The invention discloses a rail train purging robot synchronous control method and device, the device comprises an initial position positioning module and a position calculation module, and the position calculation module comprises a positioning sensor and a position positioning element; the position calculation module defines the coordinate information corresponding to the front edge signal of the bottom of the train as the initial coordinate of the train, and enables the subsequent coordinate information to correspond to the bottom of the rail train along the longitudinal axis of the rail train one by one. According to the method, the initial position of the bottom of the rail train is creatively bound with the unspecific ground fixed left side, so that the difficulty of synchronous control caused by different parking positions of the rail train at each time is solved; according to the scheme, the actual three-dimensional structure data of the rail train along the bottom longitudinal axis and the distance information (coordinate information) from each part to the bottom initial position can be pre-stored in the controller, and through conversion of the position calculation module, the positions of the bottom robot (2), the left side robot (1) and the right side robot (3) can be simply and rapidly determined; and the specific component structure information of the bottom of the rail train corresponding to the position is determined, so that a corresponding fine purging planning scheme can be executed.
本发明公开了一种轨道列车吹扫机器人同步控制方法及装置,包括初始位置定位模块和位置计算模块,所述位置计算模块包括定位传感器和位置定位元件;位置计算模块将列车底部前沿信号对应的坐标信息定义为列车的初始坐标,并将之后的坐标信息一一与轨道列车底部沿轨道列车纵轴对应起来。本发明创造性的将轨道列车底部的初始位置与不特定的地面固定左边进行绑定,解决了每次轨道列车停靠位置不同带来的同步控制的困难,本方案可以将轨道列车沿底部纵轴的实际三维结构资料以及每个部位距离底部初始位置的距离信息(坐标信息)预存到控制器,经过位置计算模块的换算,即可简单快捷的明确底部机器人(2)、左侧机器人(1)、右侧机器人(3)所处的位置,以及该位置对应的轨道列车底部的具体部件结构信息,因此可以执行对应的精细的吹扫规划方案。
Synchronous control method and device for rail train purging robot
一种轨道列车吹扫机器人同步控制方法及装置
2023-04-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen |
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