A rail replacement control method and device for an on-orbit unit

Abstract

The present invention discloses a method and device for rail changing control of an on-orbit unit. The method includes obtaining the current orbit and the target orbit of the on-orbit unit, and screening the optimal rail changing node; among the multiple switchable orbits corresponding to the sequence orbit where the rail changing node is located, the target orbit is included; when it is detected that the on-orbit unit completely enters the rail changing node, trigger the rail changing node to execute a rail changing instruction to carry the on-orbit unit to run in the sequence orbit; obtain the trigger signal for sequence calibration when the rail changing node runs in the sequence orbit, and calculate the interval position of the rail changing node according to the trigger sequence of the trigger signal; when it is detected that the interval position matches the target orbit, trigger the orbit docking instruction of the rail changing node, so that the on-orbit unit located in the rail changing node can be driven in a directed manner into the target orbit. The present invention is applicable to the inspection orbit with multiple rail changing nodes, and can realize automatic orbit switching, enabling the inspection trolley to run smoothly.

Description

Technical Field

[0001] The present application relates to the technical field of suspension track changing, and in particular to a track changing control method and device for an on-track unit. Background Art

[0002] There are many areas in a large-scale hanging production line. Directly applying the curved track structure to achieve track changing requires a large space. Therefore, a truncated track switching method is often used to stop the on-track unit in the truncated track, and dock and change tracks with other tracks through the operation of the truncated track. However, in this way, there are many track docking interfaces and they can be set centrally. Manual operation is inconvenient during the track changing process, and visual operation cannot be performed intuitively. The subsequent accurate operation of the on-track unit cannot be guaranteed. An effective automatic switching control method suitable for multiple track changing nodes is urgently needed. Summary of the invention

[0003] In order to solve the above problems, an embodiment of the present application provides a track change control method of an on-track unit, the method comprising:

[0004] Acquire the current orbit and target orbit of the on-orbit unit, and select the best orbit-changing node; the target orbit is included in the multiple switchable orbits corresponding to the sequence orbit where the orbit-changing node is located;

[0005] When it is detected that the on-track unit has completely entered the track-changing node, the track-changing node is triggered to execute the track-changing instruction to carry the on-track unit to run in the sequence track;

[0006] Acquire a trigger signal of sequence calibration when the track-changing node runs in the sequence track, and calculate the interval position of the track-changing node according to the trigger sequence of the trigger signal;

[0007] When it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered, so that the on-track unit located in the track change node can be driven in a direction to enter the target track.

[0008] Preferably, obtaining the current orbit and target orbit of the on-orbit unit and selecting the best orbit-changing node includes:

[0009] Obtaining the operation information of the current on-track unit, the operation information including the operation route, operation speed, and real-time position;

[0010] Obtaining a mission target, and calculating an executable route between the on-orbit unit and the mission target based on the running route of the inspection track;

[0011] Obtaining the number of track-changing nodes in each of the executable routes, and calculating the track-changing time consumption of each track-changing node;

[0012] Calculating the route time of each executable route according to the operation information of the on-track unit;

[0013] The executable route with the shortest running time is screened out, where the running time is the sum of the track-changing time and the route time; the track-changing node on the executable route is the optimal track-changing node.

[0014] Preferably, the calculating of the track-changing time consumption of each track-changing node includes:

[0015] Obtaining switchable track sorting information of the sequence track of the current track change node;

[0016] Obtain the target orbit of the current track-changing node, and obtain the current orbit of the current on-track unit when it enters the current track-changing node;

[0017] Based on the sorting information, intercepting the sorting interval between the target track and the current track;

[0018] Calculating the operation time of the track-changing node within the sorting interval according to the operation parameters of the track-changing node;

[0019] Through multiple experiments, an on-orbit detection time for an on-orbit unit to enter the track-changing node and a off-orbit detection time for an on-orbit unit to leave the track-changing node are predefined;

[0020] The track-changing time of the current track-changing node is calculated, where the track-changing time is the sum of the running time, the on-track detection time, and the off-track detection time of the track-changing node within the sorting interval.

[0021] Preferably, it also includes:

[0022] When there are multiple optimal track-changing nodes, differentiating the target track at each optimal track-changing node based on executable lines;

[0023] The target tracks of each track-changing node are arranged in sequence to be consistent with the order of each optimal track-changing node on the executable route.

[0024] Preferably, the sequence track corresponds to a plurality of switchable tracks, and the track connection and docking are realized by the track-changing nodes running therein; the sequence track is provided with a sequence detection point at the port of each switchable track, and a plurality of orderly arranged sequence detection points together constitute the sequence calibration, which is used to detect and calibrate the interval position of the track-changing node; the interval position is the interval between two sequence detection points;

[0025] When the track-changing node operates in the sequence track, it specifically includes:

[0026] Selecting a target detection point of the track change node, wherein the target detection point includes a group of the sequence detection points;

[0027] Driving the track-changing node to move in the sequence track toward the target detection point;

[0028] Acquire the trigger signal of the sequence calibration when the track-changing node runs in the sequence track, and calculate the interval position of the track-changing node according to the trigger sequence of the trigger signal;

[0029] When it is detected that the interval position matches the target detection point, the track change node is stopped from being driven so as to stay in the corresponding interval.

[0030] Preferably, when it is detected that the on-track unit has completely entered the track-changing node, the track-changing node is triggered to execute the track-changing instruction to carry the on-track unit to run in the sequence track, including:

[0031] Before the on-track unit enters the track-changing node, a group of sequence detection points of the current track of the on-track unit on the sequence track are defined as the target detection points, so that the track-changing node stops in the interval of the sequence track corresponding to the current track, waiting for the on-track unit to enter the track-changing node from the current track;

[0032] Start the stopper assembly of the track-changing node away from one end of the current track to stop the track-changing node from leaving the track-changing node;

[0033] Acquire a set of sequence detection points corresponding to the target track of the on-orbit unit, and define them as the target detection points;

[0034] When it is detected that the on-track unit has completely entered the on-track unit, the track-changing node is triggered to execute the track-changing instruction:

[0035] Start the stopper assembly of the track-changing node close to one end of the current track to restrict the on-track unit within the track-changing node;

[0036] The on-track unit stops in the track-changing node, and the track-changing node carries the on-track unit to move in the sequence track toward the target track.

[0037] Preferably, obtaining a trigger signal of sequence calibration when the track-changing node runs in the sequence track, and calculating the interval position of the track-changing node according to the trigger sequence of the trigger signal specifically includes:

[0038] Acquire a trigger signal for the sequence calibration when the track-changing node carries the on-track unit and runs in the sequence track;

[0039] Arranging the trigger signals in sequence based on a timeline to generate the trigger sequence;

[0040] According to the generation progress of the trigger sequence, estimating the waiting interval between the sequence detection points of the target track;

[0041] When the waiting interval is less than a predetermined interval, actively triggering the track-changing node to decelerate;

[0042] The interval position of the track change node is calculated based on the generated trigger sequence.

[0043] Further, when it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered, so that the on-track unit located in the track change node can be driven in a direction to enter the target track, including:

[0044] When it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered:

[0045] Stopping the track-changing node and closing a stopper component of the track-changing node close to one end of the target track;

[0046] Starting the on-track unit, determining the relative direction between the on-track unit and the target track, and directionally driving the on-track unit to run in the direction of the target track; enabling the on-track unit located in the track change node to enter the target track;

[0047] Close the stop assembly at one end of the track change node away from the target track.

[0048] In a second aspect, an embodiment of the present application provides a track change control device for an on-track unit, the device comprising:

[0049] Target screening module: obtains the current orbit and target orbit of the on-orbit unit, and screens the best orbit-changing node; the multiple switchable orbits corresponding to the sequence orbit where the orbit-changing node is located include the target orbit;

[0050] Track change trigger module: when it is detected that the on-track unit has completely entered the track change node, the track change node is triggered to execute the track change instruction to carry the on-track unit to run in the sequence track;

[0051] Sequence calibration module: obtains the trigger signal of sequence calibration when the track-changing node runs in the sequence track, and calculates the interval position of the track-changing node according to the trigger sequence of the trigger signal;

[0052] Directional drive module: When it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered, so that the on-orbit unit located in the track change node can be directionally driven to enter the target track.

[0053] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation of the first aspect are implemented.

[0054] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the first aspect or any possible implementation manner of the first aspect.

[0055] The beneficial effects of the present invention are as follows: the present application is a track changing control method and device for an on-track unit, which automatically selects the best track changing node based on the task objective to complete the track switching; it can be applied to the centralized switching of multiple tracks to meet the actual track switching requirements, and the track changing operation is precise and controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A schematic flow chart of a track change control method for an on-track unit provided in an embodiment of the present application;

[0058] Figure 2 A schematic structural diagram of a track change control device for an on-track unit provided in an embodiment of the present application;

[0059] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0061] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0062] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0063] It should be understood that the on-track unit of the present application can be a patrol car in the suspension production line system, which has an independent patrol track. The patrol car has the actual need to switch tracks in multiple areas. In a large suspension system, the patrol range of the patrol car is relatively stable, but when a fault occurs, the patrol range of the patrol car changes, which will generate an actual need for track switching; the patrol car also has the actual need for track switching during the task allocation process. And so on, no more details.

[0064] See also Figure 1 , Figure 1 : is a flow chart of a track change control method of an on-track unit provided in an embodiment of the present application. In the embodiment of the present application, the method includes:

[0065] S101, obtaining the current orbit and target orbit of the on-orbit unit, and selecting the best orbit-changing node; the multiple switchable orbits corresponding to the sequence orbit where the orbit-changing node is located include the target orbit.

[0066] The execution subject of this application can be the inspection trolley in the track-changing device and the hanging system, and the inspection trolley is the on-track unit. The track-changing device mainly includes a sequence track and a track-changing node. The track-changing node is a truncated inspection track that can carry the on-track unit to run in the sequence track; it completes docking with the corresponding track at the corresponding position, so that the on-track unit located in the track-changing node can enter the corresponding track.

[0067] Specifically, the sequence track corresponds to multiple switchable tracks, and the track docking and connection are achieved through the track switching nodes running therein; the sequence track is provided with a sequence detection point at the port of each switchable track, and multiple orderly arranged sequence detection points together constitute a sequence calibration, which is used to detect and calibrate the interval position of the track switching node; the interval position is the interval between two sequence detection points.

[0068] In the embodiment of the present application, the on-track unit has a task target. The on-track unit runs to the task target on the inspection track and performs related tasks. During this process, if track change is required, it should travel along the best route.

[0069] In one possible implementation, step S101 includes:

[0070] Obtaining the operation information of the current on-track unit, the operation information including the operation route, operation speed, and real-time position;

[0071] Obtaining a mission target, and calculating an executable route between the on-orbit unit and the mission target based on the running route of the inspection track;

[0072] Obtaining the number of track-changing nodes in each of the executable routes, and calculating the track-changing time consumption of each track-changing node;

[0073] Calculating the route time of each executable route according to the operation information of the on-track unit;

[0074] The executable route with the shortest running time is screened out, where the running time is the sum of the track-changing time and the route time; the track-changing node on the executable route is the optimal track-changing node.

[0075] Based on the above method steps, the multiple switchable tracks corresponding to the sequence tracks where the best track-changing node is located must include the target track.

[0076] In the embodiment of the present application, the operation information of the on-track unit can be uploaded automatically, and the real-time operation parameters are more conducive to completing the switching. Based on the inspection route, the on-track unit is planned and designed with an executable route to the mission target, and the track change nodes in the route are screened to shorten the operation time.

[0077] The track-changing node is equipped with a driving device, and the sequence track is a fixed structure. When the track-changing node is in an available state, the track-changing operation can be performed. The sequence detection points set on the sequence track are all operated independently, and fault detection can also be performed in pairs. Therefore, in the embodiment of the present application, when planning the route, the determination condition of the executable route can be determined by the validity of the track-changing node, and the track-changing node is used to reflect the validity of the track-changing device.

[0078] In a specific example, the time taken to change tracks is much longer than the time taken to run a line on the track. The more track change nodes there are on a certain executable line, the longer the overall time taken for the line. When screening, only the executable line with the shortest time taken is run in principle.

[0079] It should be clear that when running on the inspection track, it is the line time; when in the track changing device, it is the track changing time. The operating time of the executable line should be the sum of the line time and the track changing time. Among them, one executable line may include multiple track changing times; the line time can be calculated uniformly, which is only the overall line time.

[0080] In the embodiment of the present application, the track switching time at the track switching node should be calculated based on the volume of the sequence track, the distance between the current track and the target track, the running speed of the current track switching node, the on-track unit's on-track detection, and the on-track unit's off-track detection. The specific steps include:

[0081] Obtaining switchable track sorting information of the sequence track of the current track change node;

[0082] Obtain the target orbit of the current track-changing node, and obtain the current orbit of the current on-track unit when it enters the current track-changing node;

[0083] Based on the sorting information, intercepting the sorting interval between the target track and the current track;

[0084] Calculating the operation time of the track-changing node within the sorting interval according to the operation parameters of the track-changing node;

[0085] Through multiple experiments, an on-orbit detection time for an on-orbit unit to enter the track-changing node and a off-orbit detection time for an on-orbit unit to leave the track-changing node are predefined;

[0086] The track-changing time of the current track-changing node is calculated, where the track-changing time is the sum of the running time, the on-track detection time, and the off-track detection time of the track-changing node within the sorting interval.

[0087] It can be understood that the orbit entry detection time and the orbit departure detection time are basically the same at each orbit change node, and multiple experiments can be carried out to obtain the average value, which is used as the predefined standard value for calculation.

[0088] The operating parameter of the track-changing node is the operating speed, which can be a known parameter. When calculating, based on the distance between the current track and the target track, the operating time of the track-changing node within the sorting interval can be directly obtained. The sum of the operating time within the sorting interval, the on-track detection time, and the off-track detection time is the track-changing time of the current track-changing node.

[0089] It should be clear that the executable route may include multiple track-changing nodes. When performing screening and comparison, the sum of the track-changing time consumption of each track-changing node can be calculated as the screening and comparison parameter.

[0090] In a specific embodiment, when the optimal track-changing node includes multiple nodes, a target track at each optimal track-changing node is differentiated based on an executable line;

[0091] The target tracks of each track-changing node are arranged in sequence to be consistent with the order of each optimal track-changing node on the executable route.

[0092] For executable routes with multiple track-changing nodes, a target track is differentiated for each track-changing node so that each track-changing node has a sub-target track. The sub-target tracks can be defined as target tracks in sequence to facilitate the smooth application of the method steps of the present application, and then simply superimposed in sequence.

[0093] S102: When it is detected that the on-track unit has completely entered the track-changing node, the track-changing node is triggered to execute the track-changing instruction to carry the on-track unit to run in the sequence track.

[0094] In an embodiment of the present application, the initial position of the track-changing node can be preset. When it is selected as the best track-changing node, it responds by running to the sequence track corresponding to the current track of the on-track unit and waiting for the entry of the on-track unit.

[0095] In a specific embodiment, when the track-changing node operates in a sequence track, the following steps are specifically performed:

[0096] Selecting a target detection point of the track change node, wherein the target detection point includes a group of the sequence detection points;

[0097] Driving the track-changing node to move in the sequence track toward the target detection point;

[0098] Acquire the trigger signal of the sequence calibration when the track-changing node runs in the sequence track, and calculate the interval position of the track-changing node according to the trigger sequence of the trigger signal;

[0099] When it is detected that the interval position matches the target detection point, the track change node is stopped from being driven so as to stay in the corresponding interval.

[0100] In the embodiment of the present application, when the track-changing node runs in the sequence track, both the starting position and the target position can be identified by the interval position divided by the sequence detection point. When the track-changing node response is selected as the best track-changing node, the initial position is determined, and the target position is the entry position of the on-track unit, that is, the interval position of the sequence track corresponding to the current track of the on-track unit. The interval position is divided by the interval of the sequence detection point, which coincides with the docking port of the current track and the sequence track.

[0101] After obtaining the current track of the on-track unit, the track-changing node can be driven to the corresponding interval position on the sequence track, waiting for the on-track unit to enter and perform further track-changing operations.

[0102] It is understandable that the on-track unit has a certain length, and when entering the track-changing node, a track entry detection should be performed to determine whether the on-track unit has completely entered the track-changing node. Specifically, a photoelectric sensor can be arranged at the port of the track-changing node to detect the entry of the on-track unit; the same applies when leaving the track.

[0103] When the track-changing node of the present application runs in a sequence track, it runs at a fixed point based on a sequence detection point and a target track, thereby achieving an effective and controllable driving effect.

[0104] When the on-track unit completely enters the track-changing node, the displacement of the on-track unit should be limited to prevent the track-changing node from derailing while carrying the on-track unit.

[0105] In one possible implementation, step S102 includes:

[0106] Before the on-track unit enters the track-changing node, a group of sequence detection points of the current track of the on-track unit on the sequence track are defined as the target detection points, so that the track-changing node stops in the interval of the sequence track corresponding to the current track, waiting for the on-track unit to enter the track-changing node from the current track;

[0107] Start the stopper assembly of the track-changing node away from one end of the current track to stop the track-changing node from leaving the track-changing node;

[0108] Acquire a set of sequence detection points corresponding to the target track of the on-orbit unit, and define them as the target detection points;

[0109] When it is detected that the on-track unit has completely entered the on-track unit, the track-changing node is triggered to execute the track-changing instruction:

[0110] Start the stopper assembly of the track-changing node close to one end of the current track to restrict the on-track unit within the track-changing node;

[0111] The on-track unit stops in the track-changing node, and the track-changing node carries the on-track unit to move in the sequence track toward the target track.

[0112] In the embodiment of the present application, both ends of the track-changing node can form a docking effect with the inspection track, and both ports are provided with controllable stopper components. When the track unit enters the track-changing node, the far end starts first to block the possibility of derailment at the far end; when the on-track unit enters completely, the near end starts to block the possibility of derailment at the near end. The near end and the far end are determined based on the track to which the track-changing node is docked. For example, when entering, the docking track is the current track; when leaving the track, the docking track is the target track.

[0113] After the on-track unit is fully entered, it enters a stop state. The track-changing instruction may also include: temporarily cutting off the power supply of the on-track unit's drive, but retaining the data transmission function; and preventing the on-track unit from breaking through the stop assembly.

[0114] It can be understood that after determining the target track, the running direction of the track change node in the sequence track can be determined according to the current position of the track change node, and the on-track unit can be transferred to the corresponding interval position to complete the track switching.

[0115] If necessary, for executable routes with multiple track-changing nodes, the target detection point can be redefined at each track-changing node. Specifically, for a track-changing node, the target detection point is defined as the sequence detection point of the current track of the on-track unit for the first time, and the target detection point is defined as the sequence detection point of the target track of the on-track unit for the second time; each track includes a set of sequence detection points in the sequence track. When entering the next track-changing node, the target detection point is redefined again, the first time is still the sequence detection point of the current track of the on-track unit, and the second time is still the sequence detection point of the target track of the on-track unit. It can be understood that at this time, the on-track unit has completed a switch, and the track it is on has been switched to the target track of the previous track-changing node.

[0116] S103, obtaining a trigger signal of sequence calibration when the track-changing node runs in the sequence track, and calculating the interval position of the track-changing node according to the trigger sequence of the trigger signal.

[0117] In an embodiment of the present application, when the track change node operates in a sequence track, the sequence calibration can be triggered to generate a trigger signal, thereby quickly confirming the position information of the track change node based on the sequence detection point; then, based on the switchable track sorting information through the sequence detection point, the interval position of the track change node can be calculated to facilitate docking with the target track and complete the track switching of the on-track unit.

[0118] In one possible implementation, step S103 includes:

[0119] Acquire a trigger signal for the sequence calibration when the track-changing node carries the on-track unit and runs in the sequence track;

[0120] Arranging the trigger signals in sequence based on a timeline to generate the trigger sequence;

[0121] According to the generation progress of the trigger sequence, estimating the waiting interval between the sequence detection points of the target track;

[0122] When the waiting interval is less than a predetermined interval, actively triggering the track-changing node to decelerate;

[0123] The interval position of the track change node is calculated based on the generated trigger sequence.

[0124] In the embodiment of the present application, as the track change node runs, trigger signals are generated in sequence. When sorted based on the timeline, a trigger sequence can be gradually generated, and the generation progress can indirectly reflect the running position. When the track change node is about to reach the sequence detection point of the target track, it can actively trigger deceleration to stop the track change node, so that the track change node can be stably docked to the target track and stay in the corresponding interval of the sequence track.

[0125] After obtaining the interval position, it can be matched with the interval position of the target track. If the match is successful, the track docking command of the track change node is triggered to create basic conditions for the on-track unit to enter the target track, such as closing the stop assembly on-track unit to allow it to run outward and turning on the power supply for the on-track unit's drive.

[0126] S104: When it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered, so that the on-track unit located in the track change node can be driven in a direction to enter the target track.

[0127] In the embodiment of the present application, when the interval position of the track change node in the running sequence track matches the interval position corresponding to the sequence detection point of the target track, it means that the track change node has reached the matching port of the target track in the sequence track, the track docking is completed, and the basic conditions for on-track unit track change are met.

[0128] In one possible implementation, step S104 includes:

[0129] When it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered:

[0130] Stopping the track-changing node and closing a stopper component of the track-changing node close to one end of the target track;

[0131] Starting the on-track unit, determining the relative direction between the on-track unit and the target track, and directionally driving the on-track unit to run in the direction of the target track; enabling the on-track unit located in the track change node to enter the target track;

[0132] Close the stop assembly at one end of the track change node away from the target track.

[0133] In the embodiment of the present application, after the matching is completed, the near-end stopper assembly should be closed first, so that the on-track unit can run toward the target track. If the on-track unit runs in the wrong direction, the far-end stopper assembly will limit its operation. After detecting that the on-track unit is completely off the track, the far-end stopper assembly is closed.

[0134] It is understandable that in the suspension system, when the on-track unit carried by the inspection track is in operation, there is a certain redundancy design between the inspection track and the on-track unit, which can effectively reduce the docking accuracy requirements of the track.

[0135] In a feasible embodiment, when matching the interval positions, the triggering time can be calculated based on the actual width of the triggering member set on the track change node for triggering the sequence detection point, the relative position relationship between the track change node and the target track can be optimized, and the interval position can be fine-tuned and calibrated to make the track docking more perfect.

[0136] The following will be combined with the attached Figure 2 , the track change control device of the on-track unit provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Figure 2 The track change control device of the on-track unit shown is used to implement the present application Figure 1 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 1 The embodiment shown.

[0137] See also Figure 2 , Figure 2 Schematic diagram of the structure of a track change control device for an on-track unit provided in an embodiment of the present application. Figure 2 As shown, the device comprises:

[0138] Target screening module 201: obtains the current track and target track of the on-track unit, and screens the best track-changing node; the multiple switchable tracks corresponding to the sequence track where the track-changing node is located include the target track;

[0139] Track change trigger module 202: when it is detected that the on-track unit has completely entered the track change node, the track change node is triggered to execute the track change instruction to carry the on-track unit to run in the sequence track;

[0140] Sequence calibration module 203: obtaining a trigger signal for sequence calibration when the track-changing node is running in the sequence track, and calculating the interval position of the track-changing node according to the trigger sequence of the trigger signal;

[0141] Directional drive module 204: When it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered, so that the on-track unit located in the track change node can be directionally driven to enter the target track.

[0142] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0143] Each processing unit and / or module of the embodiments of the present application may be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or may be implemented by software that executes the functions described in the embodiments of the present application.

[0144] See also Figure 3 , which shows a schematic diagram of the structure of an electronic device involved in an embodiment of the present application, the electronic device can be used to implement Figure 1 The method in the embodiment shown. Figure 3 As shown, the electronic device 300 may include: at least one central processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0145] The communication bus 302 is used to realize the connection and communication between these components.

[0146] The user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0147] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0148] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the terminal 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the central processing unit 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The central processing unit 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301, but implemented separately through a chip.

[0149] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned central processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0150] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the central processor 301 can be used to call the track change control application of the on-track unit stored in the memory 305, and specifically perform the following operations:

[0151] Acquire the current orbit and target orbit of the on-orbit unit, and select the best orbit-changing node; the target orbit is included in the multiple switchable orbits corresponding to the sequence orbit where the orbit-changing node is located;

[0152] When it is detected that the on-track unit has completely entered the track-changing node, the track-changing node is triggered to execute the track-changing instruction to carry the on-track unit to run in the sequence track;

[0153] Acquire a trigger signal of sequence calibration when the track-changing node runs in the sequence track, and calculate the interval position of the track-changing node according to the trigger sequence of the trigger signal;

[0154] When it is detected that the interval position matches the target track, the track docking instruction of the track change node is triggered, so that the on-track unit located in the track change node can be driven in a direction to enter the target track.

[0155] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0156] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0157] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0158] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0159] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0160] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0161] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0162] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct related hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0163] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for controlling rail replacement of an on-orbit unit, characterized in that, the method includes: obtaining the current orbit and the target orbit of the on-orbit unit, and screening the optimal rail replacement node; among the multiple switchable orbits corresponding to the sequential orbit where the rail replacement node is located, the target orbit is included; specifically including: obtaining the operation information of the current on-orbit unit, where the operation information includes the operation line, operation speed, and real-time position; obtaining the task target, and calculating the executable line between the on-orbit unit and the task target based on the operation line of the inspection orbit; obtaining the number of rail replacement nodes in each of the executable lines, and calculating the rail replacement time of each rail replacement node; calculating the line time of each of the executable lines according to the operation information of the on-orbit unit; screening out the executable line with the shortest operation time, where the operation time is the sum of the rail replacement time and the line time; the rail replacement node on this executable line is the optimal rail replacement node; the specific calculation of the rail replacement time of each rail replacement node includes: obtaining the switchable orbit sorting information of the sequential orbit of the current rail replacement node; obtaining the target orbit of the current rail replacement node, and obtaining the current orbit when the current on-orbit unit enters the current rail replacement node; based on the sorting information, intercepting the sorting distance between the target orbit and the current orbit; calculating the operation time of the rail replacement node within the sorting distance according to the operation parameters of the rail replacement node; through multiple experiments, predefining the on-orbit detection time when the on-orbit unit enters the rail replacement node and the off-orbit detection time when the on-orbit unit leaves the rail replacement node; calculating the rail replacement time of the current rail replacement node, where the rail replacement time is the sum of the operation time of the rail replacement node within the sorting distance, the on-orbit detection time, and the off-orbit detection time; when it is detected that the on-orbit unit completely enters the rail replacement node, triggering the rail replacement node to execute the rail replacement instruction and carry the on-orbit unit to run within the sequential orbit; obtaining the trigger signal for sequence calibration when the rail replacement node runs within the sequential orbit, and calculating the interval position of the rail replacement node according to the trigger sequence of the trigger signal; when it is detected that the interval position matches the target orbit, triggering the orbit docking instruction of the rail replacement node, so that the on-orbit unit located within the rail replacement node can be directionally driven into the target orbit.

2. The method according to claim 1, characterized in that, it further includes: when there are multiple optimal rail replacement nodes, differentiating the target orbits at each optimal rail replacement node based on the executable line; arranging the target orbits of each rail replacement node in sequence to be consistent with the order of each optimal rail replacement node on the executable line.

3. The method according to claim 1, characterized in that, The sequence track corresponds to multiple switchable tracks, and the docking and connection between the tracks are realized through the track-changing nodes running therein; sequence detection points are arranged at the ports of each of the switchable tracks of the sequence track, and a plurality of orderly arranged sequence detection points jointly form the sequence calibration for detecting and calibrating the interval position of the track-changing nodes; The interval position is the interval between two sequence detection points; When the track-changing node runs in the sequence track, it specifically includes: Selecting the target detection points of the track-changing node, where the target detection points include a group of the sequence detection points; Driving the track-changing node to run in the sequence track in the direction of the target detection points; Obtaining the trigger signal of the sequence calibration when the track-changing node runs in the sequence track, and calculating the interval position of the track-changing node according to the trigger sequence of the trigger signal; When it is detected that the interval position matches the target detection points, stop driving the track-changing node so that it stays in the corresponding interval.

4. The method according to claim 3, wherein, When it is detected that the on-rail unit completely enters the track-changing node, triggering the track-changing node to execute a track-changing instruction to carry the on-rail unit to run in the sequence track, including: Before the on-rail unit enters the track-changing node, defining a group of sequence detection points of the current track of the on-rail unit on the sequence track as the target detection points, so that the track-changing node stops in the interval of the sequence track corresponding to the current track and waits for the on-rail unit to enter the track-changing node from the current track; Starting the stop component at one end of the track-changing node away from the current track to stop the track-changing node from detaching from the track-changing node; Obtaining a group of sequence detection points corresponding to the target track of the on-rail unit and defining them as the target detection points; When it is detected that the on-rail unit completely enters the on-rail unit, triggering the track-changing node to execute a track-changing instruction: Starting the stop component at one end of the track-changing node close to the current track to limit the on-rail unit within the track-changing node; The on-rail unit stops in the track-changing node, and the track-changing node carries the on-rail unit to run in the sequence track in the direction of the target track.

5. The method according to claim 4, wherein, Obtaining the trigger signal of the sequence calibration when the track-changing node runs in the sequence track, and calculating the interval position of the track-changing node according to the trigger sequence of the trigger signal specifically includes: Obtaining the trigger signal of the sequence calibration when the track-changing node carries the on-rail unit to run in the sequence track; Arranging the trigger signals in sequence based on the time line to generate the trigger sequence; Estimating the waiting interval between the generated trigger sequence and the sequence detection points of the target track; When the waiting interval is less than the predetermined interval, actively triggering the track-changing node to decelerate; Calculating the interval position of the track-changing node based on the generated trigger sequence.

6. The method according to claim 5, wherein, When it is detected that the interval position matches the target orbit, trigger the orbit docking instruction of the rail change node, so that the on-orbit unit located in the rail change node can be driven directionally into the target orbit, including: When it is detected that the interval position matches the target orbit, trigger the orbit docking instruction of the rail change node: Stop the rail change node and close the stop component at one end of the rail change node close to the target orbit; Start the on-orbit unit, determine the relative direction between the on-orbit unit and the target orbit, and drive the on-orbit unit to run in the direction of the target orbit directionally; enable the on-orbit unit located in the rail change node to enter the target orbit; Close the stop component at the end of the rail change node far from the target orbit.

7. An electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, when the processor executes the computer program, the steps of the method according to any one of claims 1-6 are implemented.

Images