Operation intelligent control system of train unhooking robot

Abstract

The invention discloses an intelligent operation control system of a train unhooking robot, which belongs to the technical field of train unhooking and comprises the following steps: acquiring standard unhooking data of various train unhooking robots on various train couplers, acquiring operation scene information, establishing a basic scene model according to the operation scene information; uncoupling standard data are matched according to various train uncoupling robot information and coupler information of the operation scene; performing adaptive adjustment on each unhooking standard data and the basic scene model to obtain unhooking matching data, performing real-time information acquisition according to the train unhooking robot to obtain equipment acquisition data, generating an unhooking background according to the unhooking demand data and the basic scene model, and matching the corresponding unhooking matching data according to the unhooking background. Path planning of the train unhooking robot is conducted according to the unhooking matching data, and the moving path of the train unhooking robot is obtained; a basic unhooking mode corresponding to the unhooking matching data is recognized, and control is conducted according to the moving path and the basic unhooking mode.

Description

Technical Field

[0001] This invention belongs to the field of train uncoupling technology, specifically an intelligent control system for a train uncoupling robot. Background Technology

[0002] In the railway transportation sector, train dismantling and marshalling operations are core components for ensuring transportation efficiency. Among these, uncoupling is a crucial step in separating connecting carriages, and the traditional manual methods are no longer sufficient to meet the demands of modern railways for intelligent and efficient development. Currently, with the continuous growth of railway freight volume, tippler lines, which primarily transport bulk commodities such as coal and ore, generally face high-intensity and high-frequency uncoupling demands. For example, in large marshalling yards or port freight hubs, dozens of trains can be dismantled daily, with each train requiring dozens of uncoupling operations. Manual operation is not only extremely labor-intensive but also limited by human physiological limits, making it difficult to maintain stable efficiency during continuous day and night operations. Especially under extreme weather conditions, the accuracy and safety of manual uncoupling significantly decrease.

[0003] Meanwhile, while some mechanized uncoupling devices exist in existing technologies, they are mostly semi-automated, requiring manual assistance for positioning or operation, and cannot achieve fully unmanned operation. For example, some devices can only complete the uncoupling of a single type of train, which is not adaptable to mixed train formations; or they rely on fixed trajectory movement and lack the ability to perceive and adapt to the dynamic environment in real time, resulting in a low success rate of uncoupling under complex working conditions.

[0004] Based on this, in order to solve the problem of intelligent uncoupling of trains, the present invention provides an intelligent control system for the operation of a train uncoupling robot. Summary of the Invention

[0005] To address the problems of the above solutions, this invention provides an intelligent control system for a train uncoupling robot.

[0006] The objective of this invention can be achieved through the following technical solutions: An intelligent control system for a train uncoupling robot includes a platform and an equipment. The platform includes a reserve analysis module and a reserve warehouse; The reserve analysis module is used to analyze various train couplers and obtain standard uncoupling data for various train couplers by various train uncoupling robots. The standard uncoupling data includes train uncoupling robot information, uncoupling process, initial coupler model, and uncoupling standard. The standard uncoupling data is then sent to the reserve warehouse for storage.

[0007] Furthermore, an analysis of various train couplers is conducted, including: Identify information about various train uncoupling robots and determine the types of train couplers that the uncoupling robot is applicable to based on the information. Identify the various train couplers; obtain the coupling / uncoupling standards and coupler information of the train couplers; the coupler information includes, but is not limited to, coupler size, application information, and coupler type, with the application information indicating the types of trains to which the train coupler can be applied; generate the corresponding initial coupler model based on the coupler information; The uncoupling process of the train uncoupling robot on the initial coupler model is determined according to the uncoupling standard, and the uncoupling process, train uncoupling robot information, initial coupler model, uncoupling standard, and coupler information are integrated into uncoupling standard data.

[0008] Furthermore, the train uncoupling robot information corresponds to the train uncoupling robot operated by the platform.

[0009] Furthermore, the train uncoupling robot information refers to the train uncoupling robots available on the market.

[0010] Furthermore, the platform is connected to each device.

[0011] The storage facility is used for data storage.

[0012] The device includes a scene acquisition module, a scene adaptation module, a device matching library, a device acquisition module, a planning module, and a control module; The scene acquisition module is used to monitor the operation scene of the train uncoupling robot in real time, obtain the operation scene information, and send the operation scene information to the scene adaptation module.

[0013] The scenario adaptation module is used to perform scenario adaptation analysis, obtain the operation scenario information of the train uncoupling robot, establish a basic scenario model based on the operation scenario information, and dynamically update the basic scenario model according to the real-time operation scenario information. Acquire various train uncoupling robot and coupler information for the operational scenario, connect to the platform's database, and match the corresponding uncoupling standard data from the database based on the train uncoupling robot and coupler information; The various unhooking standard data are adapted and adjusted with the basic scenario model to obtain unhooking matching data, which is then sent to the device matching library.

[0014] In one embodiment, the various dehook standard data are adapted and adjusted to match the basic scenario model, including: Based on the standard data and basic scenario model for uncoupling, we analyze the various simulation backgrounds of the train uncoupling robot and evaluate whether the corresponding simulation backgrounds need to be adapted and adjusted according to the equipment matching library. When the assessment does not require adaptation adjustments, no corresponding action is taken; When the assessment requires adaptation and adjustment, the initial coupler model in the uncoupling standard data is identified, and the uncoupling simulation background is obtained by integrating the initial coupler model with the simulation background. Uncoupling simulation is performed on the uncoupling simulation background based on the uncoupling standard data, and the basic uncoupling method is formed based on the uncoupling simulation data. The basic uncoupling method, coupler information, simulation background, and train uncoupling robot information are integrated into uncoupling matching data.

[0015] Furthermore, based on the equipment matching library, assess whether the corresponding simulation background needs adaptation adjustments, including: Input the simulated background into the device matching library for matching; When matching dehook data is found, no adaptation adjustment is required in the evaluation; When no matching data for uncoupling is found, the simulated background in the matching library that is closest to the simulated background is marked as the reserve background. The background difference between the reserve background and the simulated background is used to assess whether it affects the uncoupling of the train coupler. If it is determined that it affects the uncoupling of the train coupler, the assessment needs to be adapted and adjusted. If it is determined that it does not affect the uncoupling of the train coupler, the assessment does not need to be adapted and adjusted.

[0016] The equipment matching library is used to store various hook-unhooking matching data.

[0017] The equipment acquisition module is used to collect real-time information from the train uncoupling robot, obtain equipment acquisition data, send the equipment acquisition data to the planning module, and supplement the operation scenario information with the equipment acquisition data.

[0018] The planning module is used to perform uncoupling planning, acquire uncoupling demand data in real time, generate uncoupling background based on uncoupling demand data and basic scenario model, match corresponding uncoupling matching data from equipment matching library based on uncoupling background, perform path planning for train uncoupling robot based on uncoupling matching data, obtain the movement path of train uncoupling robot, identify the basic uncoupling method corresponding to uncoupling matching data, and send the movement path and basic uncoupling method to control module.

[0019] Furthermore, during the operation of the train uncoupling robot, a safe operating area is determined based on the basic scenario model and the data collected by the equipment, and real-time safety warnings are issued based on the safe operating area.

[0020] Furthermore, based on the basic scenario model and equipment-collected data, safe work areas are determined, including: The initial safety boundary is determined in real time based on the position of the train uncoupling robot. The current operation information of the train uncoupling robot is obtained, the safety critical boundary is determined based on the operation information, and a safe operation zone is formed based on the safety critical boundary and the initial safety boundary.

[0021] Furthermore, real-time safety alerts are provided based on the safe work area, including: Real-time identification of risky targets entering the initial safety boundary; path prediction of the risky targets to obtain the estimated path of the risky targets, and marking the estimated path in the safe working area; A risk warning is issued when the predicted path intersects with the safety critical boundary; No action is taken if the predicted path does not intersect with the safety critical boundary.

[0022] The control module is used to control the movement of the train uncoupling robot according to the movement path, and to control the train uncoupling robot to perform uncoupling operations according to the basic uncoupling method.

[0023] Compared with the prior art, the beneficial effects of the present invention are: This system can be widely applied to train coupling and uncoupling operations in railway marshalling yards, freight stations, and other similar scenarios, promoting the transformation of railway freight operations from "manual-dominated" to "intelligent automation" and providing technical support for the efficient and safe development of railway transportation. It replaces traditional manual coupling and uncoupling operations, eliminating the need for personnel to have close contact with the train and achieving "unmanned" operation. It reduces operation time through optimal path planning, and avoids operational risks through multi-sensor monitoring and anomaly warning, thereby reducing the intensity of manual labor and the incidence of safety accidents. It is compatible with couplers of different train models and can adjust operating strategies in real time through sensor data to adapt to complex operating scenarios. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a block diagram illustrating the principle of the present invention. Detailed Implementation

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0027] like Figure 1 As shown, an intelligent control system for a train uncoupling robot includes a platform and an equipment. The platform and each device are generally connected via communication, but other connection methods can also be used as needed.

[0028] The platform includes a reserve analysis module and a reserve warehouse; The reserve analysis module is used to analyze various train couplers and obtain standard uncoupling data for various train couplers by various train uncoupling robots. The standard uncoupling data includes relevant data such as train uncoupling robot information, uncoupling process, uncoupling standards, initial coupler model, and coupler information. The obtained standard uncoupling data for various train couplers by train uncoupling robots is sent to the reserve warehouse for storage.

[0029] In one embodiment, various train couplers are analyzed using various existing methods, such as the most common manual analysis, in which standard uncoupling data is set by humans based on various train uncoupling robots, train couplers, and train coupler uncoupling standards. The uncoupling standards are determined according to relevant specifications and regulations.

[0030] In one embodiment, the analysis of various train couplers includes: The process involves identifying various train uncoupling robots, including those operated by the platform and others available on the market. Based on this information, the system determines the types of train couplers that each robot can uncouple. The system then deduplicates and summarizes the couplers corresponding to each robot to obtain the various couplers to be analyzed. It acquires the uncoupling standards and information for each coupler, including coupler dimensions, application information, and coupler type. Application information refers to the trains and other equipment on which the coupler can be applied. Based on this information, a corresponding initial coupler model is generated. This model includes a 3D model of the coupler, carriages, and other equipment that influences the uncoupling operation, excluding background elements such as stations. Existing visualization modeling techniques are used to set up the initial coupler model, which will vary depending on the train or other equipment used.

[0031] Based on the uncoupling standards, the optimal uncoupling process for the corresponding train uncoupling robot on the corresponding initial coupler model is determined, and the uncoupling process, train uncoupling robot information, uncoupling standards, initial coupler model, and coupler information are integrated to form uncoupling standard data.

[0032] In one embodiment, the uncoupling standard data only includes the uncoupling process, train uncoupling robot information, uncoupling standards, and coupler information.

[0033] In one embodiment, the dehook standard data is supplemented with other data that will be used by subsequent devices during integration.

[0034] In one embodiment, the optimal uncoupling process for the corresponding train uncoupling robot on the corresponding coupler initial model is determined according to the uncoupling standard. This can be done based on existing methods, such as determining the optimal uncoupling process according to the currently applied uncoupling process; if there are multiple optional uncoupling processes, they can be selected according to the principles of optimal efficiency and safety first; or simulation technology can be used to determine the optimal uncoupling process.

[0035] The storage facility is used to store standard uncoupling data for various train couplers by various train uncoupling robots.

[0036] The device includes a scene acquisition module, a scene adaptation module, a device matching library, a device acquisition module, a planning module, and a control module; The scene acquisition module is used to monitor the operation scene of the train uncoupling robot in real time and obtain the corresponding operation scene information, such as operation scenes at train stations. Users can initially upload data such as videos and drawings, and then monitor in real time through video surveillance to realize the dynamic update of subsequent models; the operation scene information is sent to the scene adaptation module.

[0037] The scenario adaptation module is used for scenario adaptation analysis, real-time acquisition of the operational scenario information of the train uncoupling robot, establishment of a visualized 3D data model based on the operational scenario information, marking it as a basic scenario model, and dynamic updating of the basic scenario model based on subsequent operational scenario information; it connects to the platform's database to obtain various train uncoupling robot and coupler information for the operational scenario, and matches corresponding uncoupling standard data from the database based on the train uncoupling robot and coupler information; it adapts and adjusts each uncoupling standard data with the basic scenario model to obtain the basic uncoupling methods for various train couplers under the corresponding simulation background, such as the action steps of positioning → identification → unlocking → separation; it integrates each basic uncoupling method, coupler information, simulation background, and train uncoupling robot information into uncoupling matching data, where the application information corresponding to the coupler information is the actual application carriage, etc.; and it sends the uncoupling matching data to the equipment matching database.

[0038] In one embodiment, the various uncoupling standard data are adapted and adjusted with the basic scenario model. That is, based on the uncoupling standard data and the basic scenario model, various simulation backgrounds are analyzed. The simulation background refers to the various uncoupling situations that the corresponding train coupler may have in the scenario. It is determined in conjunction with the relevant train management, etc. If the type A coupler in a certain station is only uncoupled in a certain fixed area, then only the simulation background in that area is considered. Then, based on the uncoupling standard data, the uncoupling process is adapted and adjusted in this simulation background so that it can be applied in this simulation background. The working position of the subsequent train uncoupling robot is determined, and a basic uncoupling method is formed. That is, the subsequent train uncoupling robot can reach the working position corresponding to the basic uncoupling method and then perform the uncoupling step by step according to the uncoupling method to achieve uncoupling.

[0039] Based on the above approach, it can be implemented using various existing technologies.

[0040] In one embodiment, the various dehook standard data are adapted and adjusted to match the basic scenario model, including: Based on the standard data and basic scenario model for uncoupling, we analyze the various simulation backgrounds of the train uncoupling robot and evaluate whether the corresponding simulation backgrounds need to be adapted and adjusted according to the equipment matching library. When the assessment does not require adaptation adjustments, no corresponding action is taken; When the assessment requires adaptation and adjustment, the initial coupler model in the standard data for uncoupling is identified. The initial coupler model is then integrated with the simulation background to obtain the uncoupling simulation background. Since the initial coupler model and the corresponding train coupler in the simulation background should be the same, corresponding positioning and integration are performed. However, when there are differences, the simulation background takes precedence. This is mainly used for situations where the basic scenario model does not have a complete picture of the actual train coupler. In such cases, the initial coupler model is used to replace and supplement the model, enabling subsequent uncoupling simulations. Uncoupling simulations are then performed on the uncoupling simulation background based on the standard uncoupling data, and a basic uncoupling method is formed based on the uncoupling simulation data.

[0041] In one embodiment, a decoupling simulation is performed on the decoupling simulation background according to the decoupling standard data. That is, the decoupling simulation is performed according to the decoupling process in the decoupling standard data to determine whether the decoupling can be completed normally. If it cannot be completed due to the scenario, the decoupling is adjusted accordingly, and the simulation is performed again until the decoupling is completed, forming a complete basic decoupling method. This is mainly for situations where the original decoupling steps cannot be achieved due to the influence of obstacles in the scenario. At this time, adjustments can be made by adjusting the position of the train decoupling robot, removing obstacles, adjusting the position of the vehicle, etc., but generally, the adjustment of the train decoupling robot itself is the main method.

[0042] Specifically, the existing simulation method is used to simulate and remove the simulated background. If the simulation shows that the simulated background cannot be removed, feedback is sent to the relevant administrator for handling, such as prohibiting the simulated background from appearing or adjusting the scene.

[0043] It can also be simulated and adapted based on technologies such as digital twins.

[0044] In one embodiment, assessing whether the corresponding simulated background needs adaptation based on a device matching library includes: Input the simulated background into the device matching library for matching; When matching dehook data is found, no adaptation adjustment is required in the evaluation; When no matching data for uncoupling is found, the simulated background that is closest to the matching background in the matching library is identified and marked as a reserve background. The background difference between the reserve background and the simulated background is used to determine whether it will affect the uncoupling of the train coupler. This can be done by simulating the basic uncoupling method to determine whether it will have an impact, or by establishing an intelligent evaluation model based on machine learning. When it is determined that it will affect the uncoupling of the train coupler, the evaluation needs to be adjusted accordingly; when it is determined that it will not affect the uncoupling of the train coupler, the evaluation does not need to be adjusted accordingly.

[0045] The equipment matching library is used to store various hook-unhooking matching data.

[0046] The equipment acquisition module is used to collect real-time information from the train uncoupling robot. It integrates LiDAR, vision camera, millimeter-wave radar, and displacement sensor to collect real-time information such as train carriage position, coupler status, and surrounding obstacles, and integrates them into equipment acquisition data. The carriage position information is used to accurately locate the distance, angle, and offset of the carriage relative to the robot. The coupler status information includes the coupler model, locking status (locked / partially locked / unlocked), and wear and tear of key components. The surrounding obstacle information includes information on personnel, tools, foreign objects, and other obstacles in the working area. The equipment acquisition data is shared with the scene adaptation module to collaboratively improve the basic scene model.

[0047] The planning module is used for uncoupling planning, acquiring uncoupling demand data in real time, including train formation information (number of carriages, coupler spacing, etc.), uncoupling operation instructions, and other related information; generating an uncoupling background based on the uncoupling demand data and the basic scenario model, i.e., the simulated background mentioned above; adjusting the basic scenario model according to differences in equipment-collected data, thereby adjusting the uncoupling background to make the obtained uncoupling background more accurate; matching corresponding uncoupling matching data from the equipment matching library based on the uncoupling background; planning the path of the train uncoupling robot based on the uncoupling matching data; identifying the basic uncoupling method corresponding to the uncoupling matching data; and sending the movement path and basic uncoupling method to the control module.

[0048] In one embodiment, the path planning for the train uncoupling robot is performed based on the uncoupling matching data, following existing path planning methods, such as path planning based on efficiency, but requiring compliance with safety requirements; such as the common shortest path planning method.

[0049] In one embodiment, to further improve the unhooking accuracy, a verification analysis is performed when determining the basic unhooking method to assess whether it can be implemented normally.

[0050] In one embodiment, when the train uncoupling robot is operating, a safe operating area is determined based on a basic scene model and data collected by the equipment, and real-time safety warnings are issued based on the safe operating area.

[0051] In one embodiment, the safe work area is determined based on the basic scene model and the data collected by the equipment. This can be done in an existing manner, such as by pre-setting a safe boundary area and determining the safe work area based on the position of the train uncoupling robot; alternatively, the area of ​​a physical enclosure can be used as the safe work area.

[0052] In one embodiment, determining a safe work area based on a basic scenario model and data collected by the equipment includes: The initial safety boundary is determined in real time, which is the safe working area determined in the above embodiment. For example, the initial safety boundary is formed with the train uncoupling robot as the center and a preset radius. Risk targets within the initial safety boundary are identified in real time, such as personnel, tools and other targets that enter the initial safety boundary, which are regarded as risk targets. Obtain the current operational information of the train uncoupling robot, including the current ongoing steps, the robot's posture, and the postures of subsequent steps. The posture refers to the position of the train uncoupling robot, such as the pitch mechanism and the uncoupling arm. Determine the safety critical boundary based on the operational information. The safety critical boundary is the boundary of the area that the train uncoupling robot may reach or affect, as determined by the operational information. Form a safe operating zone based on the safety critical boundary and the initial safety boundary.

[0053] In one embodiment, real-time safety alerts based on safe work areas include: Path prediction is performed on risk targets, that is, predicting how they will move. For common people, predictions are made based on their clothing, direction, etc. If it is a worker, identification and task identification can also be performed to obtain the predicted path of the risk target and mark the predicted path in the safe work area. When the predicted path intersects with the safety critical boundary, a risk warning, such as an alarm, is issued; No action is taken if the predicted path does not intersect with the safety critical boundary.

[0054] In one embodiment, path prediction is performed on risk targets, based on existing methods such as building intelligent models based on machine learning.

[0055] The control module is used to control the movement of the train uncoupling robot according to the movement path, and to control the train uncoupling robot to perform uncoupling operations according to the basic uncoupling method.

[0056] The above formulas are all numerical calculations after removing dimensions. The formulas are obtained by software simulation based on a large amount of data and are closest to the real situation. The preset parameters and preset thresholds in the formulas are set by those skilled in the art according to the actual situation or obtained by simulation based on a large amount of data.

[0057] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. An intelligent control system for a train uncoupling robot, characterized in that, Including both platform and device ends; The platform includes a reserve analysis module and a reserve database; the device includes a scene acquisition module, a scene adaptation module, a device matching database, a device acquisition module, a planning module, and a control module. The reserve analysis module is used to analyze various train couplers and obtain standard uncoupling data for various train couplers by various train uncoupling robots. The standard uncoupling data includes train uncoupling robot information, uncoupling process, coupler initial model, and uncoupling standard; the standard uncoupling data is sent to the reserve database for storage. The scene acquisition module is used to monitor the operation scene of the train uncoupling robot in real time, obtain the operation scene information, and send the operation scene information to the scene adaptation module. The scenario adaptation module is used to perform scenario adaptation analysis, obtain the operation scenario information of the train uncoupling robot, establish a basic scenario model based on the operation scenario information, and dynamically update the basic scenario model according to the real-time operation scenario information. Acquire various train uncoupling robot and coupler information for the operational scenario, connect to the platform's database, and match the corresponding uncoupling standard data from the database based on the train uncoupling robot and coupler information; The various unhooking standard data are adapted and adjusted with the basic scenario model to obtain unhooking matching data, and the unhooking matching data is sent to the device matching library. The equipment acquisition module is used to collect real-time information from the train uncoupling robot, obtain equipment acquisition data, send the equipment acquisition data to the planning module, and supplement the operation scenario information with the equipment acquisition data. The planning module is used to perform uncoupling planning, acquire uncoupling demand data in real time, generate uncoupling background based on uncoupling demand data and basic scenario model, match corresponding uncoupling matching data from equipment matching library based on uncoupling background, perform path planning for train uncoupling robot based on uncoupling matching data, obtain the movement path of train uncoupling robot, identify the basic uncoupling method corresponding to uncoupling matching data, and send the movement path and basic uncoupling method to control module. The control module is used to control the movement of the train uncoupling robot according to the movement path, and to control the train uncoupling robot to perform uncoupling operations according to the basic uncoupling method.

2. The intelligent control system for a train uncoupling robot according to claim 1, characterized in that, An analysis of various train couplers was conducted, including: Identify information about various train uncoupling robots and determine the types of train couplers that the uncoupling robot is applicable to based on the information. Identify the various train couplers; obtain the coupling / uncoupling standards and coupler information of the train couplers; the coupler information includes, but is not limited to, coupler size, application information, and coupler type, with the application information indicating the types of trains to which the train coupler can be applied; generate the corresponding initial coupler model based on the coupler information; The uncoupling process of the train uncoupling robot on the initial coupler model is determined according to the uncoupling standard, and the uncoupling process, train uncoupling robot information, initial coupler model, uncoupling standard, and coupler information are integrated into uncoupling standard data.

3. The intelligent control system for a train uncoupling robot according to claim 2, characterized in that, The train uncoupling robot information refers to the train uncoupling robot operated by the platform.

4. The intelligent control system for a train uncoupling robot according to claim 2, characterized in that, The train uncoupling robot information refers to the train uncoupling robots available on the market.

5. The intelligent control system for a train uncoupling robot according to claim 1, characterized in that, The platform terminal communicates with each device terminal.

6. The intelligent control system for a train uncoupling robot according to claim 1, characterized in that, Adapt and adjust the various decoupling standard data with the basic scenario model, including: Based on the standard data and basic scenario model for uncoupling, we analyze the various simulation backgrounds of the train uncoupling robot and evaluate whether the corresponding simulation backgrounds need to be adapted and adjusted according to the equipment matching library. When the assessment does not require adaptation adjustments, no corresponding action is taken; When the assessment requires adaptation and adjustment, the initial coupler model in the uncoupling standard data is identified, and the uncoupling simulation background is obtained by integrating the initial coupler model with the simulation background. Uncoupling simulation is performed on the uncoupling simulation background based on the uncoupling standard data, and the basic uncoupling method is formed based on the uncoupling simulation data. The basic uncoupling method, coupler information, simulation background, and train uncoupling robot information are integrated into uncoupling matching data.

7. The intelligent control system for a train uncoupling robot according to claim 6, characterized in that, Assess whether the corresponding simulation background needs adaptation based on the equipment matching library, including: Input the simulated background into the device matching library for matching; When matching dehook data is found, no adaptation adjustment is required in the evaluation; When no matching data for uncoupling is found, the simulated background in the matching library that is closest to the simulated background is marked as the reserve background. The background difference between the reserve background and the simulated background is used to assess whether it affects the uncoupling of the train coupler. If it is determined that it affects the uncoupling of the train coupler, the assessment needs to be adapted and adjusted. If it is determined that it does not affect the uncoupling of the train coupler, the assessment does not need to be adapted and adjusted.

8. The intelligent control system for a train uncoupling robot according to claim 1, characterized in that, When the train uncoupling robot is operating, a safe operating area is determined based on the basic scene model and the data collected by the equipment, and real-time safety warnings are issued based on the safe operating area.

9. The intelligent control system for a train uncoupling robot according to claim 8, characterized in that, Based on the basic scenario model and equipment data, safe work areas are determined, including: The initial safety boundary is determined in real time based on the position of the train uncoupling robot. The current operation information of the train uncoupling robot is obtained, the safety critical boundary is determined based on the operation information, and a safe operation zone is formed based on the safety critical boundary and the initial safety boundary.

10. The intelligent control system for a train uncoupling robot according to claim 9, characterized in that, Real-time safety alerts are issued based on safe work areas, including: Real-time identification of risky targets entering the initial safety boundary; path prediction of the risky targets to obtain the estimated path of the risky targets, and marking the estimated path in the safe working area; A risk warning is issued when the predicted path intersects with the safety critical boundary; No action is taken if the predicted path does not intersect with the safety critical boundary.

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