CN-121979203-A - Intelligent operation control system of train unhooking robot

CN121979203ACN 121979203 ACN121979203 ACN 121979203ACN-121979203-A

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 steps of obtaining standard unhooking data of various train unhooking robots on various train unhooking couplers, obtaining operation scene information, establishing a basic scene model according to the operation scene information, matching unhooking standard data according to various train unhooking robot information and coupler information of an operation scene, carrying out adaptation adjustment on the unhooking standard data and the basic scene model to obtain unhooking matching data, carrying out real-time information acquisition according to the train unhooking robots, obtaining equipment acquisition data, generating unhooking backgrounds according to unhooking requirement data and the basic scene model, matching corresponding unhooking matching data according to the unhooking backgrounds, carrying out path planning of the train unhooking robots according to the unhooking matching data, obtaining a moving path of the train unhooking robots, identifying a basic unhooking mode corresponding to the unhooking matching data, and controlling according to the moving path and the basic unhooking mode.

Inventors

WANG BING
ZHANG DI
ZHAO XUNJIE
JIA GUOFEI
WEI YILI
Dong longshui
SUN YONG
ZHOU YANGFAN
FAN HAO

Assignees

济宁港航梁山港有限公司
济宁市港航事业发展中心

Dates

Publication Date: 20260505
Application Date: 20251229

Claims (10)

1. An intelligent control system for the operation of a train unhooking robot is characterized by comprising a platform end and a device end; The platform end comprises a storage analysis module and a storage library, wherein the equipment end comprises a scene acquisition module, a scene adaptation module, an equipment matching library, an equipment acquisition module, a planning module and a control module; the stock analysis module is used for analyzing various train couplers to obtain standard uncoupling data of various train uncoupling robots on various train couplers, wherein the standard uncoupling data comprises train uncoupling robot information, uncoupling flow, an initial coupler model and uncoupling standards; The scene acquisition module is used for monitoring the operation scene of the train unhooking robot in real time, obtaining operation scene information and sending the operation scene information to the scene adaptation module; the scene adaptation module is used for performing scene adaptation analysis, acquiring operation scene information of the train unhooking robot, establishing a basic scene model according to the operation scene information, and dynamically updating the basic scene model according to the real-time operation scene information; Acquiring various train unhooking robot information and coupler information of an operation scene, docking a reserve base at a platform end, and matching corresponding unhooking standard data from the reserve base according to the train unhooking robot information and the coupler information; Performing adaptation adjustment on each unhooking standard data and the basic scene model to obtain unhooking matching data, and transmitting the unhooking matching data to an equipment matching library; the equipment acquisition module is used for acquiring real-time information according to the train unhooking robot, acquiring equipment acquisition data, sending the equipment acquisition data to the planning module, and supplementing the equipment acquisition data to the operation scene information; The planning module is used for carrying out unhooking planning, acquiring unhooking demand data in real time, generating unhooking backgrounds according to the unhooking demand data and a basic scene model, matching corresponding unhooking matching data from the equipment matching library according to the unhooking backgrounds, carrying out path planning of the train unhooking robot according to the unhooking matching data, and obtaining a moving path of the train unhooking robot; The control module is used for controlling the train unhooking robot to move according to the moving path and controlling the train unhooking robot to unhook according to the basic unhooking mode.
2. The intelligent control system for the operation of a train unhooking robot according to claim 1, wherein the analyzing of various train couplers comprises: Identifying various train unhooking robot information, and determining various train couplers applicable to the train unhooking robot according to the train unhooking robot information; the method comprises the steps of identifying various train couplers, acquiring uncoupling standards and coupler information of the train couplers, wherein the coupler information comprises, but is not limited to, coupler size, application information and coupler type, and the application information is used for indicating the train type applicable to the train couplers; And determining the unhooking flow of the train unhooking robot on the car coupler initial model according to the unhooking standard, and integrating the unhooking flow, the train unhooking robot information, the car coupler initial model, the unhooking standard and the car coupler information into unhooking standard data.
3. The intelligent control system for train unhooking robot according to claim 2, wherein the train unhooking robot corresponding to the train unhooking robot information is a train unhooking robot operated by a platform side.
4. The intelligent control system for train unhooking robot operation according to claim 2, wherein the train unhooking robot corresponding to the train unhooking robot information is a train unhooking robot on the market.
5. The intelligent control system for train unhooking robot operation according to claim 1, wherein the platform end is in communication connection with each equipment end.
6. The intelligent control system for train unhooking robot according to claim 1, wherein adapting each unhooking standard data to the basic scene model comprises: analyzing various simulation backgrounds of the train unhooking robot according to unhooking standard data and a basic scene model, and evaluating whether the corresponding simulation backgrounds need to be subjected to adaptation adjustment according to an equipment matching library; When the evaluation does not need to be subjected to the adaptation adjustment, not carrying out corresponding processing; When the matching adjustment is required to be carried out in the assessment, a car coupler initial model in the unhooking standard data is identified, the unhooking simulation background is obtained by integrating the car coupler initial model and the simulation background, unhooking simulation is carried out on the unhooking simulation background according to the unhooking standard data, a basic unhooking mode is formed according to the unhooking simulation data, and the basic unhooking mode, car coupler information, the simulation background and train unhooking robot information are integrated into unhooking matching data.
7. The intelligent control system for train unhooking robot operation according to claim 6, wherein evaluating whether the corresponding simulation background requires adaptation adjustment according to the equipment matching library comprises: Inputting the simulation background into a device matching library for matching; When the unhooking matching data are matched, the evaluation does not need to be subjected to adaptation adjustment; when the unhooking matching data is not matched, marking the simulated background closest to the simulated background in the matching library as a reserve background, and evaluating whether unhooking of the train coupler is affected according to background difference between the reserve background and the simulated background, wherein when the unhooking of the train coupler is judged to be affected, the evaluation needs to be subjected to adaptation adjustment, and when the unhooking of the train coupler is judged not to be affected, the evaluation does not need to be subjected to adaptation adjustment.
8. The intelligent control system for train unhooking robots according to claim 1, wherein the safety operation area is determined according to the basic scene model and the equipment collection data during the train unhooking robot operation, and the real-time safety pre-warning is performed according to the safety operation area.
9. The intelligent control system for the operation of a train unhooking robot according to claim 8, wherein the determining the safe operation area according to the basic scene model and the equipment collection data comprises: and determining an initial safety boundary in real time according to the position of the train unhooking robot, acquiring the operation information of the current train unhooking robot, determining a safety critical boundary according to the operation information, and forming a safety operation area according to the safety critical boundary and the initial safety boundary.
10. The intelligent control system for train unhooking robot operation according to claim 9, wherein the real-time safety precaution is performed according to a safety operation area, comprising: Carrying out path prediction on the risk target to obtain an estimated path of the risk target, and marking the estimated path in a safe operation area; when the estimated path intersects with the safety critical boundary, risk early warning is carried out; when the estimated path does not intersect with the safety critical boundary, no corresponding processing is performed.

Description

Intelligent operation control system of train unhooking robot Technical Field The invention belongs to the technical field of train unhooking, and particularly relates to an intelligent operation control system of a train unhooking robot. Background In the railway transportation field, train disassembly and marshalling operation are core links for guaranteeing transportation efficiency, wherein unhooking operation is used as a key step for separating connected carriages, and the development requirements of modern railway intellectualization and high efficiency are difficult to meet by a traditional mode relying on manual completion. Currently, railway freight traffic continuously increases, a dumper line mainly used for transporting large amounts of cargoes such as coal and ore generally faces high-strength and high-frequency unhooking demands, for example, in a large marshalling station or a port freight hub, a single-day disassembly train can reach tens of trains, unhooking is needed for tens of times per train, manual operation is extremely high in labor intensity and limited by physiological limits of human bodies, stable efficiency is difficult to maintain in day and night continuous operation, and particularly in extreme weather, the accuracy and safety of manual unhooking are remarkably reduced. Meanwhile, although the prior art has a part of mechanical unhooking devices, the semi-automatic unhooking devices are mainly used, manual auxiliary positioning or operation is needed, and the full-flow unmanned operation cannot be realized. For example, part of the devices can only finish unhooking of a single vehicle type, have insufficient adaptability to a hybrid train, or rely on fixed track movement, and lack real-time sensing and self-adaptive adjustment capability on dynamic environment, so that the unhooking success rate is low under complex working conditions. Based on the problems, the invention provides an intelligent operation control system of a train unhooking robot for solving the problems of intelligent unhooking of trains. Disclosure of Invention In order to solve the problems of the scheme, the invention provides an intelligent operation control system of a train unhooking robot. The aim of the invention can be achieved by the following technical scheme: An intelligent control system for the operation of a train unhooking robot comprises a platform end and a device end; The platform end comprises a reserve analysis module and a reserve warehouse; The stock analysis module is used for analyzing various train couplers to obtain standard uncoupling data of various train uncoupling robots on various train couplers, wherein the standard uncoupling data comprise train uncoupling robot information, uncoupling flow, an initial coupler model and uncoupling standards, and the standard uncoupling data are sent to the stock warehouse to be stored. Further, various train couplers are analyzed, including: Identifying various train unhooking robot information, and determining various train couplers applicable to the train unhooking robot according to the train unhooking robot information; the method comprises the steps of identifying various train couplers, acquiring uncoupling standards and coupler information of the train couplers, wherein the coupler information comprises, but is not limited to, coupler size, application information and coupler type, and the application information is used for indicating the train type applicable to the train couplers; And determining the unhooking flow of the train unhooking robot on the car coupler initial model according to the unhooking standard, and integrating the unhooking flow, the train unhooking robot information, the car coupler initial model, the unhooking standard and the car coupler information into unhooking standard data. Further, the train unhooking robot corresponding to the train unhooking robot information is a train unhooking robot operated by a platform side. Further, the train unhooking robot corresponding to the train unhooking robot information is a train unhooking robot on the market. Further, the platform end is in communication connection with each equipment end. The reservoir is used for data storage. The equipment end comprises a scene acquisition module, a scene adaptation module, an equipment matching library, an equipment acquisition module, a planning module and a control module; The scene acquisition module is used for monitoring the operation scene of the train unhooking robot in real time, obtaining operation scene information and sending the operation scene information to the scene adaptation module. The scene adaptation module is used for performing scene adaptation analysis, acquiring operation scene information of the train unhooking robot, establishing a basic scene model according to the operation scene information, and dynamically updating the basic scene model according to the real-time operation scene information; Acquiring