An inspection platform and a control method thereof, and a rail vehicle

Abstract

The application discloses a maintenance platform and a control method thereof and a rail vehicle, relates to the straddle-type monorail transportation field, and automatically shields a platform action instruction when the rail vehicle is in a running state by determining a current running state of the rail vehicle, ensures that the platform cannot be unfolded during the movement of the vehicle, allows the platform action instruction to be executed when the vehicle is in a stationary state, and automatically switches the action state of the maintenance platform from the unlocked state to the locked completion state after the platform action is executed. Meanwhile, when the maintenance platform is in the locked incomplete state, the rail vehicle automatically shields a received running instruction, and ensures that the rail vehicle cannot run before the maintenance platform is unlocked. The application reduces the process interruption and time consumption caused by the manual confirmation link, realizes the automatic collaborative control between the vehicles, and thus improves the overall efficiency of the maintenance operation under the premise of ensuring the operation safety.

Description

Technical Field

[0001] This application relates to the field of straddle-type monorail transportation, and in particular to a maintenance platform and its control method, and a rail vehicle. Background Technology

[0002] In straddle-type monorail transit, regular inspection and maintenance of the track beams and contact rails are crucial for ensuring operational safety, and are typically performed by dedicated rail vehicles equipped with maintenance platforms. During maintenance, the maintenance platform must perform basic maneuvers such as raising / lowering, extending / retracting, tilting / folding outwards, and tilting / folding inwards. However, these maneuvers must be coordinated with the movement of the rail vehicle to ensure operational safety. Currently, the safe coordination between the rail vehicle and the maintenance platform relies entirely on manual judgment and handling. Operators must repeatedly confirm the platform's posture and the vehicle's status before proceeding to the next step, leading to frequent interruptions, excessive preparation and changeover times, and overall low operational efficiency.

[0003] Therefore, how to provide a solution to the above-mentioned technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a maintenance platform and its control method, as well as a rail vehicle, relating to the field of straddle-type monorail transportation. This reduces process interruptions and time consumption caused by manual confirmation, and realizes automatic collaborative control between the vehicle and the platform, thereby improving the overall efficiency of maintenance operations while ensuring operational safety.

[0005] To address the aforementioned technical problems, this application provides a control method for a maintenance platform, which is mounted on a rail vehicle and includes: Determine the current operating status of the rail vehicle, which includes both moving and stationary states; If the current driving state is the traveling state, the platform action command is blocked. The platform action command is used to drive the maintenance platform to move to the target maintenance position. If the current driving state is the stationary state, execute the platform action command, and after the platform action command is executed, switch the action state of the maintenance platform from the locked incomplete state to the locked complete state; When the maintenance platform is in the locked state, the rail vehicle blocks the received travel commands.

[0006] Optionally, executing the platform action instructions includes: Parse the platform action instructions to obtain at least one sub-action instruction; For each of the sub-action instructions, the execution parameters of the sub-action instruction are security verified. If the security verification passes, the sub-action instruction is executed; if the security verification fails, the sub-action instruction is blocked. The security verification includes at least one of single-action security verification and inter-action interference security verification.

[0007] Optionally, single-action security verification is performed on the execution parameters of the sub-action instruction, including: If the execution parameters of the sub-action instruction are not within the preset safety range corresponding to the sub-action instruction, the single-action safety verification is deemed to have failed. If the execution parameters of the sub-action instruction are within the preset safety range, the single-action safety verification is deemed to have passed.

[0008] Optionally, there may be multiple sub-action instructions; Perform inter-action interference safety verification on the execution parameters of the sub-action instructions, including: Obtain the first execution parameter of the first sub-action instruction and the second execution parameter of the second sub-action instruction; the first sub-action instruction and the second sub-action instruction are any two sub-action instructions from a plurality of said sub-action instructions; Based on the first execution parameters, determine the allowed execution range corresponding to the second sub-action instruction; If the second execution parameter is not within the allowed execution range, the inter-action interference security verification is deemed to have failed. If the second execution parameter is within the allowed execution range, the inter-action interference safety verification is deemed successful.

[0009] Optional, also includes: In response to the received mode selection command, the current working mode of the maintenance platform is determined; the working modes include remote control mode, button mode and automation mode. When the current working mode is the remote control mode, the system receives the operation signal sent by the remote control and generates platform operation instructions based on the operation signal. When the current working mode is the button mode, the button input signal on the maintenance platform motherboard is received, and a platform operation command is generated according to the button input signal. When the current working mode is the automation mode, a preset target maintenance location is obtained, and platform operation instructions are automatically generated based on the target maintenance location and the current location of the maintenance platform.

[0010] Optional, also includes: After executing the platform action command, the mechanical locking status and electrical locking status of the actuator of the maintenance platform are detected; When the mechanical locking state and / or the electronic locking state are in a failed state, a warning operation is performed.

[0011] Optionally, executing the platform action instructions includes: Multiple motors on the maintenance platform drive multiple transmission mechanisms on the maintenance platform in a one-to-one correspondence, thereby executing actions corresponding to the platform's action commands.

[0012] Optionally, multiple transmission mechanisms on the maintenance platform are driven one-to-one by multiple motors on the maintenance platform, including: The actual position of each motor is obtained. Taking the actual position of one motor as a reference position, the speed of the corresponding motor is adjusted according to the deviation between the actual position of the other motors and the reference position, so as to drive the corresponding transmission mechanism. or, The actual position of each transmission mechanism is obtained. Taking the actual position of one of the transmission mechanisms as a reference position, the speed of the corresponding motor is adjusted according to the deviation between the actual position of the other transmission mechanisms and the reference position, so as to drive the corresponding transmission mechanism.

[0013] Optionally, the maintenance platform is equipped with a machine vision device; Also includes: Based on the images acquired by the machine vision device, the operation status and / or position status of the maintenance platform are updated.

[0014] This application also provides a maintenance platform, including: Memory, used to store computer programs; A processor, used to execute the computer program to implement the steps of the control method for the maintenance platform as described in any of the above.

[0015] This application also provides a rail vehicle, including: Vehicle body; And the maintenance platform as described above.

[0016] This application provides a control method for a maintenance platform. By determining the current driving state of the rail vehicle, it automatically blocks platform action commands when the rail vehicle is in motion, ensuring that the platform cannot deploy during vehicle movement. When the vehicle is stationary, it allows the execution of platform action commands and automatically switches the maintenance platform's action state from unlocked to locked after the platform action is completed. Simultaneously, when the maintenance platform is in the locked-in-incomplete state, the rail vehicle automatically blocks received driving commands, ensuring that the rail vehicle cannot move before the maintenance platform is locked. This application transforms the original vehicle-rail vehicle coordination process, which relied on manual judgment and repeated confirmation, into an automatically executed hard interlocking mechanism. This reduces process interruptions and time consumption caused by manual confirmation, achieving automatic collaborative control between the vehicle and rail vehicle, thereby improving the overall efficiency of maintenance operations while ensuring operational safety. This application also provides a maintenance platform and rail vehicle with the same beneficial effects as the aforementioned control method for the maintenance platform. Attached Figure Description

[0017] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the steps of a control method for a maintenance platform provided in an embodiment of this application; Figure 2 This is a schematic diagram of a multi-motor drive provided in an embodiment of this application; Figure 3 This is a schematic diagram of a multi-motor semi-closed-loop synchronous control provided in an embodiment of this application; Figure 4 This is a schematic diagram of a multi-motor fully closed-loop synchronous control provided in an embodiment of this application; Figure 5 This is a schematic diagram of the control system of a maintenance platform provided in an embodiment of this application. Detailed Implementation

[0019] The core of this application is to provide a maintenance platform and its control method, as well as a rail vehicle, in the field of straddle-type monorail transportation. It reduces process interruptions and time consumption caused by manual confirmation, and realizes automatic collaborative control between the vehicle and the platform, thereby improving the overall efficiency of maintenance operations while ensuring operational safety.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] Please refer to Figure 1 This application provides a flowchart of a control method for a maintenance platform, which can be executed by the host of the maintenance platform's control system, including: S101: Determine the current driving status of the rail vehicle, which includes both moving and stationary states.

[0022] In this embodiment, the rail vehicle includes, but is not limited to, a straddle-type monorail vehicle equipped with a maintenance platform. The rail vehicle has two operating states: a moving state and a stationary state.

[0023] Specifically, the current speed of the rail vehicle can be obtained, and its current driving state can be determined based on this speed. If the current speed is greater than a first preset value, the rail vehicle is determined to be in motion; if the current speed is less than or equal to the first preset value, the rail vehicle is determined to be stationary. The first preset value can be set to 0.5 km / h. Of course, the first preset value can be determined according to the actual working scenario, and this embodiment does not impose a specific limitation.

[0024] As another optional implementation, to more accurately determine the stationary state of the rail vehicle, it can be determined to be stationary only after the current travel speed is less than or equal to a first preset value and remains so for a preset duration, in order to avoid misjudgment caused by speed fluctuations. For example, the preset duration can be set to 1 second. In addition, auxiliary information such as the braking status and gear status of the rail vehicle can be combined for comprehensive judgment. For example, when the travel speed is detected to be zero and the handbrake is in the braking state, it can be determined to be stationary.

[0025] This step, by determining the driving status of the rail vehicle, provides a prerequisite for shielding or executing subsequent action commands to the maintenance platform, ensuring that the maintenance platform can only respond to operations when the vehicle is stationary, thereby guaranteeing operational safety.

[0026] S102: If the current driving state is in motion, the platform action command is disabled. The platform action command is used to drive the maintenance platform to the target maintenance position.

[0027] In this embodiment, when the current driving state of the rail vehicle is determined to be in motion, to improve safety, the host automatically blocks all platform action commands. That is, when the rail vehicle is in motion, even if a platform action command is received from the operator via remote control, buttons, or automation mode, the host will not respond to the command, will not drive the maintenance platform to perform any action, and will force the maintenance platform to remain locked; unlocking commands are invalid. Blocking refers to the control system intercepting the received platform action commands at the logic level, preventing them from being sent to the drive actuators, thus maintaining the maintenance platform's current posture. As an optional implementation, while blocking platform action commands, a prompt message can be sent to the operating terminal to remind the operator that the vehicle is currently in motion and the maintenance platform is inoperable, thereby preventing the operator from mistakenly believing the command is invalid and repeating the operation. The operating terminal includes, but is not limited to, the remote control display screen or the driver's cab human-machine interface.

[0028] Platform movement commands include, but are not limited to, lifting, extending, tilting, and retracting commands, which can drive the maintenance platform to the target maintenance position. The target maintenance position refers to the desired unfolded position reached by the maintenance platform after performing lifting and / or extending and / or tilting and / or retracting actions, and is determined by at least one or more combinations of parameters such as lifting height, extending length, tilting angle, and retracting angle.

[0029] This step automatically disables platform action commands while the rail vehicle is in motion, avoiding safety risks caused by operators accidentally operating the maintenance platform during vehicle movement, and achieving automatic interlocking between the rail vehicle and the maintenance platform.

[0030] S103: If the current driving state is stationary, execute the platform action command, and after the platform action command is executed, switch the action state of the maintenance platform from the locked incomplete state to the locked complete state; wherein, when the maintenance platform is in the locked incomplete state, the rail vehicle shields the received driving command.

[0031] In this embodiment, if the current driving state is stationary, a platform action command can be executed to drive the maintenance platform to the target maintenance position. During the movement of the maintenance platform according to the platform action command, the maintenance platform's action state is in a locked-in-not-complete state. Once the maintenance platform reaches the target maintenance position, its action state is switched from locked-in-not-complete to locked-complete. In this embodiment, when the maintenance platform's action state is locked-in-not-complete, the rail vehicle blocks all travel commands, retaining only the rail vehicle's braking function, until the maintenance platform's action state switches to locked-complete. At this point, the rail vehicle releases the blocking of travel commands and begins responding to received travel commands.

[0032] As an optional embodiment, the rail vehicle can automatically detect its operational status by reading the status signal of the maintenance platform, thereby determining whether it needs to release the blocking of the travel command; or, the maintenance platform can also send a feedback signal to the rail vehicle after switching to the locked state, and the rail vehicle can release the blocking of the travel command after receiving the feedback signal.

[0033] It is understandable that the collaborative operation of the rail vehicle and maintenance platform includes the following stages: Initialization stage, after the rail vehicle and maintenance platform are powered on, they perform a two-way handshake and self-test authentication, followed by stages such as rail vehicle movement, rail vehicle parking, maintenance platform deployment, maintenance operation, and maintenance platform retrieval. The rail vehicle movement / parking commands and the maintenance platform retrieval / deployment commands are interlocked. After the maintenance platform deploys to the target maintenance position, it begins to perform maintenance operations. At this time, it is still necessary to monitor the movement status of the maintenance platform to prevent accidental triggering of unqualified platform actions or vehicle movement during maintenance operations, thereby avoiding cross-stage action conflicts.

[0034] Furthermore, once the maintenance platform has deployed to the target maintenance position and commenced maintenance operations, the rail vehicle can remain stationary or respond to movement commands that meet speed-limited operation requirements. The speed-limited operation requirement means that the speed in the movement command should be less than or equal to a second preset value. If the speed in the movement command exceeds the second preset value, the rail vehicle will disable the movement command. The second preset value is greater than the first preset value, and the second preset value can be set to 5 km / h. It should be noted that during the maintenance operation phase, although the rail vehicle is in motion, the maintenance platform is already locked. Therefore, it is not necessary to disable platform movement commands; only speed limits need to be imposed on the vehicle's speed to ensure operational safety during the maintenance process.

[0035] As an optional embodiment, in each of the above stages, fault detection is performed on the rail vehicle and / or maintenance platform in real time. Faults include at least one of the following: rail vehicle brake failure, maintenance platform motor jamming, and communication interruption between the rail vehicle and the maintenance platform. If a fault is detected in either party, emergency operations are automatically triggered, including at least one of emergency retrieval of the maintenance platform and emergency braking of the rail vehicle. Through an automated fault detection and emergency response mechanism, safety measures can be quickly taken when a fault occurs without human intervention, effectively solving the problems of delayed fault handling and reliance on manual judgment in traditional methods, and further improving the safety and reliability of collaborative operation between the rail vehicle and the maintenance platform.

[0036] In this embodiment, the track vehicle and the maintenance platform achieve millisecond-level (e.g., 100ms-level) state synchronization via hard-wired signals. This clearly defines the action permission boundaries of the maintenance platform in different track vehicle states, such as moving, parked, and fault states, forming control mechanisms for moving lock, parking unlock, operation interlock, and retraction reset. Specifically, when the track vehicle is in the moving state, the maintenance platform is forced to maintain a locked state, prohibiting any movement from the maintenance platform. When the maintenance platform is in an incompletely locked state, the track vehicle's moving commands are blocked, ensuring that the track vehicle cannot move until the maintenance platform is safely locked. In scenarios requiring minor movements of the track vehicle, such as point adjustments, the maintenance platform must first be retracted to a safe posture before the track vehicle is allowed to move at a limited speed, thus avoiding cross-stage action conflicts. This embodiment, through high-speed state synchronization and full-process closed-loop control achieved via hard-wired signals, transforms the coordination between the track vehicle and the maintenance platform from relying on manual judgment to an automatically executed hard interlocking mechanism, thereby eliminating the unreliability and efficiency losses caused by manual confirmation.

[0037] In one exemplary embodiment, executing platform action instructions includes: Parse the platform action instructions to obtain at least one sub-action instruction; For each sub-action instruction, the execution parameters of the sub-action instruction are security verified. If the security verification passes, the sub-action instruction is executed; if the security verification fails, the sub-action instruction is blocked. Among them, safety verification includes at least one of single-action safety verification and inter-action interference safety verification.

[0038] In this embodiment, the platform action command may include one or more sub-action commands. The sub-action commands may be ascending commands, descending commands, extending commands, turning commands, retracting commands, etc. The maintenance platform is driven to the target maintenance position through these sub-action commands or combinations thereof.

[0039] The sub-action command can be a directional command, for example, indicating only an ascent operation. It can also be a target position command, indicating both the ascent operation and the ascent distance, such as an ascent of three meters. The execution parameters differ depending on the type of sub-action command. For directional commands, the execution parameter is the real-time altitude value of the maintenance platform during the ascent process; for target position commands, the execution parameter is the ascent altitude value of three meters carried by the command.

[0040] In this embodiment, each sub-action instruction is executed sequentially according to the parsing order. Security verification is performed on the execution parameters corresponding to each sub-action instruction. Security verification includes at least one of single-action security verification and inter-action interference security verification. When both single-action and inter-action interference security verifications are included, both verifications must pass before the sub-action instruction can be executed. If either verification fails, the sub-action instruction is blocked.

[0041] Since each sub-action command is executed sequentially, the next sub-action command is parsed and verified only after the current sub-action command has passed security verification and been executed, thus ensuring the safety of the maintenance platform throughout the entire operation. For sub-action commands that are blocked, the host can record the event and send a prompt message to the operating terminal to inform the operator that the current command has been rejected due to security verification failure, allowing the operator to adjust the operating strategy in a timely manner.

[0042] In one exemplary embodiment, single-action security verification is performed on the execution parameters of the sub-action instruction, including: If the execution parameters of a sub-action instruction are not within the preset safety range corresponding to the sub-action instruction, the single-action safety verification is deemed to have failed. If the execution parameters of the sub-action instruction are within the preset safety range, the single-action safety verification is deemed successful.

[0043] In this embodiment, depending on the type of sub-action command and the sensor configuration, single-action safety verification can adopt any one or a combination of the following methods: Method 1: Each sub-action command has its own preset safety range. For example, the height safety range for an ascending command is 0 to 3 meters, the length safety range for an extending command is 0 to 2 meters, and the angle safety range for an outward turning command is 0 to 30 degrees. The preset safety ranges can be pre-set and stored in the host computer based on the structural parameters of the maintenance platform, the working environment, and safety regulations. For target position commands, i.e., sub-action commands that carry specific execution values, such as ascending 3 meters, the host computer compares the execution value carried by the command with the corresponding preset safety range before execution. If the value is within the preset safety range (e.g., 3 meters is within the 0 to 3 meter range), the safety verification is passed, and the sub-action command is allowed to be executed. If the value exceeds the preset safety range (e.g., the command requires an ascending 3.5 meters, which exceeds the 0 to 3 meter range), the safety verification is failed, the sub-action command is blocked, and the action is not executed. For directional commands, i.e., sub-action commands that only indicate the direction of movement, such as upward, without carrying specific numerical values, the host computer collects the status parameters of the maintenance platform in real time as execution parameters through position sensors, angle sensors, or machine vision devices during execution, and compares these real-time parameters with a preset safety range. When the real-time parameters are within the preset safety range, the sub-action command continues to be executed; when the real-time parameters approach or reach the boundary value of the preset safety range, the execution of the sub-action command automatically stops.

[0044] Method 2: Upper and lower limit switches are installed in each direction of movement of the maintenance platform. These limit switches are triggered and output trigger signals when the platform reaches its preset limit positions. When the host receives the trigger signal from a limit switch, it determines that the single-action safety verification in that direction has failed and immediately stops responding to the corresponding sub-action command. For example, upon receiving an upper limit switch signal, it will no longer respond to upward commands, only allowing downward commands, thus preventing the platform from exceeding the safety range. In this method, the safety boundary is determined by the physical installation location of the limit switches, eliminating the need to pre-store preset safety ranges in the control system.

[0045] Through the above-mentioned single-action safety verification mechanism, whether the operator issues directional commands through the remote control or buttons, issues target position commands through the automation mode, or uses limit switches for hardware limit, it can effectively prevent the maintenance platform from exceeding the safe working boundary in a single dimension, avoid equipment damage caused by operational errors or system failures, and improve the safety and reliability of the maintenance platform operation.

[0046] In one exemplary embodiment, there are multiple sub-action instructions; Perform inter-action interference safety verification on the execution parameters of sub-action instructions, including: Obtain the first execution parameter of the first sub-action instruction and the second execution parameter of the second sub-action instruction; the first sub-action instruction and the second sub-action instruction are any two sub-action instructions from a plurality of sub-action instructions; Based on the first execution parameter, determine the allowed execution range corresponding to the second sub-action instruction; If the second execution parameter is not within the allowed execution range, the inter-action interference safety verification is deemed to have failed. If the second execution parameter is within the allowed execution range, the inter-action interference safety verification is deemed successful.

[0047] In this embodiment, mechanical interference between actions refers to the situation where, when the maintenance platform performs multiple sub-actions simultaneously or sequentially, the execution parameters of one action can affect the safe range of another action due to the spatial coupling between different motion dimensions. For example, the extension length affects the safe range of the overturning angle. If this safe range is exceeded, it may lead to collisions or jamming between components of the maintenance platform or interference with external structures such as the vehicle body or track beams, resulting in equipment damage or safety accidents. For instance, when the extension length of the maintenance platform is large, the allowable range of its overturning angle will be correspondingly reduced. If the overturning angle is too large when the extension length is large, the platform may collide with the vehicle body. Similarly, when the maintenance platform is in a high position, its extension length should be limited to prevent excessive shift in the platform's center of gravity, which could lead to overturning risks.

[0048] When multiple sub-action commands need to be executed sequentially, this embodiment also performs inter-action interference safety verification on the sub-action commands to avoid mechanical interference between actions. Similarly, depending on the type of sub-action command and the sensor configuration, inter-action interference safety verification can employ any one or a combination of the following methods: Method 1: The host pre-stores interference constraint rules between different sub-actions, such as a coupling relationship table between extension length and outward turning angle, and a coupling relationship table between lifting height and extension / retraction. For target position commands, i.e., sub-action commands carrying specific execution values, such as an extension of 2 meters, the control system queries the corresponding interference constraint rules based on this value before execution to determine the allowable execution range of the other sub-action command, such as an outward turning angle of 0 to 15 degrees. Then, it compares the execution value carried by the second sub-action command with this allowable execution range. If it exceeds the range, the verification is deemed unsuccessful, and the second sub-action command is blocked. For directional commands, i.e., sub-action commands only indicating the direction of movement, such as outward turning, the control system collects the state parameters of each motion dimension in real time through sensors during execution and dynamically determines the allowable execution range of the second sub-action based on the execution parameters of the current first sub-action. If the real-time monitored second execution parameters are close to or exceed the allowable range, the execution of the second sub-action command is automatically stopped, thereby avoiding interference.

[0049] Method 2: Install limit switches or proximity switches on the moving mechanism of the maintenance platform to prevent interference. For example, set corresponding outward tilting limit switches at different travel positions of the outward extension mechanism. When the outward extension length reaches a certain set value, the corresponding limit switch is triggered, and the control system dynamically adjusts the response authority of the outward tilting command based on the trigger signal. When the control system receives the trigger signal of the interference limit switch, it determines that the safety verification of interference between actions has failed and immediately stops responding to the corresponding sub-action command, thereby achieving mechanical interference protection without the need to pre-store complex coupling relationship tables.

[0050] Through the aforementioned safety verification mechanism for inter-action interference, this embodiment can effectively avoid the risk of mechanical interference caused by action coupling under multi-action combination conditions, ensuring the safe operation of the maintenance platform in complex motion sequences and further improving the reliability and safety of maintenance operations. Specifically, this embodiment combines machine vision and limit sensors to predict the risk of mechanical interference between actions such as lifting, extending, turning outward, and retracting, and to proactively shield conflicting commands that may cause interference. Among them, machine vision is used to monitor the platform's attitude in real time, enabling prediction and early warning before interference occurs, replacing manual observation and judgment, thereby improving the initiative and response speed of protection.

[0051] In one exemplary embodiment, it further includes: In response to the received mode selection command, the current working mode of the maintenance platform is determined; the working modes include remote control mode, button mode and automation mode. When the current working mode is remote control mode, it receives the operation signal sent by the remote control and generates platform operation instructions based on the operation signal; When the current working mode is button mode, it receives button input signals from the main board of the maintenance platform and generates platform operation instructions based on the button input signals. When the current working mode is automation mode, the preset target maintenance location is obtained, and platform operation instructions are automatically generated based on the target maintenance location and the current position of the maintenance platform.

[0052] In this embodiment, the maintenance platform supports multiple operating modes to meet the operational needs of different work scenarios.

[0053] Specifically, the button mode adopts a momentary control method. The operator issues momentary commands through physical buttons on the main board of the maintenance platform. Each time the button is pressed, the maintenance platform performs a small movement in the corresponding direction. Releasing the button stops the movement, realizing precise momentary control of the maintenance platform, which is suitable for high-altitude maintenance scenarios that require fine adjustment of position.

[0054] The remote control mode employs a wireless remote control solution. Operators use a handheld remote control, which integrates all the function buttons for the maintenance platform. Operators are not restricted by the platform's location and can choose the optimal observation position at the work site, ensuring consistency between operation and observation and effectively solving the problem of limited field of view during high-altitude operations. As an optional implementation, the remote control packages and encrypts the collected function button information according to a custom communication protocol and sends it to the remote control receiver via a wireless communication module. The receiver receives the data, decrypts it, and transmits the processed operation signal to a programmable logic controller (PLC) or control computer, which then generates corresponding platform operation instructions.

[0055] The automated mode adopts a programmed control method. The operator presets the target maintenance position on the host. The target maintenance position includes target parameters for various motion dimensions of the maintenance platform, such as lifting height, extension length, outward tilt angle, and inward tilt angle. The control system automatically plans the motion path based on the target maintenance position and the current position of the maintenance platform, generates a platform operation instruction sequence containing multiple sub-action instructions, and executes each sub-action instruction in sequence until the maintenance platform reaches the target maintenance position, realizing automated operation. It is suitable for repetitive operation scenarios such as line inspection and batch maintenance.

[0056] This embodiment utilizes a mode, scenario, and emergency adaptation mechanism to automatically match the corresponding operation mode according to different maintenance operation scenarios. For high-altitude operations, a remote control mode is adapted, allowing operators to flexibly choose safe observation positions. For precision maintenance scenarios, a button mode is adapted, enabling millimeter-level inching adjustments. For batch inspection scenarios, an automated mode is adapted, significantly reducing manual operations. Simultaneously, in any mode, real-time monitoring and emergency response capabilities for fault states are maintained. When faults such as rail vehicle brake failure, maintenance platform motor jamming, or communication interruption are detected, emergency operations such as emergency retrieval of the maintenance platform and emergency braking of the rail vehicle are automatically triggered. Through the combination of the above multi-mode adaptation and fault emergency solutions, the system not only meets the multi-scenario requirements of straddle-type monorail maintenance operations for operational flexibility, accuracy, and efficiency, but also effectively solves the problems of delayed fault handling and reliance on manual judgment in related technologies, improving the system's adaptability and fault tolerance.

[0057] In one exemplary embodiment, it further includes: After executing the platform action commands, check the mechanical and electrical locking status of the platform's actuators. When the mechanical locking state and / or the electronic locking state are in a failed state, a warning operation is performed.

[0058] In this embodiment, after the maintenance platform executes the platform action command and moves to the target maintenance position, dual locking protection is achieved through redundant safety design. Specifically, the mechanical locking state refers to the physical locking state achieved by the actuator through mechanical locking devices such as pins, ratchet wheels, and chucks, which is detected by limit switches, proximity sensors, etc. The electrical locking state refers to the circuit locking state achieved by the main unit through electrical actuators such as motor brakes and electromagnetic brakes, which is detected by feedback signals from the motor driver or brake status sensors. The two locking methods are independent of each other and redundant; if one locking method fails, the other locking method can still provide safety assurance.

[0059] After executing the platform's action commands, the host computer acquires real-time detection signals for both the mechanical and electrical locking states. If either state is unlocked, or if the locking action fails, or if a malfunction occurs (e.g., the locking device itself malfunctions or the detection signal is abnormal), the locking verification is deemed unsuccessful, and a warning operation is immediately executed. Warning operations include, but are not limited to, activating an audible and visual alarm to alert on-site operators, displaying fault information on the operating terminal, and sending an alarm signal to the remote monitoring center. The operating terminal may include, but is not limited to, a remote control display screen or a human-machine interface in the driver's cab. Simultaneously with triggering the warning, the host computer can further prevent the maintenance platform from executing new action commands and prohibit the rail vehicle from moving until the fault is resolved and the locking state returns to normal.

[0060] This embodiment employs a protection scheme that combines mechanical locking and electronic control blocking. After the platform moves into position, the locking status is verified in real time. If any locking method fails, a shutdown alarm is triggered, thus enabling monitoring of the locking status of the maintenance platform. This solves the safety shortcomings that may exist with a single protection method and improves the safety and reliability of the maintenance platform in operation.

[0061] In one exemplary embodiment, executing platform action instructions includes: Multiple motors on the maintenance platform drive multiple transmission mechanisms on the maintenance platform one-to-one, thereby executing actions corresponding to the platform's action commands. The multiple transmission mechanisms on the maintenance platform, which are driven one-to-one by multiple motors, include: The actual position of each motor is obtained. Taking the actual position of one motor as a reference position, the speed of the corresponding motor is adjusted according to the deviation between the actual position of the other motors and the reference position, so as to drive the corresponding transmission mechanism. or, The actual position of each transmission mechanism is obtained. Taking the actual position of one of the transmission mechanisms as a reference position, the speed of the corresponding motor is adjusted according to the deviation between the actual position and the reference position of the other transmission mechanisms to drive the corresponding transmission mechanism.

[0062] like Figure 2 As shown, due to the long length of the maintenance platform, single-motor drive can easily lead to problems such as asynchronous movement at both ends of the platform, uneven structural stress, and swaying imbalance. Using multiple motors to drive in coordination can make the platform move more smoothly. This embodiment implements synchronous control for multi-motor drive in the same direction of movement.

[0063] Specifically, the synchronous control of the motor includes any of the following methods: In such Figure 3 In the semi-closed-loop control shown, a position sensor is installed on the shaft of each motor to obtain the actual position of each motor. The actual position of one of the motors is used as a reference position. Based on the deviation between the actual position of the other motors and the reference position, the speed of the corresponding motor is adjusted to drive the corresponding transmission mechanism. In such Figure 4 In the fully closed-loop control shown, position sensors are installed on the motion mechanism to obtain the actual position of each transmission mechanism. Taking the actual position of one of the transmission mechanisms as the reference position, the speed of the corresponding motor is adjusted according to the deviation between the actual position of the other transmission mechanisms and the reference position, so as to drive the corresponding transmission mechanism.

[0064] During synchronous control, the position of one motor or transmission mechanism is selected as the reference position POSr, and the positions of the other motors or transmission mechanisms are POSn. The deviation is then calculated. Using the deviation 'e' as a parameter, a PID control algorithm is employed to calculate the speed control signal for the corresponding motor and control its movement, thereby dynamically eliminating positional deviations between motors. As an optional implementation, the operating status parameters of each motor, including motor positional deviation and speed deviation, are monitored in real time, with the positional deviation threshold set to not exceed [a certain value]. The speed deviation threshold is set to not exceed When the deviation of any motor exceeds the corresponding threshold, the main unit immediately reduces the motor speed or stops the motor operation, and alerts the operator through an audible and visual alarm. Simultaneously, a maximum motor temperature limit is set. The system quantifies threshold values ​​such as the upper limit of each action speed, which are monitored in real time by temperature and speed sensors. When any parameter exceeds the limit, the power output is immediately cut off and a safety reset operation is performed, such as the platform automatically retracting to its initial position. It automatically reduces speed or stops when the deviation exceeds the threshold, solving the problem of imbalance in single-point drive of long platforms and achieving high-precision control and safety protection for multi-motor synchronous operation.

[0065] In one exemplary embodiment, a machine vision device is provided on the maintenance platform; Also includes: Based on images acquired by machine vision devices, update the operation status and / or position status of the maintenance platform.

[0066] In this embodiment, a machine vision device is installed on the maintenance platform. Machine vision technology enables the perception and recognition of the maintenance platform's own status and operating environment, providing visual assistance information for the platform's motion control and status management. Specifically, the machine vision device can be one or more industrial cameras, webcams, or binocular vision sensors, installed at key locations on the maintenance platform to collect image data of the platform and its surrounding environment.

[0067] Based on the images acquired by the machine vision device, the host computer can perform at least one of the following processes: Based on the acquired images, the system identifies image features of the maintenance platform's points to be inspected, such as specific markings on the track beam and fixing bolts on the contact rail. Image processing algorithms then calculate the spatial coordinates of these points. The control system, under host control, automatically plans a motion path based on these coordinates and the current position of the maintenance platform, driving the platform to the maintenance point and deploying it, thus achieving automated and precise positioning guided by vision. Based on the acquired images, image recognition algorithms are used to identify the current status of the maintenance platform, including but not limited to: whether the platform is in its starting position, whether it is in motion, whether it has reached the maintenance location, and whether it is in maintenance operation mode. Simultaneously, image recognition can also detect the presence of personnel on the platform to assist in assessing the safety of maintenance operations.

[0068] The host automatically updates the status parameters of the maintenance platform based on the identified action status and / or location status, and triggers corresponding control logic according to the status changes. For example, when a worker is detected on the platform, the host automatically limits the platform's movement speed or prohibits certain dangerous actions.

[0069] Through the above-mentioned machine vision solution, this embodiment realizes the automatic identification and positioning of the work target by the maintenance platform, and the real-time perception and updating of its own status. This enables the maintenance platform to automatically move to the maintenance point and carry out the work under the control of the host. At the same time, it makes intelligent safety decisions based on environmental information such as whether there are personnel on the platform, thereby improving the automation level, positioning accuracy and safety of the maintenance operation.

[0070] The control system of the maintenance platform provided in this embodiment refers to... Figure 5 As shown, it includes a remote control, a remote control receiver, a main unit, a machine vision device, an audible and visual alarm, an LED dot matrix display screen, a network router / switch, a touch screen, a controller LAN gateway, lifting push rods, extending push rods, outward flipping push rods, and inward flipping push rods, etc.

[0071] The control system is centered around a host computer, which can be, but is not limited to, a programmable logic controller (PLC) or a control computer. The host computer connects to auxiliary devices such as displays and keyboards, and communicates with various actuators, sensors, and external systems via networks and fieldbuses. Actuators include push rods or combinations of motors and transmission devices; the fieldbus network can be a controller local area network (CLAN) or other industrial fieldbuses; human-machine interaction and communication with the host computer are conducted via network communication methods, such as routers, switches, or wireless networks.

[0072] The machine vision device in the control system identifies the status of the maintenance platform and the working environment through image acquisition. The host communicates with the control system of the rail vehicle via a network to achieve collaborative operation control between the rail vehicle and the maintenance platform. Specific collaborative rules include, but are not limited to: when the rail vehicle is in motion, the maintenance platform cannot deploy; when the maintenance platform is deployed or locked incompletely, the rail vehicle cannot move; during maintenance operations, the rail vehicle remains stationary or only responds to speed-limited movement commands; when either the rail vehicle or the maintenance platform malfunctions, collaborative actions are automatically triggered, such as emergency retrieval of the maintenance platform or emergency braking of the rail vehicle.

[0073] The control system monitors the motion status of each component of the mechanism in real time, including but not limited to position, speed, and fault status, and displays this information visually on a monitor. When a fault status or failure to meet motion conditions is detected, such as a failed safety verification, abnormal locking status, or interference risk, the control system automatically restricts or prohibits the corresponding motion of the mechanism and sends a prompt message to the operating terminal. Through this networked and intelligent control system architecture, automatic interlocking between the rail vehicle and the maintenance platform, full-process monitoring of motion status, and automatic emergency handling under fault conditions are achieved, improving the safety, efficiency, and automation level of maintenance operations.

[0074] This application also provides a maintenance platform, including: Memory, used to store computer programs; A processor is used to execute a computer program to implement the steps of the control method for the maintenance platform as described in any of the embodiments above.

[0075] This application also provides a rail vehicle, including: Vehicle body; And the maintenance platform as described above.

[0076] For a description of the maintenance platform and rail vehicle provided in this embodiment, please refer to the above embodiment; this embodiment will not repeat the description here.

[0077] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0078] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a maintenance platform, said maintenance platform being mounted on a rail vehicle, characterized in that, include: Determine the current operating status of the rail vehicle, which includes both moving and stationary states; If the current driving state is the traveling state, the platform action command is blocked. The platform action command is used to drive the maintenance platform to move to the target maintenance position. If the current driving state is the stationary state, execute the platform action command, and after the platform action command is executed, switch the action state of the maintenance platform from the locked incomplete state to the locked complete state; When the maintenance platform is in the locked state, the rail vehicle blocks the received travel commands.

2. The control method for the maintenance platform according to claim 1, characterized in that, Executing the platform action instructions includes: Parse the platform action instructions to obtain at least one sub-action instruction; For each of the sub-action instructions, the execution parameters of the sub-action instruction are security verified. If the security verification passes, the sub-action instruction is executed; if the security verification fails, the sub-action instruction is blocked. The security verification includes at least one of single-action security verification and inter-action interference security verification.

3. The control method for the maintenance platform according to claim 2, characterized in that, Perform single-action safety verification on the execution parameters of the sub-action instruction, including: If the execution parameters of the sub-action instruction are not within the preset safety range corresponding to the sub-action instruction, the single-action safety verification is deemed to have failed. If the execution parameters of the sub-action instruction are within the preset safety range, the single-action safety verification is deemed to have passed.

4. The control method for the maintenance platform according to claim 2, characterized in that, The sub-action instructions are multiple; Perform inter-action interference safety verification on the execution parameters of the sub-action instructions, including: Obtain the first execution parameter of the first sub-action instruction and the second execution parameter of the second sub-action instruction; the first sub-action instruction and the second sub-action instruction are any two sub-action instructions from a plurality of said sub-action instructions; Based on the first execution parameters, determine the allowed execution range corresponding to the second sub-action instruction; If the second execution parameter is not within the allowed execution range, the inter-action interference security verification is deemed to have failed. If the second execution parameter is within the allowed execution range, the inter-action interference safety verification is deemed successful.

5. The control method for the maintenance platform according to claim 1, characterized in that, Also includes: In response to the received mode selection command, the current working mode of the maintenance platform is determined; the working modes include remote control mode, button mode and automation mode. When the current working mode is the remote control mode, the system receives the operation signal sent by the remote control and generates platform operation instructions based on the operation signal. When the current working mode is the button mode, the button input signal on the maintenance platform motherboard is received, and a platform operation command is generated according to the button input signal. When the current working mode is the automation mode, a preset target maintenance location is obtained, and platform operation instructions are automatically generated based on the target maintenance location and the current location of the maintenance platform.

6. The control method for the maintenance platform according to claim 1, characterized in that, Also includes: After executing the platform action command, the mechanical locking status and electrical locking status of the actuator of the maintenance platform are detected; When the mechanical locking state and / or the electronic locking state are in a failed state, a warning operation is performed.

7. The control method for the maintenance platform according to claim 1, characterized in that, Executing the platform action instructions includes: Multiple motors on the maintenance platform drive multiple transmission mechanisms on the maintenance platform in a one-to-one correspondence, thereby executing actions corresponding to the platform's action commands.

8. The control method for the maintenance platform according to claim 7, characterized in that, Multiple transmission mechanisms on the maintenance platform are driven one-to-one by multiple motors, including: The actual position of each motor is obtained. Taking the actual position of one motor as a reference position, the speed of the corresponding motor is adjusted according to the deviation between the actual position of the other motors and the reference position, so as to drive the corresponding transmission mechanism. or, The actual position of each transmission mechanism is obtained. Taking the actual position of one of the transmission mechanisms as a reference position, the speed of the corresponding motor is adjusted according to the deviation between the actual position of the other transmission mechanisms and the reference position, so as to drive the corresponding transmission mechanism.

9. The control method for the maintenance platform according to any one of claims 1-8, characterized in that, The maintenance platform is equipped with a machine vision device; Also includes: Based on the images acquired by the machine vision device, the operation status and / or position status of the maintenance platform are updated.

10. A maintenance platform, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the control method for the maintenance platform as described in any one of claims 1-9 when executing the computer program.

11. A rail vehicle, characterized in that, include: Vehicle body; And the maintenance platform as described in claim 10.

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