Distributed electrical component maintenance line

Abstract

A maintenance working area is used for arranging a workbench for maintaining components of electrical equipment, an electronic fence is arranged on the periphery of an AGV operation line, the transverse interval of the electronic fence is larger than the width of an AGV transfer trolley, the electronic fence is closed on the ground, an accompanying tool car detects the position of the electronic fence, and the maintenance working area is used for maintaining the components of the electrical equipment. The controller is in signal connection with the AGV transfer trolley and the accompanying tool trolley and controls movement of the AGV transfer trolley and movement of the accompanying tool trolley, and when the accompanying tool trolley moves to the boundary position of the electronic fence, the AGV transfer trolley and the accompanying tool trolley move according to the tangent horizontal and vertical direction of an AGV operation line. And selecting a shortest path passing through the coverage range of the electronic fence relative to the current contact point of the electronic fence and the accompanying tool car as a running route of the accompanying tool car. According to the method, a two-section type preparation program is adopted, the electronic fence serves as a judgment reference, and preparation can be started when the tool car enters an AGV operation area. Meanwhile, position confirmation is obtained based on an emitter instead of a positioning sensor, and the accuracy is higher.

Description

Technical Field

[0001] The invention relates to the field of equipment maintenance, and in particular to a distributed electrical component maintenance line. Background Art

[0002] An electric locomotive is a vehicle that obtains electricity from a power supply grid or power rail and then drives the vehicle through an electric motor. The vehicle's technical structure and maintenance quality are decisive factors in ensuring driving safety, especially the maintenance of the braking part of the electric locomotive is crucial.

[0003] Traditional maintenance lines are often based on AGV trolley transportation, while personnel perform maintenance work at fixed locations. Especially when the machine being repaired is large, there is often a certain labor risk in personnel transportation and it will increase additional costs. In this case, AGV transportation is more necessary. However, since the electric locomotive is a large device being repaired, maintenance personnel are required to move within the maintenance line. Since there are many maintenance tools required for power maintenance, a tool cart is required to carry the maintenance tools in this case. In scenarios with a high degree of automation, the maintenance tool cart automatically moves with the personnel. However, since the movement of personnel needs to cross the AGV's operating route, the maintenance tool cart may cause a risk of collision with the AGV cart.

[0004] Patent CN114104631B discloses a bogie maintenance line for urban rail vehicles, which mainly includes a frame maintenance line, a frame component maintenance line, a wheelset maintenance line, a wheelset overhaul line, an intelligent logistics transportation line, and an intelligent storage and picking line, that is, the bogie disassembly and assembly, the automated maintenance of the frame, the intelligent maintenance of the wheelset, and the intelligent overhaul of the wheelset are realized in the form of an assembly line; the intelligent storage, intelligent transportation, and intelligent picking of materials are realized; and the maintenance line data information is realized in real time. The technical problems of unreasonable distribution of maintenance areas, conflicts in process technology, serious loss of production capacity, and low efficiency in the prior art are solved.

[0005] This technical solution has a high overall degree of automation, but does not take personnel scheduling issues into consideration.

[0006] A distributed electrical component maintenance line is now needed to solve the above problems. Summary of the invention

[0007] The present invention aims to solve the problem that in the prior art, power maintenance requires a large number of maintenance tools. In this case, a mobile tool cart is needed to carry the maintenance tools. However, since personnel movement needs to pass through the AGV's operating route, the maintenance tool cart may cause a risk of collision with the AGV cart. A distributed electrical component maintenance line is provided to solve the above problem.

[0008] The present invention provides a distributed electrical component maintenance line, comprising a maintenance work area, an AGV transfer vehicle, an AGV running line, an accompanying tool vehicle, an electronic fence and a controller. The maintenance work area is used to set a workbench for repairing components of electrical equipment. The AGV running line is set on the ground of the maintenance work area and is connected to the electric locomotive and each workbench in the maintenance work area as a running path guide for the AGV transfer vehicle. The AGV transfer vehicle is set on the ground and runs along the AGV transfer line. The accompanying tool vehicle moves with the user in the maintenance work area. The electronic fence is set on the periphery of the AGV running line and the lateral interval is greater than the width of the AGV transfer vehicle. The electronic fence is closed on the ground. The accompanying tool vehicle detects the position of the electronic fence. The controller signal connects the AGV transfer vehicle and the accompanying tool vehicle to control the movement of the AGV transfer vehicle and the accompanying tool vehicle. When the accompanying tool vehicle moves to the boundary position of the electronic fence, according to the horizontal and vertical direction of the tangent of the AGV running line, the shortest path through the electronic fence coverage relative to the current contact point between the electronic fence and the accompanying tool vehicle is selected as the running route of the accompanying tool vehicle.

[0009] A distributed electrical component maintenance line described in the present invention, as a preferred embodiment, the accompanying tool vehicle includes a walking device, a cabinet, an infrared sensor, a signal receiver and a WiFi module, the walking device is arranged at the bottom of the cabinet, the infrared sensor is arranged on the side surface of the cabinet for detecting the position of the user, the signal receiver is arranged at the bottom of the cabinet, the signal receiver is used to receive signals transmitted by each transmitting end of the electronic fence, and the WiFi module is used to send signals collected by the infrared sensor and the signal receiver to the controller, and receive the control signal of the controller to the walking device and transmit it to the walking device.

[0010] A distributed electrical component maintenance line described in the present invention, as a preferred embodiment, the electronic fence is composed of a plurality of signal transmitters, the signal transmitters are arranged along both sides of the AGV running line, the two lines formed by the signal transmitters on both sides are respectively connected and are parallel to the AGV running line and the width of the two lines is greater than the width of the AGV transfer vehicle, the shortest distances from the signal transmitters on both sides to the AGV running line are equal, the transmission distance of the signal transmitter is 1.675 times the width of the AGV running line at the corresponding position, the signal transmitters are evenly staggered on both sides of the AGV running line, and the staggered length of the signal transmitters on the corresponding sides is equal to the shortest distance between the two lines connected by the signal transmitters on both sides.

[0011] A distributed electrical component maintenance line described in the present invention, as a preferred embodiment, the controller includes a maintenance area map module, a personnel location module, an AGV operation module, a tool cart crossing module and a tool cart control module. The personnel location module is used to receive the user's position in the maintenance line and send it to the maintenance area map module. The AGV operation module sets the AGV operation line in the maintenance area map module based on the operation trajectory of the AGV trolley. The operation trajectory includes two vehicle travel boundaries and a travel center line, and the speed and position information of each AGV vehicle is collected at the same time. The maintenance area map module is used to determine the current position of the tool cart based on the AGV operation module and the personnel location module and determine whether the tool cart needs to cross the AGV operation area based on the position. The tool cart crossing module is used to retrieve the determination information of the current tool cart from the maintenance area map module when receiving the electronic fence signal. The tool cart control module controls the preparation program and execution program for the tool cart to cross the AGV operation trajectory.

[0012] A distributed electrical component maintenance line described in the present invention, as a preferred method, has a preparation procedure that when the tool vehicle receives two electronic fence signals at the same time, the position where the signal is received is used as a moving base point on the signal range of an electronic fence signal, and the direction close to the operator is selected to turn sideways, the electronic fence signal is received in real time and moves, and after moving along the edge of an electronic fence signal, another corresponding overlapping point of receiving two electronic fence signals at the same time is found as a symmetrical point of the moving base point, the midpoint of the electronic fence signal edge between the two is taken, and the vehicle moves to the midpoint, and at the midpoint position, the vehicle turns in the direction of the AGV operating area in the vertical line of the tangent, and moves forward to the edge of the AGV operating area.

[0013] A distributed electrical component maintenance line described in the present invention, as a preferred embodiment, executes a program that, after the tool vehicle completes the preparation program, selects a window period in which the tool vehicle is sufficient to pass through the AGV operation area based on the AGV vehicle speed and position information collected by the AGV operation module and the tool vehicle movement speed, and drives the tool vehicle to pass through the AGV operation area during the window period.

[0014] The beneficial effects of the present invention are as follows:

[0015] This technical solution adopts a two-stage preparation procedure. Based on the electronic fence as the judgment basis, preparation can begin when the tool cart enters the AGV operation area. At the same time, the position confirmation is based on the transmitter acquisition rather than the positioning sensor, which is more accurate. The scheduling of this maintenance line is through the active position confirmation of the tool cart, and then automatically moves to the preparation position based on the ground signal and the set length data, which has better accuracy. The tool cart travels based on the shortest path to reduce interference with the operation of the AGV. A two-stage travel procedure is used to improve safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of a maintenance line for distributed electrical components;

[0017] Figure 2 A schematic diagram of a mobile tool vehicle for a distributed electrical component maintenance line;

[0018] Figure 3 The figure is a schematic diagram of a controller for a maintenance line of distributed electrical components.

[0019] Reference numerals:

[0020] 1. Maintenance work area; 2. AGV transfer vehicle; 3. AGV operation line; 4. Traveling tool cart; 41. Traveling device; 42. Cabinet; 43. Infrared sensor; 44. Signal receiver; 45. WiFi module; 5. Electronic fence; 6. Controller; 61. Maintenance area map module; 62. Personnel location module; 63. AGV operation module; 64. Tool cart crossing module; 65. Tool cart control module DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Example 1

[0023] like Figure 1 As shown, a distributed electrical component maintenance line includes a maintenance work area 1, an AGV transfer vehicle 2, an AGV running line 3, an accompanying tool vehicle 4, an electronic fence 5 and a controller 6. The maintenance work area 1 is used to set a workbench for repairing components of electrical equipment. The AGV running line 3 is set on the ground of the maintenance work area 1 and connects the electric locomotive and each workbench in the maintenance work area 1 as a running path guide for the AGV transfer vehicle 2. The AGV transfer vehicle 2 is set on the ground and runs along the AGV transfer line. The accompanying tool vehicle 4 moves with the user in the maintenance work area 1. The electronic fence 5 is arranged on the periphery of the AGV running line 3 and the lateral interval is greater than the width of the AGV transfer vehicle 2. The electronic fence 5 is closed on the ground. The accompanying tool vehicle 4 detects the position of the electronic fence 5. The controller 6 signals connect the AGV transfer vehicle 2 and the accompanying tool vehicle 4 to control the movement of the AGV transfer vehicle 2 and the accompanying tool vehicle 4. When the accompanying tool vehicle 4 moves to the boundary position of the electronic fence 5, according to the horizontal and vertical directions of the tangent of the AGV running line 3, the shortest path through the coverage of the electronic fence 5 relative to the current contact point between the electronic fence 5 and the accompanying tool vehicle 4 is selected as the running route of the accompanying tool vehicle 4.

[0024] like Figure 2As shown, the portable tool vehicle 4 includes a walking device 41, a cabinet 42, an infrared sensor 43, a signal receiver 44 and a WiFi module 45. The walking device 41 is arranged at the bottom of the cabinet 42, the infrared sensor 43 is arranged on the side surface of the cabinet 42 for detecting the position of the user, the signal receiver 44 is arranged at the bottom of the cabinet 42, the signal receiver 44 is used to receive the signals transmitted by each transmitting end of the electronic fence 5, and the WiFi module 45 is used to send the signals collected by the infrared sensor 43 and the signal receiver 44 to the controller 6, and receive the control signal of the controller 6 for the walking device 41 and transmit it to the walking device 41.

[0025] The electronic fence 5 is composed of a number of signal transmitters, which are arranged along both sides of the AGV running line 3. The two lines formed by the signal transmitters on both sides are parallel to the AGV running line 3 and the width of the two lines is greater than the width of the AGV transfer vehicle 2. The shortest distances from the signal transmitters on both sides to the AGV running line 3 are equal. The transmission distance of the signal transmitter is 1.675 times the width of the AGV running line 3 at the corresponding position. The signal transmitters are evenly staggered on both sides of the AGV running line 3, and the staggered length of the signal transmitters on both sides is equal to the shortest distance between the two lines connected by the signal transmitters on both sides.

[0026] like Figure 3 As shown, the controller 6 includes a maintenance area map module 61, a personnel location module 62, an AGV operation module 63, a tool cart crossing module 64 and a tool cart control module 65. The personnel location module 62 is used to receive the user's position in the maintenance line and send it to the maintenance area map module 61. The AGV operation module 63 sets the AGV operation line 3 in the maintenance area map module 61 based on the operation trajectory of the AGV trolley. The operation trajectory includes two vehicle travel boundaries and a travel center line, and the speed and position information of each AGV vehicle is collected at the same time. The maintenance area map module 61 is used to determine the current position of the tool cart based on the AGV operation module 63 and the personnel location module 62, and determine whether the tool cart needs to cross the AGV operation area based on the position. The tool cart crossing module 64 is used to retrieve the determination information of the current tool cart from the maintenance area map module 61 when receiving the signal of the electronic fence 5. The tool cart control module 65 controls the preparation program and execution program for the tool cart to cross the AGV operation trajectory.

[0027] The preparation procedure is that when the tool cart receives two electronic fence 5 signals at the same time, the position where the signal is received is used as the moving base point on the signal range of an electronic fence 5 signal, and the direction close to the operator is chosen to turn sideways, and the electronic fence 5 signal is received in real time and moved. After moving along the edge of an electronic fence 5 signal, another corresponding overlapping point of receiving two electronic fence 5 signals at the same time is found as the symmetrical point of the moving base point, and the midpoint of the electronic fence 5 signal edge between the two is taken, and the tool cart moves to the midpoint, and at the midpoint position, it turns toward the direction of the AGV operating area in the vertical line of the tangent, and moves forward to the edge of the AGV operating area.

[0028] The execution procedure is that after the tool cart completes the preparation procedure, the window period is selected for the tool cart to pass through the AGV operation area according to the AGV vehicle speed and position information collected by the AGV operation module 63 and the tool cart moving speed, and the tool cart is driven to pass through the AGV operation area during the window period.

[0029] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A distributed electrical component maintenance line, characterized by: The invention comprises a maintenance work area (1), an AGV transfer vehicle (2), an AGV running line (3), an accompanying tool vehicle (4), an electronic fence (5) and a controller (6); the maintenance work area (1) is used to set a workbench for repairing components of electrical equipment; the AGV running line (3) is set on the ground of the maintenance work area (1) and connects the electric locomotive and each workbench in the maintenance work area (1) as a running path guide for the AGV transfer vehicle (2); the AGV transfer vehicle (2) is set on the ground and runs along the AGV transfer line; the accompanying tool vehicle (4) moves with the user in the maintenance work area (1); and the electronic fence (5) is set on the periphery of the AGV running line (3). And the lateral spacing is greater than the width of the AGV transfer vehicle (2), the electronic fence (5) is closed on the ground, the accompanying tool vehicle (4) detects the position of the electronic fence (5), and the controller (6) signals connect the AGV transfer vehicle (2) and the accompanying tool vehicle (4) to control the movement of the AGV transfer vehicle (2) and the accompanying tool vehicle (4). When the accompanying tool vehicle (4) moves to the boundary position of the electronic fence (5), according to the horizontal and vertical directions of the tangent of the AGV running line (3), the shortest path through the coverage range of the electronic fence (5) relative to the current contact point between the electronic fence (5) and the accompanying tool vehicle (4) is selected as the running route of the accompanying tool vehicle (4).

2. A distributed electrical component maintenance line according to claim 1, characterized in that: The accompanying tool vehicle (4) comprises a walking device (41), a cabinet (42), an infrared sensor (43), a signal receiver (44) and a WiFi module (45); the walking device (41) is arranged at the bottom of the cabinet (42); the walking device (41) is arranged at the bottom of the cabinet (42); the infrared sensor (43) is arranged on the side surface of the cabinet (42) for detecting the position of the user; the signal receiver (44) is arranged at the bottom of the cabinet (42); the signal receiver (44) is used to receive signals transmitted by each transmitting end of the electronic fence (5); and the WiFi module (45) is used to send the signals collected by the infrared sensor (43) and the signal receiver (44) to the controller (6), and receive the control signal of the controller (6) on the walking device (41) and transmit it to the walking device (41).

3. A distributed electrical component maintenance line according to claim 1, characterized in that: The electronic fence (5) is composed of a plurality of signal transmitters, which are arranged along both sides of the AGV running line (3). The two lines formed by the signal transmitters on both sides are parallel to the AGV running line (3) and the width of the two lines is greater than the width of the AGV transfer vehicle (2). The shortest distances from the signal transmitters on both sides to the AGV running line (3) are equal. The transmission distance of the signal transmitter is 1.675 times the width of the AGV running line (3) at the corresponding position. The signal transmitters are evenly staggered on both sides of the AGV running line (3), and the staggered length of the signal transmitters on the corresponding sides is equal to the shortest distance of the two lines connected by the signal transmitters on both sides.

4. A distributed electrical component maintenance line according to claim 1, characterized in that: The controller (6) includes a maintenance area map module (61), a personnel location module (62), an AGV operation module (63), a tool vehicle crossing module (64) and a tool vehicle control module (65), wherein the personnel location module (62) is used to receive the position of the user in the maintenance line and send it to the maintenance area map module (61), and the AGV operation module (63) sets the AGV operation line (3) in the maintenance area map module (61) based on the operation track of the AGV trolley, and the operation track includes two vehicle travel boundaries and a travel center line, and at the same time The speed and position information of each AGV vehicle is collected. The maintenance area map module (61) is used to determine the current position of the tool vehicle based on the AGV operation module (63) and the personnel location module (62) and to determine whether the tool vehicle needs to cross the AGV operation area based on the position. The tool vehicle crossing module (64) is used to retrieve the determination information of the current tool vehicle from the maintenance area map module (61) when receiving the electronic fence (5) signal. The tool vehicle control module (65) controls the preparation program and execution program for the tool vehicle to cross the AGV operation track.

5. A distributed electrical component maintenance line according to claim 4, characterized in that: The preparation procedure is that when the tool vehicle receives two electronic fence (5) signals at the same time, the position where the signal is received is used as a moving base point on the signal range of an electronic fence (5) signal, and the direction close to the operator is selected to turn sideways, the electronic fence (5) signal is received in real time and moved, and after moving along the edge of an electronic fence (5) signal, another corresponding overlapping point of receiving two electronic fence (5) signals at the same time is found as a symmetrical point of the moving base point, the midpoint of the electronic fence (5) signal edge between the two is taken, and the tool vehicle moves to the midpoint, and at the midpoint position, the tool vehicle turns in the direction of the AGV operating area in the vertical line of the tangent, and moves forward to the edge of the AGV operating area.

6. A distributed electrical component maintenance line according to claim 4, characterized in that: The execution procedure is that after the tool vehicle completes the preparation procedure, according to the AGV vehicle speed and position information collected by the AGV operation module (63) and the tool vehicle moving speed, the window period is selected for the tool vehicle to pass through the AGV operation area, and the tool vehicle is driven to pass through the AGV claim operation area during the window period.

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