A railway hump unhooking operation robot system and method

Abstract

The embodiment of the specification discloses a railway hump hook lifting operation robot system and method, which comprises a loading unit, a hook separating unit, an unloading unit, a return unit and a central control unit; wherein the hook separating unit comprises a hook separating robot, and the hook separating unit is used for separating hooks of a car group to be lifted; the return unit comprises a carrying robot, and the return unit is used for returning the hook separating robot; the loading unit is located before a hook lifting operation area, and is used for loading the carrying robot and the hook separating robot; the unloading unit is located after the hook lifting operation area, and is used for unloading the hook separating robot; the loading unit and the unloading unit adopt the same equipment, mainly comprising an axle counting sensor, a speed measuring sensor, a visual sensor, a monitoring camera and a loading and unloading robot; and the central control unit comprises a main controller and a monitoring terminal.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of railway hook lifting, and in particular to a railway hump hook lifting operation robot system and method. BACKGROUND

[0002] Hump hook lifting operation is an important link in the transportation production work of railway marshalling station and section station.

[0003] In the prior art, the hump hook lifting operation is still mainly completed by the hook lifting operator in the process of pushing the train up the hump by the regulating machine. This method needs to complete the hook lifting operation and inspection and confirmation in the process of following the train on the ground, which has a high risk to personal safety and is easy to miss the hook or lift the wrong hook. Although in some scenarios, a guide rail type robot is used for hump hook lifting, the guide rail type robot cannot lift the hook on the turnout, and it is difficult for the guide rail type robot to adapt to the situation where more than 3 consecutive hooks are short car groups.

[0004] Therefore, there is a need for a railway hump hook lifting operation robot system and method to realize the automation and unmanned of hump hook lifting operation. SUMMARY

[0005] The railway hump hook lifting operation robot system and method provided by the embodiments of the present specification solve the following technical problems: in the prior art, the hump hook lifting operation is still mainly completed by the hook lifting operator in the process of pushing the train up the hump by the regulating machine. This method needs to complete the hook lifting operation and inspection and confirmation in the process of following the train on the ground, which has a high risk to personal safety and is easy to miss the hook or lift the wrong hook. Although in some scenarios, a guide rail type robot is used for hump hook lifting, the guide rail type robot cannot lift the hook on the turnout, and it is difficult for the guide rail type robot to adapt to the situation where more than 3 consecutive hooks are short car groups.

[0006] The railway hump hook lifting operation robot system provided by the embodiments of the present specification comprises:

[0007] a loading unit, a hook separating unit, an unloading unit, a returning unit and a central control unit;

[0008] The loading unit is located before the hook lifting operation area, and is used for loading the carrying robot and the hook separating robot.

[0009] The hook separating unit comprises a hook separating robot, and is used for separating hooks from a car group to be uncoupled.

[0010] The returning unit comprises a carrying robot, and is used for returning the hook separating robot.

[0011] The loading unit is located before the hook lifting operation area, and is used for loading the carrying robot and the hook separating robot.

[0012] The unloading unit is located behind the hook lifting operation area, and the unloading unit is used for unloading the hook separating robot;

[0013] The loading unit and the unloading unit adopt the same device, mainly including: axle counting sensor, speed sensor, visual sensor, monitoring camera, loading and unloading robot.

[0014] The central control unit includes: main controller and monitoring terminal.

[0015] The embodiment of the present specification also provides a railway hump hook lifting operation method, which comprises:

[0016] The railway hump hook lifting operation robot system is adopted to realize automatic railway hump hook lifting operation.

[0017] The railway hump hook lifting operation robot system provided by the embodiment of the present specification comprises: a loading unit, a hook separating unit, an unloading unit, a return unit and a central control unit; wherein the hook separating unit comprises a hook separating robot, and the hook separating unit is used for separating hooks of a car group to be uncoupled; the return unit comprises a carrying robot, and the return unit is used for returning the hook separating robot; the loading unit is located before the hook lifting operation area, and the loading unit is used for loading the carrying robot and the hook separating robot; the unloading unit is located behind the hook lifting operation area, and the unloading unit is used for unloading the hook separating robot; the loading unit and the unloading unit adopt the same device, mainly including: axle counting sensor, speed sensor, visual sensor, monitoring camera, loading and unloading robot; the central control unit includes: main controller and monitoring terminal, which can realize that the hook lifting position is not limited by the ground turnout, the hook lifting is resonant with the freight car, avoids the bumping control when the hook is moved on the road surface, and can realize automatic control during the hook lifting process, without manual hook lifting with the car, reduces the personal safety risk, and can improve the hook lifting accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present specification, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0019] Figure 1 It is a disintegration of hump shunting operation process schematic diagram;

[0020] Figure 2 It is a hump hook lifting operation scene schematic diagram;

[0021] Figure 3 It is a hook lifting operation process schematic diagram;

[0022] Figure 4 A structural schematic diagram of a railway hump uncoupling operation robot system provided by an embodiment of the present specification;

[0023] Figure 5 A control process schematic diagram of a railway hump uncoupling operation robot system provided by an embodiment of the present specification;

[0024] Figure 6 An automatic uncoupling operation process schematic diagram provided by an embodiment of the present specification;

[0025] Figure 7 A schematic diagram of a gravity center axis provided by an embodiment of the present specification. DETAILED DESCRIPTION

[0026] In order for those skilled in the art to better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be described clearly and completely below in conjunction with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present specification, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0027] The hump disassembly shunting operation is divided into three stages of transfer, coupling and pushing the peak, as shown in Figure 1 .

[0028] After the disassembly shunting machine shifts in the arrival field, it reverses to couple the disassembly train, and finally pushes the disassembly train to the peak. After the disassembly of a train is completed, the shunting machine returns to the arrival field along the original peak pushing route to continue the disassembly of the next train.

[0029] The hump uncoupling operation is the work task of the peak pushing stage, and the uncoupling operation area is more than 200 meters long from the entrance of the peak pushing line to the peak top. In order to ensure the safety interval between the rear hook car group and the front hook car group, after each uncoupling, the last car of the uncoupling car group must be uncoupled from the peak pushing train before the next hook car group is uncoupled. Whether the last car of the uncoupling car group can be uncoupled from the peak pushing train depends on whether the gravity center of the uncoupling car group has passed the peak top, and the position of the gravity center is positively related to the number of cars in the uncoupling car group. Generally, the fewer the number of cars in the uncoupling car group, the closer the uncoupling location to the peak top; the more the number of cars, the farther the uncoupling location to the peak top, as shown in Figure 2 .

[0030] The uncoupling operation of each hook car group is divided into three links of searching hook, uncoupling hook and protecting hook, among which the uncoupling hook link must be completed before the gravity center of the car group passes the peak top, otherwise the hook tongue will be tight and the car hook cannot be unlocked, as shown in Figure 3 .

[0031] (1)Seek hook

[0032] Find the car hook of the last car of the car group to be hooked, confirm the number of cars of the car group to be hooked and the car number of the last car, and ensure that it is consistent with the plan.

[0033] (2)Hook

[0034] Lift the hook rod of the car to be hooked until the car hook is unlocked.

[0035] (3)Protect the hook

[0036] After the car hook is unlocked, continue to escort the hooking car group for a distance until the last car of the hooking car group is confirmed to be uncoupled from the pushing peak car train, and the uncoupling signal is issued.

[0037] The hump hooking robot mainly has three schemes: ground rail type, overhead rail type and wheel-track type. Among them, the ground rail type hump hooking robot is to lay guide rails on the ground on one side of the entire hooking operation area, and the hooking robot moves on the guide rails to follow the car hooking. Since there is a turnout on the hooking operation area, the guide rails cannot be laid on the turnout, so the robot cannot cross the turnout area to hook. The overhead rail type hump hooking robot is to erect guide rails in the air on one side of the entire hooking area track, and the hooking robot is suspended on the guide rails to follow the car hooking. This robot also cannot cross the turnout area of the hooking operation area to hook. The wheel-track type hump hooking robot uses wheels or tracks as the hooking robot chassis. Although it can cross the turnout area to hook, the wheel-track type robot needs to overcome the irregular vibration of the mechanical arm caused by the bumps on the ground, which is difficult to control.

[0038] The existing technology adopts manual hooking or guide rail type robot hooking method, which has many problems:

[0039] (1) Problems of manual hooking

[0040] When following the car hooking, the body of the operator needs to enter the car door, which has a high safety risk of being hit, scratched and rolled by the vehicle, and there is a risk of missing the hooking or wrong hooking. At the same time, there is no information record during the whole manual hooking operation, which is difficult to analyze and trace in daily management.

[0041] (2) Problems of guide rail type robot hooking

[0042] There is a turnout on the hooking operation area, and guide rails cannot be laid on the turnout, so the guide rail type robot cannot hook on the turnout. In addition, the guide rail type robot uses the same robot to complete the hooking, uncoupling and protecting, and each time the hooking needs to follow the current car group to the uncoupling position before returning to seek the next hook; since the pushing peak car train is always advancing, when encountering continuous short car groups, the uncoupling time window of the rear car group will become shorter and shorter, and the guide rail type robot is difficult to adapt to the situation that more than three hooks are continuous short car groups.

[0043] Based on this, the embodiment of the present specification provides a hump hooking operation robot system to realize automatic hump hooking.

[0044] In order to further understand the railway hump hooking operation robot system provided by the embodiment of the present specification, the system will be described in detail below.

[0045] Figure 4 The structural schematic diagram of the railway hump hooking operation robot system provided by the embodiment of the present specification is shown in the figure. Figure 4 As shown, the loading unit, the hook separating unit, the unloading unit, the returning unit and the central control unit;

[0046] Among them,

[0047] The hook separating unit comprises a hook separating robot, and the hook separating unit is used for separating hooks of a car group to be hooked;

[0048] The returning unit comprises a carrying robot, and the returning unit is used for returning the hook separating robot;

[0049] The loading unit is located before the hooking operation area, and the loading unit is used for loading the carrying robot and the hook separating robot;

[0050] The unloading unit is located after the hooking operation area, and the unloading unit is used for unloading the hook separating robot;

[0051] The loading unit and the unloading unit adopt the same equipment, mainly comprising an axle counting sensor, a speed sensor, a visual sensor, a monitoring camera and a loading and unloading robot;

[0052] The central control unit comprises a main controller and a monitoring terminal.

[0053] In the embodiment of the present specification, the loading and unloading robot is composed of a slide rail, a mechanical arm and a clamp, the slide rail is laid on the ground and bears the loading and unloading robot and the clamp; the mechanical arm moves along the slide rail to realize the loading and unloading of the hook separating robot; the clamp is fixed at the end of the mechanical arm to realize the grabbing and placing of the hook separating robot.

[0054] In the embodiment of the present specification, the hook separating robot is composed of a base and a mechanical arm, the base is attached to the footrest of the car, and the mechanical arm realizes the hooking operation.

[0055] In the embodiment of the present specification, the carrying robot is composed of a chassis and a support, the chassis realizes ground movement, and the support realizes the bearing of the hook separating robot.

[0056] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0057] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0058] The loading and unloading robot is installed at least one at the entrance of the hooking operation area, and is used to load the hooking robot on the passing train;

[0059] The loading and unloading robot is installed at least one at the exit of the hooking operation area, and is used to unload the hooking robot from the passing train.

[0060] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0061] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0062] The hooking robot is loaded on the train at the entrance of the hooking operation area, and completes the hooking of the train before reaching the exit of the hooking operation area;

[0063] The hooking robot is unloaded at the exit of the hooking operation area.

[0064] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0065] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0066] The hooking robot is loaded on the train at the entrance of the hooking operation area, and completes the hooking of the train before reaching the exit of the hooking operation area;

[0067] The hooking robot is unloaded at the exit of the hooking operation area.

[0068] The hooking robot is loaded on the train at the entrance of the hooking operation area, and completes the hooking of the train before reaching the exit of the hooking operation area;

[0069] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0070] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0071] In the embodiment of the present application, the loading and unloading robot is installed in the hooking operation area of the push peak train, and at least two loading and unloading robots are installed between the entrance and the exit of the hooking operation area, and each loading and unloading robot can grasp at least one hooking robot at a time;

[0072] The speed sensor installed at the entrance of the uncoupling operation area is used to measure the speed of the train entering the uncoupling operation area. After the train has completely entered the uncoupling operation area, the speed of the last car in the train is measured.

[0073] The speed sensor installed at the exit of the uncoupling operation area is used to measure the speed of the train leaving the uncoupling operation area.

[0074] In the embodiments described in this specification, one set of the vision sensor is installed at each loading and unloading robot to capture the attachment position characteristics of the hook-up robot on the truck before the loading and unloading robot loads or unloads the hook-up robot onto the truck, and outputs the attachment position coordinates.

[0075] In this embodiment of the specification, at least two sets of surveillance cameras are installed between the entrance and exit of the hook-lifting operation area:

[0076] in,

[0077] The surveillance camera installed at the entrance of the hook-lifting operation area is used to collect images of the loading / unloading robots, hook-splitting robots, and transport robots working at the entrance of the hook-lifting operation area.

[0078] The monitoring camera installed at the exit of the hook-lifting operation area is used to collect images of the loading / unloading robots, hook-splitting robots, and handling robots at the exit of the hook-lifting operation area.

[0079] In the embodiments described in this specification, the main controller calculates the loading, unloading, and coupling conditions of the splitting robot in advance based on the dismantling and shunting operation plan and train formation information. Combined with the perception information of the peak-pushing train passing the axle counting sensor, speed sensor, and vision sensor, the controller issues action commands to the loading / unloading robot, splitting robot, and handling robot.

[0080] The monitoring terminal is used to display the dismantling and shunting operation plan and train formation sequence of the peak-pushing train, display the working status of the loading and unloading robot, the coupler robot, and the handling robot, display the information collected by the axle counting sensor, speed sensor, and vision sensor, display the images collected by the monitoring camera, and display the coupler lifting progress of the peak-pushing train.

[0081] To further understand the railway hump hook lifting robot system provided in the embodiments of this specification, a detailed description will be given below in conjunction with the schematic diagrams. Figure 5The control process schematic diagram of the railway hump lifting hook operation robot system provided in the embodiments of the present application is shown as follows: a loading unit is installed before the lifting hook operation area, a wheel counting sensor is used to sense and count the wheels entering the loading unit area, a speed measuring sensor is used to measure the speed of the hump car train entering the loading unit area, a visual sensor is used to identify and locate the position of the vehicle footstep passing through the loading and unloading robot, a monitoring camera is used to monitor the robot working condition in the area near the loading unit, and the loading and unloading robot is used to load the lifting hook robot on the passing vehicle;

[0082] The unloading unit is installed after the lifting hook operation area, the wheel counting sensor is used to sense and count the wheels entering the unloading unit area, the speed measuring sensor is used to measure the speed of the hump car train entering the unloading unit area, the visual sensor is used to identify and locate the position of the lifting hook robot on the vehicle passing through the loading and unloading robot, the monitoring camera is used to monitor the robot working condition in the area near the unloading unit, and the loading and unloading robot is used to unload the lifting hook robot from the passing vehicle;

[0083] In one embodiment of the present application, at least one set of loading unit installed at the entrance of the hump line and one set of unloading unit installed at the top of the hump line are included; the loading unit and the unloading unit at least include one wheel counting sensor, one speed measuring sensor, one visual sensor and one loading and unloading robot;

[0084] In one embodiment of the present application, the wheel counting sensor adopts a pressure sensor installed on the rail before the hump car train enters the working area of the loading and unloading robot, and generates a counting signal through pressure each time a wheel passes, and one counting signal is generated for each wheel passing;

[0085] In one embodiment of the present application, the speed measuring sensor adopts a multi-target millimeter wave radar installed on the left side of the railway track before the hump car train enters the working area of the loading and unloading robot, emits millimeter waves to the moving direction of the hump car train, and can at least measure the speed, distance and azimuth angle of one moving object within the millimeter wave irradiation range;

[0086] In one embodiment of the present application, the visual sensor adopts a binocular vision camera installed on the right side of the railway track before the hump car train enters the working area of the loading and unloading robot, and vertically photographs the side image of the passing vehicle, and the image range of the passing vehicle at least covers the part above the longitudinal rail, the part below 1 meter above the vehicle hook center line, and the part between the lateral hook and the bogie;

[0087] In an embodiment of the present specification, the monitoring camera adopts an industrial-grade high-definition camera, which is installed above the loading and unloading robot and has a visual angle range covering at least 2 times the maximum working range of the mechanical arm of the loading and unloading robot.

[0088] In an embodiment of the present specification, the loading and unloading robot adopts a standard 6-degree-of-freedom industrial robot arm; the end of the robot arm is equipped with an electromagnetic clamp, which can quickly grab and release the hooking robot.

[0089] In an embodiment of the present specification, the hooking unit includes at least one hooking robot attached to the push car train, which works between the loading unit and the unloading unit; the hooking robot is circulated between the loading unit and the unloading unit, and each hooking robot is responsible for unhooking the car hooks of one hooking car group in one working cycle;

[0090] In an embodiment of the present specification, the hooking unit uses 4 hooking robots, each of which is attached to the lowest level of the vehicle footrest, and completes the unhooking through a 4-degree-of-freedom mechanical arm.

[0091] In an embodiment of the present specification, the returning unit includes at least one carrying robot, which works between the unloading unit and the loading unit, and is used to return the hooking robots unloaded at the unloading unit to the loading unit; each carrying robot can return at least one hooking robot at a time;

[0092] In an embodiment of the present specification, the returning unit uses 4 carrying robots, which adopt a standard 4-wheel mobile robot as a chassis, and the chassis is provided with a bracket for carrying the hooking robots; each bracket can carry 2 hooking robots. Among them, the loading unit is provided with 2 fully loaded carrying robots, which can provide 4 hooking robots for loading and taking, and the unloading unit is provided with 2 empty carrying robots, which can meet the unloading and returning tasks of 4 hooking robots.

[0093] In an embodiment of the present specification, the central control unit includes a main controller and a monitoring terminal, which are installed in the hooking room of each hump; the main controller is used to calculate and control the loading time of the loading unit, the unhooking time of the hooking unit, the unloading time of the unloading unit, and the returning time of the returning unit; and the monitoring terminal is used to provide a man-machine interface for the whole railway hump hooking robot system.

[0094] In an embodiment of the present specification, the loading time of the loading unit is when the first axle of the (i+1) hook car group passes through the unhooking area entrance;

[0095] The unhooking time of the hooking unit is when the (i-1) hook car group is unhooked and the 4th axle of the (i+1) hook car group passes through the unhooking area entrance;

[0096] The unhooking time of the unhooking unit is when the gravity axis of the i+1 hook car group passes through the unhooking area outlet.

[0097] The unloading time of the unloading unit is when the gravity axis of the i+1 hook car group passes through the unhooking area outlet.

[0098] In order to further understand the railway hump hook lifting operation robot system provided in the embodiments of the present specification, Figure 6 The automatic unhooking operation process provided in the embodiments of the present specification is shown in the figure. Figure 6 As shown in the figure, the plan analysis refers to that the main controller analyzes the disintegration shunting operation plan and the car train marshalling information, which specifically includes:

[0099] The car type and car number information of the car to be lifted are obtained, and then the hook type at the lifting position is determined according to the car type and car number information; the number of cars, total weight and total length information of each car group are obtained, the loading position of each hook unhooking robot is calculated in advance, and the gravity axis position of each hook lifting car group is calculated; the disintegration signal opening notification is received.

[0100] In the embodiments of the present specification, the content of the disintegration shunting operation plan includes: train number of the disintegration train, current train stopping track, total number of train vehicles; disintegration operation start and end time (estimated); disintegration locomotive number; number of vehicles for each unhooking, car number of unhooking vehicles, remarks.

[0101] The marshalling information of the train to be disintegrated includes: the sequence number, car number, car type, car type, self weight, load, total weight, length conversion, empty / full car flag, goods name, departure station, arrival station, sender, receiver, freight ticket number, notes column, etc. of each car in the train.

[0102] The loading position of the unhooking robot refers to the axle sequence number of the vehicle on which the unhooking robot is loaded. Since the loading and unloading robot and the unhooking robot are both operated on the right side of the advancing direction of the hump train, the unhooking robot for unhooking the i hook should be loaded at the front end of the i+1 hook car group. The axle sequence number corresponding to the loading position is the axle sequence number of the 4th axle of the last car of the current hook lifting car group.

[0103] The hook type at the lifting position can be determined by comparing the preset dictionary library. In the preset dictionary library, the correspondence between different car type, car number information and hook type at the lifting position is set.

[0104] In the embodiments of the present specification, the gravity axis is calculated by the following method:

[0105] According to the preset shunting operation sheet, the number of vehicles m of the i hook car group to be unhooked is obtained in sequence i ;

[0106] According to the preset train formation sequence table, the model T of the k-th car of the i-th hook is obtained sequentially. ik Replace with a longer L ik Total weight Q ik ;

[0107] Based on the number of vehicles m in the i-th hook train group i Calculate the total number of axles n for the i-th coupler group. i And the axis number Z of each axis of the i-th hook ij ;

[0108] According to the model T of the last car in the i-th hook train group ie Get the type of the coupler to be uncoupled from the i-th coupler group;

[0109] According to the length L of each car in the i-th hook car group ik Total weight Q ik Calculate the coordinates of the center of gravity of the k-th car in the i-th hook car group. Calculate the coordinates of the center of gravity of the i-th hook car group

[0110] According to the length L of each car in the i-th hook car group ik The length change from the end of the vehicle to the nearest second axle l iR Calculate the coordinates of the second axle of the k-th vehicle sequentially. Third axis coordinate

[0111] Using the coordinates of the center of gravity of the i-th hook car group, h sequentially... i Compare the second axis coordinate z of the i-th hook and the k-th vehicle in sequence. ik2 and the third axis coordinate z ik3 If h i Smaller, compare to the next, up to h i If the value is larger, take the last value of h. i Small axis number Z ie As the center of gravity axis.

[0112] Where i is the sequence number of the hook car group; h i Indicates the coordinates of the centroid; z ik2 Indicates the second axis coordinate; z ik3 Indicates the coordinate of the 3rd axis; Z ie Indicates the last ratio h i Small axis number.

[0113] To further understand the method for calculating the center of gravity axis in the embodiments of this specification, Figure 7 This is a schematic diagram of the center of gravity axis provided in the embodiments of this specification.

[0114] The loading process by the hook-and-hook robot specifically includes:

[0115] When the main controller receives the hump disassembly signal, the axle counting sensor, the speed sensor and the visual sensor of the loading unit and the unloading unit are started.

[0116] When the hooking vehicle group passes through the loading unit, the main controller sends a loading instruction to the loading and unloading robot when the last axle of the last vehicle passes through the axle counting sensor. The speed of the passing vehicle is measured by the speed sensor, and the footstep of the next vehicle is located by the visual sensor. The loading and unloading robot grabs a hook separating robot from the carrying robot, moves the mechanical arm according to the speed value and the positioning coordinates, inserts the hook separating robot into the footstep of the next vehicle, and then retracts the mechanical arm after the hook separating robot completes the footstep clamping.

[0117] When the loading and unloading robot grabs the hook separating robot from the carrying robot, the identity information of the hook separating robot is read and transmitted to the main controller. After the mechanical arm is retracted, the loading completion information is sent to the main controller.

[0118] Automatic hooking, specifically comprising:

[0119] After the main controller receives the identity information of the hook separating robot, the main controller sends the car hook model information corresponding to the vehicle model to the hook separating robot.

[0120] After the hook separating robot clamps the footstep, the hook separating robot expands the mechanical arm and grabs the hooking rod according to the hooking rod coordinates of the corresponding vehicle model provided by the main controller, and sends a hooking ready signal to the main controller.

[0121] When the main controller determines that the previous hooking vehicle group has been separated, and the center of gravity axis of the current hooking vehicle group does not cross the peak axle counting sensor, the main controller sends a hooking instruction to the hook separating robot.

[0122] After the hook separating robot receives the hooking instruction, the hook separating robot rotates the hooking rod with the mechanical arm. When the hooking rod is rotated to an angle at which the car hook is unlocked, and the unlocking sound is collected, the hooking rod is released and the mechanical arm is retracted to the initial position, and an unlocking success signal is sent to the main controller.

[0123] Confirming hooking, specifically comprising:

[0124] After the main controller receives the unlocking success signal sent by the hook separating robot, the main controller compares the speed value of the speed sensor at the loading unit and the speed value of the speed sensor at the unloading unit. When the speed value at the unloading unit is greater than the speed value at the loading unit by more than 2km / h, the hooking is confirmed to be successful.

[0125] Unloading of the hook separating robot, specifically comprising:

[0126] After the main controller confirms that the hooking is successful, the main controller sends an unloading instruction to the loading and unloading robot at the unloading unit.

[0127] When the first axle of the train group on which the unhooking robot is located passes the axle counting sensor of the unloading unit, the passing vehicle speed is measured by the speed sensor, and the coordinates of the unhooking robot attached to the passing vehicle are located by the visual sensor. The loading and unloading robot moves the mechanical arm according to the measured speed value and the positioning coordinates, grabs the unhooking robot, and after the unhooking robot releases the footrest, the loading and unloading robot retracts the mechanical arm and places the unhooking robot on the carrying robot.

[0128] The unhooking robot returns, specifically comprising:

[0129] The robot located at the loading unit automatically moves to the unloading unit when detecting that the bearing support is empty;

[0130] The robot located at the unloading unit automatically moves to the loading unit when detecting that the bearing support is full.

[0131] The railway hump unhooking operation system provided by the embodiments of the present specification completes the hook searching, unhooking and hook protecting on different devices. The loading unit and the unloading unit are responsible for hook searching, the hook searching distance is short, the unhooking unit is responsible for unhooking, the unhooking is stable when following the vehicle, the central control unit judges the unhooking (hook protecting), the unhooking interval between the front and rear train groups is shortened, not only can the artificial unhooking be replaced, but also the unhooking on the turnout can be realized, which is conducive to continuously unhooking the short train group, and can comprehensively improve the digital level of the hump disassembly operation, and provide strong support for the intelligentization of the dispatching command of the marshalling station.

[0132] The embodiments of the present specification provide a railway hump unhooking operation system. Correspondingly, the embodiments of the present specification also provide a railway hump unhooking operation method, which comprises: using the railway hump unhooking operation robot system provided by the embodiments of the present specification to realize the automatic railway hump unhooking operation.

[0133] The above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous or possible.

[0134] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device, electronic device, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0135] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the system embodiments, the description is relatively simple because the system embodiments are basically similar to the method embodiments, and the relevant parts can be referred to the part of the method embodiments.

[0136] The above only describes the embodiments of the specification, and is not used to limit the application. The application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the application shall be included in the scope of the claims of the application.

Claims

1. A railway humpback unloading robot system, characterized in that, The railway hump hook lifting robot system includes: Loading unit, hook-up unit, unloading unit, return unit, and central control unit; in, The hook-separating unit includes a hook-separating robot, which is used to separate the hooks from the unhooked train sets. The return unit includes a transport robot, and the return unit is used to return the hook-and-discharge robot. The loading unit is located before the hook-lifting operation area, and the loading unit is used to load the handling robot and the hook-separating robot; The unloading unit is located after the hook lifting operation area, and the unloading unit is used to unload the hook splitting robot; The loading unit and the unloading unit use the same equipment, which mainly includes: an axle counting sensor, a speed measuring sensor, a vision sensor, a monitoring camera, and a loading and unloading robot; The central control unit includes: a main controller and a monitoring terminal; The loading unit loads the i-th hook-splitting robot when the first axle of the (i+1)-th hook car group passes the entrance to the unhooking area; the unhooking of the i-th hook-splitting robot of the splitting unit occurs when the (i-1)-th hook car group is split, and the fourth axle of the (i+1)-th hook car group passes the entrance to the unhooking area; the splitting of the i-th hook-splitting robot of the splitting unit occurs when the center of gravity axis of the i-th hook car group passes the exit of the unhooking area, and the speed measured at the exit of the unhooking area is greater than the preset value of the speed measured at the entrance of the hooking area; the unloading unit unloads the i-th hook-splitting robot when the first axle of the (i+1)-th hook car group passes the exit of the unhooking area. The center of gravity axis is calculated as follows: Based on the preset shunting operation order, the number of vehicles m of the i-th hook to be unloaded group is obtained sequentially. i According to the preset train formation sequence table, the model T of the k-th car of the i-th hook is obtained sequentially. ik Replace with a longer L ik Total weight Q ik According to the number of vehicles m in the i-th hook car group i Calculate the total number of axles n for the i-th coupler group. i And the axis number Z of each axis of the i-th hook ij According to the model T of the last car in the i-th hook train group ie Obtain the type of the coupler to be uncoupled in the i-th coupler group; based on the length L of each car in the i-th coupler group... ik Total weight Q ik Calculate the coordinates h of the center of gravity of the k-th car in the i-th hook car group. ik = Calculate the coordinates h of the center of gravity of the i-th hook train group. i = According to the length L of each car in the i-th hook car group ik The length change from the end of the vehicle to the nearest second axle l iR Calculate the second axis coordinate z of the kth vehicle sequentially. ik2 = The third axis coordinate z ik3 = Using the coordinates of the center of gravity of the i-th hook car group, h sequentially... i Compare the second axis coordinate z of the i-th hook and the k-th vehicle in sequence. ik2 and the third axis coordinate z ik3 If h i Smaller, compare to the next, up to h i If the value is larger, take the last value of h. i Small axis number Z ie As the center of gravity axis.

2. The railway humpback unloading robot system as described in claim 1, characterized in that, The loading and unloading robot consists of a slide rail, a robotic arm, and a clamp. The slide rail is laid on the ground and supports the robotic arm and the clamp. The robotic arm moves along the slide rail to load and unload the hook-and-unload robot. The clamp is fixed to the end of the robotic arm to grasp and place the hook-and-unload robot.

3. The railway humpback unloading robot system as described in claim 1, characterized in that, The hook-splitting robot consists of a base and a robotic arm. The base is attached to the truck's foot pedals, and the robotic arm performs the hook-lifting operation.

4. The railway humpback unloading robot system as described in claim 1, characterized in that, The transport robot consists of a chassis and a support frame. The chassis enables ground movement, and the support frame supports the hook-and-hook robot.

5. The railway humpback unloading robot system as described in claim 1, characterized in that, The loading and unloading robots are installed in the hook-lifting operation area of ​​the peak-pushing train. At least two loading and unloading robots are installed between the entrance and exit of the hook-lifting operation area. Each loading and unloading robot can grab at least one hook-lifting robot at a time. in, At least one loading and unloading robot is installed at the entrance of the hooking operation area to load the hooking robot onto passing trucks; At least one loading and unloading robot is installed at the exit of the hook-lifting operation area to unload the hook-lifting robot from passing trucks.

6. The railway humpback unloading robot system as described in claim 1, characterized in that, The splitting robots operate in the uncoupling operation area of ​​the peak-pushing train, and at least two splitting robots are used between the entrance and exit of the uncoupling operation area: in, The splitting robot is loaded onto a truck at the entrance of the hooking operation area and completes the hooking process before arriving at the exit of the hooking operation area. The hook-splitting robot is unloaded at the exit of the hook-lifting operation area.

7. The railway humpback unloading robot system as described in claim 1, characterized in that, The transport robot operates in the unloading operation area of ​​the peak-pushing train. At least one transport robot is used between the entrance and exit of the unloading operation area, and each transport robot can carry at least one unloading robot. in, The transport robot hands over the hook-and-unload robot it carries to the loading and unloading robot at the entrance of the hook-and-unload operation area, so that the robot can load the hook-and-unload robot onto the truck. The handling robot carries the split hook robot, which is unloaded from the truck by the loading and unloading robot, at the exit of the hooking operation area. The transport robot circulates between the entrance and exit of the hook-lifting operation area, transporting the unloaded hook-splitting robots at the exit to the entrance of the hook-lifting operation area.

8. The railway humpback unloading robot system as described in claim 1, characterized in that, One set of the axle counting sensor is installed at each loading and unloading robot to obtain the wheel pair count of the passing trucks before the loading and unloading robot loads or unloads the hook-up robot onto the truck.

9. The railway humpback unloading robot system as described in claim 1, characterized in that, One speed sensor is installed at the entrance and one at the exit of the hook-lifting operation area. in, The speed sensor installed at the entrance of the uncoupling operation area is used to measure the speed of the train entering the uncoupling operation area. After the train has completely entered the uncoupling operation area, the speed of the last car in the train is measured. The speed sensor installed at the exit of the uncoupling operation area is used to measure the speed of the train leaving the uncoupling operation area.

10. The railway humpback uncoupling robot system as described in claim 1, characterized in that, One set of the vision sensor is installed at each loading and unloading robot. Before the loading and unloading robot loads or unloads the hook-up robot onto the truck, it captures the attachment position characteristics of the hook-up robot on the truck and outputs the attachment position coordinates.

11. The railway humpback unloading robot system as described in claim 1, characterized in that, At least two surveillance cameras shall be installed between the entrance and exit of the hook-lifting operation area: in, The monitoring camera installed at the entrance of the hook-lifting operation area is used to collect images of the loading / unloading robot, the hook-splitting robot, and the transport robot at the entrance of the hook-lifting operation area. The monitoring camera installed at the exit of the hook-lifting operation area is used to collect images of the loading / unloading robots, hook-splitting robots, and handling robots at the exit of the hook-lifting operation area.

12. The railway humpback unloading robot system as described in claim 1, characterized in that, The main controller calculates the loading, unloading, and lifting conditions of the splitting and unloading robots in advance based on the dismantling and shunting operation plan and train formation information. Combined with the perception information of the peak-pushing train passing the axle counting sensor, speed sensor, and vision sensor, it issues action commands to the loading and unloading robot, splitting and unloading robot, and handling robot. The monitoring terminal is used to display the dismantling and shunting operation plan and train formation sequence of the peak-pushing train, display the working status of the loading and unloading robot, the coupler robot, and the handling robot, display the information collected by the axle counting sensor, speed sensor, and vision sensor, display the images collected by the monitoring camera, and display the coupler lifting progress of the peak-pushing train.

13. A method for lifting and uncoupling railway hump heads, characterized in that, The railway hump hooking operation method adopts the railway hump hooking operation robot system as described in any one of claims 1-12 to realize automated railway hump hooking operation.

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