Bogie transport method, apparatus, medium, device and system

Abstract

The present application relates to the technical field of railway wagon maintenance, and in particular to a bogie transportation method, device, medium, equipment and system. In order to solve the problem of insufficient autonomous navigation accuracy of the existing transportation device, the bogie transportation method provided by the present application comprises the following steps: positioning the bogie placed on the track; after positioning the bogie, controlling the AGV vehicle to move to the bottom of the bogie, lifting the bogie so as to transport the bogie by the AGV vehicle; identifying the position of the AGV vehicle during the transportation process, and controlling the AGV vehicle to make a specified action according to the position of the AGV vehicle. After lifting the bogie, the AGV vehicle obtains ground mark information during movement, and then makes a corresponding action, so as to control the AGV vehicle to transport the bogie along the set track, solving the positioning accuracy problem in the autonomous navigation process of the AGV vehicle, saving a large amount of labor cost, and improving the flexibility, safety and transportation efficiency of the bogie transportation.

Description

Technical Field

[0001] This invention relates to the technical field of railway freight car maintenance, specifically to bogie transportation methods, devices, media, equipment, and systems. Background Technology

[0002] During the maintenance of railway freight car bogies, the bogies need to be disassembled from the bogie mounting platform in the maintenance depot and then transported to a dedicated bogie maintenance line. After the maintenance is completed, the bogies need to be transported back to the bogie mounting platform in the maintenance depot for assembly with the car body.

[0003] The existing methods of transporting bogies mainly involve manual pushing and overhead crane hoisting. These methods require a high level of labor intensity for the operators. In addition, the bogies are several meters above the ground during transport, and their weight is nearly 5 tons. This depends on the reliability of the hoisting equipment and the skill of the operators.

[0004] To improve transportation efficiency, intelligent transportation methods need to be developed. Intelligent conveying refers to the intelligent bidirectional transport of bogies between the maintenance depot rack positions and the upper and lower workstations on the bogie maintenance line. Transporting the bogies to each maintenance workstation (bidirectionally) and placing them on the tracks at the rack positions requires very high positioning accuracy during the autonomous navigation process of the transportation device.

[0005] Therefore, there is a need in the art to provide a bogie transportation method that can solve the problem of autonomous navigation accuracy of transportation devices. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned problems in the prior art, namely, to solve the problem of insufficient autonomous navigation accuracy of existing transportation devices.

[0007] In a first aspect, the present invention provides a bogie transportation method, comprising the following steps:

[0008] Position the bogie placed on the track;

[0009] After the bogie is positioned, the AGV is controlled to move to the bottom of the bogie and lift the bogie so that the AGV can transport the bogie.

[0010] The location of the AGV vehicle is identified during the transport process, and the AGV vehicle is controlled to perform specified actions based on its location.

[0011] Preferably, the positioning of the bogie placed on the track includes:

[0012] The 3D contour of the bogie is scanned;

[0013] Identify the position of the bogie;

[0014] The bogie is positioned by combining its position and 3D profile.

[0015] Preferably, the control AGV vehicle moves to the bottom of the bogie and lifts the bogie so that the AGV vehicle can transport the bogie, including:

[0016] Identify and locate the wheel axles of the bogie;

[0017] The AGV is controlled to move under the axle and the axle is lifted so that the AGV can carry the bogie.

[0018] Preferably, identifying and locating the axle of the bogie includes:

[0019] Find the lowest point of the axle;

[0020] The lower edge axis of the axle is determined by the lowest point of the axle.

[0021] Preferably, controlling the AGV to move below the axle and lifting the axle so that the AGV can transport the bogie includes:

[0022] During the movement of the AGV, the AGV is controlled to move at a set speed, and the distance between the AGV and the wheel axle is obtained. If the distance is less than the set distance, the AGV is controlled to decelerate.

[0023] Preferably, the step of identifying the position of the AGV vehicle during the transport process and controlling the AGV vehicle to perform a specified action based on the position of the AGV vehicle includes:

[0024] Obtain ground marking information;

[0025] The location information of the AGV vehicle is obtained based on the ground marking information;

[0026] The AGV is controlled to perform the specified actions based on the location information.

[0027] In a second aspect, the present invention provides a bogie transport device, comprising:

[0028] Bogie positioning unit, which is used to position the bogie placed on the track;

[0029] The lifting unit is used to position the bogie, control the AGV vehicle to move to the bottom of the bogie, and lift the bogie so that the AGV vehicle can carry the bogie.

[0030] A motion control unit is used to identify the position of the AGV vehicle during the transport process and control the AGV vehicle to perform specified actions based on the position of the AGV vehicle.

[0031] Thirdly, the present invention provides a storage medium storing a computer program that, when executed, causes a processor to perform the method described in the first aspect.

[0032] Fourthly, the present invention provides an electronic device including a memory and a processor communicatively connected to the memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0033] Fifthly, the present invention provides a bogie transport system including electronic equipment as described in the fourth aspect.

[0034] Through the above technical solution, the present invention has the following beneficial effects:

[0035] This invention can identify and position bogies on a track, thereby facilitating the control of an AGV (Automated Guided Vehicle) to move under the wheelset of the bogie and lift it. After the bogie is lifted, during the movement, the AGV is controlled to perform corresponding actions based on its position, thus controlling the AGV to complete the transport task. This solves the positioning accuracy problem in the autonomous navigation process of AGVs, saves a significant amount of labor costs, and improves the flexibility, safety, and transfer efficiency of bogie transportation. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the main steps in the bogie transportation method;

[0037] Figure 2 This is a schematic diagram of the main steps involved in positioning the bogie placed on the track.

[0038] Figure 3 This is a schematic diagram of the main steps involved in lifting the bogie;

[0039] Figure 4 This is a schematic diagram illustrating the main steps involved in identifying and locating the bogie wheel axles;

[0040] Figure 5 This is a schematic diagram illustrating the main steps of identifying the location of the AGV during the transport process and controlling the AGV to perform specified actions based on its location.

[0041] Figure 6 This is a schematic diagram for finding the lowest point of the wheel axle. Detailed Implementation

[0042] The present disclosure will be further described below with reference to the embodiments shown in the accompanying drawings.

[0043] Firstly, this embodiment provides a bogie transportation method.

[0044] Example 1

[0045] Reference Figure 1 A method for transporting bogies includes the following steps:

[0046] S1. Position the bogie placed on the track.

[0047] S2. After positioning the bogie, control the AGV (Automated Guided Vehicle) to move to the bottom of the bogie and lift the bogie so that the AGV can carry the bogie.

[0048] S3. Identify the position of the AGV during the transport process and control the AGV to perform the specified actions based on its position.

[0049] This invention can identify and position bogies on a track, thereby facilitating the control of an AGV (Automated Guided Vehicle) to move under the wheelset of the bogie and lift it. After the bogie is lifted, during the movement, the AGV is controlled to perform corresponding actions based on its position, thus controlling the AGV to complete the transport task. This solves the positioning accuracy problem in the autonomous navigation process of AGVs, saves a significant amount of labor costs, and improves the flexibility, safety, and transfer efficiency of bogie transportation.

[0050] Example 2

[0051] Reference Figure 1 A method for transporting bogies includes the following steps:

[0052] S1. Position the bogie placed on the track.

[0053] Reference Figure 2 Step S1 includes the following steps:

[0054] S11. Scan the 3D profile of the bogie.

[0055] S12. Identify the position of the bogie.

[0056] S13. Position the bogie by combining its position and 3D profile.

[0057] S2. After positioning the bogie, control the AGV to decelerate and move to the bottom of the bogie to lift it.

[0058] S3. Identify the position of the AGV during the transport process and control the AGV to perform the specified actions based on its position.

[0059] This invention can identify and position bogies on a track, thereby facilitating the control of an AGV (Automated Guided Vehicle) to move under the wheelset of the bogie and lift it. After the bogie is lifted, during the movement, the AGV is controlled to perform corresponding actions based on its position, thus controlling the AGV to complete the transport task. This solves the positioning accuracy problem in the autonomous navigation process of AGVs, saves a significant amount of labor costs, and improves the flexibility, safety, and transfer efficiency of bogie transportation.

[0060] Example 3

[0061] Reference Figure 1 A method for transporting bogies includes the following steps:

[0062] S1. Position the bogie placed on the track.

[0063] Reference Figure 2 Step S1 includes the following steps:

[0064] S11. Scan the 3D profile of the bogie.

[0065] S12. Identify the position of the bogie.

[0066] S13. Position the bogie by combining its position and 3D profile.

[0067] S2. After positioning the bogie, control the AGV to decelerate and move to the bottom of the bogie to lift it.

[0068] Reference Figure 3 Step S2 includes the following steps:

[0069] S21. Identify and locate the axles of the bogie.

[0070] S22. Control the AGV to move to the lowest point of the axle and lift the axle to support the steering frame.

[0071] S3. Identify the position of the AGV during the transport process and control the AGV to perform the specified actions based on its position.

[0072] This invention can identify and position bogies on a track, thereby facilitating the control of an AGV (Automated Guided Vehicle) to move under the wheelset of the bogie and lift it. After the bogie is lifted, during the movement, the AGV is controlled to perform corresponding actions based on its position, thus controlling the AGV to complete the transport task. This solves the positioning accuracy problem in the autonomous navigation process of AGVs, saves a significant amount of labor costs, and improves the flexibility, safety, and transfer efficiency of bogie transportation.

[0073] Example 4

[0074] Reference Figure 1 A method for transporting bogies includes the following steps:

[0075] S1. Position the bogie placed on the track.

[0076] Reference Figure 2 Step S1 includes the following steps:

[0077] S11. Scan the 3D profile of the bogie.

[0078] S12. Identify the position of the bogie.

[0079] S13. Position the bogie by combining its position and 3D profile.

[0080] S2. After positioning the bogie, control the AGV to decelerate and move to the bottom of the bogie to lift it.

[0081] Reference Figure 3 Step S2 includes the following steps:

[0082] S21. Identify and locate the axles of the bogie.

[0083] Reference Figure 4 Step S21 includes the following steps:

[0084] S211. Find the lowest point of the wheel axle.

[0085] S212. Determine the lower edge axis of the axle by using the lowest point of the axle.

[0086] S22. Control the AGV to move to the lowest point of the axle and lift the axle to support the steering frame.

[0087] S3. Identify the position of the AGV during the transport process and control the AGV to perform the specified actions based on its position.

[0088] This invention can identify and position bogies on a track, thereby facilitating the control of an AGV (Automated Guided Vehicle) to move under the wheelset of the bogie and lift it. After the bogie is lifted, during the movement, the AGV is controlled to perform corresponding actions based on its position, thus controlling the AGV to complete the transport task. This solves the positioning accuracy problem in the autonomous navigation process of AGVs, saves a significant amount of labor costs, and improves the flexibility, safety, and transfer efficiency of bogie transportation.

[0089] Example 5

[0090] Reference Figure 1 A method for transporting bogies includes the following steps:

[0091] S1. Position the bogie placed on the track.

[0092] Reference Figure 2 Step S1 includes the following steps:

[0093] S11. Scan the 3D profile of the bogie.

[0094] S12. Identify the position of the bogie.

[0095] S13. Position the bogie by combining its position and 3D profile.

[0096] S2. After positioning the bogie, control the AGV to decelerate and move to the bottom of the bogie to lift it.

[0097] Step S2 includes the following steps:

[0098] S21. Identify and locate the axles of the bogie.

[0099] Reference Figure 4 Step S21 includes the following steps:

[0100] S211. Find the lowest point of the wheel axle.

[0101] S212. Determine the lower edge axis of the axle by using the lowest point of the axle.

[0102] S22. Control the AGV to move to the lowest point of the axle and lift the axle to support the bogie. During the AGV's movement, control the AGV to move at a set speed and obtain the distance between the AGV and the axle. If the distance is less than the set distance, control the AGV to decelerate.

[0103] S3. Identify the position of the AGV during the transport process and control the AGV to perform the specified actions based on its position.

[0104] This invention can identify and position bogies on a track, thereby facilitating the control of an AGV (Automated Guided Vehicle) to move under the wheelset of the bogie and lift it. After the bogie is lifted, during the movement, the AGV is controlled to perform corresponding actions based on its position, thus controlling the AGV to complete the transport task. This solves the positioning accuracy problem in the autonomous navigation process of AGVs, saves a significant amount of labor costs, and improves the flexibility, safety, and transfer efficiency of bogie transportation.

[0105] Example 6

[0106] Reference Figure 1 A method for transporting bogies includes the following steps:

[0107] S1. Position the bogie placed on the track.

[0108] Reference Figure 2 Step S1 includes the following steps:

[0109] S11. Scan the 3D profile of the bogie.

[0110] S12. Identify the position of the bogie.

[0111] S13. Position the bogie by combining its position and 3D profile.

[0112] S2. After positioning the bogie, control the AGV to decelerate and move to the bottom of the bogie to lift it.

[0113] Step S2 includes the following steps:

[0114] S21. Identify and locate the axles of the bogie.

[0115] Reference Figure 4 Step S21 includes the following steps:

[0116] S211. Find the lowest point of the wheel axle.

[0117] S212. Determine the lower edge axis of the axle by using the lowest point of the axle.

[0118] S22. Control the AGV to move to the lowest point of the axle and lift the axle to support the steering frame.

[0119] During the movement of the AGV, the AGV is controlled to move at a set speed, and the distance between the AGV and the wheel axle is obtained. If the distance is less than the set distance, the AGV is controlled to decelerate.

[0120] S3. Identify the position of the AGV during the transport process and control the AGV to perform the specified actions based on its position.

[0121] Reference Figure 5 Step S3 includes the following steps:

[0122] S31. Obtain ground marking information.

[0123] S32. Obtain the location information of the AGV vehicle based on the ground marking information.

[0124] S33. Control the AGV to perform the specified actions based on the location information.

[0125] The following describes this embodiment in detail with reference to specific implementation methods:

[0126] The AGV is equipped with infrared sensors. By setting the 3D contour of the bogie and the distance between the AGV and the bogie, the AGV can automatically locate the bogie to be transported. The infrared sensor scans the 3D contour of the bogie, and when it scans both wheelsets of the bogie, it determines that the bogie has been found and determines its position based on the scanned 3D contour. At this point, the AGV slows down appropriately and moves to the bottom of the bogie wheelsets.

[0127] like Figure 6 As shown, the lowest point of the bogie axle is located by a laser scanning sensor installed on the AGV, thus determining the lower edge axis of the axle. When the AGV moves directly below the lower edge axis of the axle, the wheelset is lifted for subsequent transport.

[0128] An RFID (Radio Frequency Identification) reader is installed on the bottom of the AGV vehicle. RFID tag cards are placed at the nodes along the AGV track, each assigned an ID number and definition. When the AGV passes a node, the RFID reader reads the information from the RFID tag at that node and performs corresponding actions, including but not limited to changing speed, turning, positioning, and stopping. For example, node A represents a turn, represented by ID number 00001. Once the AGV passes point A, the AGV reader reads the electronic tag ID number at point A. The PLC, based on the read data, causes the AGV to perform the corresponding turning action, thus realizing the functions of the AGV scheduling system, acceleration / deceleration and turning, and station positioning. After testing and application, RFID positioning accuracy can reach 5-20mm. Using RFID to control AGV positioning is not only simpler in structure and lower in cost than other positioning methods (inertial positioning, ultrasonic positioning, laser positioning, etc.), but also makes it easier to achieve accurate positioning.

[0129] The method described in this embodiment can identify and locate the bogie on the track, thereby facilitating the control of the AGV to move under the wheelset of the bogie and lift it. After the bogie is lifted, during the movement, the AGV acquires ground marking information and then performs corresponding actions, thereby controlling the AGV to transport the bogie along the set track. This solves the positioning accuracy problem in the autonomous navigation process of the AGV, saves a significant amount of labor costs, and improves the flexibility, safety, and transfer efficiency of bogie transportation.

[0130] In a second aspect, the present invention provides a bogie transport device, comprising:

[0131] Bogie positioning unit, which is used to position the bogie placed on the track;

[0132] The lifting unit is used to control the AGV to move to the bottom of the bogie after positioning it, and lift the bogie so that the AGV can carry the bogie.

[0133] The motion control unit is used to identify the position of the AGV during transport and control the AGV to perform specified actions based on its position.

[0134] Thirdly, the present invention provides a storage medium storing a computer program that, when executed, causes a processor to perform the method described in the first aspect.

[0135] Fourthly, the present invention provides an electronic device including a memory and a processor communicatively connected to the memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0136] Fifthly, the present invention provides a bogie transport system, the system including electronic equipment as described in the fourth aspect.

[0137] The various embodiments in this disclosure are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0138] The scope of protection of this disclosure is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its scope and spirit. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A method for transporting bogies, characterized in that, Includes the following steps: Position the bogie placed on the track; After the bogie is positioned, the AGV is controlled to move to the bottom of the bogie and lift the bogie so that the AGV can transport the bogie. The location of the AGV vehicle is identified during the transport process, and the AGV vehicle is controlled to perform specified actions based on its location. The method of positioning the bogie placed on the track includes: scanning the 3D contour of the bogie; identifying the position of the bogie; and positioning the bogie by combining the position of the bogie and the 3D contour. The method of controlling the AGV to move to the bottom of the bogie and lift the bogie so that the AGV can transport the bogie includes: identifying and locating the wheel axle of the bogie; controlling the AGV to move below the wheel axle and lifting the wheel axle so that the AGV can transport the bogie; The process of identifying and locating the axle of the bogie includes: finding the lowest point of the axle; and determining the lower edge axis of the axle through the lowest point of the axle.

2. The bogie transportation method according to claim 1, characterized in that, The step of controlling the AGV to move under the axle and lifting the axle so that the AGV can transport the bogie includes: During the movement of the AGV, the AGV is controlled to move at a set speed, and the distance between the AGV and the wheel axle is obtained. If the distance is less than the set distance, the AGV is controlled to decelerate.

3. The bogie transportation method according to claim 1, characterized in that, The step of identifying the position of the AGV vehicle during the transport process and controlling the AGV vehicle to perform specified actions based on its position includes: Obtain ground marking information; The location information of the AGV vehicle is obtained based on the ground marking information; The AGV is controlled to perform the specified actions based on the location information.

4. A bogie transport device, characterized in that, The bogie transportation method, as described in any one of claims 1-3, includes: Bogie positioning unit, which is used to position the bogie placed on the track; The lifting unit is used to position the bogie, control the AGV vehicle to move to the bottom of the bogie, and lift the bogie so that the AGV vehicle can carry the bogie. A motion control unit is used to identify the position of the AGV vehicle during the transport process and control the AGV vehicle to perform specified actions based on the position of the AGV vehicle.

5. A storage medium, characterized in that, The storage medium stores a computer program that, when executed, causes the processor to implement the method as described in any one of claims 1 to 3.

6. An electronic device, characterized in that, The method includes a memory and a processor communicatively connected to the memory, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1 to 3.

7. A bogie transport system, characterized in that, Including the electronic device as described in claim 6.

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