CN113619648A - Transfer platform rail aligning method and device, transfer platform rail aligning system and rail vehicle - Google Patents
Transfer platform rail aligning method and device, transfer platform rail aligning system and rail vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61J—SHIFTING OR SHUNTING OF RAIL VEHICLES
- B61J1/00—Turntables; Traversers; Transporting rail vehicles on other rail vehicles or dollies
- B61J1/10—Traversers
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Abstract
The application provides a transfer platform rail aligning method and device, a transfer platform rail aligning system and a rail vehicle. The method comprises the following steps: acquiring the position of a ground track; acquiring the distance between a transfer platform track and a ground track; and aligning the ground track with the transfer platform track according to the position and the distance of the ground track. According to the scheme, accurate alignment of the ground track and the transfer platform track is achieved without manual participation, operation is simplified, efficiency is improved, excessive abrasion of a motor of the transfer platform is avoided without frequent starting of the motor, errors are not prone to occurring, potential safety hazards do not exist, and digital construction of a factory is facilitated.
Description
Technical Field
The application relates to the field of rail vehicles, in particular to a transfer platform rail aligning method, a transfer platform rail aligning device, a transfer platform rail aligning system, a rail vehicle, a computer readable storage medium and a processor.
Background
The transfer platform is commonly used for traction of rail vehicles, and the general work flow is as follows: the transfer platform moves to corresponding workshop track, treats that the transfer platform track aligns the back with the ground track, and the dual-purpose car of public railway will be located the train in workshop track and move to the transfer platform on, then manual control transfer platform motor break-make, remove the transfer platform lateral shifting to appointed track, then the dual-purpose car of public railway pulls the vehicle to workshop track. In the prior art, the transfer platform track positioning and aligning process is mainly carried out manually, a worker needs to stand at each of four corners of the transfer platform, whether the transfer platform track is aligned to the ground track or not is confirmed manually, repeated adjustment needs to be carried out in the aligning process, the efficiency is low, and it probably takes 10 minutes to complete one-time alignment. The manual work has apparent defect to the rail, moves the car platform and often appears moving the car not in place or move the condition of passing, often need many times to the rail operation, and the operating personnel is careless slightly, will cause the motor to start repeatedly, influences efficiency.
The transfer platform alignment method has the following problems:
1. the manual workload is large, and certain requirements are put forward on the judgment capability of workers;
2. the motor is frequently started, and the abrasion of the motor of the transfer platform is increased;
3. due to manual operation, the user stares at the stock path with two eyes, so that potential safety hazards are easily caused;
4. the working process lacks digital records and is not beneficial to the digital construction of factories.
Disclosure of Invention
The present application mainly aims to provide a transfer platform rail alignment method, a transfer platform rail alignment device, a transfer platform rail alignment system, a rail vehicle, a computer readable storage medium and a processor, so as to solve the problem of low efficiency of the transfer platform rail and ground rail alignment method in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a traverser rail aligning method, including: acquiring the position of a ground track; acquiring the distance between a transfer platform track and the ground track; and aligning the ground track with the transfer platform track according to the position of the ground track and the distance.
Further, acquiring the position of the ground track comprises: acquiring image data of the ground track; identifying a number of the ground track from the image data; and determining the position of the ground track according to the number.
Further, identifying the number of the ground track from the image data includes: carrying out binarization processing on the image data to obtain a binarized image; and carrying out edge detection and character recognition on the binary image to obtain the serial number.
Further, aligning the ground track with the transfer platform track according to the position of the ground track and the distance comprises: driving a transfer platform to move according to the position of the ground track and the distance so as to enable the transfer platform track to be close to the ground track; aligning the ground track with the transfer platform track when the distance between the transfer platform track and the ground track is less than a predetermined distance.
According to another aspect of the present application, there is provided a transfer platform rail aligning device, including: the first acquisition unit is used for acquiring the position of the ground track; the second acquisition unit is used for acquiring the distance between the transfer platform track and the ground track; and the alignment unit is used for aligning the ground track with the transfer platform track according to the position of the ground track and the distance.
According to yet another aspect of the present application, there is provided a transfer platform rail alignment system, comprising: the image recognition device is used for acquiring the position of the ground track; the distance measuring device is used for obtaining the distance between the transfer platform track and the ground track; and the transfer platform motion control device is respectively communicated with the image recognition device and the distance measuring device and is used for aligning the ground track with the transfer platform track according to the position and the distance.
Further, the image recognition device comprises an industrial camera for acquiring image data of the ground track.
According to another aspect of the present application, there is provided a rail vehicle for migrating the rail vehicle to a ground track using any one of the methods described herein.
According to another aspect of the application, a computer-readable storage medium is provided, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform any of the methods.
According to another aspect of the application, a processor for running a program is provided, wherein the program when running performs any of the methods.
According to the technical scheme, the distance between the transfer platform track and the ground track is obtained by obtaining the position of the ground track, and then the ground track and the transfer platform track are aligned according to the position of the ground track and the distance between the transfer platform track and the ground track. The accurate alignment of the ground track and the transfer platform track is realized, the accurate alignment of the ground track and the transfer platform track is realized without manual participation, the operation is simplified, the efficiency is improved, the motor is not required to be frequently started, the excessive abrasion of the transfer platform motor is avoided, the error is not easy to occur, the potential safety hazard is avoided, and the digital construction of a factory is facilitated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a flow chart of a transfer platform rail aligning method according to an embodiment of the application;
FIG. 2 illustrates a state diagram of a transfer platform beginning to move according to an embodiment of the present application;
FIG. 3 illustrates a state diagram when a laser rangefinder according to an embodiment of the present application detects a ground track;
FIG. 4 illustrates a state diagram when a ground track is aligned with a transfer platform track according to an embodiment of the present application;
FIG. 5 illustrates a schematic diagram of identifying a number of a ground track according to an embodiment of the present application;
FIG. 6 shows a transfer table rail alignment device schematic according to an embodiment of the application.
Wherein the figures include the following reference numerals:
10. a transfer platform; 11. a transfer platform track; 12. the central line of the track of the transfer platform; 20. an industrial camera; 30. a laser range finder; 40. a ground surface; 50. a ground track; 60. and (4) a groove.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As introduced in the background art, the alignment method of the transfer platform track and the ground track in the prior art is low in efficiency, and to solve the problem that the alignment method of the transfer platform track and the ground track is low in efficiency, embodiments of the present application provide a transfer platform track alignment method, an apparatus, a transfer platform track alignment system, a rail vehicle, a computer-readable storage medium, and a processor.
According to an embodiment of the application, a transfer platform rail aligning method is provided.
FIG. 1 is a flowchart of a method for aligning a transfer platform according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring the position of a ground track;
step S102, obtaining the distance between the track of the transfer platform and the ground track;
step S103, aligning the ground track and the transfer platform track according to the position of the ground track and the distance.
In the above scheme, through acquireing the orbital position in ground, acquire the distance between transfer platform track and the ground track, and then according to the orbital position in ground and the distance between transfer platform track and the ground track, align ground track and transfer platform track. The accurate alignment of the ground track and the transfer platform track is realized, the accurate alignment of the ground track and the transfer platform track is realized without manual participation, the automatic alignment of the transfer platform is completed, the operation is simplified, the efficiency is improved, the motor is not required to be frequently started, the excessive abrasion of the transfer platform motor is avoided, the error is not easy, the potential safety hazard is avoided, and the digital construction of a factory is facilitated.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In one embodiment of the present application, obtaining a position of a ground track includes: acquiring image data of the ground track; identifying the number of the ground track from the image data; and determining the position of the ground track according to the number. The image data of the ground track can be shot through the image sensor, the number of the track can be identified from the image data, and then the position of the ground track can be determined according to the number. For example, as shown in FIG. 2, a ground track 50 located on the ground 40 is numbered 5, and the location of the ground track 50 can be determined from the number 5. It should be noted that the numbers of the ground tracks are labeled in advance.
In an embodiment of the present application, recognizing the number of the ground track from the image data includes: carrying out binarization processing on the image data to obtain a binarized image; and carrying out edge detection and character recognition on the binary image to obtain the serial number.
In a specific embodiment of the present application, as shown in fig. 5, the principle of identifying the number of the ground track from the image data is as follows: the method comprises the steps of obtaining an original image, preprocessing (including filtering) the original image, cutting the preprocessed image to reserve key information (a part mainly reserved with a serial number) of the image, performing binarization processing on the cut image, performing edge detection (Canny edge detection can be selected) and contour clustering on the binarized image, subsequently importing a pre-trained SVM character recognition model, completing character recognition, and determining whether the image reaches a specified track.
In one embodiment of the present application, aligning the ground rail with the transfer platform rail according to the position of the ground rail and the distance includes: driving a transfer platform to move so as to enable the transfer platform rail to approach the ground rail according to the position of the ground rail and the distance; and aligning the ground rail and the transfer platform rail when the distance between the transfer platform rail and the ground rail is less than a predetermined distance. Namely, under the condition that the transfer platform track is very close to the ground track, the ground track is aligned with the transfer platform track, and the rail vehicle on the transfer platform is transferred to the ground track. Specifically, the predetermined distance may be 1cm, 2cm, 3cm, etc., and those skilled in the art can select an appropriate predetermined distance according to actual circumstances.
The embodiment of the application further provides a transfer platform rail aligning device, and it needs to be explained that the transfer platform rail aligning device of the embodiment of the application can be used for executing the method for transfer platform rail aligning provided by the embodiment of the application. The transfer platform rail device provided by the embodiment of the application is described below.
FIG. 6 is a schematic view of a transfer platform rail aligning device according to an embodiment of the application. As shown in fig. 6, the apparatus includes:
a first acquiring unit 100 for acquiring a position of a ground track;
a second obtaining unit 200, configured to obtain a distance between the track of the transfer platform and the ground track;
an alignment unit 300 for aligning the ground rail with the transfer platform rail according to the position of the ground rail and the distance.
In the scheme, the first acquisition unit acquires the position of the ground track, the second acquisition unit acquires the distance between the transfer platform track and the ground track, and the alignment unit aligns the ground track and the transfer platform track according to the position of the ground track and the distance between the transfer platform track and the ground track. The accurate alignment of the ground track and the transfer platform track is realized, the accurate alignment of the ground track and the transfer platform track is realized without manual participation, the operation is simplified, the efficiency is improved, the motor is not required to be frequently started, the excessive abrasion of the transfer platform motor is avoided, the error is not easy to occur, the potential safety hazard is avoided, and the digital construction of a factory is facilitated.
In an embodiment of the application, the first obtaining unit includes an obtaining module, an identifying module and a determining module, and the obtaining module is configured to obtain image data of the ground track; the identification module is used for identifying the number of the ground track from the image data; the determining module is used for determining the position of the ground track according to the number.
In an embodiment of the application, the identification module includes a processing submodule and an identification submodule, and the processing submodule is used for performing binarization processing on the image data to obtain a binarized image; and the identification submodule is used for carrying out edge detection and character identification on the binary image to obtain the serial number.
In an embodiment of the present application, the alignment unit includes a driving module and an alignment module, the driving module is configured to drive the transfer platform to move according to the position of the ground track and the distance, so that the transfer platform track is close to the ground track; the alignment module is used for aligning the ground track and the transfer platform track under the condition that the distance between the transfer platform track and the ground track is smaller than a preset distance.
The transfer platform rail aligning device comprises a processor and a memory, the first acquiring unit, the second acquiring unit, the aligning unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the precise alignment of the ground track and the transfer platform track is realized by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The embodiment of the invention provides a computer-readable storage medium, which comprises a stored program, wherein when the program runs, a device where the computer-readable storage medium is located is controlled to execute the transfer platform rail aligning method.
The embodiment of the invention provides a processor, which is used for running a program, wherein the transfer platform rail aligning method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring the position of a ground track;
step S102, obtaining the distance between the track of the transfer platform and the ground track;
step S103, aligning the ground track and the transfer platform track according to the position of the ground track and the distance.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring the position of a ground track;
step S102, obtaining the distance between the track of the transfer platform and the ground track;
step S103, aligning the ground track and the transfer platform track according to the position of the ground track and the distance.
The embodiment of the invention provides a transfer platform rail aligning system, which comprises:
the image recognition device is used for acquiring the position of the ground track;
the distance measuring device is used for obtaining the distance between the transfer platform track and the ground track;
and a transfer platform motion control device which is respectively communicated with the image recognition device and the distance measuring device and is used for aligning the ground track and the transfer platform track according to the position and the distance.
This transfer platform is to rail system has combined image recognition technology and range finding technique, has solved in rail vehicle production process, and the alignment problem of transfer platform track and the orbital location in ground. The transfer platform motion control device judges whether the transfer platform reaches a specified position according to the distance between the ground track and the transfer platform track. The system solves the problems of large workload, repeated correction and the like when the transfer platform track is manually aligned, can improve the working efficiency, can also reduce the occurrence of safety accidents caused by worker distraction, and can save personnel compared with manual positioning.
After aligning ground track and above-mentioned transfer platform track through transfer platform motion control device, the operation personnel only need carry out simple affirmation with the naked eye, can accomplish and involve the platform and aim at, have left out loaded down with trivial details operating procedure to the rail, have avoided latent potential safety hazard, reduce because the emergence of the incident that the staff distraction leads to, can save 2 personnel than artifical location.
In the system, an image recognition device acquires the position of a ground track, a distance measuring device acquires the distance between a transfer platform track and the ground track, the image recognition device sends the position of the ground track to a transfer platform motion control device, the distance measuring device sends the distance between the transfer platform track and the ground track to the transfer platform motion control device, and then the transfer platform motion control device drives the transfer platform to move according to the position and the distance so that the ground track is aligned with the transfer platform track.
In a specific embodiment of the present application, as shown in fig. 2, the image recognition device includes an industrial camera 20, and the industrial camera 20 is configured to acquire image data of the ground track 50. Specifically, by installing the industrial camera 20 inclined downward on the edge pillar of the transfer platform 10, the number of the ground track 50 is photographed, and image processing is performed to identify the corresponding station track. The image recognition device is matched with the ground track label, can accurately recognize the numerical value of the label so as to provide positioning information, and can become a hand grip of a subsequent automatic flow. The industrial camera used by the invention can digitally record the rail alignment work, and is convenient for the information backtracking work.
In one particular embodiment of the present application, as shown in FIG. 2, the distance measuring device is a laser range finder 30. The laser range finder 30 is installed on the top of the transfer platform 10, the body of the laser range finder is slightly inclined, so that the laser can be obliquely irradiated to the ground 40 beside the transfer platform 10, the relative position of the laser range finder 30 and the transfer platform rail 11 is kept unchanged, namely the laser range finder 30 and the transfer platform rail 11 have a fixed offset distance in the horizontal direction, and the relative position between the industrial camera 20 and the laser range finder 30 is also kept unchanged. When the track alignment is performed, the transfer platform 10 starts to move in the moving direction (leftward movement in fig. 2), and the industrial camera 20 first captures the number of the ground track 50 and determines the position of the ground track 50. Then, the position of the ground track 50 is sent to the laser range finder 30, the laser range finder 30 is triggered to start running, the laser range finder 30 continuously emits laser to the ground 40 along with the movement of the transfer platform 10, when the transfer platform 10 moves to the position shown in fig. 3, the distance measured by the laser range finder 30 changes because the groove 60 of the ground track 50 is lower than the ground 40, and at this time, the transfer platform 10 is controlled to continuously move a predetermined distance to the left (for example, move one meter, which is the offset distance of the laser range finder 30 and the transfer platform track 11 in the horizontal direction, i.e., the distance between the laser range finder 30 and the transfer platform track center line 12), so that the rail alignment (as shown in fig. 4) of the transfer platform track 11 and the ground track 50 (track No. 5) can be realized.
In consideration of the portability of the project and the convenience of operation after later production, the method adopts a C # and HALCON mixed programming method to develop industrial control software. The laser distance sensor has the advantages of low cost, small size and low power consumption, is small, exquisite, portable and high in performance, and the measuring distance of the laser distance sensor is 0.1-12m, so that the laser distance sensor can be suitable for the application scene. If the transfer platform needs to do reciprocating motion, another set of laser range finder needs to be installed on one side of the opposite running direction.
Optionally, this system can also realize that the image records the function, conveniently carries out the trouble backtracking of job record and later stage, promotes the degree of automation of mill.
In one embodiment of this application, transfer platform motion control device includes industrial computer, PLC control module etc. and transfer platform motion control device passes through net twine and image recognition device and range unit communication.
The embodiment of the invention provides a rail vehicle, which is transferred to a ground rail by adopting any one of the methods. The distance between the transfer platform track and the ground track is obtained by obtaining the position of the ground track, and then the ground track is aligned with the transfer platform track according to the position of the ground track and the distance between the transfer platform track and the ground track. Accurate alignment of the ground track and the transfer platform track is realized, and then rail vehicles on the transfer platform track are transferred to the ground track.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) according to the transfer platform rail alignment method, the distance between the transfer platform rail and the ground rail is obtained by obtaining the position of the ground rail, and then the ground rail is aligned with the transfer platform rail according to the position of the ground rail and the distance between the transfer platform rail and the ground rail. The accurate alignment of the ground track and the transfer platform track is realized, the accurate alignment of the ground track and the transfer platform track is realized without manual participation, the operation is simplified, the efficiency is improved, the motor is not required to be frequently started, the excessive abrasion of the transfer platform motor is avoided, the error is not easy to occur, the potential safety hazard is avoided, and the digital construction of a factory is facilitated.
2) The transfer platform of this application is to rail device, first acquisition unit acquire the orbital position in ground, and the second acquires the unit and acquires the distance between transfer platform track and the ground track, aligns the unit and aligns ground track and transfer platform track according to orbital position in ground and the distance between transfer platform track and the ground track. The accurate alignment of the ground track and the transfer platform track is realized, the accurate alignment of the ground track and the transfer platform track is realized without manual participation, the operation is simplified, the efficiency is improved, the motor is not required to be frequently started, the excessive abrasion of the transfer platform motor is avoided, the error is not easy to occur, the potential safety hazard is avoided, and the digital construction of a factory is facilitated.
3) The transfer platform is to rail system, image recognition device acquires the orbital position in ground, range unit acquires the distance between transfer platform track and above-mentioned ground track, image recognition device sends the orbital position in ground to transfer platform motion control device, range unit sends the distance between transfer platform track and above-mentioned ground track to transfer platform motion control device, then, transfer platform motion control device is according to position and distance, the drive transfer platform removes so that ground track aligns with transfer platform track.
4) The rail vehicle of this application, through acquireing the orbital position in ground, acquire the distance between transfer platform track and the ground track, and then according to the orbital position in ground and the distance between transfer platform track and the ground track, align ground track and transfer platform track. Accurate alignment of the ground track and the transfer platform track is realized, and then rail vehicles on the transfer platform track are transferred to the ground track.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A transfer platform rail aligning method is characterized by comprising the following steps:
acquiring the position of a ground track;
acquiring the distance between a transfer platform track and the ground track;
and aligning the ground track with the transfer platform track according to the position of the ground track and the distance.
2. The method of claim 1, wherein obtaining the location of the ground track comprises:
acquiring image data of the ground track;
identifying a number of the ground track from the image data;
and determining the position of the ground track according to the number.
3. The method of claim 2, wherein identifying the number of the ground track from the image data comprises:
carrying out binarization processing on the image data to obtain a binarized image;
and carrying out edge detection and character recognition on the binary image to obtain the serial number.
4. The method of claim 1, wherein aligning the ground track with the transfer platform track according to the position of the ground track and the distance comprises:
driving a transfer platform to move according to the position of the ground track and the distance so as to enable the transfer platform track to be close to the ground track;
aligning the ground track with the transfer platform track when the distance between the transfer platform track and the ground track is less than a predetermined distance.
5. A transfer platform is to rail device which characterized in that includes:
the first acquisition unit is used for acquiring the position of the ground track;
the second acquisition unit is used for acquiring the distance between the transfer platform track and the ground track;
and the alignment unit is used for aligning the ground track with the transfer platform track according to the position of the ground track and the distance.
6. A traverser rail-alignment system, comprising:
the image recognition device is used for acquiring the position of the ground track;
the distance measuring device is used for obtaining the distance between the transfer platform track and the ground track;
and the transfer platform motion control device is respectively communicated with the image recognition device and the distance measuring device and is used for aligning the ground track with the transfer platform track according to the position and the distance.
7. The system of claim 6, wherein the image recognition device comprises an industrial camera for acquiring image data of the ground track.
8. A rail vehicle, characterized in that the rail vehicle is transferred to a ground rail by means of a method according to any one of claims 1 to 4.
9. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1 to 4.
10. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 4.
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| CN202110876230.4A CN113619648A (en) | 2021-07-30 | 2021-07-30 | Transfer platform rail aligning method and device, transfer platform rail aligning system and rail vehicle |
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Application publication date: 20211109 |