Train marshalling yard shunting vehicle coupling robot speed regulation system

Abstract

This invention discloses a speed control system for a coupling robot in a marshalling yard. Utilizing a reducer and a coupling robot, the system provides continuous, targeted speed control throughout the yard, preventing collisions caused by speeding trains and significantly improving the safety of shunting operations. Furthermore, it increases the safe coupling rate and eliminates track closures. Moreover, during marshalling operations at the rear of the marshalling yard, it eliminates outdated methods such as wheel chocks and handbrakes for vehicle speed control and braking, reducing the workload of shunting personnel and improving the working environment. The system achieves automatic speed control for shunting operations at the rear of the marshalling yard, completely eliminating the need for wheel chock brake safety personnel and further promoting the intelligent development of marshalling yards.

Description

Technical Field

[0001] This invention relates to the field of intelligent technology for railway marshalling yards, and in particular to a speed control system for a robot coupling and shunting vehicle system in a marshalling yard. Background Technology

[0002] Currently, the speed control mode used in railways is a point-to-point speed control mode that combines the use of reducers and deceleration jacks, balancing the high dismantling capability of point-to-point speed control with the safe coupling characteristics of continuous speed control via deceleration jacks. After more than half a century of development, with the ever-increasing demands on the safety and efficiency of shunting operations in railway transportation, the hump yard automated control system and its basic equipment face immense pressure for technological innovation breakthroughs. There is an urgent need to address the dual challenges of safe production and improved efficiency in shunting yard dismantling and marshalling operations. The shunting speed control section of the hump yard shunting automated control system involves outdoor field equipment such as reducers, radar, length measuring devices, and wheel sensors, and is closely related to the running performance of the shunted vehicles, making it the most complex and challenging part of the hump yard shunting automated system.

[0003] Speed ​​control of shunting vehicles includes shunting interval speed regulation braking and destination speed regulation control. The actual operation effect of shunting interval control is relatively ideal, with few problems reported on site. The main issue is destination speed regulation control, which is the weakest link in the entire automated control of hump yard dismantling operations. The key to further improving the automation level of hump yard shunting lies in improving the level of destination speed regulation control and solving the long-standing problems in destination speed regulation control.

[0004] Currently, the speed control system for hump shunting at railway marshalling yards mainly adopts a distributed system structure, with the reducers using a decentralized open-loop control method. The hump shunting speed control system, forming a distributed computer control system through a hump control local area network, is a key control device in the hump dismantling operation process at the marshalling yard. After more than 30 years of operation and equipment upgrades, problems with the point-to-point speed regulation mode have become apparent. The increasing use of heavy-axle-load freight cars further worsens the operating conditions of hump dismantling operations, increasing the difficulty of speed control during shunting. The increased weight difference between car sets will amplify the fluctuation range of vehicle shunting resistance, leading to greater errors in the target braking position control and a higher probability of overspeed coupling and stoppages in the shunting track coupling area, thus having a more adverse impact on the safety and efficiency of hump dismantling operations.

[0005] The long-standing and widespread operational practices have revealed problems that restrict operational efficiency and affect operational safety (problems inherent in the point-to-point speed regulation mode). These problems mainly manifest in three aspects: overspeeding at the exits of the three decelerators, easy overspeeding coupling on the shunting line, and the need for stoppages and open windows on difficult-to-traverse routes. If heavy-duty freight cars with large axle loads are dismantled and shunted during peak hours, the impact on the hump yard shunting automation system remains primarily on destination speed regulation control. Increased weight differences between car groups will amplify the fluctuation range of vehicle shunting resistance, increasing the difficulty of speed regulation control. This leads to a higher probability of overspeeding at the exits of the three decelerators, increased target control errors, and a further increase in the probability of overspeeding coupling and stoppages within the coupling area of ​​the shunting line. These factors have a significant impact on the operational safety and efficiency of hump yard shunting. The overspeeding problem at the three exit points is mainly constrained by the braking characteristics and performance of the reducer equipment; the overspeeding coupling and sunroofing issues during stops are related to the point-to-point speed regulation mode and the design and maintenance of the deceleration top group of the continuous speed regulation equipment. These are systemic structural problems that must be completely solved by changing the target speed regulation control mode.

[0006] On the other hand, at the rear of the marshalling yard, the shunting methods and speed control equipment for marshalling operations are extremely outdated. Most shunting operations are conducted using a horizontal shunting method, where vehicles slide into the track from the rear, and speed is adjusted manually by turning the handbrake and removing the wheel chocks. Shunting personnel work continuously as the locomotives and rolling stock move, which greatly increases the risk of personal injury accidents. If the speed of vehicles sliding in from the rear is not properly controlled, collisions frequently occur; if the wheel chocks are not removed from vehicles being pulled out from the rear, accidents such as wheel chock slippage and derailment can occur. In short, the labor intensity for shunting personnel at the rear is high, the work efficiency is low, and transportation safety and personal safety cannot be improved. Therefore, it is urgent to explore a way to achieve autonomous speed control for horizontal shunting at the rear of the marshalling yard to change this situation. Summary of the Invention

[0007] The purpose of this invention is to provide a speed control system for a robot coupling vehicle in a marshalling yard, which can improve the safety of hump yard shunting operations, increase the safe coupling rate, reduce the labor intensity of shunting personnel, and improve the working environment.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] A speed control system for coupling robots in a marshalling yard includes: two sets of coupling robot speed control devices installed in each shunting track.

[0010] The speed control device of the coupling robot is used to couple with the current shunting vehicle after it leaves the three-part reducer or crosses the area from the rear parking device of the marshalling yard. It continuously controls the speed of the current shunting vehicle by tracking its travel speed and distance from the target position, or continuously controls the speed of the current shunting vehicle according to the received remote control command, and separates from the current shunting vehicle after reaching the target position.

[0011] As can be seen from the technical solution provided by the present invention, the purpose-based speed regulation mode using a reducer and a coupling robot can avoid collisions caused by overspeeding train sets, significantly improve the safety of dismantling and shunting operations, and further improve the safety coupling rate and eliminate track closures. Moreover, when shunting operations are carried out at the rear of the shunting yard, outdated operating methods such as wheel chocks and handbrakes for vehicle speed regulation and braking are abandoned, reducing the labor intensity of shunting personnel and improving the working environment. Automatic speed regulation of vehicle shunting operations at the rear of the shunting yard is realized, completely eliminating wheel chock brake safety personnel, and further promoting the intelligent development of marshalling yards. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram illustrating the overall application scenario of a speed control system for a shunting car coupling robot in a marshalling yard, provided by an embodiment of the present invention.

[0014] Figure 2 This is a partial scene diagram of a speed control system for a shunting car coupling robot in a marshalling yard, provided by an embodiment of the present invention.

[0015] Figure 3 This is a flowchart illustrating the speed control system of the shunting car coupling robot in a marshalling yard, as provided in an embodiment of the present invention.

[0016] Figure 4 This is a schematic diagram of the structure of the speed control device for the coupled robot provided in an embodiment of the present invention;

[0017] Figure 5 This is a schematic diagram of the ground equipment structure of the speed regulation system for the coupled robot provided in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0019] First, the following explanations are provided for the terms that may be used in this article:

[0020] The terms “including,” “comprising,” “containing,” “having,” or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, “including a technical feature element (such as raw material, component, ingredient, carrier, dosage form, material, size, part, component, mechanism, device, step, process, method, reaction conditions, processing conditions, parameter, algorithm, signal, data, product or article of manufacture, etc.)” should be interpreted as including not only the expressly listed technical feature element, but also other technical feature elements that are not expressly listed and are well-known in the art.

[0021] Unless otherwise explicitly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this document according to the specific circumstances.

[0022] The following is a detailed description of a speed control system for a shunting car coupling robot in a marshalling yard, provided by this invention. Contents not described in detail in the embodiments of this invention are prior art known to those skilled in the art. Where specific conditions are not specified in the embodiments of this invention, they shall be performed according to conventional conditions in the art or conditions recommended by the manufacturer. Instruments used in the embodiments of this invention, unless otherwise specified by the manufacturer, are all conventional products that can be purchased commercially.

[0023] like Figure 1 and Figure 2The images shown are examples of the overall and partial application scenarios of a speed regulation system for a shunting car coupling robot in a marshalling yard, provided by an embodiment of the present invention. The system aims to address the challenges of easy and difficult car handling during dismantling operations by establishing a new type of continuous speed regulation system across the entire yard, consisting of a reducer (i.e., the three-part reducer mentioned later) and a coupling robot. This system enables automatic speed regulation of cars during shunting operations after they cross the parking area at the rear of the marshalling yard. The speed control system for coupling robots in the marshalling yard mainly includes: two sets of coupling robot speed control devices (which can be referred to as coupling robots) installed in each shunting track; the coupling robot speed control device is used to couple with the current shunting car after it leaves the three-part reducer or after it enters the parking device at the rear of the marshalling yard for cross-area operations. By tracking the current shunting car's travel speed and distance from the target position, the speed of the current shunting car is continuously controlled, or the speed of the current shunting car is continuously controlled according to the received remote control command, and the coupling robot separates from the current shunting car after reaching the target position.

[0024] In this embodiment of the invention, two sets of coupling robot speed control devices are installed between the three-part reducer and the tail stop. One set is used for hump dismantling and shunting operations, and the other set is used for tail-staffing and cross-area shunting operations. Hump dismantling and shunting operations are forward shunting operations, and the coupling robot speed control device is coupled to the shunting vehicle after it leaves the three-part reducer. Tail-staffing and cross-area shunting operations are reverse shunting operations, and the coupling robot speed control device near the tail stop is coupled to the shunting vehicle after it crosses the area and enters the tail stop of the marshalling yard to undertake speed control.

[0025] The speed control system for coupling vehicles in a marshalling yard provided by this invention can intelligently control the travel speed of the shunting vehicles through the coupling robot speed control equipment, and perform continuous speed control (acceleration push / deceleration interception) along the entire line. It uses positioning information to calculate the stopping, deceleration / acceleration operations, determine the target speed control point, and predict the waiting stopping point of the train (called the target position or the uncoupling unlocking position), so as to achieve precise control of coupling speed. It is an intelligent coupling robot speed control system suitable for forward and reverse shunting operations in marshalling yards. It performs intelligent continuous deceleration control for easy-to-move and speeding vehicles, and intelligent continuous acceleration push control for difficult-to-move vehicles. It basically ignores the adverse effects of objective factors such as wind resistance, low winter temperature, and track subsidence on the efficiency of vehicle coupling operations, thus eliminating the safety hazards of coupling speeding vehicles in marshalling yards and eliminating track lapses.

[0026] In this embodiment of the invention, the train set's stopping point (referred to as the target position or the uncoupling unlocking position) can be predicted by calculating based on the traveling speed of the sled vehicles and the distance between the coupling stopping points, with the goal of safely coupling them together at a speed of less than 5 km / h.

[0027] In this embodiment of the invention, the target speed control point can be adjusted based on resistance calculation factors such as the length of the shunting vehicle, the empty / loaded vehicle status, the idle length of the track, and the track gradient, so that the shunting car group and the stationary vehicles in the track can be safely coupled together at a speed of less than 5 km / h.

[0028] To more clearly demonstrate the technical solution and its effects provided by the present invention, the system provided by the embodiments of the present invention will be described in detail below with reference to specific examples.

[0029] I. Problem Description.

[0030] Marshalling yard operations face two main challenges: First, marshalling yard transit time accounts for approximately one-third of freight car turnaround time. Reducing this transit time, lowering transportation costs, and improving shunting quality are crucial for enhancing overall marshalling yard efficiency. Second, the increasing axle load of freight vehicles has led to faster coupling and overloading during hump yard operations. While measures such as reducing hump speed, lowering the exit speed of the three reducers in the shunting car group by 1-2 km / h, and manually controlling dangerous shunting combinations and large car groups have been implemented, these measures have actually further reduced railway freight efficiency.

[0031] Currently, the safe coupling rate at the hump yard does not meet requirements. With the introduction of heavy-duty freight cars with large axle loads, the increased weight difference between light and heavy vehicles further increases the dispersion of basic vehicle resistance. Under the existing speed control mode, control precision and the effectiveness of target control will inevitably decrease. Even increasing the braking capacity of the reducer and the braking power of the deceleration jack cannot prevent a further decline in control precision and target control effectiveness. In the coupling zone, the contradiction between speeding of heavy vehicles and stop-and-go traffic of light vehicles will become even more pronounced.

[0032] II. System Overall Principles.

[0033] The speed control system for shunting cars coupled with a robot provided by this invention is a speed control scheme for the entire yard using a reducer and a coupled robot. It can extend the control range of the control system and improve the system's adaptability according to the number and combination of different axle load freight cars. It has coupling speed control functions for forward and reverse shunting operations in the shunting yard. At the same time, it provides an automatic speed control method for shunting operations at the tail of the shunting yard, or cross-area shunting and marshalling operations, realizing the shunting operation of cars at the tail of the shunting yard. It completely eliminates the need for a wheel chock brake safety officer and realizes closed-loop control of the entire yard from the head of the hump to the tail of the shunting line.

[0034] Currently, the freight cars used in railways are generally type 60 (21t axle load) and type 70 (23t axle load). Type 80 (27t axle load) is referred to as a heavy axle load freight car. These are industry-specific names. Existing speed control methods only adjust the speed within a distance of about 150 meters from the exit of the three reducers. However, the speed control using the coupled robot speed control device in this invention adjusts the speed across the entire track of the shunting yard (800-1000 meters), providing continuous speed control for the shunted cars throughout the entire yard.

[0035] In this embodiment of the invention, the coupling robot speed control device includes three control modes: automatic control, semi-automatic remote control, and manual control. Under normal circumstances, automatic control is used; when an abnormality is detected, semi-automatic remote control is used; and when maintenance is required, manual control is used. The coupling robot speed control device employs a low-speed magnetic levitation control system suitable for marshalling yards (accelerating or decelerating shunting car groups entering the marshalling yard track to safely couple them with parked cars, with a coupling speed less than or equal to 5 km / h), a linear motor drive device, a power battery pack, and related wireless charging management equipment. Two coupling robotic arms are installed at both ends. Controlling the robotic arms through the coupling robot allows for automatic connection with the target shunting car. Integrating sensors such as speed measuring radar, ranging radar, and a target car positioning and identification antenna, it can automatically sense changes in shunting cars and resistance data within the marshalling line. It has the functions of accelerating and decelerating cars, precisely controlling the coupling speed of shunting cars in the marshalling yard, and improving the safe coupling rate of shunting cars along the entire marshalling yard line.

[0036] In this embodiment of the invention, the variation in the shunting vehicles refers to the random and non-fixed type of vehicles in the combination of shunting vehicles, and the number of vehicles in each shunting group also varies. The resistance calculation uses three types of data: 1. Real-time data on the status of the shunting vehicles, collected by the speed control equipment of the coupling robot itself. This real-time data includes speed and position information on the shunting line. Speed ​​is collected through a tracking speed-measuring radar, and position is collected through a ranging radar and the displacement sensor of the coupling robot; 2. Horizontal and vertical profile (slope) data of the shunting yard, pre-collected according to the "Station Details"; 3. Environmental data such as temperature, wind direction, wind force, rain, and snow are collected and provided by the trackside equipment of the coupling robot system.

[0037] Figure 3The demonstration shows the workflow of the speed control system for the coupling robot in the marshalling yard. Initially, the coupling robot speed control device is usually located at the origin or temporary stopping point. The origin is usually a fixed location, while the temporary stopping point is usually a temporary location. During preparation, it receives relevant data from the shunting vehicles and starts working according to the control mode. The left side shows the relevant process under manual control mode; the right side shows the relevant process under automatic control mode. In automatic control mode, after the current shunting vehicle leaves the three-part reducer or crosses the marshalling yard from the rear parking area, the coupling robot speed control equipment calculates the optimal coupling position based on the shunting vehicle information (vehicle type, vehicle class, empty or loaded status, number of vehicles in each coupling group, etc.) (combining the required track clearance length, the position of the parked vehicle, etc.), determines the position of the parked vehicle, calculates the sunroof position and track clearance length, and after reaching the optimal coupling position, it couples with the current shunting vehicle. Then, by tracking the current shunting vehicle's travel speed and distance from the target position, it continuously controls the speed of the current shunting vehicle. In semi-automatic remote control mode, after the current shunting vehicle leaves the three-part reducer or crosses the marshalling yard from the rear parking area, the coupling robot speed control equipment moves to the predetermined position and couples with the current shunting vehicle according to the received remote control command, and continuously controls the speed of the current shunting vehicle according to the specified direction and magnitude of the force carried in the remote control command.

[0038] In this embodiment of the invention, the coupling position between the shunting car group and the stationary vehicle is determined after each car group has finished shunting. The coupling robot speed control device detects the stopping position of the vehicle through a ranging radar and can combine this with accurate track clearance information to achieve real-time tracking of the vehicle position after the decelerator section, determining the target coupling position for the next car. Furthermore, based on the track clearance information, the number of vehicles that can be shunted after the track can be determined by the coupling plan. Simultaneously, the accurate track clearance information provides the system with reference information such as track clearance, travel length, stop length, full line, and alarms, enabling the system to rationally select the exit speed parameters of the three decelerator sections to achieve safe coupling of the shunting vehicles. After the coupling robot speed control device intercepts the next shunting vehicle, it collects the movement position of the shunting car group. Based on the resistance work done during the movement of the shunting car group at the current interception position and the braking resistance of the deceleration top, it calculates its gravitational potential energy and kinetic energy. Then, based on the kinetic energy at the target position, it determines whether it meets the safe coupling speed. It also calculates the relative position with the previous stationary vehicle to determine whether to accelerate or decelerate.

[0039] In this embodiment of the invention, continuous speed control of the currently shunting vehicles includes: continuous acceleration and push control and continuous deceleration control. Continuous acceleration and push control is achieved using the thrust of the linear motor in the speed regulating device of the coupling robot; continuous deceleration control is achieved using a hybrid braking mode combining the mechanical auxiliary braking device and the linear motor's reverse thrust braking in the speed regulating device of the coupling robot. The coupling robot speed regulating device has the ability to precisely control the coupling speed, suitable for continuous deceleration control of easy-to-move and speeding vehicles; and can also perform intelligent continuous acceleration and push control for difficult-to-move vehicles. For heavy-axle-load freight cars, it increases the impact on continuous speed regulation of shunting vehicles in the marshalling yard. To address the difficulty of controlling mixed empty and loaded vehicles of heavy-axle-load freight cars, speed regulation control parameters are calculated (e.g., when the speed radar detects that the speed of the shunting vehicle group is less than 5 km / h, acceleration and push control is performed on the shunting vehicle based on the target distance; when the speed of the shunting vehicle group is greater than 5 km / h, deceleration and braking control is performed on the shunting vehicle based on the target distance). This essentially eliminates the adverse effects of wind resistance, low winter temperatures, and track subsidence on vehicle coupling operations.

[0040] In this embodiment of the invention, the speed control device for the coupled robot adopts a modular design approach. The traveling part is designed with a rail-hugging magnetic levitation structure, functionally divided into a magnetic levitation part and a linear motor part. The magnetic levitation part includes a levitation electromagnet, a F-iron, and a gap sensor (used to sense the gap between the levitation electromagnet and the F-iron); the linear motor part includes a mover, a stator sensing aluminum plate, and a displacement sensor (used to sense the robot's traveling position). The coupled robot device is modularly designed into a vehicle body and a foundation part. The vehicle body includes the coupled robot body, and the magnetic levitation electromagnet, displacement sensor, gap sensor, speed measuring radar, distance measuring radar, control host, linear motor mover, power battery pack, coupled robotic arm, and mechanical auxiliary braking device mounted on the vehicle body. The foundation part includes the F-iron and the linear motor stator sensing aluminum plate mounted on the track.

[0041] In this embodiment of the invention, the coupled robot body is divided into four groups of bodies; such as Figure 4 As shown, each vehicle body is equipped with a magnetic levitation electromagnet, a gap sensor, and a speed measuring radar. Specifically, the magnetic levitation electromagnet is installed on the bottom of both sides of the vehicle body, the gap sensor is installed on the bottom of the vehicle body, and the speed measuring radar is installed on the bottom of the vehicle body (for example, the radar antenna can be tilted at a 45° angle to illuminate the linear motor stator induction aluminum plate); the middle vehicle body is equipped with the linear motor mover; the other middle vehicle body is equipped with the power battery pack; the two vehicle bodies at both ends are equipped with a connected robotic arm, a mechanical auxiliary braking device, a ranging radar, and a displacement sensor; the control host is located in any one of the vehicle bodies.

[0042] Figure 5The structure of the ground equipment is shown, mainly focusing on the basic components, which include the aforementioned F-iron mounted on the track and the linear motor stator induction aluminum plate, as well as the base.

[0043] In this embodiment of the invention, the control host is mainly responsible for controlling the entire workflow of the speed regulation equipment of the coupled robot, including: collecting data from relevant ranging radar, speed measuring radar, displacement sensors, etc.; transmitting the position and speed information of the coupled robot to the trackside control unit and the indoor control cabinet (system server) through a 5G or 400MHz wireless data transmission module (which can be configured as part of the control host); receiving corresponding control information; controlling the magnetic levitation mechanism controller and linear motor drive, and the robotic arm to complete corresponding actions; realizing the automatic connection function with the target sled vehicle; controlling the vehicle to accelerate or decelerate and brake for precise stopping; chasing or returning.

[0044] In this embodiment of the invention, a coupling robot speed regulating device is provided at each end with a coupling robot arm, which is used to couple with the sled vehicle. Due to the requirement that the coupling robot speed regulating device cannot exceed the height limit when moving under the vehicle, the reset height of the coupling robot arm in the non-working state (i.e., equipment maintenance state) does not exceed the set height (set according to actual situation or experience). In the working state, the extension height is consistent with the coupling coupler of the sled vehicle. The main body of the coupling robot arm is designed as a hydraulically driven 2-3 joint structure. The coupling robot arm can switch from the standby state (i.e., the equipment state when there is no sledding operation) to the working state through the action of the hydraulic cylinder. The front part of the coupling robot arm is a robot arm (coupler), which is used to couple and separate the vehicle (automatic coupling and locking, automatic opening and disengagement).

[0045] In this embodiment of the invention, the vehicle coupling robot speed control device uses millimeter-wave ranging radar to track the speed and positioning distance of the shunting vehicles, thereby extending the closed-loop control. By integrating millimeter-wave vehicle-mounted speed measuring radar, millimeter-wave ranging radar, target vehicle identification, and precise positioning sensors, it can automatically sense changes in the shunting vehicles and resistance data within the shunting line. It can perform target-based speed control based on the actual position of the vehicles in the track (i.e., the speed control scheme using the coupling robot described in this paper). This provides a basis for calculating the time interval and position interval of shunting car groups in the shunting yard (the time interval and position interval of shunting car groups are random variables generated by the shunting of each coupling car), speed control and interception braking of the coupling robot (i.e., when the speed of the shunting vehicle exceeds the set speed, deceleration control is performed, first mechanical braking or linear motor braking, or a combination of both), and acceleration and speed optimization control strategies. This significantly reduces the probability of empty cars stopping and starting, reduces the number of times locomotives go through the entire yard during peak hours, eliminates the safety hazards of coupling overspeeding vehicles in the shunting yard, eliminates track closures, and improves the overall efficiency of marshalling yard dismantling and marshalling operations.

[0046] In this embodiment of the invention, the speed control system for the coupling robot in the marshalling yard is also equipped with a charging management device for managing the wired and wireless integrated charging of the coupling robot speed control device. Wired charging uses an active identification and plug-in charging method, while wireless charging uses a static charging method. The wireless charging is implemented as follows: the power battery pack of the coupling robot speed control device is charged using electromagnetic induction (or magnetic resonance). The ground charging transmitting coil is set at the center of the track at both ends of the shunting line (it can be set 30-50 meters from the exit of the third-stage hump decelerator and 30-50 meters inside the tail stop). One end of the charging cable is connected to the ground charging transmitting coil, and the other end is connected to the trackside power supply box. When the coupling robot speed control device moves to the charging position (i.e., the position of the ground charging transmitting coil), the receiving coil coincides with the ground charging transmitting coil and begins charging. The current generated by the receiving coil is transmitted to the power battery pack through the inverter, realizing the wireless charging of the coupling robot speed control device.

[0047] In this embodiment of the invention, a power supply box with charging management equipment is installed beside the track. Power is supplied via a charging cable. The charging of the coupled robot's power battery assembly is achieved through electromagnetic induction. A ground-based charging transmitter coil is placed at a charging location within the shunting track, and its charging cable is connected to the trackside power supply box. When the coupled robot moves to the charging location, the receiving coil and the transmitting coil coincide, initiating charging. The current generated by the receiving coil is transmitted to the power battery assembly via an inverter.

[0048] In this embodiment of the invention, the receiving coil and inverter are mounted on the robot and together with the power battery pack in the middle of the vehicle body. Under normal circumstances, wireless charging can be used, and wired charging can be used during maintenance.

[0049] The above-described solution provided by the embodiments of the present invention mainly achieves the following beneficial effects:

[0050] 1) Improved safety of hump yard shunting operations: When severe speeding occurs at the exit of the three-point retrieval system, statistically, over 50% of the train sets should be able to avoid collisions or significantly mitigate the consequences before a rear-end collision. In summary, the application of the marshalling yard shunting car coupling robot speed control system and the reducer + coupling robot full-yard destination speed control mode can significantly reduce collisions caused by various factors and improve the safety of dismantling and shunting operations.

[0051] 2) Improve the safe coupling rate: By applying the speed control system of the coupling robot for shunting cars in the marshalling yard and the speed control system of the reducer + coupling robot for the entire yard, the total target control distance is expanded across the entire line (i.e., the entire shunting line range from the three reducers to the tail stop), eliminating small reduction gear groups and allowing for increased braking power of a single reduction gear to prevent speeding of heavy cars. Utilizing these advantages, even after heavy-duty freight cars are put into application, the safe coupling rate can still be further improved. The extended target control distance and the elimination of small reduction gear groups eliminate track openings.

[0052] 3) For shunting operations at the tail of the marshalling yard, or cross-area shunting and marshalling operations, automated speed regulation of shunting operations at the tail of the marshalling yard will be implemented. Outdated operating methods such as wheel chocks and handbrakes for vehicle speed regulation and braking will be abandoned, reducing the labor intensity of shunting personnel and improving the working environment. Automatic speed regulation of shunting operations at the tail of the marshalling yard will be realized, completely eliminating wheel chock brake safety personnel, and further promoting the intelligent development of marshalling yards.

[0053] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above.

[0054] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A marshalling yard shunting yard car release vehicle coupling robot speed regulation system, characterized in that, include: Two sets of coupling robot speed control devices are installed in each shunting track; the coupling robot speed control device includes a car body and a foundation; wherein, the car body includes: the coupling robot car body, and magnetic levitation electromagnets, displacement sensors, speed measuring radar, distance measuring radar, control host, linear motor mover, power battery pack, coupling robot arm and mechanical auxiliary braking device installed on the car body; the foundation includes: F-iron and linear motor stator induction aluminum plate installed on the track; The speed control device of the coupling robot is used to couple with the current shunting vehicle after it leaves the three-part reducer or crosses the area from the rear parking device of the marshalling yard. It continuously controls the speed of the current shunting vehicle by tracking its travel speed and distance from the target position, or continuously controls the speed of the current shunting vehicle according to the received remote control command, and separates from the current shunting vehicle after reaching the target position. The continuous control of the speed of the currently shunting vehicle includes: continuous acceleration and continuous deceleration control; wherein, continuous acceleration and continuous deceleration control is achieved by relying on the thrust of the linear motor in the speed regulating device of the coupled robot; and continuous deceleration control is achieved by relying on a hybrid braking mode of mechanical auxiliary braking device and reverse thrust braking of linear motor in the speed regulating device of the coupled robot.

2. The speed regulating system of the coupling robot for uncoupling and coupling vehicles in the classification yard according to claim 1, characterized in that, The speed control device for the connected robot includes three control modes: automatic control, semi-automatic remote control, and manual control. In automatic control mode, after the current shunting vehicle leaves the three-part reducer or crosses the area from the rear parking device of the marshalling yard, the speed regulating device of the coupling robot calculates the optimal coupling position based on the shunting vehicle information, determines the position of the car parked at the station, calculates the sunroof position and the empty length of the track, and after reaching the optimal connection position, it couples with the current shunting vehicle. Then, by tracking the current shunting vehicle's travel speed and the distance to the target position, it continuously controls the speed of the current shunting vehicle. In semi-automatic control mode, after the currently shunting vehicle leaves the three-part decelerator or crosses the area from the rear parking device of the marshalling yard, the coupling robot speed control device runs to the predetermined position and couples with the currently shunting vehicle according to the received remote control command, and continuously controls the speed of the currently shunting vehicle according to the specified direction and magnitude of the force carried in the remote control command. The manual control method is used when overhauling the speed regulation equipment of the coupled robot.

3. The marshalling yard shunting vehicle coupling robot speed regulating system according to claim 1, characterized in that, The attached robot body is divided into four groups; each group is equipped with a magnetic levitation electromagnet, a gap sensor, and a speed measuring radar; the middle group is equipped with a linear motor actuator; the other middle group is equipped with a power battery pack; the two groups at both ends are equipped with attached robotic arms, mechanical auxiliary braking devices, ranging radar, and displacement sensors; the control host is located in any one of the groups.

4. The speed regulating system of the coupling robot for uncoupling and coupling vehicles in a marshalling yard according to claim 1 or 3, characterized in that, The connecting robotic arm is used to achieve the function of connecting with the slidable vehicle; When the coupling robot arm is not in operation, its reset height does not exceed the set height. When in operation, its extension height is consistent with the coupling coupler of the sled vehicle. The main body of the coupling robot arm is designed as a hydraulically driven 2-3 joint structure. The coupling robot arm can switch from standby to working state through the action of hydraulic cylinders. The front part of the coupling robot arm is a robot arm, which is used to couple and separate vehicles.

5. The speed control system for a shunting car coupling robot in a marshalling yard according to claim 1, characterized in that, Also includes: The charging management device is used to manage the wired and wireless integrated charging of the speed control equipment of the connected robot; among them, the active identification plug-in charging method is used for wired charging, and the static charging method is used for wireless charging. The wireless charging method is as follows: The power battery pack of the coupled robot speed control equipment is charged by electromagnetic induction. The ground charging transmitting coil is set at the center of the track at both ends of the shunting line. One end of the charging cable is connected to the ground charging transmitting coil, and the other end is connected to the trackside power box. When the coupled robot speed control equipment moves to the charging position, the receiving coil coincides with the ground charging transmitting coil and starts charging. The current generated by the receiving coil is transmitted to the power battery pack through the inverter, realizing the wireless charging of the coupled robot speed control equipment.

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