Urban rail train clearance maintenance equipment, methods and storage media

Abstract

This application provides a clearance maintenance device, method, and storage medium for urban rail trains. The device includes: a car body; a clearance detection device disposed around the car body to determine whether the car body has touched an obstacle to be detected, and when it is determined that the car body has touched an obstacle to be detected, sending a deceleration signal to the train control system; a clearance determination device to acquire an image of the obstacle to be detected and send the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed; and a clearance maintenance device to process the obstacle to be processed when it receives a signal from the train control system to process the obstacle to be processed. The technical solution of this application can realize automatic clearance maintenance, greatly saving manpower, material resources, and time costs.

Description

Technical Field

[0001] This application relates to the field of rail transit technology, and more specifically to a clearance maintenance device, method and storage medium for urban rail trains. Background Technology

[0002] In the field of train technology, the Skybus, as a small-capacity rubber-tired tram system that does not occupy road resources and has independent right-of-way, belongs to a new type of modern tram system. Skybuses often travel through tree-lined areas of the city, such as parks. When the branches and leaves of these trees grow quite dense, they can touch the Skybus, so regular manual maintenance of the Skybus's clearance is necessary to ensure the normal operation of the vehicle.

[0003] Currently, the maintenance of the Skybus clearance is done by maintenance personnel pruning tree branches in the surrounding environment along the Skybus's route from their vehicles, which consumes a lot of manpower, resources, and time. Summary of the Invention

[0004] This application is made to address the aforementioned problems. According to one aspect of this application, a clearance maintenance device for urban rail trains is provided, the urban rail train clearance maintenance device comprising:

[0005] Vehicle body;

[0006] A clearance detection device is installed around the vehicle body to determine whether the vehicle body has touched an obstacle to be detected, and when it is determined that the vehicle body has touched the obstacle to be detected, it sends a deceleration signal to the train control system.

[0007] The clearance determination device is used to acquire an image of the obstacle to be detected and send the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed.

[0008] The clearance maintenance device is used to process the obstacle when it receives a signal from the train control system to process the obstacle.

[0009] In one embodiment of this application, the clearance detection device is further configured to detect the processing result when the obstacle to be processed is completed to determine whether further processing is required.

[0010] In one embodiment of this application, the clearance detection device includes a rigid clearance detection unit and a flexible clearance detection unit.

[0011] In one embodiment of this application, the rigid clearance detection unit is disposed at the head of the vehicle body.

[0012] In one embodiment of this application, the flexible boundary detection unit includes at least one set of flexible touch screens and screen protection devices.

[0013] In one embodiment of this application, the flexible clearance detection unit includes at least two sets of flexible touchscreens and screen protection devices, wherein one set of flexible touchscreens and screen protection devices is arranged around the front of the vehicle body, and the other set of flexible touchscreens and screen protection devices is arranged around the rear of the vehicle body; wherein,

[0014] One of the flexible touch screens and screen protectors is used to send the deceleration signal to the train control system when it touches the obstacle to be detected.

[0015] The other set of flexible touch screens and screen protection devices are used to detect the processing result when the obstacle to be processed is completed to determine whether it needs to be processed again.

[0016] In one embodiment of this application, the boundary determination device includes a camera device.

[0017] In one embodiment of this application, the clearance maintenance device includes an electric saw, a transmission mechanism, a drive unit, a conveyor belt, and a truck bed; wherein,

[0018] The chainsaw is used to remove the obstacle to be removed;

[0019] The transmission mechanism is located in the middle of the vehicle body and surrounds the vehicle body, and is used to drive the electric saw to move up and down;

[0020] The driving device is used to drive the transmission mechanism;

[0021] The conveyor belt is located below the vehicle body and is used to catch the falling obstacle when the chainsaw finishes processing it.

[0022] The cargo bed, located at the rear of the vehicle body, is used to hold the obstacles to be processed conveyed by the conveyor belt.

[0023] In one embodiment of this application, the transmission mechanism includes a chain; the drive device includes a motor.

[0024] In one embodiment of this application, the urban rail train clearance maintenance equipment further includes a positioning device, which is used to locate the vehicle body when the obstacle to be detected is not an obstacle to be processed, and send the position of the vehicle body to the ground central control system.

[0025] In one embodiment of this application, the positioning device includes a GPS system.

[0026] In one embodiment of this application, the urban rail train clearance maintenance equipment further includes a train control system, which includes a memory and a processor. The memory stores a computer program executed by the processor, and the computer program, when executed by the processor, performs the following steps:

[0027] Receive the signal sent by the boundary detection device that the obstacle to be detected has been touched;

[0028] Acquire an image of the obstacle to be detected sent by the boundary determination device;

[0029] Analyze the image of the obstacle to be detected to determine whether the obstacle is an obstacle to be processed;

[0030] If the obstacle to be detected is an obstacle to be processed, an instruction to process the obstacle to be detected is sent to the clearance maintenance device; otherwise, an image of the obstacle to be detected is sent to the ground control system to further determine whether the obstacle to be detected is the obstacle to be processed.

[0031] In one embodiment of this application, the computer program, when run by the processor, is further configured to perform the following steps:

[0032] Upon receiving a signal from another set of flexible touchscreens and screen protectors indicating that the obstacle to be detected has been touched, the device sends an instruction to the clearance maintenance device to process the obstacle to be detected again.

[0033] According to another aspect of this application, a method for maintaining clearance of urban rail trains is provided, the method comprising:

[0034] Receive the signal from the clearance detection device that the obstacle to be detected has been touched;

[0035] Acquire an image of the obstacle to be detected sent by the boundary determination device;

[0036] Analyze the image of the obstacle to be detected and determine whether the obstacle to be detected is an obstacle to be processed;

[0037] If the obstacle to be detected is an obstacle to be processed, an instruction to process the obstacle to be detected is sent to the clearance maintenance device; otherwise, an image of the obstacle to be detected is sent to the ground control system to further determine whether the obstacle to be detected is the obstacle to be processed.

[0038] In one embodiment of this application, the clearance detection device includes a flexible clearance detection unit, which includes at least two sets of flexible touch screens and screen protection devices, wherein one set of flexible touch screens and screen protection devices is arranged around the front of the vehicle body, and the other set of flexible touch screens and screen protection devices is arranged around the rear of the vehicle body.

[0039] Receiving a signal from the clearance detection device indicating that the obstacle has been touched, including:

[0040] Receive a signal from one of the flexible touchscreens and screen protectors that it has touched an obstacle to be detected;

[0041] After sending an instruction to the clearance maintenance device to process the obstacle to be detected, the method further includes:

[0042] Upon receiving a signal from the other set of flexible touchscreens and screen protection devices indicating that the obstacle to be detected has been touched, the device sends an instruction to the clearance maintenance device to process the obstacle to be detected again.

[0043] According to another aspect of this application, a storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the urban rail train clearance maintenance method as described above.

[0044] According to the urban rail train clearance maintenance equipment, method and storage medium of this application, a clearance detection device installed around the vehicle body determines whether the vehicle body has touched an obstacle to be detected, and when the clearance determination device determines that the obstacle to be detected is an obstacle to be processed, the clearance maintenance device processes the obstacle to be processed, thereby realizing automatic clearance maintenance and greatly saving manpower, material resources and time costs.

[0045] Moreover, the clearance detection device can also inspect the initial processing results and perform secondary processing to remove as many obstacles as possible, which can meet the needs of urban rail train operation. Attached Figure Description

[0046] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0047] Figure 1 A schematic block diagram of a clearance maintenance device for urban rail trains according to an embodiment of this application is shown;

[0048] Figure 2 A schematic diagram of the structure of an urban rail train clearance maintenance device according to an embodiment of this application is shown;

[0049] Figure 3 A schematic block diagram of a train control system according to an embodiment of this application is shown;

[0050] Figure 4 A schematic flowchart illustrating a method for maintaining clearance of urban rail trains according to an embodiment of this application is shown. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application more apparent, exemplary embodiments according to this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein. Based on the embodiments of this application described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of this application.

[0052] Based on the aforementioned technical problems, this application provides a clearance maintenance device for urban rail trains. The device includes: a car body; a clearance detection device disposed around the car body to determine whether the car body has touched an obstacle to be detected, and when it is determined that the car body has touched the obstacle, to send a deceleration signal to the train control system; a clearance determination device to acquire an image of the obstacle to be detected and send the image to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed; and a clearance maintenance device to process the obstacle to be processed when it receives a signal from the train control system to process the obstacle to be processed. The technical solution of this application can automatically maintain clearances, greatly saving manpower, material resources, and time costs. Furthermore, the clearance detection device can also verify the initial processing results and perform secondary processing to remove as many obstacles as possible, thus meeting the operating needs of urban rail trains.

[0053] The following describes in detail, with reference to the accompanying drawings, a scheme for urban rail train clearance maintenance equipment according to an embodiment of this application. Without conflict, the features of the various embodiments of this application can be combined with each other.

[0054] Figure 1 and Figure 2 This diagram illustrates the structure of a clearance maintenance device for urban rail trains according to an embodiment of this application; in conjunction with... Figure 1 and Figure 2The urban rail train clearance maintenance device 100 according to an embodiment of this application may include:

[0055] Vehicle body 10;

[0056] The clearance detection device 20 is disposed around the vehicle body to determine whether the vehicle body has touched the obstacle to be detected, and when it is determined that the vehicle body has touched the obstacle to be detected, it sends a deceleration signal to the train control system.

[0057] The clearance determination device 30 is used to acquire an image of the obstacle to be detected and send the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed.

[0058] The clearance maintenance device 40 is used to process the obstacle when it receives a signal from the train control system to process the obstacle.

[0059] In one example, to facilitate the maintenance of the clearance of the urban rail train, the car body 10 is equipped with wheels underneath, allowing it to travel on the track where the urban rail train runs, traversing all sections of the urban rail train.

[0060] In one example, the clearance detection device is also used to detect the processing result after the obstacle to be processed is completed to determine whether further processing is required. Since the obstacle to be processed has a certain degree of elasticity, it may not be completely removed during processing. For example, if the obstacle to be processed is a flexible tree branch, the branch may sway during processing, preventing the clearance maintenance device from completely removing it. Therefore, the technical solution of this application, after processing, detects whether the obstacle to be processed has been completely removed. If the obstacle to be processed is not completely removed, a signal indicating that further processing is required is sent to the train control system. If the obstacle to be processed has been completely removed, a signal indicating that continued travel is sent to the train control system, and the train will continue to move forward at normal speed.

[0061] In one example, the clearance detection device includes a rigid clearance detection unit 201 and a flexible clearance detection unit 202.

[0062] The rigid clearance detection unit 201 is located at the front of the vehicle body and can be a steel portal frame. By positioning the rigid clearance detection unit 201 at the front of the vehicle body, when the vehicle moves forward, if there is an obstacle to be detected ahead, the rigid clearance detection unit 201 at the front of the vehicle body will first contact the obstacle, blocking part or all of the obstacle from impacting the vehicle body, thus protecting downstream equipment (e.g., camera devices, flexible clearance detection units, etc.).

[0063] In one example, the flexible boundary detection unit 202 includes at least one set of flexible touchscreens and screen protection devices (not shown in the figure). The screen protection devices are disposed on the outside of the flexible touchscreens to protect the flexible touchscreens from damage by obstacles.

[0064] In one example, the flexible clearance detection unit 202 includes at least two sets of flexible touch screens and screen protection devices, one set of flexible touch screens and screen protection devices being arranged around the front of the vehicle body, and the other set of flexible touch screens and screen protection devices being arranged around the rear of the vehicle body.

[0065] One of the flexible touchscreens and screen protectors is used to send a deceleration signal to the train control system when it touches the obstacle to be detected. For example, when the obstacle to be detected is a tree branch, the branch touches one of the flexible touchscreens, generating a deceleration signal, which is then sent to the train control system. The train control system will then control the train to decelerate or stop.

[0066] The other set of flexible touchscreens and screen protectors is used to detect the processing result after the obstacle to be processed is completed, to determine whether further processing is needed. When the clearance maintenance device finishes processing the obstacle, it may not be completely thorough. For example, tree branches have a certain degree of flexibility; when the clearance maintenance device trims a branch, it may only trim a portion while the branch is swaying in the air, leaving the remaining portion to still affect the normal operation of the urban rail train. Therefore, the technical solution of this application includes another set of flexible touchscreens and screen protectors. The clearance maintenance device is generally located in the middle of the vehicle body. After the clearance maintenance device finishes processing the obstacle, the vehicle body continues to move forward. As the vehicle body moves forward, the other set of flexible touchscreens and screen protectors at the rear of the vehicle body will pass the location of the obstacle that was just processed. If the other set of flexible touchscreens and screen protectors touches the obstacle, it indicates that the previous processing process did not completely remove the obstacle, and further processing is needed. If they do not touch the obstacle, it indicates that the previous processing process has completely removed the obstacle, and further processing is not needed.

[0067] The reprocessing can be done by the vehicle reversing a certain distance to the location of the obstacle to be processed, or by the vehicle traveling along the track a second time and processing it again during the second journey; there is no limitation on this.

[0068] This flexible touchscreen may include a resistive touchscreen. A resistive touchscreen generally refers to a resistive sensor. A resistive touchscreen is a sensor that converts the physical position (X, Y) of a touch point within a rectangular area into voltage signals representing X and Y coordinates. In this embodiment, the voltage signal can be used to determine whether the touchscreen has touched a detected obstacle.

[0069] In one example, the clearance determination device 30 includes a camera device. The camera device can be a camera 31. Since the obstacle to be detected is generally located on the side or above the vehicle body, the camera 31 can be set on the side or above the vehicle body or at an oblique position above the vehicle body 10. In specific implementation, the installation position of the camera 31 can be adjusted according to the position of the obstacle to be detected that the urban rail train may encounter.

[0070] In one example, the clearance maintenance device 40 includes a chainsaw 401, a transmission mechanism, a drive unit, a conveyor belt (not shown) and a truck bed 402.

[0071] The chainsaw is used to remove the obstacle. For example, when the obstacle is a tree branch, the chainsaw can be used to clear the branch.

[0072] The transmission mechanism is located in the middle of the vehicle body and surrounds the vehicle body, and is used to drive the chainsaw to move up and down. In a specific example, the transmission mechanism includes a chain. Driven by a motor, the chain moves up and down, which in turn drives the chainsaw to move up and down, thus completing the processing of the obstacle to be dealt with.

[0073] The drive device is used to drive the transmission mechanism. In a specific example, the drive device includes a motor.

[0074] In addition, since there are corners on the vehicle body, when the chain loops around the vehicle body, it may rub against the corner, causing wear on the chain. Therefore, the technical solution of this application installs a driving wheel at the corner of the vehicle body so that the chain can bend, enabling the chain to drive the electric saw to move up and down quickly to deal with the obstacles to be dealt with.

[0075] The conveyor belt is positioned below the vehicle body 10, corresponding to the location of the chainsaw. It catches the fallen obstacle after the chainsaw has finished processing it. For example, if the obstacle is a tree branch, after the chainsaw trims the branch, it falls onto the conveyor belt, which then transports it to the truck bed at the rear of the vehicle body 10 to prevent it from falling to the ground and impacting the environment and traffic.

[0076] The truck bed 402 is located at the rear of the vehicle body 10 and is used to hold the obstacles to be processed conveyed by the conveyor belt.

[0077] In one example, the urban rail train clearance maintenance equipment further includes a positioning device 50. The positioning device 50 is used to locate the vehicle body 10 when the obstacle to be detected is not an obstacle to be processed, and to send the position of the vehicle body 10 to the ground control system. During operation, the vehicle body can send position signals to the ground control system in real time. This allows staff to monitor the vehicle body's position at any time. Furthermore, when the vehicle body's flexible clearance detection unit touches an obstacle to be detected, and it cannot determine whether the obstacle is an obstacle to be processed, the image of the obstacle can be reported to the ground control system for judgment. The ground control system can determine the position of the obstacle to be detected based on the vehicle body's position.

[0078] The reporting of images of obstacles to be detected to the ground control system is primarily handled by the train control system. The train control system transmits the images of the obstacles and the vehicle's positioning data to the ground control system via a public network or integrated bearer network. This allows the ground control system to analyze and assess the images, or for manual judgment to be made, to prevent the chainsaw from accidentally damaging other objects.

[0079] In one example, the positioning device includes the Global Positioning System (GPS). Other positioning systems may also be included, such as the BeiDou Navigation Satellite System, which is not limited thereto.

[0080] In other embodiments of this application, the vehicle body also includes doors. This urban rail train clearance maintenance equipment can employ automatic driving technology to move the vehicle body on the track and handle obstacles along the way. Alternatively, the vehicle body can be manually controlled to move on the track and handle obstacles along the way. If the vehicle body is manually controlled to move on the track, personnel can enter the vehicle body through the doors to operate the train control system and control the movement, deceleration, or stopping of the vehicle body.

[0081] The urban rail train clearance maintenance equipment in this application embodiment also includes a train control system, which will be described below in conjunction with... Figure 3 The train control system 60 of this application is described, wherein, Figure 3 A schematic block diagram of a train control system 60 according to an embodiment of this application is shown.

[0082] like Figure 3 As shown, the train control system 300 includes: one or more memories 301 and one or more processors 302. The memories 301 store a computer program that is executed by the processors 302. When the computer program is executed by the processors 302, the processors 302 execute the urban rail train clearance maintenance equipment described above.

[0083] The train control system 300 may be part or all of the computer equipment that enables urban rail train clearance maintenance through software, hardware, or a combination of both.

[0084] like Figure 3 As shown, the train control system 300 includes one or more memories 301, one or more processors 302, a display (not shown), and a communication interface, etc., which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). It should be noted that... Figure 2 The components and structure of the train control system 300 shown are merely exemplary and not limiting. The train control system 300 may also have other components and structures as needed.

[0085] Memory 301 is used to store various data and executable program instructions generated during train operation, such as storing various application programs or algorithms that implement various specific functions. It may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc.

[0086] The processor 302 may be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other processing units with data processing and / or instruction execution capabilities, and may be integrated with other components in the train control system 300 to perform the desired functions.

[0087] In one example, the train control system 300 also includes output devices that can output various information (such as images or sounds) to the outside (e.g., a user), and may include one or more of a display device, a speaker, etc.

[0088] The communication interface can be any known communication protocol interface, such as a wired interface or a wireless interface. The communication interface may include one or more serial ports, USB interfaces, Ethernet ports, WiFi, wired networks, DVI interfaces, device integrated interconnect modules, or other suitable ports, interfaces, or connections.

[0089] In one example, the memory stores a computer program that is executed by the processor, the computer program being used by the processor to perform the following steps:

[0090] A1, receiving a signal from the boundary detection device that the obstacle to be detected has been touched;

[0091] A2, acquire the image of the obstacle to be detected sent by the boundary determination device;

[0092] A3, Analyze the image of the obstacle to be detected to determine whether the obstacle to be detected is an obstacle to be processed;

[0093] A4. If the obstacle to be detected is an obstacle to be processed, then send an instruction to the clearance maintenance device to process the obstacle to be detected; otherwise, send an image of the obstacle to be detected to the ground control system to further determine whether the obstacle to be detected is the obstacle to be processed.

[0094] In another example, the computer program, when run by the processor, is also used to perform the following steps:

[0095] B1 receives a signal from another set of flexible touchscreens and screen protectors indicating that the obstacle to be detected has been touched, and sends an instruction to the clearance maintenance device to process the obstacle to be detected again.

[0096] The urban rail train clearance maintenance equipment according to this application has the following advantages: (1) By setting clearance detection devices around the car body, it is determined whether the car body touches the obstacle to be detected, and when the clearance determination device determines that the obstacle to be detected is an obstacle to be processed, the clearance maintenance device processes the obstacle to be processed, thereby realizing automatic clearance maintenance and greatly saving manpower, material resources and time costs; (2) The clearance detection device can also check the initial processing results and perform secondary processing to remove as many obstacles to be processed as possible, which can meet the needs of urban rail train operation.

[0097] Figure 4 A schematic flowchart illustrating a method for maintaining clearance of urban rail trains according to an embodiment of this application is shown; Figure 4 As shown, the urban rail train clearance maintenance method 400 according to an embodiment of this application may include the following steps S401, S402, S403 and S404:

[0098] In step S401, a signal from the clearance detection device indicating that the obstacle to be detected has been touched is received.

[0099] The clearance detection device includes a flexible clearance detection unit, which includes at least two sets of flexible touch screens and screen protection devices. One set of flexible touch screens and screen protection devices is arranged around the front of the vehicle body, and the other set of flexible touch screens and screen protection devices is arranged around the rear of the vehicle body.

[0100] In one example, receiving a signal from the clearance detection device indicating contact with a detected obstacle includes receiving a signal from one of the sets of flexible touchscreens and screen protectors indicating contact with a detected obstacle. When the vehicle moves forward, one of the sets of flexible touchscreens and screen protectors located at the front of the vehicle will preferentially contact the detected obstacle. At this time, one of the sets of flexible touchscreens and screen protectors will generate a deceleration or stop signal and send it to the train control system to control the vehicle to decelerate or stop.

[0101] In step S402, an image of the obstacle to be detected sent by the clearance determination device is acquired. The obstacle to be detected can be of various types, such as tree branches, which can be directly handled by the urban rail transit clearance maintenance equipment, for example, by pruning the branches. Since the obstacle to be detected could also be power lines, which cannot be directly handled by the urban rail transit clearance maintenance equipment and require manual adjustment of the power line's position, it is necessary to acquire an image of the obstacle to be detected beforehand for analysis.

[0102] In step S403, the image of the obstacle to be detected is analyzed, and it is determined whether the obstacle is an obstacle to be processed. In this application, the image of the obstacle to be detected is analyzed by the train control system.

[0103] In step S404, if the obstacle to be detected is an obstacle to be processed, an instruction to process the obstacle is sent to the clearance maintenance device; otherwise, an image of the obstacle to be detected is sent to the ground control system to further determine whether the obstacle is indeed the obstacle to be processed. Specifically, if the obstacle to be detected is determined to be an obstacle to be processed, such as a tree branch, it can be processed. If the obstacle to be detected is not an obstacle to be processed, the train control system will send an image of the obstacle to the ground control system for further analysis. It is worth noting that when the train control system sends the image of the obstacle to be detected to the ground control system, it can also simultaneously send the position of the train body to the ground control system so that the ground control system can determine the specific location of the obstacle to be detected.

[0104] In one example, after sending an instruction to the clearance maintenance device to process the obstacle to be detected, the method further includes: receiving a signal from the other set of flexible touchscreens and screen protectors indicating that the obstacle has been touched, and sending an instruction to the clearance maintenance device to process the obstacle again. Since the clearance maintenance device is located in the middle of the vehicle body, after the clearance module processes the obstacle, the vehicle continues to move forward. At this time, the other set of flexible touchscreens and screen protectors located at the rear of the vehicle will continue to sense the obstacle. If the other set of flexible touchscreens and screen protectors touches the obstacle, it indicates that the clearance maintenance device has not completely cleared the obstacle and needs to process it again. If it does not touch the obstacle, it indicates that the clearance maintenance device has completely processed the obstacle and no further processing is needed; the vehicle will continue to move forward.

[0105] Furthermore, according to embodiments of this application, a storage medium is also provided, on which program instructions are stored. When the program instructions are executed by a computer or processor, they are used to perform corresponding steps of the urban rail train clearance maintenance method of this application. The storage medium may, for example, include a memory card of a smartphone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media.

[0106] The urban rail train clearance maintenance method and storage medium of this application have the same advantages as the aforementioned urban rail train clearance maintenance equipment.

[0107] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0108] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0110] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0111] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0112] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0113] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0114] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0115] It should be noted that the above embodiments are illustrative of this application and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0116] The above description is merely a specific embodiment or illustration of the embodiments of this application. The scope of protection of this application 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 this application should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A clearance maintenance device for urban rail trains, characterized in that, The urban rail train clearance maintenance equipment includes: Vehicle body; A clearance detection device is installed around the vehicle body to determine whether the vehicle body has touched an obstacle to be detected, and when it is determined that the vehicle body has touched the obstacle to be detected, it sends a deceleration signal to the train control system. The clearance determination device is used to acquire an image of the obstacle to be detected and send the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed. Clearance maintenance device, used to process the obstacle to be processed when receiving a signal from the train control system to process the obstacle to be processed; The clearance detection device includes a flexible clearance detection unit, which comprises at least two sets of flexible touchscreens and screen protectors. One set of flexible touchscreens and screen protectors is arranged around the front of the vehicle body, and the other set is arranged around the rear of the vehicle body. One of the flexible touch screens and screen protectors is used to send the deceleration signal to the train control system when it touches the obstacle to be detected. The other set of flexible touch screens and screen protection devices are used to detect the processing result when the obstacle to be processed is completed to determine whether it needs to be processed again.

2. The urban rail train clearance maintenance equipment as described in claim 1, characterized in that, The clearance detection device also includes a rigid clearance detection unit.

3. The urban rail train clearance maintenance equipment as described in claim 2, characterized in that, The rigid clearance detection unit is located at the front of the vehicle body.

4. The urban rail train clearance maintenance equipment as described in claim 1, characterized in that, The clearance determination device includes a camera device.

5. The urban rail train clearance maintenance equipment as described in claim 1, characterized in that, The clearance maintenance device includes an electric saw, a transmission mechanism, a drive unit, a conveyor belt, and a cargo bed; wherein, The chainsaw is used to remove the obstacle to be removed; The transmission mechanism is located in the middle of the vehicle body and surrounds the vehicle body, and is used to drive the electric saw to move up and down; The driving device is used to drive the transmission mechanism; The conveyor belt is located below the vehicle body and is used to catch the falling obstacle when the chainsaw finishes processing it. The cargo bed, located at the rear of the vehicle body, is used to hold the obstacles to be processed conveyed by the conveyor belt.

6. The urban rail train clearance maintenance equipment as described in claim 5, characterized in that, The transmission mechanism includes a chain; the drive device includes a motor.

7. The urban rail train clearance maintenance equipment as described in claim 1, characterized in that, The urban rail train clearance maintenance equipment also includes a positioning device, which is used to locate the vehicle body when the obstacle to be detected is not an obstacle to be processed, and send the position of the vehicle body to the ground central control system.

8. The urban rail train clearance maintenance equipment as described in claim 7, characterized in that, The positioning device includes a GPS system.

9. The urban rail train clearance maintenance equipment as described in claim 1, characterized in that, The urban rail train clearance maintenance equipment also includes a train control system, which includes a memory and a processor. The memory stores a computer program that is executed by the processor. When the computer program is run by the processor, it performs the following steps: Receive the signal sent by the boundary detection device that the obstacle to be detected has been touched; Acquire an image of the obstacle to be detected sent by the boundary determination device; Analyze the image of the obstacle to be detected to determine whether the obstacle is an obstacle to be processed; If the obstacle to be detected is an obstacle to be processed, then a command to process the obstacle to be detected is sent to the clearance maintenance device; Otherwise, an image of the obstacle to be detected is sent to the ground control system to further determine whether the obstacle to be detected is the obstacle to be processed.

10. The urban rail train clearance maintenance equipment as described in claim 9, characterized in that, The computer program, when run by the processor, is also used to perform the following steps: Upon receiving a signal from another set of flexible touchscreens and screen protectors indicating that the obstacle to be detected has been touched, the device sends an instruction to the clearance maintenance device to process the obstacle to be detected again.

11. A method for maintaining clearance of urban rail trains, characterized in that, The method includes: Receive the signal from the clearance detection device that the obstacle to be detected has been touched; Acquire an image of the obstacle to be detected sent by the boundary determination device; Analyze the image of the obstacle to be detected and determine whether the obstacle to be detected is an obstacle to be processed; If the obstacle to be detected is an obstacle to be processed, a command to process the obstacle to be detected is sent to the clearance maintenance device; otherwise, an image of the obstacle to be detected is sent to the ground control system to further determine whether the obstacle to be detected is the obstacle to be processed. The clearance detection device includes a flexible clearance detection unit, which includes at least two sets of flexible touch screens and screen protection devices. One set of flexible touch screens and screen protection devices is arranged around the front of the vehicle body, and the other set of flexible touch screens and screen protection devices is arranged around the rear of the vehicle body. Receiving a signal from the clearance detection device indicating that the obstacle has been touched, including: Receive a signal from one of the flexible touchscreens and screen protectors that it has touched an obstacle to be detected; After sending an instruction to the clearance maintenance device to process the obstacle to be detected, the method further includes: Upon receiving a signal from the other set of flexible touchscreens and screen protection devices indicating that the obstacle to be detected has been touched, the device sends an instruction to the clearance maintenance device to process the obstacle to be detected again.

12. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the urban rail train clearance maintenance method as described in claim 11.

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