Train rollover auxiliary robot and its pull hook righting control method

Abstract

The present application belongs to the technical field of train unloading and provides a train turnover auxiliary robot and a pull hook righting control method thereof. The train turnover auxiliary robot comprises a turnover platform, a clamping device, a right hook device, a sensing module, a data processing unit and a controller. The turnover platform is provided with a platform space for accommodating a train carriage. The clamping device is used for clamping the train carriage in the platform space. The right hook device comprises a movable positioning mechanism capable of moving in multiple degrees of freedom and a push plate assembly arranged on the movable positioning mechanism. The push plate assembly is telescopically arranged. The sensing path of the sensing module is arranged along the transverse direction of the platform space. The data processing unit is used for calculating the position of the righting contact area of the pull hook according to the sensing result of the sensing module. The controller is used for controlling the movable positioning mechanism to move according to the position of the righting contact area, so that the push plate assembly is aligned with the righting contact area in the transverse direction. The righting process of the system realizes full automation and has good compatibility.

Description

Technical Field

[0001] This invention belongs to the field of train unloading technology, specifically relating to a train rollover assist robot and its hook-and-righting control method. Background Technology

[0002] In train maintenance and cargo loading / unloading operations, train tipping assistance robots facilitate unloading and repair by performing actions such as tipping, lifting, or translating carriages. One of the core components of this system is the hook-aligning device. This device uses a movable uprighting and supporting component to precisely hold and constrain the hooks on the carriages. This effectively suppresses the swinging, rotation, or accidental detachment of the hooks during the lifting, tipping, or movement of the disassembled carriages, ensuring that the hooks remain stable and controllable. This allows the disassembled carriages to be quickly reassembled in subsequent operations.

[0003] Currently, existing hook-up devices have significant limitations in locating the hook-up alignment position. Some devices still rely on manual operation, resulting in low efficiency and safety issues that depend on personnel experience. Others, while capable of automatic control, typically design their movement trajectory based on standard hook positions for specific train models. Specifically, existing methods involve a push plate that pops out and moves along the hook-up direction, while a photoelectric switch with a pre-calibrated detection distance is used for detection. Once a hook-up is detected within the corresponding distance, the initial hook-up position is determined. Then, relying on pre-stored hook-up model data for the corresponding train number (such as hooks 13 / 16 / 17, etc.), the corresponding extension distance is mapped, and the push plate is then controlled to extend and support the hook-up.

[0004] However, the applicant found that in actual use, the actual working height of the coupler would change due to load conditions and long-term wear. This fixed motion pattern could not adapt to the above changes, and the system had poor compatibility. Summary of the Invention

[0005] To address the aforementioned deficiencies or shortcomings, this invention provides a train rollover assistance robot and its hook-and-righting control method, aiming to solve the technical problems of low automation and poor compatibility of existing train rollover assistance robots when performing hook-and-righting operations.

[0006] To achieve the above objectives, the present invention provides a train rollover assist robot, which includes a rollover platform, a clamping device, a hook-aligning device, a sensing module, a data processing unit, and a controller. The rollover platform has a platform space for accommodating train carriages. The clamping device is used to clamp the train carriages within the platform space. The hook-aligning device includes a multi-degree-of-freedom movable positioning mechanism and a push plate assembly mounted on the movable positioning mechanism. The push plate assembly is extendable. The sensing path of the sensing module is arranged along the lateral direction of the platform space. The data processing unit is used to calculate the position of the hook's contact area based on the sensing results of the sensing module. The controller is used to control the movable positioning mechanism to move according to the position of the contact area, so that the push plate assembly is aligned with the contact area in the lateral direction.

[0007] In this embodiment, the mobile positioning mechanism includes a sliding module, a lower housing, and a cover plate. The sliding module is arranged along the longitudinal direction of the platform space. The lower housing is slidably embedded in the sliding module. The cover plate can be accommodated in the lower housing and can be flipped up and down relative to the lower housing. The push plate assembly is set on the cover plate. By adjusting the position of the lower housing and the flip angle of the cover plate, the push plate assembly can be aligned with the area to be contacted in the lateral direction.

[0008] In this embodiment, the sensing module includes a vision sensor, and the sensing result of the vision sensor is an orthographic projection image of the hook in the lateral direction. The data processing unit is configured as follows:

[0009] Obtain the orthographic projection image of the hook;

[0010] The outline of the hook in the orthographic projection image is marked according to the built-in preset algorithm;

[0011] Calculate the center point of the marked outline;

[0012] The built-in polygonal frame is enlarged according to a preset ratio with the center point as the center. The enlarged polygonal frame is used as a hook to straighten the boundary of the area to be contacted when it comes into contact with the push plate assembly.

[0013] In this embodiment, the built-in polygonal frame has the same shape as the projection of the pusher assembly in the horizontal direction. After the polygonal frame is enlarged according to a preset ratio, the size of the enlarged polygonal frame is the same as the size of the projection of the pusher assembly in the horizontal direction.

[0014] In this embodiment, after the controller obtains the boundary of the area to be straightened, it is specifically configured as follows:

[0015] Confirm that the extension / retraction direction of the push plate assembly is lateral;

[0016] Determine whether the pusher assembly is fully aligned with the area to be contacted in the lateral direction;

[0017] When misalignment occurs, the moving positioning mechanism is controlled to move in order to adjust the position of the push plate assembly;

[0018] During alignment, the push plate assembly extends until it contacts the alignment area of ​​the pull hook.

[0019] In this embodiment, the pusher assembly is further provided with a distance detection device, which is used to detect the distance between the pusher assembly and the area to be contacted for straightening; and / or, the pusher assembly is further provided with a force detection device, which is used to detect the contact pressure between the pusher assembly and the area to be contacted for straightening.

[0020] To achieve the above objectives, the present invention also provides a hook-and-righting control method for a train derailment assistance robot, wherein the hook-and-righting control method includes:

[0021] S100: Provides a train derailment assistance robot as described above;

[0022] S200: After the train carriage is positioned in the tilting platform, the control sensing module senses the position of the hooks on the train carriage;

[0023] S300: Calculate the position of the hook to be aligned and contacted based on the sensing results of the sensing module;

[0024] S400: The moving positioning mechanism is controlled to move according to the position of the area to be contacted, so that the push plate assembly is aligned with the area to be contacted in the lateral direction.

[0025] S500: Controls the pusher assembly to extend laterally toward the area to be contacted;

[0026] S600: When the distance between the push plate assembly and the area to be contacted for straightening is less than the set value, and the pressure between the push plate assembly and the area to be contacted for straightening is greater than the set pressure, the push plate assembly is controlled to stop extending.

[0027] In this embodiment, the sensing result of the sensing module is the orthographic projection image of the hook in the lateral direction. S300: Calculate the position of the hook to be aligned and contacted based on the sensing result of the sensing module, specifically including:

[0028] S301: Obtain the orthographic projection image of the hook;

[0029] S302: Extract the contour of the hook in the orthographic projection image to obtain the contour of the mark;

[0030] S303: Calculate the center point of the marker's outline;

[0031] S304: Enlarge the built-in polygonal frame according to a preset ratio with the center point as the center. The enlarged polygonal frame is the boundary of the area to be contacted by the push plate assembly.

[0032] In this embodiment, the hook straightening control method further includes:

[0033] S200`: The control sensor module senses the position of the hooks on the train carriages and determines when the current number of derailments reaches the preset cycle value.

[0034] S300: If the number of rollovers reaches the preset cycle value, control the cleaning mechanism to start and clean the ultrasonic probe.

[0035] In this embodiment, S500: controlling the pusher assembly to extend laterally toward the area to be contacted, including:

[0036] S501: Trigger the ultrasonic probe to measure the first distance between the push plate assembly and the aligned hook;

[0037] S502: The control push plate assembly extends a first distance in the lateral direction toward the area to be contacted at a first driving speed to pre-contact the hook;

[0038] S503: Control the push plate assembly to continue applying a holding force to the hook, wherein the value of the holding force is mapped according to the size of the polygonal frame.

[0039] Through the above technical solution, the train derailment assistance robot provided in this embodiment of the invention has the following beneficial effects:

[0040] The system's straightening process is fully automated, requiring no manual intervention. Facing different car models and couplers whose position has changed due to load or wear, the system uses real-time sensing modules and rapid calculations by the data processing unit to accurately and efficiently complete the coupler straightening operation, significantly improving system compatibility.

[0041] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0042] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0043] Figure 1 This is a schematic diagram of the structure of the train derailment assistance robot according to an embodiment of the present invention;

[0044] Figure 2This is a schematic diagram of the structure of a first embodiment of the positive hook device according to an embodiment of the present invention;

[0045] Figure 3 According to the embodiments of the present invention Figure 2 Enlarged structural diagram at point A;

[0046] Figure 4 This is a schematic diagram of a second embodiment of the positive hook device according to an embodiment of the present invention;

[0047] Figure 5 According to the embodiments of the present invention Figure 4 Enlarged structural diagram at point B;

[0048] Figure 6 This is a schematic diagram of the structure of a train car and a coupling device according to an embodiment of the present invention;

[0049] Figure 7 This is a flowchart illustrating the method steps of the hook straightening control method according to an embodiment of the present invention;

[0050] Figure 8 This is a detailed step diagram of step S300 in the hook straightening control method according to an embodiment of the present invention;

[0051] Figure 9 This is a node diagram illustrating step S300 in an embodiment of the present invention;

[0052] Figure 10 This is a detailed step diagram of step S500 in the hook straightening control method according to an embodiment of the present invention;

[0053] Figure 11 This is a step diagram that is synchronized with step S200 in the hook straightening control method according to an embodiment of the present invention;

[0054] Figure 12 This is a control flowchart of the hook straightening control method according to an embodiment of the present invention.

[0055] Explanation of reference numerals in the attached figures

[0056] 1. Hook assembly; 11. Sliding module; 12. Lower housing; 12a. Receiving cavity; 2. Cover plate; 3. Push plate assembly; 31. Push plate body; 32. Push plate telescopic structure; 41. Drive motor; 42. Tilting drive assembly; 421. Rotating shaft; 422. First driven gear; 423. End bracket; 43. Push plate drive assembly; 431. First reversing gear; 432. Second reversing gear; 433. Transmission rod; 434. Second driven gear; 435. Second bushing; 44. Switching assembly; 441. Sliding bracket; 442. Fixed bracket; 443. First bushing; 444. Tension spring; 445. Return spring; 45. Gearbox; 451. First driving gear; 452. Second driving gear; 51. Cleaning mechanism; 52. Ultrasonic probe; 6. Train carriage; 61. Hook; 7. Tilting platform; 7a. Platform space. Detailed Implementation

[0057] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0058] The train rollover assist robot of the present invention is described below with reference to the accompanying drawings.

[0059] This invention provides a train derailment assistance robot, such as... Figure 1 , Figure 2 and Figure 6 As shown, the train rollover assistance robot includes a rollover platform 7, a clamping device (not shown in the figure), a hook device 1, a sensing module, a data processing unit, and a controller.

[0060] The tilting platform 7 is provided with a platform space 7a for accommodating at least one train car 6. When the tilting platform 7 is working, it can at least tilt the train car model within the platform space 7a.

[0061] The clamping device is used to clamp and fix the train car 6 in the platform space 7a after the train car 6 is accurately placed in the platform space 7a, so as to prevent the train car 6 from falling to the ground when it is overturned.

[0062] The positive hook device 1 includes a moving positioning mechanism capable of moving with multiple degrees of freedom and a push plate assembly 3 mounted on the moving positioning mechanism. The push plate assembly 3 is telescopically oriented, and the moving positioning mechanism can drive the push plate assembly 3 to move along multiple axes.

[0063] The number of sensing modules can be one or more, and multiple sensing modules can be arranged sequentially along the longitudinal direction of the platform space 7a. The sensing path of the sensing module can extend along the lateral direction of the platform space 7a. When the train carriage 6 is accurately parked in the platform space 7a, the lateral direction of the platform space 7a is in the same direction as the width direction of the train carriage 6.

[0064] The data processing unit is used to calculate the position of the hook 61 to be aligned and contacted based on the sensing results of the sensing module.

[0065] The controller is used to control the movement of the positioning mechanism according to the position of the area to be aligned, so that the push plate assembly 3 is aligned with the area to be aligned in the lateral direction.

[0066] Once the disassembled train carriage 6 is accurately positioned within the tilting platform 7, the sensing modules arranged laterally along the sensing path can quickly scan and identify the area where the hook 61 is located. The data processing unit rapidly processes the sensing information from the sensing modules, enabling the controller to accurately obtain the actual spatial coordinates and orientation of the hook 61 in the current carriage, and further calculate the contact area between the hook 61 and the push plate assembly 3 for alignment. Based on this information, the controller drives a multi-degree-of-freedom motion positioning mechanism to move adaptively, ultimately aligning the push plate assembly 3 perfectly with the contact area in the lateral direction. At this point, simply extending the push plate assembly 3 allows for precise support and alignment of the hook 61.

[0067] In summary, the straightening process of this system is fully automated, requiring no manual intervention. Facing different car models and couplers 61 whose position changes due to load or wear, the system, through real-time sensing by the sensing module and rapid calculation by the data processing unit, can accurately and efficiently complete the coupler straightening operation, significantly improving the system's compatibility.

[0068] It is understandable that the alignment of the push plate assembly 3 with the area to be contacted in the lateral direction means that the extension and retraction direction of the push plate assembly 3 is parallel to the lateral direction, and the push plate assembly 3 is aligned with the area to be contacted in the lateral direction.

[0069] like Figure 2 , Figure 4 and Figure 6 As shown, in this embodiment, the mobile positioning mechanism includes a sliding module 11, a lower housing 12, and a cover plate 2. The sliding module 11 is arranged along the longitudinal direction of the platform space 7a. The lower housing 12 is slidably embedded in the sliding module 11. The cover plate 2 can be accommodated in the lower housing 12 and can be flipped up and down relative to the lower housing 12. The push plate assembly 3 is disposed on the cover plate 2.

[0070] Specifically, the sliding module 11 may include a guide (such as a guide rail or guide groove) for guiding the lower housing 12 to slide, and a sliding drive assembly for driving the lower housing 12 to slide on the guide. The sliding drive assembly may be a motor screw, a telescopic cylinder, a winch, etc.

[0071] The lower housing 12 is embedded in the sliding module 11 and can slide on the sliding module 11. When the hook device 1 is assembled on the train tipping robot, the sliding direction of the lower housing 12 can be along the direction in which the train car 6 enters and exits the train tipping robot (i.e., the longitudinal direction of the platform space 7a). Of course, the lower housing 12 can also slide in other directions. The purpose of moving the lower housing 12 is to move the cover plate 2 and the push plate assembly 3 to a suitable position, thereby facilitating the subsequent precise contact of the push plate assembly 3 with the hook 61 on the train car 6. The movement path of the lower housing 12 preferably avoids the entry and exit path of the train car 6 entering and exiting the train tipping robot, that is, the lower housing 12 slides to any position of the sliding module 11 without affecting the entry and exit of the train car 6 entering and exiting the train tipping robot. In one way, in order to achieve the avoidance of the lower housing 12, the lower housing 12 can be set to slide along the longitudinal direction of the platform space 7a and its height is lower than the height of the train car 6.

[0072] The lower housing 12 may be provided with a receiving cavity 12a, which has an opening. The cover plate 2 can be flipped relative to the lower housing 12 to be flipped out or hidden inside the lower housing 12. When the cover plate 2 is rotated to be hidden inside the lower housing 12, the entire hook device 1 is in an avoidance posture, that is, the lower housing 12 can slide to any position of the sliding module 11 without the cover plate 2 hidden inside the lower housing 12 affecting the entry and exit of the train carriage 6 into the train tipping robot. The cover plate 2 can also be flipped upward to a vertical posture to change the extension and retraction direction of the push plate assembly 3 to be parallel to the lateral direction.

[0073] By adjusting the position of the lower housing 12 and the flipping angle of the cover plate 2, the push plate assembly 3 can be aligned with the area to be contacted in the lateral direction.

[0074] like Figure 2 and Figure 4 As shown, in this embodiment, the positive hook device 1 further includes a driving mechanism, which may include a drive motor 41, a flipping drive assembly 42, and a push plate drive assembly 43. The flipping drive assembly 42 is used to drive the cover plate 2 to flip, and the push plate drive assembly 43 is used to drive the push plate to extend and retract.

[0075] Furthermore, the drive mechanism may also include a switching component 44, which is configured to change the connection state of at least one of the flip drive component 42 and the push plate drive component 43, so that the drive motor 41 controls the extension and retraction of the push plate component 3 and the flipping of the cover plate 2 in different connection states.

[0076] Combination Figure 2 and Figure 6 As shown, when the hook-over-hook device 1 is in use, the lower housing 12 is first moved to a position to avoid interference with surrounding components and the train carriage 6 when the cover plate 2 is unfolded. After moving to this position, the drive motor 41 is connected to the tilting drive assembly 42 via the switching component 44, allowing the cover plate 2 to unfold. After the cover plate 2 is unfolded, the lower housing 12 is moved to a suitable position so that the push plate assembly 3 is aligned with the straightening contact area of ​​the hook 61 in the lateral direction. At this time, the positioning action of the push plate assembly 3 before straightening is completed. After the push plate assembly 3 is aligned with the hook 61, the drive motor 41 is connected to the push plate drive assembly 43 via the switching component 44, allowing the push plate drive assembly 43 to extend and abut against the straightening contact surface of the hook 61. In this way, when the train tilting robot tilts the train carriage 6, the push plate assembly 3 can ensure that the posture of the hook 61 remains unchanged.

[0077] Since the positive hook device 1 uses the switching component 44 to control the transmission connection state of the flipping drive component 42 and the push plate drive component 43, only one set of drive motors 41 is needed to drive the cover plate 2 and the push plate component 3. Compared with multiple drive sources, there are fewer control variables and the cumulative error generated during operation is lower, which greatly reduces the difficulty of control. Moreover, the torque of a single power source is directly distributed through the switching component 44, which fundamentally eliminates the asynchronous error between multiple drive sources. When some sequential compound coordinated actions need to be designed, the response is faster and the action is more accurate. In addition, compared with the hydraulic / pneumatic drive of the transmission, the single motor solution eliminates the hydraulic cylinder / pneumatic cylinder and the matching solenoid valve, pressure sensor, etc., which greatly reduces the hardware cost and pipeline cost, the structure is more compact, the energy efficiency ratio is higher, and it is more energy-saving.

[0078] like Figure 2 and Figure 4 As shown, in this embodiment, the flipping drive assembly 42 may include a rotating shaft 421, a first driven gear 422, and an end bracket 423. The first driven gear 422 is fixedly sleeved on the outer periphery of the rotating shaft 421, and the end bracket 423 is disposed at one end of the cover plate 2 near the lower housing 12 and connected to the rotating shaft 421. The cover plate 2 and the end bracket 423 may be integrally disposed or connected by a connector. The cover plate 2 is hinged on the lower housing 12 through the rotating shaft 421 and the end bracket 423.

[0079] The drive motor 41 is connected to the first drive gear 451 via a transmission connection. This transmission connection can be as follows: Figure 2 The first drive gear 451 shown is directly connected to the output shaft of the drive motor 41, or as... Figure 4The two shown are connected by a multi-stage transmission. The first driving gear 451 and the first driven gear 422 mesh, and the first driving gear 451 is driven to rotate by the drive motor 41, which can drive the rotating shaft 421 to rotate, thereby driving the cover plate 2 to flip relative to the lower box 12.

[0080] To achieve the driving of pusher assembly 3, such as Figure 2 and Figure 3 As shown, in one embodiment, the push plate assembly 3 includes a push plate body 31 and a push plate telescopic structure 32. The push plate drive assembly 43 may include a first reversing gear 431, a second reversing gear 432, and a transmission rod 433. The first reversing gear 431 is connected to the outer periphery of the rotating shaft 421. The second reversing gear 432 is connected to the end of the transmission rod 433 and meshes with the first reversing gear 431. The transmission rod 433 is connected to the push plate telescopic structure 32 and is used to drive the push plate body 31 to extend and retract. The push plate telescopic structure 32 and the transmission rod 433 work together to convert the rotational force of the second reversing gear 432 into the extension and retraction driving force of the push plate body 31.

[0081] When the shaft 421 rotates, in addition to the cover plate 2 moving, the first reversing gear 431 also rotates. The power of the first reversing gear 431 is transmitted sequentially through the second reversing gear 432, the transmission rod 433, and the push plate telescopic structure 32 to the push plate body 31, thereby driving the push plate body 31 to extend. That is, in this embodiment, by fixing the first reversing gear 431 onto the shaft 421, the cover plate 2 and the push plate assembly 3 can be driven together.

[0082] like Figure 2 As shown, in this embodiment, the push plate telescopic structure 32 can be a scissor arm assembly, and the transmission rod 433 can be a lead screw. The lead screw drives the movable arm of the scissor arm assembly to move, thereby causing the scissor arm to drive the push plate body 31 to extend.

[0083] In this embodiment, the push plate telescopic structure 32 can also be a telescopic pin, and the transmission rod 433 can still be a lead screw. When the lead screw moves linearly, the telescopic pin can be driven to extend through the wedge structure, thereby pushing the push plate body 31 to extend.

[0084] In this embodiment, the push plate telescopic structure 32 can also be a pulley tensioning group similar to that inside the telescopic arm of engineering machinery.

[0085] Furthermore, in order to control the connection states of the flip drive assembly 42 and the push plate drive assembly 43 with the drive motor 41 respectively, such as Figure 1 and Figure 2As shown, in this embodiment, the switching component 44 may include a sliding bracket 441, a fixed bracket 442, a first bushing 443, a tension spring 444, and a return spring 445. The sliding bracket 441 is slidably connected to the slide groove of the cover plate 2 corresponding to the stroke, so that it can slide and rise on the cover plate 2. The fixed bracket 442 is fixedly connected to the cover plate 2. The first bushing 443 is connected to the end of the transmission rod 433. The reversing gear is connected to the first bushing 443. One end of the tension spring 444 is connected to the sliding bracket 441, and the other end is connected to the lower housing 12. One end of the return spring 445 is connected to the first bushing 443 through the sliding bracket 441, and the other end is connected to the fixed bracket 442.

[0086] When the cover plate 2 is in the closed state, the return spring 445 overcomes the tension spring 444, causing the sliding bracket 441 to be in the first extreme position. In the first extreme position, the first reversing gear 431 and the second reversing gear 432 are disengaged. At this time, the drive motor 41 can only control the rotating shaft 421 to rotate, so that the cover plate 2 can be flipped. When the cover plate 2 is in the open extreme position, the tension spring 444 overcomes the return spring 445, causing the sliding bracket 441 to be in the second extreme position. In the second extreme position, the first reversing gear 431 and the second reversing gear 432 are engaged. When the drive motor 41 controls the rotating shaft 421 to rotate, the push plate assembly 3 and the cover plate 2 move together.

[0087] Specifically, when the cover plate 2 is unfolded, the tension spring 444 is stretched. Under the action of the tension spring 444, the sliding bracket 441 will overcome the force of the return spring 445 and move towards the bottom edge of the cover plate 2 (towards the end near the lower housing 12), causing the position of the second reversing gear 432 to drop. When the cover plate 2 is unfolded to a certain critical position, the second reversing gear 432 will engage with the first reversing gear 431. At this time, the power of the rotating shaft 421 can be transmitted to the push plate assembly 3 in sequence through the first reversing gear 431 and the second reversing gear 432, so as to realize the extension drive of the push plate assembly 3 when the cover plate 2 is unfolded.

[0088] In this embodiment, through the cooperation of the tension spring 444 and the sliding bracket 441, the push plate assembly 3 can only start to move when the cover plate 2 is opened to a certain degree. This realizes the coordinated compound action control of the device, which is "the cover plate 2 moves first, and then the cover plate 2 and the push plate assembly 3 move together". By designing this action, when the stroke of the push plate assembly 3 is inconsistent with the stroke of the cover plate 2, this coordinated action can prevent the push plate assembly 3 from over-extending, or can prevent the cover plate 2 from being unable to open due to the insufficient space allowed for the push plate assembly 3 to extend.

[0089] When the cover plate 2 rotates into the lower housing 12, both the tension spring 444 and the return spring 445 gradually return to their original positions. Due to the retraction of the return spring 445, the sliding bracket 441 moves towards the top edge of the cover plate 2 (i.e., the end of the cover plate 2 away from the lower housing 12), causing the position of the second reversing gear 432 to gradually rise. Before the second reversing gear 432 separates from the first reversing gear 431, the cover plate 2 rotates into the lower housing 12, and the push plate assembly 3 retracts synchronously. When the cover plate 2 flips downward to a certain critical position, the second reversing gear 432 separates from the first reversing gear 431. At this time, the rotation of the shaft 421 will only drive the cover plate 2 to move, and the push plate assembly 3 will stop moving.

[0090] In this embodiment, through the cooperation of the return spring 445 and the sliding bracket 441, the push plate assembly 3 can stop moving when the cover plate 2 is closed to a certain extent, and only the cover plate 2 moves thereafter. Similarly, by designing this action, when the stroke of the push plate assembly 3 is inconsistent with the stroke of the cover plate 2, excessive retraction of the push plate assembly 3 can be avoided.

[0091] In this embodiment, a limiting structure is provided between the cover plate 2 and the lower housing 12. When the cover plate 2 is rotated to its limit angle, the limiting structure prevents rotation and restricts the cover plate 2. The limiting structure can be a limiting block provided on the cover plate 2, the lower housing 12, or the rotating shaft 421. Through the limiting mechanism, the maximum unfolding angle of the cover plate 2 can be limited mechanically to avoid the push plate assembly 3 from over-extending or over-retracting, thereby protecting the device.

[0092] In this embodiment, the maximum opening angle of the cover plate 2 can be 90° perpendicular to the ground.

[0093] To protect the device, in this embodiment, the first driven gear 422 can also be a sector gear. By setting the first driven gear 422 to a sector shape, when the first driving gear 451 meshes with the sector edge of the first driven gear 422, the cover plate 2 will be unable to rotate further. By making the first driven gear 422 a sector gear, the cover plate 2 is limited at the transmission level.

[0094] In this embodiment, both the first reversing gear 431 and the second reversing gear 432 can be bevel gears.

[0095] In this embodiment, in order to achieve power switching control, in addition to using the sliding bracket 441 in conjunction with the tension spring 444 or the return spring 445, other methods can also be used to achieve the clutch control of the first reversing gear 431 and the second reversing gear 432.

[0096] To achieve the driving of pusher assembly 3, such as Figure 4 and Figure 5As shown, in another embodiment, the drive mechanism may include a gearbox 45, which is connected to a drive motor 41. A first drive gear 451 is one of the output ends of the gearbox 45, and the gearbox 45 also includes a second drive gear 452 as the other output end. The first drive gear 451 meshes with a first driven gear 422. The gearbox 45 is internally provided with a power output switching module (such as a clutch). The power output switching module is used to control the gearbox 45 to selectively direct the power output from the drive motor 41 to one of the first drive gear 451 and the second drive gear 452. The switching component 44 is the power output switching module within the gearbox 45.

[0097] The push plate drive assembly 43 includes a second driven gear 434, a second reversing gear 432, and a transmission rod 433. The first reversing gear 431 is connected to the outer periphery of the rotating shaft 421 through a second bushing 435. The first reversing gear 431 can rotate freely relative to the rotating shaft 421 through the second bushing 435. The second reversing gear 432 is connected to the end of the transmission rod 433 and meshes with the first reversing gear 431. The transmission rod 433 is connected to the push plate assembly 3 and is used to drive the push plate assembly 3 to extend and retract.

[0098] In this embodiment, the gearbox 45 is further provided with a first state for selectively guiding the power output from the drive motor 41 to the first drive gear 451, and a second state including selectively guiding the power output from the drive motor 41 to the second drive gear 452.

[0099] In the first state, the output shaft of the drive motor 41 is connected to the first drive gear 451. By controlling the drive motor 41, the rotating shaft 421 is rotated, so that the cover plate 2 is flipped.

[0100] In the second state, the output shaft of the drive motor 41 is connected to the second drive gear 452. By controlling the drive motor 41, the drive shaft is rotated to drive the push plate assembly 3 to move.

[0101] Specifically, when the gearbox 45 switches to the output of the first drive gear 451, the power output of the drive motor 41 is transmitted sequentially through the first drive gear 451 and the first driven gear 422 to the rotating shaft 421, thereby driving the cover plate 2 to flip. When the gearbox 45 switches to the output of the second drive gear 452, the power output of the drive motor 41 is transmitted sequentially through the second drive gear 452, the second driven gear 434, the second reversing gear 432, and the transmission rod 433, thereby driving the push plate assembly 3 to extend.

[0102] Of course, the gearbox 45 can also have a third state, in which the first drive gear 451 and the second drive gear 452 simultaneously output to the outside.

[0103] It is understood that in this embodiment, only the timing of the state switching of the gearbox 45 needs to be controlled to achieve the control of the movement timing of the device when the cover plate 2 moves alone, the push plate assembly 3 moves alone, and the cover plate 2 and the push plate assembly 3 move simultaneously.

[0104] In this embodiment, the sensing module may include a vision sensor, the sensing result of which is a projected image of the hook 61 in the lateral direction. The data processing unit is configured to:

[0105] Obtain the orthographic projection image of hook 61;

[0106] The outline of the hook 61 in the orthographic projection image is marked according to the built-in preset algorithm;

[0107] Calculate the center point of the marked outline;

[0108] The built-in polygonal frame is enlarged according to a preset ratio with the center point as the center. The enlarged polygonal frame is used as hook 61 to straighten the boundary of the area to be contacted when it comes into contact with the push plate assembly 3.

[0109] Specifically, the sensing module can be an industrial camera or an image acquisition sensor. Multiple sensing modules can be arranged sequentially at intervals in the longitudinal direction of the platform space 7a. In actual operation, the data processing unit can receive the images captured by each sensing module and select the image with the best shooting angle (i.e. the image that best matches the orthographic projection angle) as the processing target.

[0110] After selecting the optimal image, the outline of the hook 61 in the orthographic projection image can be marked according to the built-in preset algorithm. The preset algorithm can be the Canny edge detection algorithm. Of course, before the outline is marked, the image can also be preprocessed, such as grayscale processing, noise reduction processing, histogram equalization, etc.

[0111] After the outline is marked, a polygonal outline is formed. Simple geometric calculations can be performed on this outline to determine its center point. For example, if the generated outline is a rectangle, the built-in algorithm can be used to simulate the diagonals of the rectangle to determine the intersection of the diagonals, which is the center point.

[0112] Understandably, when marking contours, contour approximation algorithms can be used to make the generated contour box closer to a regular or neatly edged polygon, thereby facilitating the calculation of the center point.

[0113] After calculating the center point of the marked outline, the built-in polygonal frame is enlarged according to a preset ratio, centered on the center point. The enlarged polygonal frame serves as the hook 61, used to straighten the boundary of the area to be contacted when it comes into contact with the pusher assembly 3. The enlargement ratio must satisfy the condition that the area of ​​the enlarged polygonal frame is greater than the area of ​​the pusher assembly 3.

[0114] By calculating the boundary of the contact area with the center point of the contour as the center, the contact position of the hook 61 is closer to the center of the side of the hook 61 when the push plate assembly 3 extends, ensuring better contact effect and more uniform force between the subsequent push plate assembly 3 and the hook 61.

[0115] In this embodiment, the built-in polygonal frame preferably has the same shape as the projection of the push plate assembly 3 in the lateral direction. After the polygonal frame is enlarged according to a preset ratio, the size of the enlarged polygonal frame is the same as the size of the projection of the push plate assembly 3 in the lateral direction. By setting the shape and size of the two to be the same, the contact position between the push plate assembly 3 and the hook 61 coincides with the center of the side of the hook 61 when the push plate assembly 3 extends.

[0116] In this embodiment, after the controller obtains the boundary of the area to be straightened, it is specifically configured as follows:

[0117] Confirm that the extension and retraction direction of the push plate assembly 3 is the lateral direction;

[0118] Determine whether the pusher assembly 3 is completely aligned with the area to be contacted in the lateral direction;

[0119] When misalignment occurs, the moving positioning mechanism is controlled to move in order to adjust the position of the push plate assembly 3;

[0120] During alignment, the push plate assembly 3 extends until it contacts the alignment area of ​​the pull hook 61.

[0121] After receiving the calculation results from the data processing unit, the controller first controls the movement of the positioning mechanism to adjust the push plate assembly 3 so that its extension direction is parallel to the lateral direction and aligned with the area to be contacted in the lateral direction. The lateral direction of the push plate assembly 3 is confirmed by the unfolding angle of the cover plate 2, and the alignment of the push plate assembly 3 with the area to be contacted in the lateral direction is determined by the position of the lower housing 12. During the movement of the positioning mechanism, the controller continuously checks the position until the push plate assembly 3 is fully aligned with the area to be contacted in the lateral direction. Once aligned, the controller can extend the push plate assembly 3 to make contact with the area to be contacted.

[0122] In this embodiment, the push plate assembly 3 is further provided with a distance detection device, which is used to detect the distance between the push plate assembly 3 and the area to be contacted for straightening; and / or, the push plate assembly 3 is further provided with a mechanical detection device, which is used to detect the contact pressure between the push plate assembly 3 and the area to be contacted for straightening.

[0123] The distance detection device can be an ultrasonic probe 52, a laser rangefinder, etc. Taking the ultrasonic probe 52 as an example, the ultrasonic probe 52 can be set on the side of the push plate assembly 3 near the cover plate 2, and the push plate assembly 3 is provided with a corresponding hole for the ultrasonic probe 52. Through the ultrasonic probe 52, when straightening the hook 61, it is convenient to judge the distance between the push plate assembly 3 and the hook 61, and avoid the push plate assembly 3 from extending too much or not extending enough.

[0124] Furthermore, the train derailment assistance robot also includes a cleaning mechanism 51, which can be located in the lower housing 12. When the cover 2 is closed, the cleaning mechanism 51 contacts the ultrasonic probe 52, enabling it to clean the ultrasonic probe 52 under drive. That is, the cleaning of the ultrasonic probe 52 occurs when the cover 2 is closed. The cleaning mechanism 51 can be configured to start and clean the ultrasonic probe 52 when the number of derailment operations performed by the entire system reaches a preset cycle value.

[0125] Meanwhile, a mechanical detection device can also be installed on the push plate assembly 3. When the push plate assembly 3 extends to abut against the hook 61, the force of the push plate assembly 3 against the hook 61 can be detected to determine whether the push plate assembly 3 has extended to the correct position.

[0126] It is understandable that whether the pusher assembly 3 has extended into place can be determined by combining multiple signals, such as receiving signals from both the distance detection device and the force detection device at the same time.

[0127] Once the controller determines that the push plate assembly 3 has extended to the correct position, it can respond to the tipping command and control the tipping platform 7 to tip. After tipping is completed, the controller can control the hook device 1 and other devices (or modules) to reset, then control the current train car 6 to move out of the tipping platform 7, and control the next train car 6 to enter the tipping platform 7, so that the tipping operation of the next cycle can be carried out.

[0128] like Figure 7 and Figure 12 As shown, to achieve the above objectives, the present invention also provides a hook-and-righting control method for a train rollover assist robot, wherein the hook-and-righting control method includes:

[0129] S100: Provides a train derailment assistance robot as described above;

[0130] S200: After the train carriage 6 is positioned in the tilting platform 7, the control sensing module senses the position of the hook 61 on the train carriage 6.

[0131] S300: Calculate the position of the hook 61 to be aligned with the contact area based on the sensing results of the sensing module;

[0132] S400: The moving positioning mechanism is moved according to the position of the area to be contacted, so that the push plate assembly 3 is aligned with the area to be contacted in the lateral direction.

[0133] S500: Control the push plate assembly 3 to extend laterally toward the area to be contacted;

[0134] S600: When the distance between the push plate assembly 3 and the area to be contacted for straightening is less than the set value, and the pressure between the push plate assembly 3 and the area to be contacted for straightening is greater than the set pressure, the push plate assembly 3 is controlled to stop extending.

[0135] In the embodiments of this application, such as Figure 11 and Figure 12 As shown, during the synchronization of step S200, the straightening control method further includes:

[0136] S200`: The control sensor module senses the position of the hook 61 on the train carriage 6 and determines when the current number of derailments reaches the preset cycle value.

[0137] S300: If the number of rollovers is determined to reach the preset cycle value, control the cleaning mechanism 51 to start and clean the ultrasonic probe 52.

[0138] Understandably, when the vehicle overturns, the medium inside the carriage, such as coal, may contaminate the ultrasonic probe 52. The contaminated ultrasonic probe 52 may misjudge during the detection process, for example, misidentifying the reflected signal of coal particles as hook 61, which may cause the subsequent control chain to malfunction.

[0139] This application sets decision-making timings for the ultrasonic probe 52, corresponding to regular contamination and abnormal situations respectively. During the rollover operation, the medium (such as coal, ore, etc.) inside the train carriage 6 will spill and generate dust with each rollover. The preset cycle value is determined based on a large amount of experimental data and practical work experience. When the number of rollovers reaches this preset cycle value, it means that enough contaminants have accumulated on the probe surface, which may have a significant impact on the probe's detection performance.

[0140] Furthermore, since the cleaning mechanism 51 and the ultrasonic probe 52 are in contact each time the cover plate 2 is in the closed state, the ultrasonic probe 52 can be protected to a certain extent, preventing the ultrasonic probe 52 from being contaminated when not in use.

[0141] The tilting platform 7 is equipped with multiple position sensors to detect whether the train carriage 6 is positioned within the platform space 7a. When the train carriage 6 is in place and the operator presses the tilting operation command, the system first performs a self-check to determine whether the conditions for tilting are met.

[0142] The self-inspection items include, but are not limited to: checking whether the clamping device is properly clamped, checking whether there are any foreign objects intruding into the platform space 7a, checking whether the power-on detection of each device is normal, and checking whether the corresponding device has been reset.

[0143] After the self-test is completed, the sensor module first scans and identifies the area where the hook 61 is located. Then, the data processing unit quickly calculates the sensing information from the sensor module to determine the area where the hook 61 will contact the push plate assembly 3 for alignment. Based on this information, the controller drives the multi-degree-of-freedom moving positioning mechanism to move adaptively, so that the push plate assembly 3 is completely aligned with the area to be aligned in the lateral direction. At this point, by controlling the push plate assembly 3 to extend, the hook 61 can be accurately supported and aligned.

[0144] like Figure 8 as well as Figure 9 As shown, in this embodiment, the sensing result of the sensing module is the orthographic projection image of the hook 61 in the lateral direction. S300: The step of calculating the position of the hook 61 to be aligned with the contact area based on the sensing result of the sensing module specifically includes:

[0145] S301: Obtain the orthographic projection image of hook 61;

[0146] S302: Mark the outline of the hook 61 in the orthographic projection image according to the built-in preset algorithm;

[0147] S303: Calculate the center point of the marker's outline;

[0148] S304: The built-in polygonal frame is enlarged according to a preset ratio with the center point as the center. The enlarged polygonal frame is used as hook 61 to straighten the boundary of the area to be contacted when it contacts the push plate assembly 3.

[0149] In the above steps, "orthographic projection image" refers to the image of hook 61 acquired from a lateral perspective. The outline of hook 61 refers to the overall edge outline from a lateral perspective.

[0150] The built-in preset algorithm can be preferred to mark the outline of hook 61 in the orthographic projection image using Canny edge detection. Specifically, it involves performing a convolution operation on the orthographic projection image using a two-dimensional Gaussian kernel, then using the Sobel operator to calculate the gradient magnitude and direction, and then refining the edges, retaining only the local maximum gradient points, so as to obtain the marked outline of hook 61.

[0151] Based on the contour, the circumscribed polygon is then calculated. Specifically, the maximum length of the contour along the vertical direction and the maximum width along the horizontal direction are used to generate a polygonal outline (usually a rectangle). Simple geometric calculations are then performed on this outline, such as the center of the diagonal points, to calculate the center point of the outline.

[0152] After calculating the center point of the marked outline, the built-in polygonal frame is enlarged according to a preset ratio with the center point as the center. The enlarged polygonal frame is used as the hook 61 to straighten the boundary of the area to be contacted when it contacts the push plate assembly 3.

[0153] By calculating the boundary of the contact area with the center point of the contour as the center, the contact position between the push plate assembly 3 and the hook 61 when the push plate assembly 3 extends is close to the center of the side of the hook 61, ensuring that the force between the push plate assembly 3 and the hook 61 is uniform.

[0154] In some modified embodiments, the centroid of the profile can be determined and aligned with the center of the push plate body 31 and the centroid, which also falls within the scope of protection covered by this application.

[0155] Further solutions based on this embodiment, such as Figure 10 and Figure 12 As shown, in S500, the pusher assembly 3 extends laterally toward the area to be contacted, including:

[0156] S501: Trigger the ultrasonic probe 52 to measure the first distance between the push plate assembly 3 and the aligned hook 61;

[0157] S502: Control the push plate assembly 3 to extend the pre-contact hook 61 a first distance along the lateral direction toward the area to be contacted at a first driving speed;

[0158] S503: Control the push plate assembly 3 to continue applying the holding force to the hook 61, the value of which is mapped according to the size of the polygonal frame.

[0159] Understandably, the initial distance between the pusher assembly 3 and the hook 61 is measured by triggering the ultrasonic probe 52. This step utilizes the directional and reflective characteristics of ultrasound, combined with its built-in microcontroller-controlled transmitting and receiving modules, to accurately calculate the distance between them. For example, the ultrasonic probe 52 is triggered to emit a 38kHz pulse wave, which is reflected by the target and captured by the receiving module. The distance is calculated using the time difference, ensuring that the pusher assembly 3 positions the hook 61 with millimeter-level accuracy. It should be noted that the "first distance" is the straight-line distance in the lateral direction between the outermost protruding point of the hook 61 structure and the pusher body 31.

[0160] During the extension phase, the device moves smoothly at a first driving speed to avoid impact or positioning deviation due to excessive speed. When the extension distance reaches the first distance measured by ultrasonic waves, it is determined that the push plate assembly 3 and the hook 61 are in initial contact. Subsequently, the push plate assembly 3 continues to apply a holding force, the force value of which is dynamically adjusted according to the mapping relationship of the polygonal frame. For example, when the length of the polygonal frame in the longitudinal direction is between a and b, the corresponding holding force value is c1; if the length of the polygonal frame in the longitudinal direction is greater than b, the corresponding holding force value is c2. This is mainly based on different types of couplers to adapt to different holding forces.

[0161] Understandably, compared to the existing technology where the push plate extends directly until it collides with the hook 61 to achieve restraint, the push plate assembly 3 itself is driven, and after the collision, it and the hook 61 will make rigid contact and apply stress. However, the contact surface of the hook 61 is not a plane that completely matches the push plate body 31. Its contact surface is usually only a protrusion. Therefore, the impact force will cause the hook 61 to bear unstable force. More importantly, it will cause excessive transient stress in the hook 61 and affect the life of the drive component itself. In addition, the reverse impact force generated by the rigid collision is transmitted to the drive component through the transmission component (such as some gears shown in the above positive hook device 1), which causes the motor to experience sudden force changes (the peak torque can reach 3-5 times the rated torque). Under long-term impact, the fatigue life of the drive motor 41 and its transmission component is significantly reduced. In the pre-contact stage adopted in this application, an ultrasonic probe 52 is used to pre-measure the first distance, and the push plate assembly 3 is controlled to apply the holding force after contact, so that the output torque of the drive motor 41 is stable and without sudden changes, avoiding the meshing impact of gears and other transmission components. Through the mapping relationship between the holding force and the size of the polygonal frame, the holding force is avoided to be too large, thereby improving the overall service life and stability of the positive hook device 1.

[0162] After the push plate assembly 3 extends into place and holds the hook 61 with appropriate holding force, it can be comprehensively identified and judged by the sensing results of various sensing devices. For example, if the distance between the push plate assembly 3 and the area to be contacted is less than the set value, and the pressure between the push plate assembly 3 and the area to be contacted is greater than the set pressure, it can be determined that the push plate assembly 3 has extended into place, and at this time the push plate assembly 3 can be controlled to stop extending.

[0163] After the pusher assembly 3 extends into position, the controller can respond to the tipping operation command and control the tipping platform 7 to start tipping.

[0164] In summary, when faced with hooks in different positions on different carriages, this system uses a sensing module to perceive them in real time and a data processing unit to perform rapid calculations. This enables the push plate assembly 3 to accurately and efficiently align with the coupler, greatly improving the level of automation and efficiency of the operation. Furthermore, by optimizing the position recognition algorithm, the push plate assembly 3 can accurately hold the center position of the coupler holding side, avoiding uneven pushing force from the push plate assembly 3 onto the hook 61, which could lead to failure to right the carriage when it is overturned.

[0165] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0166] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0167] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0168] Although embodiments of the present invention have been described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A train derailment assistance robot, characterized in that, The train derailment assistance robot includes: The overturning platform (7) has a platform space (7a) for accommodating the train carriage (6). Clamping device for clamping the train car (6) within the platform space (7a). The positive hook device (1) includes a moving positioning mechanism capable of moving with multiple degrees of freedom and a push plate assembly (3) disposed on the moving positioning mechanism, wherein the push plate assembly (3) is retractable; The sensing module has a sensing path arranged along the lateral direction of the platform space (7a); The data processing unit is used to calculate the position of the hook (61) to be aligned and contacted based on the sensing result of the sensing module; The controller is used to control the movement of the moving positioning mechanism according to the position of the area to be straightened, so that the push plate assembly (3) is aligned with the area to be straightened in the lateral direction; The mobile positioning mechanism includes a sliding module (11), a lower housing (12), and a cover plate (2). The sliding module (11) is arranged along the longitudinal direction of the platform space (7a). The lower housing (12) is slidably embedded in the sliding module (11). The cover plate (2) can be accommodated in the lower housing (12) and can be flipped up and down relative to the lower housing (12). The push plate assembly (3) is disposed on the cover plate (2). By adjusting the position of the lower housing (12) and the flipping angle of the cover plate (2), the push plate assembly (3) can be aligned with the straightening contact area in the lateral direction. The positive hook device (1) also includes a drive mechanism, which includes a drive motor (41), a flip drive assembly (42), a push plate drive assembly (43), and a switching assembly (44). The drive mechanism includes a gearbox (45), which is connected to the drive motor (41) and is provided with a first drive gear (451) and a second drive gear (452). The flip drive assembly (42) includes a rotating shaft (421), a first driven gear (422) and an end bracket (423). The first driven gear (422) is fixedly sleeved on the outer periphery of the rotating shaft (421). The end bracket (423) is located at one end of the cover plate (2) near the lower housing (12) and is connected to the rotating shaft (421). The first drive gear (451) and the first driven gear (422) mesh to drive the rotating shaft (421) to rotate, thereby driving the cover plate (2) to flip. The gearbox (45) can selectively direct the power output from the drive motor (41) to one of the first drive gear (451) and the second drive gear (452) through an internal power output switching module. The switching component (44) is the power output switching module inside the gearbox (45). The push plate drive assembly (43) includes a second driven gear (434), a second reversing gear (432), and a transmission rod (433). The second driven gear (434) is connected to the outer periphery of the rotating shaft (421) through a second bushing (435). The second reversing gear (432) is connected to the end of the transmission rod (433) and meshes with the second driven gear (434). The transmission rod (433) is connected to the push plate assembly (3) and is used to drive the push plate assembly (3) to extend and retract. The gearbox (45) is further provided with a first state for selectively directing the power output of the drive motor (41) to the first drive gear (451), and a second state including selectively directing the power output of the drive motor (41) to the second drive gear (452). In the first state, the output shaft of the drive motor (41) is connected to the first drive gear (451) for transmission. By controlling the drive motor (41), the rotating shaft (421) is rotated so that the cover plate (2) is flipped. In the second state, the output shaft of the drive motor (41) is connected to the second drive gear (452) for transmission. By controlling the drive motor (41), the transmission rod is rotated to drive the push plate assembly (3) to move.

2. The train derailment assist robot according to claim 1, characterized in that, The sensing module includes a vision sensor, the sensing result of which is a projected image of the hook (61) in the lateral direction. The data processing unit is configured to: Obtain the orthographic projection image of the hook (61); The outline of the hook (61) in the orthographic projection image is marked according to the built-in preset algorithm; Calculate the center point of the marked outline; The built-in polygonal frame is enlarged according to a preset ratio with the center point as the center. The enlarged polygonal frame is the boundary of the straightening contact area for the hook (61) to contact the push plate assembly (3).

3. The train derailment assist robot according to claim 2, characterized in that, The built-in polygonal frame has the same shape as the projection of the push plate assembly (3) in the horizontal direction. After the polygonal frame is enlarged according to a preset ratio, the size of the enlarged polygonal frame is the same as the size of the projection of the push plate assembly (3) in the horizontal direction.

4. The train derailment assist robot according to claim 2, characterized in that, After obtaining the boundary of the area to be straightened, the controller is specifically configured as follows: Confirm that the extension and retraction direction of the push plate assembly (3) is the lateral direction; Determine whether the push plate assembly (3) is completely aligned with the straightening contact area in the lateral direction; When misaligned, the moving positioning mechanism is controlled to move in order to adjust the position of the push plate assembly (3); During alignment, the push plate assembly (3) is controlled to extend until it contacts the alignment area of ​​the hook (61).

5. The train derailment assist robot according to claim 4, characterized in that, The pusher assembly (3) is further provided with a distance detection device, which is used to detect the distance between the pusher assembly (3) and the area to be straightened; and / or The push plate assembly (3) is also provided with a mechanical detection device, which is used to detect the contact pressure between the push plate assembly (3) and the straightening contact area.

6. A hook-based righting control method for a train derailment assist robot, characterized in that, The hook-based straightening control method includes: Provide a train derailment assistance robot as described in any one of claims 1 to 5; After the train car (6) is positioned in the tilting platform (7), the sensing module is controlled to sense the position of the hook (61) on the train car (6); The position of the hook (61) to be aligned with the contact area is calculated based on the sensing result of the sensing module; The moving positioning mechanism is controlled to move according to the position of the area to be straightened, so that the push plate assembly (3) is aligned with the area to be straightened in the lateral direction; Control the pusher assembly (3) to extend toward the straightening contact area in the lateral direction; When the distance between the push plate assembly (3) and the area to be straightened is less than a set value, and the pressure between the push plate assembly (3) and the area to be straightened is greater than a set pressure, the push plate assembly (3) is controlled to stop extending.

7. The hook-and-righting control method for the train derailment assist robot according to claim 6, characterized in that, The sensing result of the sensing module is the orthographic projection image of the hook (61) in the lateral direction. The position of the hook (61) to be aligned with the contact area is calculated based on the sensing result of the sensing module, including: Obtain the orthographic projection image of the hook (61); Contour extraction is performed on the hook (61) in the orthographic projection image to obtain the outline of the mark; Calculate the center point of the marked outline; The built-in polygonal frame is enlarged according to a preset ratio with the center point as the center, wherein the enlarged polygonal frame is the boundary of the straightening contact area contacted by the push plate assembly (3).

8. The hook-and-righting control method for the train derailment assist robot according to claim 6, characterized in that, The hook-based straightening control method further includes: While the control sensing module senses the position of the hook (61) on the train carriage (6), it determines when the current number of rollovers reaches the preset cycle value. If the number of rollovers reaches the preset cycle value, the cleaning mechanism (51) is activated and the ultrasonic probe (52) is cleaned.

9. The hook-and-righting control method for the train derailment assist robot according to claim 7, characterized in that, The control of the pusher assembly (3) to extend toward the straightening contact area in the lateral direction includes: Trigger the ultrasonic probe (52) to measure the first distance between the push plate assembly (3) and the aligned hook (61); Control the push plate assembly (3) to extend the first distance in the lateral direction toward the area to be contacted at a first driving speed to pre-contact the hook (61). The push plate assembly (3) is controlled to continue applying a holding force to the hook (61), wherein the value of the holding force is mapped according to the size of the polygonal frame.

Images