Parallel pollution discharge control method and system based on robot control and machine vision algorithm

Abstract

The invention relates to the technical field of automatic equipment for motor train units, in particular to a parallel pollution discharge control method and system based on robot control and a machine vision algorithm. A parallel pollution discharge control method based on robot control and a machine vision algorithm is applied to a unit controller of a first moving trolley and comprises the steps that when a pollution discharge instruction from a central controller is received, an image collection unit is controlled to recognize a pollution suction box so as to determine a first target position, controlling the first moving trolley to walk according to the first planned path; wherein the first planning path is generated based on the current position of the first moving trolley and the first target position; and in the process of the first planning path, the collected image collecting unit is controlled to recognize a sewage draining exit in the bullet train so as to determine a second target position, and when the moving trolley determines to arrive at the first target position, the sewage draining robot integrated on the first moving trolley is controlled to clamp a vacuum sewage sucking pipe at the sewage sucking box and then continues to walk according to the second planning path.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment for electric train sets, and in particular to a parallel sewage discharge control method and system based on robot control and machine vision algorithms. Background Art

[0002] With the rapid development of railway transportation, the vacuum sewage unloading system of train toilets has become a key equipment for ensuring sanitation and environmental protection. The existing vacuum sewage unloading system mainly consists of three parts: vacuum unit, vacuum pipeline and sewage unloading unit. Among them, the vacuum unit is responsible for generating and maintaining the vacuum degree of the system, and has the functions of sewage discharge, automatic control and status indication; the vacuum pipeline is used for closed transportation of sewage; the sewage unloading unit is connected to the sewage box of the train toilet, and discharges the sewage into the vacuum pipeline (such as Figures 1 to 2 ).

[0003] However, the current sewage unloading operation still relies on manual insertion and removal of sewage unloading hoses, and operators need to frequently cross railway tracks, which poses a great personal safety hazard. In addition, manual operation may result in the sewage unloading hose not being removed in time, which may lead to "driving with hoses" accidents, seriously threatening driving safety (such as Figure 3 Although some intelligent improvement plans have proposed the use of overhead or ground-based rail robots to achieve automatic plugging and unplugging, this solution has significant drawbacks: first, the modification cost is extremely high, requiring large-scale non-standard infrastructure construction at railway stations, which is less economical; second, the operation efficiency is low, and the rail robots need to be operated one by one, which makes it difficult to meet the needs of parallel sewage unloading on multiple tracks; and it is impossible to modify every stop. Fixed stops result in limited flexibility and cannot be flexibly adapted to changes according to railway operation rules, so promotion is limited. Summary of the Invention

[0004] Based on the above, the present application provides a parallel sewage control method and system based on robot control and machine vision algorithm.

[0005] According to the first aspect of the present application, a parallel sewage discharge control method based on robot control and machine vision algorithm is provided, which is applied to the unit controller of the first mobile cart, including: when receiving a sewage discharge instruction from the central controller, controlling the image acquisition unit to identify the sewage suction box to determine the first target position, so as to control the first mobile cart to move according to the first planned path; wherein the first planned path is generated based on the current position of the first mobile cart and the first target position; during the first planned path process, controlling the image acquisition unit to identify the sewage outlet on the moving car to determine the second target position, and when the mobile cart determines that it has arrived at the first target position, controlling the sewage discharge robot integrated on the first mobile cart to clamp the vacuum sewage suction pipe at the sewage suction box and continue to move according to the first planned path. The vehicle moves along a second planned path, wherein the second planned path is generated based on the first target position and the second target position; when it is determined that the vehicle has arrived at the second target position, the image acquisition unit is controlled to identify the sewage discharge mechanism of the vehicle, so as to connect the vacuum sewage suction pipe to the sewage outlet of the sewage discharge mechanism of the vehicle; wherein, in the process of executing the first planned path, the second planned path and connecting the vacuum sewage suction pipe, a timestamp is sent to the central controller at each preset time interval, and the central controller compares the timestamp with the maximum allowable time preset for the corresponding task in response to receiving the timestamp of the first mobile car and the second mobile car, and sends a current decision instruction according to the comparison result; upon receiving the current decision instruction, at least one of maintaining the current action, taking over the action or the action to be taken over is executed.

[0006] In a further scheme in the embodiment of the present application, the central controller responds to receiving the timestamps of the first and second mobile carts, compares the timestamps with the preset maximum allowable time of the corresponding task, and sends the current decision instruction based on the comparison result, including: the central controller sends a sewage discharge instruction, and receives the arrival of the first mobile cart or the second mobile cart at the first target position, the arrival of the first mobile cart or the second mobile cart at the second target position as a timing node, and calculates the task time of the first mobile cart and the second mobile cart based on the received timestamps and timing nodes; when the task time of the first and second mobile carts does not exceed the maximum allowable time of the corresponding tasks, the first decision instruction is fed back to the first mobile cart; when the task time of the first mobile cart does not exceed the maximum allowable time of the corresponding task, and the task time of the second mobile cart exceeds the maximum allowable time of the corresponding task, the second decision instruction is fed back to the first mobile cart; when the task time of the first mobile cart exceeds the maximum allowable time of the corresponding task, and the task time of the second mobile cart exceeds the maximum allowable time of the corresponding task, the third decision instruction is fed back to the first mobile cart.

[0007] In a further scheme in the embodiment of the present application, when a current decision instruction is received, at least one of maintaining the current action, taking over action or waiting to be taken over action is executed, including: when a first decision instruction is received, controlling to continue to execute the first planned path, the second planned path or connecting the vacuum suction pipe; when a second decision instruction is received, obtaining the current position of the first mobile cart, the current position of the second mobile cart, the first target position or the second target position and sending them to the central controller, the central controller responds to receiving the current position of the first mobile cart, the current position of the second mobile cart, the first target position or the second target position, and generates a target takeover path according to the task priority level, and the unit controller of the first mobile cart controls the execution of the takeover action after receiving the takeover path; when a third decision instruction is received, the current position of the first mobile cart is sent to the central controller, the central controller responds to receiving the current position of the first mobile cart, and generates a new retreat path according to the preset retreat position, and the unit controller of the first mobile cart executes the waiting to be taken over action after receiving the takeover path.

[0008] In a further scheme in the embodiment of the present application, the central controller responds to receiving the current position of the first mobile trolley, the current position of the second mobile trolley, the first target position or the second target position, and generates a target takeover path according to the task priority, including: generating a first takeover path for preferentially completing the sewage discharge task of the first mobile trolley according to the current position of the first mobile trolley, the retreat path of the second mobile trolley, and the first target position or the second target position, and calculating the first completion time node of the sewage discharge task of the first mobile trolley and the second completion time node of the sewage discharge task of the second mobile trolley under the first takeover path; generating a second takeover path for preferentially completing the sewage discharge task of the second mobile trolley according to the current position of the first mobile trolley, the retreat path of the second mobile trolley, and the first target position or the second target position, and calculating the second completion time node of the sewage discharge task of the first mobile trolley under the second takeover path. the third completion time node and the fourth completion time node of the second mobile car sewage discharge task; calculate the first difference between the first completion time node and the corresponding train departure time, the second difference between the second completion time node and the corresponding train departure time, the third difference between the third completion time node and the corresponding train departure time, and the fourth difference between the fourth completion time node and the corresponding train departure time; if the first difference, the second difference, or any one of the third difference and the fourth difference is negative, then the first takeover path or the second stage path corresponding to when there is no negative number is used as the target path; if the first difference, the second difference, or the third difference and the fourth difference is negative, then the first sum of the first difference and the second difference is compared with the second sum of the third difference and the fourth difference, and the first takeover path or the second stage path corresponding to the relatively larger one is used as the target path.

[0009] In a further scheme in the embodiment of the present application, when the unit controller of the first mobile cart receives the takeover path and executes the takeover action, it includes: determining whether the sewage discharge robot currently holds a vacuum sewage suction pipe; when the vacuum sewage suction pipe is clamped, controlling the release of the vacuum sewage suction pipe and sending a reeling signal to the central server, the central server responds to the received reeling signal and feeds back to the pit turntable at the sewage suction box, so that the pit turntable can accommodate the vacuum sewage suction pipe; when the sewage discharge robot does not hold the vacuum sewage suction pipe or has completed the release of the vacuum sewage suction pipe, controlling the first mobile cart to retreat to the retraction position.

[0010] In a further scheme in an embodiment of the present application, when the remaining power value is lower than a preset power threshold, the remaining power value is sent to the central controller. In response to receiving the remaining power value, the central controller calculates the final endurance time and the estimated charging time at each time node based on the future time node of the train entering the station, and calculates the charging time node based on the estimated charging time and non-task time before the final endurance time and sends the charging time node to the first mobile cart; wherein, the predicted charging time is the difference between the preset target power and the current power and the charging rate; after receiving the charging time node, it moves to the preset charging station at the closest charging time node for electric charging; wherein, when the first mobile cart enters the state of taking over the second mobile cart, the target power of the first mobile cart is reduced from the preset first value to the preset second value.

[0011] In a further scheme in the embodiment of the present application, the vacuum sewage suction pipe is connected to the sewage outlet of the motor vehicle sewage discharge mechanism, including: reading the mechanical feedback data during the connection process, and determining whether the connection is in place based on the mechanical feedback data; the parallel sewage discharge control method also includes: when it is determined that the vacuum sewage suction pipe is connected in place, controlling the controllable vacuum chamber to open the negative pressure of the vacuum sewage suction pipe to extract at the sewage outlet; after the extraction is completed, the vacuum sewage suction pipe is withdrawn from the sewage outlet of the motor vehicle sewage discharge mechanism, controlling the release of the vacuum sewage suction pipe and sending a reeling signal to the central server, the central server responds to the received reeling signal and feeds back to the pit turntable at the sewage suction box, so that the pit turntable can receive the vacuum sewage suction pipe; controlling the first trolley to reset to a preset waiting position.

[0012] The second aspect of the present application also provides a parallel sewage discharge control system based on robot control and machine vision algorithm, comprising: a first mobile cart integrated with a sewage discharge robot, and a second mobile cart integrated with a sewage discharge robot; wherein the first mobile cart is provided with a unit controller electrically connected to the corresponding sewage discharge robot, and the second mobile cart is provided with a unit controller electrically connected to the corresponding sewage discharge robot; a central controller for interacting with the unit controller at the first mobile cart and the unit controller at the second mobile cart; a sewage suction box, comprising an outer shell, and a pit turntable, a vacuum sewage suction pipe and a controllable vacuum chamber arranged in the outer shell, wherein the vacuum sewage suction pipe can be wound around the pit turntable, and one end of the vacuum sewage suction pipe is connected to the vacuum chamber, and the other end is exposed to the outer shell, and the pit turntable and the controllable vacuum chamber are electrically connected to the central controller; the unit controller at the first mobile cart is configured to execute the above-mentioned parallel sewage discharge control method.

[0013] In a further scheme in the embodiment of the present application, the first mobile cart includes an Ackerman chassis; the sewage discharge robot includes a multi-axis motion mechanism, a clamping fixture connected to the end of the multi-axis motion mechanism, and a mechanical feedback disk arranged between the clamping fixture and the multi-axis motion mechanism, and an image acquisition unit and an in-place detection mechanism integrated in the clamping fixture, the in-place detection mechanism being used to detect whether the sewage discharge robot currently holds a vacuum suction pipe.

[0014] In a further scheme in the embodiment of the present application, the clamping fixture includes: two clamping jaws extending along the first direction, the two clamping jaws are arranged at intervals and a clamping groove is reserved between them, and the two clamping jaws can be driven to move away from or approach each other in the second direction to clamp or release the sewage suction pipe through the clamping groove; two restraining claws are respectively connected to the side of the clamping jaws away from the clamping groove so as to be able to move away from or approach each other in the second direction synchronously with the clamping jaws, and the restraining claws are arranged to be able to extend and retract in a third direction under driving, wherein any two of the first direction, the second direction and the third direction are perpendicular to each other; a clamp pipe sleeve, connected to the outer wall of the vacuum sewage suction pipe, when the clamping jaws clamp the outer wall of the vacuum sewage suction pipe, the ends of the two restraining claws are clamped into the groove of the clamp pipe sleeve; a vacuum suction cup, arranged on the side of the clamping jaws away from the multi-axis motion mechanism, the vacuum suction cup can be adsorbed on the covering door, and the covering door is slid by the multi-axis motion mechanism to expose the sewage outlet, and the vacuum sewage suction pipe is clamped by the clamping jaws and the restraining claws and is connected to the sewage outlet under the drive of the multi-axis motion mechanism.

[0015] In summary, both the first mobile cart and the second mobile cart start from receiving the sewage discharge instruction from the central controller, and send the timestamp and the current task progress to the central controller at fixed intervals. The central controller compares the timestamp with the preset maximum allowable time for the task based on the task currently performed by the node robot: if the timestamp meets the expectations, the current task is maintained; if there is an abnormality, it proves that the robot has an abnormality and the other one is used to take over; in simple terms, if the first mobile cart times out and is not completed, the central controller orders the second mobile cart to take over, the first mobile cart enters the waiting to take over state, and the second mobile cart continues the task from the breakpoint of the first mobile cart.

[0016] In summary, in the solution provided in this application, the first mobile trolley and the second mobile trolley both move directly on the existing track, reducing the cost and engineering workload of the station structure transformation; visual recognition avoids the cumulative error of traditional mechanical positioning, adapts to different platform layouts, and through design, the EMU sewage outlet is synchronously identified during the movement, and "movement" and "target recognition" can be performed in parallel, shortening the total operation time; the sewage outlet posture is fine-tuned through the visual system to ensure a sealed docking with the EMU sewage outlet, and the negative pressure equipment is started to pump out sewage after successful docking; no human intervention is required throughout the process, and fully automated operation is achieved, and the first mobile trolley and the second mobile trolley are extremely flexible and can be deployed at any time and adaptively adjusted according to the rules of EMU operation: that is, when a new platform is added or the operating area is temporarily adjusted, the robot can be put into operation quickly without the need to modify the infrastructure.

[0017] Moreover, this application is designed to fix the route of the first mobile vehicle in a task-oriented manner, that is, to decompose the entire sewage discharge process into three core task modules, forming a standardized task chain, which respectively correspond to the above-mentioned steps S1 to S3: sewage suction box positioning and approach tasks, vacuum sewage suction pipe clamping and secondary movement, vacuum sewage suction pipe docking execution tasks; in this way, a specific maximum allowable time can be set for each task, so that during the operation process, a timestamp can be sent to the central controller at fixed intervals when executing each task. The central controller compares the actual time with the preset maximum allowable time for the corresponding task, and triggers the takeover mechanism when the timeout occurs; that is, when one robot fails, another can take over to ensure that the sewage discharge task is completed on time. The standardized task chain and automated takeover mechanism reduce the need for manual intervention, improve stability, and thus avoid train delays due to equipment failures.

[0018] Other features and advantages of the embodiments of the present invention will be described in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 A system diagram of a sewage discharge mechanism provided by the prior art according to an embodiment of the present invention;

[0021] Figure 2 A connection topology diagram of a sewage discharge mechanism provided by the prior art according to an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of workers manually discharging sewage in a track according to an embodiment of the present invention;

[0023] Figure 4 Schematic diagrams of a ground rail solution (left) and a sky rail solution (right) provided in embodiments of the present invention;

[0024] Figure 5 A top view of a parallel sewage control system based on robot control and machine vision algorithms provided by an embodiment of the present invention;

[0025] Figure 6 This is an axial schematic diagram of a parallel sewage control system based on robot control and machine vision algorithms provided by an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the trajectory of the free-moving vehicle in executing steps S1 to S3 according to an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of a node scanning a sewage outlet during the first path movement of the first mobile vehicle as demonstrated in an embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of a node in which the first mobile vehicle triggers the image acquisition unit to scan and identify the vacuum sewage suction pipe and obtain its positioning information, as demonstrated in an embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of nodes when the first mobile vehicle scans and clamps the vacuum sewage suction pipe at the sewage suction box according to positioning information, as demonstrated in an embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of a node in which the first mobile vehicle triggers the image acquisition unit to locate the sewage outlet, as demonstrated in an embodiment of the present invention;

[0031] Figure 12 This is a schematic diagram of a node where the first mobile trolley clamps the vacuum sewage suction pipe and connects it to the sewage outlet, as demonstrated in an embodiment of the present invention;

[0032] Figure 13 This is a flow chart of a parallel sewage control method based on robot control and machine vision algorithm demonstrated in an embodiment of the present invention;

[0033] Figure 14 A control connection topology diagram of a parallel sewage control system provided by an embodiment of the present invention;

[0034] Figure 15 A schematic diagram of a portion of the structure of a parallel sewage discharge control system provided by an embodiment of the present invention; and

[0035] Figure 16 This is a schematic structural diagram of the first mobile vehicle in the parallel sewage control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the above and other features and advantages of the present application more clear, the present application is further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0037] In the following description, many specific details are set forth to provide a thorough understanding of the present application. However, it will be apparent to those skilled in the art that it is not necessary to adopt the specific details to practice the present application. In other cases, well-known steps or operations are not described in detail to avoid obscuring the present application.

[0038] It should be noted that, based on the consideration of design space and cost, the first idea of ​​this application is to convert the previous Figure 4 The original track-based solution was replaced with a composite robot consisting of a mobile trolley and a sewage disposal robot. The sewage disposal robot's robotic arm module is separable from the mobile trolley chassis for maintenance, and it runs on tracks between the tracks to break through the limitations of fixed tracks and reduce development costs. When the EMU enters the station, the composite robot moves between the tracks and can perform fully intelligent plugging and unplugging through recognition and motion control.

[0039] The applicant found that when implementing the above concept, each EMU has a fixed stop time node and stop duration. If a single AVG, that is, a mobile cart, has an abnormality, the station staff often lacks the system maintenance skills. At this time, the EMU cannot be processed in the first time, resulting in train delays and sewage discharge failures, and even causing serious traffic accidents; therefore, an overall solution of the present application is to construct a redundant design with two composite robots, that is, to deploy two identical composite robots (mobile cart + robotic arm) at the same time, and the two can work at the same time. When one of the robots has an operational abnormality, the other robot can take over to ensure that the sewage discharge operation is completed smoothly and does not affect the punctual operation of the EMU.

[0040] In order to complete the overall inventive concept, it is necessary to design a reasonable control route, as well as the conditions, execution strategy, takeover strategy and taken-over strategy for redundant takeover.

[0041] To better understand this application, please first refer to Figures 5 and 6 , this application gives priority to explaining the operation process and the connection topology relationship under a concept provided by this application;

[0042] The tracks are preset into multiple sections, each of which includes at least one suction box, each of which is equipped with at least one vacuum suction pipe that can automatically store waste. Based on the original structure of the EMU, each EMU is provided with a fixed position of the EMU with a sewage discharge mechanism, which is usually arranged on the side of the EMU and covered with a covering door. When the covering door is opened, there is a sewage outlet connected to the sewage system inside the EMU. The task of the composite robot of the present application is to automatically connect the vacuum suction pipe in the suction box to the sewage outlet, and then extract the material to be cleaned from the sewage outlet through the negative pressure equipment connected to the vacuum suction pipe. Finally, the material to be cleaned in the several suction boxes will be discharged as follows. Figure 2 The shown are concentrated to the device for processing.

[0043] In this embodiment, there are two composite robots and they are arranged at the track of the same platform; under normal circumstances, the two composite robots can automatically plug and unplug the sewage outlets of the EMUs on the tracks on both sides of the track respectively; and when an abnormal situation occurs, another composite robot is used to immediately switch and take over the abnormal composite robot to ensure the normal operation of automatic sewage discharge. This application is the process of realizing how to switch.

[0044] To realize the above concept, each composite robot includes a same unit controller, and a scheduling host computer is set in the general scheduling room or other areas, which can interact with the unit controllers of a pair of composite robots at the same time; this application refers to it as a central controller.

[0045] In summary, the topological relationships of this composition are:

[0046] Platform equipment: Each platform has at least one sewage suction box, which contains an automatically retractable vacuum sewage suction pipe (for connecting to the sewage outlet of the train).

[0047] EMU sewage discharge mechanism: located on the side of the EMU, usually covered by a covering door, and the sewage outlet is exposed when the door is opened (connected to the EMU's internal sewage system).

[0048] Two composite robots: each includes a mobile vehicle (AGV) and a sewage disposal robot (robotic arm + vision system). Under normal circumstances, the two robots are responsible for the sewage disposal operations of the EMUs on both sides of the track. Under abnormal circumstances, one robot can take over the operation of the other.

[0049] Central controller (scheduling host computer): Communicates with the unit controllers of the two robots in real time, monitors task status, and decides whether to switch control.

[0050] See Figures 7 to 13 Based on the above, the present application provides a parallel sewage control method based on robot control and machine vision algorithm. The parallel sewage control method will be applied to the unit controller of the first mobile vehicle, including the following steps:

[0051] S1. Upon receiving a sewage discharge instruction from a central controller, controlling an image acquisition unit to identify a sewage suction box to determine a first target position, thereby controlling a first mobile vehicle to move along a first planned path; wherein the first planned path is generated based on a current position of the first mobile vehicle and the first target position;

[0052] S2. During the first planned path, controlling the image acquisition unit to identify the sewage outlet on the moving vehicle to determine a second target location; when the moving vehicle determines that it has arrived at the first target location, controlling the sewage discharge robot integrated on the first moving vehicle to clamp the vacuum sewage suction pipe at the sewage suction box and continue to move along the second planned path, wherein the second planned path is generated based on the first target location and the second target location;

[0053] S3. When it is determined that the vehicle has arrived at the second target position, the image acquisition unit is controlled to identify the vehicle sewage discharge mechanism, so as to connect the vacuum sewage suction pipe to the sewage discharge port of the vehicle sewage discharge mechanism;

[0054] S4, wherein, during the execution of the first planned path, the second planned path, and the connection of the vacuum suction pipe, a timestamp is sent to the central controller at every preset interval. In response to receiving the timestamps of the first mobile cart and the second mobile cart, the central controller compares the timestamps with the maximum allowable time preset for the corresponding tasks and sends a current decision instruction based on the comparison result;

[0055] Upon receiving the current decision instruction, at least one of maintaining the current action, taking over the action, or the action to be taken over is executed.

[0056] From the above, it can be simply inferred that when planning the first path, the first mobile vehicle is set to pass through the sewage outlet.

[0057] It can be understood that after the moving vehicle enters the corresponding track, the central controller sends a sewage discharge instruction to the first mobile car; at this time, the image acquisition unit of the first mobile car triggers the identification of the sewage suction box position, and sends the image of the sewage suction box to the central controller, and the central controller begins to determine the first target position based on the image calculation.

[0058] The first target position is a position calibrated by the first mobile cart that can conveniently clamp the vacuum suction pipe. At this time, the first mobile cart plans and executes the first path through the first mobile cart, that is, the current position to the suction box.

[0059] During the movement of the first path, the image acquisition unit of the first mobile vehicle can identify the motor vehicle sewage outlet in advance (which can also be understood as identifying the location of the covering door), determine the preliminary positioning of the second target position (such as Figure 8 ).

[0060] The reason for not using a fixed image acquisition unit here is that, after the EMU enters the track, its parking position is not absolutely fixed due to various factors, and there will be a certain deviation. If a fixed image acquisition unit is used, when the EMU's parking position deviates from the preset position, the fixed acquisition unit may not be able to accurately capture the image of the suction tank, resulting in an inability to effectively identify the suction tank position, which in turn affects subsequent sewage discharge operations. In addition, there are many types of EMUs, and the installation position of the suction tank on the vehicle body may vary. The entire sewage outlet is too small compared to the EMU area, and its spatial span is too large, making it difficult for a fixed camera to ensure pixel accuracy.

[0061] After reaching the preset position of the suction box, the image acquisition unit is triggered to identify the vacuum suction pipe and obtain its positioning information (such as Figure 9 ), control the sewage robot integrated on the first mobile car to clamp the vacuum sewage pipe at the sewage suction box according to the positioning information. (such as Figure 10 )

[0062] The second path is planned at the same time, that is, the second target position from the suction box to the motor vehicle sewage outlet. The first mobile car clamps the vacuum suction pipe at the suction box and continues to move along the second path. After arriving at the motor vehicle sewage outlet, the image acquisition unit is triggered to determine the location of the sewage outlet (such as Figure 11 ), the robot arm adjusts its posture, connects the clamped vacuum suction pipe to the sewage outlet, and controls the start of the negative pressure equipment to complete the sewage discharge (such as Figure 12 ).

[0063] In a further solution of the present application, based on the trolley size and safety redundancy, a virtual isolation zone (configurable) with a width of 0.5 meters is generated symmetrically on both sides of the track. The isolation zone is based on the center line of the track and extends to both sides. When planning the path, it is mandatory that the path point is always located outside the virtual isolation zone, which can ensure that the first mobile trolley is always in a safe range when operating on both sides of the track.

[0064] On the basis of the above-mentioned operating procedures, based on a general inventive concept of the present application, the first mobile cart and the second mobile cart both start from receiving the sewage discharge instruction from the central controller, and send a timestamp and the current task progress to the central controller at fixed intervals. The central controller compares the timestamp with the preset maximum allowable time for the task based on the task currently performed by the node robot: if the timestamp meets expectations, the current task is maintained; if there is an abnormality, it proves that the robot has an abnormality, and the other one is used to take over; in simple terms, if the first mobile cart times out and is not completed, the central controller orders the second mobile cart to take over, the first mobile cart enters the waiting to take over state, and the second mobile cart continues its own task or takes over the task from the breakpoint of the first mobile cart.

[0065] In summary, in the solution provided in this application, the first mobile trolley and the second mobile trolley both move directly on the existing track, reducing the cost and engineering workload of the station structure transformation; visual recognition is implemented on the mobile trolley to avoid the errors of traditional fixed collection position positioning. This method can adapt to different platform layouts, and through design, the EMU sewage outlet is synchronously identified during movement, and "movement" and "target recognition" can be performed in parallel, shortening the total operation time; the sewage outlet posture is fine-tuned through the visual system to ensure a sealed docking with the EMU sewage outlet, and the negative pressure equipment is started to pump out sewage after successful docking; no human intervention is required throughout the process, and fully automated operation is achieved, and the first mobile trolley and the second mobile trolley are extremely flexible and can be deployed at any time and adaptively adjusted according to the rules of EMU operation: that is, when a new platform is added or the work area is temporarily adjusted, the robot can be put into operation quickly without the need to modify the infrastructure.

[0066] Moreover, this application is designed to fix the routes of the first mobile trolley and the second mobile trolley, that is, to decompose the entire sewage discharge process into three core task modules to form a standardized task chain; which respectively correspond to the above-mentioned steps S1 to S3: sewage suction box positioning and approach tasks, vacuum sewage suction pipe clamping and secondary movement, vacuum sewage suction pipe docking execution tasks; on the basis of the minimum time consumption, a specific maximum allowable time consumption can be set for each task, so that during the operation process, a timestamp can be sent to the central controller at fixed intervals when executing each task. The central controller compares the actual time consumption with the preset maximum allowable time consumption of the corresponding task, and triggers the takeover mechanism when the timeout occurs; that is, when one robot fails, the other can take over to ensure that the sewage discharge task is completed on time. The standardized task chain and automated takeover mechanism reduce the need for manual intervention, improve stability, and thus avoid train delays due to equipment failure.

[0067] Furthermore, in response to receiving the timestamps of the first and second moving carts, the central controller compares the timestamps with the maximum allowable time preset for the corresponding task, and sends a current decision instruction based on the comparison result, including:

[0068] A1. The central controller sends a sewage discharge instruction, and receives the arrival of the first or second mobile cart at the first target location, and the arrival of the first or second mobile cart at the second target location as timing nodes. The task duration of the first and second mobile carts is calculated based on the received timestamps and timing nodes.

[0069] A2. When the task time of the first mobile car and the second mobile car does not exceed the maximum allowable time of the corresponding task, the first decision instruction is fed back to the first mobile car;

[0070] A3. When the time taken to complete the first moving trolley task does not exceed the maximum allowable time for the corresponding task, and the time taken to complete the second moving trolley task exceeds the maximum allowable time for the corresponding task, a second decision instruction is fed back to the first moving trolley;

[0071] A4. When the time taken to complete the first moving trolley task exceeds the maximum allowable time taken to complete the corresponding task, and the time taken to complete the second moving trolley task does not exceed the maximum allowable time taken to complete the corresponding task, the third decision instruction is fed back to the first moving trolley.

[0072] For example, each timing node includes the sending of the sewage discharge instruction (T0), that is, the time point when the central controller sends the task instruction, arriving at the first target position (T1): the time point when the trolley arrives at the sewage suction box position, and arriving at the second target position (T2): the time point when the trolley arrives at the sewage outlet position.

[0073] Time consumption of task phase 1: T1-T0 (sewage suction tank positioning and approach)

[0074] Time consumption of task stage 2: T2-T1 (vacuum suction pipe clamping and secondary movement)

[0075] Total task time: T2-T0 (entire sewage discharge process).

[0076] In a preferred solution, the first mobile vehicle sends a timestamp to the central controller every 5 seconds to record the current time point.

[0077] If the time consumed by the first mobile car and the second mobile car in all stages is less than or equal to the preset value, the current task allocation is maintained, and the central processing unit issues a first decision instruction accordingly.

[0078] If the time taken by the first mobile car in all stages is less than or equal to the preset value, and the time taken by the second mobile car in any stage is greater than the preset value, the central processing unit will issue a second decision instruction accordingly.

[0079] If the time taken by the first mobile car in any stage is greater than the preset value, and the time taken by the second mobile car in all stages is less than or equal to the preset value, the central processing unit will issue a third decision instruction accordingly.

[0080] In summary, by comparing fixed time thresholds with timestamps, we can ensure the consistency and predictability of task execution, monitor time consumption in real time, respond quickly to equipment failures, and avoid task delays.

[0081] For the first mobile vehicle, upon receiving the current decision instruction in S4, executing at least one of maintaining the current action, taking over the action, or the action to be taken over, includes:

[0082] S41: upon receiving the first decision instruction, controlling the continued execution of the first planned path, the second planned path, or connecting the vacuum suction pipe;

[0083] S42: upon receiving the second decision instruction, obtaining the current position of the first mobile cart, the current position of the second mobile cart, the first target position, or the second target position, and sending the information to the central controller; the central controller, in response to receiving the current position of the first mobile cart, the current position of the second mobile cart, the first target position, or the second target position, generates a target takeover path according to the task priority; and the unit controller of the first mobile cart controls the execution of the takeover action after receiving the takeover path;

[0084] S43. When receiving the third decision instruction, the current position of the first mobile cart is sent to the central controller. The central controller responds to the current position of the first mobile cart and generates a new retreat path according to the preset retreat position. The unit controller of the first mobile cart executes the takeover action after receiving the takeover path.

[0085] In short, the central controller determines that both the first and second mobile carts have not timed out and the task is executed normally. The first mobile cart continues to execute the current planned path (the first planned path, the second planned path) or connects to the vacuum suction pipe, and the second mobile cart continues to execute the current planned path or stands by.

[0086] The central controller determines that the first mobile trolley has not timed out, but the second mobile trolley has timed out, or the first mobile trolley needs to perform a takeover task. The central controller generates a target takeover path based on the time priority of the tasks. The central controller sends the target takeover path to the unit controller of the first mobile trolley. After receiving the path, the first mobile trolley unit controller starts to take over the task of the second mobile trolley according to the target takeover path.

[0087] On the contrary, the central controller determines that the first mobile cart has timed out, but the second mobile cart has not timed out, and the second mobile cart is required to take over the task; at this time, the first mobile cart sends its current position to the central controller, and the central controller generates a new retreat path based on the preset retreat position. The central controller sends the retreat path to the unit controller of the first mobile cart. After receiving the path, the first mobile cart unit controller controls the first mobile cart to move to the retreat position and enter the wait-for-takeover state.

[0088] It is understandable that through real-time path planning and command issuance, the task can ensure rapid switching of vehicles in the event of a fault. When a vehicle automatically enters the fallback path after a timeout, it avoids conflict with another vehicle. The mobile vehicle achieves efficient response to the decision-making instructions of the central controller, significantly improving the system's fault tolerance and task execution efficiency.

[0089] When the first mobile trolley or the second mobile trolley enters the state of waiting for takeover, the central controller sends all subsequent tasks to the trolley that takes over. The first mobile trolley and the second mobile trolley that enter the takeover state will temporarily complete the sewage discharge of the moving vehicles on both sides of the track until the staff carry out maintenance and repairs.

[0090] Furthermore, in S42, the central controller generates a target takeover path in response to receiving the current position of the first mobile vehicle, the current position of the second mobile vehicle, the first target position, or the second target position, and according to the task priority, including:

[0091] S421: Generate a first takeover path for preferentially completing the sewage discharge task of the first mobile trolley based on the current position of the first mobile trolley, the retreat path of the second mobile trolley, and the first target position or the second target position, and calculate a first completion time node of the sewage discharge task of the first mobile trolley and a second completion time node of the sewage discharge task of the second mobile trolley under the first takeover path;

[0092] S422: Generate a second takeover path for preferentially completing the sewage discharge task of the second mobile cart based on the current position of the first mobile cart, the retreat path of the second mobile cart, and the first target position or the second target position, and calculate a third completion time node of the sewage discharge task of the first mobile cart and a fourth completion time node of the sewage discharge task of the second mobile cart under the second takeover path;

[0093] S423, calculating a first difference between the first completion time node and the corresponding train departure time, a second difference between the second completion time node and the corresponding train departure time, a third difference between the third completion time node and the corresponding train departure time, and a fourth difference between the fourth completion time node and the corresponding train departure time;

[0094] S424: If any of the first difference, the second difference, or the third difference or the fourth difference is negative, then the first takeover path or the second stage path corresponding to the absence of a negative number is used as the target path;

[0095] S425. If there is no negative number among the first difference, the second difference, or the third difference and the fourth difference, then compare the first sum of the first difference and the second difference with the second sum of the third difference and the fourth difference, and use the first takeover path or the second stage path corresponding to the relatively larger one as the target path.

[0096] It is understandable that the strategy logic is to minimize the task completion time and give priority to avoiding train departure delays. For example:

[0097] In a large railway vehicle depot in Jiading, there are two mobile trolleys (the first mobile trolley and the second mobile trolley) responsible for the sewage discharge tasks of the EMUs on different tracks; the first mobile trolley was originally performing the sewage discharge task of the EMUs on the first track (corresponding to the first mobile trolley and the first sewage discharge task), and the second mobile trolley was originally performing the sewage discharge task of the EMUs on the second track (corresponding to the second mobile trolley and the second sewage discharge task).

[0098] During the execution process, the second mobile car needs to return to the maintenance area for inspection due to a sudden failure (the return path is known). At this time, the central controller needs to replan the takeover path to ensure that both trains can depart on time.

[0099] Assumptions:

[0100] The departure time of the first track train is 10:00; the departure time of the second track train is 10:30; the current time is 9:00; specific steps example

[0101] S421: Generate the first takeover path to prioritize the sewage discharge task of the first mobile vehicle

[0102] Path generation: The central controller plans a path (the first takeover path) that prioritizes the first mobile cart's sewage discharge task based on the current position of the first mobile cart, the second mobile cart's return path, and the situation on the first track (first target location) or the second track (second target location). Assuming that under this path, the first mobile cart can complete the sewage discharge task at 9:40, and then the first mobile cart will go to the second track to assist or the system will arrange for the first mobile cart to continue completing the part of the sewage discharge work that the second mobile cart has not completed (simplified processing, assuming that the first mobile cart completes the second mobile cart's task alone). The second mobile cart will no longer participate in this sewage discharge after retreating for maintenance, and the first mobile cart will complete the sewage discharge task on the second track at 10:20.

[0103] Time node calculation: First completion time node (the first mobile trolley completes the sewage discharge task on the first track): 9:40; and second completion time node (the first mobile trolley completes the sewage discharge task on the second track): 10:20;

[0104] S422: Generate a second takeover path to prioritize the sewage discharge task of the second mobile vehicle

[0105] Path Generation: The central controller plans a path (the second takeover path) that prioritizes the second mobile cart's sewage discharge task. Assuming this path, the first mobile cart will first proceed to the second track to assist, or the system will directly arrange other methods (such as calling a spare cart or adjusting the first mobile cart's path to prioritize the second mobile cart's task. Here, the simplified process is that the first mobile cart completes the second mobile cart's task first) to complete the second track's sewage discharge task at 10:10. After that, the first mobile cart will proceed to the first track to complete the first track's sewage discharge task at 10:25.

[0106] Time node calculation:

[0107] The third completion time node (the first mobile car completes the first track sewage discharge task): 10:25;

[0108] The fourth completion time node (the first mobile car completes the second track sewage discharge task): 10:10;

[0109] First difference: the difference between the first completion time node (9:40) and the departure time of the first track train (10:00), 10:00-9:40=20 minutes (positive number)

[0110] Second difference: the difference between the second completion time node (10:20) and the departure time of the second track train (10:30), 10:30-10:20 = 10 minutes (positive number)

[0111] Third difference: the difference between the third completion time node (10:25) and the departure time of the first track train (10:00), 10:25-10:00 = 25 minutes (positive number)

[0112] Fourth difference: the difference between the fourth completion time node (10:10) and the departure time of the second track train (10:30), 10:30-10:10 = 20 minutes (positive number)

[0113] S424: Determine whether there is a negative difference

[0114] Since the first difference, the second difference, the third difference, and the fourth difference are all positive numbers and there are no negative numbers, this step of selecting a path is not performed and the process proceeds to S425.

[0115] S425: Compare the sum and select the target path

[0116] Calculate the sum:

[0117] First sum: first difference (20 minutes) + second difference (10 minutes) = 30 minutes

[0118] Second total: third difference (25 minutes) + fourth difference (20 minutes) = 45 minutes

[0119] Select the target path: Because the second total (45 minutes) is greater than the first total (30 minutes), the second takeover path is selected as the target takeover path, that is, the path that gives priority to completing the sewage discharge task of the second mobile trolley to ensure that the overall departure time of the EMU has more sufficient buffer and guarantee the order of railway operation.

[0120] Understandably, the "track sewage disposal task" involves the corresponding trolley completing the process from S1 to S3 described above. The central controller prioritizes the takeover paths for each trolley based on the current position, return path, and target location of the two mobile trolleys. This targeted planning avoids blind operation, enabling the trolleys to reach their target locations along the optimal route to perform their tasks, reducing unnecessary travel distance and time, and improving the efficiency of sewage disposal tasks.

[0121] By calculating the completion time of the two vehicles' sewage disposal tasks under different takeover routes and comparing the difference between the completion time and the corresponding train departure time, the system transforms the previously abstract task completion status into a concrete, quantifiable time metric. This allows the system to intuitively compare the advantages and disadvantages of different routes and select the optimal one to ensure timely task completion. When calculating the difference between the completion time and the train departure time, if a negative number is found, it means that the sewage disposal task cannot be completed before the train departure according to the current route plan, resulting in a train delay. In this case, the system directly excludes the route with a negative difference and prioritizes the route that ensures the train departs on time, effectively preventing the train from operating normally due to uncompleted sewage disposal tasks. If all the differences are positive, the system compares the sum of the differences between the task completion time and the train departure time under different routes and selects the route with the larger sum. This provides ample buffer time for train departure, allowing ample time for adjustments even if minor incidents or unforeseen circumstances arise during the actual operation, further ensuring the safe and punctual operation of the train. The central controller comprehensively considers the current status and task requirements of the two cars and realizes the reasonable allocation of car resources by generating different takeover paths. This avoids task conflicts and idle resources between cars, enables each car to play its most efficient role in the system, and improves the overall resource utilization of the system.

[0122] When the unit controller of the first mobile vehicle receives the takeover path and performs the takeover action, it includes:

[0123] S431, determining whether the sewage discharge robot currently holds a vacuum sewage suction pipe;

[0124] S432: When the vacuum suction pipe is clamped, the vacuum suction pipe is released and a reeling signal is sent to the central server. The central server responds to the reeling signal and feeds back to the pit turntable at the suction box, so that the pit turntable receives the vacuum suction pipe.

[0125] S433: When the sewage discharge robot does not hold the vacuum sewage suction pipe or has completed releasing the vacuum sewage suction pipe, the first movable carriage is controlled to retreat to the retreat position.

[0126] By determining whether the robot is holding the vacuum hose, it prevents incorrect operation. If the robot proceeds without confirming the status and then proceeds directly to the next action, forcibly moving the trolley or performing other operations while the robot is actually holding the hose could cause the hose to twist or break, or damage the robot's gripping mechanism and trolley-related components. For example, if the trolley is forcibly moved without releasing the hose, the hose could be damaged by excessive stretching, resulting in high repair costs and impacting subsequent operations.

[0127] Once the suction hose is clamped, the control releases it and notifies the central server to rewind it, preventing the hose from dragging or tangling in abnormal conditions. The central server then feeds the rewind signal back to the pit turntable, enabling automated retraction of the hose. This keeps the work site tidy and reduces clutter, making it easier for the second mobile vehicle to take over.

[0128] When the sewage disposal robot is not clamped or has completed the release, the first mobile trolley is controlled to retreat to the retreat position, and the second mobile trolley can be planned according to the new takeover path to ensure the orderly progress of the entire task process.

[0129] In the embodiment of the present application, the parallel sewage control method based on robot control and machine vision algorithm also includes

[0130] S51. When the remaining power value is lower than a preset power threshold, the remaining power value is sent to the central controller. In response to receiving the remaining power value, the central controller calculates the final endurance time and the estimated charging time at each time node based on the future time node of the train entering the station. Before the final endurance time, the charging time node is calculated based on the estimated charging time and the charging time node is sent to the first mobile vehicle.

[0131] S52: After receiving the charging time node, move to a preset charging station at the nearest charging time node for electric charging;

[0132] The judgment condition of the charging time node is: the interval between the time node when the first mobile car completes the entry of the current train to the time node when the next train enters the station. If the time node of the current train entering the station plus the expected charging time of the current train task can be within this interval, then the time when the current train task is completed is used as the charging time node; the expected charging time is calculated based on the difference between the preset target power and the current power and the charging rate.

[0133] Furthermore, when the first moving cart enters a state of taking over the second moving cart, the target power of the first moving cart is reduced from a preset first value to a preset second value.

[0134] To make it easier to understand the above solution, this social situation is exemplified as follows:

[0135] The battery management system built into the First Mobile Car monitors the remaining power and discharge rate in real time; when the SOC is lower than 30%, the car reports the status to the central controller through communication, triggering the charging scheduling process.

[0136] The central controller is based on the train schedule for the next 24 hours, for example: Train 1 arrives at the station at 15:00 and stays for 15 minutes; Train 2 arrives at the station at 16:30 and stays for 20 minutes; Train 3 arrives at the station at 18:15 and stays for 15 minutes...

[0137] Determine the future task of the current first mobile car, such as: current SOC = 28%, the discharge rate of the execution task

[0138] = 0.5% / min (based on historical data); the final endurance of the vehicle if not charged, as well as the remaining power and predicted charging time after the first mobile vehicle completes the task of each future vehicle, can be calculated. For example:

[0139] Car 1 sewage treatment task, estimated completion time: 3:10, non-task interval: 3:10 to 16:30;

[0140] Task power consumption: 10min×0.5% / h=5%

[0141] After the task is completed, SOC: 28% - 5% = 23%;

[0142] The estimated charging time after executing motor vehicle 1 is: the target power (80%) minus 23% divided by the charging rate 20% / min = 28.5 minutes.

[0143] From 3:10 to 16:30, 28.5 minutes are enough to complete the charging, so the central processor can send 3:10 as a charging time node to the first mobile vehicle.

[0144] By analogy, the final endurance time can be calculated. For example, if the power consumption of each EMU during a mission is 5%, then after the tasks of 5 EMUs, the first mobile car will only have 3% power left and can no longer continue the next mission. In this case, the time node of the fifth EMU in the future will be taken as the final endurance time.

[0145] Before the final endurance moment, multiple charging time nodes can be calculated (ie, step S51 will send multiple future charging time nodes to the first mobile car), such as 3:10, 16:40, 18:25, etc., and all these charging nodes will be sent to the first mobile car.

[0146] After receiving the charging time node, the first mobile vehicle moves to the preset charging station for electric charging at the closest charging time node, such as 3:10 mentioned above.

[0147] When the first mobile car enters the state of taking over the second mobile car, the target power of the first mobile car is reduced from the preset first value to the preset second value, such as the target power is reduced from 80% to 50%. This can reduce the expected charging time, thereby avoiding the first car from missing the task window due to the possibility of being unable to recharge in time due to charging station occupancy or path conflict.

[0148] It is understandable that the above method is designed based on actual conditions. According to conventional AVG technical means, the car returns to the charging station for electric charging except when it is in operation, or automatically charges when the power level is below a certain level. In the former case, since the average daily number of trains entering the hub may be as high as 120, frequent shallow charging and discharging (such as charging when the SOC drops from 90% to 80%) will accelerate battery cycle aging, and the contact points of the electric contacts are easily worn under high-frequency physical contact. The increased contact resistance leads to a decrease in charging efficiency (such as the charging power drops from 10kW to 8kW), and even causes local overheating. The latter may miss the EMU sewage discharge task at the critical moment. Therefore, this central controller decision-making plan is designed to reduce unnecessary charging and improve service life and safety.

[0149] In one embodiment of the present application, the vacuum sewage suction pipe is connected to the sewage outlet of the motor vehicle sewage discharge mechanism, including:

[0150] Step S31, reading the mechanical feedback data during the connection process, and determining whether the connection is in place based on the mechanical feedback data;

[0151] Parallel blowdown control methods also include:

[0152] S61, when it is determined that the vacuum suction pipe is connected in place, controlling the controllable vacuum chamber to open the vacuum suction pipe to negatively pressure the sewage to extract at the sewage outlet;

[0153] S62: After the vacuum suction pipe is withdrawn from the sewage outlet of the motor vehicle sewage discharge mechanism after the extraction is completed, the vacuum suction pipe is released and a reeling signal is sent to the central server. The central server responds to the reeling signal and feeds back to the pit turntable at the sewage suction box, so that the pit turntable receives the vacuum suction pipe;

[0154] S63: Control the first trolley to reset to a preset waiting position.

[0155] When the sewage suction pipe contacts the sewage outlet, the force sensor and torque sensor on the connecting device monitor the force (such as axial thrust) and torque (such as resistance when rotating the thread) in real time; for example, when the axial force reaches the preset 150N (threshold range 100N-200N) and the torque stabilizes at 12N·m (threshold range 10-15N·m), the system determines that the connection is in place.

[0156] In the present application, the pit turntable generally includes a guide winding mechanism, which guides the sewage suction pipe to be retracted and extended along a preset path, and can be understood as an automatic winding roller set.

[0157] After the connection is in place, the system automatically starts the sewage discharge process. The central controller sends an instruction to turn on the negative pressure pump of the controllable vacuum chamber. A negative pressure environment is formed in the vacuum sewage suction pipe. The sewage at the sewage outlet is quickly sucked into the sewage suction pipe and stored in the sewage suction box.

[0158] In one embodiment of the present application, to avoid blockage during the process of opening the vacuum chamber to generate negative pressure in the vacuum suction pipe for extraction at the sewage outlet, conventional technology uses a flashlight to illuminate the vacuum suction pipe, then carefully observes the flow rate of liquid in the pipe with the naked eye while continuously monitoring the height of the suction tank using a liquid level indicator. If a problem occurs, tools are used to urgently unclog the vacuum suction pipe. A solution of the present application is as follows: a vibrator is provided at the connection between the vacuum suction pipe and the suction tank. During the vacuum suction process, a negative pressure sensor and a mass flowmeter are used to monitor transient changes in the capture pressure of the vacuum suction pipe in real time. The mass flowmeter calculates the mass of the liquid / solid mixture passing through per unit time. Under normal operating conditions, the negative pressure is linearly correlated with the flow rate. When the flow rate drops by a value greater than a certain threshold, or the negative pressure rises to a certain negative pressure threshold, the vibrator is activated to apply mechanical vibration to the clogged pipe, using the vibration energy to destroy the physical structure of the blockage or change its interaction force with the pipe wall, thereby achieving the purpose of continuous unclogging.

[0159] The completion of extraction is determined by the preset suction duration or the liquid level in the EMU sewage storage chamber. After the sewage is discharged, the system performs the exit and storage operations, shuts down the negative pressure pump, releases the negative pressure in the vacuum sewage pipe, and reversely rotates or moves the sewage pipe backwards to exit the sewage outlet (in this process, the exit force is monitored by a mechanical sensor to avoid collision). After the exit is completed, the system sends a reeling signal to the central server. The central server forwards the reeling signal to the pit turntable next to the sewage tank. The pit turntable rotates automatically and neatly reels the vacuum sewage pipe into the pit to avoid clutter on the ground. After the sewage discharge task is completed, the first mobile trolley needs to return to the designated position to wait for new tasks. The coordinated operation of the central server, the pit turntable, and the trolley realizes dynamic resource scheduling to adapt to the high-density EMU entry scenario.

[0160] The "waiting position" is the charging station, but it does not trigger contact charging. Combined with the above-mentioned S51 to S53, the number of contact charging times of the first mobile trolley and the second mobile trolley can be greatly reduced, thereby increasing the life of the contact connector of the charging station and the life of the trolley battery.

[0161] like Figure 14 and Figure 16 In a second aspect, the present application further provides a parallel sewage control system 200 based on robot control and machine vision algorithms, comprising a first mobile cart integrated with a sewage discharge robot 100, and a second mobile cart integrated with a sewage discharge robot; wherein the first mobile cart is provided with a unit controller electrically connected to the corresponding sewage discharge robot, and the second mobile cart is provided with a unit controller electrically connected to the corresponding sewage discharge robot;

[0162] The parallel sewage control system 200 further includes a central controller 22 for interacting with the unit controller at the first mobile cart and the unit controller at the second mobile cart;

[0163] It can be understood that these two mobile carts, as carriers of sewage disposal robots, have the ability to move flexibly. They can drive autonomously or move along preset paths in complex environments such as railway depots to quickly reach designated sewage disposal operation locations.

[0164] Each cart is equipped with a unit controller electrically connected to the corresponding sewage disposal robot. This unit controller acts as the robot's "local brain," receiving instructions from the central controller 22 and controlling the robot's specific sewage disposal operations, such as controlling the robot's arm movements and opening and closing the sewage valve. The unit controller also collects real-time operational data about the robot, such as operating hours and fault information, and feeds it back to the central controller.

[0165] The parallel sewage control system 200 also includes a sewage suction box 23 and a charging station 24. The sewage suction box 23 includes an outer shell 231, a pit turntable (not shown in the figure), a vacuum sewage suction pipe 232 and a controllable vacuum chamber (not shown in the figure) arranged in the outer shell 231, wherein the vacuum sewage suction pipe 232 can be wound around the pit turntable, and one end of the vacuum sewage suction pipe 212 is connected to the vacuum chamber, and the other end is exposed to the outer shell 231, and is prevented from being rolled into the outer shell 231 after shrinkage through the supporting structure 233 on the outside of the outer shell 231. The pit turntable and the controllable vacuum chamber are electrically connected to the central controller, and the charging station 24 is used for electric contact charging with the first mobile cart.

[0166] The pit turntable houses the vacuum suction pipe 232, which can be wound around it. Rotating the turntable allows the vacuum suction pipe to be retracted and extended. The turntable is electrically connected to the central controller 22 and receives commands from the central controller to precisely control the length of the vacuum suction pipe, depending on the sewage discharge task.

[0167] One end of the vacuum suction pipe 232 is connected to the vacuum chamber, while the other end is exposed outside the housing 231. It connects to the drainage outlet of the motor vehicle's sewage system to extract waste. A support structure 233 is located outside the housing 231. Its function is to prevent the vacuum suction pipe 232 from being drawn into the housing 231 after it contracts. It also provides support and guidance for the suction pipe, facilitating identification by the image acquisition unit.

[0168] The unit controller at the first moving cart is configured to execute the above-mentioned parallel sewage control method. Similarly, the unit controller at the second moving cart is consistent with the unit controller at the first moving cart.

[0169] In an optional embodiment of the present application, the image acquisition unit may be a 3D radar scanner and / or a 2D camera and / or an ultraviolet camera. In a preferred embodiment, an identification mark is printed using ultraviolet light to excite a fluorescent material, which emits visible light (e.g., green) under ultraviolet irradiation, forming a high contrast with the background. The printed identification mark is affixed to the edge of the sewage outlet, and the surface is covered with a transparent anti-fouling coating (e.g., an oleophobic and hydrophobic nanofilm) to prevent direct adhesion of dirt and dust. The image acquisition unit is equipped with an ultraviolet cutoff filter to shield visible light interference and highlight the identification mark. This ensures positioning accuracy in strong reflections or complex lighting scenes, while solving visual positioning failure problems such as metal surface reflections, rust, and contaminant coverage in extreme cases, achieving high-precision positioning, strong robustness, and low-cost deployment.

[0170] Both the first mobile trolley and the second mobile trolley adopt Ackerman chassis to adapt to intensive shuttle operations in narrow spaces.

[0171] The sewage disposal robot 100 includes a multi-axis motion mechanism 11, a clamping fixture 12 connected to the end of the multi-axis motion mechanism 11, a mechanical feedback disk 13 arranged between the clamping fixture 12 and the multi-axis motion mechanism 11, and an image acquisition unit 14 and an in-place detection mechanism 15 integrated in the clamping fixture. The in-place detection mechanism 15 is used to detect whether the sewage disposal robot currently holds a vacuum suction pipe.

[0172] The clamping fixture package 12 includes two clamping jaws 121 extending along a first direction w1. The two clamping jaws 121 are spaced apart and a clamping groove T is reserved between them. The two clamping jaws 121 can be driven to move away from or toward each other along a second direction w2 to clamp or release the sewage suction pipe through the clamping groove T.

[0173] The two clamping jaws 121 extend along a first direction w1 and are spaced apart, defining a clamping groove T. This design enables the jaws to grip the vacuum suction pipe from both sides, providing uniform clamping force and preventing localized deformation of the pipe during clamping. The jaws 121 can be driven to move away from or toward each other along a second direction w2, achieving clamping and release. A linear drive device, such as an electric push rod or pneumatic cylinder, can be used to ensure smooth and precise movement of the jaws and adjustable clamping force.

[0174] The clamping fixture package 12 also includes two restraining claws 122 and a clamp tube sleeve 123. The two restraining claws 122 are respectively connected to the side of the clamping claw 121 away from the clamping groove T, so that they can move away from or approach each other along the second direction w2 synchronously with the clamping claws, and the restraining claws are configured to be able to extend and retract in the third direction w3 under drive, wherein any two of the first direction w1, the second direction w2 and the third direction w3 are perpendicular to each other.

[0175] When clamping the vacuum sewage suction pipe, the clamping jaws 121 fit tightly against the outer wall of the suction pipe through the clamping groove T, fixing the suction pipe in a designated position; the reasonable setting of the clamping force can ensure that the suction pipe will not fall off during the sewage discharge process, and will not be damaged by excessive clamping force. For example, for suction pipes of different materials and diameters, the clamping force can be adjusted by adjusting the parameters of the driving device; wherein, the clamping sleeve 123 can be connected to the outer wall of the vacuum sewage suction pipe, and when the clamping jaws 121 clamp the outer wall of the vacuum sewage suction pipe, the ends of the two restraining jaws 122 are clamped into the grooves of the clamping sleeve 133 to prevent the vacuum sewage suction pipe from sliding axially; the restraining jaws 122 are respectively connected to the side of the clamping jaws 121 away from the clamping groove T, and can move away from or close to each other along the second direction w2 synchronously with the clamping jaws. At the same time, the restraining claw 122 can also be extended and retracted in the third direction w3 under driving. Any two of the first direction w1, the second direction w2 and the third direction w3 are perpendicular to each other. This three-dimensional movement capability enables the restraining claw to adapt to different working environments and suction pipe positions.

[0176] The restraining claws can be driven by an electric screw, hydraulic cylinder, or the like, enabling precise telescopic control. For example, when clamping a sewage suction pipe, the clamping action of the clamping claws 121 initially secures the pipe, and then the restraining claws 122 extend in the third direction w3 to further tighten the grip on the pipe.

[0177] When the clamping jaws 121 grip the outer wall of the vacuum suction pipe, the ends of the two restraining claws 122 snap into the grooves of the clamp sleeve 123. The clamp sleeve 123 is connected to the outer wall of the vacuum suction pipe, and its grooves match the ends of the restraining claws 122, forming a reliable snap-fit ​​structure that effectively prevents axial slippage of the vacuum suction pipe. During the sewage discharge process, the flow of waste generates a certain axial force. This snap-fit ​​structure ensures a stable connection between the suction pipe and the sewage robot, preventing sewage failure or leakage caused by suction pipe slippage.

[0178] The vacuum cup 124 is located on the side of the clamping jaw 122 facing away from the multi-axis motion mechanism 11. The vacuum cup 124 can be attached to the cover door, which is then slid by the multi-axis motion mechanism 11 to expose the sewage outlet. The clamping jaw 121 and the restraining claw 122 clamp the vacuum suction pipe and, driven by the multi-axis motion mechanism 11, dock it at the sewage outlet. The clamping sleeve 123 is tightly connected to the outer wall of the vacuum suction pipe. Its material is generally compatible with the suction pipe to ensure a reliable and sealed connection. Connection methods can include threaded connection, clamp connection, or bonding, depending on the suction pipe's material and usage requirements.

[0179] The vacuum suction cup 124 is arranged on the side of the clamping jaw 122 away from the multi-axis motion mechanism 11, and a vacuum chamber is usually provided inside the clamping jaw 122. Negative pressure is generated by a vacuum pump or a vacuum generator to achieve the adsorption function. The adsorption surface of the vacuum suction cup 124 is usually made of soft and wear-resistant material. The vacuum suction cup 124 can be adsorbed on the covering door, and the covering door is driven by the multi-axis motion mechanism 11 to slide, thereby exposing the sewage outlet. This function is used in the sewage discharge operation of the motor vehicle. Because the sewage outlet of the motor vehicle is usually located on the inside of the covering door, the covering door needs to be opened before the sewage discharge operation can be performed. The vacuum suction cup 124 can ensure that different covering doors can be opened, and has high adaptability.

[0180] After the sewage outlet is exposed, the clamping claw 121 and the restraining claw 122 work together to clamp the vacuum suction pipe and accurately dock it at the sewage outlet under the drive of the multi-axis motion mechanism 11. The presence of the vacuum suction cup 124 makes the entire operation more automated and intelligent, reducing manual intervention and improving work efficiency and safety.

[0181] Different models of motor vehicles may have different drainage outlet locations and cover door structures. The clamping fixture can be modularly designed. By replacing different clamping claws 121, restraining claws 122, and clamp pipe sleeves 123, compatibility with vacuum suction pipes of different models can be achieved, thereby improving the versatility of the system.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A parallel sewage control method based on robot control and machine vision algorithm, applied to the unit controller of the first mobile vehicle, characterized in that: include: Upon receiving a sewage discharge instruction from the central controller, the image acquisition unit is controlled to identify the sewage suction box to determine a first target position, thereby controlling the first mobile vehicle to move according to a first planned path; wherein the first planned path is generated based on the current position of the first mobile vehicle and the first target position; During the first planned path, the image acquisition unit is controlled to identify the sewage outlet on the moving vehicle to determine a second target position. When the moving vehicle determines that it has arrived at the first target position, the sewage discharge robot integrated on the first moving vehicle is controlled to clamp the vacuum sewage suction pipe at the sewage suction box and then continue to move according to the second planned path, wherein the second planned path is generated based on the first target position and the second target position; When it is determined that the second target position has been reached, the image acquisition unit is controlled to identify the motor vehicle sewage discharge mechanism, so as to connect the vacuum sewage suction pipe to the sewage discharge port of the motor vehicle sewage discharge mechanism; In the process of executing the first planned path, the second planned path, and connecting the vacuum suction pipe, a timestamp is sent to the central controller at every preset interval. In response to receiving the timestamps of the first and second mobile carts, the central controller compares the timestamps with the preset maximum allowable time of the corresponding tasks and sends the current decision instruction based on the comparison result. Upon receiving the current decision instruction, at least one of maintaining the current action, taking over the action, or the action to be taken over is executed.

2. The parallel sewage control method according to claim 1, characterized in that: The central controller responds to receiving the timestamps of the first and second moving carts by comparing the timestamps with the maximum allowable time preset for the corresponding tasks and sending a current decision instruction based on the comparison result, including: The central controller sends a sewage discharge instruction, and receives the arrival of the first mobile cart or the second mobile cart at the first target location, and the arrival of the first mobile cart or the second mobile cart at the second target location as timing nodes, and calculates the task duration of the first mobile cart and the second mobile cart according to the received timestamps and the timing nodes; When the task time of the first moving trolley and the second moving trolley does not exceed the maximum allowable time of the corresponding task, the first decision instruction is fed back to the first moving trolley; When the time taken for the first moving trolley task does not exceed the maximum allowable time taken for the corresponding task, and the time taken for the second moving trolley task exceeds the maximum allowable time taken for the corresponding task, a second decision instruction is fed back to the first moving trolley; When the time taken for the first moving trolley task exceeds the maximum allowable time taken for the corresponding task, and the time taken for the second moving trolley task does not exceed the maximum allowable time taken for the corresponding task, the third decision instruction is fed back to the first moving trolley.

3. The parallel sewage control method according to claim 2, characterized in that: The receiving of the current decision instruction and executing at least one of maintaining the current action, taking over the action, or the action to be taken over includes: Upon receiving the first decision instruction, controlling the continued execution of the first planned path, the second planned path, or connecting the vacuum suction pipe; When receiving the second decision instruction, the current position of the first mobile trolley, the current position of the second mobile trolley, the first target position or the second target position are obtained and sent to the central controller. In response to receiving the current position of the first mobile trolley, the current position of the second mobile trolley, the first target position or the second target position, the central controller generates a target takeover path according to the task priority level. After receiving the takeover path, the unit controller of the first mobile trolley controls the execution of the takeover action. When the third decision instruction is received, the current position of the first mobile cart is sent to the central controller. The central controller responds to the current position of the first mobile cart and generates a new retreat path according to the preset retreat position. The unit controller of the first mobile cart executes the takeover action after receiving the takeover path.

4. The parallel sewage control method according to claim 3, characterized in that: The central controller generates a target takeover path in response to receiving the current position of the first moving vehicle, the current position of the second moving vehicle, the first target position, or the second target position, and according to the task priority, including: Generate a first takeover path for preferentially completing the sewage discharge task of the first mobile trolley according to the current position of the first mobile trolley, the retreat path of the second mobile trolley, and the first target position or the second target position, and calculate a first completion time node of the sewage discharge task of the first mobile trolley and a second completion time node of the sewage discharge task of the second mobile trolley under the first takeover path; Generate a second takeover path for preferentially completing the sewage discharge task of the second mobile trolley according to the current position of the first mobile trolley, the retreat path of the second mobile trolley, and the first target position or the second target position, and calculate a third completion time node of the sewage discharge task of the first mobile trolley and a fourth completion time node of the sewage discharge task of the second mobile trolley under the second takeover path; Calculate a first difference between a first completion time node and a corresponding train departure time, a second difference between a second completion time node and a corresponding train departure time, a third difference between a third completion time node and a corresponding train departure time, and a fourth difference between a fourth completion time node and a corresponding train departure time; If any of the first difference, the second difference, or the third difference or the fourth difference is negative, the first takeover path or the second stage path corresponding to the absence of a negative number is used as the target path; If there is no negative number among the first difference, the second difference, or the third difference and the fourth difference, then the first sum of the first difference and the second difference is compared with the second sum of the third difference and the fourth difference, and the first takeover path or the second stage path corresponding to the relatively larger one is used as the target path.

5. The parallel sewage control method according to claim 1, characterized in that: When the unit controller of the first mobile vehicle receives the takeover path and performs the takeover action, the process includes: Determine whether the sewage disposal robot currently holds a vacuum sewage suction pipe; When the vacuum suction pipe is clamped, the vacuum suction pipe is released and a reeling signal is sent to the central server. The central server responds to the reeling signal and feeds back to the pit turntable at the suction box, so that the pit turntable receives the vacuum suction pipe. When the sewage discharge robot does not hold the vacuum sewage suction pipe or has completed releasing the vacuum sewage suction pipe, the first moving vehicle is controlled to retreat to the retreat position.

6. The parallel sewage control method according to any one of claims 1 to 5, characterized in that: Also includes When the remaining power value is lower than a preset power threshold, the remaining power value is sent to the central controller. In response to receiving the remaining power value, the central controller calculates the final endurance time and the estimated charging time at each time node based on the future time node of the train entering the station. Before the final endurance time, the charging time node is calculated based on the estimated charging time and the non-task time and sent to the first mobile vehicle; wherein the predicted charging time is calculated as the difference between the preset target power and the current power and the charging rate; After receiving the charging time node, the vehicle moves to a preset charging station for electric charging at the closest charging time node; When the first moving trolley enters a state of taking over the second moving trolley, the target power of the first moving trolley is reduced from a preset first value to a preset second value.

7. The parallel sewage control method according to any one of claims 1 to 5, characterized in that: The method for connecting the vacuum sewage suction pipe to the sewage outlet of the motor vehicle sewage discharge mechanism includes: Read the mechanical feedback data during the connection process and determine whether the connection is in place based on the mechanical feedback data; The parallel pollution control method also includes: When it is determined that the vacuum suction pipe is connected in place, the controllable vacuum chamber is controlled to open the negative pressure of the vacuum suction pipe to extract at the sewage outlet; After the extraction is completed, the vacuum sewage suction pipe is withdrawn from the sewage outlet of the motor vehicle sewage discharge mechanism, and the vacuum sewage suction pipe is released and a reeling signal is sent to the central server. The central server responds to the reeling signal and feeds back to the pit turntable at the sewage suction box, so that the pit turntable receives the vacuum sewage suction pipe; Control the first trolley to reset to the preset waiting position.

8. A parallel sewage control system based on robotic control and machine vision algorithms, comprising: a first mobile trolley integrated with a sewage disposal robot, and a second mobile trolley integrated with a sewage disposal robot; The first mobile trolley is provided with a unit controller electrically connected to the corresponding sewage disposal robot, and the second mobile trolley is provided with a unit controller electrically connected to the corresponding sewage disposal robot; A central controller, configured to interact with the unit controller at the first mobile carriage and the unit controller at the second mobile carriage; The sewage suction box includes a housing, a pit turntable, a vacuum suction pipe, and a controllable vacuum chamber disposed within the housing, wherein the vacuum suction pipe can be wound around the pit turntable, one end of the vacuum suction pipe is connected to the vacuum chamber, and the other end is exposed to the housing, and the pit turntable and the controllable vacuum chamber are electrically connected to the central controller; A charging station, used for performing electric charging with the first mobile vehicle; The unit controller at the first mobile vehicle is configured to execute the parallel sewage control method according to any one of claims 1 to 7.

9. The parallel sewage control system according to claim 8, characterized in that: The first mobile vehicle includes an Ackerman chassis; The sewage discharge robot includes a multi-axis motion mechanism, a clamping fixture connected to the end of the multi-axis motion mechanism, a mechanical feedback disk arranged between the clamping fixture and the multi-axis motion mechanism, and an image acquisition unit and an in-place detection mechanism integrated in the clamping fixture. The in-place detection mechanism is used to detect whether the sewage discharge robot currently holds a vacuum suction pipe.

10. The erosion monitoring system according to claim 9, characterized in that The clamping fixture comprises: Two clamping jaws extending in a first direction, the two clamping jaws being spaced apart and having a clamping groove reserved therebetween, the two clamping jaws being capable of being driven to move away from or toward each other in a second direction to clamp or release the sewage suction pipe through the clamping groove; Two restraining claws are respectively connected to one side of the clamping claw away from the clamping groove so as to be able to move away from or approach each other in a second direction synchronously with the clamping claws, and the restraining claws are configured to be able to extend and retract in a third direction when driven, wherein any two of the first direction, the second direction and the third direction are perpendicular to each other; The clamp sleeve is connected to the outer wall of the vacuum suction pipe. When the clamping claws clamp the outer wall of the vacuum suction pipe, the ends of the two restraining claws are clamped into the grooves of the clamp sleeve. The vacuum suction cup is arranged on the side of the clamping claw away from the multi-axis motion mechanism. The vacuum suction cup can be adsorbed on the covering door, and the covering door is slid through the multi-axis motion mechanism to expose the sewage outlet. The vacuum suction pipe is clamped by the clamping claw and the restraining claw and is connected to the sewage outlet under the drive of the multi-axis motion mechanism.

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