring camera installed at the exit of the hook lifting operation area is used to collect working images of the loading and unloading robots, hook separating robots, and transport robots at the exit of the hook lifting operation area.

[0079] In the embodiment of this specification, the main controller calculates the loading, hook lifting and unloading conditions of the hooking robot in advance based on the dismantling and shunting operation plan and train formation information, and issues action instructions to the loading and unloading robots, hooking robots and handling robots based on the perception information when the peak train passes through the axle counting sensors, speed sensors and visual sensors.

[0080] The monitoring terminal is used to display the dismantling and shunting operation plan and train formation sequence table of the peak train, display the working status of the loading and unloading robots, hooking robots, and handling robots, display the information collected by the axle counting sensors, speed sensors, and visual sensors, display the images collected by the monitoring camera, and display the hook lifting progress of the peak train.

[0081] In order to further understand the railway hump hook lifting operation robot system provided in the embodiment of this specification, it will be described in detail below with reference to the schematic diagram. Figure 5A schematic diagram of the control process of a railway hump hook lifting robot system provided in an embodiment of this specification, as shown in the example where a loading unit is installed before the hook lifting operation area. The loading unit is installed before the hook lifting operation area, the axle counter sensor is used to sense and count the wheels entering the loading unit area, the speed sensor is used to measure the speed of the hump train entering the loading unit area, the visual sensor is used to identify and locate the position of the vehicle pedals passing by the loading and unloading robot, the monitoring camera is used to monitor the operation of the robot in the area near the loading unit, and the loading and unloading robot is used to load the hook separation robot onto the passing vehicle;

[0082] The unloading unit is installed behind the hook lifting operation area. The axle counter sensor is used to sense and count the wheels entering the unloading unit area. The speed sensor is used to measure the speed of the peak train entering the unloading unit area. The visual sensor is used to identify and locate the position of the hook separation robot on the vehicle passing by the loading and unloading robot. The monitoring camera is used to monitor the working conditions of the robots in the area near the unloading unit. The loading and unloading robot is used to unload the hook separation robot from the passing vehicle.

[0083] In one embodiment of the present specification, at least one loading unit installed at the entrance of the peak pushing line and one unloading unit installed at the peak position of the peak pushing line are included; the loading unit and the unloading unit include at least one axle counting sensor, one speed sensor, one visual sensor and one loading and unloading robot;

[0084] In one embodiment of the present specification, the axle counter sensor is a pressure sensor installed on the rail before the push-pull train enters the working area of ​​the loading and unloading robot. Each time a wheel passes by, a counting signal is generated by pressure, and one counting signal is generated for each wheel passing by.

[0085] In one embodiment of the present specification, the speed sensor uses a multi-target millimeter-wave radar, which is installed on the left side of the railway track before the push-up train enters the working area of ​​the loading and unloading robot. It emits millimeter waves in the direction of movement of the push-up train and can measure the speed, distance and azimuth of at least one moving object within the millimeter-wave illumination range;

[0086] In one embodiment of the present specification, the visual sensor is a binocular vision camera installed on the right side of the railway track before the push-forward train enters the working area of ​​the loading and unloading robot. The camera captures the side image of the passing vehicle perpendicular to the railway track. The image range of the passing vehicle covers at least the part above the longitudinal rail and less than 1 meter above the center line of the vehicle coupler, and the part between the transverse coupler and the bogie.

[0087] In one embodiment of the present specification, the surveillance camera is an industrial-grade high-definition camera installed above the loading and unloading robot, and the viewing angle covers at least twice the maximum working range of the loading and unloading robot's mechanical arm;

[0088] In one embodiment of the present specification, the loading and unloading robot adopts a standard 6-DOF industrial robotic arm; the end of the robotic arm is equipped with an electromagnetic clamp that can quickly grasp and release the hook robot.

[0089] In the embodiment of this specification, the hooking unit includes at least one hooking robot attached to the peak train, working between the loading unit and the unloading unit. The hooking robot is used cyclically between the loading unit and the unloading unit. Each hooking robot is responsible for removing the coupler of only one hooking train group in one working cycle.

[0090] In one embodiment of the present specification, the hook unhooking unit uses four hook unhooking robots, each of which is attached to the lowest step of the vehicle's footrest and completes the unhooking by grasping the hook lifting rod through a 4-degree-of-freedom robotic arm.

[0091] In the embodiment of this specification, the return unit includes at least one transport robot, which works between the unloading unit and the loading unit and is used to return the hook-separating robot unloaded at the unloading unit to the loading unit. Each transport robot can return at least one hook-separating robot at a time.

[0092] In one embodiment of this specification, the return transport unit utilizes four transport robots, each based on a standard four-wheeled mobile robot chassis. The chassis is equipped with brackets for carrying the hook-dropping robots, each bracket capable of supporting two hook-dropping robots. Two fully loaded transport robots are deployed at the loading unit to accommodate the loading and unloading of the four hook-dropping robots, while two unloaded transport robots are deployed at the unloading unit to accommodate the unloading and return transport of the four hook-dropping robots.

[0093] In the embodiment of this specification, the central control unit includes a main controller and a monitoring terminal, which are installed in the hook lifting room of each hump. The main controller is used to calculate and control the loading timing of the loading unit, the unhooking timing of the hook unit, the unloading timing of the unloading unit, and the returning timing of the return unit. The monitoring terminal is used to provide a human-computer interaction interface for the entire railway hump hook lifting robot system.

[0094] In the embodiment of this specification, the loading timing of the loading unit is when the first axle of the (i+1)th hook car group passes through the entrance of the unhooking area;

[0095] The unhooking timing of the unhooking unit is when the (i-1)th hooking vehicle group is unhooked and the 4th axle of the (i+1)th hooking vehicle group passes through the entrance of the unhooking area;

[0096] The hook separation timing of the hook separation unit is when the center of gravity axis of the i-th hook train group passes through the exit of the hook removal area, and the speed measured at the exit of the hook removal area is greater than the preset value of the speed measured at the entrance of the hook entry area;

[0097] The unloading timing of the unloading unit is when the first axle of the (i+1) hook car group passes through the exit of the unhooking area.

[0098] In order to further understand the railway hump hook lifting robot system provided in the embodiments of this specification, Figure 6 This is a schematic diagram of the automated hook separation process provided in the embodiment of this specification. Figure 6 As shown in the figure, plan parsing refers to the main controller according to the dismantling and shunting operation plan and train formation information, specifically including:

[0099] Obtain the type and license plate information of the truck that needs to be hooked, and then determine the type of coupler at the hooking position based on the type and license plate information; obtain the number of vehicles, total weight, and total length information of each vehicle group, calculate the loading position of each hook-separating robot in advance, and calculate the center of gravity axis position of each hook-lifting vehicle group; receive the hump disassembly signal opening notification.

[0100] In the embodiment of this specification, the contents of the dismantling and shunting operation plan include: the train number of the dismantling train, the current train stop track, the total number of vehicles on the train; the start and end time of the dismantling operation (estimated); the locomotive number of the dismantling and shunting locomotive; the number of vehicles uncoupled each time, the vehicle number of the uncoupled vehicle, and remarks.

[0101] The train's marshaling information includes: the train's sequence number, car number, vehicle model, type, deadweight, load, gross weight, conversion length (converted length), empty / loaded vehicle mark, cargo name, departure station, arrival station, consignor, consignee, freight bill number, and note column of each freight car in the train.

[0102] The loading position of the hook-separating robot refers to the axle number of the vehicle on which the hook-separating robot is loaded. Since the loading and unloading robots and the hook-separating robots all operate on the right side of the moving direction of the peak train, the hook-separating robot that removes the i-th hook should be loaded at the front end of the i+1-th hook train group. The axle number corresponding to the loading position is the axle number of the 4th axle of the last vehicle in the current hook-lifting train group.

[0103] Determining the coupler type at the hook lifting position based on the truck model and vehicle number information can be achieved by comparing with a preset dictionary library, in which the corresponding relationship between different truck models, vehicle number information and coupler types at the hook lifting position is set.

[0104] In the embodiment of this specification, the calculation method of the center of gravity axis is as follows:

[0105] According to the preset shunting operation order, the number of vehicles m in the i-th hook-to-unhook group is obtained in sequence i ;

[0106] According to the preset train formation sequence table, the model T of the k-th vehicle of the i-th hook is obtained in sequence ik , change to L ik Total weight Q ik ;

[0107] According to the number of vehicles m in the i-th hook train group i , calculate the total number of axles n of the i-th hook car group i and the axis serial number Z of each axis of the i-th hook ij ;

[0108] According to the model T of the last vehicle in the i-th hook vehicle group ie , obtain the type of the coupler to be removed from the i-th coupler train set;

[0109] According to the change length L of each car in the i-th hook car group ik Total weight Q ik , calculate the center of gravity coordinates of the kth vehicle in the i-th hook vehicle group Calculate the coordinates of the center of gravity of the i-th hook car group

[0110] According to the change length L of each car in the i-th hook car group ik , the length from the vehicle end to the nearest second axle is l iR , calculate the second axis coordinate of the kth vehicle in sequence 3rd axis coordinates

[0111] Use the coordinates of the center of gravity of the i-th hook car group h i Compare the second axis coordinate z of the kth vehicle of the i-th hook in sequence ik2 and the third axis coordinate z ik3 , if h i Smaller, compare the next one, until h i Larger, take the last one than h i Small axis number Z ie As the axis of gravity.

[0112] Where i is the serial number of the hook car group; h i represents the coordinates of the center of gravity; z ik2 Indicates the second axis coordinate; z ik3 Indicates the third axis coordinate; Z ie Indicates the last h i Small axis number.

[0113] In order to further understand the calculation method of the centroid axis of the embodiment of this specification, Figure 7 A schematic diagram of the centroid axis provided in an embodiment of this specification.

[0114] Hook-type robot loading, including:

[0115] When the main controller receives the hump disassembly signal, it starts the axle counting sensor, speed sensor and visual sensor of the loading unit and the unloading unit.

[0116] When the hook-lifting vehicle group passes the loading unit, when the last axle of the last vehicle passes the axle counting sensor, the main controller issues a loading instruction to the loading and unloading robot. The speed of the passing vehicle is measured by the speed sensor, and the foot pedal of the next vehicle is located by the visual sensor. The loading and unloading robot grabs a hook-detaching robot from the handling robot. Based on the speed value and positioning coordinates, it moves the robotic arm following the vehicle and inserts the hook-detaching robot into the foot pedal of the next vehicle. After the hook-detaching robot completes the foot pedal clamping, the loading and unloading robot retracts the robotic arm.

[0117] When the loading and unloading robot grabs the hook robot from the handling robot, it reads the identity information of the hook robot and transmits it to the main controller. After the robotic arm is retracted, the loading completion information is sent to the main controller.

[0118] Automatic hook removal, including:

[0119] After receiving the identity information of the hook-untying robot, the main controller sends the coupler model information of the corresponding vehicle type to the hook-untying robot;

[0120] After the hook-unhooking robot holds the pedal, it unfolds its arm and grabs the hook-unhooking rod according to the hook-unhooking rod coordinates of the corresponding vehicle model provided by the main controller, and sends a hook-unhooking ready signal to the main controller;

[0121] When the main controller determines that the previous hook-lifting vehicle group has unhooked and the center of gravity axis of the current hook-lifting vehicle group has not passed the peak axle counting sensor, it sends a hook-unhooking command to the hook-unhooking robot;

[0122] After receiving the hook removal command, the hook-lifting robot uses its robotic arm to rotate the hook-lifting rod. When the hook-lifting rod rotates to the angle for unlocking the coupler and collects the unlocking sound, it releases the hook-lifting rod and retracts the robotic arm, returning to its initial position and sending an unlocking success signal to the main controller.

[0123] Confirm the hook, including:

[0124] After the main controller receives the unlocking success signal sent by the hook separation robot, it compares the speed value of the speed sensor at the loading unit and the speed value of the speed sensor at the unloading unit. When the speed value at the unloading unit is more than 2km / h greater than the speed value at the loading unit, it confirms that the hook separation is successful.

[0125] Unloading by hook robot includes:

[0126] After the main controller confirms that the hook is unhooked successfully, it issues an unloading instruction to the loading and unloading robot at the unloading unit.

[0127] When the first axle of the vehicle group where the hook-untying robot that has completed unhooking is located passes the axle counting sensor of the unloading unit, the speed of the passing vehicle is measured by the speed sensor, and the coordinates of the hook-untying robot attached to the passing vehicle are located by the visual sensor. The loading and unloading robot moves its robotic arm following the vehicle based on the speed measurement value and positioning coordinates, grabs the hook-untying robot, and after the hook-untying robot releases the pedal, the loading and unloading robot retracts the robotic arm and places the hook-untying robot on the handling robot.

[0128] The hook robot returns, specifically including:

[0129] The robot located at the loading unit automatically moves to the unloading unit when it detects that the load-bearing bracket is empty;

[0130] The robot located at the unloading unit automatically moves to the loading unit when it detects that the load-bearing bracket is fully loaded.

[0131] The railway hump hook lifting operation system provided in the embodiment of this specification distributes the hook searching, hook removal and hook protection to different equipment. The loading unit and the unloading unit are responsible for hook searching with a short hook searching distance. The hook separation unit is responsible for hook removal, and the following hook removal is smooth. The central control unit determines the hook separation (hook protection), shortening the hook removal interval between the front and rear train sets. It can not only replace manual hook lifting, but also lift hooks on switches, which is conducive to continuous hook lifting of short train sets, and can comprehensively improve the digital level of hump dismantling operations, providing strong support for the intelligent dispatching and command of marshalling yards.

[0132] The embodiment of this specification provides a railway hump hook lifting operation system. Accordingly, the embodiment of this specification also provides a railway hump hook lifting operation method, which includes: using the railway hump hook lifting operation robot system provided by the embodiment of this specification to realize automated railway hump hook lifting operation.

[0133] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0134] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other, and each embodiment focuses on the differences between the other embodiments. In particular, the device, electronic device, and non-volatile computer storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For relevant details, refer to the descriptions of the method embodiments.

[0135] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0136] The foregoing is merely an embodiment of the present invention and is not intended to limit the present application. For those skilled in the art, various modifications and variations may be made to the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A railway hump hook lifting robot system, characterized in that: The railway hump hook lifting operation robot system includes: Loading unit, hook unit, unloading unit, return unit and central control unit; in, The hook separation unit includes: a hook separation robot, and the hook separation unit is used to separate the hooks from the vehicle group to be unhooked; The return unit includes: a transport robot, and the return unit is used to return the hook separation robot; The loading unit is located in front of the hook lifting operation area, and is used to load the transport robot and the hook separating robot; The unloading unit is located behind the hook lifting operation area, and is used to unload the hook separation robot; The loading unit and the unloading unit use the same equipment, mainly including: axle counting sensor, speed sensor, visual sensor, monitoring camera, loading and unloading robot; The central control unit includes: a main controller and a monitoring terminal.

2. The railway hump hook lifting robot system according to claim 1, characterized in that: The loading and unloading robot consists of a slide rail, a robotic arm and a clamp. The slide rail is laid on the ground to support the robotic arm and the clamp. The robotic arm moves along the slide rail to realize the loading and unloading of the hook-separating robot. The clamp is fixed at the end of the robotic arm to realize the grasping and placement of the hook-separating robot.

3. The railway hump hook lifting robot system according to claim 1, characterized in that: The hook-lifting robot consists of a base and a mechanical arm. The base is attached to the truck pedal, and the mechanical arm realizes the hook lifting operation.

4. The railway hump hook lifting robot system according to claim 1, characterized in that: The transport robot is composed of a chassis and a bracket. The chassis enables ground movement, and the bracket enables the carrying of the hook-separating robot.

5. The railway hump hook lifting robot system according to claim 1, characterized in that: The loading and unloading robots are installed in the hook lifting operation area of ​​the peak train. At least two loading and unloading robots are installed between the entrance and exit of the hook lifting operation area. Each loading and unloading robot can grab at least one hook separation robot at a time. in, At least one loading and unloading robot is installed at the entrance of the hook lifting operation area, and is used to load the hook separation robot onto the passing truck; At least one loading and unloading robot is installed at the exit of the hook lifting operation area to unload the hook separation robot from a passing truck.

6. The railway hump hook lifting robot system according to claim 1, characterized in that: The hook separation robot operates in the hook lifting operation area of ​​the peak train. At least two hook separation robots are used between the entrance and exit of the hook lifting operation area: in, The hook separation robot is loaded onto a truck at the entrance of the hook lifting operation area and completes the hook lifting process before arriving at the exit of the hook lifting operation area. The hook separation robot is unloaded at the exit of the hook lifting operation area.

7. The railway hump hook lifting robot system according to claim 1, characterized in that: The handling robot operates in the hook lifting operation area of ​​the peak train. At least one handling robot is used between the entrance and exit of the hook lifting operation area. Each handling robot can carry at least one hook separation robot. in, The transport robot hands over the carried hook separation robot to the loading and unloading robot at the entrance of the hook lifting operation area to load the robot onto the truck; The transport robot carries the hook-unloading robot unloaded from the truck by the loading and unloading robot at the exit of the hook lifting operation area. The transport robot circulates between the entrance and exit of the hook lifting operation area, and transports the hook separation robot unloaded at the exit to the entrance of the hook lifting operation area.

8. The railway hump hook lifting robot system according to claim 1, characterized in that: The axle counting sensor is installed at each loading and unloading robot in one set, and obtains the wheel count of the truck passing by before the loading and unloading robot loads or unloads the hooking robot onto the truck.

9. The railway hump hook lifting robot system according to claim 1, characterized in that: The speed measuring sensor is installed at the entrance and exit of the hook lifting operation area. in, The speed sensor installed at the entrance of the hook lifting operation area is used to measure the speed of the train entering the hook lifting operation area, and when the train has completely entered the hook lifting operation area, the speed of the rear train is measured; The speed sensor installed at the exit of the hook lifting operation area is used to measure the speed of the train leaving the hook lifting operation area.

10. The railway hump hook lifting robot system according to claim 1, characterized in that: The visual sensor is installed at each loading and unloading robot. Before the loading and unloading robot loads or unloads the hook robot onto the truck, it captures the attachment position features of the hook robot on the truck and outputs the attachment position coordinates.

11. The railway hump hook lifting robot system according to claim 1, characterized in that: At least two sets of surveillance cameras are installed between the entrance and exit of the hook operation area: in, The monitoring camera installed at the entrance of the hook lifting operation area is used to collect working images of the loading and unloading robots, hook separating robots, and transport robots at the entrance of the hook lifting operation area. The monitoring camera installed at the exit of the hook lifting operation area is used to collect working images of the loading and unloading robots, hook separating robots, and transport robots at the exit of the hook lifting operation area.

12. The railway hump hook lifting robot system according to claim 1, characterized in that: The main controller calculates the loading, hook lifting and unloading conditions of the hooking robot in advance based on the dismantling and shunting operation plan and train formation information, and issues action instructions to the loading and unloading robots, hooking robots and handling robots based on the perception information when the peak train passes through the axle counting sensors, speed sensors and visual sensors. The monitoring terminal is used to display the dismantling and shunting operation plan and train formation sequence table of the peak train, display the working status of the loading and unloading robots, hooking robots, and handling robots, display the information collected by the axle counting sensors, speed sensors, and visual sensors, display the images collected by the monitoring camera, and display the hook lifting progress of the peak train.

13. The railway hump hook lifting robot system according to claim 1, characterized in that: The loading time of the loading unit is when the first axle of the (i+1) hook car group passes the entrance of the unhooking area; The unhooking timing of the unhooking unit is when the (i-1)th hooking vehicle group is unhooked and the 4th axle of the (i+1)th hooking vehicle group passes through the entrance of the unhooking area; The hook separation timing of the hook separation unit is when the center of gravity axis of the i-th hook train group passes through the exit of the hook removal area, and the speed measured at the exit of the hook removal area is greater than the preset value of the speed measured at the entrance of the hook entry area; The unloading timing of the unloading unit is when the first axle of the (i+1) hook car group passes through the exit of the unhooking area.

14. The railway hump hook lifting robot system according to claim 13, characterized in that: The calculation method of the centroid axis is as follows: According to the preset shunting operation order, the number of vehicles m in the i-th hook-to-unhook group is obtained in sequence i ; According to the preset train formation sequence table, the model T of the k-th vehicle of the i-th hook is obtained in sequence ik , change to L ik Total weight Q ik ; According to the number of vehicles m in the i-th hook train group i , calculate the total number of axles n of the i-th hook car group i and the axis serial number Z of each axis of the i-th hook ij ; According to the model T of the last vehicle in the i-th hook vehicle group ie , obtain the type of the coupler to be removed from the i-th coupler train set; According to the change length L of each car in the i-th hook car group ik Total weight Q ik , calculate the center of gravity coordinates of the kth vehicle in the i-th hook vehicle group Calculate the coordinates of the center of gravity of the i-th hook car group According to the change length L of each car in the i-th hook car group ik , the length from the vehicle end to the nearest second axle is l iR , calculate the second axis coordinate of the kth vehicle in sequence 3rd axis coordinates Use the coordinates of the center of gravity of the i-th hook car group h i Compare the second axis coordinate z of the kth vehicle of the i-th hook in sequence ik2 and the third axis coordinate z ik3 , if h i Smaller, compare the next one, until h i Larger, take the last one than h i Small axis number Z ie As the axis of gravity.

15. A railway hump hook lifting method, characterized in that: The railway hump hook lifting operation method adopts the railway hump hook lifting operation robot system described in any one of claims 1 to 14 to realize automated railway hump hook lifting operation.

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