A vehicle type recognition device for a hook removal and repositioning robot

Abstract

This invention provides a vehicle type recognition device for a hook-unhooking robot, including laser sensors for detecting the gap between the vehicle to be identified and the following vehicle. The laser sensors are arranged in three sets: the first set is flush with the rear of the preceding vehicle, and the second and third sets are arranged parallel to each other along the length of the vehicle to be identified. The device also includes three robot bodies, each with a base plate mounted at the end of its robotic arm. Each robot body has a base for support. This invention can adapt to complex working conditions such as high dust levels, severe weather, and light source interference. In particular, its performance in backlight and heavy dust conditions is significantly better than current video imaging recognition systems, providing a reliable basis for judging the correct actions of the robot during hook-unhooking operations and preventing damage to equipment and vehicles due to robot malfunctions.

Description

Technical Field

[0001] This utility model relates to the field of train carriage recognition technology, specifically to a train carriage recognition device for a hook-and-hook robot. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] The uncoupling, recoupling, and straightening robot is an automated operation device used in tipper systems to uncouple, recouple, and straighten train couplers. The operation targets are the couplers and lifting pin devices of train cars. Train cars are diverse, and the operation process is different for different models. Before operation, the model must be accurately identified and the model data must be obtained before the robot can start to perform the corresponding uncoupling and recoupling operations according to the predetermined process.

[0004] Currently, the vehicle model recognition method used in the market is video imaging recognition. It takes a picture of the vehicle model lettering printed on the vehicle body, analyzes the data and converts it into vehicle model text to determine the vehicle model. However, this method is affected by factors such as weather and the clarity of the printed lettering, resulting in frequent cases of misidentification and failure to identify the vehicle model. Utility Model Content

[0005] The main purpose of this utility model is to provide a vehicle type recognition device for a hook removal and repositioning robot.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows: a vehicle type recognition device for a hook-and-unhook robot, including a laser sensor for detecting the gap position between the vehicle to be identified and the following vehicle. The laser sensor has three sets, wherein the first set of laser sensors is flush with the rear of the preceding vehicle, and the second and third sets of laser sensors are arranged parallel to each other along the length direction of the vehicle to be identified.

[0007] The vehicle model recognition device of the hook removal and repositioning robot also includes three robot bodies. The mechanical arm ends of the three robot bodies are all equipped with base plates, and the three laser sensors are respectively installed on the three base plates.

[0008] All three robot bodies are supported by bases at their bottoms.

[0009] A first spacer is provided between the base corresponding to the first group of laser sensors and the base corresponding to the second group of laser sensors, and the first spacer is used to maintain a first predetermined distance between the two groups of laser sensors.

[0010] A second spacer is provided between the base corresponding to the second group of laser sensors and the base corresponding to the third group of laser sensors, and the second spacer is used to maintain a second predetermined distance between the two groups of laser sensors.

[0011] Furthermore, the first predetermined spacing is greater than the length of the carriage to be identified, and the second predetermined spacing is less than the spacing between carriages.

[0012] Furthermore, each group contains two laser sensors, which are positioned vertically opposite each other on the corresponding substrate.

[0013] Furthermore, the first spacer includes a first connecting rod and two second connecting rods respectively concentrically fixed at both ends of the first connecting rod, with the disjoint ends of the two second connecting rods respectively fixed to the outer wall of the base corresponding to the first and second groups of laser sensors.

[0014] Furthermore, both ends of the first connecting rod are fixed with inserts, and the bases corresponding to the first and second groups of laser sensors are provided with inserts on opposite sidewalls. Both ends of the second connecting rod are provided with slots that cooperate with the inserts.

[0015] Furthermore, the second connecting rod has vertically inserted locking rods on the top walls near both ends along its axial direction. The top of the insertion block has locking holes that cooperate with the locking rods, and the top wall of the second connecting rod has positioning holes for the locking rods to pass into the slots.

[0016] Furthermore, the bases corresponding to the laser sensors in the second and third groups are provided with insert blocks on opposite sidewalls, and the two ends of the second spacer are provided with slots that cooperate with the insert blocks.

[0017] Furthermore, the second spacer has vertically inserted locking rods on the top walls near both ends along its axial direction, and the corresponding insertion blocks have locking holes at the top that cooperate with the locking rods. The top wall of the second spacer also has positioning holes for the locking rods to pass into the slots.

[0018] The beneficial effects of this utility model are reflected in:

[0019] The vehicle identification device for the hook-unhooking robot of this utility model can adapt to complex working conditions such as high dust, bad weather, and light source interference. In particular, its backlight recognition and severe dust recognition effects are significantly better than the current video imaging recognition system. It provides a reliable basis for judging the correctness of the robot's actions when unhooking, avoiding damage to equipment and the vehicle by the robot's erroneous actions. Attached Figure Description

[0020] In the attached diagram:

[0021] Figure 1 This is a three-dimensional structural diagram of the entire utility model;

[0022] Figure 2 for Figure 1 A partial structural diagram;

[0023] Figure 3 for Figure 1 A schematic diagram of the structure with the bases in the assembled state;

[0024] Figure 4 for Figure 3 Enlarged structural diagram at point A;

[0025] Figure 5 for Figure 1 A schematic diagram of the structure of the base corresponding to the first group of lasers;

[0026] Figure 6 for Figure 1 A schematic diagram of the structure of the base corresponding to the second group of lasers;

[0027] Figure 7 for Figure 1 A schematic diagram of the structure of the first link in the middle;

[0028] Figure 8 for Figure 1 A schematic diagram of the second link in the middle;

[0029] Figure 9 for Figure 1 A schematic diagram of the structure of the base corresponding to the third group of lasers;

[0030] Figure 10 for Figure 1 Schematic diagram of the second spacer in the middle;

[0031] Figure 11 This is a schematic diagram of the laser alignment layout of the device of this utility model;

[0032] Figure 12 This is a flowchart illustrating the vehicle model identification method of this utility model.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Laser sensor; 2. Substrate; 3. Robot body; 4. Base; 5. Second spacer; 6. First spacer; 7. First link; 8. Second link; 9. Insert block; 10. Slot; 11. Locking rod; 12. Positioning hole; 13. Locking hole. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the utility model, and not all of them. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. All other embodiments obtained by those skilled in the art based on the embodiments of the utility model without creative effort are within the scope of protection of the utility model.

[0036] Please combine Figures 1 to 12 .

[0037] The vehicle type recognition device of the hook-and-unhook robot includes a laser sensor 1 for detecting the gap position between the vehicle to be identified and the following vehicle. The laser sensor 1 has three sets, wherein the first set of laser sensors 1 is flush with the rear of the preceding vehicle, and the second and third sets of laser sensors 1 are arranged parallel to each other along the length direction of the vehicle to be identified.

[0038] The vehicle model recognition device of the hook removal and repositioning robot also includes three robot bodies 3. Each of the three robot bodies 3 has a base plate 2 installed at the end of its robotic arm, and three laser sensors 1 are respectively installed on the three base plates 2.

[0039] Each of the three robot bodies 3 is supported by a base 4 at its bottom.

[0040] A first spacer 6 is provided between the base 4 corresponding to the first group of laser sensors 1 and the base 4 corresponding to the second group of laser sensors 1, and the first spacer 6 enables the corresponding two groups of laser sensors 1 to maintain a first predetermined distance.

[0041] A second spacer 5 is provided between the base 4 corresponding to the second group of laser sensors 1 and the base 4 corresponding to the third group of laser sensors 1, and the second spacer 5 enables the corresponding two groups of laser sensors 1 to maintain a second predetermined distance.

[0042] In specific implementation, before unhooking, rehooking, or straightening the couplers between the carriages, the base 4 carrying the robot body 3 is arranged sequentially at intervals along the length of the carriage of the vehicle to be identified, so that the laser emission direction of the first group of laser sensors 1 is perpendicular to the rear of the previous carriage. Then, the first spacer 6 and the second spacer 5 are respectively installed between the corresponding bases 4, so that the first group and the second group of laser sensors 1 maintain a first predetermined distance, and the second group and the third group of laser sensors 1 maintain a second predetermined distance.

[0043] The entire train car is then pulled to the uncoupling and disengagement position by the readjustment machine, so that the rear of the car in front of the car to be identified is aligned with the laser emission direction of the first set of laser sensors 1. The second and third sets of laser sensors 1 are used to detect the gap between the car to be identified and the car behind it. The gap position of the cars is different for different car models. The car model is determined by the gap position of the cars so that the robot body 3 can perform the corresponding uncoupling and recoupling operation of the cars according to the car model.

[0044] The advantage of this design is that it can adapt to complex working conditions such as high dust levels, severe weather, and light source interference. In particular, its backlight recognition and severe dust recognition effects are significantly better than current video imaging recognition systems. This provides a reliable basis for judging the correctness of the robot's actions when removing and reattaching the hook, and avoids damage to equipment and the carriage caused by the robot's erroneous actions.

[0045] It should be noted that the operation process of the robot body 3 in this application is divided into two types: one is the C70 series category and the other is the C64 series category. The vehicle type recognition device needs to identify and distinguish the two categories of the carriage. The C70 and C64 categories have distinguishing characteristics, namely the difference in carriage length. The C64 series is 12.8 meters long and the C70 series is 13.3 meters long.

[0046] This application mainly involves designing a laser to vertically illuminate the side of the vehicle compartment, detecting the gap between the compartment of the vehicle to be identified and the compartment behind it. Different vehicle models have different gap positions, and the vehicle model is determined by the gap position.

[0047] Three sets of laser sensors 1 are used together to form an array laser combination, using a total of 6 laser sensors. Each set of 2 laser sensors is redundant to avoid interference signals. The detection signal of the first set of laser sensors 1 is used to send the start detection signal. The detection signals of the second and third sets of laser sensors 1 are used to detect the gaps of C64 series models and C70 series models. The order of arrangement is first set, second set, and third set.

[0048] The train models are divided into two categories based on length. The first category is the C64 series, which includes models such as C64, C64K, and C62, all with a carriage length of 12.8 meters. The second category is the C70 series, which includes models such as C70, C70E, and C70E-A, with a carriage length of 13.3 meters.

[0049] The three sets of laser sensors 1 are judged by the programmable logic controller (PLC) system. The main analysis object is that after the first set of lasers issues the command to start detecting the vehicle model, the signal status of the second and third sets is immediately judged. If the second set of signals is judged as a gap and the third set of signals is judged as a carriage, the calculation result is C64 series vehicle model. If the second set of signals is judged as a carriage and the third set of signals is judged as a gap, the calculation result is C70 series vehicle model.

[0050] This application uses the robot body 3 performing a hook-unhooking operation as an example for illustration:

[0051] The unhooking action of robot body 3 can be broken down into multiple automated process steps, as follows:

[0052] First, the vehicle model is identified by the vehicle model recognition device of this application;

[0053] Based on the choice of uncoupling method for the two types of vehicles, the vehicle categories are divided into Category I (C64, C62) and Category II (C70, C70E, C70E-A);

[0054] The procedure for uncoupling vehicles of the first category is as follows:

[0055] The robotic arm extends;

[0056] Approach the lifting pin control lever;

[0057] The three-dimensional coordinates of the lifting pin control lever are scanned using a lidar scanner;

[0058] Target locked;

[0059] The tentacles move toward the target point, and the clamps grip the control lever;

[0060] Perform the rotation operation, rotate to a 90-degree position and wait (waiting for the other robot body to complete the positive and negative hooks);

[0061] Rotate back to the zero-degree position;

[0062] Release the clamp and disengage it from the control lever;

[0063] The robot body returns to its original position 3 times.

[0064] The procedure for uncoupling vehicles of the second category is as follows:

[0065] The robotic arm extends;

[0066] Approach the lifting pin control lever;

[0067] The three-dimensional coordinates of the lifting pin control lever are scanned using a lidar scanner;

[0068] Target locked;

[0069] The tentacles move toward the target point, and the clamps grip the control lever;

[0070] Perform lever calibration;

[0071] Lifting the lever to unlock the device;

[0072] The control lever is pulled downwards at an angle.

[0073] Perform the rotation operation, rotate to a 90-degree position and wait (waiting for the other robot body to complete the positive and negative hooks);

[0074] Rotate to the zero-degree position—release the clamp and disengage from the operating lever;

[0075] The robot body returns to its original position 3 times.

[0076] This application uses the robot body 3 performing a re-hooking operation as an example for illustration:

[0077] The robot body's 3-axis double hooking action can be broken down into multiple automated process steps, as follows:

[0078] First, the vehicle identification device of this application identifies the vehicle type and selects the unhooking method according to the two types of vehicle types. The vehicle types are divided into Class I (C64, C62) and Class II (C70, C70E, C70E-A).

[0079] The uncoupling process is the same for both Category I and Category II vehicles, as follows:

[0080] The robotic arm extends;

[0081] Approach the lifting pin control lever;

[0082] The three-dimensional coordinates of the lifting pin control lever are scanned using a lidar scanner;

[0083] Target locked;

[0084] The tentacles travel to the target point and grab the train coupler;

[0085] Perform the operation of straightening the coupler (aligning the coupler);

[0086] Wait for the robot body 3 to rotate the lifting lever to 90 degrees;

[0087] Perform hook tongue reset operation;

[0088] After the re-hook is completed, the robot body returns to its original position 3 times.

[0089] In one embodiment, the first predetermined spacing is greater than the length of the carriage to be identified, and the second predetermined spacing is less than the spacing between carriages.

[0090] In this way, with the first group of laser sensors 1 flush with and perpendicular to the rear of the preceding vehicle, the second and third groups of laser sensors 1 can perform uniform and effective detection of the gap between the vehicle compartments of the vehicle to be identified.

[0091] In one embodiment, each group contains two laser sensors 1, which are arranged vertically opposite each other on the corresponding substrate 2.

[0092] Thus, each group has two laser sensors, and the two lasers are redundantly configured to avoid interference signals.

[0093] In one embodiment, the first spacer 6 includes a first connecting rod 7 and two second connecting rods 8 that are concentrically fixed at both ends of the first connecting rod 7. The two second connecting rods 8 are respectively fixed to the outer wall of the base 4 corresponding to the first group and the second group of laser sensors 1.

[0094] In this way, the first predetermined distance can be maintained between the first group and the second group of laser sensors 1.

[0095] In one embodiment, both ends of the first connecting rod 7 are fixed with insert blocks 9, and the bases 4 corresponding to the first and second groups of laser sensors 1 are provided with insert blocks 9 on opposite side walls. Both ends of the second connecting rod 8 are provided with slots 10 that cooperate with the insert blocks 9.

[0096] Thus, the first connecting rod 7 and the second connecting rod 8 can be quickly disassembled and assembled through the insert 9 and the slot 10. During assembly, the first spacer 6 can be formed, and the first spacer 6 can be quickly disassembled and assembled between the corresponding two bases 4.

[0097] In one embodiment, a locking rod 11 is vertically inserted into the top wall of the second connecting rod 8 near both ends along the axis. The top of the insert block 9 is provided with a locking hole 13 that cooperates with the locking rod 11. The top wall of the second connecting rod 8 is provided with a positioning hole 12 for the locking rod 11 to pass into the slot 10.

[0098] Thus, by inserting the locking rod 11 through the positioning hole 12 into the locking hole 13, the relative positions of the first connecting rod 7 and the second connecting rod 8 after docking can be locked, as well as the relative positions of the first spacer 6 after docking between the corresponding two bases 4.

[0099] In one embodiment, the bases 4 corresponding to the laser sensors 1 of the second and third groups are provided with insert blocks 9 on opposite side walls, and the two ends of the second spacer 5 are provided with slots 10 that cooperate with the insert blocks 9.

[0100] Thus, the second spacer 5 can be quickly installed and removed between the two corresponding bases 4 via the insert 9 and the slot 10.

[0101] The second spacer 5 has vertically inserted locking rods 11 on the top wall near both ends along its axis. The corresponding insertion block 9 has a locking hole 13 on its top that cooperates with the locking rod 11. The top wall of the second spacer 5 has a positioning hole 12 for the locking rod 11 to pass into the slot 10.

[0102] Thus, by inserting the locking rod 11 through the positioning hole 12 into the locking hole 13, the relative position of the second spacer 5 after docking between the two corresponding bases 4 can be locked.

[0103] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0104] It should be noted that if the utility model embodiment involves directional indicators (such as up and down), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0105] Furthermore, the meaning of "and / or" throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Additionally, if the utility model embodiments involve descriptions of "first," "second," etc., these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" can explicitly or implicitly include at least one of those features. Furthermore, "multiple" refers to two or more. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the utility model.

Claims

1. A vehicle type recognition device for a hook-and-hook robot, characterized in that, It includes a laser sensor (1) for detecting the gap position between the carriage to be identified and the carriage behind it. The laser sensor (1) has three sets, wherein the first set of laser sensors (1) is flush with the rear of the carriage, and the second and third sets of laser sensors (1) are arranged parallel to each other along the length direction of the carriage to be identified. The vehicle identification device of the hook removal robot also includes three robot bodies (3). The mechanical arm ends of the three robot bodies (3) are all equipped with base plates (2), and the three laser sensors (1) are respectively installed on the three base plates (2). The bottom of each of the three robot bodies (3) is supported by a base (4); A first spacer (6) is provided between the base (4) corresponding to the first group of laser sensors (1) and the base (4) corresponding to the second group of laser sensors (1), and the first spacer (6) enables the two groups of laser sensors (1) to maintain a first predetermined distance. A second spacer (5) is provided between the base (4) corresponding to the second group of laser sensors (1) and the base (4) corresponding to the third group of laser sensors (1), and the second spacer (5) enables the corresponding two groups of laser sensors (1) to maintain a second predetermined distance.

2. The vehicle model recognition device for the hook-removing robot as described in claim 1, characterized in that, The first predetermined spacing is greater than the length of the carriage to be identified, and the second predetermined spacing is less than the spacing between the carriages.

3. The vehicle model recognition device for the hook-removing robot as described in claim 1, characterized in that, Each group has two laser sensors (1), which are arranged face-to-face on the corresponding substrate (2).

4. The vehicle model recognition device for the hook-removing robot as described in claim 1, characterized in that, The first spacer (6) includes a first connecting rod (7) and two second connecting rods (8) that are concentrically fixed at both ends of the first connecting rod (7). The two second connecting rods (8) are respectively fixed to the outer wall of the base (4) corresponding to the first and second groups of laser sensors (1).

5. The vehicle model recognition device for the hook-removing robot as described in claim 4, characterized in that, Both ends of the first link (7) are fixed with inserts (9), and the bases (4) corresponding to the first and second groups of laser sensors (1) are provided with inserts (9) on opposite side walls. Both ends of the second link (8) are provided with slots (10) that cooperate with the inserts (9).

6. The vehicle model recognition device for the hook-removing robot as described in claim 5, characterized in that, The second connecting rod (8) has vertically inserted locking rods (11) on the top walls near both ends along its axis. The top of the insert block (9) has a locking hole (13) that mates with the locking rod (11). The top wall of the second connecting rod (8) has a positioning hole (12) for the locking rod (11) to pass into the slot (10).

7. The vehicle model recognition device for the hook-removing robot as described in claim 1, characterized in that, The bases (4) corresponding to the laser sensors (1) in the second and third groups are provided with inserts (9) on opposite side walls, and slots (10) that cooperate with the inserts (9) are provided at both ends of the second spacer (5).

8. The vehicle model recognition device for the hook-removing robot as described in claim 7, characterized in that, The second spacer (5) has a vertically inserted locking rod (11) on the top wall near both ends along its axis. The corresponding insert (9) has a locking hole (13) at the top that cooperates with the locking rod (11). The top wall of the second spacer (5) has a positioning hole (12) for the locking rod (11) to pass into the slot (10).

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