Method, device, equipment and medium for automatic maintenance of railway overhead line system arm

Abstract

The application relates to the technical field of automation, in particular to an automatic maintenance method, device, equipment and medium for a railway overhead line system cantilever, wherein the method comprises the following steps: mechanism modeling is performed on the railway overhead line system cantilever to generate a multi-link mechanism composed of multiple links and hinge nodes; actual coordinates and set coordinates of a positioning target point of a contact line at the end of the cantilever in the multi-link mechanism are identified, and a deviation value is calculated according to the set coordinates and the actual coordinates; the node is adjusted in a specific order according to the deviation value until the deviation value of the actual coordinates and the set coordinates of the positioning target point is lower than a preset threshold value, an automatic maintenance path is generated, and a robot is controlled to maintain the railway overhead line system cantilever according to the automatic maintenance path. Therefore, the problems that in the related art, the cantilever maintenance is completed by manual operation, the adjustment operation needs to be repeatedly performed multiple times in the maintenance process, the work efficiency is low, and manpower, material resources and time are wasted are solved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to an automated maintenance method, device, equipment and medium for a railway contact network arm. Background Art

[0002] High-speed rail catenary arm is a crucial component of the railway system, primarily providing support, load transfer, and pantograph guidance. Installed on support pillars alongside the tracks, the arm supports and positions the electrified railway's electrical wiring, transferring the cable's gravity, tension, and wind loads to the support and foundation. While the train is in motion, the pantograph mounted on the roof must maintain stable contact with the catenary to draw power. The arm, through its angle adjustment mechanism and load distribution mechanism, ensures a stable and even contact point, guiding the pantograph's smooth glide.

[0003] The simplified wrist and arm structure is shown in the attached Figure 2 As shown, one end of the arm is fixed to a column on the side of the high-speed rail track, and the other end is connected to the contact network, which serves to position the contact line. The position of the node connected to the contact network determines key parameters such as the contact line's lead height and pullout value. The arm is composed of a series of rods, including a flat arm, an inclined arm, a positioner, a positioning tube, and a bolt device that acts as a positioning and clamping device between the rods. When subjected to continuous external loads during operation, bolts are prone to loosening and rod deformation, causing the wire line supported by the end of the arm to shift, and the lead height and pullout values ​​to deviate from the designed values. Therefore, during contact network maintenance, the position of the end of the arm must be adjusted by adjusting the tightening force and position of the bolt device.

[0004] In the related technology, the existing arm maintenance is basically completed by manual operation. During the manual maintenance of the arm, the deviation of the contact line and the structural information of the arm are not combined, and there is no pre-planning and guidance. It is necessary to rely on the workers' experience and repeatedly perform "loosening the bolts - adjusting the position - tightening the bolts - measuring the guide height and pull-out value". If the measurement results show that the adjustment is not in place, the above maintenance process needs to be repeated, which consumes a lot of manpower and time in the operation. Summary of the Invention

[0005] The present application provides an automated maintenance method, device, equipment, medium and program product for railway contact network arms, in order to solve the problems in related technologies where arm maintenance is performed manually, and adjustment operations need to be performed repeatedly during the maintenance process, resulting in low work efficiency, waste of manpower, material resources and time.

[0006] The first aspect of the present application provides an automated maintenance method for a railway contact network arm, comprising the following steps: performing mechanical modeling on the railway contact network arm to generate a multi-link mechanism consisting of multiple rods and hinge nodes; identifying the actual coordinates and set coordinates of a positioning target point of the contact line at the end of the arm in the multi-link mechanism, and calculating a deviation value based on the set coordinates and the actual coordinates; adjusting the nodes in sequence according to the deviation value in a specific order until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold, thereby generating an automated maintenance path to achieve maintenance of the railway contact network arm.

[0007] Optionally, the identifying of the actual coordinates of the positioning target point of the contact line of the end of the wrist arm in the multi-link mechanism includes: constructing a base coordinate system of the topological structure with the node of the wrist arm close to the column as the origin and establishing a local coordinate system with each rod in the topological structure as the coordinate axis; gradually converting the local coordinate system where the contact line of the end of the wrist arm is located to the base coordinate system according to the rigid body transformation relationship matrix to determine the global coordinates of the positioning target point of the contact line of the end of the wrist arm in the base coordinate system, and determining the actual coordinates of the positioning target point of the contact line of the end of the wrist arm in the multi-link mechanism according to the global coordinates.

[0008] Optionally, the rigid body transformation relationship matrix includes: calculating corresponding rotation angles and translation vectors according to the local coordinate systems of adjacent rods; and constructing the rigid body transformation relationship matrix through the chain rule according to the rotation angles and the translation vectors.

[0009] Optionally, the identifying of the set coordinates of the positioning target point of the contact line at the end of the arm includes: obtaining the set lead height and pull-out value of the railway contact network arm; and calculating the set coordinates of the target point based on the set lead height and the pull-out value.

[0010] Optionally, the nodes are adjusted sequentially in a specific order according to the deviation value until the deviation value between the actual coordinates of the target point and the set coordinates is lower than a preset threshold value to generate an automated maintenance path, including: screening multiple adjustable nodes according to the deviation value; calculating the maximum adjustment range of each adjustable node; and subjecting preset conditions to a constraint, adjusting the adjustable nodes sequentially in the order of the proximal group, the mid-end group and the distal group to generate a robot maintenance operation path until the deviation value between the actual coordinates of the target point and the set coordinates is lower than a preset threshold value.

[0011] Optionally, the preset condition is that the coordinates of the target point adjusted according to the corresponding adjustable node satisfy the following inequality:

[0012]

[0013] Where, f(l1+Δl j ) indicates that when an adjustment Δl is applied to the length l1 of the rodj After that, the new position of the target point of the contact line positioning at the end of the arm is obtained, and f(L) represents the position of the target point of the contact line positioning at the end of the arm before adjustment, [f(l1+Δl j )-f(L)] x Indicates the position change of the target point located at the end of the cantilever contact line in the X-axis direction. Indicates the maximum adjustable range of the j+1 node in the X-axis direction, [f(l1+Δl j )-f(L)] y Indicates the position change of the target point located at the end of the cantilever contact line in the Y-axis direction. Indicates the maximum adjustable range of the j+1 node in the Y-axis direction.

[0014] The second aspect of the present application provides an automated maintenance device for a railway contact network arm, including: a modeling module for performing mechanical modeling of the railway contact network arm to generate a multi-link mechanism consisting of multiple rods and hinge nodes; an identification module for identifying the actual coordinates and set coordinates of the positioning target point of the contact line at the end of the arm in the multi-link mechanism, and calculating the deviation value based on the set coordinates and the actual coordinates; an adjustment module for adjusting the nodes in sequence according to the deviation value in a specific order until the deviation value between the actual coordinate of the target point and the set coordinate is lower than a preset threshold, thereby generating an automated maintenance path to achieve maintenance of the railway contact network arm.

[0015] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to perform the automated maintenance method for the railway contact network arm as described in the above embodiment.

[0016] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to perform the automated maintenance method for the railway contact network arm as described in the above embodiment.

[0017] The fifth aspect of the present application provides a computer program product, including a computer program or instructions, characterized in that when the computer program or instructions are executed, the automated maintenance method of the railway contact network arm as described in the above embodiment is implemented.

[0018] Therefore, this application has at least the following beneficial effects:

[0019] The embodiment of the present application performs mechanics modeling of the railway arm and the contact network to generate a multi-link mechanism consisting of multiple rods and hinge nodes, and determines the deviation amount based on the actual coordinates and set coordinates of the positioning target point of the contact line of the end of the arm in the multi-link mechanism. According to the deviation amount and various constraints that need to be adjusted, the adjustment nodes and adjustment sequence are automatically selected to guide the robot to perform automated maintenance operations, improve work efficiency, and solve the current problems that railway arm maintenance relies on worker experience, requires repeated adjustments and measurements, and maintenance results are unpredictable.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A flowchart of an automated maintenance method for a railway contact network arm provided according to an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a simplified contact network arm and positioning device provided according to an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the modeling results of the mechanism modeling of the simplified wrist arm provided in accordance with an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a process flow for planning a path for a cantilever maintenance operation according to an embodiment of the present application;

[0026] Figure 5 This is a block diagram of an example of an automated maintenance device for a railway contact network arm according to an embodiment of the present application;

[0027] Figure 6 A schematic structural diagram of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0029] Since the maintenance work of the railway contact network arm is heavy and needs to be carried out at high altitude, the ergonomic conditions are poor. In order to improve work efficiency, it is necessary to introduce a robot-assisted automated operation system to carry out the arm maintenance and adjustment work in the contact network maintenance. Compared with traditional operation objects such as rails, the arm mechanism consists of many parts and the number of bolt devices that can be adjusted during maintenance is large (see attached). Figure 2 ), typically selecting two or more bolting nodes for loosening, repositioning, and tightening. The effect of adjusting the wires supported by the end of the arm is often related to the order in which the bolting nodes are selected during maintenance.

[0030] Therefore, the present application provides a method for mechanical modeling of railway arms and contact networks, and based on the modeling results, performs path planning for arm maintenance tasks, automatically selects arm nodes to be adjusted, and determines their order in the operation path, thereby solving the problem that current railway arm maintenance relies on worker experience, requires repeated adjustments and measurements, and has unpredictable maintenance results.

[0031] The following describes the automated maintenance method, device, vehicle, storage medium and program product of the railway contact network arm in accordance with the embodiments of the present application with reference to the accompanying drawings.

[0032] Specifically, Figure 1 A flow chart of an automated maintenance method for a railway contact network arm provided in an embodiment of the present application.

[0033] like Figure 1 As shown, the automated maintenance method for the railway contact network arm includes the following steps:

[0034] In step S101, a multi-link mechanism consisting of a plurality of rods and hinge nodes is generated by performing a mechanism modeling on the railway contact network arm.

[0035] It can be understood that the embodiment of the present application can perform mechanical modeling of the railway contact network arm to generate a multi-link mechanism consisting of multiple rods and hinge nodes, so as to facilitate the subsequent more intuitive representation of the length, angle and mutual connection relationship of each rod in the arm system, and ensure that the design is consistent with the actual structure.

[0036] It should be noted that the cantilever is modeled mechanically and abstracted as a multi-link mechanism, in which the flat cantilever, oblique cantilever, positioner, and positioning tube are defined as rods, and the sleeve connector with bolt device is defined as a hinge. Taking the simplified cantilever as an example, the modeling results are shown in the attached figure. Figure 3 The hinge nodes are defined as A to H, the fixed-length rod lengths are defined as L1 to L3, and the variable-length rod lengths are defined as l1 to l6, which can be adjusted by adjusting the position of the hinge sleeve.

[0037] In step S102, the actual coordinates and the set coordinates of the positioning target point of the contact line of the arm end in the multi-link mechanism are identified, and the deviation value is calculated based on the set coordinates and the actual coordinates.

[0038] It can be understood that the embodiment of the present application can identify the actual coordinates and set coordinates of the positioning target point of the contact line of the arm end in the multi-link mechanism, and calculate the deviation value based on the set coordinates and the actual coordinates, so as to facilitate the subsequent adjustment of the nodes in a specific order according to the deviation value until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than the preset threshold, thereby generating an automated maintenance path.

[0039] In an embodiment of the present application, the actual coordinates of the positioning target point of the contact line of the end of the wrist arm in the multi-link mechanism are identified, including: constructing a base coordinate system of the topological structure with the node of the wrist arm close to the column as the origin and establishing a local coordinate system with each rod in the topological structure as the coordinate axis; gradually converting the local coordinate system where the contact line of the end of the wrist arm is located to the base coordinate system according to the rigid body transformation relationship matrix to determine the global coordinates of the positioning target point of the contact line of the end of the wrist arm in the base coordinate system, and determining the actual coordinates of the positioning target point of the contact line of the end of the wrist arm in the multi-link mechanism according to the global coordinates.

[0040] It can be understood that the embodiment of the present application can construct a base coordinate system of the topological structure with the node of the arm close to the column as the origin and establish a local coordinate system with each rod in the topological structure as the coordinate axis; the local coordinate system where the contact line of the arm end is located is gradually converted to the base coordinate system according to the rigid body transformation relationship matrix to determine the global coordinates of the positioning target point of the contact line of the arm end in the base coordinate system, and the actual coordinates of the positioning target point of the contact line of the arm end in the multi-link mechanism are determined according to the global coordinates, so that the actual coordinates of the contact line of the arm end can be accurately located, thereby improving the accuracy of subsequent calculations.

[0041] A reference coordinate system is established for each member in the cantilever, where the X-axis of the coordinate system coincides with the long axis of the member, the Y-axis of the coordinate system is perpendicular to the X-axis and is in the plane defined by the members that make up the cantilever, and the origin of the coordinate system coincides with the endpoint of the member.

[0042] In an embodiment of the present application, the rigid body transformation relationship matrix includes: calculating the corresponding rotation angles and translation vectors according to the local coordinate systems of adjacent rods; and constructing the rigid body transformation relationship matrix through the chain rule based on the rotation angles and translation vectors.

[0043] It can be understood that the embodiment of the present application can calculate the corresponding rotation angle and translation vector according to the local coordinate system of adjacent rods; construct a rigid body transformation relationship matrix through the chain rule based on the rotation angle and translation vector, so as to accurately locate the actual coordinates of the contact line at the end of the wrist arm.

[0044] For example, if Figure 3As shown, the coordinate system bound to rod AB can be defined as O AB , the coordinate system takes node A as the origin, AB as the positive direction of the X axis, and the direction perpendicular to AB and in accordance with the right-hand rule as the positive direction of the Y axis. The transformation matrix between the coordinate systems can be expressed by the rigid body transformation matrix. For example, from the coordinate system O bound to the rod AB AB To the coordinate system O bound to rod AC AC The transformation matrix between can be expressed as

[0045] Specifically, under the above-mentioned coordinate system and transformation relationship definition framework, according to the rigid body transformation principle, the transformation relationship matrix between each coordinate system can be expressed as follows.

[0046] From the base coordinate system O Base To the coordinate system O bound to rod AB AB The transformation matrix between can be expressed as:

[0047]

[0048] Among them, trans(-Δl1,0) is Δl1 is the distance from the node of the arm close to the column to node A in the X-axis direction.

[0049] From the coordinate system O bound to the rod AB AB To the coordinate system O bound to rod AC AC The transformation matrix between can be expressed as:

[0050]

[0051] Among them, rot(-∠CAB) is

[0052] From the coordinate system O bound to rod AC AC To the coordinate system O bound to the rod CB CB The transformation matrix between can be expressed as:

[0053]

[0054] Among them, trans([L1,0]) is rot(π-∠ACB) is L1 is the length of rod AC.

[0055] From the coordinate system O bound to the rod CB CB To the coordinate system O bound to the rod CE CE The transformation matrix between can be expressed as:

[0056]

[0057] Where, rot(-∠DCE) is

[0058] In the coordinate system O bound to the rod CE CE Under the above conditions, the coordinates of the target point H located at the end of the cantilever contact line can be expressed as the following matrix:

[0059]

[0060] Among them, trans([L3+l5,-l6]) is L3 is the length of the rod GH, l5 is the length of the rod CF, and l6 is the length of the rod FG.

[0061] Based on the above derivation, the position of the target point H in the base coordinate system can be derived by the chain rule of the rigid body transformation matrix:

[0062]

[0063]

[0064] In formula (7), p H is the position of the target point H in the base coordinate system, Representation matrix The 2×1 submatrix is ​​composed of the elements crossing the first to second rows and the third column in , and f is the functional relationship between the length of each variable rod and the target point at the end of the arm, which can be derived from Equation (6), where L is [l1, l2, l3, l4, l5, l6], l1 is the length of rod AB, l2 is the length of rod CD, l3 is the length of rod DB, l4 is the length of rod CE, l5 is the length of rod CF, and l6 is the length of rod FG.

[0065] In equations (1) to (6), rot represents the rotation matrix and trans represents the translation matrix, which are specifically expressed as follows:

[0066]

[0067] The angles in the rotation matrix can be derived based on the lengths of the rods by combining the law of cosines. For example, ∠CAB can be expressed as follows:

[0068]

[0069] Where L1 is the length of rod AC, l1 is the length of rod AB, l2 is the length of rod CD, and l3 is the length of rod DB.

[0070] In an embodiment of the present application, identifying the set coordinates of the positioning target point of the contact line at the end of the arm includes: obtaining the set lead height and pull-out value of the railway contact network arm; and calculating the set coordinates of the positioning target point based on the set lead height and pull-out value.

[0071] It can be understood that the embodiment of the present application can calculate the set coordinates of the positioning target point based on the set guide height and pull-out value of the railway contact network arm, so as to facilitate the subsequent calculation of the deviation value of the positioning target point of the contact line at the end of the arm.

[0072] It should be noted that the set lead height refers to the ideal height of the contact wire in the vertical direction, which is usually determined during the design phase based on the working range of the train pantograph to ensure good contact between the contact wire and the pantograph; the pull-out value refers to the horizontal offset of the contact wire relative to the center line of the track, which affects the lateral position relationship between the contact wire and the pantograph, ensuring that the pantograph can stably contact the contact wire during train operation. The set lead height and pull-out value are both calibrated by the railway design.

[0073] In step S103, the nodes are adjusted in sequence according to the deviation value in a specific order until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than the preset threshold, and an automated maintenance path is generated. The robot is controlled according to the automated maintenance path to repair the railway contact network arm.

[0074] Among them, the preset threshold can be set according to actual needs and is not specifically limited.

[0075] It can be understood that the embodiment of the present application can adjust the nodes in sequence according to the deviation value in a specific order until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than the preset threshold value, generate an automated maintenance path, and control the robot to repair the railway contact network arm according to the automated maintenance path. According to the deviation amount and various constraints that need to be adjusted, the adjustment nodes and adjustment sequence are automatically selected to guide the robot to perform automated maintenance operations, thereby improving work efficiency and solving the current problems that railway arm maintenance relies on workers' experience, requires repeated adjustments and measurements, and maintenance results are unpredictable.

[0076] It should be noted that this application establishes a base coordinate system with point O, where the arm is closest to the column, as the origin. The end point connected to the contact wire is H, where the horizontal and vertical coordinates of H respectively determine the contact wire's pullout value and lead height. During the arm maintenance process, the bolts at each node are loosened, allowing the sleeve to slide on the rod, releasing the node's translational and rotational degrees of freedom. By moving the sleeve on the rod, the length of the variable rod l1 to l6 can be adjusted, and the position of H can be adjusted to change the contact wire's lead height and pullout value to approach the target ideal value.

[0077] In an embodiment of the present application, nodes are adjusted sequentially in a specific order according to the deviation value until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold value, thereby generating an automated maintenance path, including: screening multiple adjustable nodes according to the deviation value; calculating the maximum adjustment range of each adjustable node; and subjecting preset conditions to a constraint, adjusting the adjustable nodes sequentially in the order of the proximal group, the mid-end group, and the distal group to generate a robot maintenance operation path until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold value.

[0078] Among them, the preset threshold can be set according to actual needs and is not specifically limited.

[0079] The preset condition is that the actual coordinates of the target point after adjustment according to the corresponding adjustable node satisfy the following inequality:

[0080]

[0081] Where, f(l1+Δl j ) indicates that when an adjustment Δl is applied to the length l1 of the rod j After that, the new position of the target point of the contact line positioning at the end of the arm is obtained, and f(L) represents the position of the target point of the contact line positioning at the end of the arm before adjustment, [f(l1+Δl j )-f(L)] x Indicates the position change of the target point located at the end of the cantilever contact line in the X-axis direction. Indicates the maximum adjustable range of the j+1 node in the X-axis direction, [f(l1+Δl j )-f(L)] y Indicates the position change of the target point located at the end of the cantilever contact line in the Y-axis direction. Indicates the maximum adjustable range of the j+1 node in the Y-axis direction.

[0082] It can be understood that the embodiments of the present application can screen multiple adjustable nodes according to the deviation value; calculate the maximum adjustment range of each adjustable node; and, subject to the satisfaction of preset conditions, adjust the adjustable nodes in sequence in the order of the proximal group, the mid-end group, and the distal group to generate a robot maintenance operation path, until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than the preset threshold, so as to guide the robot to perform automated maintenance operations, improve work efficiency, and solve the current problems that railway wrist arm maintenance relies on workers' experience, requires repeated adjustments and measurements, and maintenance results are unpredictable.

[0083] It should be noted that nodes can be divided into proximal, mid-, and distal groups based on their distance from the cantilever end. The proximal group includes nodes A, B, and C. Adjusting the positions of nodes A and B on the cantilever arm will adjust l1, and adjusting the position of node C on the cantilever arm will adjust l2. The mid-group includes nodes D and E. Adjusting their positions on the cantilever arm will adjust l2 and l4, respectively. The distal group includes nodes F and G. Adjusting their positions on the cantilever arm will adjust l5 and l6, respectively. Adjusting the distal group nodes will minimize the movement of the cantilever arm, while adjusting the proximal group will maximize the movement of the cantilever arm.

[0084] For example, if a fixed adjustment Δl is applied to node j, the movement of the end of the arm is ΔH(Δl,j)=[ΔH x (Δl,j), ΔH y (Δl,j)].

[0085]

[0086] Where, f(l1+Δl j ) indicates that when an adjustment Δl is applied to the length l1 of the rod j After that, the new position of the target point of the contact line positioning at the end of the arm is obtained. f(L) represents the position of the target point of the contact line positioning at the end of the arm before adjustment. i is the number of the rod whose length has changed, i = 1 to 6, j is the number of the adjusted node, j = A, B, C, D, E, F, G. The corresponding relationship between the two is shown in the following table:

[0087]

[0088]

[0089] In the table, the coordinate system that describes the movement of node j is defined as follows: when j is A or B, the coordinate system is O AB ; When j is C or D, the coordinate system is O CB ; When j is E, the coordinate system is O CE ; When j is F, the coordinate system is O CE ; When j is G, the coordinate system is O GF .

[0090] Specifically, let the maximum adjustment amount that each node can apply be When node j is adjusted during maintenance, the adjustment range of the arm end can be calculated by formula (11).

[0091]

[0092] Among them, A max(j) represents the maximum adjustment range of node j, Indicates the maximum adjustment amount applied to node j The movement of the end of the arm in the X-axis direction, Indicates the maximum adjustment amount applied to node j The amount of movement of the end of the arm in the Y-axis direction, Indicates that when the length of the rod l i Apply a maximum adjustment After that, the new position of the target point of the contact line positioning at the end of the arm is obtained, and f(L) represents the position of the target point of the contact line positioning at the end of the arm before adjustment.

[0093] Combined with the above modeling and analysis results, the arm maintenance process is planned and designed. The process is shown in the attached figure. Figure 4 shown.

[0094] First, measure the end of the arm to get the actual coordinate value of point H At a known set height and pull out values In this case, the coordinates of point H should be set as Among them, f1 is the functional relationship between the pull-out value and the coordinates of point H, and f2 is the functional relationship between the guide height and the coordinates of point H; thus, the adjustment amount of the guide height and the pull-out value is calculated as

[0095] Secondly, analyze ΔH: If and Then select node j for adjustment and maintenance.

[0096] Where ΔH x represents the component of ΔH on the X-axis, ΔH y represents the component of ΔH on the Y axis, Indicates the maximum adjustment amount applied to node j The movement of the end of the arm in the X-axis direction, Indicates the maximum adjustment amount applied to node j The amount of movement of the end of the arm in the Y-axis direction, Indicates the maximum adjustment amount applied to node j+1 The movement of the end of the arm in the X-axis direction, Indicates the maximum adjustment amount applied to node j+1 The amount of movement of the end of the arm in the Y-axis direction.

[0097] Then, the amount to be adjusted for node j is calculated, and the target is the adjusted ΔH x and ΔH y Falls within the range corresponding to the next set of nodes, i.e. A max(j+1).

[0098] For example: Apply adjustment value Δl to the proximal group node B B , the adjusted Satisfy [f(l1+Δl B )-f(L)]x≤AxmaxD,E|[fl1+ΔlB-f(L)]y≤AymaxD,E. Where fl1+ΔlB represents the new position of the target point of the contact line at the end of the cantilever arm after an adjustment ΔlB is applied to the length of the member l1, and f(L) represents the position of the target point of the contact line at the end of the cantilever arm before adjustment. Indicates the maximum adjustment range of nodes D and E in the X-axis direction. Indicates the maximum adjustment range of nodes D and E in the Y-axis direction.

[0099] Finally, update ΔH and the node to be adjusted j to complete the adjustment; repeat the above steps until j transitions to the distal group nodes F and G, or the residual deviation between the arm end point H and the target position is less than the threshold.

[0100] It should be noted that in the present invention, a series of nodes A, B, C, D, E, F, and G are provided, where when j represents node A, j+1 represents node B; when j represents point B, j+1 represents point C; and so on, each pair of consecutive points in the sequence is identified and defined by this relationship.

[0101] According to the automated maintenance method for the railway contact network arm proposed in the embodiment of the present application, the railway arm and the contact network are mechanically modeled to generate a multi-link mechanism consisting of multiple rods and hinge nodes, and the deviation amount is determined based on the actual coordinates and set coordinates of the positioning target point of the contact line at the end of the arm in the multi-link mechanism. According to the deviation amount and various constraints that need to be adjusted, the adjustment nodes and adjustment sequence are automatically selected to guide the robot to perform automated maintenance operations, thereby improving work efficiency and solving the current problems that railway arm maintenance relies on workers' experience, requires repeated adjustments and measurements, and maintenance results are unpredictable.

[0102] Next, the automated maintenance device for the railway contact network arm proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0103] Figure 5 It is a block diagram of an automated maintenance device for a railway contact network arm according to an embodiment of the present application.

[0104] like Figure 5 As shown, the automatic maintenance device 10 for the railway contact network arm includes: a modeling module 100, an identification module 200 and an adjustment module 300.

[0105] Among them, the modeling module 100 is used to perform mechanical modeling of the railway contact network arm to generate a multi-link mechanism composed of multiple rods and hinge nodes; the identification module 200 is used to identify the actual coordinates and set coordinates of the positioning target point of the contact line at the end of the arm in the multi-link mechanism, and calculate the deviation value based on the set coordinates and the actual coordinates; the adjustment module 300 is used to adjust the nodes in sequence according to the deviation value in a specific order until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than the preset threshold, generate an automated maintenance path, and control the robot to repair the railway contact network arm according to the automated maintenance path.

[0106] It should be noted that the above explanation of the embodiment of the automated maintenance method for the railway contact network arm is also applicable to the automated maintenance device for the railway contact network arm of this embodiment, and will not be repeated here.

[0107] According to the automated maintenance device for the railway contact network arm proposed in the embodiment of the present application, the railway arm and the contact network are mechanically modeled to generate a multi-link mechanism consisting of multiple rods and hinge nodes, and the deviation amount is determined based on the actual coordinates and set coordinates of the positioning target point of the contact line at the end of the arm in the multi-link mechanism. According to the deviation amount and various constraints that need to be adjusted, the adjustment nodes and adjustment sequence are automatically selected to guide the robot to perform automated maintenance operations, thereby improving work efficiency and solving the current problems that railway arm maintenance relies on workers' experience, requires repeated adjustments and measurements, and maintenance results are unpredictable.

[0108] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0109] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0110] When the processor 602 executes the program, the automated maintenance method for the railway contact network arm provided in the above embodiment is implemented.

[0111] Furthermore, the electronic device further includes:

[0112] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0113] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0114] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0115] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0116] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0117] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0118] An embodiment of the present application also provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed by a processor, the above-mentioned automated maintenance method of the railway contact network arm is implemented.

[0119] An embodiment of the present application also provides a computer program product, including a computer program or instructions, characterized in that when the computer program or instructions are executed, the above-mentioned automated maintenance method of the railway contact network arm is implemented.

[0120] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0121] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0122] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0123] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, it can be implemented using any one or a combination of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0124] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

Claims

1. An automated maintenance method for a railway contact network arm, characterized in that: The following steps are involved: Conducting mechanical modeling of the railway catenary arm to generate a multi-link mechanism consisting of multiple rods and hinge nodes; Identifying the actual coordinates and set coordinates of a positioning target point of a contact line of a cantilever end in the multi-link mechanism, and calculating a deviation value based on the set coordinates and the actual coordinates; According to the deviation value, the nodes are adjusted in sequence in a specific order until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold value, an automated maintenance path is generated, and a robot is controlled to perform maintenance on the railway contact network arm according to the automated maintenance path; The method comprises: adjusting the nodes in sequence according to the deviation value in a specific order until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold value, thereby generating an automated maintenance path, including: screening a plurality of adjustable nodes according to the deviation value; calculating the maximum adjustment range of each adjustable node; and, subject to satisfying a preset condition as a constraint, adjusting the adjustable nodes in sequence according to the order of the proximal group, the mid-end group, and the distal group to generate a robot maintenance operation path until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold value. The preset condition is that the actual coordinates of the positioning target point adjusted according to the corresponding adjustable node satisfy the following inequality: ； in, Indicates the length of the rod Apply an adjustment After that, the contact line at the end of the cantilever locates the new position of the target point. Indicates the position of the target point of the contact line positioning at the end of the arm before adjustment. Indicates the position change of the target point located at the end of the cantilever contact line in the X-axis direction. Indicates the maximum adjustable range of the j+1 node in the X-axis direction. Indicates the position change of the target point located at the end of the cantilever contact line in the Y-axis direction. Indicates the maximum adjustable range of the j+1 node in the Y-axis direction.

2. The automated maintenance method for railway overhead contact network arm according to claim 1, characterized in that: The identifying the actual coordinates of the positioning target point of the contact line of the cantilever end of the multi-link mechanism includes: A base coordinate system of the topological structure is constructed with the node of the arm close to the column as the origin, and a local coordinate system is constructed with each rod in the topological structure as the coordinate axis; The local coordinate system where the contact line of the cantilever end is located is gradually converted to the base coordinate system according to the rigid body transformation relationship matrix to determine the global coordinates of the positioning target point of the contact line of the cantilever end in the base coordinate system; The actual coordinates of the positioning target point of the contact line of the cantilever end of the multi-link mechanism are determined according to the global coordinates.

3. The automated maintenance method for railway overhead contact network arm according to claim 2, characterized in that: The rigid body transformation relationship matrix includes: Calculate the corresponding rotation angle and translation vector according to the local coordinate system of the adjacent members; A rigid body transformation relationship matrix is ​​constructed according to the rotation angle and the translation vector using the chain rule.

4. The automated maintenance method for railway overhead contact network arm according to claim 1, characterized in that: The step of identifying the setting coordinates of the positioning target point of the contact line of the arm end includes: Get the set lead height and pull-out value of the railway contact network arm; The set coordinates of the positioning target point are calculated according to the set guide height and the pull-out value.

5. An automated maintenance device for a railway contact network arm, characterized in that: include: Modeling module, used to perform mechanical modeling of the railway catenary arm to generate a multi-link mechanism consisting of multiple rods and hinge nodes; An identification module is used to identify the actual coordinates and set coordinates of the positioning target point of the contact line of the arm end in the multi-link mechanism, and calculate the deviation value according to the set coordinates and the actual coordinates; an adjustment module, configured to sequentially adjust nodes in a specific order according to the deviation value until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold, generate an automated maintenance path, and control the robot to perform maintenance on the railway contact network arm according to the automated maintenance path; The method comprises: adjusting the nodes in sequence according to the deviation value in a specific order until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold value, thereby generating an automated maintenance path, including: screening a plurality of adjustable nodes according to the deviation value; calculating the maximum adjustment range of each adjustable node; and, subject to satisfying a preset condition as a constraint, adjusting the adjustable nodes in sequence according to the order of the proximal group, the mid-end group, and the distal group to generate a robot maintenance operation path until the deviation value between the actual coordinates of the positioning target point and the set coordinates is lower than a preset threshold value. The preset condition is that the actual coordinates of the positioning target point adjusted according to the corresponding adjustable node satisfy the following inequality: ； in, Indicates the length of the rod Apply an adjustment After that, the contact line at the end of the cantilever locates the new position of the target point. Indicates the position of the target point of the contact line positioning at the end of the arm before adjustment. Indicates the position change of the target point located at the end of the cantilever contact line in the X-axis direction. Indicates the maximum adjustable range of the j+1 node in the X-axis direction. Indicates the position change of the target point located at the end of the cantilever contact line in the Y-axis direction. Indicates the maximum adjustable range of the j+1 node in the Y-axis direction.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automated maintenance method for a railway contact network arm as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the automated maintenance method for a railway contact network arm as described in any one of claims 1 to 4.

8. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, is used to implement the automated maintenance method for the railway contact network arm according to any one of claims 1 to 4.

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