WO2023097822A1 - Train passenger car and freight car mixed marshalling control method - Google Patents

Train passenger car and freight car mixed marshalling control method Download PDF

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Publication number
WO2023097822A1
WO2023097822A1 PCT/CN2021/140890 CN2021140890W WO2023097822A1 WO 2023097822 A1 WO2023097822 A1 WO 2023097822A1 CN 2021140890 W CN2021140890 W CN 2021140890W WO 2023097822 A1 WO2023097822 A1 WO 2023097822A1
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Prior art keywords
train
car
door
passenger
freight
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PCT/CN2021/140890
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French (fr)
Chinese (zh)
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张庆刚
刘鸿宇
任丛美
田越
刘雁翔
吴瑞梅
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中车唐山机车车辆有限公司
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Publication of WO2023097822A1 publication Critical patent/WO2023097822A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

Definitions

  • the present application relates to train operation control technology, in particular to a method for controlling mixed passenger and freight trains.
  • Underground rail vehicles are usually passenger trains, and their formation is fixed. To open a freight train, it is necessary to increase the running interval of passenger trains. The opening of freight flights during peak passenger traffic hours will reduce passenger traffic, causing a large number of passengers to stay on the platform, and the high degree of congestion in the carriages will affect driving safety. Therefore, most freight flights are opened during low-peak passenger traffic hours.
  • the resulting problem is that during the low-peak hours of passenger traffic, on the one hand, reducing the number of passenger trains will lead to longer waiting times for passengers, and thus lower satisfaction with railway operations; on the other hand, passenger trains run empty. The probability is still high, wasting resources and increasing operating costs.
  • the embodiment of the present application provides a control method for train passenger and freight mix
  • a method for controlling mixed passenger and freight trains including:
  • the passenger flow information the logistics volume and the logistics capacity, the grouping of the passenger car and the freight car in the train is adjusted;
  • the grouping of passenger cars and freight cars in the train is adjusted according to the passenger flow information, logistics capacity and logistics capacity , to control the mixed formation operation of passenger cars and freight cars, which can increase the number of passenger cars during the peak period of passenger flow, increase the passenger capacity, increase the number of freight cars during the peak period of passenger flow, increase the freight capacity, improve resource utilization, and meet the needs of passenger transport. and freight needs.
  • Fig. 1 is the flow chart of the train passenger-freight mixing control method provided by embodiment one of the present application;
  • Fig. 2 is the flow chart of adjusting the car grouping in the train passenger-freight mixing control method provided by Embodiment 1 of the present application;
  • Fig. 3 is the flow chart of adjusting the car grouping in the train passenger-cargo mixing control method provided by Embodiment 1 of the present application;
  • Fig. 4 is a schematic structural diagram of the first state of a conveying system at the door provided by the embodiment of the present application;
  • Fig. 5 is a schematic structural diagram of the second state of a conveying system at the door provided by the embodiment of the present application;
  • Fig. 6 is a schematic diagram of the axonometric structure of the platform conveying system provided by the embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of the third direction movement regulator provided by the embodiment of the present application.
  • Fig. 8 is a schematic diagram of an axonometric structure of a rail vehicle stacking system provided by an embodiment of the present application.
  • Fig. 9 is a schematic diagram of the front view of Fig. 8.
  • Fig. 10 is a schematic diagram of the lateral structure of Fig. 8.
  • Figure 11 is an enlarged schematic view of the local structure in Figure 10;
  • Fig. 12 is a top view structural schematic diagram of Fig. 11;
  • Fig. 13 is a first cross-sectional structural schematic diagram of the pallet fork provided by the embodiment of the present application.
  • Fig. 14 is a second cross-sectional structural schematic diagram of the fork provided by the embodiment of the present application.
  • Fig. 15 is a schematic diagram of the third cross-sectional structure of the fork provided by the embodiment of the present application.
  • Fig. 16 is an enlarged schematic diagram of the local structure of Fig. 4.
  • Fig. 17 is an enlarged schematic diagram of the local structure of Fig. 16;
  • Fig. 18 is a front structural schematic diagram of a shelf system provided by an embodiment of the present application.
  • Fig. 19 is a schematic diagram of the front view of Fig. 18;
  • Fig. 20 is a schematic diagram of the lateral structure of Fig. 18;
  • Fig. 21 is a schematic diagram of a partially enlarged structure of the shelf system provided by the embodiment of the present application.
  • Fig. 22 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application.
  • Fig. 23 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application.
  • Fig. 24 is a schematic flowchart of a storage management method for freight rail vehicles provided by an embodiment of the present application.
  • This embodiment provides a method for controlling passenger and freight mixed trains, which is used for mixing passenger cars and freight cars into a train and controlling the running of the train.
  • Passenger carriages have the same structure as traditional train carriages.
  • Freight carriages can be individually designed carriages, and traditional passenger carriages can also be improved, such as removing seats, removing windows, removing handrails, and widening doors.
  • the passenger car compartment and the freight car compartment are connected together through the coupler, or they can also be driven in a virtual marshalling mode, that is, the way in which the vehicle behind is controlled by the vehicle in front.
  • the train passenger-cargo mixing control method can be implemented by computer programs, such as application software, etc.; or, the method can also be implemented as a medium that stores relevant computer programs, such as U disk, cloud disk, etc.; Alternatively, the method can also be implemented by an entity device integrated or installed with a relevant computer program, such as a chip, a mobile smart device, and the like.
  • the method for controlling the mixed arrangement of passengers and goods on a train may be executed by a data center processor of a rail transit system.
  • FIG. 1 is a flow chart of a method for controlling mixed passenger and freight trains provided by Embodiment 1 of the present application. As shown in Figure 1, the train passenger-cargo mixing control method provided by the present embodiment includes the following steps:
  • Step 10 obtaining passenger flow information, logistics capacity and logistics volume to be transported in the current train operation network.
  • the train operation network contains multiple trains running on different lines.
  • Passenger flow information refers to the passenger flow information in the current train operation network, for example: the number of people entering and leaving each station, the number of people getting on and off each train, and the number of people in the compartment can be counted.
  • the corresponding image information can be collected according to the image acquisition equipment installed at the entrance and exit of the station, on the platform, and in the carriage, and the flow of people information can be obtained through image processing and analysis technology.
  • Logistics capacity refers to the current capacity of each train in the train operation network to move goods, for example: the number of freight cars in each train and the amount of goods that can be loaded in each freight car.
  • the logistics volume to be transported refers to the volume of goods that need to be transported by train.
  • Step 20 adjusting the grouping of passenger cars and freight cars in the train according to passenger flow information, logistics volume and logistics capacity.
  • the number of passenger cars and freight cars in each train is adjusted, and then the adjusted cars are grouped.
  • truck compartments can be added to increase the cargo delivery capacity; and during peak passenger flow periods, truck compartments can be reduced and passenger compartments can be increased, or even no trucks can be used The carriages were all changed to passenger carriages.
  • Step 30 controlling the mixed formation operation of passenger car and freight car formation.
  • It may include controlling the operation of the traction system installed at the bottom of the passenger car and/or truck compartment, as well as controlling the door switch, lighting switch, and air-conditioning switch of the passenger car and truck compartment.
  • Controlling passenger car and freight car marshalling mixed marshalling operation can increase the number of passenger car and passenger transport capacity during the peak passenger flow period, increase the number of truck compartments during the passenger flow flat peak period, increase freight capacity, improve resource utilization, and meet passenger transport and Freight needs.
  • control method is further optimized:
  • Fig. 2 is a flow chart of adjusting car formation in the method for controlling mixed train passenger and freight trains provided in Embodiment 1 of the present application.
  • step 20 adjusts the grouping of passenger cars and truck cars in the train according to passenger flow information, logistics volume and logistics capacity, which can be implemented in the following manner:
  • Step 201 Determine the target formation quantity of passenger cars and the target formation quantity of truck carriages according to passenger flow information, logistics volume and logistics capacity.
  • the number of passenger car compartments can be determined according to the passenger flow information and the preset full load level of the compartments, which is: the target number of formations. This number can meet the requirements of the current passenger flow, and will not exceed the requirements of the full load of the carriages.
  • Step 202 obtaining the number and arrangement of passenger cars and freight cars in the existing train.
  • Step 203 adjusting the car formation to the target formation quantity according to the target formation quantity of each carriage and the number and formation situation of each carriage in the existing train.
  • the existing trains in step 202 are: the trains currently running in the train running network. Get the number of passenger and freight cars in each train, and then adjust the car composition based on the target number of cars in each car.
  • step 201 it is known that on a certain running route, the target formation number of passenger cars in a train is 2, and the target formation number of freight cars is 4, which can meet the requirements of passenger flow and freight volume at the same time.
  • step 202 it is known that a train in the current train operation network has 5 passenger carriages and 1 freight carriage. It is simply understood as: the current train needs to remove 3 passenger car carriages and add 3 freight car carriages. In fact, it is necessary to reorganize the trains in the garage, and organize them according to 2 passenger cars + 4 freight cars to form a train and put it into operation.
  • Step 202 also includes: obtaining the marshalling situation of passenger cars and freight cars in the existing train, specifically obtaining whether each car is a powered car or a non-powered car, and whether there are traction converters, air cylinders, and other equipment at the bottom of the car. Then correspondingly match the carriages with these devices, so that the train after formation can run normally.
  • Fig. 3 is a flow chart of adjusting car composition in the method for controlling mixed train passenger and freight trains provided in Embodiment 1 of the present application.
  • step 203 adjusts the car grouping to the target grouping number according to the target grouping quantity of each car and the number and grouping situation of each car in the existing train, specifically the following steps can be adopted:
  • Step 2031 according to the number and composition of passenger cars and freight cars in the existing train, as well as the target grouping quantity of passenger cars and the target grouping quantity of freight cars, determine the passenger cars and/or freight cars in the existing train to be decompiled.
  • Existing trains are trains currently in the garage. According to the quantity obtained in the above steps 201 and 202, the passenger car and/or freight car to be decompiled in the existing train is determined. According to the target quantity, it is possible to only decompile passenger carriages and replace them with truck carriages; it is also possible to decompile only freight carriages and replace them with passenger carriages; Quantity requirements, but also meet the requirements of train operation.
  • Step 2032 decompile the carriages of the existing train to remove the passenger car and/or freight car to be decomposed.
  • Unmarshalling includes physical uncoupling of the coupler, and also includes operations such as releasing the control signals of the various equipment in the control system.
  • Step 2033 dispatching the target passenger car and/or the target freight car to the composition section according to the target composition quantity.
  • the self-running car For a car that can walk independently (called: a self-running car), after establishing communication with the car, send a dispatch command to the self-running car, instructing the self-running car to run to the marshalling section.
  • the self-running car is a car that has a power running system, an on-board control system and a communication system, and can walk independently.
  • dispatching instructions can be sent to the traction locomotive, instructing the traction locomotive to run to the section where the target passenger car or the target freight car is located and form a group with the target carriage to lead the target passenger carriage or target freight car
  • the carriages run to the marshalling section for connecting marshalling.
  • the transport traction locomotive can be driven manually or automatically.
  • Self-running carriages or traction locomotives are dispatched in an automatic driving manner, and a movement authorization for connecting links can be sent to them before knowing that the self-running carriages or traction locomotives are about to enter the marshalling section, so that the self-running carriages or traction locomotives can enter the marshalling section Sections are linked and grouped.
  • Step 2034 performing marshalling operations on the reserved cars in the existing train, the target passenger car and/or the target freight car.
  • each car After each car arrives at the marshalling section and has been connected, execute the marshalling operation, including: debugging the door control equipment, lighting control equipment, air-conditioning and air supply system of each car, and debugging the traction system and auxiliary system installed at the bottom of each car , air cylinder, etc., to meet the requirements of train operation.
  • the car to be grouped enters the grouping section, first obtain the type identification of the car to be grouped, and after identifying that the type identification is consistent with the target car identification, establish a grouping for the reserved cars in the existing train and the cars to be grouped .
  • step 2032 is performed on each compartment, if the decomposed compartment is a self-running compartment, a driving command is sent to the decomposed compartment, instructing the decomposed compartment to leave the decombined section.
  • a running command is sent to the traction locomotive, instructing the traction locomotive to enter the decombination section and form a group with the decompilation carriage, and lead the carriage out of the decomposition section.
  • the traction locomotive and the cars to be marshalled can be physically linked, or virtual marshalled, that is, at least two trains travel as a group of trains through communication and interaction between trains, and one of the trains communicates with the data interaction center of the transportation system.
  • the communication obtains the train speed curve and movement authorization, and controls the rest of the trains to run synchronously.
  • There is no coupler between the trains no manual participation is required, and the reconnection or unmarshalling can be completed through relevant signals, which greatly improves the line operation efficiency.
  • the dispatching order or running command sent to the traction locomotive contains a train information list, instructing the traction locomotive to monitor the distance between the train and the car to be marshalled according to the train information list, establish a flexible marshalling with the car to be marshalled, and carry out interval control.
  • One implementation method is: the first train obtains the train information list sent by the data interaction center; real-time monitoring of the distance between the second train; Grouping; interval control for flexible grouping.
  • the first train is a traction locomotive, and the second train is a carriage to be assembled.
  • Each train in the transportation network sends running information to the ground control center in real time.
  • the ground control center After receiving the running information sent by each train, the ground control center will send the running information to the data interaction center, and the data interaction center will determine the list of train information based on the running information , and sent to each train. For example, the data interaction center obtains location information. Identify the trains on the same track and in the same direction from the position information and running information. A train information list is determined according to the identified trains. Send train information list to train.
  • the distance between the first train and the second train is monitored in real time by the flexible formation control unit in the first train. After monitoring the distance between the second train and less than the minimum distance (that is: the above-mentioned minimum target distance S0 when the distance between the two trains is running smoothly), the real-time monitoring by the flexible formation control unit will be changed to real-time by the interval control unit Monitor the distance to the second train.
  • the minimum distance is a preset value, for example, the minimum distance is 200 meters.
  • the critical communication distance is the distance between the two trains that will not collide under any circumstances. Assuming that the vehicle in front is in a static state, the calculated distance between the two vehicles in this case is the farthest, which is the product of the maximum common braking distance and the preset value .
  • the critical communication distance maximum normal braking distance * 1.5.
  • a second topology frame sent by the second train is received.
  • the topology frame includes initial operation flag, IP address list, initial operation completion flag and so on.
  • the initial run flag is used to describe whether the train to which it belongs is prohibited from forming.
  • the initial run completion flag is used to describe whether the train to which it belongs has completed the initial run.
  • the second information frame sent by the second train will also be received at the same time.
  • the flexible grouping is then established according to the second topology frame.
  • the initial running flag of the second topology frame is prohibited (for example, the second train refuses to be formed)
  • the initial running flag of the first topology frame of the first train is prohibited (for example, the first train refuses to be formed)
  • the initial run flag of the first topology frame is not forbidden, and the initial run flag of the second topology frame is not forbidden, but the first train and the second train meet the prohibition of marshalling, then it is determined that the marshalling condition is not satisfied.
  • the situation that the first train and the second train meet the prohibition of formation is as follows: the front car in the first train and the second train decelerates at the curve. Or, the preceding vehicle in the first train and the second train enters the speed limit section. Or, the first train and the second train cannot run simultaneously for the specified time of formation. For example, the time stipulated by the marshalling is 10 minutes. That is to say, the premise of establishing a flexible formation of two trains is that the trains can run in formation for 10 minutes.
  • the operating information determines the flexible grouping of the operating curve.
  • the first train will also receive the third topology frame sent by the third train. If the first IP address of the first train is not included in the third topology frame, the first IP address list of the first train is updated according to the positional relationship between the third train and the first train, and then formed according to the updated first IP address list New first topology frame.
  • the third train is located in front of the first train (i.e. the third train is the front train of the first train)
  • obtain the second IP address list in the second topology frame put the second IP address list into the first IP address list
  • an updated first IP address list is formed.
  • the third train is located behind the first train (i.e. the third train is the rear train of the first train)
  • obtain the second IP address list in the second topology frame put the second IP address list into the first IP address list Before the first IP address in the list, an updated first IP address list is formed.
  • the first train and the second train calculate a new topology frame at the same time during the process of exchanging topology frames. Then put the topological frame IP address list of the rear car (i.e. the second train) behind its own (i.e. the first train) IP address to form a new IP address list to form a topological frame, if the rear car (i.e. the third train) If the received topology frame does not contain the IP address of the car (i.e. the first train), the IP address list of the previous car (i.e. the second train) is placed in front of its own (i.e. the first train) IP address to form a new IP address list Form a topology frame.
  • topology frame received by the train is consistent with the topology frame of this train, it is judged that the initial operation is successful. After setting the initial operation completion flag, a new topology frame is sent. When the initial operation of the topology frames received and sent by all trains is completed If the signs are all consistent, then it is determined that the establishment of the flexible formation is completed, and then the mark of formation is completed, and the reference direction of the train is set.
  • the vehicle in front will also obtain the control right of the vehicle behind.
  • a control right acquisition request is sent to the second train, and the control right acquisition request is used to instruct the second train to feed back a control right transfer response.
  • a control instruction is sent to the second train, and the control instruction is used to instruct the second train to stop automatic driving.
  • the control right acquisition request sent by the second train is received. Feedback the control right transfer response to the second train, receive the control instruction sent by the second train, and stop the automatic driving according to the control instruction.
  • the first train is the front car
  • the first train judges that the marshalling completion flag is 1
  • it sends a control command to the rear car (i.e. the second train) to request control
  • the rear car i.e. the second train
  • the completion flag is 1 and after receiving the control command from the preceding vehicle (i.e. the first train), send the control transfer response to the preceding vehicle (i.e. the first train);
  • the preceding vehicle i.e. the first train
  • receives the following vehicle i.e. the second Train
  • the rear car i.e. the second train
  • the group completion flag is 1 and sends the control right transfer response to the front car (i.e. the second train);
  • the front car that is, the second train
  • sends specific control commands to the rear car that is, the first train
  • the rear car that is, the first train
  • LTE-R or 5G can be used for communication, and if the distance is less than 200 meters, it can be used WIFI or radar for communication.
  • the interval control of the flexible formation by the front vehicle is reflected in: the front vehicle will determine the traction/braking force at each time according to the traction/braking force information of the rear vehicle, and send the determined traction/braking force to the rear car.
  • the interval control of the flexible formation by the trailing vehicle is reflected in: sending its own traction force/braking force information to the preceding vehicle, and executing the traction force/braking force determined by the preceding vehicle.
  • the first train In the first case, the first train is located in front of the second train, and now the first train is the front car, and the second train is the rear car.
  • the first train needs to determine the traction force/braking force at each moment according to the traction force/braking force information of the following vehicle, and send the determined traction force/braking force to the following vehicle.
  • the second train needs to send its own traction/braking force information to the first train, and implement the traction/braking force determined by the first train.
  • the first train will determine the current operation stage of the flexible formation, and perform interval control on the flexible formation according to the current operation stage. If the current running stage is not the parking stage, calculate the traction force/braking force at the next moment, and perform interval control according to the traction force/braking force at the next moment. If the current operation stage is the stop stage, when the distance to the second train is not less than the stop interval, decelerate and stop based on the single-vehicle running curve, and calculate the traction force/braking force at the next moment, and perform the operation according to the traction force/braking force at the next moment interval control.
  • the braking distance is calculated according to the current speed.
  • the current braking rate is calculated based on the braking distance and the obtained ground position information, deceleration braking is performed according to the current braking force, and the traction force/braking force at the next moment is calculated, according to the traction force at the next moment /Braking force for interval control.
  • the calculation method is as follows: obtain the traction/braking force information of the second train, and calculate the traction/braking force at the next moment according to the traction/braking force information .
  • a.1 Calculate the speed deviation according to the speed-distance curve obtained in advance, the distance to the second train and the current speed.
  • interval control minimum distance is calculated by the following formula:
  • S min is the minimum distance for interval control.
  • T sum is the delay time
  • T sum t c +t p +t b
  • t c is the communication interruption time
  • t p is the algorithm execution time
  • t b is the time from when the brake command is issued to when the brake is applied.
  • V back is the running speed of the second train.
  • ⁇ S is the emergency braking distance difference between the first train and the second train.
  • d is the safety margin, for example, d is 2 meters.
  • the traction/braking force at the next moment is sent to the flexible formation control unit of the second train through the flexible formation control unit.
  • the CCU Central Control Unit, central control unit
  • the second situation the first train is behind the second train, and now the second train is the front car, and the first train is the rear car.
  • the second train needs to determine the traction force/braking force at each moment according to the traction force/braking force information of the following vehicle, and send the determined traction force/braking force to the following vehicle.
  • the first train needs to send its own traction/braking force information to the second train, and implement the traction/braking force determined by the second train.
  • the first train will send traction force/braking force information to the second train, so that the second train can calculate the traction force/braking force at the next moment according to the traction force/braking force information, and perform interval control according to the traction force/braking force at the next moment .
  • the traction/braking force at the next moment sent by the second train will also be received through the flexible formation control unit.
  • the traction/braking force at the next moment is forwarded to the CCU of the second train through the flexible formation control unit.
  • the traction/braking force of the next moment is applied by the CCU in order to control the speed of the first train.
  • interval control for flexible marshalling can be realized on the basis of wireless marshalling and automatic operation among multiple trains, so that the trains in the marshalling can be taken as a whole and uniformly controlled by the lead car marshalling operation. Mainly after the trains are organized, the interval control curve is calculated, and the trains are controlled to maintain the running interval during the flexible formation process.
  • the vehicle in front controls the speed of trains in the formation in combination with the braking distance of the train, maintains the distance between trains in a flexible formation, and ensures that the It can brake safely and avoid rear-end collision.
  • This embodiment optimizes the train formation control method on the basis of the foregoing embodiments, and in particular provides an implementation of train unmarshalling:
  • the target train is determined, and then the disassembly is performed with the target train.
  • the unmarshalling condition is: the running lines of the trains that have completed the virtual marshalling are not unique (for example, the marshalling trains will run on different routes in the near future), or, the communication with the adjacent train is interrupted, or, the unmarshalling instruction is received .
  • Only the non-leading vehicle may satisfy the decoding condition of receiving the decoding instruction, that is, only the non-leading vehicle may determine that the decoding condition of receiving the decoding instruction is satisfied.
  • the decoding condition of interruption of communication with adjacent vehicles it can be satisfied by either the leading vehicle or the non-leading vehicle.
  • the car may also determine that the unmarshalling condition for communication interruption with neighboring cars is met.
  • the scheme of determining the target train is: determine the trains with different running lines as the target trains.
  • the satisfying decompilation condition is that when a decompilation instruction is received, the scheme of determining the target train is: determine the previous adjacent vehicle as the target train.
  • the scheme of determining the target train is: determine the adjacent train sending the message as the target train.
  • the determination scheme for the interruption of communication with the adjacent vehicle is as follows: if the messages of m consecutive communication cycles are all lost, then it is determined that the communication with the adjacent vehicle is interrupted, that is, it is determined that the decoding condition is satisfied.
  • the message is sent by the same neighboring vehicle.
  • the case of packet loss may be that the packet cannot be received, or the topology frame in the received packet is inconsistent with the local topology frame. That is to say, the message cannot be received for m consecutive communication cycles, or the topology frame in the received message is inconsistent with the local topology frame.
  • the topology frame in the messages received in all communication cycles is inconsistent with the local topology frame, or it may be impossible to receive messages in some cycle communication cycles, and some cycle communication cycles receive
  • the topology frame in the packet is inconsistent with the local topology frame.
  • the packets that cannot be received are topology frame packets or information frame packets.
  • the current running speed can be adjusted first.
  • the realization scheme of monitoring the distance between the target train and the target train is: according to the current running speed, monitor the distance between the target vehicle and the adjacent vehicle in front of the target vehicle.
  • the decoding command is used to instruct the target vehicle to feed back the response frame.
  • the set topology frame is used to instruct the target vehicle to start the automatic driving mode and complete the decoding.
  • the satisfied decompilation condition is when the decompilation instruction is received
  • the response frame is used to instruct the sender of the decoding instruction to set the initial operation flag in the topology frame as forbidden, and send the set topology frame.
  • the satisfied decoding condition is when the communication with the adjacent vehicle is interrupted
  • the topology frame is initialized. If the topology frame in the currently received message is inconsistent with the local topology frame, set the initial run completion flag of the topology frame to an incomplete state.
  • the train (can only be the lead car at this time) judges that the marshalling train will run on different lines in the near future, then the lead car will be based on the current running speed and the two cars after demarshalling
  • the train (only the first car at this time) issues a decompilation command to The following train, the following train returns a response frame after receiving the decoding command, and the train (only the first train at this time) sets the initial running state in the topology frame as prohibiting initial running after receiving the response frame, and when the following train receives the prohibiting initial running Start the autopilot mode after the topology frame to complete the decompilation.
  • the two vehicles When the distance between the two vehicles exceeds the critical communication distance, the two vehicles respectively resume the automatic driving mode, initialize the topology frame, and initialize the control state.
  • the train that cannot receive the message will initialize the topology frame of the vehicle and change it to automatic In the driving mode, the train that can receive the message judges that the received topology frame is inconsistent with the local topology frame, then sets the initial operation completion flag to the incomplete state and changes to the automatic driving mode.
  • the preceding vehicle preferentially uses the precise positioning method, and redundantly uses the train positioning to calculate the distance between the two vehicles to obtain the distance between the two vehicles, and the leading vehicle controls the driving interval gradually.
  • the train uses the train positioning to calculate the distance between the two trains, and continues to control the distance between the two trains to reach the critical distance of formation communication before unmarshalling; After the control command is issued, it resumes autonomous operation.
  • the method provided in this application can be applied to urban underground rail trains, and certainly also to short-distance intercity trains.
  • the train includes passenger cars and/or freight cars, and the second train includes passenger cars and/or freight cars.
  • the train information list before sending the train information list to the first train, it also includes: obtaining the position information of the train, receiving the operation information sent by the ground control center, identifying the trains on the same track and in the same direction from the position information and operation information, Then a train information list is determined according to the identified trains.
  • the above-mentioned content can be referred to for the above-mentioned way of establishing a flexible formation of the first train and the second train.
  • the first train and the second train can be flexibly grouped or disassembled as required.
  • the first train and the second train can be flexibly grouped and run together, and the interval between the trains should be smaller than that of two independently operated trains. Therefore, the time interval between the arrival of the two trains is relatively short, which is convenient for unified loading or unloading, saves waiting time, and improves logistics efficiency.
  • An application scenario is: the first train includes passenger carriages, and the second train includes freight carriages.
  • the first train is running in a certain transportation network, and the second train is not in the transportation network.
  • the second train wants to enter the transportation network, it must send a request to the data center.
  • the operation and procedures are relatively complicated, and manual processing and review may be required, which takes a long time.
  • the second train can be flexibly marshalled with the first train, and travel together as a group of trains, without modifying the train information list or electronic map, and without assigning a running route for the second train , Handling access and other operations, saving procedures and improving efficiency.
  • the group of trains is considered to be cleared only after the following train leaves a certain section, and the authority of the section is released, so the operation safety of the following train can also be guaranteed.
  • FIG. 4 is a schematic structural diagram of the first state of a vehicle door delivery system provided by the embodiment of the present application
  • Fig. 5 is a schematic structural diagram of the second state of a vehicle door delivery system provided by the embodiment of the present application
  • Fig. 6 is an implementation of the present application
  • FIG. 7 is a schematic structural diagram of the third direction movement regulator provided in the embodiment of the present application.
  • this embodiment provides an intelligent loading and unloading system, which includes a platform conveying system 931, a vehicle door conveying system 932, a stacking system, a shelf system, a vehicle master control system and a warehouse management system.
  • the platform conveying system 931 and the door conveying system 932 jointly form a rail transit joint control conveying system, and the door conveying system 932 is fixed at the door of the rail vehicle, and the rail vehicle can be a freight rail vehicle, a freight car or a passenger-cargo mixed track Vehicles and the like can be set up as required, all within the protection scope of the present application.
  • the above rail transit joint control conveying system also includes a master control device, which is generally set in the master control room of the ground management platform.
  • the master control device is connected with the vehicle master control system.
  • the master control device is respectively connected with the platform conveying system 931 and the door conveying system 932 to control the docking of the platform conveying system 931 and the door conveying system 932.
  • the master control device can be specifically a controller. It can be set according to the development level of the existing technology.
  • the platform conveying system 931 includes a platform conveying device connected to the general control device, and the device includes a platform conveying component 9312 and a position adjustment component.
  • the platform conveying assembly 9312 is used for conveying goods, and one end of the platform conveying assembly 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; for example, it is set as a conveying belt, conveying chain or other conveying equipment.
  • the position adjusting component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position;
  • the master control device is respectively connected with the platform conveying component 9312 and the position adjusting component, which can be connected by wired or wireless communication.
  • the device controls the action of the position adjustment component to dock the platform conveying component 9312 with the conveying system 932 at the door; when the rail vehicle does not stop at the preset platform position, the platform conveying device performs position difference compensation in time to optimize docking efficiency.
  • the goods or ULDs described here and below can be exchanged, or use pallets or other cargo carrying equipment, or directly grab the goods for transmission, and the electronic tags can be set on the goods or cargo carrying equipment, and can be customized according to the needs of the system. to set.
  • Position adjustment components such as one or more of vertical adjustment components, vertical adjustment components perpendicular to the track direction, and horizontal adjustment components parallel to the track direction; specifically, the platform conveying device also includes a first chassis 9316 and a position adjustment Components; the first chassis 9316 is used to install the platform conveying component 9312 , and the position adjustment component includes a first direction movement adjustment member 9313 , a second direction movement adjustment member 9315 and a third direction movement adjustment member 9314 .
  • the first direction movement adjusting member 9313 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move forward and backward along the length direction of the platform conveying assembly 9312;
  • the second direction moving adjusting member 9315 is located on the first chassis 9316, It is used to drive the platform conveying assembly 9312 to move along the width direction of the platform conveying assembly 9312;
  • the third direction movement adjustment member 9314 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move along the vertical direction of the platform conveying assembly 9312.
  • the first direction movement adjustment part 9313, the second direction movement adjustment part 9315 and the third direction movement adjustment part 9314 have the same structure, such as setting the motor to drive the rack and pinion structure for power drive, more
  • a guide mechanism is also included to guide the movement of the moving adjustment member in various directions, so that the movement is more stable.
  • the first base frame 9316 includes two sets of guide structures, the second driving motor and the nut screw mechanism, the screw rod is connected with the second driving motor, and the nut is set on the screw rod and the nut is fixed on the bottom of the platform conveying assembly 9312, the screw rod and the guide structure are arranged along the width direction of the platform conveying assembly 9312, driven by the second drive motor, the screw mandrel rotates to drive the nut on the platform conveying assembly 9312 Move in the width direction; meanwhile, the bottom of the platform conveying assembly 9312 is also provided with a guide, and the guide cooperates with the guide rail arranged on the first chassis 9316 to guide.
  • the adjustment parts for moving in various directions can be set as required, all within the protection scope of the present application.
  • a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle.
  • Carry out cargo transportation on rail vehicles realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
  • the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
  • the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit.
  • the intelligent development of the control conveying system meets the development requirements of modern logistics.
  • the first base frame 9316 is a rectangular frame
  • the third direction movement adjustment member 9314 is located at the top corner of the first base frame 9316
  • the third direction movement adjustment member 9314 includes a third mounting seat 93143, a third Support base 93144, third driving motor 93141 and third lifting mechanism 93142.
  • the third mounting base 93143 is fixedly connected with the first chassis 9316, the third driving motor 93141 and the third elevating mechanism 93142 are respectively fixed on the third mounting base 93143, the third driving motor 93141 is connected with the third elevating mechanism 93142;
  • the lifting mechanism 93142 is set as a lead screw lift and a trapezoidal lift screw, and a coupling is provided between the lead screw lift and the third driving motor 93141, and the lead screw lift, the third driving motor 93141 and the coupling are all arranged on the third mounting seat
  • one end of the trapezoidal lifting screw passes through the third mounting base 93143 and is rotationally connected to the third supporting base 93144, one end of the third supporting base 93144 is in contact with the ground, and the other end is connected to the third lifting mechanism passing through the third mounting base 93143 93142 is connected, and the third drive motor 93141 drives the third elevating mechanism 93142 to move vertically to drive the third mounting base 93143 and the first chassis 9316, thereby real
  • the third direction movement adjustment member 9314 has a simple structure and is convenient for setting. In other embodiments, the third direction movement adjusting member 9314 can be set as required, all of which are within the protection scope of the present application. In one embodiment, in order to facilitate the setting of the movement adjustment parts in various directions, in the vertical direction of the platform conveying assembly 9312, the first direction movement adjustment part 9313, the second direction movement adjustment part 9315 and the third direction movement adjustment part 9314 are set sequentially from top to bottom.
  • the platform conveying assembly 9312 includes a first conveying assembly mounting frame 93121 , several first accumulation rollers 93122 and a driving unit for the first accumulation rollers 93122 .
  • both ends of the length direction of each first accumulation roller 93122 are respectively rotatably connected with the first conveying assembly mounting frame 93121; each first accumulation roller 93122 is arranged along the length direction of the first conveying assembly mounting frame 93121.
  • the driving unit of the first accumulation roller 93122 is arranged on the installation frame 93121 of the first conveying assembly, and the driving unit of the first accumulation roller 93122 is connected with each first accumulation roller 93122 to drive the first
  • the accumulating roller 93122 rotates along its own axis, driving the goods on the first accumulating roller 93122 to move along the conveying direction.
  • the driving unit of the first accumulation drum 93122 can be composed of a driving motor and a driving mechanism.
  • the driving mechanism is such as a gear chain structure, etc., the gear is connected to the driving motor, and the chain is connected to each first accumulation drum 93122; in other embodiments , the structure of the driving unit of the first accumulation drum 93122 can be set as required, all of which are within the protection scope of the present application.
  • the upper surface of the first conveying assembly mounting frame 93121 and both ends along the width direction are provided with first guide strips, and the first guiding strips are along the sides of the first conveying assembly mounting frame 93121. Extending in the length direction, it can be understood that the side wall of the first guide bar and the upper surface of the first conveying assembly mounting frame 93121 form a U-shaped groove to guide and limit the goods and prevent the goods from moving from the width of the first conveying assembly. Orientation tipped and slipped.
  • the car door position detection component which is used to detect the position of the car door of the rail vehicle that has arrived at the station, and the car door position detection component is connected with the master control device; The position of the car door is controlled, and the action of the position adjustment component is controlled to connect the output end of the platform conveying component 9312 with the conveying system 932 at the car door.
  • the vehicle door position detection component can be set as an infrared sensor, an image collector or other detection components, as long as the same technical effect can be achieved.
  • the vehicle door position detection component is a laser ranging sensor.
  • a traveling drive assembly is installed at the bottom of the first underframe 9316, and the traveling driving assembly is connected to the master control device, which controls according to the instructions of the host computer.
  • the travel drive assembly travels along a preset route.
  • the walking drive assembly can be set as a combined structure of a motor and a walking wheel.
  • the general control device controls the walking drive assembly to walk along a preset route, so that the platform conveying assembly 9312 can automatically move to the initial position for storage after completing the operation.
  • the present application further includes a door conveying device 9322, which is arranged on the freight car. Specifically, it includes a second chassis 9323 , an overturning drive assembly 9324 , a first door conveying assembly 93221 and a second door conveying assembly 93222 .
  • the second base frame 9323 is used for detachably connecting on the vehicle floor; the second base frame 9323 is used for installing the first car door conveying assembly 93221, the second car door conveying assembly 93222 and the turning drive assembly 9324, the first car door conveying assembly 93221 and the second door conveying assembly 93222 are arranged in sequence, and the second door conveying assembly 93222 can extend to the door; if arranged in sequence along the width direction of the rail vehicle, the goods in the compartment pass through the first door conveying assembly 93221 and the second door conveying assembly 93221 in sequence The second door conveying assembly 93222 is transported to the door.
  • the first door conveying assembly 93221 and the second door conveying assembly 93222 are configured as reversible structures; or, in one embodiment, one end of the reversing drive assembly 9324 is hinged to the second chassis 9323, The other end is hinged with the second door delivery assembly 93222, so that the second door delivery assembly 93222 can turn over between the first state and the second state, wherein, in the first state, the second door delivery assembly 93222 delivers to the first door
  • the direction of the component 93221 is reversed for shrinking into the compartment of the rail vehicle; in the second state, the second door conveying component 93222 is reversed away from the first door conveying component 93221 to extend to the door and dock with the platform conveying system 931.
  • the first door conveying assembly 93221 in the first state, is in a horizontal state, and the second door conveying assembly 93222 is in a vertical state; in the second state, the first door conveying assembly 93221 and the second door conveying assembly
  • the conveying components 93222 are all in a horizontal state. Therefore, when no work is required, the second door delivery assembly 93222 can be turned over to optimize the interior space of the door and improve space utilization.
  • the turning drive assembly 9324 includes a rotating shaft and a turning driving cylinder.
  • the rotating shaft is arranged along the width direction of the first car door conveying assembly 93221, and the second car door conveying assembly 93222 is set on the rotating shaft and can rotate around the rotating shaft;
  • the side wall of the car door conveying assembly 93222 is hinged, the turning drive cylinder is located below the rotating shaft, and in the length direction of the first car door conveying assembly 93221, there is an interval between the turning driving cylinder and the rotating shaft, so as to realize the second car door conveying assembly 93222's flip.
  • the overturn driving cylinder can be set as a hydraulic cylinder or an air cylinder, etc., and can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
  • both the first vehicle door conveying assembly 93221 and the second vehicle door conveying assembly 93222 include a second conveying assembly mounting frame 9326, a plurality of second accumulation rollers 9327 and a driving unit for the second accumulation rollers 9327.
  • the two ends of the length direction of each second accumulating roller 9327 are rotatably connected with the second conveying assembly mounting frame 9326 respectively; the rotating shaft is located on the second conveying assembly mounting frame 9326;
  • the second conveying assembly is installed on the frame 9326, so that the structure at the junction of the first car door conveying assembly 93221 and the second car door conveying assembly 93222 is more compact.
  • the driving unit of the second accumulation roller 9327 is connected with each second accumulation roller 9327 to drive the second accumulation roller 9327 to rotate along its own axis.
  • the structure of the second conveying assembly mounting frame 9326 can be set with reference to the above-mentioned structure of the first conveying assembly mounting frame 93121.
  • the driving unit of the second accumulation drum 9327 can also refer to the driving unit of the first accumulation drum 93122. structure is set.
  • the upper surface of the second conveying assembly mounting frame 9326 and the two ends along the width direction are provided with second guide strips, and the second guiding strips extend along the length direction of the second conveying assembly mounting frame 9326.
  • the guide bar guides the movement of the ULD on the second conveyor assembly.
  • the structure of the second guide bar can be set with reference to the structure of the above-mentioned first guide bar, and will not be repeated here.
  • the container in-position detection assembly 9325 which is located on the second chassis 9323 of the first door conveying assembly 93221, and the container in-position detection assembly 9325 is used to check the movement to the first car door
  • the ULD at the preset position on the conveying component 93221 performs in-position detection; the ULD in-position detection component 9325 can be set as a position switch, an infrared sensor, etc., and the master control device is connected with the ULD in-position detection component 9325, and the master control device Pick up the goods from the first door conveying assembly 93221 according to the arrival signal of the container, and put them on the shelf; or put the goods from the shelf on the first door conveying assembly 93221, and the master control device according to the arrival signal of the container
  • the second vehicle door conveying assembly 93222 can be controlled to turn over to a horizontal state.
  • the present application also provides a platform conveying system 931, including a platform control device 9311 and a platform conveying device connected thereto.
  • the platform conveying device includes: a platform conveying assembly 9312 for conveying goods, and a platform conveying assembly One end of 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; the position adjustment component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position; the platform control device 9311 is respectively Connected with the platform conveying component 9312 and the position adjusting component, the platform control device 9311 controls the action of the position regulating component to dock the platform conveying component 9312 with the conveying system 932 at the door.
  • the master control device includes a platform control device 9311 and a vehicle door control device 9321, and the master control device is respectively connected with the platform control device 9311 and the vehicle door control device 9321 through wireless communication for remote control.
  • the platform control device 9311 can be manually controlled, such as being set as control devices such as control buttons or switches, all of which are within the protection scope of the present application.
  • the present application also provides a delivery system 932 at the door, including a door control device 9321 and a door delivery device 9322, the door delivery device 9322 is used to be fixed at the door of a rail vehicle, and the door delivery device 9322 and The car door control device 9321 is connected, and the car door conveying device 9322 includes: a second chassis 9323, which is used to detachably connect to the vehicle floor; a first car door conveying assembly 93221 and a second car door conveying assembly 93222, respectively located On the second chassis 9323, the first car door conveying assembly 93221 and the second car door conveying assembly 93222 are arranged in sequence, and the second car door conveying assembly 93222 can extend to the door;
  • the bottom frame 9323 is hinged, and the other end is hinged with the second door conveying assembly 93222; the door control device 9321 controls the turning drive assembly 9324 to move, so that the second door conveying assembly 93222 can turn over between the first state
  • the door control device 9321 communicates with the vehicle control system to receive the door signal.
  • the door opening signal is sent to the door control device 9321, so that the second door conveying assembly 93222 turns away from the first door conveying assembly 93221.
  • the specific operation process is as follows: when the rail vehicle stops at the station, the master control device controls the action of the turning drive assembly, so that the second door conveying assembly is turned over to the second state, and the first door conveying assembly and the second door conveying assembly are in a horizontal state; The master control device controls the position adjustment component to adjust the spatial position of the platform conveying component according to the received operation instructions, and gives feedback through the door position detection component, so that the platform conveying component is docked with the second door conveying component; after docking, the master control device , to control the stacking system to perform corresponding actions.
  • a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle.
  • Carry out cargo transportation on rail vehicles realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
  • the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
  • the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit.
  • the intelligent development of the control conveying system meets the development requirements of modern logistics.
  • the present application also provides a rail vehicle, including a freight car, and the door of the freight car is provided with a delivery system 932 at the door of any one of the above-mentioned embodiments, because the rail vehicle adopts the delivery system 932 at the door of the above-mentioned embodiment , so please refer to the above-mentioned embodiments for the beneficial effects of the rail vehicle.
  • the freight compartment also includes a shelf and a stacker, and the stacker is connected to the conveying system 932 at the door to move the ULD on the first door conveying assembly 93221 to the shelf for storage.
  • Fig. 8 is a schematic diagram of the axonometric structure of a rail vehicle stacking system provided by an embodiment of the present application
  • Fig. 9 is a schematic diagram of the front view of Fig. 8
  • Fig. 10 is a schematic diagram of the lateral structure of Fig. 8
  • the present application also provides a stacking system 91 , which includes a stacker frame 911 , a pallet fork 912 , a driving device and a control device 913 for the stacker.
  • the stacker frame 911 is preferably a rectangular frame, and each edge of the rectangular frame can be detachably connected to facilitate production and processing.
  • the pallet forks 912 are located on the stacker frame 911 and are used to pick and place the container.
  • the stacker travel driving device is also located on the stacker frame 911, and is used to drive the stacker to travel in the rail vehicle.
  • the stacker travel driving device can be composed of a motor and a traveling wheel.
  • a preset track such as a slide rail, is set on the floor of the rail vehicle, which cooperates with the traveling wheels to provide a preset track for the travel of the stacker driving device to simplify the control operation.
  • the structure of the travel driving device of the stacker can be set as required, as long as the same technical effect can be achieved.
  • the control device 913 is connected with the vehicle master control system, and the control device 913 is respectively connected with the fork 912 and the stacker travel drive device, and the control device 913 is used to control the stacker travel drive device to travel to the position corresponding to the rail vehicle shelf, And control the movement of the pallet fork 912 to pick and place the ULD, so as to take away the ULD on the car door conveying system, or send the ULD on the rail vehicle shelf to the car door conveying system.
  • the control device 913 of the stacking system can receive the signal sent by the vehicle master control system to make a corresponding working state. For example, when the vehicle master control system sends a signal to the control device 913 that it is about to arrive at the station, the control device 913 will carry out the process according to the arrival signal. corresponding action.
  • the stacking system 91 of a rail vehicle provided in the embodiment of the present application has the following technical effects:
  • control device 913 is respectively connected with the pallet fork 912 and the travel driving device of the stacker, so that the travel drive device of the stacker can be controlled to travel to the position corresponding to the rail vehicle shelf, and the movement of the pallet fork 912 is controlled to remove the container. put. It is set up to realize the automatic pick-up and release of goods, improve the automation of rail vehicles, improve the speed and efficiency of logistics turnover, and provide a foundation for the construction of an integrated transportation network.
  • a code scanning device 9110 is also included, which is fixed on the stacker frame 911.
  • the code scanning device 9110 is used to scan the code of the ULD,
  • the container information is sent to the control device 913; the control device 913 determines the position information of the goods on the shelf according to the container information, and controls the stacker driving device to travel to the position corresponding to the rail vehicle shelf according to the position information.
  • the carrier of the information on the container can be set as an electronic label fixed on the container, such as a two-dimensional code or a bar code.
  • it also includes a power drive device for a pallet fork 912, one end of which is fixed on the stacker frame 911, and the other end is connected with the pallet fork 912; Move; the power drive device of the pallet fork 912 is connected with the control device 913, and the control device 913 is used to control the power drive device of the pallet fork 912 to drive the pallet fork 912 to move along the width direction running through the stacker frame 911, so as to move the goods from the stacker One end in the width direction of the frame 911 passes through the stacker frame 911 and moves to the other end.
  • the width direction of the stacker frame 911 is perpendicular to the direction of travel of the stacker frame 911, and the two ends of the width direction of the stacker frame 911 correspond to the door conveying system and the rail vehicle shelf respectively. This is so that when the fork 912 moves along the width direction through the stacker frame 911, the goods can be reciprocated from the door conveying system and the rail vehicle shelf, so as to optimize the movement direction of the fork 912 according to the internal space of the rail vehicle. Improve space utilization and simplify transportation routes.
  • Figure 11 is an enlarged schematic view of the partial structure in Figure 10
  • Figure 12 is a schematic top view of Figure 11
  • Figure 13 is a first cross-sectional structural schematic view of the fork provided by the embodiment of the present application
  • Figure 14 is a schematic view of the fork provided by the embodiment of the present application
  • the second sectional structure schematic diagram of the fork Fig. 15 is the third sectional structural schematic diagram of the fork provided by the embodiment of the present application
  • Fig. 16 is the enlarged partial structure schematic diagram of Fig. 4
  • Fig. 17 is the enlarged partial structural schematic diagram of Fig. 16 .
  • the power driving device of the fork 912 includes a power driving part of the fork 912, and the power driving part of the fork 912 includes a power part 91251 of the fork and a driving part of the fork 912, and a power part of the fork 91251 It is a motor, and the driving part of the pallet fork 912 includes a driving gear 91252 and a driving rack 91253 matched therewith.
  • the driving rack 91253 is fixed on the pallet fork 912 and arranged along the length direction of the pallet fork 912; 91252 are located on the stacker frame 911 respectively, and the power part 91251 of the pallet fork is connected with the driving gear 91252 to drive the driving gear 91252 to rotate, drive the driving rack 91253 and the pallet fork 912 to move.
  • the power driving part of the pallet fork 912 can be set as a slider slide rail mechanism, which can be set as required.
  • the pallet fork 912 includes a fixed pallet 9128, a first-stage pallet fork 9121 and The secondary fork 9122 and the fixed fork 9128 are fixed on the stacker frame 911, the primary fork 9121 can move relative to the fixed fork 9128, and the secondary fork 9122 can move relative to the primary fork 9121.
  • the sliding drive mechanism can respectively perform multi-stage extension or retraction, which can meet the position requirements of the container and optimize the space setting when retracting, so that the fork 912 will not hinder the normal travel of other equipment.
  • the power drive device of the forks 912 is connected with the secondary forks 9122 to drive the secondary forks 9122 to move relative to the fixed forks 9128 .
  • the rack power driving device in the width direction of the stacker frame 911 , further includes: an extending chain 9127 and a retracting chain 9123 .
  • the first end of the protruding chain 9127 is fixedly connected to the rear end of the fixed fork 9128; It extends to the front end of the upper wall of the first-level fork 9121, extends to the rear end of the upper wall of the first-level fork 9121, and is fixed to the rear end of the lower wall of the second-level fork 9122; extends the chain 9127 and the front end of the first-level fork 9121 Sliding connection; the first end of the retracting chain 9123 is fixedly connected to the front end of the fixed fork 9128, and the second end is wound from the front end of the fixed fork 9128 and the rear end of the lower wall of the first-level fork 9121 to the first-level fork
  • the front end of the upper wall of 9121 extends forward from the front end of the upper wall of the first-level cargo fork 9121, and is fixed with the front end of the lower wall of the second-level cargo fork 9122;
  • the rack power drive device also includes an extension sprocket 91272 and a retraction sprocket 91232 .
  • the sprocket wheel 91272 is fixed on the front end of the first-level cargo fork 9121 and can rotate along its own axis.
  • the sprocket wheel 91272 is engaged with the chain 9127 to prevent the chain 9127 from directly contacting the first-level cargo fork 9121.
  • the retracting sprocket 91232 is fixed on the rear end of the first-stage fork 9121 and can rotate along its own axis, and the retracting sprocket 91232 cooperates with the retracting chain 9123 .
  • the front end of the first-level cargo fork 9121 is provided with a vertically extending pulley mounting hole for installing the extending sprocket 91272; Retract Pulley Mounting Hole for Retract Sprocket 91232.
  • the shelf power drive device also includes an extending chain support plate 91271 and a retracting chain support plate 91231 .
  • the protruding chain supporting plate 91271 is respectively fixed on the upper wall of the fixed fork 9128 and the first-level fork 9121, and is extended along the length direction to support the protruding chain 9127;
  • the retracting chain supporting plate 91231 is respectively fixed on the fixed The upper walls of the pallet fork 9128 and the primary pallet fork 9121 extend along the length direction, and are used to support the retraction chain 9123 .
  • problems such as overlapping, misalignment or winding of idle chains are prevented, ensuring a uniform position and reducing the number of failures.
  • the rack power drive device also includes a guide assembly, which includes a guide block 91241 and a guide groove 91242 .
  • the guide block 91241 is fixed on the upper wall of the fixed fork 9128, and is arranged along the length direction of the fixed fork 9128; Setting; the guide block 91241 is preferably located on the width centerline of the fixed fork 9128, and the guide groove 91242 is set accordingly. Therefore, it is set to prevent the fixed fork 9128 from shaking in the width direction and improve the stability of the fork 912 during the sliding process.
  • the side wall of the guide block 91241 is provided with a limit guide groove 91243 extending along the length direction of the fixed fork 9128; Bit guide block 91244. Vibration of the fixed fork 9128 in the vertical direction is limited by the limit guide groove 91243 and the limit guide block 91244, so as to further improve the stability in the vertical direction during the sliding process.
  • the guide block 91241 is respectively fixed on the upper wall of the fixed fork 9128 and the upper wall of the first-stage fork 9121, and is arranged along the length direction of the fork 912;
  • the limit guide groove 91243 is extended in the length direction of the fork 912;
  • the guide groove 91242 is respectively fixed on the lower wall of the first-level fork 9121 and the lower wall of the second-level fork 9122, and is arranged along the length direction of the fork 912;
  • a limit guide block 91244 that cooperates with the limit guide groove 91243 is provided on the side wall of the guide groove 91242 .
  • the number of guiding blocks 91241 is several, and the guiding blocks 91241 are respectively arranged at intervals along the length direction of the pallet fork 912 .
  • each group of forks 912 is respectively connected to a driving part of the fork 912; the power part 91251 of the fork drives each group of forks 912 respectively through the driving parts of each fork 912. Synchronized actions.
  • Each set of forks 912 includes a fixed fork 9128, a primary fork 9121, a secondary fork 9122, an extension chain 9127 and a retraction chain 9123, respectively.
  • the pallet fork 912 driving parts of two groups of cargo forks 912 are driven by the same rotating shaft, and the two ends of the length direction of the rotating shaft are respectively provided with driving gears 91252 to cooperate with the driving racks 91253 of each group of pallet forks 912 respectively.
  • the power part 91251 of the cargo fork drives the rotating shaft to rotate, and then drives the driving gear 91252 to rotate.
  • One fork power part 91251 drives two groups of forks 912 to move synchronously through the driving parts of each fork 912 respectively.
  • the extending chain 9127 and the retracting chain 9123 are arranged symmetrically along the centerlines of the two groups of forks 912, so as to optimize the structure of the device.
  • the specific synchronous telescopic operation process is: the control device 913 controls the power part 91251 of the fork to start according to the action command received, the power part 91251 of the fork drives the driving gear 91252 to rotate, and the driving rack 91253 on the first-level fork 9121 is driving The rotation of the gear 91252 moves down, and the first-level cargo fork 9121 stretches out.
  • the stretched out chain 9127 rotates around the stretched out sprocket 91272, and the part of the stretched out chain 9127 positioned at the lower wall end of the first-level cargo fork 9121 increases, and is located at the first-level
  • the protruding chain 9127 on the upper wall of the fork 9121 is partially shortened, and at the same time, the secondary fork 9122 is pushed forward to extend forward.
  • the retracting chain 9123 is located at the primary fork under the pulling force of the secondary fork 9122.
  • the part of the retraction chain 9123 on the upper wall of the 9121 is increased, and the part of the retraction chain 9123 located on the lower wall of the primary fork 9121 is shortened, and the retraction chain 9123 is passive; when the fork 912 needs to be retracted, the fork power part 91251 Drive the drive gear 91252 to rotate in reverse, and the drive rack 91253 retracts under the rotation of the drive gear 91252.
  • the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 is in a tensioned state, and at the same time it is located on the first-level cargo
  • the retraction chain 9123 on the upper wall of the fork 9121 moves through the retraction sprocket 91232, and the length of the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 increases, and the length of the retraction chain 9123 on the upper wall of the first-level cargo fork 9121 increases.
  • the secondary pallet fork 9122 is pulled back, thereby to realize the process of synchronous telescopic expansion of the primary pallet fork 9121 and the secondary pallet fork 9122.
  • the above-mentioned device has a simple structure, is easy to install, can realize synchronous expansion and contraction, simplifies synchronous control operations, and improves efficiency.
  • the walking drive device of the stacker also includes a walking power part and a walking driving part.
  • the walking driving part includes a walking driving gear 91252 and a walking driving rack 91253 matched with it.
  • the walking power part is connected with the walking driving gear 91252, and the walking driving rack 91253 is used to be fixed on the ground rail of the rail vehicle, and the traveling power part drives the traveling drive gear 91252 to rotate to drive the stacker frame 911 to advance along the ground rail.
  • the rack and pinion mechanism improves walking and positioning accuracy and reduces walking errors.
  • the walking drive device of the stacker also includes a walking guide mechanism, the walking guide mechanism includes a walking chute and a walking slider, the walking chute is arranged along the length direction of the stacker frame 911, and the walking slider is used to be fixed on the track On the ground rail of the vehicle, the travel chute and the travel slider guide the movement of the stacker frame 911 on the ground rail.
  • the walking guide mechanism includes a walking chute and a walking slider
  • the walking chute is arranged along the length direction of the stacker frame 911
  • the walking slider is used to be fixed on the track On the ground rail of the vehicle, the travel chute and the travel slider guide the movement of the stacker frame 911 on the ground rail.
  • a lifting and lowering driving device of the pallet fork 912 is also included, and the lifting and lowering driving device of the pallet fork 912 includes a lifting plate 9161 , a lifting power part of the pallet fork 9151 and a lifting and lowering driving device of the pallet fork 9171 .
  • the lifting plate 9161 is located in the rectangular frame and can move vertically in the rectangular frame, the fixed fork 9128 is fixed on the lifting plate 9161; the lifting power part 9151 of the fork is fixed on the bottom plate of the stacker frame 911,
  • the fork lift drive part 9171 is vertically arranged along the stacker frame 911, one end of the fork lift drive part 9171 is connected with the fork lift power part 9151, and the other end is connected with the lift plate 9161, and the fork lift power part 9151 is driven
  • the fork lifting driving part 9171 acts to drive the lifting plate 9161 and the fork 912 to move vertically.
  • the fork lift drive part 9171 is a nut screw mechanism
  • the lead screw is connected with the fork lift power part 9151 to drive its rotation
  • the lead screw is arranged along the vertical side wall of the rectangular frame of the stacker frame 911, preferably
  • there is also a screw mounting beam the two ends of the screw mounting beam are respectively fixedly connected with the rectangular frame, and a bearing is arranged between the screw and the screw mounting beam.
  • Nuts are fixed on a group of opposite side edges of the lifting plate 9161, and the nuts are sleeved on the leading screw.
  • the above-mentioned stacking system 91 also includes an anti-collision buffer device 914, which is used to prevent collisions when the stacker frame 911 and the rail vehicle contact Buffering, anti-collision buffering devices 914 are respectively fixed on both ends of the stacker frame 911 in the length direction.
  • the anti-collision buffer device 914 can be set as a buffer member such as rubber or a spring, which can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
  • the collector device 918 includes a collector guide rail and a collector; the collector guide rail is fixed on the roof of the rail vehicle and extends along the longitudinal direction of the rail vehicle; the collector is fixed on the stacker frame 911 The top of the top, and detachable connection, the current collector cooperates with the current collector guide rail to provide power for the operation equipment of the stacking system 91 .
  • the overall structure of the rail vehicle can be optimized without resetting the wiring of the rail vehicle power system, simplifying cables and facilitating disassembly and assembly.
  • the stacker frame 911 is a rectangular frame, and the rectangular frame includes a top frame, a side frame and a bottom frame, and any two of the top frame, the side frames and the bottom frame are detachably connected. Both the side frame and the bottom frame are lightweight aluminum strips to reduce the overall weight; the top frame is provided with a collector device 918, and the bottom frame is provided with a stacker driving device.
  • the control device 913 is located at the outer bottom of the rectangular frame to optimize the overall space of the rectangular frame.
  • the positioning pieces 919 are located at the two ends of the length direction on the top frame.
  • the positioning pieces 919 are used to cooperate with the sky rail of the rail vehicle for positioning and guiding, so as to prevent the stacker frame 911 from moving in the width direction. Rocking occurs; in the width direction of the top frame, the positioning member 919 is located at the center of the top frame.
  • It also includes an encoder and a code ruler, which are respectively fixed on the top frame for precise positioning.
  • the sliding distance of the stacker frame 911 is accurately measured by the encoder and the code ruler, so as to improve the distance detection accuracy.
  • other forms of distance measurement or position positioning may also be used, all of which are within the protection scope of the present application.
  • the specific operation process is: the control device 913 controls the action of the fork lifting power part 9151 according to the received action command, and the action of the fork lifting driving part 9171 to drive the lifting plate 9161 and the fork 912 to move vertically until the preset height, At this preset height, the height of the pallet fork 912 is equal to that of the first door conveying assembly, so that the pallet fork 912 can fork up or put down the container; and control the activation of the pallet fork power part 91251 and drive the pallet fork 912
  • the driving part acts, so that the first-level fork 9121 and the second-level fork 9122 are extended synchronously, and after the container on the first door conveying assembly is forked, the fork 912 is controlled to retract to the initial position; and the sweeper is controlled.
  • the code device 9110 scans the code on the electronic label on the container, obtains the stacking position information of the container according to the scanned code information, and controls the movement of the walking power part and the driving part to drive the stacker frame 911 along the ground.
  • the rail travels to the preset position of the shelf, and controls the action of the fork lifting drive part 9171 according to the stacking position information, adjusts the height matching of the stacking position of the pallet fork 912, and drives the drive part of the pallet fork 912 again to make the goods
  • the fork 912 is stretched out in reverse, and the container on the fork 912 is transferred to the stacking position, and the transfer of the container from the door conveyor system to the shelf system is completed. It can be understood that when the goods are taken out, the container is executed The opposite operation process of the above.
  • Figure 18 is a schematic front view of a shelf system provided by the embodiment of the present application
  • Figure 19 is a schematic front view of the structure of Figure 18
  • Figure 20 is a schematic view of the lateral structure of Figure 18
  • Figure 21 is a schematic view of the racking system provided by the embodiment of the present application
  • Figure 22 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application
  • Figure 23 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application.
  • the rail vehicle racking system provided by the present application includes a frame body 921 , a bottom mounting plate 923 and a tensioning device 922 .
  • the frame body 921 extends along the longitudinal direction of the rail vehicle.
  • the frame body 921 includes a conveying lane 924 and a storage area for storing goods.
  • the conveying lane 924 is used for the running of the conveying device, and the conveying device, such as a stacker or a mechanical arm, is used for grabbing and conveying the goods.
  • auxiliary equipment such as tracks can be set on the conveying roadway 924, which can be set according to actual needs.
  • the conveying lane 924 is arranged along the longitudinal extension of the rail vehicle, and the storage area is located on both sides of the conveying lane 924 .
  • the bottom mounting plate 923 is detachably connected to the bottom of the frame body 921 for fixing the frame body 921 to the floor of the rail vehicle.
  • the frame body 921 and the bottom mounting plate 923 are detachably connected to facilitate disassembly.
  • the tensioning device 922 is located outside the frame body 921 and is used to fix the frame body 921 to the roof and/or side wall of the rail vehicle.
  • a rail vehicle racking system provided in the embodiment of the present application has the following technical effects:
  • the frame body 921 is used as an independent unit, and a bottom mounting plate 923 is provided at its bottom to fix the frame body 921 and the floor of the rail vehicle, and the frame body 921 is connected to the roof and/or side wall of the rail vehicle by a tensioning device 922 Fixed, thus during installation, the frame body 921 can be processed as a whole and loaded into the compartment, and then connected, simplifying the installation operation and steps, and improving installation efficiency; at the same time, the frame body 921 is provided with a conveying roadway 924 and cargo storage Area, in order to cooperate with the conveying device, provide the basis for automatic conveying and storage.
  • the tensioning device 922 includes several roof tensioning assemblies 9221 and several side wall tensioning assemblies 9222 .
  • the roof tensioning assembly 9221 is located on the top of the frame body 921, and the roof tensioning assembly 9221 is used for detachable connection with the roof of the rail vehicle;
  • the side wall tensioning assembly 9222 is located on the side of the frame body 921, and the side wall tensioning assembly 9222 is used for For detachable connection to the side wall of the rail vehicle.
  • the roof tensioning assembly 9221 and the side wall tensioning assembly 9222 have the same structure, so as to facilitate production and processing.
  • the top plate tensioning assembly 9221 and the side wall tensioning assembly 9222 respectively include a first hinge seat 92221, a first screw rod 92222, a lock nut 92223, a second screw rod 92224, a second hinge seat 92225 and a fixing piece 92226 arranged in sequence , the first hinged seat 92221 is hinged with the first screw 92222, the second screw 92224 is hinged with the second hinged seat 92225, the two ends of the lock nut 92223 are threaded with the first screw 92222 and the second screw 92224 respectively, and the first hinged seat 92221 is detachably connected with the frame body 921, and the fixing part 92226 is used for detachably connected with the roof or side wall of the rail vehicle.
  • the length of the tensioning assembly is adjusted to connect the frame body 921 with the top board or the side wall.
  • the ground rails 926 extend along the longitudinal direction of the rail vehicle, the ground rails 926 are located at the bottom of the conveying roadway 924, and are connected to the bottom mounting plate 923 is detachably connected, and ground rails 926 are preferably located at both ends of the conveying roadway 924 in the width direction.
  • the ground rail 926 is used for sliding cooperation with the conveying device, so that the conveying device can move in the conveying tunnel 924 .
  • the limit blocks of the ground rails 926 are respectively located at the ends of the length direction of each ground rail 926 , and the limit blocks of the ground rails 926 are fixedly connected with the bottom mounting plate 923 .
  • the limit block of the ground rail 926 prevents the conveying roadway 924 from slipping out of the ground rail 926, improving the sliding safety.
  • the frame body 921 includes a top support frame 9210 and several vertical support frames 9213 .
  • the top support frame 9210 is fixedly connected with the top plate of the rail vehicle; the top of the vertical support frame 9213 is fixed to the top support frame 9210, and the bottom end of the vertical support frame 9213 is fixed to the bottom mounting plate 923; preferably each vertical support frame
  • the bottoms of 9213 are provided with bottom mounting plates 923, and the vertical support frames 9213 are respectively arranged horizontally and vertically along the top support frame 9210.
  • the area and the conveying lane 924, the conveying lane 924 is located in the middle, preferably the storage area is arranged symmetrically on both sides of the conveying lane 924.
  • the vertical support frame 9213 includes a support beam 92133.
  • connecting beams 9214 are arranged between the support beams 92133 of adjacent vertical support frames 9213 arranged longitudinally.
  • the support beams 92133 and the connecting beams 9214 form a set
  • the container stacking position is used to support the container.
  • the stacking position preferably forms a rectangular frame to ensure bearing capacity and improve stability.
  • the top support frame 9210 includes several top longitudinal beams 9212 and several top cross beams 9211, the top longitudinal beams 9212 are arranged along the transverse direction of the rail vehicle, and extend along the longitudinal direction of the rail vehicle and are arranged in parallel; the top cross beams 9211 are arranged along the longitudinal direction of the rail vehicle Arranged and perpendicular to the top longitudinal beam 9212, the top cross beam 9211 is detachably connected to the top longitudinal beam 9212. It is thus set to increase the bearing capacity of the top support frame 9210 and provide installation points for the installation of the vertical support frame 9213 .
  • the vertical support frame 9213 includes a first vertical column 92131 and a second vertical column 92132, and the two ends in the length direction of the support beam 92133 are respectively connected to the first vertical column 92131 and the second vertical column. 92132 connected, the support beam 92133 is set along the horizontal direction; the structure of the first vertical column 92131 and the second vertical column 92132 is the same, so as to facilitate production and processing.
  • the vertical support frame 9213 is located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, that is, the top ends of the first vertical column 92131 and the second vertical column 92132 are respectively located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, the first The bottom ends of the vertical column 92131 and the second vertical column 92132 are respectively located on the bottom mounting plate 923 .
  • the number of supporting beams 92133 is at least two, set according to the heights of the first vertical column 92131 and the second vertical column 92132, the first vertical column 92131 and the second vertical column 92131 The height of the column 92132 is set according to the vertical height of the carriage of the rail vehicle.
  • the connecting beam 9214 includes an end connecting beam 92142 and an intermediate connecting beam 92141.
  • the end connecting beams 92142 are located at both ends of the lengthwise direction of the supporting beam 92133, and the end connecting beams 92142 are respectively connected to the longitudinally arranged
  • the adjacent vertical support frames 9213 are fixedly connected; the intermediate connecting beam 92141 is located at the center of the supporting beam 92133 . It is thus provided to increase the connection strength of the device.
  • a positioning protrusion 929 is also included.
  • the positioning protrusion 929 is fixed on the upper surface of the connecting beam 92142 at the end, and is used to cooperate with the positioning groove of the container to align the container. device for positioning.
  • the positioning protrusion 929 is preferably a positioning pin, and the diameter of the positioning pin decreases sequentially from bottom to top. It can be understood that a positioning groove is provided on the bottom wall of the container to cooperate with the positioning pin.
  • the sky rail 927 extends longitudinally along the rail vehicle, the sky rail 927 is located at the top of the conveying roadway 924, and is fixed with the frame body 921, and the sky rail 927 It is used to cooperate with the conveying device for positioning and guiding; the sky rail 927 is preferably set on the transverse centerline of the rail vehicle.
  • the trolley line 928 extends along the longitudinal direction of the rail vehicle.
  • the trolley line 928 is located on the top of the conveying roadway 924 and is detachably connected to the frame body 921.
  • the trolley line 928 is used to cooperate with the collector of the conveying device to carry out transportation for the conveying device. powered by.
  • the cooperation of the trolley line 928 and the current collector makes it unnecessary for the conveying device to be connected to the power supply system of the rail vehicle through a cable, which simplifies the setting of the cable and reduces the cost.
  • each top beam 9211 includes several sections of roof sub-beams extending in sequence along the transverse direction, and the two ends of each section of the top sub-beam in the length direction are respectively detachably connected to the top longitudinal beam 9212 . Therefore, it is set so that the lateral length of the frame body 921 can be adjusted according to needs, so as to adapt to different vehicle models and improve the versatility of the device. At the same time, when there is an installation error in the top beam 9211, the length of each section of the top beam can be adjusted in time to adapt in time, without the need to replace the frame body 921 again, reducing maintenance costs.
  • the fixed corner piece includes a first plate portion and a second plate portion, the first plate portion and the second plate portion are vertically arranged, and preferably the structure of the first plate portion and the second plate portion is the same, and the first plate portion and the second plate portion Mounting through holes and mounting slide holes are respectively arranged on the upper part to cooperate with threaded fasteners.
  • the connection relationship between the above-mentioned components makes it easy to disassemble and assemble when a certain component is damaged and needs to be replaced, reducing the maintenance cost. At the same time, the parts are connected by fixed corner fittings to further improve the connection strength.
  • a bottom connecting block is also included, and the bottom connecting block is located on the bottom wall of the bottom mounting plate 923; To pass through the bottom mounting plate 923 and the bottom connecting block for fixing with the floor of the rail vehicle.
  • the setting of the connecting block at the bottom prevents the threaded fastener from penetrating through the bottom mounting plate 923, increases the thread area and improves the connection stability.
  • the adjacent vertical supporting frames 9213 arranged in the longitudinal direction are provided with preset intervals to form at least one horizontal conveying lane 925 , and the transverse conveying lane 925 runs through the frame body 921 along the transverse direction.
  • the preset interval is greater than the interval between the adjacent vertical support frames 9213 arranged longitudinally and forming the stacking position.
  • the preset interval is greater than the length of the connecting crossbeam 9214;
  • the required width of the conveying system is set, and the number of transverse conveying lanes 925 is at least two, so as to set several docking places in the carriage, further improve the docking and conveying efficiency of goods with the conveying system at the door, and further improve the degree of automation.
  • Fig. 24 is a schematic flowchart of a storage management method for rail vehicles provided by an embodiment of the present application. As shown in Figure 24, in a specific implementation manner, the storage management method for rail vehicles provided by the present application includes:
  • ULD information generally includes ULD information including cargo on-station information, cargo arrival information, cargo attribution information and cargo characteristic information.
  • Cargo attribution information such as the identity information of the belonging passenger, seat number and other information; cargo characteristic information such as storage conditions (such as storage temperature, humidity, etc.), cargo attributes, and other cargo identification information, etc.
  • the acquisition method can be obtained by scanning the electronic label on the container through the code scanning device.
  • S942 Allocate a stacking position for the ULD to be put into storage according to the ULD information, and bind and store the ULD with the assigned stacking position;
  • S943 Issue an instruction to move the ULDs to be put into storage to the assigned stacking positions for storage.
  • the conveying equipment can be a mechanical arm, a stacker or other equipment, which can be set as required.
  • the ULD information of the ULD to be put into the warehouse After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and storage, and control the corresponding conveying equipment to move the ULDs to be stored to the allocated stacking positions for storage.
  • the above method and system enable the ULDs and stacking positions to be bound one by one, and can be obtained in time
  • the allocation information of the stacking position of the warehouse is convenient for subsequent management and operation of the stacking position of the warehouse, and it can be connected with other systems in the logistics park system to meet the needs of modern storage and multimodal transportation.
  • assign stacking positions for the ULDs to be put into storage according to the ULD information including:
  • the cargo station information of the cargo loaded in the ULD includes the on-station information of the cargo and the arrival information of the cargo.
  • Determine the journey type of the loaded goods according to the cargo station information for example, determine the journey type of the goods according to the number of stations and the duration of the journey, determine the storage area corresponding to the ULD to be put into the warehouse through the journey category, and store The stacking position corresponding to the ULD to be put into storage in the area.
  • Journey types can be divided into long-distance or short-distance, and determine the storage area of the container according to the type of journey, so as to place the container according to the long-distance type or short-distance type, so as to optimize the overall storage space of the warehouse and optimize the conveying equipment the transfer route.
  • the journey type of the loaded cargo is determined according to the cargo station information, specifically including:
  • the type of journey of the loaded goods is considered It is a long-distance type; when the number of stops between the arrival of the goods and the current platform is less than the preset number of stops, it is considered that the journey type of the loaded goods is a short-distance type.
  • the preset train timetable includes the current train number, the name of the station and the time of arrival, which is a mature prior art.
  • the preset number of stops can be set to three, and corresponding settings are made according to different operating routes and different preset train timetables.
  • the storage area corresponding to the ULD to be put into storage and the stacking position corresponding to the ULD to be put into storage in the storage area are determined through the category of the journey, specifically including:
  • the preset rule may be random distribution, or the distribution may be made according to the arrangement rule from far to near.
  • the method further includes:
  • S944 Judging whether the ULD arrival instruction for the stacking position has been received, if so, consider that the ULD to be put into the warehouse has been put into the warehouse, and update the stacking position list information, the stacking position list information includes the ULD and its corresponding The binding relationship of the stacking position.
  • Devices such as position switches or pressure sensors are installed at the stacking position, and when the container moves to the stacking position, the container is sent to the position instruction, so that the next operation can be performed according to the instruction. After the ULD is put into storage, update the stacking position list information.
  • the method also includes:
  • S945 When receiving the outbound instruction, determine the pre-outbound ULD according to the arrival information of the pre-arrival station; generally, the outbound instruction is issued by the vehicle master control system, usually some time before the actual arrival time , if the delivery order is issued 15 minutes in advance, there is enough time for the delivery of the ULD to prepare for delivery. Determine the pre-delivery ULDs based on the pre-arrival information and the stacking position list information.
  • S946 and determine the position of the stacking position according to the pre-delivered ULD and the list information of the stacking position;
  • step S947 the method also includes:
  • step S945 the method also includes:
  • the method further includes:
  • the warning number of stacking positions can be 4, and when the number of pre-arrived ULDs to be put into storage is greater than 4, a warning alarm can be issued .
  • the warning number of stacking positions can be set as required.
  • step S941 specifically includes:
  • the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information.
  • the query statistics function is mainly based on the cargo management system on the ground, supplemented by the query statistics on the train.
  • the query statistics function on the train is that when the subway or storage system breaks down, the warehouse can be manually released or special queries can be performed through the query statistics function. If there is a failure in the subway or storage system, the next station is station A, and it can be counted which ULDs (such as fresh food or vaccines) in station A need to be manually alighted. If the police learn that there are illegal items in the ULDs boarded from station B, they can use the query function to find out which ULDs boarded from station B.
  • the present application also provides a warehouse management system for rail vehicles, including:
  • the ULD information acquisition module is used to obtain the ULD information of the ULD to be put into storage
  • the stacking position allocation module is used to allocate stacking positions for the ULDs to be put into storage according to the ULD information
  • a storage module for binding and storing the ULD with its assigned stacking position
  • the instruction control module is used to issue an instruction to move the ULDs to be stored to the assigned stacking position for storage.
  • the ULD information of the ULD to be put into the warehouse After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and storage, and control the corresponding conveying equipment to move the ULDs to be stored to the allocated stacking positions for storage.
  • the above method and system enable the ULDs and stacking positions to be bound one by one, and can be obtained in time
  • the allocation information of the stacking position of the warehouse is convenient for subsequent management and operation of the stacking position of the warehouse, and it can be connected with other systems in the logistics park system to meet the needs of modern storage and multimodal transportation.
  • the stacking location allocation module specifically includes:
  • the cargo station information reading unit is used to read the cargo station information of the cargo loaded in the container according to the container information;
  • the cargo journey type determination unit is used to determine the journey type of the loaded cargo according to the cargo station information, and determine the storage area corresponding to the container to be put into the warehouse through the journey type, and the container to be put into the warehouse in the storage area.
  • the cargo journey type determination unit specifically includes:
  • the cargo arrival information determination subunit is used to determine the cargo arrival information of the loaded cargo according to the cargo station information
  • Cargo journey type judging sub-unit used to judge according to preset train timetable, current platform information obtained and cargo arrival information, when the number of stops between the arrival of goods and the current platform is greater than or equal to the preset number of stops , the journey type of the loaded cargo is considered to be the long-distance type; when the number of stops between the arrival of the cargo and the current platform is less than the preset number of stops, the journey type of the loaded cargo is considered to be the short-distance type.
  • the cargo journey type determination unit specifically includes:
  • the storage area determination subunit is used to determine the storage area corresponding to the container to be put into storage through the journey category;
  • the idle stacking location judging subunit is used to judge whether there is an idle stacking location in the storage area, and if so, randomly assign a stacking location to the ULDs to be put into storage.
  • the idle stacking position judging subunit is also used for:
  • the system also includes:
  • the ULD in-position judging module is used to judge whether the ULD in-position instruction for the stacking position has been received, and if so, it will consider that the ULD to be put into storage has completed the warehousing, and send a signal to the stacking position list information update module;
  • the stacking position list information update module is used to update the stacking position list information, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
  • the pre-outbound ULD determination module is used to determine the pre-outbound ULD according to the arrival information of the pre-arrival station when the outbound instruction is received;
  • the stacking position determination module is used to determine the position of the stacking position according to the pre-delivery container and the stacking position list information
  • the ULD conveying module is used to take out the corresponding pre-delivery ULD according to the position of the stacking position.
  • it also includes:
  • Departure judging module used for judging according to the current time and the arrival time of the pre-arrival station in the preset train timetable, when the current time and the pre-arrival time have a preset time interval, the pre-departure set
  • the loader determines that the module sends an outbound command.
  • the storage module is also used for:
  • the system also includes:
  • the idle stacking position calculation module is used to calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
  • the module for obtaining the quantity of ULDs to be put into storage is used to obtain the quantity of pre-arrived ULDs to be put into storage;
  • the capacity judging module of the stacking position is used to give an alarm when the number of pre-arrived ULDs is greater than the warning number of the stacking position.
  • the ULD information acquisition module is specifically used for:
  • the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information.
  • the ULD information of the ULDs to be put into storage can also be obtained by reading the control signal sent by the vehicle master control system, and the control signal sent by the vehicle master control system can be Issued at the pre-set time period.
  • the present application also provides a device, including a memory and a processor, and a computer program stored on the memory and capable of running on the processor.
  • the processor executes the computer program, the rail vehicle of any one of the above method embodiments can be realized. Steps of warehouse management method.
  • the present application also provides a computer-readable storage medium, on which a computer program is stored.
  • a computer program is stored.
  • the steps of the storage management method for rail vehicles in any one of the above method embodiments are realized.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Embodiments of the present application provide a train passenger car and freight car mixed marshalling control method, comprising: obtaining passenger flow information, a logistics transport capacity, and the amount of freight to be transported of the current train operating network; adjusting the marshalling of passenger cars and freight cars in a train according to the passenger flow information, the amount of freight, and the logistics transport capacity; and controlling the mixed marshalling and operating of the passenger cars and the freight cars. According to the train passenger car and freight car mixed marshalling control method provided by the embodiments of the present application, the amount of transported freight can be increased within a time period in which the passenger flow is small, and the resource utilization rate is increased.

Description

列车客货混编控制方法Train Passenger and Freight Mixed Control Method 技术领域technical field
本申请涉及列车运行控制技术，尤其涉及一种列车客货混编控制方法。The present application relates to train operation control technology, in particular to a method for controlling mixed passenger and freight trains.
背景技术Background technique
随着电子商务的快速发展，快递数量逐年增长，在城市内货物运输的比重越来越大。城市内的货物主要通过汽车进行运输，但由于城市内汽车保有量逐渐增长，堵车问题越来越严重，而且尾气排放也是环境污染的重要因素之一。因此某些城市逐渐限制地面货运量，改为通过地下轨道车辆进行运输。With the rapid development of e-commerce, the number of express delivery is increasing year by year, and the proportion of goods transported in cities is increasing. The goods in the city are mainly transported by car, but due to the gradual increase in the number of cars in the city, the problem of traffic jams is becoming more and more serious, and exhaust emissions are also one of the important factors of environmental pollution. Therefore, some cities gradually limit the amount of freight on the ground and instead use underground rail vehicles for transportation.
地下轨道车辆通常为客运列车，其编组是固定的。若要开通一列货运班次，则需要增大客运列车的行车间隔。而在客运高峰时段开通货运班次会减少客运量，造成大量乘客滞留在站台上，且车厢内拥挤度较高，会影响行车安全，因此货运班次大多开设在客运低峰时段。但是由此带来的问题是，在客运低峰时段内，一方面，减少客运列车会导致乘客等车时间较长，进而对铁路运营的满意度不高；另一方面，客运列车跑空车的概率仍然较高，浪费资源，增大了运营成本。Underground rail vehicles are usually passenger trains, and their formation is fixed. To open a freight train, it is necessary to increase the running interval of passenger trains. The opening of freight flights during peak passenger traffic hours will reduce passenger traffic, causing a large number of passengers to stay on the platform, and the high degree of congestion in the carriages will affect driving safety. Therefore, most freight flights are opened during low-peak passenger traffic hours. However, the resulting problem is that during the low-peak hours of passenger traffic, on the one hand, reducing the number of passenger trains will lead to longer waiting times for passengers, and thus lower satisfaction with railway operations; on the other hand, passenger trains run empty. The probability is still high, wasting resources and increasing operating costs.
发明内容Contents of the invention
为了解决上述技术缺陷之一，本申请实施例中提供了一种列车客货混编控制方法In order to solve one of the above-mentioned technical defects, the embodiment of the present application provides a control method for train passenger and freight mix
根据本申请实施例的第一个方面，提供了一种列车客货混编控制方法，包括：According to the first aspect of the embodiment of the present application, there is provided a method for controlling mixed passenger and freight trains, including:
获取当前列车运行网络的客流信息、物流运力及待运送的物流运量；Obtain the passenger flow information, logistics capacity and logistics capacity to be transported of the current train operation network;
根据所述客流信息、物流运量和物流运力调整列车中客车车厢及货车车厢的编组；According to the passenger flow information, the logistics volume and the logistics capacity, the grouping of the passenger car and the freight car in the train is adjusted;
控制客车车厢及货车车厢编组混合编组运行。Control the mixed marshalling operation of passenger car and freight car marshalling.
根据本申请实施例的第二个方面，提供了一种。According to a second aspect of the embodiments of the present application, a method is provided.
本申请实施例所提供的技术方案，通过获取当前列车运行网络的客流信息、物流运力及待运送的物流运量，根据客流信息、物流运量和物流运力调整列车中客车车厢及货车车厢的编组，控制客车车厢及货车车厢编组混合编组运行，可在客流高峰期增加客车车厢的数量，增大客运能力，在客流平峰期增加货车车厢的数量，增大货运能力，提高资源利用率，满足客运和货运的需求。In the technical solution provided by the embodiment of the present application, by obtaining the passenger flow information, logistics capacity and logistics capacity to be transported in the current train operation network, the grouping of passenger cars and freight cars in the train is adjusted according to the passenger flow information, logistics capacity and logistics capacity , to control the mixed formation operation of passenger cars and freight cars, which can increase the number of passenger cars during the peak period of passenger flow, increase the passenger capacity, increase the number of freight cars during the peak period of passenger flow, increase the freight capacity, improve resource utilization, and meet the needs of passenger transport. and freight needs.
附图说明Description of drawings
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:
图1为本申请实施例一提供的列车客货混编控制方法的流程图；Fig. 1 is the flow chart of the train passenger-freight mixing control method provided by embodiment one of the present application;
图2为本申请实施例一提供的列车客货混编控制方法中调整车厢编组的流程图；Fig. 2 is the flow chart of adjusting the car grouping in the train passenger-freight mixing control method provided by Embodiment 1 of the present application;
图3为本申请实施例一提供的列车客货混编控制方法中调整车厢编组的流程图；Fig. 3 is the flow chart of adjusting the car grouping in the train passenger-cargo mixing control method provided by Embodiment 1 of the present application;
图4为本申请实施例提供的一种车门处输送***的第一状态结构示意图；Fig. 4 is a schematic structural diagram of the first state of a conveying system at the door provided by the embodiment of the present application;
图5为本申请实施例提供的一种车门处输送***的第二状态结构示意图；Fig. 5 is a schematic structural diagram of the second state of a conveying system at the door provided by the embodiment of the present application;
图6为本申请实施例提供的站台输送***的轴测结构示意图；Fig. 6 is a schematic diagram of the axonometric structure of the platform conveying system provided by the embodiment of the present application;
图7为本申请实施例提供的第三方向移动调节件的结构示意图；Fig. 7 is a schematic structural diagram of the third direction movement regulator provided by the embodiment of the present application;
图8为本申请实施例提供的一种轨道车辆的堆垛***的轴测结构示意图；Fig. 8 is a schematic diagram of an axonometric structure of a rail vehicle stacking system provided by an embodiment of the present application;
图9为图8的主视结构示意图；Fig. 9 is a schematic diagram of the front view of Fig. 8;
图10为图8的侧向结构示意图；Fig. 10 is a schematic diagram of the lateral structure of Fig. 8;
图11为图10中局部结构放大示意图；Figure 11 is an enlarged schematic view of the local structure in Figure 10;
图12为图11的俯视结构示意图；Fig. 12 is a top view structural schematic diagram of Fig. 11;
图13为本申请实施例提供的货叉的第一剖视结构示意图；Fig. 13 is a first cross-sectional structural schematic diagram of the pallet fork provided by the embodiment of the present application;
图14为本申请实施例提供的货叉的第二剖视结构示意图；Fig. 14 is a second cross-sectional structural schematic diagram of the fork provided by the embodiment of the present application;
图15为本申请实施例提供的货叉的第三剖视结构示意图；Fig. 15 is a schematic diagram of the third cross-sectional structure of the fork provided by the embodiment of the present application;
图16为图4的局部结构放大示意图；Fig. 16 is an enlarged schematic diagram of the local structure of Fig. 4;
图17为图16的局部结构放大示意图；Fig. 17 is an enlarged schematic diagram of the local structure of Fig. 16;
图18为本申请实施例提供的一种货架***的主视结构示意图；Fig. 18 is a front structural schematic diagram of a shelf system provided by an embodiment of the present application;
图19为图18的主视结构示意图；Fig. 19 is a schematic diagram of the front view of Fig. 18;
图20为图18的侧向结构示意图；Fig. 20 is a schematic diagram of the lateral structure of Fig. 18;
图21为本申请实施例提供的货架***的局部放大结构示意图；Fig. 21 is a schematic diagram of a partially enlarged structure of the shelf system provided by the embodiment of the present application;
图22为本申请实施例提供的竖向支撑架的安装结构示意图；Fig. 22 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application;
图23为本申请实施例提供的拉紧装置的结构示意图；Fig. 23 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application;
图24为本申请实施例提供的一种货运轨道车辆的仓储管理方法的流程示意图。Fig. 24 is a schematic flowchart of a storage management method for freight rail vehicles provided by an embodiment of the present application.
具体实施方式Detailed ways
为了使本申请实施例中的技术方案及优点更加清楚明白，以下结合附图对本申请的示例性实施例进行进一步详细的说明，显然，所描述的实施例仅是本申请的一部分实施例，而不是所有实施例的穷举。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only part of the embodiments of the present application, and Not an exhaustive list of all embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
实施例一Embodiment one
本实施例提供一种列车客货混编控制方法，用于将客车车厢与货车车厢混合编组，构成一列车并控制该列车行驶。客车车厢与传统列车中的车厢结构相同，货车车厢可以为单独设计的车厢，也可以对传统客车车厢进行改进，例如：拆除座椅、拆除车窗、拆除扶手、扩宽车门等。客车车厢与货车车厢通过车钩连挂在一起，或者，也可以采用虚拟编组的方式行驶，即：通过前车控制后车行驶的方式。This embodiment provides a method for controlling passenger and freight mixed trains, which is used for mixing passenger cars and freight cars into a train and controlling the running of the train. Passenger carriages have the same structure as traditional train carriages. Freight carriages can be individually designed carriages, and traditional passenger carriages can also be improved, such as removing seats, removing windows, removing handrails, and widening doors. The passenger car compartment and the freight car compartment are connected together through the coupler, or they can also be driven in a virtual marshalling mode, that is, the way in which the vehicle behind is controlled by the vehicle in front.
实际应用中，该列车客货混编控制方法可以通过计算机程序实现，例如，应用软件等；或者，该方法也可以实现为存储有相关计算机程序的介质，例如，U盘、云盘等；再或者，该方法还可以通过集成或安装有相关计算机程序的实体装置实现，例如，芯片、可移动智能设备等。In practical applications, the train passenger-cargo mixing control method can be implemented by computer programs, such as application software, etc.; or, the method can also be implemented as a medium that stores relevant computer programs, such as U disk, cloud disk, etc.; Alternatively, the method can also be implemented by an entity device integrated or installed with a relevant computer program, such as a chip, a mobile smart device, and the like.
本实施例中，该列车客货混编控制方法可以由轨道交通***的数据中心处理器来执行。In this embodiment, the method for controlling the mixed arrangement of passengers and goods on a train may be executed by a data center processor of a rail transit system.
图1为本申请实施例一提供的列车客货混编控制方法的流程图。如图1所示，本实施例提供的列车客货混编控制方法包括如下步骤：FIG. 1 is a flow chart of a method for controlling mixed passenger and freight trains provided by Embodiment 1 of the present application. As shown in Figure 1, the train passenger-cargo mixing control method provided by the present embodiment includes the following steps:
步骤10、获取当前列车运行网络的客流信息、物流运力及待运送的物流运量。 Step 10, obtaining passenger flow information, logistics capacity and logistics volume to be transported in the current train operation network.
列车运行网络中包含多个列车在不同线路上运行。客流信息指的是当前列车运行网络中的客流量信息，例如：可以统计每个车站进出站人数、每列车上下车人数、车厢内人数。具体可以根据车站进出口、站台上、车厢内设置的图像采集设备采集相应的图像信息，并通过图像处理和分析技术得到人流量信息。The train operation network contains multiple trains running on different lines. Passenger flow information refers to the passenger flow information in the current train operation network, for example: the number of people entering and leaving each station, the number of people getting on and off each train, and the number of people in the compartment can be counted. Specifically, the corresponding image information can be collected according to the image acquisition equipment installed at the entrance and exit of the station, on the platform, and in the carriage, and the flow of people information can be obtained through image processing and analysis technology.
物流运力指的是列车运行网络中各列车当前运动货物的能力，例如：当前各列车中货运车厢的数量、每节货运车厢可装载货物的量。Logistics capacity refers to the current capacity of each train in the train operation network to move goods, for example: the number of freight cars in each train and the amount of goods that can be loaded in each freight car.
待运送的物流运量指的是需要通过列车运送的货物的量。The logistics volume to be transported refers to the volume of goods that need to be transported by train.
步骤20、根据客流信息、物流运量和物流运力调整列车中客车车厢及货车车厢的编组。 Step 20, adjusting the grouping of passenger cars and freight cars in the train according to passenger flow information, logistics volume and logistics capacity.
根据上述步骤获取到的客流信息、物流运量和物流运力调整各列车中客车车厢、货车车厢的数量，然后对调整后的车厢进行编组。According to the passenger flow information, logistics volume and logistics capacity obtained in the above steps, the number of passenger cars and freight cars in each train is adjusted, and then the adjusted cars are grouped.
例如：若当前客流量较低、物流运力较低，但物流运量较大，可以增加货车车厢，以提高货物运送能力；而在客流高峰时段，可以减少货车车厢增加客车车厢，甚至不采用货车车厢，全部改为客车车厢。For example: if the current passenger flow is low and the logistics transportation capacity is low, but the logistics transportation volume is large, truck compartments can be added to increase the cargo delivery capacity; and during peak passenger flow periods, truck compartments can be reduced and passenger compartments can be increased, or even no trucks can be used The carriages were all changed to passenger carriages.
步骤30、控制客车车厢及货车车厢编组混合编组运行。 Step 30, controlling the mixed formation operation of passenger car and freight car formation.
可包括控制客车车厢和/或货车车厢底部设置的牵引***运行，以及控制客车车厢和货车车厢的车门开关、照明开关、空调开关等。It may include controlling the operation of the traction system installed at the bottom of the passenger car and/or truck compartment, as well as controlling the door switch, lighting switch, and air-conditioning switch of the passenger car and truck compartment.
本实施例所提供的技术方案，通过获取当前列车运行网络的客流信息、物流运力及待运送的物流运量，根据客流信息、物流运量和物流运力调整列车中客车车厢及货车车厢的编组，控制客车车厢及货车车厢编组混合编组运行，可在客流高峰期增加客车车厢的数量，增大客运能力，在客流平峰期增加货车车厢的数量，增大货运能力，提高资源利用率，满足客运和货运的需求。In the technical solution provided in this embodiment, by obtaining the passenger flow information, logistics capacity and logistics capacity to be transported in the current train operation network, the grouping of passenger cars and truck cars in the train is adjusted according to the passenger flow information, logistics capacity and logistics capacity, Controlling passenger car and freight car marshalling mixed marshalling operation can increase the number of passenger car and passenger transport capacity during the peak passenger flow period, increase the number of truck compartments during the passenger flow flat peak period, increase freight capacity, improve resource utilization, and meet passenger transport and Freight needs.
在上述技术方案的基础上，对控制方法进行进一步的优化：On the basis of the above technical solutions, the control method is further optimized:
图2为本申请实施例一提供的列车客货混编控制方法中调整车厢编组的流程图。如图2所示，上述方案中，步骤20根据客流信息、物流运量和物流运力调整列车中客车车厢及货车车厢的编组具体可以采用如下方式实现：Fig. 2 is a flow chart of adjusting car formation in the method for controlling mixed train passenger and freight trains provided in Embodiment 1 of the present application. As shown in Figure 2, in the above scheme, step 20 adjusts the grouping of passenger cars and truck cars in the train according to passenger flow information, logistics volume and logistics capacity, which can be implemented in the following manner:
步骤201、根据客流信息、物流运量和物流运力确定客车车厢的目标编组数量及货车车厢的目标编组数量。 Step 201. Determine the target formation quantity of passenger cars and the target formation quantity of truck carriages according to passenger flow information, logistics volume and logistics capacity.
具体的，可以根据客流信息及预设的车厢满载程度要求确定客车车厢的数量，即为：目标编组数量。该数量能够满足当前客流量的要求，且不会超过车厢满载程度要求。Specifically, the number of passenger car compartments can be determined according to the passenger flow information and the preset full load level of the compartments, which is: the target number of formations. This number can meet the requirements of the current passenger flow, and will not exceed the requirements of the full load of the carriages.
根据物流运量和物流运力确定需要货车车厢的数量，即为：目标编组数量。该数量能够满足当前物流运量的要求。Determine the number of trucks needed according to the logistics volume and logistics capacity, which is: the target number of marshalling. This quantity can meet the requirements of the current logistics volume.
步骤202、获取既有列车中客车车厢及货车车厢的数量及编组情况。 Step 202, obtaining the number and arrangement of passenger cars and freight cars in the existing train.
步骤203、根据各车厢的目标编组数量和既有列车中各车厢的数量及编组情况调整车厢编组至目标编组数量。 Step 203, adjusting the car formation to the target formation quantity according to the target formation quantity of each carriage and the number and formation situation of each carriage in the existing train.
步骤202中的既有列车为：当前在列车运行网络中运行的列车。获取各列车中客车车厢和货车车厢的数量，然后根据各车厢的目标编组数量调整车厢编组。The existing trains in step 202 are: the trains currently running in the train running network. Get the number of passenger and freight cars in each train, and then adjust the car composition based on the target number of cars in each car.
例如：根据步骤201得知：在某一运行线路上，一列车中客车车厢的目标编组数量为2节，货车车厢的目标编组数量为4节，能同时满足客流量与货运量的要求。根据步骤202得知：当前列车运行网络中的一列车具有5节客车车厢和1节货车车厢。则简单理解为：当前列车需要去掉3节客车车厢，增加3节货车车厢。实际上，需要对车 库中的列车进行重新编组，按照2节客车车厢+4节货车车厢进行编组，构成一列车投入运行。For example: According to step 201, it is known that on a certain running route, the target formation number of passenger cars in a train is 2, and the target formation number of freight cars is 4, which can meet the requirements of passenger flow and freight volume at the same time. According to step 202, it is known that a train in the current train operation network has 5 passenger carriages and 1 freight carriage. It is simply understood as: the current train needs to remove 3 passenger car carriages and add 3 freight car carriages. In fact, it is necessary to reorganize the trains in the garage, and organize them according to 2 passenger cars + 4 freight cars to form a train and put it into operation.
步骤202还包括：获取既有列车中客车车厢及货车车厢的编组情况，具体为获取各车厢为动力车厢还是非动力车厢，车厢底部是否有牵引变流器、风缸、等等设备。然后对应匹配具有这些设备的车厢，以使编组后的列车能够正常运行。Step 202 also includes: obtaining the marshalling situation of passenger cars and freight cars in the existing train, specifically obtaining whether each car is a powered car or a non-powered car, and whether there are traction converters, air cylinders, and other equipment at the bottom of the car. Then correspondingly match the carriages with these devices, so that the train after formation can run normally.
图3为本申请实施例一提供的列车客货混编控制方法中调整车厢编组的流程图。如图3所示，进一步的，上述步骤中，步骤203根据各车厢的目标编组数量和既有列车中各车厢的数量及编组情况调整车厢编组至目标编组数量，具体可采用如下步骤：Fig. 3 is a flow chart of adjusting car composition in the method for controlling mixed train passenger and freight trains provided in Embodiment 1 of the present application. As shown in Figure 3, further, in the above steps, step 203 adjusts the car grouping to the target grouping number according to the target grouping quantity of each car and the number and grouping situation of each car in the existing train, specifically the following steps can be adopted:
步骤2031、根据既有列车中客车车厢及货车车厢的数量及编组情况、以及客车车厢的目标编组数量和货车车厢的目标编组数量确定既有列车中待解编的客车车厢和/或货车车厢。 Step 2031, according to the number and composition of passenger cars and freight cars in the existing train, as well as the target grouping quantity of passenger cars and the target grouping quantity of freight cars, determine the passenger cars and/or freight cars in the existing train to be decompiled.
既有列车为当前在车库中的列车。根据上述步骤201和202得到的数量确定既有列车中待解编的客车车厢和/或货车车厢。按照目标数量，有可能仅需要解编客车车厢，更换为货车车厢；也有可能仅解编货车车厢，更换为客车车厢；或者也有可能既解编客车车厢，又解编货车车厢，以满足客货运量要求，还满足列车运行的要求。Existing trains are trains currently in the garage. According to the quantity obtained in the above steps 201 and 202, the passenger car and/or freight car to be decompiled in the existing train is determined. According to the target quantity, it is possible to only decompile passenger carriages and replace them with truck carriages; it is also possible to decompile only freight carriages and replace them with passenger carriages; Quantity requirements, but also meet the requirements of train operation.
步骤2032、对既有列车的车厢进行解编，以去除待解编的客车车厢和/或货车车厢。 Step 2032, decompile the carriages of the existing train to remove the passenger car and/or freight car to be decomposed.
解编，包括物理上的车钩解挂，也包括控制***中对车厢各设备的控制信号解除等操作。Unmarshalling includes physical uncoupling of the coupler, and also includes operations such as releasing the control signals of the various equipment in the control system.
步骤2033、按照目标编组数量调运目标客车车厢和/或目标货车车厢到达编组区段。 Step 2033, dispatching the target passenger car and/or the target freight car to the composition section according to the target composition quantity.
设定一个编组区段，所有车厢将在该编组区段进行编组。按照目标数量依次调运各车厢到达编组区段进行连挂编组。Set a grouping section, all cars will be grouped in this grouping section. According to the target quantity, the carriages are dispatched in sequence to the marshalling section for connecting and marshalling.
一种实现方式：对于能够独立行走的车厢(称为：自运行车厢)，在与该车厢建立通信后，向自运行车厢发送调运指令，指示该自运行车厢运行至编组区段。自运行车厢为具有动力走行***、车载控制***及通信***，能够自主行走的车厢。One way of implementation: For a car that can walk independently (called: a self-running car), after establishing communication with the car, send a dispatch command to the self-running car, instructing the self-running car to run to the marshalling section. The self-running car is a car that has a power running system, an on-board control system and a communication system, and can walk independently.
另一种实现方式：对于不能独立行走的车厢，可向牵引机车发送调运指令，指示牵引机车运行至目标客车车厢或目标货车车厢所在的区段并与目标车厢编组，带领目标客车车厢或目标货车车厢运行至编组区段，进行连挂编组。调运牵引机车可以采用人工驾驶，也可以采用自动驾驶。Another implementation method: For the carriages that cannot walk independently, dispatching instructions can be sent to the traction locomotive, instructing the traction locomotive to run to the section where the target passenger car or the target freight car is located and form a group with the target carriage to lead the target passenger carriage or target freight car The carriages run to the marshalling section for connecting marshalling. The transport traction locomotive can be driven manually or automatically.
调运自运行车厢或牵引机车采用自动驾驶的方式，可在获知自运行车厢或牵引机车即将进入编组区段之前向其发送用于连挂的移动授权，以使自运行车厢或牵引机车能够进入编组区段进行连挂编组。Self-running carriages or traction locomotives are dispatched in an automatic driving manner, and a movement authorization for connecting links can be sent to them before knowing that the self-running carriages or traction locomotives are about to enter the marshalling section, so that the self-running carriages or traction locomotives can enter the marshalling section Sections are linked and grouped.
步骤2034、对既有列车中保留的车厢、目标客车车厢和/或目标货车车厢执行编组操作。 Step 2034 , performing marshalling operations on the reserved cars in the existing train, the target passenger car and/or the target freight car.
在各车厢均到达编组区段并连挂完毕之后，执行编组操作，包括：调试各车厢的车门控制设备、照明控制设备、空调送风***等，以及调试各车厢底部设置的牵引***、辅助***、风缸等，以满足列车运行要求。After each car arrives at the marshalling section and has been connected, execute the marshalling operation, including: debugging the door control equipment, lighting control equipment, air-conditioning and air supply system of each car, and debugging the traction system and auxiliary system installed at the bottom of each car , air cylinder, etc., to meet the requirements of train operation.
进一步的，当识别出有待编组车厢进入编组区段时，首先获取待编组车厢的类型标识，在识别出类型标识与目标车厢标识一致之后，对既有列车中保留的车厢与待编组车厢建立编组。Further, when it is recognized that the car to be grouped enters the grouping section, first obtain the type identification of the car to be grouped, and after identifying that the type identification is consistent with the target car identification, establish a grouping for the reserved cars in the existing train and the cars to be grouped .
进一步的，在上述步骤2032对各车厢进行解编之后，若解编的车厢为自运行车厢，则向解编的车厢发送行车指令，指示解编的车厢驶出解编区段。Further, after the above-mentioned step 2032 is performed on each compartment, if the decomposed compartment is a self-running compartment, a driving command is sent to the decomposed compartment, instructing the decomposed compartment to leave the decombined section.
若解编的车厢为非自运行车厢，则向牵引机车发送行车指令，指示牵引机车进入解编区段并与解编的车厢编组，带领该车厢驶出解编区段。If the decomposed carriage is a non-self-running carriage, a running command is sent to the traction locomotive, instructing the traction locomotive to enter the decombination section and form a group with the decompilation carriage, and lead the carriage out of the decomposition section.
上述方案中，牵引机车与待编组车厢可以为物理连挂，也可以为虚拟编组，即：至少两列车通过列车之间通信交互作为一组列车行驶，其中一列车与交通***的数据交互中心进行通信获取列车速度曲线及移动授权，并控制其余列车同步行驶，列车之间没有物理连挂，各列车之间保持安全运行距离。列车与列车之间没有车钩，不需要人工参与，重联或解编均通过相关信号即可完成操作，极大地提高线路运营效率。In the above scheme, the traction locomotive and the cars to be marshalled can be physically linked, or virtual marshalled, that is, at least two trains travel as a group of trains through communication and interaction between trains, and one of the trains communicates with the data interaction center of the transportation system. The communication obtains the train speed curve and movement authorization, and controls the rest of the trains to run synchronously. There is no physical connection between the trains, and a safe running distance is maintained between the trains. There is no coupler between the trains, no manual participation is required, and the reconnection or unmarshalling can be completed through relevant signals, which greatly improves the line operation efficiency.
以虚拟编组为例，上述向牵引机车发送的调运指令或行车指令中包含列车信息列表，指示牵引机车根据列车信息列表监测与待编组车厢之间的距离，与待编组车厢建立灵活编组，并进行间隔控制。Taking the virtual marshalling as an example, the dispatching order or running command sent to the traction locomotive contains a train information list, instructing the traction locomotive to monitor the distance between the train and the car to be marshalled according to the train information list, establish a flexible marshalling with the car to be marshalled, and carry out interval control.
一种实现方式为：第一列车获取数据交互中心发送的列车信息列表；实时监测与第二列车之间的距离；根据列车信息列表和与第二列车之间的距离，与第二列车建立灵活编组；对灵活编组进行间隔控制。第一列车为牵引机车，第二列车为待编组车厢。One implementation method is: the first train obtains the train information list sent by the data interaction center; real-time monitoring of the distance between the second train; Grouping; interval control for flexible grouping. The first train is a traction locomotive, and the second train is a carriage to be assembled.
交通网络中的各列车实时向地面控制中心发送运行信息，地面控制中心接收到各列车发送的运行信息之后，会将该运行信息发送至数据交互中心，由数据交互中心根据运行信息确定列车信息列表，并发送给各列车。例如，数据交互中心获取位置信息。从位置信息和运行信息中识别出同一轨道上、同向行驶的列车。根据识别到的列车确定列车信息列表。将列车信息列表发送给列车。Each train in the transportation network sends running information to the ground control center in real time. After receiving the running information sent by each train, the ground control center will send the running information to the data interaction center, and the data interaction center will determine the list of train information based on the running information , and sent to each train. For example, the data interaction center obtains location information. Identify the trains on the same track and in the same direction from the position information and running information. A train information list is determined according to the identified trains. Send train information list to train.
通过第一列车中的灵活编组控制单元实时监测与第二列车之间的距离。当监测到与第二列车之间的距离小于最小距离(即：上述当两列车距离为平稳运行时的最小目标间隔距离S0)后，将通过灵活编组控制单元实时监测转为通过间隔控制单元实时监测与第二列车之间的距离。最小距离为预设值，如最小距离为200米。The distance between the first train and the second train is monitored in real time by the flexible formation control unit in the first train. After monitoring the distance between the second train and less than the minimum distance (that is: the above-mentioned minimum target distance S0 when the distance between the two trains is running smoothly), the real-time monitoring by the flexible formation control unit will be changed to real-time by the interval control unit Monitor the distance to the second train. The minimum distance is a preset value, for example, the minimum distance is 200 meters.
解析列车信息列表，得到列车数量。Parse the train information list to get the number of trains.
若列车数量大于1，且与第二列车之间的距离满足临界通信距离，则与第二列车进行通信。临界通信距离为在任何情况下两列车都不会出现碰撞事故的距离，设前车为静止状态，此情况下计算出的两车距离最远，为最大常用 制动距离与预设值的积。If the number of trains is greater than 1 and the distance to the second train satisfies the critical communication distance, then communicate with the second train. The critical communication distance is the distance between the two trains that will not collide under any circumstances. Assuming that the vehicle in front is in a static state, the calculated distance between the two vehicles in this case is the farthest, which is the product of the maximum common braking distance and the preset value .
以预设值为1.5为例，临界通信距离＝最大常用制动距离*1.5。Taking the default value of 1.5 as an example, the critical communication distance = maximum normal braking distance * 1.5.
基于通信，接收第二列车发送的第二拓扑帧。拓扑帧中包括初运行标志、IP地址列表、初运行完成标志等。初运行标志用于描述所属列车是否禁止编组。初运行完成标志用于描述所属列车是否完成初运行。Based on the communication, a second topology frame sent by the second train is received. The topology frame includes initial operation flag, IP address list, initial operation completion flag and so on. The initial run flag is used to describe whether the train to which it belongs is prohibited from forming. The initial run completion flag is used to describe whether the train to which it belongs has completed the initial run.
进一步的，除了基于通信接收第二列车发送的第二拓扑帧，还会同时接收第二列车发送的第二信息帧。之后根据第二拓扑帧建立灵活编组。Further, in addition to receiving the second topology frame sent by the second train based on communication, the second information frame sent by the second train will also be received at the same time. The flexible grouping is then established according to the second topology frame.
若第二拓扑帧的初运行标志为禁止(如即第二列车拒绝编组)，则确定不满足编组条件。或者，若第一列车的第一拓扑帧的初运行标志为禁止(如即第一列车拒绝编组)，则确定不满足编组条件。或者，若第一拓扑帧的初运行标志不为禁止，且第二拓扑帧的初运行标志不为禁止，但第一列车与第二列车符合禁止编组情况，则确定不满足编组条件。If the initial running flag of the second topology frame is prohibited (for example, the second train refuses to be formed), it is determined that the formation condition is not met. Or, if the initial running flag of the first topology frame of the first train is prohibited (for example, the first train refuses to be formed), it is determined that the formation condition is not met. Alternatively, if the initial run flag of the first topology frame is not forbidden, and the initial run flag of the second topology frame is not forbidden, but the first train and the second train meet the prohibition of marshalling, then it is determined that the marshalling condition is not satisfied.
第一列车与第二列车符合禁止编组情况为：第一列车和第二列车中的前车弯道减速。或者，第一列车和第二列车中的前车进入限速路段。或者，第一列车和第二列车不能同时运行编组规定的时间。例如，编组规定的时间为10分钟。也就是说，两列车建立灵活编组的前提是辆车可以编组运行10分钟。The situation that the first train and the second train meet the prohibition of formation is as follows: the front car in the first train and the second train decelerates at the curve. Or, the preceding vehicle in the first train and the second train enters the speed limit section. Or, the first train and the second train cannot run simultaneously for the specified time of formation. For example, the time stipulated by the marshalling is 10 minutes. That is to say, the premise of establishing a flexible formation of two trains is that the trains can run in formation for 10 minutes.
如果第一列车拒绝编组或第二列车拒绝编组或两列车不具备编组条件，则第一列车和第二列车中的前车保持自动运行，第一列车和第二列车中的后车根据前车的运行信息确定灵活编组的运行曲线。If the first train refuses to form or the second train refuses to form or the two trains do not meet the conditions for forming, the first train and the front car in the second train will keep running automatically, and the rear cars in the first and second trains will run according to the preceding car. The operating information determines the flexible grouping of the operating curve.
进一步的，第一列车在发送第一拓扑帧和接收第二拓扑帧的过程中，还会接收第三列车发送的第三拓扑帧。若第三拓扑帧中不包括第一列车的第一IP地址，则根据第三列车与第一列车的位置关系更新第一列车的第一IP地址列表，然后根据更新的第一IP地址列表形成新的第一拓扑帧。Further, during the process of sending the first topology frame and receiving the second topology frame, the first train will also receive the third topology frame sent by the third train. If the first IP address of the first train is not included in the third topology frame, the first IP address list of the first train is updated according to the positional relationship between the third train and the first train, and then formed according to the updated first IP address list New first topology frame.
根据第三列车与第一列车的位置关系更新第一列车的第一IP地址列表，具体包括：Update the first IP address list of the first train according to the positional relationship between the third train and the first train, specifically including:
若第三列车位于第一列车前(即第三列车为第一列车的前车)，则获取第二拓扑帧中的第二IP地址列表，将第二IP地址列表放入第一IP地址列表中第一IP地址之后，形成更新的第一IP地址列表。If the third train is located in front of the first train (i.e. the third train is the front train of the first train), then obtain the second IP address list in the second topology frame, put the second IP address list into the first IP address list After the first IP address in the list, an updated first IP address list is formed.
若第三列车位于第一列车后(即第三列车为第一列车的后车)，则获取第二拓扑帧中的第二IP地址列表，将第二IP地址列表放入第一IP地址列表中第一IP地址之前，形成更新的第一IP地址列表。If the third train is located behind the first train (i.e. the third train is the rear train of the first train), then obtain the second IP address list in the second topology frame, put the second IP address list into the first IP address list Before the first IP address in the list, an updated first IP address list is formed.
也就是说，第一列车和第二列车在互发拓扑帧过程中同时计算新的拓扑帧，如果前车(如第三列车)接收到的拓扑帧中不含有本车(即第一列车)的IP地址则将后车(即第二列车)的拓扑帧IP地址列表放在自己(即第一列车)IP地址后边组成新的IP地址列表形成拓扑帧，如果后车(如第三列车)接收到的拓扑帧不含有本车(即第一列车)的IP地址则将前车(即第二列车)的IP地址列表放在自己(即第一列车)IP地址前面形成新的IP地址列表形成拓扑帧，如果列车接收到的拓扑帧跟本列车的拓扑帧一致则判断初运行成功，设置初运行完成标志后再发送新的拓扑帧，当所有列车接收和发送的拓扑帧的初运行完成标志都一致，则确定灵活编组建立完成，进而编组完成标志，以及，设定列车参考方向。That is to say, the first train and the second train calculate a new topology frame at the same time during the process of exchanging topology frames. Then put the topological frame IP address list of the rear car (i.e. the second train) behind its own (i.e. the first train) IP address to form a new IP address list to form a topological frame, if the rear car (i.e. the third train) If the received topology frame does not contain the IP address of the car (i.e. the first train), the IP address list of the previous car (i.e. the second train) is placed in front of its own (i.e. the first train) IP address to form a new IP address list Form a topology frame. If the topology frame received by the train is consistent with the topology frame of this train, it is judged that the initial operation is successful. After setting the initial operation completion flag, a new topology frame is sent. When the initial operation of the topology frames received and sent by all trains is completed If the signs are all consistent, then it is determined that the establishment of the flexible formation is completed, and then the mark of formation is completed, and the reference direction of the train is set.
另外，在根据第二拓扑帧建立灵活编组之后，前车还会获取到后车的控制权。例如，若第一列车位于第二列车前(即第一列车为前车)，则向第二列车发送控制权获取请求，控制权获取请求用于指示第二列车反馈控制权转移响应。接收到第二列车反馈的控制权转移响应后，向第二列车发送控制指令，控制指令用于指示第二列车停止自动驾驶。若第一列车位于第二列车后(即第一列车为后车)，则接收第二列车发送控制权获取请求。向第二列车反馈控制权转移响应，接收第二列车发送的控制指令，根据控制指令停止自动驾驶。In addition, after the flexible formation is established according to the second topology frame, the vehicle in front will also obtain the control right of the vehicle behind. For example, if the first train is located in front of the second train (that is, the first train is the preceding train), a control right acquisition request is sent to the second train, and the control right acquisition request is used to instruct the second train to feed back a control right transfer response. After receiving the control right transfer response fed back by the second train, a control instruction is sent to the second train, and the control instruction is used to instruct the second train to stop automatic driving. If the first train is located behind the second train (that is, the first train is the following train), the control right acquisition request sent by the second train is received. Feedback the control right transfer response to the second train, receive the control instruction sent by the second train, and stop the automatic driving according to the control instruction.
例如：如果第一列车为前车，那么第一列车判断编组完成标志为1时，发送控制命令给后车(即第二列车)要求获取控制权，当后车(即第二列车)判断编组完成标志为1且收到前车(即第一列车)的控制命令后发送控制权转移响应给前车(即第一列车)；前车(即第一列车)收到后车(即第二列车)的响应帧后发送具体控制命令给后车(即第二列车)，后车(即第二列车)收到后执行前车(即第一列车)控制命令而不再自动驾驶。For example: if the first train is the front car, when the first train judges that the marshalling completion flag is 1, it sends a control command to the rear car (i.e. the second train) to request control, and when the rear car (i.e. the second train) judges the marshalling The completion flag is 1 and after receiving the control command from the preceding vehicle (i.e. the first train), send the control transfer response to the preceding vehicle (i.e. the first train); the preceding vehicle (i.e. the first train) receives the following vehicle (i.e. the second Train) sends specific control commands to the rear car (i.e. the second train) after the response frame, and the rear car (i.e. the second train) executes the control order of the front vehicle (i.e. the first train) after receiving it and no longer drives automatically.
再例如，如果第一列车为后车，那么接收到前车(即第二列车)要求获取控制权后，断编组完成标志为1后发送控制权转移响应给前车(即第二列车)；前车(即第二列车)收到后车(即第一列车)的响应帧后发送具体控制命令给后车(即第一列车)，后车(即第一列车)收到后执行前车(即第二列车)控制命令而不再自动驾驶。For another example, if the first train is the rear car, after receiving the front car (i.e. the second train) requesting to obtain the control right, the group completion flag is 1 and sends the control right transfer response to the front car (i.e. the second train); The front car (that is, the second train) sends specific control commands to the rear car (that is, the first train) after receiving the response frame from the rear car (that is, the first train), and the rear car (that is, the first train) executes the front car after receiving the response frame (i.e. the second train) control commands and no longer autopilot.
需要说明的是，列车之间(如第一列车与第二列车，第一列车与第三列车等)如果距离在200米以上可采用LTE-R或5G进行通信，如果距离200米以下可以用WIFI或雷达进行通信。It should be noted that if the distance between trains (such as the first train and the second train, the first train and the third train, etc.) is more than 200 meters, LTE-R or 5G can be used for communication, and if the distance is less than 200 meters, it can be used WIFI or radar for communication.
在对编组列车进行控制时，前车对灵活编组进行间隔控制体现在：前车会根据后车的牵引力/制动力信息确定各时刻牵引力/制动力，并将确定的牵引力/制动力发送给后车。后车对灵活编组进行间隔控制体现在：向前车发送自身的牵引力/制动力信息，并执行前车确定的牵引力/制动力。When controlling the formation of trains, the interval control of the flexible formation by the front vehicle is reflected in: the front vehicle will determine the traction/braking force at each time according to the traction/braking force information of the rear vehicle, and send the determined traction/braking force to the rear car. The interval control of the flexible formation by the trailing vehicle is reflected in: sending its own traction force/braking force information to the preceding vehicle, and executing the traction force/braking force determined by the preceding vehicle.
第一种情况，第一列车位于第二列车前，此时第一列车为前车，第二列车为后车。第一列车需要根据后车的牵引力/制动力信息确定各时刻牵引力/制动力，并将确定的牵引力/制动力发送给后车。第二列车需要向第一列车发送自身的牵引力/制动力信息，并执行第一列车确定的牵引力/制动力。In the first case, the first train is located in front of the second train, and now the first train is the front car, and the second train is the rear car. The first train needs to determine the traction force/braking force at each moment according to the traction force/braking force information of the following vehicle, and send the determined traction force/braking force to the following vehicle. The second train needs to send its own traction/braking force information to the first train, and implement the traction/braking force determined by the first train.
具体的，第一列车会确定灵活编组的当前运行阶段，根据当前运行阶段对灵活编组进行间隔控制。若当前运行阶段非停车阶段，则计算下一时刻牵引力/制动力，并根据下一时刻牵引力/制动力进行间隔控制。若当前运行阶段为停车阶段，则当与第二列车之间的距离不小于停车间隔时，基于单车运行曲线减速停车，并计算下一时刻牵引力 /制动力，根据下一时刻牵引力/制动力进行间隔控制。Specifically, the first train will determine the current operation stage of the flexible formation, and perform interval control on the flexible formation according to the current operation stage. If the current running stage is not the parking stage, calculate the traction force/braking force at the next moment, and perform interval control according to the traction force/braking force at the next moment. If the current operation stage is the stop stage, when the distance to the second train is not less than the stop interval, decelerate and stop based on the single-vehicle running curve, and calculate the traction force/braking force at the next moment, and perform the operation according to the traction force/braking force at the next moment interval control.
当与第二列车之间的距离小于停车间隔时，在确定满足制动条件后，根据当前速度计算制动距离。每当获取到地面位置信息，则基于制动距离以及获取到的地面位置信息计算当前制动率，根据当前制动力进行减速制动，并计算下一时刻牵引力/制动力，根据下一时刻牵引力/制动力进行间隔控制。When the distance to the second train is less than the stop interval, after it is determined that the braking condition is met, the braking distance is calculated according to the current speed. Whenever the ground position information is obtained, the current braking rate is calculated based on the braking distance and the obtained ground position information, deceleration braking is performed according to the current braking force, and the traction force/braking force at the next moment is calculated, according to the traction force at the next moment /Braking force for interval control.
无论当前运行阶段为何种阶段，只要计算下一时刻牵引力/制动力，其计算方法均为：获取第二列车的牵引力/制动力信息，根据牵引力/制动力信息，计算下一时刻牵引力/制动力。Regardless of the stage of the current operation, as long as the traction/braking force at the next moment is calculated, the calculation method is as follows: obtain the traction/braking force information of the second train, and calculate the traction/braking force at the next moment according to the traction/braking force information .
其中，根据牵引力/制动力信息，计算下一时刻牵引力/制动力的过程为：Among them, according to the traction force/braking force information, the process of calculating the traction force/braking force at the next moment is:
a.1根据预先得到的速度-间隔距离曲线、与第二列车之间的距离以及当前速度，计算速度偏差。a.1 Calculate the speed deviation according to the speed-distance curve obtained in advance, the distance to the second train and the current speed.
a.2确定间隔控制最小距离。a.2 Determine the minimum distance for interval control.
具体的，通过如下公式计算间隔控制最小距离：Specifically, the interval control minimum distance is calculated by the following formula:
S min＝T sum*V back+ΔS+d。 S min =T sum *V back +ΔS+d.
其中，in,
S min为隔控制最小距离。 S min is the minimum distance for interval control.
T sum为延时时间，T sum＝t c+t p+t b，t c为通信中断时间，t p为算法执行时间，t b为制动命令发出到制动施加时间。 T sum is the delay time, T sum =t c +t p +t b , t c is the communication interruption time, t p is the algorithm execution time, t b is the time from when the brake command is issued to when the brake is applied.
V back为第二列车运行速度。 V back is the running speed of the second train.
ΔS为第一列车与第二列车紧急制动距离差。ΔS is the emergency braking distance difference between the first train and the second train.
d为安全余量，例如，d为2米。d is the safety margin, for example, d is 2 meters.
a.3在满足间隔控制最小距离的前提下，根据速度偏差、列车限速、限加速度、限加加速度值以及牵引力/制动力信息，计算下一时刻牵引力/制动力。a.3 Under the premise of satisfying the minimum interval control distance, calculate the traction force/braking force at the next moment according to the speed deviation, train speed limit, acceleration limit, jerk limit value and traction force/braking force information.
另外，无论当前运行阶段为何种阶段，只要根据下一时刻牵引力/制动力进行间隔控制，其控制过程均为：In addition, no matter what the current operating stage is, as long as the interval control is performed according to the traction force/braking force at the next moment, the control process is as follows:
通过灵活编组控制单元将下一时刻牵引力/制动力发送给第二列车的灵活编组控制单元。以使第二列车通过灵活编组控制单元将下一时刻牵引力/制动力转发给第二列车的CCU(Central Control Unit，中央控制单元)，通过第二列车的CCU施加下一时刻牵引力/制动力，以便控制第二列车的速度。The traction/braking force at the next moment is sent to the flexible formation control unit of the second train through the flexible formation control unit. To make the second train transmit the traction force/braking force at the next moment to the CCU (Central Control Unit, central control unit) of the second train through the flexible formation control unit, apply the traction force/braking force at the next moment by the CCU of the second train, In order to control the speed of the second train.
第二种情况：第一列车位于第二列车后，此时第二列车为前车，第一列车为后车。第二列车需要根据后车的牵引力/制动力信息确定各时刻牵引力/制动力，并将确定的牵引力/制动力发送给后车。第一列车需要向第二列车发送自身的牵引力/制动力信息，并执行第二列车确定的牵引力/制动力。The second situation: the first train is behind the second train, and now the second train is the front car, and the first train is the rear car. The second train needs to determine the traction force/braking force at each moment according to the traction force/braking force information of the following vehicle, and send the determined traction force/braking force to the following vehicle. The first train needs to send its own traction/braking force information to the second train, and implement the traction/braking force determined by the second train.
具体的，第一列车会向第二列车发送牵引力/制动力信息，以使第二列车根据牵引力/制动力信息，计算下一时刻牵引力/制动力，根据下一时刻牵引力/制动力进行间隔控制。Specifically, the first train will send traction force/braking force information to the second train, so that the second train can calculate the traction force/braking force at the next moment according to the traction force/braking force information, and perform interval control according to the traction force/braking force at the next moment .
除此之外，还会通过灵活编组控制单元接收第二列车发送的下一时刻牵引力/制动力。通过灵活编组控制单元将下一时刻牵引力/制动力转发给第二列车的CCU。通过CCU施加下一时刻牵引力/制动力，以便控制第一列车的速度。In addition, the traction/braking force at the next moment sent by the second train will also be received through the flexible formation control unit. The traction/braking force at the next moment is forwarded to the CCU of the second train through the flexible formation control unit. The traction/braking force of the next moment is applied by the CCU in order to control the speed of the first train.
对灵活编组进行间隔控制的过程，可以在多列车之间无线编组、自动运行的基础上，实现编组内列车作为一个整体，统一由头车编组运行控制。主要是列车编组后，计算间隔控制曲线，控制列车在灵活编组行进过程中保持行车间隔。The process of interval control for flexible marshalling can be realized on the basis of wireless marshalling and automatic operation among multiple trains, so that the trains in the marshalling can be taken as a whole and uniformly controlled by the lead car marshalling operation. Mainly after the trains are organized, the interval control curve is calculated, and the trains are controlled to maintain the running interval during the flexible formation process.
例如，前车根据车辆位置、实时速度、制动距离、制动***工况等实时状态信号，结合列车制动距离，控制编组内列车行进速度，保持灵活编组列车行车间距，保证列车在特殊工况下能够安全制动，避免追尾。For example, according to real-time status signals such as vehicle position, real-time speed, braking distance, and braking system working conditions, the vehicle in front controls the speed of trains in the formation in combination with the braking distance of the train, maintains the distance between trains in a flexible formation, and ensures that the It can brake safely and avoid rear-end collision.
其中，编组运行的工况如下表所示：Among them, the working conditions of marshalling operation are shown in the following table:
Figure PCTCN2021140890-appb-000001
Figure PCTCN2021140890-appb-000001
Figure PCTCN2021140890-appb-000002
Figure PCTCN2021140890-appb-000002
通过上述过程，实现了第一列车与第二列车进行灵活编组，以及，编组后对灵活编组运行的控制。Through the above process, the flexible formation of the first train and the second train, and the control of the flexible formation operation after formation are realized.
实施例五Embodiment five
本实施例是在上述实施例的基础上，对列车编组控制方法进行优化，尤其是提供一种列车解编的实现方式：This embodiment optimizes the train formation control method on the basis of the foregoing embodiments, and in particular provides an implementation of train unmarshalling:
在列车运行过程中，在确定解编条件被满足后，确定目标列车，然后与目标列车进行解编。During the running of the train, after it is determined that the disassembly condition is met, the target train is determined, and then the disassembly is performed with the target train.
其中，解编条件为：已完成虚拟编组的各列车运行线路不唯一(例如，编组列车将在不久之后运行在不同的线路上)，或者，与邻车通信中断，或者，接收到解编指令。Among them, the unmarshalling condition is: the running lines of the trains that have completed the virtual marshalling are not unique (for example, the marshalling trains will run on different routes in the near future), or, the communication with the adjacent train is interrupted, or, the unmarshalling instruction is received .
对于已完成虚拟编组的各列车运行线路不唯一的解编条件，其仅头车可能会满足，也就是说，只有头车才可能确定已完成虚拟编组的各列车运行线路不唯一的解编条件被满足。For the non-unique unmarshalling conditions of each train line that has completed the virtual formation, only the head car may meet it, that is to say, only the lead train can determine the non-unique unmarriage condition of each train line that has completed the virtual formation satisfied.
对于接收到解编指令的解编条件，其仅非头车可能会满足，也就是说，只有非头车才可能确定接收到解编指令的解编条件被满足。Only the non-leading vehicle may satisfy the decoding condition of receiving the decoding instruction, that is, only the non-leading vehicle may determine that the decoding condition of receiving the decoding instruction is satisfied.
对于与邻车通信中断的解编条件，其既可以是头车能满足，也可以是非头车能满足，也就是说，头车可能确定与邻车通信中断的解编条件被满足，非头车也可能确定与邻车通信中断的解编条件被满足。As for the decoding condition of interruption of communication with adjacent vehicles, it can be satisfied by either the leading vehicle or the non-leading vehicle. The car may also determine that the unmarshalling condition for communication interruption with neighboring cars is met.
另外，确定目标列车的方案随着解编条件的不同而变化。In addition, the scheme of determining the target train varies with the unmarshaling conditions.
例如：For example:
满足的解编条件为已完成虚拟编组的各列车运行线路不唯一时，确定目标列车的方案为：将运行路线不同的列车确定为目标列车。When the satisfying unmarshalling condition is that the running lines of the trains that have completed the virtual marshalling are not unique, the scheme of determining the target train is: determine the trains with different running lines as the target trains.
满足的解编条件为接收到解编指令时，确定目标列车的方案为：将前一邻车确定为目标列车。The satisfying decompilation condition is that when a decompilation instruction is received, the scheme of determining the target train is: determine the previous adjacent vehicle as the target train.
满足的解编条件为与邻车通信中断时，确定目标列车的方案为：将发送报文的邻车确定为目标列车。When the satisfied decoding condition is that the communication with the adjacent train is interrupted, the scheme of determining the target train is: determine the adjacent train sending the message as the target train.
其中，与邻车通信中断的确定方案为：连续接收到m个通信周期的报文均出现丢包，则确定与邻车通信中断，即确定解编条件被满足。报文由同一邻车发送。m为预设的正整数。例如，m＝10，即连续10个通信周期的报均出现丢包。丢包的情况可以为无法接收到报文，也可以为收到的报文中拓扑帧与本地拓扑帧不一致。也就是说，连续m个通信周期均会出现无法接收到报文，或者收到的报文中拓扑帧与本地拓扑帧不一致。可以所有通信周期均无法接收到报文，也可以所有通信周期收到的报文中拓扑帧均与本地拓扑帧不一致，还可以部分周期通信周期无法接收到报文，部分周期通信周期收到的报文中拓扑帧与本地拓扑帧不一致。其中，无法接收到的报文为拓扑帧报文或信息帧报文。Among them, the determination scheme for the interruption of communication with the adjacent vehicle is as follows: if the messages of m consecutive communication cycles are all lost, then it is determined that the communication with the adjacent vehicle is interrupted, that is, it is determined that the decoding condition is satisfied. The message is sent by the same neighboring vehicle. m is a preset positive integer. For example, m=10, that is, packet loss occurs in all packets of 10 consecutive communication cycles. The case of packet loss may be that the packet cannot be received, or the topology frame in the received packet is inconsistent with the local topology frame. That is to say, the message cannot be received for m consecutive communication cycles, or the topology frame in the received message is inconsistent with the local topology frame. It may be impossible to receive messages in all communication cycles, or the topology frame in the messages received in all communication cycles is inconsistent with the local topology frame, or it may be impossible to receive messages in some cycle communication cycles, and some cycle communication cycles receive The topology frame in the packet is inconsistent with the local topology frame. Among them, the packets that cannot be received are topology frame packets or information frame packets.
满足的解编条件为已完成虚拟编组的各列车运行线路不唯一时，When the unmarshalling condition satisfied is that the running lines of the trains that have completed the virtual marshalling are not unique,
1.1监控与目标列车之间的距离。1.1 Monitor the distance to the target train.
具体实现时，可以先调整当前运行速度。此时，监控与目标列车之间的距离的实现方案为：根据当前运行速度，监控目标车辆与目标车辆前的邻车之间的距离。In actual implementation, the current running speed can be adjusted first. At this time, the realization scheme of monitoring the distance between the target train and the target train is: according to the current running speed, monitor the distance between the target vehicle and the adjacent vehicle in front of the target vehicle.
1.2当与目标列车之间的距离达到达到临界通信距离时，与目标列车进行解编。1.2 When the distance to the target train reaches the critical communication distance, the target train will be unmarried.
另外，临界通信距离为在任何情况下两列车都不会出现碰撞事故的距离，设前车为静止状态，此情况下计算出的两车距离最远，为最大常用制动距离与预设值的积。以预设值为1.5为例，临界通信距离＝最大常用制动距离*1.5。In addition, the critical communication distance is the distance at which the two trains will not collide under any circumstances. Assuming that the vehicle in front is in a static state, the calculated distance between the two vehicles in this case is the farthest, which is the maximum common braking distance and the preset value product. Taking the default value of 1.5 as an example, the critical communication distance = maximum normal braking distance * 1.5.
此外，在与目标列车进行解编时：Also, when unmarshalling with the target train:
1)向目标车辆发送解编命令。其中，解编命令用于指示目标车辆反馈响应帧。1) Send a decoding command to the target vehicle. Wherein, the decoding command is used to instruct the target vehicle to feed back the response frame.
2)接收到目标车辆反馈的响应帧后，设置拓扑帧中的初运行标志为禁止。2) After receiving the response frame fed back by the target vehicle, set the initial operation flag in the topology frame as forbidden.
3)向目标车辆发送设置后的拓扑帧。设置后的拓扑帧用于指示目标车辆启动自动驾驶模式，完成解编。3) Send the set topology frame to the target vehicle. The set topology frame is used to instruct the target vehicle to start the automatic driving mode and complete the decoding.
满足的解编条件为接收到解编指令时，The satisfied decompilation condition is when the decompilation instruction is received,
2.1向解编指令发送端反馈响应帧。2.1 Feedback a response frame to the decoding instruction sender.
其中，响应帧用于指示解编指令发送端设置拓扑帧中的初运行标志为禁止，并发送设置后的拓扑帧。Wherein, the response frame is used to instruct the sender of the decoding instruction to set the initial operation flag in the topology frame as forbidden, and send the set topology frame.
2.2当接收到的拓扑帧中的初运行标志为禁止时，启动自动驾驶模式，完成解编。2.2 When the initial operation flag in the received topology frame is prohibited, start the automatic driving mode and complete the decoding.
满足的解编条件为与邻车通信中断时，The satisfied decoding condition is when the communication with the adjacent vehicle is interrupted,
3.1触发紧急制动。3.1 Trigger emergency braking.
3.2设置拓扑帧。3.2 Set the topology frame.
具体的，若当前无法接收到报文，则初始化拓扑帧。若当前接收到的报文中拓扑帧与本地拓扑帧不一致，则设置拓扑帧的初运行完成标志为未完成状态。Specifically, if the packet cannot be received currently, the topology frame is initialized. If the topology frame in the currently received message is inconsistent with the local topology frame, set the initial run completion flag of the topology frame to an incomplete state.
3.3启动自动驾驶模式。3.3 Start the automatic driving mode.
本实施例提供的灵活编组的解编方法，列车(此时只能是头车)判断出编组列车将在不久之后运行在不同的线路上则头车要根据当前运行速度与解编后两车的运行距离差对后车进行运行控制使得两车之间的距离逐渐增大，当两车之间的距离达到临界通信距离时，列车(此时只能是头车)下发解编命令给后车，后车收到解编命令后返回响应帧，列车(此时只能是头车)收到响应帧后设置拓扑帧中初运行状态为禁止初运行，当后车收到禁止初运行的拓 扑帧后启动自动驾驶模式完成解编。The method for unmarshalling the flexible marshalling provided by this embodiment, the train (can only be the lead car at this time) judges that the marshalling train will run on different lines in the near future, then the lead car will be based on the current running speed and the two cars after demarshalling When the distance between the two cars reaches the critical communication distance, the train (only the first car at this time) issues a decompilation command to The following train, the following train returns a response frame after receiving the decoding command, and the train (only the first train at this time) sets the initial running state in the topology frame as prohibiting initial running after receiving the response frame, and when the following train receives the prohibiting initial running Start the autopilot mode after the topology frame to complete the decompilation.
两车之间的距离超过临界通信距离，两车各自恢复自动驾驶模式、初始化拓扑帧、初始化控制权状态。When the distance between the two vehicles exceeds the critical communication distance, the two vehicles respectively resume the automatic driving mode, initialize the topology frame, and initialize the control state.
当两车之间因其他原因导致拓扑帧或信息帧通信连续丢包超过10个时认为通信中断，在通信中断的条件下，接收不到报文的列车将本车拓扑帧初始化并改为自动驾驶模式，能收到报文的列车判断接收到的拓扑帧与本地拓扑帧不一致则设置初运行完成标志为未完成状态并且改为自动驾驶模式。When the topology frame or information frame communication between the two vehicles is lost for more than 10 consecutive packets due to other reasons, it is considered that the communication is interrupted. Under the condition of communication interruption, the train that cannot receive the message will initialize the topology frame of the vehicle and change it to automatic In the driving mode, the train that can receive the message judges that the received topology frame is inconsistent with the local topology frame, then sets the initial operation completion flag to the incomplete state and changes to the automatic driving mode.
编组列车需要解编时，在精确定位手段探测到定位距离到达阈值前，前车优先使用精确定位手段、冗余使用列车定位计算两车间隔距离的方式获得两车间隔，前车控制行车间隔逐渐增大，超过精确定位手段探测到定位距离到达阈值后，列车使用列车定位计算两车间隔距离，继续控制两列车行车间隔达到编组通信临界距离后解编；解编后，后车执行完前车发的控制命令后，恢复自主运行。When the marshalling train needs to be unmarshaled, before the precise positioning method detects the positioning distance and reaches the threshold, the preceding vehicle preferentially uses the precise positioning method, and redundantly uses the train positioning to calculate the distance between the two vehicles to obtain the distance between the two vehicles, and the leading vehicle controls the driving interval gradually. Increase, after exceeding the precise positioning means to detect the positioning distance to reach the threshold, the train uses the train positioning to calculate the distance between the two trains, and continues to control the distance between the two trains to reach the critical distance of formation communication before unmarshalling; After the control command is issued, it resumes autonomous operation.
本申请所提供的方法可适用于城市地下轨道列车，当然也适用于短途的城际列车。The method provided in this application can be applied to urban underground rail trains, and certainly also to short-distance intercity trains.
进一步的，上述步骤中，控制客车车厢及货车车厢编组混合编组运行，可以采用如下方式：Further, in the above-mentioned steps, the following methods can be used to control the mixed marshalling operation of passenger cars and truck cars:
首先，向第一列车发送列车信息列表，以使第一列车根据列车信息列表与第二列车进行通信并在接收到第二列车发送的第二拓扑帧之后与第二列车建立灵活编组；第一列车包括客车车厢和/或货车车厢，第二列车包括客车车厢和/或货车车厢。然后向第一列车发送电子运行地图，以使第一列车根据电子运行地图控制第一列车和第二列车运行。First, send the train information list to the first train, so that the first train communicates with the second train according to the train information list and establishes a flexible formation with the second train after receiving the second topology frame sent by the second train; The train includes passenger cars and/or freight cars, and the second train includes passenger cars and/or freight cars. Then send the electronic operation map to the first train, so that the first train controls the operation of the first train and the second train according to the electronic operation map.
另外，在向第一列车发送列车信息列表之前，还包括：获取列车的位置信息，接收地面控制中心发送的运行信息，从位置信息和运行信息中识别出同一轨道上、同向行驶的列车，然后根据识别到的列车确定列车信息列表。In addition, before sending the train information list to the first train, it also includes: obtaining the position information of the train, receiving the operation information sent by the ground control center, identifying the trains on the same track and in the same direction from the position information and operation information, Then a train information list is determined according to the identified trains.
上述第一列车与第二列车建立灵活编组的方式可参照上述内容。The above-mentioned content can be referred to for the above-mentioned way of establishing a flexible formation of the first train and the second train.
第一列车与第二列车可根据需要建立灵活编组或解编，例如：第一列车与第二列车在行驶过程中建立灵活编组，一起运行，列车间隔要小于两辆独立运行的列车。因此，两列车到站的时间间隔较短，方便统一上货或卸货，节省等待时间，提高物流效率。The first train and the second train can be flexibly grouped or disassembled as required. For example, the first train and the second train can be flexibly grouped and run together, and the interval between the trains should be smaller than that of two independently operated trains. Therefore, the time interval between the arrival of the two trains is relatively short, which is convenient for unified loading or unloading, saves waiting time, and improves logistics efficiency.
一种应用场景为：第一列车包括客车车厢，第二列车包括货车车厢。第一列车在某个交通网络中运行，第二列车不在该交通网络中。传统方案中，若第二列车要进入该交通网络，必须向数据中心发送请求，经过复杂的计算调度之后，要修改列车信息列表及电子地图，专门为第二列车分配运行线路、办理进路等操作，程序比较复杂，有可能还需要人工处理审核，时间较长。An application scenario is: the first train includes passenger carriages, and the second train includes freight carriages. The first train is running in a certain transportation network, and the second train is not in the transportation network. In the traditional solution, if the second train wants to enter the transportation network, it must send a request to the data center. After complex calculation and scheduling, it is necessary to modify the train information list and electronic map, and specifically allocate the running route and handle the route for the second train. The operation and procedures are relatively complicated, and manual processing and review may be required, which takes a long time.
若采用本实施例所提供的灵活编组方案，第二列车可以与第一列车进行灵活编组，作为一组列车一同行驶，则无需修改列车信息列表或电子地图，也无需为第二列车分配运行线路、办理进路等操作，节省程序，提高效率。而且，当两列车灵活编组之后，当后车从某一区段驶出之后才视为该组列车出清，释放该区段的权限，因此也能够保证后车的运行安全。If the flexible marshalling scheme provided by this embodiment is adopted, the second train can be flexibly marshalled with the first train, and travel together as a group of trains, without modifying the train information list or electronic map, and without assigning a running route for the second train , Handling access and other operations, saving procedures and improving efficiency. Moreover, after the two trains are grouped flexibly, the group of trains is considered to be cleared only after the following train leaves a certain section, and the authority of the section is released, so the operation safety of the following train can also be guaranteed.
图4为本申请实施例提供的一种车门处输送***的第一状态结构示意图；图5为本申请实施例提供的一种车门处输送***的第二状态结构示意图；图6为本申请实施例提供的站台输送***的轴测结构示意图；图7为本申请实施例提供的第三方向移动调节件的结构示意图。如图4至图7所示，本实施例提供一种智能装卸***，其包括站台输送***931、车门处输送***932、堆垛***、货架***、车辆总控***和仓储管理***。其中，站台输送***931和车门处输送***932共同形成轨道交通联控输送***，车门处输送***932固定在轨道车辆的车门处，轨道车辆可以为货运轨道车辆、货运车厢或客货混编轨道车辆等，可根据需要进行设置，均在本申请的保护范围内。上述轨道交通联控输送***还包括总控装置，总控装置一般设置在地面管理平台中的总控室中。总控装置与车辆总控***连接，总控装置分别与站台输送***931与车门处输送***932连接，以控制站台输送***931与车门处输送***932对接，总控装置可具体为控制器。可根据现有技术的发展水平进行设置。Fig. 4 is a schematic structural diagram of the first state of a vehicle door delivery system provided by the embodiment of the present application; Fig. 5 is a schematic structural diagram of the second state of a vehicle door delivery system provided by the embodiment of the present application; Fig. 6 is an implementation of the present application A schematic diagram of the axonometric structure of the platform conveying system provided in the example; FIG. 7 is a schematic structural diagram of the third direction movement regulator provided in the embodiment of the present application. As shown in Figures 4 to 7, this embodiment provides an intelligent loading and unloading system, which includes a platform conveying system 931, a vehicle door conveying system 932, a stacking system, a shelf system, a vehicle master control system and a warehouse management system. Wherein, the platform conveying system 931 and the door conveying system 932 jointly form a rail transit joint control conveying system, and the door conveying system 932 is fixed at the door of the rail vehicle, and the rail vehicle can be a freight rail vehicle, a freight car or a passenger-cargo mixed track Vehicles and the like can be set up as required, all within the protection scope of the present application. The above rail transit joint control conveying system also includes a master control device, which is generally set in the master control room of the ground management platform. The master control device is connected with the vehicle master control system. The master control device is respectively connected with the platform conveying system 931 and the door conveying system 932 to control the docking of the platform conveying system 931 and the door conveying system 932. The master control device can be specifically a controller. It can be set according to the development level of the existing technology.
在一种实施例中，站台输送***931包括与总控装置连接的站台输送装置，该装置包括站台输送组件9312和位置调节组件。其中，站台输送组件9312用于输送货物，站台输送组件9312的一端位于站台上，另一端用于与车门处输送***932对接；如设置为输送带、输送链或其他输送设备。位置调节组件与站台输送组件9312连接，位置调节组件用于带动站台输送组件9312进行空间位置调节；总控装置分别与站台输送组件9312和位置调节组件连接，可采用有线或无线通信连接，总控装置控制位置调节组件动作，以将站台输送组件9312与车门处输送***932对接；以当轨道车辆未停止在预设站台位置处时、站台输送装置及时进行位置差补偿，优化对接效率。In one embodiment, the platform conveying system 931 includes a platform conveying device connected to the general control device, and the device includes a platform conveying component 9312 and a position adjustment component. Wherein, the platform conveying assembly 9312 is used for conveying goods, and one end of the platform conveying assembly 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; for example, it is set as a conveying belt, conveying chain or other conveying equipment. The position adjusting component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position; the master control device is respectively connected with the platform conveying component 9312 and the position adjusting component, which can be connected by wired or wireless communication. The device controls the action of the position adjustment component to dock the platform conveying component 9312 with the conveying system 932 at the door; when the rail vehicle does not stop at the preset platform position, the platform conveying device performs position difference compensation in time to optimize docking efficiency.
其中，此处及下文所述的货物或集装器可以调换，或者采用托盘或其他货物承载设备，或者直接抓取货物进行传输，电子标签可以设置在货物或货物承载设备上，可以根据***需要进行设置。Among them, the goods or ULDs described here and below can be exchanged, or use pallets or other cargo carrying equipment, or directly grab the goods for transmission, and the electronic tags can be set on the goods or cargo carrying equipment, and can be customized according to the needs of the system. to set.
位置调节组件如垂向调节组件、垂直于轨道方向的纵向调节组件和平行于轨道方向的横向调节组件中的一者或几者；具体的，站台输送装置还包括第一底架9316和位置调节组件；第一底架9316用于安装站台输送组件9312，位置调节组件包括第一方向移动调节件9313、第二方向移动调节件9315和第三方向移动调节件9314。其中，第一方向移动调节件9313位于第一底架9316上，用于带动站台输送组件9312沿站台输送组件9312的长度方向前后移动；第二方向移动调节件9315位于第一底架9316上，用于带动站台输送组件9312沿站台输送组件9312的宽度方向移动；第三方向移动调节件9314位于第一底架9316上，用于带动站台输送组件9312沿站台输送组件9312的垂向方向移动。在一些可选的实现方式中，第一方向移动调节件9313、第二方向移动调节件9315和第三方向移动调节件9314的结构相同，如设置为电机带动齿轮齿条结构进行动力驱动，更为优选地，还包括导向机构，以为各方 向移动调节件的移动进行导向，使得移动更为平稳。以第二方向移动调节件9315为例进行说明，在第一底架9316上包括两组导向结构、第二驱动电机和螺母丝杆机构，丝杆与第二驱动电机连接，螺母套装在丝杆上，且螺母固定在站台输送组件9312的底部，丝杆和导向结构沿站台输送组件9312的宽度方向设置，在第二驱动电机的带动下，丝杆转动、以带动螺母在站台输送组件9312的宽度方向移动；同时，站台输送组件9312的底部还设有导向件，导向件和设置在第一底架9316上的导轨配合，进行导向。在其他实施例中，可根据需要进行各方向移动调节件的设置，均在本申请的保护范围内。Position adjustment components such as one or more of vertical adjustment components, vertical adjustment components perpendicular to the track direction, and horizontal adjustment components parallel to the track direction; specifically, the platform conveying device also includes a first chassis 9316 and a position adjustment Components; the first chassis 9316 is used to install the platform conveying component 9312 , and the position adjustment component includes a first direction movement adjustment member 9313 , a second direction movement adjustment member 9315 and a third direction movement adjustment member 9314 . Wherein, the first direction movement adjusting member 9313 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move forward and backward along the length direction of the platform conveying assembly 9312; the second direction moving adjusting member 9315 is located on the first chassis 9316, It is used to drive the platform conveying assembly 9312 to move along the width direction of the platform conveying assembly 9312; the third direction movement adjustment member 9314 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move along the vertical direction of the platform conveying assembly 9312. In some optional implementations, the first direction movement adjustment part 9313, the second direction movement adjustment part 9315 and the third direction movement adjustment part 9314 have the same structure, such as setting the motor to drive the rack and pinion structure for power drive, more Preferably, a guide mechanism is also included to guide the movement of the moving adjustment member in various directions, so that the movement is more stable. Taking the second direction movement adjustment member 9315 as an example for illustration, the first base frame 9316 includes two sets of guide structures, the second driving motor and the nut screw mechanism, the screw rod is connected with the second driving motor, and the nut is set on the screw rod and the nut is fixed on the bottom of the platform conveying assembly 9312, the screw rod and the guide structure are arranged along the width direction of the platform conveying assembly 9312, driven by the second drive motor, the screw mandrel rotates to drive the nut on the platform conveying assembly 9312 Move in the width direction; meanwhile, the bottom of the platform conveying assembly 9312 is also provided with a guide, and the guide cooperates with the guide rail arranged on the first chassis 9316 to guide. In other embodiments, the adjustment parts for moving in various directions can be set as required, all within the protection scope of the present application.
采用本申请实施例中提供的一种轨道交通联控输送***，具有以下技术效果：Adopting a rail transit joint control conveying system provided in the embodiment of the application has the following technical effects:
第一，在站台上设置站台输送***931，在轨道车辆上设置车门处输送***932，总控装置分别与站台输送***931和车门处输送***932连接，以使二者对接，以能够在站台和轨道车辆上进行货物输送，实现轨道车辆和站台上货物的自动化传输，同时能够进行合理分工和有效衔接，提高货物转运效率，为综合交通运输体系的搭建做好基础；First, a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle. Carry out cargo transportation on rail vehicles, realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
第二，站台输送***931包括与总控装置连接的站台输送装置，通过站台输送组件9312进行货物的输送，使得货物能够在车门处输送***932和站台间进行相互传输；Second, the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
第三，通过设置位置调节组件带动站台输送组件9312进行空间位置调节，以能够将站台输送组件9312和车门处输送***932进行对接，进一步提高对接效率以及传输效率，减少人工操作，实现轨道交通联控输送***的智能化发展，满足现代物流发展要求。Thirdly, the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit. The intelligent development of the control conveying system meets the development requirements of modern logistics.
在该具体实施例中，第一底架9316为矩形框架，第三方向移动调节件9314位于第一底架9316的顶角处，第三方向移动调节件9314包括第三安装座93143、第三支撑座93144、第三驱动电机93141和第三升降机构93142。第三安装座93143与第一底架9316固定连接，第三驱动电机93141和第三升降机构93142分别固定于第三安装座93143上，第三驱动电机93141与第三升降机构93142连接；第三升降机构93142设置为丝杠升降机和梯形升降丝杆，丝杠升降机、第三驱动电机93141间设有联轴器，丝杠升降机、第三驱动电机93141和联轴器均设置在第三安装座93143上，梯形升降丝杆的一端穿过第三安装座93143与第三支撑座93144转动连接，第三支撑座93144的一端与地面接触，另一端与贯穿第三安装座93143的第三升降机构93142连接，第三驱动电机93141驱动第三升降机构93142动作，以带动第三安装座93143和第一底架9316沿垂向移动，由此以实现第一底架9316上的站台输送组件9312沿垂向的移动；第三方向移动调节件9314结构简单、便于设置。在其他实施例中，第三方向移动调节件9314可根据需要进行设置，均在本申请的保护范围内。在一种实施例中，为了便于各方向移动调节件的设置，在站台输送组件9312的垂向方向上，第一方向移动调节件9313、第二方向移动调节件9315和第三方向移动调节件9314自上至下依次设置。In this specific embodiment, the first base frame 9316 is a rectangular frame, the third direction movement adjustment member 9314 is located at the top corner of the first base frame 9316, and the third direction movement adjustment member 9314 includes a third mounting seat 93143, a third Support base 93144, third driving motor 93141 and third lifting mechanism 93142. The third mounting base 93143 is fixedly connected with the first chassis 9316, the third driving motor 93141 and the third elevating mechanism 93142 are respectively fixed on the third mounting base 93143, the third driving motor 93141 is connected with the third elevating mechanism 93142; The lifting mechanism 93142 is set as a lead screw lift and a trapezoidal lift screw, and a coupling is provided between the lead screw lift and the third driving motor 93141, and the lead screw lift, the third driving motor 93141 and the coupling are all arranged on the third mounting seat On 93143, one end of the trapezoidal lifting screw passes through the third mounting base 93143 and is rotationally connected to the third supporting base 93144, one end of the third supporting base 93144 is in contact with the ground, and the other end is connected to the third lifting mechanism passing through the third mounting base 93143 93142 is connected, and the third drive motor 93141 drives the third elevating mechanism 93142 to move vertically to drive the third mounting base 93143 and the first chassis 9316, thereby realizing the platform conveying assembly 9312 on the first chassis 9316 to move along the vertical direction. Vertical movement; the third direction movement adjustment member 9314 has a simple structure and is convenient for setting. In other embodiments, the third direction movement adjusting member 9314 can be set as required, all of which are within the protection scope of the present application. In one embodiment, in order to facilitate the setting of the movement adjustment parts in various directions, in the vertical direction of the platform conveying assembly 9312, the first direction movement adjustment part 9313, the second direction movement adjustment part 9315 and the third direction movement adjustment part 9314 are set sequentially from top to bottom.
在该具体实施例中，站台输送组件9312包括第一输送组件安装架93121、若干个第一积放滚筒93122和第一积放滚筒93122驱动单元。其中，各个第一积放滚筒93122的长度方向的两端分别与第一输送组件安装架93121转动连接；各第一积放滚筒93122沿第一输送组件安装架93121的长度方向设置。在一些可选的实现方式中，第一积放滚筒93122驱动单元设置在第一输送组件安装架93121上，第一积放滚筒93122驱动单元与各个第一积放滚筒93122连接，以驱动第一积放滚筒93122沿自身轴线转动，驱动第一积放滚筒93122上的货物沿输送方向移动。同时，第一积放滚筒93122驱动单元可以为驱动电机和驱动机构的组成，驱动机构如齿轮链条结构等，齿轮和驱动电机连接，链条与各第一积放滚筒93122连接；在其他实施例中，可根据需要设置第一积放滚筒93122驱动单元的结构，均在本申请的保护范围内。In this specific embodiment, the platform conveying assembly 9312 includes a first conveying assembly mounting frame 93121 , several first accumulation rollers 93122 and a driving unit for the first accumulation rollers 93122 . Wherein, both ends of the length direction of each first accumulation roller 93122 are respectively rotatably connected with the first conveying assembly mounting frame 93121; each first accumulation roller 93122 is arranged along the length direction of the first conveying assembly mounting frame 93121. In some optional implementation manners, the driving unit of the first accumulation roller 93122 is arranged on the installation frame 93121 of the first conveying assembly, and the driving unit of the first accumulation roller 93122 is connected with each first accumulation roller 93122 to drive the first The accumulating roller 93122 rotates along its own axis, driving the goods on the first accumulating roller 93122 to move along the conveying direction. At the same time, the driving unit of the first accumulation drum 93122 can be composed of a driving motor and a driving mechanism. The driving mechanism is such as a gear chain structure, etc., the gear is connected to the driving motor, and the chain is connected to each first accumulation drum 93122; in other embodiments , the structure of the driving unit of the first accumulation drum 93122 can be set as required, all of which are within the protection scope of the present application.
为了货物在第一输送组件上更好地移动，第一输送组件安装架93121的上表面、沿宽度方向的两端设有第一导向条，第一导向条沿第一输送组件安装架93121的长度方向延伸，可以理解的是，第一导向条的侧壁和第一输送组件安装架93121的上表面形成U形槽，以对货物进行导向及限位，防止货物从第一输送组件的宽度方向倾倒滑脱。In order for the goods to move better on the first conveying assembly, the upper surface of the first conveying assembly mounting frame 93121 and both ends along the width direction are provided with first guide strips, and the first guiding strips are along the sides of the first conveying assembly mounting frame 93121. Extending in the length direction, it can be understood that the side wall of the first guide bar and the upper surface of the first conveying assembly mounting frame 93121 form a U-shaped groove to guide and limit the goods and prevent the goods from moving from the width of the first conveying assembly. Orientation tipped and slipped.
进一步地，为了与车门更好地进行对接，还包括车门位置检测组件，其用于检测已到站的轨道车辆的车门的位置，车门位置检测组件与总控装置连接；总控装置根据检测到的车门的位置，控制位置调节组件动作，以将站台输送组件9312的输出端与车门处输送***932对接。车门位置检测组件可设置为红外传感器、图像采集器或者其他检测组件，只要能够达到相同的技术效果即可。具体的，车门位置检测组件为激光测距传感器。Further, in order to better dock with the car door, it also includes a car door position detection component, which is used to detect the position of the car door of the rail vehicle that has arrived at the station, and the car door position detection component is connected with the master control device; The position of the car door is controlled, and the action of the position adjustment component is controlled to connect the output end of the platform conveying component 9312 with the conveying system 932 at the car door. The vehicle door position detection component can be set as an infrared sensor, an image collector or other detection components, as long as the same technical effect can be achieved. Specifically, the vehicle door position detection component is a laser ranging sensor.
更进一步地，为了在货物输送完成后、站台输送组件9312的归位，在第一底架9316的底部设置行走驱动组件，行走驱动组件与总控装置连接，总控装置根据上位机的指令控制行走驱动组件沿预设路线行走。行走驱动组件可设置为电机和行走轮的组合结构，通过总控装置控制行走驱动组件沿预设路线行走，以使得站台输送组件9312在完成作业后，能够自动移动至初始位进行收纳，更进一步提高站台输送***931的自动化程度，优化站台空间布置，一体化程度更高。Furthermore, in order to return the platform conveying assembly 9312 after the goods are conveyed, a traveling drive assembly is installed at the bottom of the first underframe 9316, and the traveling driving assembly is connected to the master control device, which controls according to the instructions of the host computer. The travel drive assembly travels along a preset route. The walking drive assembly can be set as a combined structure of a motor and a walking wheel. The general control device controls the walking drive assembly to walk along a preset route, so that the platform conveying assembly 9312 can automatically move to the initial position for storage after completing the operation. Improve the degree of automation of the platform conveying system 931, optimize the space layout of the platform, and achieve a higher degree of integration.
在另一实施例中，本申请还包括车门输送装置9322，设置于货运车厢上。具体包括第二底架9323、翻转驱动组件9324、第一车门输送组件93221和第二车门输送组件93222。其中，第二底架9323用于可拆卸的连接于车辆地板上；第二底架9323用于安装第一车门输送组件93221和第二车门输送组件93222以及翻转驱动组件9324，第一车门输送组件93221和第二车门输送组件93222依次设置，第二车门输送组件93222能够延伸至车门处；如在沿轨道车辆的宽度方向上顺序设置，使得车厢内的货物依次经过第一车门输送组件93221和第二车门输送组件93222 运输至车门处。而为了优化车厢内部空间，将第一车门输送组件93221和第二车门输送组件93222设置为可翻转结构；或者，在一种实施例中，翻转驱动组件9324的一端与第二底架9323铰接，另一端与第二车门输送组件93222铰接，以使第二车门输送组件93222能够在第一状态和第二状态之间翻转，其中，第一状态时，第二车门输送组件93222向第一车门输送组件93221方向翻转用于收缩至轨道车辆的车厢内；第二状态时，第二车门输送组件93222向远离第一车门输送组件93221方向翻转，用以延伸至车门处并对接站台输送***931。In another embodiment, the present application further includes a door conveying device 9322, which is arranged on the freight car. Specifically, it includes a second chassis 9323 , an overturning drive assembly 9324 , a first door conveying assembly 93221 and a second door conveying assembly 93222 . Wherein, the second base frame 9323 is used for detachably connecting on the vehicle floor; the second base frame 9323 is used for installing the first car door conveying assembly 93221, the second car door conveying assembly 93222 and the turning drive assembly 9324, the first car door conveying assembly 93221 and the second door conveying assembly 93222 are arranged in sequence, and the second door conveying assembly 93222 can extend to the door; if arranged in sequence along the width direction of the rail vehicle, the goods in the compartment pass through the first door conveying assembly 93221 and the second door conveying assembly 93221 in sequence The second door conveying assembly 93222 is transported to the door. In order to optimize the interior space of the compartment, the first door conveying assembly 93221 and the second door conveying assembly 93222 are configured as reversible structures; or, in one embodiment, one end of the reversing drive assembly 9324 is hinged to the second chassis 9323, The other end is hinged with the second door delivery assembly 93222, so that the second door delivery assembly 93222 can turn over between the first state and the second state, wherein, in the first state, the second door delivery assembly 93222 delivers to the first door The direction of the component 93221 is reversed for shrinking into the compartment of the rail vehicle; in the second state, the second door conveying component 93222 is reversed away from the first door conveying component 93221 to extend to the door and dock with the platform conveying system 931.
在一些可选的实现方式中，第一状态时，第一车门输送组件93221处于水平状态，第二车门输送组件93222处于竖直状态；第二状态时，第一车门输送组件93221和第二车门输送组件93222均处于水平状态。由此设置，在无需进行作业时，翻转第二车门输送组件93222以优化车门内部空间，提高空间利用率。In some optional implementations, in the first state, the first door conveying assembly 93221 is in a horizontal state, and the second door conveying assembly 93222 is in a vertical state; in the second state, the first door conveying assembly 93221 and the second door conveying assembly The conveying components 93222 are all in a horizontal state. Therefore, when no work is required, the second door delivery assembly 93222 can be turned over to optimize the interior space of the door and improve space utilization.
具体的，翻转驱动组件9324包括转轴和翻转驱动缸。其中，转轴沿第一车门输送组件93221的宽度方向设置，且第二车门输送组件93222套装于转轴上，能够绕转轴转动；翻转驱动缸一端铰接于第二底架9323上，另一端与第二车门输送组件93222的侧壁铰接，翻转驱动缸位于转轴的下方，且在第一车门输送组件93221的长度方向上，翻转驱动缸和转轴间设有间隔，由此以能够实现第二车门输送组件93222的翻转。翻转驱动缸可设置为液压缸或气缸等，可根据现有技术的发展水平进行设置，均在本申请的保护范围内。Specifically, the turning drive assembly 9324 includes a rotating shaft and a turning driving cylinder. Wherein, the rotating shaft is arranged along the width direction of the first car door conveying assembly 93221, and the second car door conveying assembly 93222 is set on the rotating shaft and can rotate around the rotating shaft; The side wall of the car door conveying assembly 93222 is hinged, the turning drive cylinder is located below the rotating shaft, and in the length direction of the first car door conveying assembly 93221, there is an interval between the turning driving cylinder and the rotating shaft, so as to realize the second car door conveying assembly 93222's flip. The overturn driving cylinder can be set as a hydraulic cylinder or an air cylinder, etc., and can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
在一种实施例中，第一车门输送组件93221和第二车门输送组件93222均包括第二输送组件安装架9326、若干个第二积放滚筒9327和第二积放滚筒9327驱动单元。其中，各个第二积放滚筒9327的长度方向的两端分别与第二输送组件安装架9326转动连接；转轴位于第二输送组件安装架9326上；或者，转轴位于第一车门输送组件93221的第二输送组件安装架9326上，以使第一车门输送组件93221和第二车门输送组件93222连接处的结构更为紧凑。In one embodiment, both the first vehicle door conveying assembly 93221 and the second vehicle door conveying assembly 93222 include a second conveying assembly mounting frame 9326, a plurality of second accumulation rollers 9327 and a driving unit for the second accumulation rollers 9327. Wherein, the two ends of the length direction of each second accumulating roller 9327 are rotatably connected with the second conveying assembly mounting frame 9326 respectively; the rotating shaft is located on the second conveying assembly mounting frame 9326; The second conveying assembly is installed on the frame 9326, so that the structure at the junction of the first car door conveying assembly 93221 and the second car door conveying assembly 93222 is more compact.
第二积放滚筒9327驱动单元与各个第二积放滚筒9327连接，以驱动第二积放滚筒9327沿自身轴线转动。其中，第二输送组件安装架9326的结构可参考上述的第一输送组件安装架93121的结构进行设置，同样地，第二积放滚筒9327驱动单元也可以参看第一积放滚筒93122驱动单元的结构进行设置。The driving unit of the second accumulation roller 9327 is connected with each second accumulation roller 9327 to drive the second accumulation roller 9327 to rotate along its own axis. Wherein, the structure of the second conveying assembly mounting frame 9326 can be set with reference to the above-mentioned structure of the first conveying assembly mounting frame 93121. Similarly, the driving unit of the second accumulation drum 9327 can also refer to the driving unit of the first accumulation drum 93122. structure is set.
在另一实施例中，第二输送组件安装架9326的上表面、沿宽度方向的两端设有第二导向条，第二导向条沿第二输送组件安装架9326的长度方向延伸，第二导向条对第二输送组件上的集装器的移动进行导向。同样地，第二导向条的结构可参考上述第一导向条的结构进行设置，在此不再赘述。In another embodiment, the upper surface of the second conveying assembly mounting frame 9326 and the two ends along the width direction are provided with second guide strips, and the second guiding strips extend along the length direction of the second conveying assembly mounting frame 9326. The guide bar guides the movement of the ULD on the second conveyor assembly. Likewise, the structure of the second guide bar can be set with reference to the structure of the above-mentioned first guide bar, and will not be repeated here.
具体的，还包括集装器到位检测组件9325，集装器到位检测组件9325位于第一车门输送组件93221的第二底架9323上，集装器到位检测组件9325用于对移动至第一车门输送组件93221上、预设位置处的集装器进行到位检测；集装器到位检测组件9325可设置为位置开关、红外传感器等，总控装置与集装器到位检测组件9325连接，总控装置根据集装器的到位信号从第一车门输送组件93221上取货，并放至货架上；或者将货物从货架上放在第一车门输送组件93221上，总控装置根据集装器的到位信号可以控制第二车门输送组件93222翻转至水平状态。Specifically, it also includes a container in-position detection assembly 9325, which is located on the second chassis 9323 of the first door conveying assembly 93221, and the container in-position detection assembly 9325 is used to check the movement to the first car door The ULD at the preset position on the conveying component 93221 performs in-position detection; the ULD in-position detection component 9325 can be set as a position switch, an infrared sensor, etc., and the master control device is connected with the ULD in-position detection component 9325, and the master control device Pick up the goods from the first door conveying assembly 93221 according to the arrival signal of the container, and put them on the shelf; or put the goods from the shelf on the first door conveying assembly 93221, and the master control device according to the arrival signal of the container The second vehicle door conveying assembly 93222 can be controlled to turn over to a horizontal state.
在一种实施例中，本申请还提供了一种站台输送***931，包括站台控制装置9311和与其连接的站台输送装置，站台输送装置包括：站台输送组件9312，用于输送货物，站台输送组件9312的一端位于站台上，另一端用于与车门处输送***932对接；位置调节组件，与站台输送组件9312连接，位置调节组件用于带动站台输送组件9312进行空间位置调节；站台控制装置9311分别与站台输送组件9312和位置调节组件连接，站台控制装置9311控制位置调节组件动作，以将站台输送组件9312与车门处输送***932对接。In one embodiment, the present application also provides a platform conveying system 931, including a platform control device 9311 and a platform conveying device connected thereto. The platform conveying device includes: a platform conveying assembly 9312 for conveying goods, and a platform conveying assembly One end of 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; the position adjustment component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position; the platform control device 9311 is respectively Connected with the platform conveying component 9312 and the position adjusting component, the platform control device 9311 controls the action of the position regulating component to dock the platform conveying component 9312 with the conveying system 932 at the door.
其中，总控装置包括站台控制装置9311以及车门控制装置9321，总控装置分别与站台控制装置9311以及车门控制装置9321无线通信连接，以进行远程控制。或者，站台控制装置9311作为独立的控制单元，可以进行手动控制，如设置为控制按钮或开关等控制设备，均在本申请的保护范围内。Wherein, the master control device includes a platform control device 9311 and a vehicle door control device 9321, and the master control device is respectively connected with the platform control device 9311 and the vehicle door control device 9321 through wireless communication for remote control. Or, as an independent control unit, the platform control device 9311 can be manually controlled, such as being set as control devices such as control buttons or switches, all of which are within the protection scope of the present application.
在另一种实施例中，本申请还提供了一种车门处输送***932，包括车门控制装置9321和车门输送装置9322，车门输送装置9322用于固定在轨道车辆车门处，车门输送装置9322与车门控制装置9321连接，车门输送装置9322包括：第二底架9323，第二底架9323用于可拆卸的连接于车辆地板上；第一车门输送组件93221和第二车门输送组件93222，分别位于第二底架9323上，第一车门输送组件93221和第二车门输送组件93222依次设置，且第二车门输送组件93222能够延伸至车门处；翻转驱动组件9324，翻转驱动组件9324的一端与第二底架9323铰接，另一端与第二车门输送组件93222铰接；车门控制装置9321控制翻转驱动组件9324动作，以使第二车门输送组件93222能够在第一状态和第二状态之间翻转；其中，第一状态时，第二车门输送组件93222向第一车门输送组件93221方向翻转用于收缩至轨道车辆的车厢内；第二状态时，第二车门输送组件93222向远离第一车门输送组件93221方向翻转，用以延伸至车门处并对接站台输送***931。In another embodiment, the present application also provides a delivery system 932 at the door, including a door control device 9321 and a door delivery device 9322, the door delivery device 9322 is used to be fixed at the door of a rail vehicle, and the door delivery device 9322 and The car door control device 9321 is connected, and the car door conveying device 9322 includes: a second chassis 9323, which is used to detachably connect to the vehicle floor; a first car door conveying assembly 93221 and a second car door conveying assembly 93222, respectively located On the second chassis 9323, the first car door conveying assembly 93221 and the second car door conveying assembly 93222 are arranged in sequence, and the second car door conveying assembly 93222 can extend to the door; The bottom frame 9323 is hinged, and the other end is hinged with the second door conveying assembly 93222; the door control device 9321 controls the turning drive assembly 9324 to move, so that the second door conveying assembly 93222 can turn over between the first state and the second state; wherein, In the first state, the second door conveying assembly 93222 is flipped toward the direction of the first door conveying assembly 93221 for shrinking into the compartment of the rail vehicle; in the second state, the second door conveying assembly 93222 is turned away from the first door conveying assembly 93221 Turn over to extend to the door and dock with the platform conveyor system 931 .
车门控制装置9321与车辆控制***通信连接，以接收车门信号，当车门打开后，发送车门开启信号至车门控制装置9321，使第二车门输送组件93222向远离第一车门输送组件93221方向翻转。The door control device 9321 communicates with the vehicle control system to receive the door signal. When the door is opened, the door opening signal is sent to the door control device 9321, so that the second door conveying assembly 93222 turns away from the first door conveying assembly 93221.
具体的作业过程为：当轨道车辆停站后，总控装置控制翻转驱动组件动作，使第二车门输送组件翻转至第二状态，第一车门输送组件和第二车门输送组件均处于水平状态；总控装置根据接收到的作业指令，控制位置调节组件调整站台输送组件的空间位置，并通过车门位置检测组件进行反馈，以使站台输送组件与第二车门输送组件对接；总控装置在对接后，控制堆垛***进行相应的动作。The specific operation process is as follows: when the rail vehicle stops at the station, the master control device controls the action of the turning drive assembly, so that the second door conveying assembly is turned over to the second state, and the first door conveying assembly and the second door conveying assembly are in a horizontal state; The master control device controls the position adjustment component to adjust the spatial position of the platform conveying component according to the received operation instructions, and gives feedback through the door position detection component, so that the platform conveying component is docked with the second door conveying component; after docking, the master control device , to control the stacking system to perform corresponding actions.
采用本申请实施例中提供的一种站台输送***931或一种车门处输送***932，相较于现有技术，具有以下技术效果：Using a platform conveying system 931 or a vehicle door conveying system 932 provided in the embodiment of the present application, compared with the prior art, has the following technical effects:
第一，在站台上设置站台输送***931，在轨道车辆上设置车门处输送***932，总控装置分别与站台输送***931和车门处输送***932连接，以使二者对接，以能够在站台和轨道车辆上进行货物输送，实现轨道车辆和站台上货物的自动化传输，同时能够进行合理分工和有效衔接，提高货物转运效率，为综合交通运输体系的搭建做好基础；First, a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle. Carry out cargo transportation on rail vehicles, realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
第二，站台输送***931包括与总控装置连接的站台输送装置，通过站台输送组件9312进行货物的输送，使得货物能够在车门处输送***932和站台间进行相互传输；Second, the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
第三，通过设置位置调节组件带动站台输送组件9312进行空间位置调节，以能够将站台输送组件9312和车门处输送***932进行对接，进一步提高对接效率以及传输效率，减少人工操作，实现轨道交通联控输送***的智能化发展，满足现代物流发展要求。Thirdly, the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit. The intelligent development of the control conveying system meets the development requirements of modern logistics.
本申请还提供了一种轨道车辆，包括货运车箱，货运车厢的车门处设有上述实施例任一项的车门处输送***932，由于该轨道车辆采用了上述实施例中的车门处输送***932，所以该轨道车辆的有益效果请参考上述实施例。The present application also provides a rail vehicle, including a freight car, and the door of the freight car is provided with a delivery system 932 at the door of any one of the above-mentioned embodiments, because the rail vehicle adopts the delivery system 932 at the door of the above-mentioned embodiment , so please refer to the above-mentioned embodiments for the beneficial effects of the rail vehicle.
其中，货运车厢还包括货架和堆垛机，堆垛机与车门处输送***932对接，用以将第一车门输送组件93221上的集装器移动至货架上存储。Wherein, the freight compartment also includes a shelf and a stacker, and the stacker is connected to the conveying system 932 at the door to move the ULD on the first door conveying assembly 93221 to the shelf for storage.
图8为本申请实施例提供的一种轨道车辆的堆垛***的轴测结构示意图；图9为图8的主视结构示意图；图10为图8的侧向结构示意图。如图8至图10所示，本申请还提供一种堆垛***91，其包括堆垛机机架911、货叉912、堆垛机行走驱动装置和控制装置913。堆垛机机架911优选为矩形框架，矩形框架的各棱边间均可拆卸的连接，以便于生产加工。货叉912位于堆垛机机架911上，用于对集装器进行取放。堆垛机行走驱动装置同样位于堆垛机机架911上，用于带动堆垛机在轨道车辆内行走，堆垛机行走驱动装置可为电机和行走轮的组成结构，在一些可选的实现方式中，在轨道车辆的地板上设置有预设轨道，如滑轨，与行走轮配合，对堆垛机行走驱动装置的走行提供预设轨道，以简化控制操作。在其他实施例中，可根据需要设置堆垛机行走驱动装置的结构，只要能够达到相同的技术效果即可。控制装置913与车辆总控***连接，且控制装置913分别与货叉912和堆垛机行走驱动装置连接，控制装置913用于控制堆垛机行走驱动装置行走至与轨道车辆货架对应位置处，并控制货叉912动作、对集装器进行取放，由此以将车门输送***上的集装器取走，或者将轨道车辆货架上的集装器送至车门输送***上。Fig. 8 is a schematic diagram of the axonometric structure of a rail vehicle stacking system provided by an embodiment of the present application; Fig. 9 is a schematic diagram of the front view of Fig. 8; Fig. 10 is a schematic diagram of the lateral structure of Fig. 8 . As shown in FIGS. 8 to 10 , the present application also provides a stacking system 91 , which includes a stacker frame 911 , a pallet fork 912 , a driving device and a control device 913 for the stacker. The stacker frame 911 is preferably a rectangular frame, and each edge of the rectangular frame can be detachably connected to facilitate production and processing. The pallet forks 912 are located on the stacker frame 911 and are used to pick and place the container. The stacker travel driving device is also located on the stacker frame 911, and is used to drive the stacker to travel in the rail vehicle. The stacker travel driving device can be composed of a motor and a traveling wheel. In some optional implementations In the method, a preset track, such as a slide rail, is set on the floor of the rail vehicle, which cooperates with the traveling wheels to provide a preset track for the travel of the stacker driving device to simplify the control operation. In other embodiments, the structure of the travel driving device of the stacker can be set as required, as long as the same technical effect can be achieved. The control device 913 is connected with the vehicle master control system, and the control device 913 is respectively connected with the fork 912 and the stacker travel drive device, and the control device 913 is used to control the stacker travel drive device to travel to the position corresponding to the rail vehicle shelf, And control the movement of the pallet fork 912 to pick and place the ULD, so as to take away the ULD on the car door conveying system, or send the ULD on the rail vehicle shelf to the car door conveying system.
堆垛***的控制装置913能够接收车辆总控***发出的信号，以作出相应的工作状态，如当车辆总控***向控制装置913发出即将到站信号时，控制装置913根据该到站信号进行相应的动作。The control device 913 of the stacking system can receive the signal sent by the vehicle master control system to make a corresponding working state. For example, when the vehicle master control system sends a signal to the control device 913 that it is about to arrive at the station, the control device 913 will carry out the process according to the arrival signal. corresponding action.
采用本申请实施例中提供的一种轨道车辆的堆垛***91，相较于现有技术，具有以下技术效果：Compared with the prior art, the stacking system 91 of a rail vehicle provided in the embodiment of the present application has the following technical effects:
本申请通过控制装置913分别与货叉912和堆垛机行走驱动装置连接，能够控制堆垛机行走驱动装置行走至与轨道车辆货架对应位置处，控制货叉912动作，对集装器进行取放。由此设置，以实现对货物的自动化取放货，提高轨道车辆的自动化程度，提高物流周转速度和效率，为综合交通运输网络的搭建提供基础。In this application, the control device 913 is respectively connected with the pallet fork 912 and the travel driving device of the stacker, so that the travel drive device of the stacker can be controlled to travel to the position corresponding to the rail vehicle shelf, and the movement of the pallet fork 912 is controlled to remove the container. put. It is set up to realize the automatic pick-up and release of goods, improve the automation of rail vehicles, improve the speed and efficiency of logistics turnover, and provide a foundation for the construction of an integrated transportation network.
具体的，为了简化货物信息的录入操作、能够对货物信息进行统一管理，还包括扫码装置9110，固定于堆垛机机架911上，扫码装置9110用于对集装器进行扫码，并将集装器信息发送至控制装置913；控制装置913根据集装器信息确定货物在货架上的位置信息，并根据位置信息控制堆垛机行走驱动装置行走至与轨道车辆货架对应位置处。其中，在集装器信息的载体可设置为固定在集装器上的电子标签，如二维码或条形码等。Specifically, in order to simplify the entry operation of the cargo information and enable unified management of the cargo information, a code scanning device 9110 is also included, which is fixed on the stacker frame 911. The code scanning device 9110 is used to scan the code of the ULD, And the container information is sent to the control device 913; the control device 913 determines the position information of the goods on the shelf according to the container information, and controls the stacker driving device to travel to the position corresponding to the rail vehicle shelf according to the position information. Among them, the carrier of the information on the container can be set as an electronic label fixed on the container, such as a two-dimensional code or a bar code.
在另一实施例中，还包括货叉912动力驱动装置，一端固定于堆垛机机架911上，另一端与货叉912连接；其能够带动货叉912相对于堆垛机机架911进行移动；货叉912动力驱动装置与控制装置913连接，控制装置913用于控制货叉912动力驱动装置带动货叉912沿贯穿堆垛机机架911的宽度方向移动，以将货物从堆垛机机架911宽度方向的一端穿过堆垛机机架911移动至另一端。可以理解的是，堆垛机机架911的宽度方向与堆垛机机架911的行进方向垂直设置，堆垛机机架911的宽度方向的两端分别对应车门输送***和轨道车辆货架，由此以在货叉912沿贯穿堆垛机机架911的宽度方向移动时，能够将货物从车门输送***和轨道车辆货架间往复输送，以根据轨道车辆的内部空间优化货叉912的运动方向，提高空间利用率，简化运输路线。In another embodiment, it also includes a power drive device for a pallet fork 912, one end of which is fixed on the stacker frame 911, and the other end is connected with the pallet fork 912; Move; the power drive device of the pallet fork 912 is connected with the control device 913, and the control device 913 is used to control the power drive device of the pallet fork 912 to drive the pallet fork 912 to move along the width direction running through the stacker frame 911, so as to move the goods from the stacker One end in the width direction of the frame 911 passes through the stacker frame 911 and moves to the other end. It can be understood that the width direction of the stacker frame 911 is perpendicular to the direction of travel of the stacker frame 911, and the two ends of the width direction of the stacker frame 911 correspond to the door conveying system and the rail vehicle shelf respectively. This is so that when the fork 912 moves along the width direction through the stacker frame 911, the goods can be reciprocated from the door conveying system and the rail vehicle shelf, so as to optimize the movement direction of the fork 912 according to the internal space of the rail vehicle. Improve space utilization and simplify transportation routes.
图11为图10中局部结构放大示意图，图12为图11的俯视结构示意图，图13为本申请实施例提供的货叉的第一剖视结构示意图，图14为本申请实施例提供的货叉的第二剖视结构示意图，图15为本申请实施例提供的货叉的第三剖视结构示意图，图16为图4的局部结构放大示意图，图17为图16的局部结构放大示意图。如图11至图17所示，具体的，货叉912动力驱动装置包括货叉912动力驱动件，货叉912动力驱动件包括货叉动力件91251和货叉912驱动件，货叉动力件91251为电机，货叉912驱动件包括驱动齿轮91252和与其配合的驱动齿条91253，驱动齿条91253固定于货叉912上、且沿货叉912的长度方向设置；货叉动力件91251和驱动齿轮91252分别位于堆垛机机架911上，货叉动力件91251与驱动齿轮91252连接，以驱动驱动齿轮91252转动、带动驱动齿条91253和货叉912移动。在其他实施例中，货叉912动力驱动件可设置为滑块滑轨机构，可根据需要进行设置。Figure 11 is an enlarged schematic view of the partial structure in Figure 10, Figure 12 is a schematic top view of Figure 11, Figure 13 is a first cross-sectional structural schematic view of the fork provided by the embodiment of the present application, and Figure 14 is a schematic view of the fork provided by the embodiment of the present application The second sectional structure schematic diagram of the fork, Fig. 15 is the third sectional structural schematic diagram of the fork provided by the embodiment of the present application, Fig. 16 is the enlarged partial structure schematic diagram of Fig. 4, and Fig. 17 is the enlarged partial structural schematic diagram of Fig. 16 . As shown in Figures 11 to 17, specifically, the power driving device of the fork 912 includes a power driving part of the fork 912, and the power driving part of the fork 912 includes a power part 91251 of the fork and a driving part of the fork 912, and a power part of the fork 91251 It is a motor, and the driving part of the pallet fork 912 includes a driving gear 91252 and a driving rack 91253 matched therewith. The driving rack 91253 is fixed on the pallet fork 912 and arranged along the length direction of the pallet fork 912; 91252 are located on the stacker frame 911 respectively, and the power part 91251 of the pallet fork is connected with the driving gear 91252 to drive the driving gear 91252 to rotate, drive the driving rack 91253 and the pallet fork 912 to move. In other embodiments, the power driving part of the pallet fork 912 can be set as a slider slide rail mechanism, which can be set as required.
进一步地，为了能够优化货叉912的伸出运动，该货叉912包括在堆垛机机架911的垂向方向上，自下至上依次叠放的固定货叉9128、一级货叉9121和二级货叉9122，固定货叉9128固定于堆垛机机架911上，一级货叉9121能够相对于固定货叉9128移动，二级货叉9122能够相对于一级货叉9121移动。在一些可选的实现方式中，在固定货叉9128和堆垛机机架911之间、固定货叉9128和一级货叉9121间、一级货叉9121和二级货叉9122间分别设置滑移驱动机构，以分别进行多级伸出或缩回，能够在满足集装器位置需求的同时，在缩回时能够优化空间设 置，使得货叉912不会阻碍其他设备的正常行进。Further, in order to optimize the extension movement of the pallet fork 912, the pallet fork 912 includes a fixed pallet 9128, a first-stage pallet fork 9121 and The secondary fork 9122 and the fixed fork 9128 are fixed on the stacker frame 911, the primary fork 9121 can move relative to the fixed fork 9128, and the secondary fork 9122 can move relative to the primary fork 9121. In some optional implementations, between the fixed fork 9128 and the stacker frame 911, between the fixed fork 9128 and the first-level fork 9121, between the first-level fork 9121 and the second-level fork 9122, respectively The sliding drive mechanism can respectively perform multi-stage extension or retraction, which can meet the position requirements of the container and optimize the space setting when retracting, so that the fork 912 will not hinder the normal travel of other equipment.
为了实现各货叉912之间的同步伸缩运动，货叉912动力驱动装置与二级货叉9122连接，以驱动二级货叉9122相对于固定货叉9128移动。其中，在堆垛机机架911的宽度方向上，货架动力驱动装置还包括：伸出链条9127和缩回链条9123。In order to realize the synchronous telescopic movement between the forks 912 , the power drive device of the forks 912 is connected with the secondary forks 9122 to drive the secondary forks 9122 to move relative to the fixed forks 9128 . Wherein, in the width direction of the stacker frame 911 , the rack power driving device further includes: an extending chain 9127 and a retracting chain 9123 .
如图14、15所示，伸出链条9127的第一端与固定货叉9128的后端固定连接；第二端自固定货叉9128的后端、一级货叉9121的下壁后端绕至一级货叉9121的上壁前端、向一级货叉9121的上壁后端延伸，且与二级货叉9122的下壁后端固定；伸出链条9127与一级货叉9121的前端滑动连接；缩回链条9123的第一端与固定货叉9128的前端固定连接，第二端自所述固定货叉9128的前端、一级货叉9121的下壁后端绕至一级货叉9121的上壁前端、自一级货叉9121的上壁前端向前延伸、与二级货叉9122的下壁前端固定；伸出链条9127与一级货叉9121的前端滑动连接。由此设置，当货叉912动力驱动装置带动一级货叉9121移动时，通过伸出链条9127和缩回链条9123，带动二级货叉9122实现伸出和缩回，可以理解的是，固定货叉9128固定在堆垛机机架911上，为一级货叉9121和二级货叉9122提供支撑。As shown in Figures 14 and 15, the first end of the protruding chain 9127 is fixedly connected to the rear end of the fixed fork 9128; It extends to the front end of the upper wall of the first-level fork 9121, extends to the rear end of the upper wall of the first-level fork 9121, and is fixed to the rear end of the lower wall of the second-level fork 9122; extends the chain 9127 and the front end of the first-level fork 9121 Sliding connection; the first end of the retracting chain 9123 is fixedly connected to the front end of the fixed fork 9128, and the second end is wound from the front end of the fixed fork 9128 and the rear end of the lower wall of the first-level fork 9121 to the first-level fork The front end of the upper wall of 9121 extends forward from the front end of the upper wall of the first-level cargo fork 9121, and is fixed with the front end of the lower wall of the second-level cargo fork 9122; Thus, when the power drive device of the fork 912 drives the first-level fork 9121 to move, the second-level fork 9122 is driven to extend and retract by extending the chain 9127 and retracting the chain 9123. It can be understood that the fixed Pallet fork 9128 is fixed on the stacker frame 911, provides support for primary pallet fork 9121 and secondary pallet fork 9122.
更进一步地，为了优化链条的滑动，货架动力驱动装置还包括伸出链轮91272和缩回链轮91232。其中，伸出链轮91272固定于一级货叉9121的前端、且能够沿自身轴线转动，伸出链轮91272与伸出链条9127咬合，以防止伸出链条9127直接与一级货叉9121的表面接触，减小摩擦力，提高滑动顺畅度；同理，缩回链轮91232固定于一级货叉9121的后端、且能够沿自身轴线转动，缩回链轮91232与缩回链条9123配合。为了实现链轮的安装，一级货叉9121的前端设有沿垂向贯通的伸出滑轮安装孔，用于安装伸出链轮91272；一级货叉9121的后端设有沿垂向贯通的缩回滑轮安装孔，用于安装缩回链轮91232。Furthermore, in order to optimize the sliding of the chain, the rack power drive device also includes an extension sprocket 91272 and a retraction sprocket 91232 . Wherein, the sprocket wheel 91272 is fixed on the front end of the first-level cargo fork 9121 and can rotate along its own axis. The sprocket wheel 91272 is engaged with the chain 9127 to prevent the chain 9127 from directly contacting the first-level cargo fork 9121. Surface contact reduces friction and improves sliding smoothness; similarly, the retracting sprocket 91232 is fixed on the rear end of the first-stage fork 9121 and can rotate along its own axis, and the retracting sprocket 91232 cooperates with the retracting chain 9123 . In order to realize the installation of the sprocket, the front end of the first-level cargo fork 9121 is provided with a vertically extending pulley mounting hole for installing the extending sprocket 91272; Retract Pulley Mounting Hole for Retract Sprocket 91232.
为了对链条进行支撑，货架动力驱动装置还包括伸出链条托板91271和缩回链条托板91231。其中，伸出链条托板91271分别固定于固定货叉9128和一级货叉9121的上壁、沿长度方向延伸设置，用以承托伸出链条9127；缩回链条托板91231分别固定于固定货叉9128和一级货叉9121的上壁、沿长度方向延伸设置，用以承托缩回链条9123。同时防止链条在伸出或缩回时，空闲的链条交叠、错位或出现缠绕等问题，保证位置统一，降低故障发生次数。In order to support the chain, the shelf power drive device also includes an extending chain support plate 91271 and a retracting chain support plate 91231 . Among them, the protruding chain supporting plate 91271 is respectively fixed on the upper wall of the fixed fork 9128 and the first-level fork 9121, and is extended along the length direction to support the protruding chain 9127; the retracting chain supporting plate 91231 is respectively fixed on the fixed The upper walls of the pallet fork 9128 and the primary pallet fork 9121 extend along the length direction, and are used to support the retraction chain 9123 . At the same time, when the chain is stretched out or retracted, problems such as overlapping, misalignment or winding of idle chains are prevented, ensuring a uniform position and reducing the number of failures.
为了对各级货叉912间的滑移进行更好地导向，货架动力驱动装置还包括导向组件，导向组件包括导向块91241和导向槽91242。其中，导向块91241固定于固定货叉9128的上壁上，且沿固定货叉9128的长度方向设置；导向槽91242固定于一级货叉9121的下壁上，且沿货叉912的长度方向设置；导向块91241优选位于固定货叉9128的宽度中心线上，导向槽91242进行相应地设置。由此设置，以防止固定货叉9128发生宽度方向晃动，提高货叉912在滑移过程中的稳定性。为了进一步提高稳定性，导向块91241的侧壁上设有沿固定货叉9128的长度方向延伸设置的限位导向槽91243；导向槽91242的侧壁上设有与限位导向槽91243配合的限位导向块91244。通过限位导向槽91243和限位导向块91244对固定货叉9128沿垂向方向的抖动进行限位，以进一步提高滑移过程中、垂向方向上的稳定性。在具体实施例中，导向块91241分别固定于固定货叉9128的上壁和一级货叉9121的上壁上，且沿货叉912的长度方向设置；导向块91241的侧壁上设有沿货叉912的长度方向延伸设置的限位导向槽91243；导向槽91242分别固定于一级货叉9121的下壁和二级货叉9122的下壁上，且沿货叉912的长度方向设置；导向槽91242的侧壁上设有与限位导向槽91243配合的限位导向块91244。为了在保证导向效果的同时、降低作业成本，导向块91241的个数为若干个，导向块91241分别沿货叉912的长度方向间隔设置。In order to better guide the sliding between the pallet forks 912 at all levels, the rack power drive device also includes a guide assembly, which includes a guide block 91241 and a guide groove 91242 . Among them, the guide block 91241 is fixed on the upper wall of the fixed fork 9128, and is arranged along the length direction of the fixed fork 9128; Setting; the guide block 91241 is preferably located on the width centerline of the fixed fork 9128, and the guide groove 91242 is set accordingly. Therefore, it is set to prevent the fixed fork 9128 from shaking in the width direction and improve the stability of the fork 912 during the sliding process. In order to further improve the stability, the side wall of the guide block 91241 is provided with a limit guide groove 91243 extending along the length direction of the fixed fork 9128; Bit guide block 91244. Vibration of the fixed fork 9128 in the vertical direction is limited by the limit guide groove 91243 and the limit guide block 91244, so as to further improve the stability in the vertical direction during the sliding process. In a specific embodiment, the guide block 91241 is respectively fixed on the upper wall of the fixed fork 9128 and the upper wall of the first-stage fork 9121, and is arranged along the length direction of the fork 912; The limit guide groove 91243 is extended in the length direction of the fork 912; the guide groove 91242 is respectively fixed on the lower wall of the first-level fork 9121 and the lower wall of the second-level fork 9122, and is arranged along the length direction of the fork 912; A limit guide block 91244 that cooperates with the limit guide groove 91243 is provided on the side wall of the guide groove 91242 . In order to reduce the operating cost while ensuring the guiding effect, the number of guiding blocks 91241 is several, and the guiding blocks 91241 are respectively arranged at intervals along the length direction of the pallet fork 912 .
在一种具体的实施例中，货叉912为两组，各组货叉912分别连接有一个货叉912驱动件；货叉动力件91251分别经各个货叉912驱动件带动各组货叉912同步动作。每组货叉912分别包括固定货叉9128、一级货叉9121、二级货叉9122、伸出链条9127和缩回链条9123。两组货叉912的货叉912驱动件采用同一个转轴带动，转轴的长度方向的两端分别设有驱动齿轮91252，以分别与各组货叉912的驱动齿条91253配合。货叉动力件91251带动转轴转动，进而带动驱动齿轮91252转动。一个货叉动力件91251分别经各个货叉912驱动件带动两组货叉912同步动作。同时，伸出链条9127和缩回链条9123分别沿两组货叉912的中心线对称设置，以优化装置结构。In a specific embodiment, there are two groups of forks 912, and each group of forks 912 is respectively connected to a driving part of the fork 912; the power part 91251 of the fork drives each group of forks 912 respectively through the driving parts of each fork 912. Synchronized actions. Each set of forks 912 includes a fixed fork 9128, a primary fork 9121, a secondary fork 9122, an extension chain 9127 and a retraction chain 9123, respectively. The pallet fork 912 driving parts of two groups of cargo forks 912 are driven by the same rotating shaft, and the two ends of the length direction of the rotating shaft are respectively provided with driving gears 91252 to cooperate with the driving racks 91253 of each group of pallet forks 912 respectively. The power part 91251 of the cargo fork drives the rotating shaft to rotate, and then drives the driving gear 91252 to rotate. One fork power part 91251 drives two groups of forks 912 to move synchronously through the driving parts of each fork 912 respectively. At the same time, the extending chain 9127 and the retracting chain 9123 are arranged symmetrically along the centerlines of the two groups of forks 912, so as to optimize the structure of the device.
具体的同步伸缩作业过程为：控制装置913根据接收到的动作指令控制货叉动力件91251启动，货叉动力件91251带动驱动齿轮91252转动，位于一级货叉9121上的驱动齿条91253在驱动齿轮91252的转动下移动，一级货叉9121伸出，此时，伸出链条9127绕伸出链轮91272转动，位于一级货叉9121的下壁端的伸出链条9127部分增加，位于一级货叉9121的上壁的伸出链条9127部分缩短，同时推动二级货叉9122向前伸出，此时缩回链条9123在二级货叉9122伸出的拉力作用下，位于一级货叉9121的上壁的缩回链条9123部分增加，位于一级货叉9121的下壁的缩回链条9123部分缩短，缩回链条9123被动动作；当需要货叉912缩回时，货叉动力件91251带动驱动齿轮91252反向转动，驱动齿条91253在驱动齿轮91252的转动下进行缩回移动，此时位于一级货叉9121的下壁的缩回链条9123处于拉紧状态，同时位于一级货叉9121的上壁的缩回链条9123通过缩回链轮91232移动，位于一级货叉9121的下壁的缩回链条9123长度增加，位于一级货叉9121的上壁的缩回链条9123长度缩短，二级货叉9122被拉回，由此以实现一级货叉9121和二级货叉9122的同步伸缩的过程。上述装置结构简单、便于设置，能够实现同步伸缩，简化同步控制操作，提高效率。The specific synchronous telescopic operation process is: the control device 913 controls the power part 91251 of the fork to start according to the action command received, the power part 91251 of the fork drives the driving gear 91252 to rotate, and the driving rack 91253 on the first-level fork 9121 is driving The rotation of the gear 91252 moves down, and the first-level cargo fork 9121 stretches out. At this time, the stretched out chain 9127 rotates around the stretched out sprocket 91272, and the part of the stretched out chain 9127 positioned at the lower wall end of the first-level cargo fork 9121 increases, and is located at the first-level The protruding chain 9127 on the upper wall of the fork 9121 is partially shortened, and at the same time, the secondary fork 9122 is pushed forward to extend forward. At this time, the retracting chain 9123 is located at the primary fork under the pulling force of the secondary fork 9122. The part of the retraction chain 9123 on the upper wall of the 9121 is increased, and the part of the retraction chain 9123 located on the lower wall of the primary fork 9121 is shortened, and the retraction chain 9123 is passive; when the fork 912 needs to be retracted, the fork power part 91251 Drive the drive gear 91252 to rotate in reverse, and the drive rack 91253 retracts under the rotation of the drive gear 91252. At this time, the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 is in a tensioned state, and at the same time it is located on the first-level cargo The retraction chain 9123 on the upper wall of the fork 9121 moves through the retraction sprocket 91232, and the length of the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 increases, and the length of the retraction chain 9123 on the upper wall of the first-level cargo fork 9121 increases. shortened, the secondary pallet fork 9122 is pulled back, thereby to realize the process of synchronous telescopic expansion of the primary pallet fork 9121 and the secondary pallet fork 9122. The above-mentioned device has a simple structure, is easy to install, can realize synchronous expansion and contraction, simplifies synchronous control operations, and improves efficiency.
其中，堆垛机行走驱动装置还包括行走动力件和行走驱动件，行走驱动件包括行走驱动齿轮91252和与其配合 的行走驱动齿条91253，行走动力件与行走驱动齿轮91252连接，行走驱动齿条91253用于固定在轨道车辆的地轨上，行走动力件驱动行走驱动齿轮91252转动、以带动堆垛机机架911沿地轨行进。上述齿轮齿条机构提高行走和定位精度，减小行走误差。具体的，堆垛机行走驱动装置还包括行走导向机构，行走导向机构包括行走滑槽和行走滑块，行走滑槽沿堆垛机机架911的长度方向设置，行走滑块用于固定在轨道车辆的地轨上，行走滑槽和行走滑块对堆垛机机架911在地轨上的移动进行导向。Wherein, the walking drive device of the stacker also includes a walking power part and a walking driving part. The walking driving part includes a walking driving gear 91252 and a walking driving rack 91253 matched with it. The walking power part is connected with the walking driving gear 91252, and the walking driving rack 91253 is used to be fixed on the ground rail of the rail vehicle, and the traveling power part drives the traveling drive gear 91252 to rotate to drive the stacker frame 911 to advance along the ground rail. The rack and pinion mechanism improves walking and positioning accuracy and reduces walking errors. Specifically, the walking drive device of the stacker also includes a walking guide mechanism, the walking guide mechanism includes a walking chute and a walking slider, the walking chute is arranged along the length direction of the stacker frame 911, and the walking slider is used to be fixed on the track On the ground rail of the vehicle, the travel chute and the travel slider guide the movement of the stacker frame 911 on the ground rail.
在该具体实施例中，还包括货叉912升降驱动装置，货叉912升降驱动装置包括升降板9161、货叉升降动力件9151和货叉升降驱动件9171。其中，升降板9161位于矩形框架中，且能够在矩形框架中沿垂向移动，固定货叉9128固定于升降板9161上；货叉升降动力件9151固定于堆垛机机架911的底板上，货叉升降驱动件9171沿堆垛机机架911的垂向设置，货叉升降驱动件9171的一端与货叉升降动力件9151连接，另一端与升降板9161连接，货叉升降动力件9151驱动货叉升降驱动件9171动作、以带动升降板9161和货叉912进行垂向移动。具体的，货叉升降驱动件9171为螺母丝杠机构，丝杠与货叉升降动力件9151连接以带动其转动，丝杠沿堆垛机机架911的矩形框架的垂向侧壁设置，优选为在一组相对设置的垂向侧壁上分别设置，同时，还设有丝杠安装梁，丝杠安装梁的两端分别与矩形框架固定连接，丝杠与丝杠安装梁间设有轴承，以实现丝杠的安装。螺母固定在升降板9161的一组相对设置的侧边上，螺母套装在丝杠上。In this specific embodiment, a lifting and lowering driving device of the pallet fork 912 is also included, and the lifting and lowering driving device of the pallet fork 912 includes a lifting plate 9161 , a lifting power part of the pallet fork 9151 and a lifting and lowering driving device of the pallet fork 9171 . Wherein, the lifting plate 9161 is located in the rectangular frame and can move vertically in the rectangular frame, the fixed fork 9128 is fixed on the lifting plate 9161; the lifting power part 9151 of the fork is fixed on the bottom plate of the stacker frame 911, The fork lift drive part 9171 is vertically arranged along the stacker frame 911, one end of the fork lift drive part 9171 is connected with the fork lift power part 9151, and the other end is connected with the lift plate 9161, and the fork lift power part 9151 is driven The fork lifting driving part 9171 acts to drive the lifting plate 9161 and the fork 912 to move vertically. Specifically, the fork lift drive part 9171 is a nut screw mechanism, the lead screw is connected with the fork lift power part 9151 to drive its rotation, and the lead screw is arranged along the vertical side wall of the rectangular frame of the stacker frame 911, preferably In order to be installed on a set of opposite vertical side walls, at the same time, there is also a screw mounting beam, the two ends of the screw mounting beam are respectively fixedly connected with the rectangular frame, and a bearing is arranged between the screw and the screw mounting beam. , in order to realize the installation of the lead screw. Nuts are fixed on a group of opposite side edges of the lifting plate 9161, and the nuts are sleeved on the leading screw.
进一步地，为了防止在堆垛***91运行至地轨的端部时发生碰撞，上述堆垛***91还包括防撞缓冲装置914，用于堆垛机机架911和轨道车辆接触时进行防撞缓冲，防撞缓冲装置914分别固定于堆垛机机架911的长度方向的两端。防撞缓冲装置914可设置为橡胶或弹簧等缓冲件，可根据现有技术的发展水平进行设置，均在本申请的保护范围内。Further, in order to prevent collisions when the stacking system 91 runs to the end of the ground rail, the above-mentioned stacking system 91 also includes an anti-collision buffer device 914, which is used to prevent collisions when the stacker frame 911 and the rail vehicle contact Buffering, anti-collision buffering devices 914 are respectively fixed on both ends of the stacker frame 911 in the length direction. The anti-collision buffer device 914 can be set as a buffer member such as rubber or a spring, which can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
具体的，还包括集电装置918，集电装置918包括集电导轨和集电器；集电导轨固定在轨道车辆的顶板上、沿轨道车辆的纵向延伸；集电器固定于堆垛机机架911的顶端，且可拆卸的连接，集电器与集电导轨配合、以为堆垛***91的作业设备提供电力。由此以优化轨道车辆的整体结构，无需重新设置于轨道车辆电力***的布线，简化线缆、同时便于拆装。Specifically, it also includes a collector device 918, the collector device 918 includes a collector guide rail and a collector; the collector guide rail is fixed on the roof of the rail vehicle and extends along the longitudinal direction of the rail vehicle; the collector is fixed on the stacker frame 911 The top of the top, and detachable connection, the current collector cooperates with the current collector guide rail to provide power for the operation equipment of the stacking system 91 . In this way, the overall structure of the rail vehicle can be optimized without resetting the wiring of the rail vehicle power system, simplifying cables and facilitating disassembly and assembly.
在该具体实施例中，堆垛机机架911为矩形框架，矩形框架包括顶架、侧架和底架，顶架、侧架和底架中任意两者间可拆卸的连接，顶架、侧架和底架均为轻量化铝条，以减轻整体重量；顶架上设有集电装置918，底架的底部设有堆垛机行走驱动装置。控制装置913位于矩形框架的外侧底部，用以优化矩形框架的整体空间。In this specific embodiment, the stacker frame 911 is a rectangular frame, and the rectangular frame includes a top frame, a side frame and a bottom frame, and any two of the top frame, the side frames and the bottom frame are detachably connected. Both the side frame and the bottom frame are lightweight aluminum strips to reduce the overall weight; the top frame is provided with a collector device 918, and the bottom frame is provided with a stacker driving device. The control device 913 is located at the outer bottom of the rectangular frame to optimize the overall space of the rectangular frame.
同时，还包括定位件919，定位件919位于顶架上长度方向的两端，定位件919用于与轨道车辆的天轨配合，进行定位和导向，防止堆垛机机架911的宽度方向上发生晃动；在顶架的宽度方向上，定位件919位于顶架的中心处。At the same time, it also includes positioning pieces 919. The positioning pieces 919 are located at the two ends of the length direction on the top frame. The positioning pieces 919 are used to cooperate with the sky rail of the rail vehicle for positioning and guiding, so as to prevent the stacker frame 911 from moving in the width direction. Rocking occurs; in the width direction of the top frame, the positioning member 919 is located at the center of the top frame.
还包括编码器和编码尺，分别固定在顶架上，用于进行位置精确定位。通过编码器和编码尺对堆垛机机架911的滑移距离进行精确测量，以提高距离检测精度。在其他实施例中，也可以采用其他形式的距离测量或位置定位，均在本申请的保护范围内。It also includes an encoder and a code ruler, which are respectively fixed on the top frame for precise positioning. The sliding distance of the stacker frame 911 is accurately measured by the encoder and the code ruler, so as to improve the distance detection accuracy. In other embodiments, other forms of distance measurement or position positioning may also be used, all of which are within the protection scope of the present application.
具体的作业过程为：控制装置913根据接收到的动作指令控制货叉升降动力件9151动作，货叉升降驱动件9171动作以带动升降板9161和货叉912进行垂向移动，直至预设高度，该预设高度上，货叉912和第一车门输送组件的高度平齐，以使得货叉912能够对集装器进行叉起或放下；并控制货叉动力件91251启动，并驱动货叉912驱动件动作，使得一级货叉9121和二级货叉9122同步伸出，对位于第一车门输送组件上的集装器进行叉起后，控制货叉912缩回至初始位置；并控制扫码装置9110对集装器上的电子标签进行扫码，根据扫码信息得到该集装器的堆垛位信息，并控制行走动力件和行走驱动件动作，带动堆垛机机架911沿地轨行进至货架的预设位置处，并根据该堆垛位信息控制货叉升降驱动件9171动作，调整货叉912的堆垛位的高度匹配，并再次驱动货叉912驱动件动作，使得货叉912反向伸出，将货叉912上的集装器移送至堆垛位上，完成集装器从车门处输送***至货架***的转运输送，可以理解的是，当取出货物时，执行上述相反的作业过程。The specific operation process is: the control device 913 controls the action of the fork lifting power part 9151 according to the received action command, and the action of the fork lifting driving part 9171 to drive the lifting plate 9161 and the fork 912 to move vertically until the preset height, At this preset height, the height of the pallet fork 912 is equal to that of the first door conveying assembly, so that the pallet fork 912 can fork up or put down the container; and control the activation of the pallet fork power part 91251 and drive the pallet fork 912 The driving part acts, so that the first-level fork 9121 and the second-level fork 9122 are extended synchronously, and after the container on the first door conveying assembly is forked, the fork 912 is controlled to retract to the initial position; and the sweeper is controlled. The code device 9110 scans the code on the electronic label on the container, obtains the stacking position information of the container according to the scanned code information, and controls the movement of the walking power part and the driving part to drive the stacker frame 911 along the ground. The rail travels to the preset position of the shelf, and controls the action of the fork lifting drive part 9171 according to the stacking position information, adjusts the height matching of the stacking position of the pallet fork 912, and drives the drive part of the pallet fork 912 again to make the goods The fork 912 is stretched out in reverse, and the container on the fork 912 is transferred to the stacking position, and the transfer of the container from the door conveyor system to the shelf system is completed. It can be understood that when the goods are taken out, the container is executed The opposite operation process of the above.
图18为本申请实施例提供的一种货架***的主视结构示意图，图19为图18的主视结构示意图，图20为图18的侧向结构示意图，图21为本申请实施例提供的货架***的局部放大结构示意图，图22为本申请实施例提供的竖向支撑架的安装结构示意图，图23为本申请实施例提供的拉紧装置的结构示意图。如图18至图23所示，本申请提供的轨道车辆的货架***，包括架体921、底部安装板923和拉紧装置922。其中，架体921沿轨道车辆的纵向延伸。架体921包括输送巷道924和用于货物存放的存放区，输送巷道924用于输送装置走行，输送装置如堆垛机或机械臂等设备，用于货物的抓取输送。根据输送装置的类型，可以在输送巷道924上设置轨道等辅助设备，可根据实际需要进行设置。输送巷道924沿轨道车辆的纵向延伸设置，存放区位于输送巷道924的两侧。底部安装板923，可拆卸的连接于架体921的底部，用于将架体921与轨道车辆的地板固定。底部安装板923的个数为多个，各个底部安装板923沿架体921的长度方向依次间隔设置，架体921和底部安装板923之间可拆卸的连接，以便于拆装。进一步地，拉紧装置922位于架体921的外部，用于将架体921与轨道车辆的顶板和/或侧墙固定。Figure 18 is a schematic front view of a shelf system provided by the embodiment of the present application, Figure 19 is a schematic front view of the structure of Figure 18, Figure 20 is a schematic view of the lateral structure of Figure 18, and Figure 21 is a schematic view of the racking system provided by the embodiment of the present application A partial enlarged structural diagram of the shelf system, Figure 22 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application, and Figure 23 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application. As shown in FIG. 18 to FIG. 23 , the rail vehicle racking system provided by the present application includes a frame body 921 , a bottom mounting plate 923 and a tensioning device 922 . Wherein, the frame body 921 extends along the longitudinal direction of the rail vehicle. The frame body 921 includes a conveying lane 924 and a storage area for storing goods. The conveying lane 924 is used for the running of the conveying device, and the conveying device, such as a stacker or a mechanical arm, is used for grabbing and conveying the goods. According to the type of the conveying device, auxiliary equipment such as tracks can be set on the conveying roadway 924, which can be set according to actual needs. The conveying lane 924 is arranged along the longitudinal extension of the rail vehicle, and the storage area is located on both sides of the conveying lane 924 . The bottom mounting plate 923 is detachably connected to the bottom of the frame body 921 for fixing the frame body 921 to the floor of the rail vehicle. There are multiple bottom mounting plates 923, and each bottom mounting plate 923 is arranged at intervals along the length direction of the frame body 921. The frame body 921 and the bottom mounting plate 923 are detachably connected to facilitate disassembly. Further, the tensioning device 922 is located outside the frame body 921 and is used to fix the frame body 921 to the roof and/or side wall of the rail vehicle.
采用本申请实施例中提供的一种轨道车辆的货架***，相较于现有技术，具有以下技术效果：Compared with the prior art, a rail vehicle racking system provided in the embodiment of the present application has the following technical effects:
将架体921作为一个独立单元，在其底部设置底部安装板923，以将架体921和轨道车辆的地板固定，并通过拉紧装置922将架体921与轨道车辆的顶板和/或侧墙固定，由此在安装时，可以将架体921作为一个整体加工后装 入车厢中，再进行连接，简化安装操作及步骤，提高安装效率；同时，架体921中设置输送巷道924和货物存放区，以与输送装置配合，为自动化输送及存储提供基础。The frame body 921 is used as an independent unit, and a bottom mounting plate 923 is provided at its bottom to fix the frame body 921 and the floor of the rail vehicle, and the frame body 921 is connected to the roof and/or side wall of the rail vehicle by a tensioning device 922 Fixed, thus during installation, the frame body 921 can be processed as a whole and loaded into the compartment, and then connected, simplifying the installation operation and steps, and improving installation efficiency; at the same time, the frame body 921 is provided with a conveying roadway 924 and cargo storage Area, in order to cooperate with the conveying device, provide the basis for automatic conveying and storage.
具体的，拉紧装置922包括若干个顶板拉紧组件9221和若干个侧墙拉紧组件9222。顶板拉紧组件9221位于架体921的顶部，顶板拉紧组件9221用于与轨道车辆的顶板可拆卸的连接；侧墙拉紧组件9222位于架体921的侧向，侧墙拉紧组件9222用于与轨道车辆的侧墙可拆卸的连接。顶板拉紧组件9221和侧墙拉紧组件9222的结构相同，以便于生产加工。Specifically, the tensioning device 922 includes several roof tensioning assemblies 9221 and several side wall tensioning assemblies 9222 . The roof tensioning assembly 9221 is located on the top of the frame body 921, and the roof tensioning assembly 9221 is used for detachable connection with the roof of the rail vehicle; the side wall tensioning assembly 9222 is located on the side of the frame body 921, and the side wall tensioning assembly 9222 is used for For detachable connection to the side wall of the rail vehicle. The roof tensioning assembly 9221 and the side wall tensioning assembly 9222 have the same structure, so as to facilitate production and processing.
进一步地，顶板拉紧组件9221和侧墙拉紧组件9222分别包括依次设置的第一铰接座92221、第一螺杆92222、锁紧螺母92223、第二螺杆92224、第二铰接座92225和固定件92226，第一铰接座92221和第一螺杆92222铰接，第二螺杆92224和第二铰接座92225铰接，锁紧螺母92223的两端分别与第一螺杆92222和第二螺杆92224螺纹连接，第一铰接座92221与架体921可拆卸的连接，固定件92226用于与轨道车辆的顶板或侧墙可拆卸的连接。通过旋拧第一螺杆92222和第二螺杆92224，调节拉紧组件的长度，以将架体921和顶板或侧墙连接。Further, the top plate tensioning assembly 9221 and the side wall tensioning assembly 9222 respectively include a first hinge seat 92221, a first screw rod 92222, a lock nut 92223, a second screw rod 92224, a second hinge seat 92225 and a fixing piece 92226 arranged in sequence , the first hinged seat 92221 is hinged with the first screw 92222, the second screw 92224 is hinged with the second hinged seat 92225, the two ends of the lock nut 92223 are threaded with the first screw 92222 and the second screw 92224 respectively, and the first hinged seat 92221 is detachably connected with the frame body 921, and the fixing part 92226 is used for detachably connected with the roof or side wall of the rail vehicle. By screwing the first screw rod 92222 and the second screw rod 92224, the length of the tensioning assembly is adjusted to connect the frame body 921 with the top board or the side wall.
在一种实施例中，还包括一组平行设置的地轨926和地轨926限位块，地轨926沿轨道车辆的纵向延伸，地轨926位于输送巷道924的底部、且与底部安装板923可拆卸的连接，地轨926优选位于输送巷道924的宽度方向的两端。地轨926用于与输送装置滑动配合，以使得输送装置能够在输送巷道924中移动。地轨926限位块分别位于各个地轨926的长度方向的端部，且地轨926限位块与底部安装板923固定连接。地轨926限位块防止输送巷道924从地轨926上滑出，提高滑行安全性。In one embodiment, it also includes a group of ground rails 926 and ground rails 926 limit blocks arranged in parallel, the ground rails 926 extend along the longitudinal direction of the rail vehicle, the ground rails 926 are located at the bottom of the conveying roadway 924, and are connected to the bottom mounting plate 923 is detachably connected, and ground rails 926 are preferably located at both ends of the conveying roadway 924 in the width direction. The ground rail 926 is used for sliding cooperation with the conveying device, so that the conveying device can move in the conveying tunnel 924 . The limit blocks of the ground rails 926 are respectively located at the ends of the length direction of each ground rail 926 , and the limit blocks of the ground rails 926 are fixedly connected with the bottom mounting plate 923 . The limit block of the ground rail 926 prevents the conveying roadway 924 from slipping out of the ground rail 926, improving the sliding safety.
具体的，架体921包括顶部支撑架9210和若干个竖向支撑架9213。其中，顶部支撑架9210与轨道车辆的顶板固定连接；竖向支撑架9213的顶端与顶部支撑架9210固定，竖向支撑架9213的底端与底部安装板923固定；优选为各竖向支撑架9213的底部均设有底部安装板923，竖向支撑架9213分别沿顶部支撑架9210的横向和纵向排布，竖向支撑架9213位于顶部支撑架9210的横向的两端，以形成两端的存放区和输送巷道924，输送巷道924位于中间，优选为存放区在输送巷道924的两侧对称设置。竖向支撑架9213包括支撑横梁92133，在轨道车辆的纵向方向上，沿纵向排布的相邻竖向支撑架9213的支撑横梁92133间设有连接横梁9214，支撑横梁92133和连接横梁9214形成集装器堆垛位，用以支撑集装器。堆垛位优选形成矩形框架，以保证承载力，提高稳定性。Specifically, the frame body 921 includes a top support frame 9210 and several vertical support frames 9213 . Wherein, the top support frame 9210 is fixedly connected with the top plate of the rail vehicle; the top of the vertical support frame 9213 is fixed to the top support frame 9210, and the bottom end of the vertical support frame 9213 is fixed to the bottom mounting plate 923; preferably each vertical support frame The bottoms of 9213 are provided with bottom mounting plates 923, and the vertical support frames 9213 are respectively arranged horizontally and vertically along the top support frame 9210. The area and the conveying lane 924, the conveying lane 924 is located in the middle, preferably the storage area is arranged symmetrically on both sides of the conveying lane 924. The vertical support frame 9213 includes a support beam 92133. In the longitudinal direction of the rail vehicle, connecting beams 9214 are arranged between the support beams 92133 of adjacent vertical support frames 9213 arranged longitudinally. The support beams 92133 and the connecting beams 9214 form a set The container stacking position is used to support the container. The stacking position preferably forms a rectangular frame to ensure bearing capacity and improve stability.
其中，顶部支撑架9210包括若干个顶部纵梁9212和若干个顶部横梁9211，顶部纵梁9212沿轨道车辆的横向排列、且沿轨道车辆的纵向延伸且平行设置；顶部横梁9211沿轨道车辆的纵向排列、且与顶部纵梁9212垂直设置，顶部横梁9211与顶部纵梁9212可拆卸的连接。由此设置，以提高顶部支撑架9210的承载力，为竖向支撑架9213的安装提供安装点。Wherein, the top support frame 9210 includes several top longitudinal beams 9212 and several top cross beams 9211, the top longitudinal beams 9212 are arranged along the transverse direction of the rail vehicle, and extend along the longitudinal direction of the rail vehicle and are arranged in parallel; the top cross beams 9211 are arranged along the longitudinal direction of the rail vehicle Arranged and perpendicular to the top longitudinal beam 9212, the top cross beam 9211 is detachably connected to the top longitudinal beam 9212. It is thus set to increase the bearing capacity of the top support frame 9210 and provide installation points for the installation of the vertical support frame 9213 .
在另一实施例中，竖向支撑架9213包括第一竖向立柱92131和第二竖向立柱92132，支撑横梁92133的长度方向的两端分别与第一竖向立柱92131和第二竖向立柱92132连接，支撑横梁92133沿水平方向设置；第一竖向立柱92131和第二竖向立柱92132的结构相同，以便于生产加工。竖向支撑架9213位于顶部纵梁9212和顶部横梁9211的交点处，即第一竖向立柱92131和第二竖向立柱92132的顶端分别位于顶部纵梁9212和顶部横梁9211的交点处，第一竖向立柱92131和第二竖向立柱92132的底端分别位于底部安装板923上。在一些可选的实现方式中，支撑横梁92133的个数为至少两个，根据第一竖向立柱92131和第二竖向立柱92132的高度进行设置，第一竖向立柱92131和第二竖向立柱92132的高度根据轨道车辆的车厢垂向高度进行设置。In another embodiment, the vertical support frame 9213 includes a first vertical column 92131 and a second vertical column 92132, and the two ends in the length direction of the support beam 92133 are respectively connected to the first vertical column 92131 and the second vertical column. 92132 connected, the support beam 92133 is set along the horizontal direction; the structure of the first vertical column 92131 and the second vertical column 92132 is the same, so as to facilitate production and processing. The vertical support frame 9213 is located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, that is, the top ends of the first vertical column 92131 and the second vertical column 92132 are respectively located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, the first The bottom ends of the vertical column 92131 and the second vertical column 92132 are respectively located on the bottom mounting plate 923 . In some optional implementations, the number of supporting beams 92133 is at least two, set according to the heights of the first vertical column 92131 and the second vertical column 92132, the first vertical column 92131 and the second vertical column 92131 The height of the column 92132 is set according to the vertical height of the carriage of the rail vehicle.
为了提高连接强度，连接横梁9214包括端部连接横梁92142和中间连接横梁92141，端部连接横梁92142分别位于支撑横梁92133的长度方向的两端，且端部连接横梁92142分别与沿纵向排布的相邻竖向支撑架9213固定连接；中间连接横梁92141位于支撑横梁92133的中心处。由此设置，以提高装置的连接强度。In order to improve the connection strength, the connecting beam 9214 includes an end connecting beam 92142 and an intermediate connecting beam 92141. The end connecting beams 92142 are located at both ends of the lengthwise direction of the supporting beam 92133, and the end connecting beams 92142 are respectively connected to the longitudinally arranged The adjacent vertical support frames 9213 are fixedly connected; the intermediate connecting beam 92141 is located at the center of the supporting beam 92133 . It is thus provided to increase the connection strength of the device.
为了实现与集装器的安装定位，防止滑脱，还包括定位凸起929，定位凸起929固定于端部连接横梁92142的上表面，用以与集装器的定位槽配合、以对集装器进行定位。定位凸起929优选为定位销，定位销自下至上口径依次减小，可以理解的是，在集装器的底壁上设置有定位槽，以与定位销配合。In order to realize the installation and positioning of the container and prevent slippage, a positioning protrusion 929 is also included. The positioning protrusion 929 is fixed on the upper surface of the connecting beam 92142 at the end, and is used to cooperate with the positioning groove of the container to align the container. device for positioning. The positioning protrusion 929 is preferably a positioning pin, and the diameter of the positioning pin decreases sequentially from bottom to top. It can be understood that a positioning groove is provided on the bottom wall of the container to cooperate with the positioning pin.
在另一实施例中，还包括天轨927和滑触线928；其中，天轨927沿轨道车辆的纵向延伸，天轨927位于输送巷道924的顶部、且与架体921固定，天轨927用于与输送装置配合以进行限位和导向；天轨927优选设置在轨道车辆的横向中心线上。滑触线928沿轨道车辆的纵向延伸，滑触线928位于输送巷道924的顶部、且与架体921可拆卸的连接，滑触线928用于与输送装置的集电器配合，以为输送装置进行供电。滑触线928和集电器的配合，使得输送装置无需通过线缆与轨道车辆的供电***连接，简化线缆设置，降低成本。In another embodiment, it also includes a sky rail 927 and a trolley line 928; wherein, the sky rail 927 extends longitudinally along the rail vehicle, the sky rail 927 is located at the top of the conveying roadway 924, and is fixed with the frame body 921, and the sky rail 927 It is used to cooperate with the conveying device for positioning and guiding; the sky rail 927 is preferably set on the transverse centerline of the rail vehicle. The trolley line 928 extends along the longitudinal direction of the rail vehicle. The trolley line 928 is located on the top of the conveying roadway 924 and is detachably connected to the frame body 921. The trolley line 928 is used to cooperate with the collector of the conveying device to carry out transportation for the conveying device. powered by. The cooperation of the trolley line 928 and the current collector makes it unnecessary for the conveying device to be connected to the power supply system of the rail vehicle through a cable, which simplifies the setting of the cable and reduces the cost.
为了便于设置，各个顶部横梁9211均包括沿横向依次延伸的若干段顶部分梁，各段顶部分梁的长度方向的两端分别与顶部纵梁9212可拆卸的连接。由此设置，以能够根据需要调整架体921的横向长度，适应不同车型，提高装置的通用性。同时当顶部横梁9211存在安装误差时，能够及时调节各段顶部分梁的长度，以及时适应，无需重新替换架体921，降低维护成本。For ease of installation, each top beam 9211 includes several sections of roof sub-beams extending in sequence along the transverse direction, and the two ends of each section of the top sub-beam in the length direction are respectively detachably connected to the top longitudinal beam 9212 . Therefore, it is set so that the lateral length of the frame body 921 can be adjusted according to needs, so as to adapt to different vehicle models and improve the versatility of the device. At the same time, when there is an installation error in the top beam 9211, the length of each section of the top beam can be adjusted in time to adapt in time, without the need to replace the frame body 921 again, reducing maintenance costs.
其中，顶部纵梁9212和顶部横梁9211间、第一竖向立柱92131和顶部横梁9211间、第二竖向立柱92132和顶部横梁9211间、支撑横梁92133与第一竖向立柱92131间、支撑横梁92133与第二竖向立柱92132间、端部连接横梁92142与支撑横梁92133间、端部连接横梁92142与竖向支撑架9213间、中间连接横梁92141与支撑横梁92133间均分别经固定角件和螺纹紧固件固定。固定角件包括第一板部和第二板部，第一板部和第二板部垂直设置， 且优选为第一板部和第二板部的结构相同，第一板部和第二板部上分别设置有安装通孔和安装滑孔，用以与螺纹紧固件配合。上述各部件间的连接关系，使得当某一部件损坏需替换时，能够便于拆装，降低维护成本。同时，各部件之间通过固定角件连接，以进一步提高连接强度。Among them, between the top longitudinal beam 9212 and the top beam 9211, between the first vertical column 92131 and the top beam 9211, between the second vertical column 92132 and the top beam 9211, between the supporting beam 92133 and the first vertical column 92131, between the supporting beam Between 92133 and the second vertical column 92132, between the end connecting beam 92142 and the supporting beam 92133, between the end connecting beam 92142 and the vertical support frame 9213, between the intermediate connecting beam 92141 and the supporting beam 92133, respectively, through fixed corner fittings and Threaded fasteners secure. The fixed corner piece includes a first plate portion and a second plate portion, the first plate portion and the second plate portion are vertically arranged, and preferably the structure of the first plate portion and the second plate portion is the same, and the first plate portion and the second plate portion Mounting through holes and mounting slide holes are respectively arranged on the upper part to cooperate with threaded fasteners. The connection relationship between the above-mentioned components makes it easy to disassemble and assemble when a certain component is damaged and needs to be replaced, reducing the maintenance cost. At the same time, the parts are connected by fixed corner fittings to further improve the connection strength.
为了底部安装板923与轨道车辆的地板更好的固定，还包括底部连接块，底部连接块位于底部安装板923的底壁上；底部安装板923上设有安装螺纹孔，安装螺纹孔沿垂向贯通底部安装板923和底部连接块，用以与轨道车辆的地板固定。底部连接块的设置，防止螺纹紧固件打穿底部安装板923，增加螺纹面积，提高连接稳固度。In order to better fix the bottom mounting plate 923 and the floor of the rail vehicle, a bottom connecting block is also included, and the bottom connecting block is located on the bottom wall of the bottom mounting plate 923; To pass through the bottom mounting plate 923 and the bottom connecting block for fixing with the floor of the rail vehicle. The setting of the connecting block at the bottom prevents the threaded fastener from penetrating through the bottom mounting plate 923, increases the thread area and improves the connection stability.
在一种实施例中，沿纵向排布的相邻竖向支撑架9213间设有预设间隔，以形成至少一个横向输送巷道925，横向输送巷道925沿横向贯通架体921。该预设间隔大于沿纵向排布的、形成堆垛位的相邻竖向支撑架9213的间隔，举例说明，该预设间隔大于连接横梁9214的长度；横向输送巷道925的宽度可根据车门处输送***所需的宽度进行设置，横向输送巷道925的个数为至少两个，以在车厢中设置若干个对接处，进一步提高与车门处输送***的货物对接及输送效率，进一步提高自动化程度。In one embodiment, the adjacent vertical supporting frames 9213 arranged in the longitudinal direction are provided with preset intervals to form at least one horizontal conveying lane 925 , and the transverse conveying lane 925 runs through the frame body 921 along the transverse direction. The preset interval is greater than the interval between the adjacent vertical support frames 9213 arranged longitudinally and forming the stacking position. For example, the preset interval is greater than the length of the connecting crossbeam 9214; The required width of the conveying system is set, and the number of transverse conveying lanes 925 is at least two, so as to set several docking places in the carriage, further improve the docking and conveying efficiency of goods with the conveying system at the door, and further improve the degree of automation.
图24为本申请实施例提供的一种轨道车辆的仓储管理方法的流程示意图。如图24所示，在一种具体的实施方式中，本申请提供的轨道车辆的仓储管理方法包括：Fig. 24 is a schematic flowchart of a storage management method for rail vehicles provided by an embodiment of the present application. As shown in Figure 24, in a specific implementation manner, the storage management method for rail vehicles provided by the present application includes:
S941：获取待入库的集装器的集装器信息；S941: Obtain the ULD information of the ULD to be put into storage;
其中，集装器信息一般包括集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。货物归属信息如归属旅客的身份信息、乘坐座次等信息；货物特性信息如保存条件(如保存温度、湿度等)、货物属性、其他货物标识信息等。获取方式可通过扫码装置对集装器上的电子标签进行扫描获得。Among them, ULD information generally includes ULD information including cargo on-station information, cargo arrival information, cargo attribution information and cargo characteristic information. Cargo attribution information such as the identity information of the belonging passenger, seat number and other information; cargo characteristic information such as storage conditions (such as storage temperature, humidity, etc.), cargo attributes, and other cargo identification information, etc. The acquisition method can be obtained by scanning the electronic label on the container through the code scanning device.
S942：根据集装器信息为待入库的集装器分配堆垛位，并将集装器与其分配的堆垛位进行绑定并存储；S942: Allocate a stacking position for the ULD to be put into storage according to the ULD information, and bind and store the ULD with the assigned stacking position;
根据集装器的型号选取合适的堆垛位，并绑定集装器和为其分配的堆垛位。Select the appropriate stacking position according to the model of the ULD, and bind the ULD and the stacking position assigned to it.
S943：发出指令以将待入库的集装器移动至分配的堆垛位处进行存储。S943: Issue an instruction to move the ULDs to be put into storage to the assigned stacking positions for storage.
向输送设备发出指令，以控制输送设备抓取并输送待入库的集装器至分配的堆垛位处，进行存储。其中，输送设备可以为机械臂，堆垛机或者其他设备，可根据需要进行设置。Send instructions to the conveying equipment to control the conveying equipment to grab and transport the ULDs to be put into storage to the assigned stacking position for storage. Wherein, the conveying equipment can be a mechanical arm, a stacker or other equipment, which can be set as required.
采用本申请实施例中提供的一种轨道车辆的仓储管理方法及***，相较于现有技术，具有以下技术效果：Compared with the prior art, the storage management method and system for rail vehicles provided in the embodiment of the present application have the following technical effects:
在获取待入库的集装器的集装器信息后，根据该集装器信息为待入库的集装器分配堆垛位，并将集装器与分配的堆垛位进行绑定并进行存储，控制相应的输送设备将待入库的集装器移动至分配的堆垛位处进行存储，上述方法及***使得集装器和堆垛位能够进行一一绑定，并能够及时获取仓储的堆垛位分配信息，以便于后续对仓库的堆垛位进行管理操作，并能够与物流园区体系中其他***进行衔接，满足现代化仓储、多式联运转运等需求。After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and storage, and control the corresponding conveying equipment to move the ULDs to be stored to the allocated stacking positions for storage. The above method and system enable the ULDs and stacking positions to be bound one by one, and can be obtained in time The allocation information of the stacking position of the warehouse is convenient for subsequent management and operation of the stacking position of the warehouse, and it can be connected with other systems in the logistics park system to meet the needs of modern storage and multimodal transportation.
具体的，根据集装器信息为待入库的集装器分配堆垛位，具体包括：Specifically, assign stacking positions for the ULDs to be put into storage according to the ULD information, including:
根据集装器信息读取集装器所装载的货物的货物站位信息；一般的，货物的货物站位信息包括货物的上站信息和货物的到站信息。根据货物站位信息确定所装载的货物的旅途类型，如可以根据货物的乘坐站数以及乘坐时长确定货物的旅途类型，通过旅途类别确定与待入库的集装器对应的存储区域，及存储区域中、待入库的集装器对应的堆垛位。旅途类型可分为长途或短途，并根据旅途类型确定集装器的存储区域，以根据集装器的长途类型或短途类型进行摆放，由此以能够优化仓库的整体仓储空间，优化输送设备的转运路线。Read the cargo station information of the cargo loaded in the ULD according to the container information; generally, the cargo station information of the cargo includes the on-station information of the cargo and the arrival information of the cargo. Determine the journey type of the loaded goods according to the cargo station information, for example, determine the journey type of the goods according to the number of stations and the duration of the journey, determine the storage area corresponding to the ULD to be put into the warehouse through the journey category, and store The stacking position corresponding to the ULD to be put into storage in the area. Journey types can be divided into long-distance or short-distance, and determine the storage area of the container according to the type of journey, so as to place the container according to the long-distance type or short-distance type, so as to optimize the overall storage space of the warehouse and optimize the conveying equipment the transfer route.
其中，根据货物站位信息确定所装载的货物的旅途类型，具体包括：Among them, the journey type of the loaded cargo is determined according to the cargo station information, specifically including:
根据货物站位信息确定所装载的货物的货物到站信息；Determine the cargo arrival information of the loaded cargo according to the cargo station information;
根据预设列车时刻表、获取的当前站台信息和货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于预设停靠站数时，认为所装载的货物的旅途类型为短途类型。Judging based on the preset train timetable, the obtained current platform information and the arrival information of the goods, when the number of stops between the arrival of the goods and the current platform is greater than or equal to the number of preset stops, the type of journey of the loaded goods is considered It is a long-distance type; when the number of stops between the arrival of the goods and the current platform is less than the preset number of stops, it is considered that the journey type of the loaded goods is a short-distance type.
预设列车时刻表包括当前车辆车次、到站名称和到站时刻，为一种成熟的现有技术。在一些可选的实现方式中，预设停靠站数可设置为三站，根据不同的运行路线和不同的预设列车时刻表进行相应的设置。The preset train timetable includes the current train number, the name of the station and the time of arrival, which is a mature prior art. In some optional implementation manners, the preset number of stops can be set to three, and corresponding settings are made according to different operating routes and different preset train timetables.
在一种实施例中，通过旅途类别确定与待入库的集装器对应的存储区域，及存储区域中、待入库的集装器对应的堆垛位，具体包括：In one embodiment, the storage area corresponding to the ULD to be put into storage and the stacking position corresponding to the ULD to be put into storage in the storage area are determined through the category of the journey, specifically including:
通过旅途类别确定与待入库的集装器对应的存储区域；Determine the storage area corresponding to the ULDs to be put into storage through the journey category;
判断存储区域内是否存在闲置的堆垛位，若是，则根据预设规则为待入库的集装器分配堆垛位；若否，进行当前存储区域内无闲置堆垛位报警。其中，预设规则可以为随机分配，或者以自远至近的排布规则进行分配。Judging whether there is an idle stacking space in the storage area, if so, assigning a stacking space to the ULDs to be put into storage according to the preset rules; if not, alarming that there is no idle stacking space in the current storage area. Wherein, the preset rule may be random distribution, or the distribution may be made according to the arrangement rule from far to near.
具体的，将待入库的集装器移动至分配的堆垛位处进行存储之后，方法还包括：Specifically, after moving the ULDs to be stored to the assigned stacking position for storage, the method further includes:
S944：判断是否接收到堆垛位的集装器到位指令，若是，则认为待入库的集装器完成入库，并更新堆垛位列表信息，堆垛位列表信息包括集装器与其对应的堆垛位的绑定关系。S944: Judging whether the ULD arrival instruction for the stacking position has been received, if so, consider that the ULD to be put into the warehouse has been put into the warehouse, and update the stacking position list information, the stacking position list information includes the ULD and its corresponding The binding relationship of the stacking position.
在堆垛位处设置位置开关或者压力传感器等设备，当集装器移动至堆垛位处时发送集装器到位指令，以根据该指令能够执行下一操作。在集装器完成入库后，更新堆垛位列表信息。Devices such as position switches or pressure sensors are installed at the stacking position, and when the container moves to the stacking position, the container is sent to the position instruction, so that the next operation can be performed according to the instruction. After the ULD is put into storage, update the stacking position list information.
进一步地，方法还包括：Further, the method also includes:
S945：当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；一般的，出库指令由车辆总控***发出，一般在实际到站时刻前一段时间发出，如提前十五分钟发出出库指令，以为集装器的出库留有充足时间准备 出库。根据预到站的到站信息以及堆垛位列表信息确定预出库的集装器。S945: When receiving the outbound instruction, determine the pre-outbound ULD according to the arrival information of the pre-arrival station; generally, the outbound instruction is issued by the vehicle master control system, usually some time before the actual arrival time , if the delivery order is issued 15 minutes in advance, there is enough time for the delivery of the ULD to prepare for delivery. Determine the pre-delivery ULDs based on the pre-arrival information and the stacking position list information.
S946：并根据预出库的集装器以及堆垛位列表信息，确定堆垛位的位置；S946: and determine the position of the stacking position according to the pre-delivered ULD and the list information of the stacking position;
S947：根据堆垛位的位置取出对应的预出库的集装器，输送设备根据堆垛位的位置取出预出库的集装器，并输送至车门处，等待执行下一步骤。S947: Take out the corresponding pre-out ULD according to the position of the stacking position, and the conveying equipment takes out the pre-out ULD according to the position of the stacking position, and transport it to the car door, waiting for the next step.
步骤S947之后，方法还包括：After step S947, the method also includes:
S948：解除预出库的集装器和与其对应的堆垛位的绑定关系，并更新堆垛位列表信息。S948: Release the binding relationship between the pre-delivered ULD and its corresponding stacking position, and update the stacking position list information.
在该具体实施例中，步骤S945前，方法还包括：In this specific embodiment, before step S945, the method also includes:
S949：根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当当前时刻与预到站的到站时刻具有预设时间间隔时，发送出库指令。S949: Judging according to the current time and the expected arrival time in the preset train timetable, when there is a preset time interval between the current time and the expected arrival time, send an outbound instruction.
在一种实施例中，更新堆垛位列表信息之后，方法还包括：In one embodiment, after updating the stacking position list information, the method further includes:
根据堆垛位列表信息计算闲置的堆垛位的数量，并根据闲置的堆垛位的数量得到堆垛位警戒数；Calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
获取预到站的待入库的集装器的数量；Obtain the number of pre-arrived ULDs to be put into storage;
当预到站的待入库的集装器的数量大于堆垛位警戒数时，进行报警。When the number of pre-arrived ULDs to be stored is greater than the warning number of stacking positions, an alarm is issued.
举例说明，当闲置的堆垛位的数量为5个时，堆垛位警戒数可以为4个，当预到站的待入库的集装器的数量大于4个时，即可进行警戒报警。堆垛位警戒数可根据需要进行设置。For example, when the number of idle stacking positions is 5, the warning number of stacking positions can be 4, and when the number of pre-arrived ULDs to be put into storage is greater than 4, a warning alarm can be issued . The warning number of stacking positions can be set as required.
具体的，步骤S941具体包括：Specifically, step S941 specifically includes:
通过读取与待入库的集装器对应的电子标签获取待入库的集装器的集装器信息；集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。在另一实施例中，还可以通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information. In another embodiment, it is also possible to obtain the container information of the container to be put into storage by reading the control signal sent by the vehicle master control system.
可以理解的是，货物上站信息、货物到站信息、货物归属信息和货物特性信息等一一对应，通过某一信息，可以查询到符合标准的所有集装器信息，如，当下一站为A站时，那么可以查询到在A站到站的所有集装器信息、包括位置、货物归属和货物上站信息等。可以查询每站出入库的货物数量及属性，以及当前库里所有的货物的属性；可以根据时间、入站、到站以及货物归属等特定条件对出入库进行统计。It can be understood that there is a one-to-one correspondence between the information on the destination of the cargo, the information on the arrival of the cargo, the information on the ownership of the cargo, and the information on the characteristics of the cargo. Through a certain information, you can query all the information of all ULDs that meet the standards. For example, when the next station is At station A, you can query all ULD information arriving at station A, including location, cargo ownership, and cargo loading information, etc. You can query the quantity and properties of the goods entering and leaving the warehouse at each station, as well as the properties of all the goods in the current warehouse; you can count the goods entering and leaving the warehouse according to specific conditions such as time, entry, arrival, and goods ownership.
查询统计功能以地面的货物管理***为主，车上的查询统计为辅助，车上的查询统计功能是当地铁或仓储***出现故障时，通过查询统计功能可以手动出库的或进行特殊查询。假如当地铁或仓储***出现故障时，下站是A站，可以统计出A站一共有哪几个集装器(例如装生鲜或疫苗等)需要手动下车。假如警方获悉从B站上车的集装器里的物品有非法物品，就可以通过查询功能找出哪几个集装器是从B站上车的。The query statistics function is mainly based on the cargo management system on the ground, supplemented by the query statistics on the train. The query statistics function on the train is that when the subway or storage system breaks down, the warehouse can be manually released or special queries can be performed through the query statistics function. If there is a failure in the subway or storage system, the next station is station A, and it can be counted which ULDs (such as fresh food or vaccines) in station A need to be manually alighted. If the police learn that there are illegal items in the ULDs boarded from station B, they can use the query function to find out which ULDs boarded from station B.
基于上述方法实施例，本申请还提供了一种轨道车辆的仓储管理***，包括：Based on the above method embodiment, the present application also provides a warehouse management system for rail vehicles, including:
集装器信息获取模块，用于获取待入库的集装器的集装器信息；The ULD information acquisition module is used to obtain the ULD information of the ULD to be put into storage;
堆垛位分配模块，用于根据集装器信息为待入库的集装器分配堆垛位；The stacking position allocation module is used to allocate stacking positions for the ULDs to be put into storage according to the ULD information;
存储模块，用于将集装器与其分配的堆垛位进行绑定并存储；A storage module for binding and storing the ULD with its assigned stacking position;
指令控制模块，用于发出指令将待入库的集装器移动至分配的堆垛位处进行存储。The instruction control module is used to issue an instruction to move the ULDs to be stored to the assigned stacking position for storage.
采用本申请实施例中提供的一种轨道车辆的仓储管理方法及***，相较于现有技术，具有以下技术效果：Compared with the prior art, the storage management method and system for rail vehicles provided in the embodiment of the present application have the following technical effects:
在获取待入库的集装器的集装器信息后，根据该集装器信息为待入库的集装器分配堆垛位，并将集装器与分配的堆垛位进行绑定并进行存储，控制相应的输送设备将待入库的集装器移动至分配的堆垛位处进行存储，上述方法及***使得集装器和堆垛位能够进行一一绑定，并能够及时获取仓储的堆垛位分配信息，以便于后续对仓库的堆垛位进行管理操作，并能够与物流园区体系中其他***进行衔接，满足现代化仓储、多式联运转运等需求。After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and storage, and control the corresponding conveying equipment to move the ULDs to be stored to the allocated stacking positions for storage. The above method and system enable the ULDs and stacking positions to be bound one by one, and can be obtained in time The allocation information of the stacking position of the warehouse is convenient for subsequent management and operation of the stacking position of the warehouse, and it can be connected with other systems in the logistics park system to meet the needs of modern storage and multimodal transportation.
堆垛位分配模块具体包括：The stacking location allocation module specifically includes:
货物站位信息读取单元，用于根据集装器信息读取集装器所装载的货物的货物站位信息；The cargo station information reading unit is used to read the cargo station information of the cargo loaded in the container according to the container information;
货物旅途类型确定单元，用于根据货物站位信息确定所装载的货物的旅途类型，通过旅途类别确定与待入库的集装器对应的存储区域，及存储区域中、待入库的集装器对应的堆垛位。The cargo journey type determination unit is used to determine the journey type of the loaded cargo according to the cargo station information, and determine the storage area corresponding to the container to be put into the warehouse through the journey type, and the container to be put into the warehouse in the storage area. The stacking position corresponding to the device.
具体的，货物旅途类型确定单元具体包括：Specifically, the cargo journey type determination unit specifically includes:
货物到站信息确定子单元，用于根据货物站位信息确定所装载的货物的货物到站信息；The cargo arrival information determination subunit is used to determine the cargo arrival information of the loaded cargo according to the cargo station information;
货物旅途类型判断子单元，用于根据预设列车时刻表、获取的当前站台信息和货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于预设停靠站数时，认为所装载的货物的旅途类型为短途类型。Cargo journey type judging sub-unit, used to judge according to preset train timetable, current platform information obtained and cargo arrival information, when the number of stops between the arrival of goods and the current platform is greater than or equal to the preset number of stops , the journey type of the loaded cargo is considered to be the long-distance type; when the number of stops between the arrival of the cargo and the current platform is less than the preset number of stops, the journey type of the loaded cargo is considered to be the short-distance type.
进一步地，货物旅途类型确定单元具体包括：Further, the cargo journey type determination unit specifically includes:
存储区域确定子单元，用于通过旅途类别确定与待入库的集装器对应的存储区域；The storage area determination subunit is used to determine the storage area corresponding to the container to be put into storage through the journey category;
闲置堆垛位判断子单元，用于判断存储区域内是否存在闲置的堆垛位，若是，则随机为待入库的集装器分配堆垛位。The idle stacking location judging subunit is used to judge whether there is an idle stacking location in the storage area, and if so, randomly assign a stacking location to the ULDs to be put into storage.
在一种实施例中，闲置堆垛位判断子单元还用于：In one embodiment, the idle stacking position judging subunit is also used for:
当存储区域内不存在闲置的堆垛位时，进行当前存储区域内无闲置堆垛位报警。When there is no idle stacking position in the storage area, an alarm for no idle stacking position in the current storage area is issued.
其中，该***还包括：Among them, the system also includes:
集装器到位判断模块，用于判断是否接收到堆垛位的集装器到位指令，若是，则认为待入库的集装器完成入库，并发送信号至堆垛位列表信息更新模块；The ULD in-position judging module is used to judge whether the ULD in-position instruction for the stacking position has been received, and if so, it will consider that the ULD to be put into storage has completed the warehousing, and send a signal to the stacking position list information update module;
堆垛位列表信息更新模块，用于更新堆垛位列表信息，堆垛位列表信息包括集装器与其对应的堆垛位的绑定关系。The stacking position list information update module is used to update the stacking position list information, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
在该具体实施例中，还包括：In this specific embodiment, it also includes:
预出库集装器确定模块，用于当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；The pre-outbound ULD determination module is used to determine the pre-outbound ULD according to the arrival information of the pre-arrival station when the outbound instruction is received;
堆垛位位置确定模块，用于根据预出库的集装器以及堆垛位列表信息，确定堆垛位的位置；The stacking position determination module is used to determine the position of the stacking position according to the pre-delivery container and the stacking position list information;
集装器输送模块，用于根据堆垛位的位置取出对应的预出库的集装器。The ULD conveying module is used to take out the corresponding pre-delivery ULD according to the position of the stacking position.
在一些可选的实现方式中，还包括：In some optional implementations, it also includes:
出库判断模块，用于根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当当前时刻与预到站的到站时刻具有预设时间间隔时，向预出库集装器确定模块发送出库指令。Departure judging module, used for judging according to the current time and the arrival time of the pre-arrival station in the preset train timetable, when the current time and the pre-arrival time have a preset time interval, the pre-departure set The loader determines that the module sends an outbound command.
具体的，存储模块还用于：Specifically, the storage module is also used for:
解除预出库的集装器和与其对应的堆垛位的绑定关系，并发送信号至堆垛位列表信息更新模块更新堆垛位列表信息。Release the binding relationship between the pre-delivered ULD and its corresponding stacking position, and send a signal to the stacking position list information update module to update the stacking position list information.
其中，该***还包括：Among them, the system also includes:
闲置堆垛位计算模块，用于根据堆垛位列表信息计算闲置的堆垛位的数量，并根据闲置的堆垛位的数量得到堆垛位警戒数；The idle stacking position calculation module is used to calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
待入库集装器数量获取模块，用于获取预到站的待入库的集装器的数量；The module for obtaining the quantity of ULDs to be put into storage is used to obtain the quantity of pre-arrived ULDs to be put into storage;
堆垛位容纳量判断模块，用于当预到站的待入库的集装器的数量大于堆垛位警戒数时，进行报警。The capacity judging module of the stacking position is used to give an alarm when the number of pre-arrived ULDs is greater than the warning number of the stacking position.
同时，集装器信息获取模块具体用于：At the same time, the ULD information acquisition module is specifically used for:
通过读取与待入库的集装器对应的电子标签获取待入库的集装器的集装器信息；集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。在另一实施例中，还可以通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息，而该车辆总控***发送的控制信号可以在实际到站时刻前预设时段发出。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information. In another embodiment, the ULD information of the ULDs to be put into storage can also be obtained by reading the control signal sent by the vehicle master control system, and the control signal sent by the vehicle master control system can be Issued at the pre-set time period.
本申请还提供了一种设备，包括存储器和处理器，以及存储在存储器上且能够在处理器上运行的计算机程序，处理器执行计算机程序时，实现上述方法实施例任一项的轨道车辆的仓储管理方法的步骤。The present application also provides a device, including a memory and a processor, and a computer program stored on the memory and capable of running on the processor. When the processor executes the computer program, the rail vehicle of any one of the above method embodiments can be realized. Steps of warehouse management method.
本申请还提供了一种计算机可读存储介质，其上存储有计算机程序，当计算机程序被处理器执行时，实现上述方法实施例任一项的轨道车辆的仓储管理方法的步骤。The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the storage management method for rail vehicles in any one of the above method embodiments are realized.

Claims (13)

  1. 一种列车客货混编控制方法，其特征在于，包括：A method for controlling mixed train passenger and freight, characterized in that it includes:
    获取当前列车运行网络的客流信息、物流运力及待运送的物流运量；Obtain the passenger flow information, logistics capacity and logistics capacity to be transported of the current train operation network;
    根据所述客流信息、物流运量和物流运力调整列车中客车车厢及货车车厢的编组；According to the passenger flow information, the logistics volume and the logistics capacity, the grouping of the passenger car and the freight car in the train is adjusted;
    控制客车车厢及货车车厢编组混合编组运行。Control the mixed marshalling operation of passenger car and freight car marshalling.
  2. 根据权利要求1所述的方法，其特征在于，根据所述客流信息、物流运量和物流运力调整列车中客车车厢及货车车厢的编组包括：The method according to claim 1, characterized in that, adjusting the grouping of passenger carriages and truck carriages in the train according to the passenger flow information, logistics capacity and logistics capacity comprises:
    根据所述客流信息、物流运量和物流运力确定客车车厢的目标编组数量及货车车厢的目标编组数量；Determine the target grouping quantity of the passenger car compartment and the target grouping quantity of the truck compartment according to the passenger flow information, logistics volume and logistics capacity;
    获取既有列车中客车车厢及货车车厢的数量及编组情况；Obtain the number and organization of passenger cars and freight cars in existing trains;
    根据各车厢的目标编组数量和既有列车中各车厢的数量及编组情况调整车厢编组至目标编组数量。According to the target formation quantity of each carriage and the quantity and formation situation of each carriage in the existing train, the carriage formation is adjusted to the target formation quantity.
  3. 根据权利要求2所述的方法，其特征在于，根据各车厢的目标编组数量和既有列车中各车厢的数量及编组情况调整车厢编组至目标编组数量，包括：The method according to claim 2, characterized in that, adjusting the car formation to the target formation quantity according to the target formation quantity of each carriage and the quantity and formation situation of each carriage in the existing train, including:
    根据既有列车中客车车厢及货车车厢的数量及编组情况、以及客车车厢的目标编组数量和货车车厢的目标编组数量确定既有列车中待解编的客车车厢和/或货车车厢；Determine the passenger car and/or freight car to be decomposed in the existing train according to the number and grouping of the passenger car and the freight car in the existing train, as well as the target grouping quantity of the passenger car and the target grouping number of the freight car;
    对既有列车的车厢进行解编，以去除待解编的客车车厢和/或货车车厢；Carrying out de-blocking of existing trains to remove passenger and/or freight cars to be de-blocked;
    按照目标编组数量调运目标客车车厢和/或目标货车车厢到达编组区段；According to the target formation quantity, transfer the target passenger car and/or the target freight car to the formation section;
    对既有列车中保留的车厢、目标客车车厢和/或目标货车车厢执行编组操作。Perform marshalling operations on reserved cars in existing trains, target passenger cars, and/or target freight cars.
  4. 根据权利要求3所述的方法，其特征在于，对既有列车中保留的车厢、目标客车车厢和/或目标货车车厢执行编组操作，包括：The method according to claim 3, wherein the marshalling operation is performed on reserved cars, target passenger car cars and/or target freight car cars in existing trains, comprising:
    当识别出有待编组车厢进入编组区段时，获取待编组车厢的类型标识；When it is recognized that the car to be grouped enters the grouping section, the type identification of the car to be grouped is obtained;
    在识别出所述类型标识与目标车厢标识一致之后，对既有列车中保留的车厢与待编组车厢建立编组。After identifying that the type identifier is consistent with the target car identifier, a grouping is established for the reserved cars in the existing train and the cars to be grouped.
  5. 根据权利要求3所述的方法，其特征在于，调运目标客车车厢和/或目标货车车厢到达编组区段，包括：The method according to claim 3, wherein the transfer of the target passenger car compartment and/or the target freight car compartment to the marshalling section includes:
    向自运行车厢发送调运指令，指示所述自运行车厢运行至编组区段；所述自运行车厢为具有动力走行***、车载控制***及通信***，能够自主行走的车厢；Send a dispatch instruction to the self-running car, instructing the self-running car to run to the marshalling section; the self-running car is a car that has a power running system, an on-board control system and a communication system, and can walk autonomously;
    或者，向牵引机车发送调运指令，指示所述牵引机车运行至目标客车车厢或目标货车车厢所在的区段并与目标车厢编组，带领所述目标客车车厢或目标货车车厢运行至编组区段。Or, send a dispatch instruction to the traction locomotive, instruct the traction locomotive to run to the section where the target passenger car or the target freight car is located and form a group with the target car, and lead the target passenger car or target freight car to run to the formation section.
  6. 根据权利要求3所述的方法，其特征在于，对既有列车的车厢进行解编，以去除待解编的客车车厢和/或货车车厢之后，还包括：The method according to claim 3, characterized in that, after decompiling the carriages of the existing trains to remove the passenger carriages and/or freight carriages to be decompiled, further comprising:
    若解编的车厢为自运行车厢，则向解编的车厢发送行车指令，指示解编的车厢驶出解编区段；所述自运行车厢为具有动力走行***、车载控制***及通信***，能够自主行走的车厢；If the decomposed carriage is a self-running carriage, a driving instruction is sent to the decomposed carriage, instructing the decomposed carriage to leave the decomposing section; the self-running carriage has a power running system, an on-board control system and a communication system, carriages capable of autonomous travel;
    若解编的车厢为非自运行车厢，则向牵引机车发送行车指令，指示牵引机车进入解编区段并与解编的车厢编组，带领该车厢驶出解编区段。If the decomposed carriage is a non-self-running carriage, a running command is sent to the traction locomotive, instructing the traction locomotive to enter the decombination section and form a group with the decompilation carriage, and lead the carriage out of the decomposition section.
  7. 根据权利要求5或6所述的方法，其特征在于，所述调运指令或行车指令中包含列车信息列表，指示所述牵引机车根据列车信息列表监测与待编组车厢之间的距离，与待编组车厢建立灵活编组，并进行间隔控制。The method according to claim 5 or 6, wherein the dispatching instruction or the running instruction includes a train information list, instructing the traction locomotive to monitor the distance between the car to be formed according to the train information list, and the distance between the car to be formed and The cars are organized flexibly and controlled at intervals.
  8. 根据权利要求1所述的方法，其特征在于，控制客车车厢及货车车厢编组混合编组运行，包括：The method according to claim 1, characterized in that, controlling the mixed formation operation of passenger cars and freight cars comprises:
    向第一列车发送列车信息列表，以使第一列车根据所述列车信息列表与第二列车进行通信并在接收到第二列车发送的第二拓扑帧之后与第二列车建立灵活编组；第一列车包括客车车厢和/或货车车厢，第二列车包括客车车厢和/或货车车厢；Send the train information list to the first train, so that the first train communicates with the second train according to the train information list and establishes a flexible formation with the second train after receiving the second topology frame sent by the second train; the first one train comprising passenger cars and/or freight cars, the second train comprising passenger cars and/or freight cars;
    向第一列车发送电子运行地图，以使第一列车根据所述电子运行地图控制第一列车和第二列车运行。An electronic operation map is sent to the first train, so that the first train controls the operation of the first train and the second train according to the electronic operation map.
  9. 根据权利要求8所述的方法，其特征在于，在向第一列车发送列车信息列表之前，还包括：The method according to claim 8, wherein, before sending the train information list to the first train, further comprising:
    获取列车的位置信息；Obtain the location information of the train;
    接收地面控制中心发送的运行信息；Receive the operation information sent by the ground control center;
    从所述位置信息和运行信息中识别出同一轨道上、同向行驶的列车；Identifying trains traveling in the same direction on the same track from the position information and operation information;
    根据识别到的列车确定列车信息列表。A train information list is determined according to the identified trains.
  10. 根据权利要求1所述的方法，其特征在于，所述货车车厢设置有车门控制装置和车门输送装置，所述车门输送装置用于固定在轨道车辆车门处，所述车门输送装置与所述车门控制装置连接，所述车门输送装置包括：The method according to claim 1, wherein the truck compartment is provided with a door control device and a door conveying device, the door conveying device is used to be fixed at the door of a rail vehicle, and the door conveying device is connected to the door The control device is connected, and the door conveying device includes:
    第二底架，所述第二底架用于可拆卸的连接于车辆地板上；a second chassis for detachable connection to the vehicle floor;
    第一车门输送组件和第二车门输送组件，分别位于所述第二底架上，所述第一车门输送组件和所述第二车门输送组件依次设置，且所述第二车门输送组件能够延伸至车门处；The first car door conveying assembly and the second car door conveying assembly are respectively located on the second chassis, the first car door conveying assembly and the second car door conveying assembly are arranged in sequence, and the second car door conveying assembly can extend to the door;
    翻转驱动组件，所述翻转驱动组件的一端与所述第二底架铰接，另一端与所述第二车门输送组件铰接；所述车门控制装置控制所述翻转驱动组件动作，以使所述第二车门输送组件能够在第一状态和第二状态之间翻转；An overturn driving assembly, one end of which is hinged to the second chassis, and the other end is hinged to the second door conveying assembly; the door control device controls the action of the overturning drive assembly so that the first The second vehicle door conveying assembly can be turned over between the first state and the second state;
    其中，所述第一状态时，所述第二车门输送组件向所述第一车门输送组件方向翻转用于收缩至轨道车辆的车厢内；所述第二状态时，所述第二车门输送组件向远离所述第一车门输送组件方向翻转，用以延伸至车门处并对接站台输送***。Wherein, in the first state, the second door conveying assembly turns over to the direction of the first door conveying assembly for retracting into the compartment of the rail vehicle; in the second state, the second door conveying assembly Turning away from the first vehicle door conveying assembly to extend to the vehicle door and dock with the platform conveying system.
  11. 根据权利要求10所述的方法，其特征在于，所述翻转驱动组件包括：The method according to claim 10, wherein the turning drive assembly comprises:
    转轴，沿所述第一车门输送组件的宽度方向设置，且所述第二车门输送组件套装于所述转轴上；The rotating shaft is arranged along the width direction of the first car door conveying assembly, and the second car door conveying assembly is sleeved on the rotating shaft;
    翻转驱动缸，一端铰接于所述第二底架上，另一端与所述第二车门输送组件的侧壁铰接，所述翻转驱动缸位于所述转轴的下方，且在所述第一车门输送组件的长度方向上，所述翻转驱动缸和所述转轴间设有间隔。Turning drive cylinder, one end is hinged on the second chassis, and the other end is hinged to the side wall of the second door conveying assembly, the turning drive cylinder is located below the rotating shaft, and is conveyed on the first door In the length direction of the assembly, an interval is provided between the turning drive cylinder and the rotating shaft.
  12. 根据权利要求10所述的方法，其特征在于，所述第一车门输送组件和所述第二车门输送组件均包括：The method of claim 10 wherein said first door delivery assembly and said second door delivery assembly each comprise:
    第二输送组件安装架和若干个第二积放滚筒，各个所述第二积放滚筒的长度方向的两端分别与所述第二输送组件安装架转动连接；所述转轴位于所述第二输送组件安装架上；The second conveying assembly mounting frame and several second accumulating rollers, the two ends of the length direction of each of the second accumulating rollers are respectively connected to the second conveying assembly mounting frame; the rotating shaft is located at the second On the installation frame of the conveying component;
    第二积放滚筒驱动单元，与各个所述第二积放滚筒连接，以驱动所述第二积放滚筒沿自身轴线转动；The second accumulation drum drive unit is connected to each of the second accumulation drums to drive the second accumulation drums to rotate along their own axes;
    所述第二输送组件安装架的上表面、沿宽度方向的两端设有第二导向条，所述第二导向条沿第二输送组件安装架的长度方向延伸，所述第二导向条对集装器的移动进行导向。The upper surface of the second conveying assembly mounting frame and the two ends along the width direction are provided with second guide strips, and the second guiding strips extend along the length direction of the second conveying assembly mounting frame, and the second guide strips are The movement of the ULD is guided.
  13. 根据权利要求10所述的方法，其特征在于，还包括：The method according to claim 10, further comprising:
    集装器到位检测组件，位于所述第一车门输送组件的所述第二底架上，所述集装器到位检测组件用于对移动至所述第一车门输送组件上、预设位置处的集装器进行到位检测；The container in-position detection assembly is located on the second chassis of the first vehicle door conveying assembly, and the container in-position detection assembly is used to move to the preset position on the first vehicle door conveying assembly In-place detection of ULDs;
    所述车门控制装置与所述集装器到位检测组件连接，所述车门控制装置用于根据集装器的到位信号进行取货或放货动作；The vehicle door control device is connected with the ULD in-position detection component, and the vehicle door control device is used for taking or releasing goods according to the ULD in-position signal;
    所述车门控制装置与车辆控制***连接，用于接收车门动作信号，以当车门开启后控制所述翻转驱动组件动作，使所述第二车门输送组件向远离所述第一车门输送组件方向翻转。The vehicle door control device is connected with the vehicle control system, and is used to receive the door action signal, so as to control the action of the turning drive assembly after the door is opened, so as to turn the second door conveying assembly away from the first door conveying assembly. .
PCT/CN2021/140890 2021-12-03 2021-12-23 Train passenger car and freight car mixed marshalling control method WO2023097822A1 (en)

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