Railway locomotive unmanned operation method and device

Abstract

The present application provides a kind of track locomotive unmanned operation method and device, track locomotive unmanned operation method includes: after receiving pull load instruction, control the locomotive starts operation;Obtain the real-time position of the locomotive and the position of the to-be-pulled container;Based on the real-time position of the locomotive and the position of the to-be-pulled container, adjust the running speed of the locomotive, so that the locomotive is connected with the to-be-pulled container;When the locomotive is connected with the to-be-pulled container, the locomotive brakes;When the locomotive is stationary, based on the real-time position of the locomotive and the pull load destination position planning pull load route;Control the locomotive travels to pull load destination according to the pull load route.The track locomotive unmanned operation method of the present application solves the technical problem of low efficiency in related art unmanned operation.

Description

Technical Field

[0001] This invention relates to the field of locomotive technology, and more specifically to a method and apparatus for unmanned operation of rail locomotives. Background Technology

[0002] In the field of freight locomotives, the concentrated power, heavy load, and complex and variable formation of freight trains severely hinder the research and application of automatic driving technology. In particular, the automation level of equipment is relatively low in operations such as depot entry and exit preparation, station shunting, and coupling / uncoupling of freight locomotives, still requiring considerable manual intervention. This results in high labor intensity for operators, and operational errors could threaten personal safety and train safety.

[0003] However, in the existing technology, the unmanned operation method of rail locomotives needs to brake the locomotive after identifying the load object before coupling, resulting in low coupling efficiency.

[0004] Therefore, existing technologies need further development. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method and apparatus for unmanned operation of rail locomotives, so as to solve the technical problem of low efficiency of unmanned operation in related technologies.

[0006] To achieve the above technical objectives, the present invention adopts the following technical solution: providing a method for unmanned operation of a rail locomotive, comprising: receiving a loading command and controlling the locomotive to start running; acquiring the real-time position of the locomotive and the position of the cargo box to be loaded; adjusting the running speed of the locomotive based on the real-time position of the locomotive and the position of the cargo box to be loaded, so as to connect the locomotive with the cargo box to be loaded; braking the locomotive after it is connected with the cargo box to be loaded; planning a loading route based on the real-time position of the locomotive and the loading destination position after the locomotive comes to a stop; and controlling the locomotive to travel to the loading destination according to the loading route.

[0007] Furthermore, the method for obtaining the real-time position of the locomotive includes: obtaining the initial position of the locomotive; obtaining the first real-time position of the locomotive through the Beidou positioning system; obtaining the second real-time position of the locomotive through the meter wheel encoder; comparing the first real-time position and the second real-time position; if the deviation between the first real-time position and the second real-time position is within a preset range, then the first real-time position is taken as the real-time position of the locomotive; if the deviation between the first real-time position and the second real-time position is not within the preset range, then the first real-time position of the locomotive is obtained again.

[0008] Furthermore, the unmanned operation method for rail locomotives also includes: after receiving the load-bearing command, controlling the opening of the load-bearing hook of the locomotive during the locomotive's operation, and recording the opening progress of the load-bearing hook in real time.

[0009] Furthermore, the method for adjusting the locomotive's operating speed includes: obtaining the real-time distance between the locomotive and the cargo box to be loaded based on the locomotive's real-time position and the position of the cargo box to be loaded; if the real-time distance is greater than or equal to a first preset distance, the locomotive operates at a first preset speed; if the real-time distance is less than the first preset distance, the time required for the loading hook to fully open is calculated based on the opening progress of the loading hook; the locomotive's operating speed is calculated based on the distance between the locomotive and the cargo box to be loaded and the time required for the loading hook to fully open; the locomotive is controlled to operate at the calculated operating speed until the loading hook is fully opened; after the loading hook is fully opened, the locomotive is controlled to operate at a second preset speed, and the connection between the loading hook and the cargo box to be loaded is detected in real time; if the connection is completed, the locomotive is controlled to brake.

[0010] Furthermore, the method for detecting whether the loading hook and the cargo box to be loaded are connected is as follows: after the loading hook is fully opened, the locomotive runs at the second preset speed; the coupler of the cargo box to be loaded is detected; if it is detected that the hook of the cargo box to be loaded has entered the loading hook, then the loading hook and the cargo box to be loaded are connected.

[0011] Furthermore, the method for planning the loading route includes: obtaining the track path between the loading destination and the locomotive's real-time position based on the locomotive's real-time position and the loading destination position; sorting the track paths in ascending order according to their length to obtain the loading route model Li, where i=1,2,…,n; and using sensors to sequentially determine whether there are obstacles in Li. If there are no obstacles in Li, then Li is output as the loading route.

[0012] Furthermore, the method for controlling the locomotive to travel along the loading route to the loading destination includes: after receiving the loading route, the locomotive restarts; the distance between the locomotive and the loading destination is detected in real time; when the distance between the locomotive and the loading destination is less than or equal to a second preset distance, the speed v of the locomotive is adjusted based on the distance s between the locomotive and the loading destination, where v = s 2 +i, where i is a constant.

[0013] Furthermore, the unmanned operation method for rail locomotives also includes: when the locomotive is completely stationary, determining the distance between the locomotive and the cargo box to be loaded; if the distance between the locomotive and the cargo box to be loaded is greater than a third preset distance, controlling the locomotive to move forward a preset distance and simultaneously opening the loading hook; if the distance between the locomotive and the cargo box to be loaded is less than or equal to the third preset distance, then opening the loading hook directly.

[0014] An unmanned operation device for a rail locomotive includes: a first drive unit for controlling the locomotive to start running after receiving a loading command; a positioning unit for acquiring the real-time position of the locomotive and the position of the cargo box to be loaded; a connection unit for adjusting the locomotive's running speed based on the real-time position of the locomotive and the position of the cargo box to be loaded, so as to connect the locomotive with the cargo box to be loaded; a braking unit for braking the locomotive after it is connected with the cargo box to be loaded; a planning unit for planning a loading route based on the real-time position of the locomotive and the loading destination position after the locomotive comes to a stop; and a second drive unit for controlling the locomotive to travel along the loading route to the loading destination.

[0015] Furthermore, the connection unit includes: a load-bearing hook, which has a hook body for connecting to a cargo box to be loaded, the hook body forming a receiving cavity, and a photoelectric sensor is provided at one end of the receiving cavity. The photoelectric sensor is used to detect the load-bearing hook to detect whether the load-bearing hook and the cargo box to be loaded are successfully connected; and a drive assembly, which is connected to the load-bearing hook and is used to open the load-bearing hook. The drive assembly is provided with a distance measuring sensor to detect the opening progress of the load-bearing hook.

[0016] Beneficial effects:

[0017] The unmanned operation method of the rail locomotive of the present invention obtains the real-time position of the locomotive by fusing Beidou positioning and meter wheel fusion, controls the running speed of the locomotive by combining the positional relationship between the locomotive and the cargo box, and detects the connection relationship between the locomotive and the cargo box by sensors, thereby realizing the effect of unmanned automatic connection and loading, saving the labor cost required for locomotive loading operation, and improving the unmanned operation efficiency of driverless rail locomotives. Attached Figure Description

[0018] Figure 1 This is a flowchart of the unmanned operation method of the rail locomotive used in Embodiment 1 of the present invention;

[0019] Figure 2 This is a flowchart of the method for obtaining the real-time location of a locomotive used in an embodiment of the present invention;

[0020] Figure 3 This is a flowchart of the method for adjusting locomotive speed used in an embodiment of the present invention;

[0021] Figure 4 This is a flowchart of the method for planning locomotive loading routes used in an embodiment of the present invention;

[0022] Figure 5 This is a flowchart of a method for controlling a locomotive to travel to its destination according to an embodiment of the present invention;

[0023] Figure 6This is a flowchart of the unmanned operation method for rail locomotives provided in Embodiment 2 of the present invention;

[0024] Figure 7 This is a schematic diagram of the load hook structure of the unmanned operation device for rail locomotives used in an embodiment of the present invention.

[0025] The above figures include the following reference numerals:

[0026] 1. Hook body; 11. Receiving cavity; 12. Photoelectric sensor. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] According to an embodiment of the present invention, a method for unmanned operation of a rail locomotive is provided. Please refer to [link / reference]. Figures 1 to 5 ,include:

[0029] After receiving the load-pulling command, S100 controls the locomotive to start running;

[0030] S200 acquires the real-time location of the locomotive and the location of the cargo box to be loaded;

[0031] S300 adjusts the locomotive's speed based on the locomotive's real-time position and the position of the cargo container to be loaded, so that the locomotive connects with the cargo container to be loaded;

[0032] S400 When the locomotive is connected to the cargo box to be loaded, the locomotive brakes;

[0033] S500: When the locomotive comes to a stop, S500 plans a loading route based on the real-time position of the locomotive and the location of the loading destination.

[0034] S600 controls the locomotive to travel along the loading route to the loading destination.

[0035] By adopting the above settings, the locomotive is controlled to run by remotely sending a loading signal. The speed of the locomotive is adjusted according to the distance between the locomotive and the cargo container to be loaded, so that the locomotive connects with the cargo container as it approaches. After the connection between the locomotive and the cargo container is successfully detected, the loading route of the locomotive is planned according to the surrounding environment and the loading destination, and the locomotive is driven to run along the route, realizing unmanned operation of the driverless locomotive and solving the technical problem of low efficiency of unmanned operation in related technologies.

[0036] Specifically, unmanned operation includes automated loading.

[0037] In the unmanned operation method of the rail locomotive in this embodiment, see... Figure 2 The method for obtaining the real-time location of the locomotive includes:

[0038] S210 obtains the initial position of the locomotive;

[0039] S220 obtains the first real-time position of the locomotive through the Beidou positioning system;

[0040] S230 obtains the second real-time position of the locomotive through a meter wheel encoder;

[0041] S240 compares the first real-time position and the second real-time position. If the deviation between the first real-time position and the second real-time position is within a preset range, the first real-time position is taken as the real-time position of the locomotive. If the deviation between the first real-time position and the second real-time position is not within the preset range, the first real-time position of the locomotive is reacquired.

[0042] Since the signal of the BeiDou positioning system is greatly affected by the environment, when there is an obstruction above the driving route, the signal may be weak in some areas, which may lead to inaccurate positioning of the locomotive. Therefore, this embodiment uses a meter wheel encoder to assist in correcting and supplementing the positioning results of the BeiDou positioning system. The combination of the two methods makes the real-time position of the locomotive more accurate.

[0043] In the unmanned operation method of the rail locomotive in this embodiment, the unmanned operation method of the rail locomotive further includes: after receiving the load-lifting command, during the operation of the locomotive, controlling the load-lifting hook of the locomotive to open, and recording the opening progress of the load-lifting hook in real time.

[0044] Specifically, before the locomotive is coupled to the cargo box to be loaded, the loading hook needs to be opened by the actuator.

[0045] Preferably, the actuator is a push rod, which pushes the load hook away from the locomotive, so that the load hook is in a ready-to-be-attached state. This makes it convenient for the hook on the cargo box to be loaded to be connected to the load hook on the locomotive.

[0046] The unmanned operation method for rail locomotives in this embodiment is described in [reference needed]. Figure 3 The method for adjusting the locomotive's operating speed includes:

[0047] S310 obtains the real-time distance between the locomotive and the cargo container to be loaded based on the locomotive's real-time position and the position of the cargo container to be loaded.

[0048] S320 If the real-time distance is greater than or equal to the first preset distance, the locomotive runs at the first preset speed;

[0049] S330 If the real-time distance is less than the first preset distance, calculate the time required for the load hook to be fully opened based on the opening progress of the load hook;

[0050] S340 calculates the locomotive's operating speed based on the distance between the locomotive and the cargo box to be loaded and the time required for the loading hook to fully open;

[0051] S350 controls the locomotive to run at the calculated operating speed until the load coupler is fully open;

[0052] When the loading hook is fully opened, S360 controls the locomotive to run at the second preset speed and detects in real time whether the loading hook and the cargo box to be loaded are connected.

[0053] If S370 is completed, then the locomotive braking is controlled.

[0054] In practice, the locomotive is equipped with a detection component that monitors the cargo box to be loaded in real time. The detection range of the component is a first preset distance. When the distance between the locomotive and the cargo box is greater than the detection range, i.e., when the locomotive has not detected the cargo box, the locomotive runs towards the cargo box at its maximum speed. When the locomotive detects the cargo box, i.e., when the distance between the locomotive and the cargo box is less than the first preset distance, the locomotive's running speed is calculated based on the opening progress of the loading hook on the locomotive and the distance between the locomotive and the cargo box.

[0055] Specifically, the load hook is opened by a push rod. The opening progress of the load hook can be determined by measuring the extension length of the push rod. The time required for the remaining length of the load hook to extend fully when the push rod is fully opened is the time required for the load hook to open. By taking the time required for the load hook to open, the distance between the locomotive and the cargo box, and the current speed of the locomotive, the operating speed required for the load hook to be fully opened when the locomotive reaches the position of the cargo box to be loaded can be calculated using the speed formula.

[0056] Meanwhile, after the locomotive is fully opened, even before the locomotive and the cargo box are fully connected, the locomotive runs at a pre-set speed so that the loading hook on the locomotive can be successfully connected to the hook on the cargo box to be loaded. This reduces manual intervention, saves labor costs, and improves the efficiency of unmanned operation.

[0057] Preferably, the detection component is a sensor such as millimeter-wave radar or lidar.

[0058] In the unmanned operation method of the rail locomotive in this embodiment, the method for detecting whether the load hook and the cargo box to be loaded are successfully connected is specifically as follows:

[0059] After the load hook described in S361 is fully opened, the locomotive runs at the second preset speed;

[0060] S362 inspects the hooks of vehicles carrying cargo boxes;

[0061] S363 If ​​it is detected that the hook of the cargo box to be loaded has entered the loading hook, then the loading hook and the cargo box to be loaded are connected.

[0062] In practice, after the loading hook is fully opened, the locomotive travels at a pre-set speed and aligns with the hook on the cargo box for connection. When the hook on the cargo box is fully engaged in the loading hook of the locomotive, the locomotive brakes. In this way, the locomotive's low speed creates relative movement between the loading hook and the hook on the cargo box. After alignment, the hook on the cargo box can enter the loading hook of the locomotive to complete the connection. This solves the problem of manual operation required to complete the coupling in related technologies and improves the efficiency of coupling in automatic driving.

[0063] Preferably, a photoelectric sensor is installed on the load hook. When an object enters the detection range of the photoelectric sensor, the photoelectric sensor will output a signal. This signal is used to determine whether the cargo box's hook has entered the load hook and complete the coupling.

[0064] Preferably, the photoelectric sensor is installed on one side of the load hook, and the photoelectric sensor, the completed load hook, and the cargo box hook are arranged in a vertical direction with their axes overlapping.

[0065] In the unmanned operation method of the rail locomotive in this embodiment, see... Figure 4 The method for planning the loading route includes:

[0066] S510 obtains the track path between the locomotive's real-time position and the load destination position based on the locomotive's real-time position and the load destination position;

[0067] S520 sorts the track paths in ascending order according to their lengths to obtain the loading route model Li, where i = 1, 2, ..., n;

[0068] The S530 uses sensors to sequentially determine whether there are obstacles in Li. If there are no obstacles in Li, it outputs Li as the load-carrying route.

[0069] In practice, there may be multiple paths leading to the destination from the location of the locomotive. These paths are sorted from shortest to longest. The locomotive is equipped with an obstacle recognition device, i.e., a sensor. The sensor starts by identifying the shortest path to measure whether there are any obstacles on it. If there are no obstacles, the path is output as the charging path. If there are obstacles, the next shortest path is identified, and so on, until the loading route is output.

[0070] It should be noted that if there are obstacles on all paths, a warning will be sent to the central control room, and the obstacles will be manually removed.

[0071] In practice, if an obstacle or pedestrian is detected on the loading route during the locomotive's operation, the locomotive will be braked, a warning will be issued, and the control room will be notified to manually remove the obstacle. Once the obstacle or pedestrian has disappeared, the locomotive will continue to travel.

[0072] Preferably, if pedestrians or obstacles still exist on the loading route within a preset time, the loading route can be recalculated using the current locomotive position and the location of the destination to be loaded.

[0073] In the unmanned operation method of the rail locomotive in this embodiment, see... Figure 5 The method for controlling the locomotive to travel along the loading route to the loading destination includes:

[0074] After S610 receives the loading route, the locomotive starts again;

[0075] S620 detects the distance between the locomotive and the destination in real time;

[0076] S630 When the distance between the locomotive and the destination is less than or equal to a second preset distance, the speed v of the locomotive is adjusted based on the distance s between the locomotive and the destination, where v = s 2 +i, where i is a constant.

[0077] In practice, after the locomotive is connected to the cargo container to be loaded, it brakes. After the loading route is calculated, the locomotive restarts and its real-time position is located. Based on the real-time position of the locomotive and the location of the loading destination, the distance between the current position of the locomotive and the loading destination is calculated. After approaching the destination to a certain distance, the locomotive adjusts its speed using a quadratic function formula of speed and remaining distance. After reaching the loading destination, the locomotive brakes.

[0078] The unmanned operation method for rail locomotives in this embodiment further includes:

[0079] Once the locomotive has come to a complete stop, determine the distance between the locomotive and the cargo container to be loaded.

[0080] If the distance between the locomotive and the cargo box to be loaded is greater than a third preset distance, then the locomotive is controlled to move forward a preset distance and the loading hook is opened at the same time;

[0081] If the distance between the locomotive and the cargo box to be loaded is less than or equal to a third preset distance, the loading hook will be opened.

[0082] Specifically, after the locomotive comes to a complete stop, it is necessary to open the loading hook and the hook on the cargo box. If the locomotive and the cargo box are pulled too tightly, the loading hook and the hook on the cargo box will be connected tightly and difficult to open. In this case, the locomotive needs to be driven towards the cargo box to be loaded, so that it moves forward a certain distance, and the coupler is opened while moving forward.

[0083] Preferably, the locomotive moves forward 100mm.

[0084] Specifically, opening the coupler requires using an actuator to open the locking pin on the load hook.

[0085] In practice, the actuator is equipped with a distance sensor. If the distance sensor detects a value that does not reach the preset distance required to open the coupler after the actuator receives the instruction to open the coupler, the locomotive is controlled to move towards the cargo box to be loaded. During the movement, the locking pin is opened through the actuator until the loading hook and the hook on the cargo box are opened.

[0086] Because there will be a gap after the hook on the load is connected to the hook on the cargo box, if the hook is pulled too tight, the center pin cannot be moved and the hook cannot be opened. By moving forward while making the actuator move, the hook will open.

[0087] This embodiment provides an unmanned operation device for a rail locomotive, comprising: a first drive unit, which controls the locomotive to start running after receiving a loading command; a positioning unit, which acquires the real-time position of the locomotive and the position of the cargo box to be loaded; a connection unit, which adjusts the running speed of the locomotive based on the real-time position of the locomotive and the position of the cargo box to be loaded, so that the locomotive connects with the cargo box to be loaded; a braking unit, which brakes the locomotive after it is connected to the cargo box to be loaded; a planning unit, which plans a loading route based on the real-time position of the locomotive and the loading destination position after the locomotive comes to a stop; and a second drive unit, which controls the locomotive to travel to the loading destination along the loading route.

[0088] In this way, the unmanned railcar operation device enables the automatic coupling and disconnection of the unmanned railcar with the cargo box to be loaded, reducing the need for manual intervention in unmanned operation, saving labor costs, and improving the efficiency of unmanned operation.

[0089] In the unmanned operation device for rail locomotives in this embodiment, the connection unit includes: a load hook, which has a hook body 1 for connecting with a cargo box to be loaded, the hook body 1 forming a receiving cavity 11, and a photoelectric sensor 12 is provided at one end of the receiving cavity 11. The photoelectric sensor 12 is used to detect whether the load hook and the cargo box to be loaded are successfully connected; and a drive assembly, which is connected to the load hook and is used to open the load hook. The drive assembly is provided with a distance measuring sensor to detect the opening progress of the load hook.

[0090] Specifically, the load hook moves away from the locomotive via a push rod. The distance sensor on the drive assembly can detect the distance between the load hook and the locomotive. Once the preset distance is reached, the load hook is in the open state. At the same time, the opening progress of the load hook can be calculated based on the distance between the load hook and the locomotive, thus obtaining the time required for the load hook to open.

[0091] Example 2:

[0092] See Figure 6 This embodiment provides a method for unmanned operation of rail locomotives, including:

[0093] The remote control room sends a loading command to the controller on the locomotive in a certain direction (i.e., the direction in which the cargo box to be loaded is located) via wireless AP or 5G transmission; preferably, the controller on the locomotive is a PLC or VCU.

[0094] The locomotive uses BeiDou positioning and the meter wheel to calculate its current real-time position. Since the meter wheel rotates on the track in real time following the locomotive, and an absolute encoder is installed on the meter wheel, the combination of the meter wheel and BeiDou positioning can obtain the current real-time position more accurately. At the same time, after receiving the command, the actuator opens the locomotive's load hook.

[0095] The locomotive first uses sensors such as vision, millimeter-wave radar, and lidar to determine the distance to the cargo container to be transported. If the cargo container is too far away and outside the detection range of the sensors, the locomotive runs at a fixed maximum speed and uses the above sensors to identify whether there are obstacles or pedestrians on the track in real time. If there are obstacles or pedestrians, the locomotive stops immediately, issues an obstacle warning, sounds the horn, and notifies the control center. If the obstacle or pedestrian disappears, the locomotive continues to move. At the same time, once the distance to the cargo container is identified, the locomotive adjusts its speed in real time to approach the cargo container.

[0096] After the locomotive's loading hook is successfully connected to the cargo box's hook, the locomotive stops running and brakes. Specifically, the locomotive's loading hook is first pushed out and opened by the actuator. When the locomotive's loading hook is successfully connected to the cargo box's hook, a photoelectric sensor will detect whether the cargo box hook and the loading hook are properly engaged.

[0097] The locomotive restarts and uses real-time positioning to calculate the distance to the destination. After approaching the destination by a certain distance, the locomotive adjusts its speed using a quadratic function formula of speed and remaining distance, and brakes upon reaching the destination.

[0098] When the locomotive opens the load coupler, if the connection between the locomotive and the cargo box is too tight, the load coupler will be difficult to open. In this case, the locomotive needs to be moved forward about 100mm while opening the load coupler. Moving forward means moving closer to the cargo box, because there will be a gap after the load coupler is connected to the hook on the cargo box. If the load coupler is pulled too tight, its center pin cannot be moved, and the load coupler cannot be opened. Therefore, it is necessary to move forward while simultaneously actuating the actuator, and the load coupler will open. Specifically, to determine whether the load coupler is open, a photoelectric switch, proximity switch, or limit switch can be used to check whether the actuator has risen to the correct position. Opening the coupler is achieved by the actuator pulling out the coupling pin.

[0099] After the haul hook is opened, the locomotive restarts and returns to its original position or waits in place.

[0100] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0101] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0102] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0103] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0104] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for unmanned operation of a rail locomotive, characterized in that, include: Upon receiving the load-lifting command, the locomotive is controlled to start running; Obtain the real-time location of the locomotive and the location of the cargo box to be loaded; Based on the real-time location of the locomotive and the location of the cargo container to be loaded, the operating speed of the locomotive is adjusted to connect the locomotive with the cargo container to be loaded; After the locomotive is connected to the cargo box to be loaded, the locomotive brakes. Once the locomotive comes to a stop, a loading route is planned based on the locomotive's real-time location and the location of the loading destination. Control the locomotive to travel along the loading route to the loading destination; The unmanned operation method for rail locomotives further includes: after receiving a load-bearing command, during the operation of the locomotive, controlling the load-bearing hook of the locomotive to open, and recording the opening progress of the load-bearing hook in real time; The method for adjusting the locomotive's operating speed includes: Based on the real-time location of the locomotive and the location of the cargo box to be loaded, the real-time distance between the cargo box to be loaded and the locomotive is obtained; If the real-time distance is greater than or equal to the first preset distance, the locomotive runs at the first preset speed; If the real-time distance is less than the first preset distance, the time required for the load hook to be fully opened is calculated based on the opening progress of the load hook. The locomotive's operating speed is calculated based on the distance between the locomotive and the cargo box to be loaded, and the time required for the loading hook to fully open. The locomotive is controlled to run at the calculated operating speed until the load coupler is fully open; Once the loading hook is fully open, the locomotive is controlled to run at a second preset speed, and the connection between the loading hook and the cargo box to be loaded is detected in real time. If completed, then control the locomotive braking; The load hook is opened by a push rod. The opening progress of the load hook is determined by measuring the extension length of the push rod. The time required for the remaining length of the load hook to extend completely is the time required for the load hook to open.

2. The unmanned operation method for rail locomotives according to claim 1, characterized in that, The method for obtaining the real-time location of the locomotive includes: Obtain the initial position of the locomotive; The first real-time position of the locomotive was obtained through the BeiDou positioning system; The second real-time position of the locomotive is obtained by the meter wheel encoder; The first real-time position and the second real-time position are compared. If the deviation between the first real-time position and the second real-time position is within a preset range, the first real-time position is taken as the real-time position of the locomotive. If the deviation between the first real-time position and the second real-time position is not within the preset range, the first real-time position of the locomotive is reacquired.

3. The unmanned operation method for rail locomotives according to claim 1, characterized in that, The method for detecting whether the loading hook and the cargo box to be loaded are successfully connected is as follows: After the load hook is fully opened, the locomotive runs at the second preset speed; Inspect the hooks of the trucks carrying cargo boxes; If the hook of the cargo box to be loaded is detected to have entered the loading hook, then the loading hook and the cargo box to be loaded are connected.

4. The unmanned operation method for rail locomotives according to claim 1, characterized in that, The method for planning the loading route includes: Based on the real-time location of the locomotive and the location of the loading destination, obtain the track path between the loading destination and the real-time location of the locomotive; According to the length of the track path, the track paths are sorted in ascending order to obtain the loading route model Li, where i=1,2,…,n; The sensors sequentially determine whether there are obstacles in Li. If there are no obstacles in Li, the output Li is the load route.

5. The unmanned operation method for rail locomotives according to claim 1, characterized in that, The method for controlling the locomotive to travel along the loading route to the loading destination includes: After receiving the loading route, the locomotive starts again; Real-time detection of the distance between the locomotive and the destination; When the distance between the locomotive and the destination is less than or equal to a second preset distance, the speed v of the locomotive is adjusted based on the distance s between the locomotive and the destination, where v = s. 2 +i, where i is a constant.

6. The unmanned operation method for rail locomotives according to claim 5, characterized in that, The unmanned operation method for rail locomotives also includes: Once the locomotive has come to a complete stop, determine the distance between the locomotive and the cargo container to be loaded. If the distance between the locomotive and the cargo box to be loaded is greater than a third preset distance, then the locomotive is controlled to move forward a preset distance and the loading hook is opened at the same time; If the distance between the locomotive and the cargo box to be loaded is less than or equal to a third preset distance, the loading hook will be opened.

7. A rail locomotive unmanned operation device, employing the rail locomotive unmanned operation method according to any one of claims 1 to 6, characterized in that, include: The first drive unit is used to control the locomotive to start running after receiving the load-pulling command; A positioning unit, which is used to obtain the real-time position of the locomotive and the position of the cargo box to be loaded; A connection unit is used to adjust the running speed of the locomotive based on the real-time position of the locomotive and the position of the cargo box to be loaded, so as to connect the locomotive with the cargo box to be loaded; A braking unit, the braking unit being used to brake the locomotive after the locomotive is connected to the cargo box to be loaded; The planning unit is used to plan a loading route based on the real-time position of the locomotive and the location of the loading destination after the locomotive has come to a stop; The second drive unit is used to control the locomotive to travel along the loading route to the loading destination.

8. The unmanned operation device for rail locomotives according to claim 7, characterized in that, The connection unit includes: The loading hook has a hook body (1) for connecting to the cargo box to be loaded. The hook body (1) forms a receiving cavity (11). A photoelectric sensor (12) is provided at one end of the receiving cavity (11). The photoelectric sensor (12) is used to detect whether the loading hook and the cargo box to be loaded are successfully connected. A drive assembly is connected to the load hook and is used to open the load hook. The drive assembly is equipped with a distance sensor to detect the opening progress of the load hook.

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