Railway track clearing method, system and train

Abstract

The present disclosure relates to a track obstacle removing method, system and train to solve the problem of low efficiency of track obstacle removing operation in the related art, which affects the normal operation of the train. The method comprises: when it is detected that there is an obstacle on a track to be traveled by a train, controlling the train to brake and stop, and determining the size of the obstacle; determining a target obstacle removing strategy for the obstacle according to the size of the obstacle and a preset relationship between the size of the obstacle and the obstacle removing strategy; and executing the target obstacle removing strategy to remove the obstacle.

Description

Technical Field

[0001] This disclosure relates to the field of rail transit technology, specifically to a method, system, and train for clearing obstacles from tracks. Background Technology

[0002] With the development of rail transit, the operating environment has become increasingly complex, especially in adverse weather conditions, where obstacles may appear on the tracks at any time, seriously affecting train safety. Related technologies primarily rely on manual handling and specialized track clearing equipment. When a train detects an obstacle ahead, it immediately brakes and stops, sending an alarm signal to the control center for manual handling. However, manual handling is unsafe and inefficient, affecting normal train operation. Track clearing equipment, on the other hand, requires the train to occupy the running track, similarly impacting normal train operation. Summary of the Invention

[0003] The purpose of this disclosure is to provide a track clearing method, system, and train to solve the problem of low efficiency in track clearing operations in related technologies, which affects the normal operation of trains.

[0004] To achieve the above objectives, a first aspect of this disclosure provides a track clearing method, the method comprising:

[0005] When an obstacle is detected on the track where the train is to travel, the train is controlled to brake and stop, and the size of the obstacle is determined;

[0006] Based on the size of the obstacle and the preset relationship between the size of the obstacle and the obstacle removal strategy, a target obstacle removal strategy is determined for the obstacle;

[0007] Execute the target obstacle removal strategy to remove the obstacle.

[0008] Optionally, determining the target obstacle removal strategy for the obstacle based on the size of the obstacle and the preset relationship between the size of the obstacle and the obstacle removal strategy includes:

[0009] The dimensions of the obstacle are sent to the control center, which determines the target obstacle removal strategy for the obstacle based on the dimensions of the obstacle and the preset relationship between the dimensions of the obstacle and the obstacle removal strategy.

[0010] Receive the target obstacle clearance strategy returned by the control center.

[0011] Optionally, determining the target obstacle removal strategy for the obstacle based on the size of the obstacle and the preset relationship between the size of the obstacle and the obstacle removal strategy includes:

[0012] If the size of the obstacle is less than or equal to a preset size threshold, a first obstacle removal strategy is determined for the obstacle. The size threshold represents the maximum size that the train's robotic arm can handle, and the first obstacle removal strategy represents controlling the robotic arm to remove the obstacle; or...

[0013] If the size of the obstacle is greater than the size threshold, the target obstacle removal strategy for the obstacle is determined as the second obstacle removal strategy, which represents the deployment of personnel to remove the obstacle.

[0014] Optionally, executing the target obstacle removal strategy to remove the obstacle includes:

[0015] If the target obstacle removal strategy is the first obstacle removal strategy, and the size of the obstacle does not exceed the remaining storage space of the train's storage compartment, then the robotic arm is controlled to place the obstacle into the storage compartment; or,

[0016] If the size of the obstacle exceeds the remaining storage space of the storage box, the robotic arm is controlled to place the obstacle into the escape passage next to the track.

[0017] Optionally, the robotic arm is located inside the train, and executing the target obstacle removal strategy to clear the obstacle includes:

[0018] When the target obstacle removal strategy is the first obstacle removal strategy, the cover used to cover the robotic arm is opened to allow the robotic arm to extend outside the train and remove the obstacle.

[0019] Optionally, the method further includes:

[0020] When an obstacle is detected on the track where the train is to travel, an obstacle warning message is sent to other trains within the communication range.

[0021] A second aspect of this disclosure also provides a track clearing system, the system including an obstacle detection device and a controller;

[0022] The obstacle detection device is used to control the train to brake and stop through the train's control and management system when an obstacle is detected on the track to be traveled, and to determine the size of the obstacle.

[0023] The controller is configured to determine a target obstacle removal strategy for the obstacle based on the size of the obstacle and a preset relationship between the size of the obstacle and the obstacle removal strategy, and execute the target obstacle removal strategy to remove the obstacle.

[0024] Optionally, the system includes a first communication unit, wherein the controller is configured to send the size of the obstacle to a control center via the first communication unit, and to receive the target obstacle removal strategy returned by the control center via the first communication unit, wherein the control center is configured to determine the target obstacle removal strategy for the obstacle based on the size of the obstacle and a preset relationship between the size of the obstacle and the obstacle removal strategy.

[0025] Optionally, the system includes a robotic arm, and the controller is configured to, when the size of the obstacle is less than or equal to a preset size threshold, determine a first obstacle removal strategy for the obstacle, wherein the size threshold represents the maximum size that the robotic arm can handle, and the first obstacle removal strategy represents controlling the robotic arm to remove the obstacle; or,

[0026] The controller is configured to, when the size of the obstacle is greater than the size threshold, determine a second obstacle removal strategy for the obstacle, wherein the second obstacle removal strategy indicates that personnel are to be deployed to remove the obstacle.

[0027] Optionally, the system includes a storage box, and the controller is configured to, when the target obstacle removal strategy is the first obstacle removal strategy, control the robotic arm to place the obstacle into the storage box when the size of the obstacle does not exceed the remaining storage space of the storage box; or,

[0028] The controller is used to control the robotic arm to place the obstacle into the escape passage next to the track when the size of the obstacle exceeds the remaining storage space of the storage box.

[0029] Optionally, the robotic arm is located inside the train, and the system further includes a cover for concealing the robotic arm;

[0030] The controller is configured to, when the target obstacle removal strategy is the first obstacle removal strategy, open the cover to allow the robotic arm to extend outside the train and remove the obstacle.

[0031] Optionally, the system includes a second communication unit;

[0032] The obstacle detection device is also used to send an obstacle alarm signal to the second communication unit when the obstacle is detected;

[0033] The second communication unit is used to send obstacle warning information to other trains within the communication range when it receives the obstacle alarm signal.

[0034] A third aspect of this disclosure also provides a train comprising the track clearing system described in any one of the second aspects above.

[0035] The above technical solution can achieve at least the following technical effects:

[0036] When an obstacle is detected on the track where the train is to travel, the train is brought to a stop by braking. The size of the obstacle is determined, and then, based on the obstacle's size and the preset relationship between the obstacle's size and the obstacle removal strategy, a target obstacle removal strategy is determined. Finally, the target obstacle removal strategy is executed to remove the obstacle. This method can execute appropriate obstacle removal strategies according to the size of the obstacle, offering high flexibility, reducing the frequency of manual handling, and eliminating the need to occupy the train's running track for obstacle removal equipment, thus improving train operation efficiency.

[0037] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 This is a schematic flowchart of a track clearing method provided in an embodiment of this disclosure;

[0040] Figure 2 This is a schematic diagram of the initial state of a robotic arm provided in an embodiment of this disclosure;

[0041] Figure 3 This is a schematic diagram of a robotic arm in operation according to an embodiment of this disclosure;

[0042] Figure 4 This is a schematic diagram of a track-based escape passage provided in an embodiment of this disclosure;

[0043] Figure 5 This is a schematic diagram of a track clearing system provided in an embodiment of this disclosure;

[0044] Figure 6 This is a schematic diagram illustrating how a track clearing system, as provided in this embodiment, interacts with other systems to complete track clearing operations.

[0045] Figure 7 This is a schematic diagram illustrating another track clearing system provided in this embodiment interacting with other systems to complete track clearing operations;

[0046] Figure 8 This is a block diagram of a train provided in an embodiment of this disclosure. Detailed Implementation

[0047] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0048] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0049] It should be understood that the various steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect. The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the description below.

[0050] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies. It should also be noted that the modifications of "a" and "a plurality of" mentioned in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0051] In related technologies, track clearing primarily relies on manual handling and specialized track clearing equipment. When a train detects an obstacle ahead, it immediately brakes and stops, sending an alarm signal to the control center for manual handling. However, manual handling is unsafe and inefficient, affecting normal train operation. Track clearing equipment, on the other hand, occupies the train's running track, similarly impacting its operation. Additionally, there is the option of adding an arc-shaped obstacle remover in front of the train to push obstacles off the track; however, this poses significant safety hazards for elevated tracks, such as straddle-type monorails.

[0052] In view of this, the present disclosure provides a track clearing method, system and train to solve the above problems.

[0053] It should be noted that the track clearing method provided in this disclosure is applicable to both automated and non-automated trains. The track can be a conventional track, a monorail (including straddle-type and suspended track), a magnetic levitation track (including straddle-type and trench-type), a lightweight track, etc. This disclosure does not limit the types of tracks.

[0054] The following provides a detailed description of the embodiments of the technical solution disclosed herein.

[0055] This disclosure provides a track clearing method, referring to... Figure 1 The method includes:

[0056] S101. When an obstacle is detected on the track where the train is to travel, the train is controlled to brake and stop, and the size of the obstacle is determined.

[0057] For example, sensors such as lidar, cameras, and millimeter-wave radar can be used to detect whether there are obstacles on the track and determine the length, width, height, and other dimensional information of the obstacles. For details, please refer to relevant technologies, which will not be elaborated here.

[0058] S102. Based on the size of the obstacle and the preset relationship between the size of the obstacle and the obstacle removal strategy, determine the target obstacle removal strategy for the obstacle.

[0059] S103. Implement the target obstacle removal strategy to remove obstacles.

[0060] Using the above method, appropriate obstacle removal strategies can be implemented according to the size of the obstacle, which is highly flexible, reduces the frequency of manual handling, and does not require the occupation of the train track for track clearing equipment to carry out obstacle removal operations, thereby improving train operation efficiency.

[0061] To enable those skilled in the art to better understand the track clearing method provided in this disclosure, the above steps are illustrated in detail below.

[0062] In one possible approach, based on the size of the obstacle and the preset relationship between the obstacle's size and the obstacle removal strategy, the target obstacle removal strategy can be determined as follows: If the obstacle's size is less than or equal to a preset size threshold, the target obstacle removal strategy is determined as a first obstacle removal strategy, where the size threshold represents the maximum size that the train's robotic arm can handle, and the first obstacle removal strategy represents controlling the robotic arm to remove the obstacle. Alternatively, if the obstacle's size is greater than the size threshold, the target obstacle removal strategy is determined as a second obstacle removal strategy, where the second obstacle removal strategy represents deploying personnel to remove the obstacle.

[0063] For example, refer to Figure 2 A robotic arm is installed at the front of the train; its initial state when not in operation is as follows: Figure 2As shown, the working status when clearing obstacles is as follows: Figure 3 As shown, when the robotic arm performs obstacle removal operations, it uses a robotic hand at its front end to grasp obstacles. The size of the grasped obstacle is affected by the opening degree of the robotic hand; it must be within the size range that the robotic hand can handle. This is because a pre-set size threshold represents the maximum size the robotic arm can process. If the obstacle's size is less than or equal to this size threshold, the robotic arm can remove it. For example, if the set size thresholds include length, width, and height thresholds, then if the length, width, and height of the obstacle are all less than or equal to the set size thresholds, the robotic arm can remove the obstacle; otherwise, manual removal by personnel is required.

[0064] It should be noted that the dimensions (length, width, height, etc.) of the identified obstacles may not correspond one-to-one with the set size thresholds. For example, the set size thresholds might be "length 50cm, width 30cm, height 40cm," while the identified obstacle's dimensions might be "length 50cm, width 40cm, height 30cm." To facilitate comparison, the size thresholds and dimensions can be arranged numerically from largest to smallest or smallest to largest, ensuring a one-to-one correspondence between the obstacle's dimensions and the preset size thresholds. If every value in the obstacle's dimensions is less than or equal to the corresponding size threshold, then the target obstacle removal strategy is determined as the first obstacle removal strategy; otherwise, the target obstacle removal strategy is determined as the second obstacle removal strategy.

[0065] It is worth noting that, when the target obstacle removal strategy is the second obstacle removal strategy, for manned trains, a prompt message can be generated to remind train staff to disembark and remove obstacles. For driverless trains, work orders can be generated and sent to the appropriate staff based on factors such as the distance between the staff and the train and their available time. For example, staff located at the platform closest to the train and currently available can be selected to wait for obstacle removal. Of course, work orders can also be generated for manned trains, targeting either staff outside or inside the train. Furthermore, a manual obstacle removal request can be generated and sent to the control center. The control center, responsible for route planning, train scheduling, and personnel allocation, will dispatch staff to remove obstacles, and so on. This disclosure does not limit the scope of this method.

[0066] Among the possible approaches, refer to Figure 2 The execution of the target obstacle removal strategy to remove obstacles can be as follows: If the obstacle's size does not exceed the remaining storage space of the train's storage compartment, the robotic arm is controlled to place the obstacle into the storage compartment. Alternatively, if the obstacle's size exceeds the remaining storage space of the storage compartment, the robotic arm is controlled to place the obstacle into the escape passage beside the track.

[0067] For example, storage boxes are installed inside the train to store obstacles. If the storage box is empty, the remaining storage space can be represented by the dimensions of the storage box, such as its length, width, and height. By comparing the obstacle's dimensions with a size threshold, the dimensions of the obstacle can be compared with the dimensions of the storage box to determine whether the obstacle can be placed in the storage box. If other obstacles are already stored in the storage box, the remaining storage space needs to be determined, which can be represented by the maximum length, maximum width, and maximum height that can be accommodated. Specifically, this can be determined by calculating the dimensions of the storage box and the dimensions of the already stored obstacles, or by installing a sensor detection device inside the storage box; this disclosure does not limit this approach.

[0068] Furthermore, if the obstacle's size does not exceed the remaining storage space of the storage box, the robotic arm is controlled to place the obstacle into the storage box. If the obstacle's size exceeds the remaining storage space of the storage box, the robotic arm is controlled to place the obstacle into... Figure 4 The escape routes shown can be located beside the tracks, on either side of the tracks, between two tracks, depending on the actual conditions of the tracks, or in other vacant locations, such as designated obstacle storage areas. This allows for the clearing of storage compartments after train service ends, or the removal of obstacles placed in the escape routes by staff.

[0069] In one possible manner, the robotic arm is located inside the train, and the target obstacle removal strategy to clear obstacles can be: if the target obstacle removal strategy is the first obstacle removal strategy, the cover used to cover the robotic arm is opened to allow the robotic arm to extend outside the train to clear obstacles.

[0070] For example, refer to Figure 2 The robotic arm is installed inside the train and protected by an external cover. Storage boxes can also be installed inside the train, with openings covered by covers. When the train is running, the covers close to prevent obstacles from flying out and to protect the robotic arm from damage caused by flying stones or rain. When the robotic arm needs to perform obstacle clearing operations, refer to... Figure 3 The cover can be opened to allow a robotic arm to extend outside the train and clear obstacles.

[0071] In some possible ways, the method also includes sending obstacle warning information to other trains within communication range when an obstacle is detected on the track where the train is to travel.

[0072] For example, when an obstacle is detected, the train needs to stop and wait for the obstacle to be cleared before continuing. Sending obstacle warning information to other trains can cause them to slow down or stop and wait, thus avoiding traffic accidents and improving the safety of track operations.

[0073] In one possible approach, determining the target obstacle removal strategy based on the obstacle's size and the preset relationship between the obstacle's size and the obstacle removal strategy could involve sending the obstacle's size to the control center, which then determines the target obstacle removal strategy based on the obstacle's size and the preset relationship between the obstacle's size and the obstacle removal strategy, and receives the target obstacle removal strategy returned by the control center.

[0074] For example, the dimensions of an obstacle can be sent to the control center. The control center, based on the obstacle's dimensions and the preset relationship between the obstacle's dimensions and the clearing strategy, determines a target clearing strategy for the obstacle and then executes the target clearing strategy returned by the control center to remove the obstacle. Automatic train clearing and remote clearing operations from the control center can be selected according to the actual situation. For example, in complex clearing environments, the clearing operation can be remotely controlled by the control center. If the obstacle's dimensions are difficult to determine, images or videos captured by the sensing system can be sent to the control center, where manual determination of the obstacle's dimensions is performed, followed by the issuance of a target clearing strategy. Alternatively, control commands can be directly issued to the robotic arm to remotely control its operation, etc. This disclosure does not limit the scope of the discussion.

[0075] Based on the same inventive concept, this disclosure also provides a track clearing system, referring to... Figure 5 The system includes an obstacle detection device 501 and a controller 502. The obstacle detection device 501 is used to control the train to brake and stop via the train's control management system when an obstacle is detected on the track to be traveled, and to determine the size of the obstacle. The controller 502 is used to determine a target obstacle removal strategy based on the size of the obstacle and a preset relationship between the obstacle's size and a clearing strategy, and to execute the target obstacle removal strategy to remove the obstacle.

[0076] For example, such as Figure 2 As shown, an obstacle detection device is installed at the head of the train. This device can be a sensor such as lidar, a camera, or millimeter-wave radar. When an obstacle is detected on the track the train is about to travel on, the train's control and management system (TCMS) controls the train to brake and stop. The size of the obstacle is determined through image analysis or radar data analysis. Using this system, appropriate obstacle removal strategies can be executed based on the obstacle's size, offering high flexibility, reducing the frequency of manual intervention, and eliminating the need to occupy the train's running track for obstacle removal equipment, thus improving train operation efficiency.

[0077] Among the possible approaches, refer to Figure 5The system includes a first communication unit 503. The controller 502 is used to send the size of the obstacle to the control center through the first communication unit 503 and to receive the target obstacle removal strategy returned by the control center through the first communication unit 503. The control center is used to determine the target obstacle removal strategy for the obstacle based on the size of the obstacle and the preset relationship between the size of the obstacle and the obstacle removal strategy.

[0078] Among the possible approaches, refer to Figure 5 The system includes a robotic arm 504. A controller 502 is used to determine a first obstacle removal strategy when the size of an obstacle is less than or equal to a preset size threshold. The size threshold represents the maximum size that the robotic arm 504 can handle, and the first obstacle removal strategy represents controlling the robotic arm 504 to remove the obstacle. Alternatively, the controller 502 is used to determine a second obstacle removal strategy when the size of an obstacle is greater than the size threshold. The second obstacle removal strategy represents dispatching personnel to remove the obstacle.

[0079] Among the possible approaches, refer to Figure 5 The system includes a storage box 505. A controller 502, when the target obstacle removal strategy is the first obstacle removal strategy, controls a robotic arm 504 to place the obstacle into the storage box 505 if the obstacle's size does not exceed the remaining storage space of the storage box 505. Alternatively, the controller 502 is used to control the robotic arm 504 to place the obstacle into an escape tunnel adjacent to a track when the obstacle's size exceeds the remaining storage space of the storage box 505.

[0080] In one possible manner, the robotic arm is installed inside the train, as shown in the reference. Figure 5 The system also includes a cover plate 506 for covering the robotic arm 504. The controller 502 is used to open the cover plate 506 when the target obstacle clearing strategy is the first obstacle clearing strategy, so that the robotic arm 504 can extend out of the train to clear obstacles.

[0081] Among the possible approaches, refer to Figure 5 The system includes a second communication unit 507. The obstacle detection device 501 is also used to send an obstacle alarm signal to the second communication unit 507 when an obstacle is detected. The second communication unit 507 is used to send obstacle warning information to other trains within the communication range when it receives the obstacle alarm signal.

[0082] It should be noted that the first communication unit responsible for communication between the train and the control center and the second communication unit responsible for communication between trains can be the same communication device or two separate communication devices. They can be the train's own V2X system or separately installed communication devices. This disclosure does not limit them in this regard.

[0083] Regarding the track clearing system in the above embodiments, the specific methods by which each module performs its operations have been described in detail in the embodiments of the track clearing method, and will not be elaborated here.

[0084] The following provides detailed examples illustrating the interactions between the various modules of the track clearing system, as well as between the track clearing system and other train systems.

[0085] Among the possible approaches, refer to Figure 6 During train operation, the obstacle detection device continuously monitors the track for obstacles. Upon detection, it determines the obstacle's size and sends an alarm signal along with the obstacle's dimensions. The TCMS system, upon receiving the alarm signal, brakes the train and sends the alarm signal and dimensions to the V2X system. The V2X system then sends the obstacle dimensions to the control center and alerts other trains within its communication range. The control center, upon receiving the obstacle dimensions, determines if the obstacle's size is less than or equal to a size threshold. If so, it further determines if the obstacle exceeds the remaining storage space in the storage compartment; otherwise, it dispatches personnel for manual removal. If the obstacle's size is less than or equal to the threshold, it checks if it exceeds the remaining storage space. If it does, it sends a control command instructing the obstacle to be placed in the escape route; otherwise, it sends a control command instructing the obstacle to be placed in the storage compartment. Finally, the controller directs a robotic arm to perform the removal operation based on the control commands.

[0086] By adopting the above technical solution, obstacle removal operations can be carried out remotely through a control center, which can improve the efficiency of obstacle removal operations, especially when dealing with complex environments. For example, when the size of an obstacle is difficult to determine, images or videos captured by the sensing system can be sent to the control center, where personnel can further determine the size of the obstacle. This avoids misjudgments by the obstacle detection device due to environmental factors or other reasons, which could lead to incorrect obstacle removal strategies or control commands and cause the obstacle removal operation to fail. In addition, since the robotic arm is installed at the front of the train, it does not require the use of the train's running track for obstacle removal equipment, thus improving train operation efficiency.

[0087] Alternatively, in one of the possible ways, refer to Figure 7During train operation, the obstacle detection device continuously monitors the track for obstacles. Upon detection, it determines the obstacle's size and sends an alarm signal along with the obstacle's dimensions. The controller, upon receiving the alarm signal and dimensions, forwards the alarm signal to the TCMS and V2X systems. The V2X system then sends obstacle warnings to other trains within range, and the TCMS system controls the train to brake and stop. Further, upon receiving the obstacle dimensions, the controller checks if the obstacle's size is less than or equal to a size threshold. If so, it checks if the obstacle exceeds the remaining storage space in the storage compartment; otherwise, it dispatches personnel for manual obstacle removal. If the obstacle's size is less than or equal to the threshold, it checks if it exceeds the remaining storage space in the compartment. If it does, it controls a robotic arm to place the obstacle into the escape route; otherwise, it controls the robotic arm to place the obstacle into the storage compartment.

[0088] By adopting the above technical solution, the track clearing system installed on the train can automatically carry out the clearing operation. It can execute the corresponding clearing strategy according to the size of the obstacle, which is highly flexible and reduces the frequency of manual handling. In addition, since the robotic arm is installed at the front of the train, it does not need to occupy the train running track for the track clearing equipment to carry out the clearing operation, thus improving the train operation efficiency.

[0089] Based on the same inventive concept, this disclosure also provides a train, referring to Figure 8 The train 800 includes the aforementioned track clearing system 801.

[0090] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0091] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0092] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for clearing obstacles from a track, characterized in that, The method includes: When an obstacle is detected on the track where the train is to travel, the train is controlled to brake and stop, and the size of the obstacle is determined; Based on the size of the obstacle and the preset relationship between the size of the obstacle and the obstacle removal strategy, a target obstacle removal strategy is determined for the obstacle; Execute the target obstacle removal strategy to remove the obstacle; The step of determining a target obstacle removal strategy based on the size of the obstacle and a preset relationship between the size of the obstacle and the obstacle removal strategy includes: The dimensions of the obstacle are sent to the control center, which determines the target obstacle removal strategy for the obstacle based on the dimensions of the obstacle and the preset relationship between the dimensions of the obstacle and the obstacle removal strategy. Receive the target obstacle clearance strategy returned by the control center; The step of determining a target obstacle removal strategy based on the size of the obstacle and a preset relationship between the size of the obstacle and the obstacle removal strategy includes: If the size of the obstacle is less than or equal to a preset size threshold, a first obstacle removal strategy is determined for the obstacle. The size threshold represents the maximum size that the train's robotic arm can handle, and the first obstacle removal strategy represents controlling the robotic arm to remove the obstacle; or... If the size of the obstacle is greater than the size threshold, the target obstacle removal strategy for the obstacle is determined as the second obstacle removal strategy, which represents the deployment of personnel to remove the obstacle.

2. The method according to claim 1, characterized in that, The execution of the target obstacle removal strategy to remove the obstacle includes: If the target obstacle removal strategy is the first obstacle removal strategy, and the size of the obstacle does not exceed the remaining storage space of the train's storage compartment, then the robotic arm is controlled to place the obstacle into the storage compartment; or, If the size of the obstacle exceeds the remaining storage space of the storage box, the robotic arm is controlled to place the obstacle into the escape passage next to the track.

3. The method according to claim 1 or 2, characterized in that, The robotic arm is installed inside the train, and the execution of the target obstacle removal strategy to clear the obstacle includes: When the target obstacle removal strategy is the first obstacle removal strategy, the cover used to cover the robotic arm is opened to allow the robotic arm to extend outside the train and remove the obstacle.

4. The method according to any one of claims 1-2, characterized in that, The method further includes: When an obstacle is detected on the track where the train is to travel, an obstacle warning message is sent to other trains within the communication range.

5. A track clearing system, characterized in that, The system includes an obstacle detection device and a controller; The obstacle detection device is used to control the train to brake and stop through the train's control and management system when an obstacle is detected on the track to be traveled, and to determine the size of the obstacle. The controller is configured to determine a target obstacle removal strategy for the obstacle based on the size of the obstacle and a preset relationship between the size of the obstacle and the obstacle removal strategy, and execute the target obstacle removal strategy to remove the obstacle. The system includes a first communication unit. The controller is used to send the size of the obstacle to a control center through the first communication unit and to receive the target obstacle removal strategy returned by the control center through the first communication unit. The control center is used to determine the target obstacle removal strategy for the obstacle based on the size of the obstacle and the preset relationship between the size of the obstacle and the obstacle removal strategy. The system includes a robotic arm, and the controller is configured to, when the size of the obstacle is less than or equal to a preset size threshold, determine a first obstacle removal strategy for the obstacle, whereby the size threshold represents the maximum size that the robotic arm can handle, and the first obstacle removal strategy represents controlling the robotic arm to remove the obstacle; or... The controller is configured to, when the size of the obstacle is greater than the size threshold, determine a second obstacle removal strategy for the obstacle, wherein the second obstacle removal strategy indicates that personnel are to be deployed to remove the obstacle.

6. The system according to claim 5, characterized in that, The system includes a storage box, and the controller is configured to, when the target obstacle removal strategy is the first obstacle removal strategy, control the robotic arm to place the obstacle into the storage box when the size of the obstacle does not exceed the remaining storage space of the storage box; or, The controller is used to control the robotic arm to place the obstacle into the escape passage next to the track when the size of the obstacle exceeds the remaining storage space of the storage box.

7. The system according to claim 5 or 6, characterized in that, The robotic arm is installed inside the train, and the system also includes a cover for concealing the robotic arm; The controller is configured to, when the target obstacle removal strategy is the first obstacle removal strategy, open the cover to allow the robotic arm to extend outside the train and remove the obstacle.

8. The system according to any one of claims 5-6, characterized in that, The system includes a second communication unit; The obstacle detection device is also used to send an obstacle alarm signal to the second communication unit when the obstacle is detected; The second communication unit is used to send obstacle warning information to other trains within the communication range when it receives the obstacle alarm signal.

9. A train, characterized in that, The track clearing system includes any one of claims 5-8.

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