CN116198567A - Urban rail train limit maintenance device, method and storage medium - Google Patents

Abstract

The application provides an urban rail train clearance maintenance device, method and storage medium, the device comprises: a vehicle body; the limit detection device is arranged around the vehicle body and is used for determining whether the vehicle body touches an obstacle to be detected, and when the vehicle body touches the obstacle to be detected, a deceleration signal is sent to the train control system; the limit judgment device is used for acquiring an image of the obstacle to be detected and sending the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is the obstacle to be processed; and the limit maintenance device is used for processing the obstacle to be processed when receiving the signal for processing the obstacle to be processed, which is sent by the train control system. According to the technical scheme, the limit can be automatically maintained, and labor, material resources and time cost are greatly saved.

Description

Urban rail train limit maintenance device, method and storage medium

Technical Field

The present application relates to the technical field of rail transit, and more particularly, to an urban rail train clearance maintenance apparatus, method, and storage medium.

Background

In the technical field of trains, yun Ba is taken as a small-traffic-volume rubber-tyred tramcar system which does not occupy road resources and has independent road weights, and belongs to a new system in a modern tramcar. Cloud bars often travel through areas of urban tree bloom, such as parks. Branches and leaves of the trees can reach the cloud bar when growing into flourish, so that the limit of the cloud bar needs to be maintained manually and regularly to ensure the normal running of the vehicle.

At present, the maintenance work of the cloud bar limit is to trim branches of surrounding environment in a route of the cloud bar driving on a maintenance vehicle by maintenance personnel, so that the consumption of manpower, material resources and time is high.

Disclosure of Invention

The present application has been made in order to solve the above-described problems. According to an aspect of the present application, there is provided an urban rail train limit maintenance apparatus comprising:

a vehicle body;

the limit detection device is arranged around the vehicle body and is used for determining whether the vehicle body touches an obstacle to be detected or not, and transmitting a deceleration signal to a train control system when the vehicle body touches the obstacle to be detected;

the limit judgment device is used for acquiring the image of the obstacle to be detected and sending the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed;

and the limit maintenance device is used for processing the obstacle to be processed when receiving the signal for processing the obstacle to be processed, which is sent by the train control system.

In one embodiment of the present application, the limit detection device is further configured to detect a processing result to determine whether the processing needs to be performed again when the processing of the obstacle to be processed is completed.

In one embodiment of the present application, the limit detection device comprises a rigid limit detection unit and a flexible limit detection unit.

In one embodiment of the present application, the rigid limit detection unit is provided to a head portion of the vehicle body.

In one embodiment of the present application, the flexible limit detection unit comprises at least one set of flexible touch screen and screen saver.

In one embodiment of the present application, the flexible limit detection unit includes at least two sets of flexible touch screens and screen protectors, wherein one set of flexible touch screens and screen protectors is disposed around a front body of the vehicle body, and the other set of flexible touch screens and screen protectors is disposed around a rear body of the vehicle body; wherein,,

the flexible touch screen and the screen protection device are used for sending the deceleration signal to the train control system when touching the obstacle to be detected;

the other group of flexible touch screen and screen protector is used for detecting the processing result to determine whether the processing is needed to be processed again when the processing of the obstacle to be processed is completed.

In one embodiment of the present application, the limit determination means includes an image pickup means.

In one embodiment of the present application, the clearance maintenance device includes an electric saw, a transmission mechanism, a driving device, a conveyor belt and a hopper; wherein,,

the electric saw is used for processing the obstacle to be processed;

the transmission mechanism is arranged in the middle of the car body and surrounds the car body for a circle and is used for driving the electric saw to move up and down;

the driving device is used for driving the transmission mechanism;

the conveying belt is arranged below the vehicle body and is used for receiving the fallen obstacle to be processed when the electric saw finishes processing the obstacle to be processed;

the car hopper is arranged at the rear of the car body and is used for containing the obstacle to be treated, which is conveyed by the conveying belt.

In one embodiment of the present application, the transmission mechanism comprises a chain; the driving device comprises a motor.

In one embodiment of the present application, the urban rail train boundary maintenance apparatus further comprises a positioning device for positioning the vehicle body and transmitting the position of the vehicle body to a ground central control system when the obstacle to be detected is not an obstacle to be treated.

In one embodiment of the present application, the positioning device comprises a GPS system.

In one embodiment of the present application, the urban rail train boundary maintenance apparatus further comprises a train control system comprising a memory and a processor, the memory having stored thereon a computer program for execution by the processor for performing the following steps when executed by the processor:

receiving a signal which is sent by the limit detection device and touches the obstacle to be detected;

acquiring an image of the obstacle to be detected, which is sent by the limit judgment device;

analyzing the image of the obstacle to be detected, and determining whether the obstacle to be detected is an obstacle to be processed;

if the obstacle to be detected is an obstacle to be processed, sending an instruction for processing the obstacle to be detected to the limit maintenance device; otherwise, sending the image of the obstacle to be detected to a ground central control system to further determine whether the obstacle to be detected is the obstacle to be processed.

In an embodiment of the present application, the computer program when run by the processor is further adapted to perform the steps of:

and receiving a signal which is sent by the other group of flexible touch screens and the screen protection device and is contacted with the obstacle to be detected, and sending an instruction for processing the obstacle to be detected again to the limit maintenance device.

According to another aspect of the present application, there is provided a method of urban rail train clearance maintenance, the method comprising:

receiving a signal which is sent by the limit detection device and touches an obstacle to be detected;

acquiring an image of the obstacle to be detected, which is sent by the limit judgment device;

analyzing the image of the obstacle to be detected and determining whether the obstacle to be detected is an obstacle to be processed;

if the obstacle to be detected is an obstacle to be processed, sending an instruction for processing the obstacle to be detected to a limit maintenance device; otherwise, sending the image of the obstacle to be detected to a ground central control system to further determine whether the obstacle to be detected is the obstacle to be processed.

In one embodiment of the present application, the limit detection device includes a flexible limit detection unit, where the flexible limit detection unit includes at least two sets of flexible touch screens and screen protectors, one set of flexible touch screens and screen protectors is disposed around a front body of the vehicle body, and the other set of flexible touch screens and screen protectors is disposed around a rear body of the vehicle body;

receiving a signal sent by the limit detection device and touching an obstacle to be detected, wherein the signal comprises the following components:

receiving signals which are transmitted by the flexible touch screen and the screen protection device and touch the obstacle to be detected;

after sending an instruction to process the obstacle to be detected to a clearance maintenance device, the method further comprises:

and receiving a signal which is sent by the other group of flexible touch screens and the screen protection device and is contacted with the obstacle to be detected, and sending an instruction for processing the obstacle to be detected again to the limit maintenance device.

According to a further aspect of the present application there is provided a storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform the urban rail train limit maintenance method as described above.

According to the urban rail train limit maintenance equipment, the method and the storage medium, whether the vehicle body touches the obstacle to be detected or not is determined through the limit detection device arranged around the vehicle body, and when the limit judgment device judges that the obstacle to be detected is the obstacle to be processed, the limit maintenance device processes the obstacle to be processed, so that the automatic maintenance of the limit is realized, and the labor, material resources and time cost are greatly saved.

Moreover, the limit detection device can also test the primary treatment result and carry out secondary treatment so as to remove the obstacles to be treated as much as possible, thereby meeting the running requirement of the urban rail train.

Drawings

The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.

FIG. 1 shows a schematic block diagram of an urban rail train boundary maintenance apparatus according to an embodiment of the application;

FIG. 2 shows a schematic diagram of a configuration employing urban rail train boundary maintenance equipment according to an embodiment of the application;

FIG. 3 shows a schematic block diagram of a train control system according to an embodiment of the present application;

fig. 4 shows a schematic flow chart of an urban rail train boundary maintenance method according to an embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. Based on the embodiments of the present application described herein, all other embodiments that may be made by one skilled in the art without the exercise of inventive faculty are intended to fall within the scope of protection of the present application.

Based on the foregoing technical problem, the present application provides an urban rail train limit maintenance apparatus, the urban rail train limit maintenance apparatus includes: a vehicle body; the limit detection device is arranged around the vehicle body and is used for determining whether the vehicle body touches an obstacle to be detected or not, and transmitting a deceleration signal to a train control system when the vehicle body touches the obstacle to be detected; the limit judgment device is used for acquiring the image of the obstacle to be detected and sending the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed; and the limit maintenance device is used for processing the obstacle to be processed when receiving the signal for processing the obstacle to be processed, which is sent by the train control system. According to the technical scheme, the limit can be automatically maintained, and labor, material resources and time cost are greatly saved. Moreover, the limit detection device can also test the primary treatment result and carry out secondary treatment so as to remove the obstacles to be treated as much as possible, thereby meeting the running requirement of the urban rail train.

A scheme of urban rail train limit maintenance equipment according to an embodiment of the present application is described in detail below with reference to the accompanying drawings. Features of various embodiments of the present application may be combined with one another without conflict.

Fig. 1 and 2 are schematic structural diagrams showing an urban rail train limit maintenance apparatus according to an embodiment of the present application; referring to fig. 1 and 2, an urban rail train limit maintenance apparatus 100 according to an embodiment of the present application may include:

a vehicle body 10;

a limit detection device 20, which is disposed around the vehicle body, and is used for determining whether the vehicle body touches an obstacle to be detected, and sending a deceleration signal to a train control system when the vehicle body touches the obstacle to be detected;

a limit determining device 30, configured to acquire an image of the obstacle to be detected, and send the image of the obstacle to be detected to the train control system, so that the train control system determines whether the obstacle to be detected is an obstacle to be processed;

and the limit maintenance device 40 is used for processing the obstacle to be processed when receiving the signal for processing the obstacle to be processed, which is sent by the train control system.

In one example, to maintain the boundaries of an urban rail train, wheels are mounted below the body 10 and can be driven on the track along which the urban rail train is driven to traverse the various lines of the urban rail train.

In one example, the limit detection means is further configured to detect a processing result to determine whether or not a re-processing is required when the processing of the obstacle to be processed is completed. Because the obstacle to be treated has certain elasticity, the obstacle to be treated can not be thoroughly cleared when the obstacle to be treated is treated. For example, the obstacle to be treated is a flexible branch, and when the branch is treated, the branch shakes, so that the limit maintenance device cannot treat the branch completely, therefore, after the treatment is completed, the limit detection device detects whether the obstacle to be treated is thoroughly treated, and when the obstacle to be treated is not completely treated, a signal needing to be treated again is sent to the train control system, and when the obstacle to be treated is completely treated, a signal for continuing to run is sent to the train control system, and the train body continues to run forwards at a normal speed.

In one example, the limit detection means comprises a rigid limit detection unit 201 and a flexible limit detection unit 202.

The rigid limit detecting unit 201 is disposed at the head of the vehicle body, and may be a steel structure portal frame. The rigid limit detecting unit 201 is provided at the head of the vehicle body, and when the vehicle body is traveling forward, if there is an obstacle to be detected in front of the vehicle body, the rigid limit detecting unit 201 at the head position of the vehicle body will first touch the obstacle to be detected, blocking the impact of part or all of the obstacle to be detected on the vehicle body, to protect the latter equipment (e.g., camera, flexible limit detecting unit, etc.).

In one example, the flexible boundary detection unit 202 includes at least one set of flexible touch screens and screen savers (not shown). The screen protector is arranged on the outer side of the flexible touch screen to protect the flexible touch screen from being damaged by obstacles.

In one example, the flexible boundary detection unit 202 includes at least two sets of flexible touch screens and screen protectors, one set of flexible touch screens and screen protectors surrounding a front body of the vehicle body and the other set of flexible touch screens and screen protectors surrounding a rear body of the vehicle body.

The flexible touch screen and the screen protection device are used for sending the deceleration signal to the train control system when touching the obstacle to be detected. For example, when the obstacle to be detected is a branch, the branch touches one group of flexible touch screens to generate a deceleration signal, and then the deceleration signal is sent to a train control system, and the train control system controls the train body to run in a deceleration mode or stop running.

And the other group of flexible touch screen and screen protection device is used for detecting a processing result to determine whether the obstacle to be processed needs to be processed again when the processing of the obstacle to be processed is completed. When the limit maintenance device finishes processing the obstacle to be processed, the limit maintenance device does not necessarily process the obstacle completely, for example, the branches have certain flexibility, when the limit maintenance device prunes the branches, only a part of the branches are pruned when the branches shake in the air, and the rest parts still can influence the normal running of the urban rail train. Therefore, be provided with another group of flexible touch-sensitive screen and screen protection device among the technical scheme of this application, the limit maintenance device generally sets up in the middle part position of automobile body, after limit maintenance device handled the obstacle of waiting to handle, the automobile body will continue to move forward, when the automobile body moved forward, another group of flexible touch-sensitive screen and screen protection device of automobile body back will pass through the obstacle position department of waiting to handle just being handled, if another group of flexible touch-sensitive screen and screen protection device touch at this moment and touch the obstacle of waiting to handle, then indicate that just handling the process does not thoroughly clear away the obstacle of waiting to handle, need handle again. If the obstacle to be treated is not touched, the obstacle to be treated is thoroughly cleared in the just-treated process, and the treatment is not needed again.

The reprocessing may be a process in which the vehicle body is retreated by a certain distance to the position of the obstacle to be processed, the reprocessing is performed, or a process in which the vehicle body is driven along the track for the second time, and the reprocessing is performed during the second time of the driving, and is not limited herein.

This time the flexible touch screen may comprise a resistive touch screen. Resistive touch screens are generally referred to as resistive touch screens. A resistive touch screen is a sensor that converts the physical location of a touch point (X, Y) in a rectangular area into voltage signals representing the X and Y coordinates. In this embodiment, whether the touch screen touches the obstacle to be detected may be determined by the voltage signal.

In one example, the limit determination means 30 includes an image pickup means. The camera device may be a camera 31, and since the obstacle to be detected generally exists at the side or upper part of the vehicle body, the camera 31 may be disposed at the side or upper part of the vehicle body or may be disposed at the obliquely upper part of the vehicle body 10, and in a specific implementation, the installation position of the camera 31 may be adjusted according to the position of the obstacle to be detected possibly encountered by the urban rail train.

In one example, the clearance maintenance device 40 includes an electric saw 401, a transmission, a drive, a conveyor belt (not shown), and a hopper 402.

Wherein, the electric saw is used for processing the obstacle to be processed. For example, when the obstacle to be treated is a tree branch, an electric saw may be used to clear the tree branch.

The transmission mechanism is arranged in the middle of the car body and surrounds the car body for a circle and is used for driving the electric saw to move up and down. In a specific example, the transmission mechanism comprises a chain, and the chain is driven by the motor to move up and down to drive the electric saw to move up and down to finish the treatment of the obstacle to be treated.

The driving device is used for driving the transmission mechanism. In a specific example, the driving means comprises a motor.

In addition, because the automobile body has the turning, when the chain angle is around automobile body a week, when passing through the automobile body turning, probably there is the friction with the turning, makes the chain produce wearing and tearing, therefore the technical scheme of this application installs the driving wheel in automobile body turning department and makes the chain can turn round, makes the chain can drive the electric saw and reciprocates fast, handles pending barrier.

Wherein, the conveyer belt is arranged below the car body 10 and corresponds to the position of the electric saw, and is used for catching the fallen obstacle to be treated when the electric saw finishes treating the obstacle to be treated. For example, when the obstacle to be treated is a tree branch, after the tree branch is trimmed by the electric saw, the tree branch falls on the conveyor belt, and the conveyor belt conveys the tree branch to the hopper behind the vehicle body 10, so as to avoid the tree branch falling on the ground and affecting the environment and traffic.

The hopper 402 is disposed at the rear of the vehicle body 10 and is used for accommodating the obstacle to be treated conveyed by the conveyor belt.

In one example, the urban rail train boundary maintenance apparatus further comprises a positioning device 50 for positioning the vehicle body 10 when the obstacle to be detected is not an obstacle to be treated, and transmitting the position of the vehicle body 10 to a ground central control system. In the running process of the vehicle body, a position signal can be sent to the ground central control system in real time, on one hand, a worker can master the position of the vehicle body at any time, and on the other hand, when the flexible limit detection unit of the vehicle body touches an obstacle to be detected, whether the obstacle to be detected is the obstacle to be processed cannot be determined, an image of the obstacle to be detected can be reported to the ground central control system, the ground central control system determines, and the ground central control system can determine the position of the obstacle to be detected according to the position of the vehicle body.

When the image of the obstacle to be detected is reported to the ground central control system, the image is mainly completed by the train control system. The train control system reports the images of the obstacles to be detected and the positioning data of the vehicle body to the ground central control system through public network or comprehensive bearing, so that the ground central control system analyzes and judges the images or makes further judgment manually to prevent the electric saw from injuring other objects by mistake.

In one example, the positioning device includes a global positioning system 501 (Global Positioning System, GPS). Other positioning systems, such as, but not limited to, beidou satellite navigation systems, may also be included.

In other embodiments of the present application the vehicle body further comprises a vehicle door. The urban rail train limit maintenance equipment can adopt an automatic driving technology to enable a train body to move on a rail and process obstacles to be processed along the way. The vehicle body can be manually controlled to move on the track and process the obstacle to be processed along the way. If the car body is manually controlled to move on the track, a worker can enter the car body through the car door to operate the train control system so as to control the movement, the speed reduction or the stop of the car body.

The urban rail train boundary maintenance apparatus of the embodiments of the present application further comprises a train control system, the train control system 60 of the present application is described below in connection with fig. 3, wherein fig. 3 shows a schematic block diagram of the train control system 60 according to the embodiments of the present application.

As shown in fig. 3, the train control system 300 includes: one or more memories 301 and one or more processors 302, said memories 301 having stored thereon a computer program to be run by said processors 302, which when run by said processors 302, causes said processors 302 to perform the urban rail train boundary maintenance apparatus as described hereinbefore.

The train control system 300 may be part or all of a computer device that may implement the urban rail train clearance maintenance device in software, hardware, or a combination of software and hardware.

As shown in fig. 3, the train control system 300 includes one or more memories 301, one or more processors 302, a display (not shown), and a communication interface, among others, interconnected by a bus system and/or other forms of connection mechanisms (not shown). It should be noted that the components and configuration of the train control system 300 shown in fig. 2 are exemplary only and not limiting, as the train control system 300 may have other components and configurations as desired.

The memory 301 is used to store various data and executable program instructions that are generated during operation of the associated train, such as algorithms for storing various application programs or performing various specific functions. One or more computer program products may be included that may include various forms of computer-readable storage media, such as volatile and/or nonvolatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like.

Processor 302 may be a Central Processing Unit (CPU), an image processing unit (GPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other form of processing unit with data processing and/or instruction execution capabilities, and may train other components in system 300 to perform the desired functions.

In one example, the train control system 300 further includes an output device that may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display device, a speaker, and the like.

The communication interface is an interface that may be any presently known communication protocol, such as a wired interface or a wireless interface, where the communication interface may include one or more serial ports, USB interfaces, ethernet ports, wiFi, wired network, DVI interfaces, device integration interconnect modules, or other suitable various ports, interfaces, or connections.

In one example, the memory has stored thereon a computer program for execution by the processor, the computer program when executed by the processor for performing the steps of:

a1, receiving a signal which is sent by the limit detection device and touches the obstacle to be detected;

a2, acquiring an image of the obstacle to be detected, which is sent by the limit judgment device;

a3, analyzing the image of the obstacle to be detected, and determining whether the obstacle to be detected is an obstacle to be processed;

a4, if the obstacle to be detected is an obstacle to be processed, sending an instruction for processing the obstacle to be detected to the limit maintenance device; otherwise, sending the image of the obstacle to be detected to a ground central control system to further determine whether the obstacle to be detected is the obstacle to be processed.

In another example, the computer program when run by the processor is further adapted to perform the steps of:

and B1, receiving a signal which is sent by the other group of flexible touch screens and the screen protection device and touches the obstacle to be detected, and sending an instruction for processing the obstacle to be detected again to the limit maintenance device.

The urban rail train limit maintenance device according to the application has the following advantages: (1) The limit detection device is arranged around the vehicle body to determine whether the vehicle body touches an obstacle to be detected, and when the limit judgment device judges that the obstacle to be detected is the obstacle to be processed, the limit maintenance device is used for processing the obstacle to be processed, so that the automatic maintenance of the limit is realized, and the labor, material resources and time cost are greatly saved; (2) The limit detection device can also test the primary treatment result and carry out secondary treatment so as to remove the obstacles to be treated as much as possible, and can meet the running requirement of the urban rail train.

FIG. 4 shows a schematic flow chart of an urban rail train boundary maintenance method according to an embodiment of the application; as shown in fig. 4, the urban rail train limit maintenance method 400 according to the embodiment of the application may include the following steps S401, S402, S403, and S404:

in step S401, a signal sent by the limit detection device touching an obstacle to be detected is received.

The flexible limit detection unit comprises at least two groups of flexible touch screens and screen protection devices, wherein one group of flexible touch screens and screen protection devices are arranged around the front body of the car body, and the other group of flexible touch screens and screen protection devices are arranged around the rear body of the car body.

In one example, receiving a signal sent by the limit detection device touching an obstacle to be detected includes: and receiving signals which are transmitted by the flexible touch screen and the screen protection device and touch the obstacle to be detected. When the vehicle body moves forwards, one group of flexible touch screens and screen protection devices positioned on the front body of the vehicle body can touch an obstacle to be detected preferentially, and at the moment, one group of flexible touch screens and screen protection devices can generate a deceleration or stop signal and send the deceleration or stop signal to a train control system so as to control the vehicle to decelerate or stop.

In step S402, an image of the obstacle to be detected transmitted by the limit determination device is acquired. There are a number of possibilities for the obstacle to be detected, possibly branches, in which case the treatment can be carried out directly by the urban rail-train limit maintenance equipment, for example pruning branches. Since the obstacle to be detected may be an electric wire, etc., and cannot be directly processed by the urban rail train limit maintenance equipment, the position of the electric wire needs to be manually adjusted, and thus, an image of the obstacle to be detected needs to be acquired in advance for analysis.

In step S403, the image of the obstacle to be detected is analyzed, and it is determined whether the obstacle to be detected is an obstacle to be processed. The train control system analyzes the images of the obstacle to be detected.

In step S404, if the obstacle to be detected is an obstacle to be processed, an instruction to process the obstacle to be detected is sent to a clearance maintenance device; otherwise, sending the image of the obstacle to be detected to a ground central control system to further determine whether the obstacle to be detected is the obstacle to be processed. Specifically, if it is determined that the obstacle to be detected is an obstacle to be processed, such as a branch, it may be processed. If the obstacle to be detected is not an obstacle to be treated, the train control system will send an image of the obstacle to be detected to the ground central control system for further analysis. It is noted that when the train control system transmits the image of the obstacle to be detected to the ground central control system, the train control system can also simultaneously transmit the positions of the train bodies to the ground central control system together, so that the ground central control system can grasp the specific positions of the obstacle to be detected.

In one example, after sending an instruction to the clearance maintenance device to process the obstacle to be detected, the method further comprises: and receiving a signal which is sent by the other group of flexible touch screens and the screen protection device and is contacted with the obstacle to be detected, and sending an instruction for processing the obstacle to be detected again to the limit maintenance device. Since the limiting maintenance device is positioned in the middle of the vehicle body, after the limiting module is used for treating the obstacle to be treated, the vehicle body continues to move forwards, at the moment, the other group of flexible touch screens and screen protection devices positioned at the rear body of the vehicle body continue to sense the obstacle to be detected, if the other group of flexible touch screens and screen protection devices touch the obstacle to be treated, the limiting maintenance device is indicated to not thoroughly clear the obstacle to be treated and needs to treat again, and if the other group of flexible touch screens and screen protection devices do not touch the obstacle to be treated, the limiting maintenance device is indicated to thoroughly treat the obstacle to be treated, the vehicle body does not need to treat again and continues to move forwards.

Furthermore, according to an embodiment of the present application, there is also provided a storage medium on which program instructions are stored, which program instructions, when executed by a computer or a processor, are adapted to carry out the respective steps of the urban rail train limit maintenance method of an embodiment of the present application. The storage medium may include, for example, a memory card of a smart phone, a memory component of a tablet computer, a hard disk of a personal computer, read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, or any combination of the foregoing storage media.

The urban rail train limit maintenance method and the storage medium have the same advantages as the urban rail train limit maintenance device.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as set forth in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in order to streamline the application and aid in understanding one or more of the various inventive aspects, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the application. However, the method of this application should not be construed to reflect the following intent: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some of the modules according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as device programs (e.g., computer programs and computer program products) for performing part or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

The foregoing is merely illustrative of specific embodiments of the present application and the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are intended to be covered by the scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims (16)

1. An urban rail train boundary maintenance apparatus, characterized in that the urban rail train boundary maintenance apparatus comprises:

a vehicle body;

the limit detection device is arranged around the vehicle body and is used for determining whether the vehicle body touches an obstacle to be detected or not, and transmitting a deceleration signal to a train control system when the vehicle body touches the obstacle to be detected;

the limit judgment device is used for acquiring the image of the obstacle to be detected and sending the image of the obstacle to be detected to the train control system so that the train control system can determine whether the obstacle to be detected is an obstacle to be processed;

and the limit maintenance device is used for processing the obstacle to be processed when receiving the signal for processing the obstacle to be processed, which is sent by the train control system.

2. The urban rail train limit maintenance apparatus according to claim 1, wherein the limit detecting means is further configured to detect a processing result to determine whether or not a reprocessing is required when the processing of the obstacle to be processed is completed.

3. The urban rail train limit maintenance apparatus of claim 1, wherein the limit detection means comprises a rigid limit detection unit and a flexible limit detection unit.

4. The urban rail train limit maintenance apparatus according to claim 3, wherein the rigid limit detection unit is provided to a head portion of the vehicle body.

5. A urban rail train boundary maintenance apparatus according to claim 3, wherein the flexible boundary detection unit comprises at least one set of flexible touch screens and screen protectors.

6. The urban rail train boundary maintenance apparatus according to claim 3, wherein the flexible boundary detection unit comprises at least two sets of flexible touch screens and screen protectors, one set of flexible touch screens and screen protectors being disposed around a front body of the vehicle body, the other set of flexible touch screens and screen protectors being disposed around a rear body of the vehicle body; wherein,,

the flexible touch screen and the screen protection device are used for sending the deceleration signal to the train control system when touching the obstacle to be detected;

the other group of flexible touch screen and screen protector is used for detecting the processing result to determine whether the processing is needed to be processed again when the processing of the obstacle to be processed is completed.

7. The urban rail train limit maintenance apparatus according to claim 1, wherein the limit determining means comprises a camera means.

8. The urban rail train boundary maintenance apparatus of claim 1, wherein the boundary maintenance means comprises an electric saw, a transmission, a drive, a conveyor belt, and a hopper; wherein,,

the electric saw is used for processing the obstacle to be processed;

the transmission mechanism is arranged in the middle of the car body and surrounds the car body for a circle and is used for driving the electric saw to move up and down;

the driving device is used for driving the transmission mechanism;

the conveying belt is arranged below the vehicle body and is used for receiving the fallen obstacle to be processed when the electric saw finishes processing the obstacle to be processed;

the car hopper is arranged at the rear of the car body and is used for containing the obstacle to be treated, which is conveyed by the conveying belt.

9. The urban rail train boundary maintenance apparatus according to claim 8, wherein the transmission mechanism comprises a chain; the driving device comprises a motor.

10. The urban rail train boundary maintenance apparatus according to claim 1, further comprising positioning means for positioning the vehicle body when the obstacle to be detected is not an obstacle to be treated, and transmitting the position of the vehicle body to a ground central control system.

11. The urban rail train boundary maintenance apparatus of claim 10, wherein the positioning means comprises a GPS system.

12. The urban rail train boundary maintenance apparatus of claim 1, further comprising a train control system including a memory and a processor, the memory having stored thereon a computer program for execution by the processor, the computer program when executed by the processor for performing the steps of:

receiving a signal which is sent by the limit detection device and touches the obstacle to be detected;

acquiring an image of the obstacle to be detected, which is sent by the limit judgment device;

analyzing the image of the obstacle to be detected, and determining whether the obstacle to be detected is an obstacle to be processed;

if the obstacle to be detected is an obstacle to be processed, sending an instruction for processing the obstacle to be detected to the limit maintenance device; otherwise, sending the image of the obstacle to be detected to a ground central control system to further determine whether the obstacle to be detected is the obstacle to be processed.

13. The urban rail train boundary maintenance apparatus according to claim 12, wherein the computer program, when executed by the processor, is further operative to perform the steps of:

and receiving a signal which is sent by the other group of flexible touch screens and the screen protection device and is contacted with the obstacle to be detected, and sending an instruction for processing the obstacle to be detected again to the limit maintenance device.

14. A method of urban rail train boundary maintenance, the method comprising:

receiving a signal which is sent by the limit detection device and touches an obstacle to be detected;

acquiring an image of the obstacle to be detected, which is sent by a limit judgment device;

analyzing the image of the obstacle to be detected and determining whether the obstacle to be detected is an obstacle to be processed;

if the obstacle to be detected is an obstacle to be processed, sending an instruction for processing the obstacle to be detected to a limit maintenance device; otherwise, sending the image of the obstacle to be detected to a ground central control system to further determine whether the obstacle to be detected is the obstacle to be processed.

15. The urban rail train boundary maintenance method of claim 14, wherein the boundary detection means comprises a flexible boundary detection unit comprising at least two sets of flexible touch screens and screen protectors, one set of flexible touch screens and screen protectors surrounding a front body of the vehicle body and the other set of flexible touch screens and screen protectors surrounding a rear body of the vehicle body;

receiving a signal sent by the limit detection device and touching an obstacle to be detected, wherein the signal comprises the following components:

receiving signals which are transmitted by the flexible touch screen and the screen protection device and touch the obstacle to be detected;

after sending an instruction to process the obstacle to be detected to a clearance maintenance device, the method further comprises:

and receiving a signal which is sent by the other group of flexible touch screens and the screen protection device and is contacted with the obstacle to be detected, and sending an instruction for processing the obstacle to be detected again to the limit maintenance device.

16. A storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform the urban rail train boundary maintenance method according to claim 14 or 15.

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