CN114056382A - Rail vehicle, inclination angle determination method, device, system and medium thereof - Google Patents
Rail vehicle, inclination angle determination method, device, system and medium thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
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Abstract
The application discloses a rail vehicle and a method, a device, a system and a medium for determining an inclination angle of the rail vehicle, wherein the method is applied to the rail vehicle, a first positioning label is arranged at a first position of a head of the rail vehicle, a second positioning label is arranged at a second position of a tail of the rail vehicle, and the distances between the first position and the plane where a rail is located and the distances between the second position and the plane where the rail is located are the same; the method comprises the following steps: in the running process of the rail vehicle, acquiring a first distance between a first positioning tag and a second positioning tag and the length of the rail vehicle; the inclination angle of the rail vehicle is determined from the change between the first distance and the length. The technical scheme provided by the application determines the running posture of the rail vehicle according to the inclination angle, so that the running safety of the rail vehicle is improved.
Description
Technical Field
The invention relates to the technical field of rail transit positioning, in particular to a rail vehicle and a method, a device, a system and a medium for determining an inclination angle of the rail vehicle.
Background
At present, rail transit has very high requirements on safety, and is necessary for monitoring the body condition of a running vehicle in real time. The UWB positioning system has high positioning precision and low cost, and can be applied to rail transit vehicles. Its main function is to provide accurate positioning of the vehicle at the station. The prior art scheme is as follows: the UWB base station is arranged in the station, when a locomotive provided with the UWB positioning tag enters the coverage range of the UWB base station, the UWB base station receives the tag signal, and the position of the tag is calculated by using the receiving time difference generated by the distance difference between the tag and different base stations, so that the running position of the vehicle is determined. However, the driving posture of the vehicle body changes when the vehicle runs on the track, and the monitoring mode only determines the driving position of the vehicle, but cannot know the driving posture of the vehicle body deeply, so that the safety guarantee provided is limited.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a rail vehicle and a tilt angle determination method, apparatus, system and medium thereof.
In a first aspect, the invention provides a method for determining an inclination angle of a rail vehicle, which is characterized in that the method is applied to the rail vehicle, a first positioning tag is arranged at a first position of a head of the rail vehicle, a second positioning tag is arranged at a second position of a tail of the rail vehicle, and distances between the first position and the plane where a rail is located and the second position are the same;
the method comprises the following steps:
acquiring a first distance between the first positioning tag and the second positioning tag and the length of the rail vehicle in the running process of the rail vehicle;
determining a tilt angle of the rail vehicle from a change between the first distance and the length.
In a second aspect, the invention provides a device for determining a tilt angle of a rail vehicle, which is applied to the rail vehicle, wherein a first positioning tag is arranged at a first position of a head of the rail vehicle, and a second positioning tag is arranged at a second position of a tail of the rail vehicle, and the first position and the second position have the same distance with a plane where a rail is located; the device includes:
the distance acquisition module is used for acquiring a first distance between the first positioning tag and the second positioning tag and the length of the rail vehicle in the running process of the rail vehicle;
and the inclination angle determining module is used for determining the inclination angle of the railway vehicle according to the change between the first distance and the length.
In a third aspect, the present invention further provides a rail vehicle, which includes the inclination angle determining apparatus described in the second aspect, and a first positioning tag and a second positioning tag, wherein the first positioning tag is disposed at a first position of the head, the second positioning tag is disposed at a second position of the tail, and the first position and the second position are the same distance from the plane where the rail is located.
In a fourth aspect, the present invention also provides a tilt angle determination system for a rail vehicle, the system comprising the rail vehicle of the third aspect and a positioning base station in signal communication with the first positioning tag and the second positioning tag.
In a fifth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program for implementing the method described in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a rail vehicle and a method, a device, a system and a medium for determining an inclination angle of the rail vehicle, wherein the method is applied to the rail vehicle, a first positioning label is arranged at a first position of a head of the rail vehicle, a second positioning label is arranged at a second position of a tail of the rail vehicle, and the first position and the second position have the same distance with a plane where a rail is located; the inclination angle of the rail vehicle is determined from the change between the first distance and the length. The running posture of the rail vehicle can be determined according to the inclination angle, and the correction of the running posture of the rail vehicle is controlled according to the inclination angle of the rail vehicle, so that the running safety of the rail vehicle is effectively improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram illustrating an application scenario according to an embodiment of the present application;
FIG. 2 shows a flow chart of a method of determining a tilt angle of a rail vehicle to which the present application relates;
FIG. 3 is a schematic structural diagram of a rail vehicle according to an embodiment of the present application before and after a change in state;
fig. 4 is a block diagram showing a configuration of a tilt angle determining apparatus for a railway vehicle according to an embodiment of the present application;
fig. 5 shows a schematic structural diagram of a server according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating an implementation environment related to the present application. As shown in fig. l, an Ultra Wide Band (UWB) positioning system may include: a plurality of positioning base stations 2, a system controller 3, a positioning server 4, and positioning tags 5 provided on the railway vehicle 1. The positioning base station 2 may be disposed in a station, the positioning tag may be provided on a rail vehicle, and the positioning base station may receive a tag signal when the rail vehicle equipped with the positioning tag enters the station in which the positioning base station is disposed. Then, the tag signal is transmitted to the system controller 3, and the system controller 3 transmits data corresponding to the tag signal to the positioning server 4. The positioning server 4 and the system controller 3 may calculate the coordinate position of the positioning tag 5 according to the received tag signal, and transmit the calculated coordinate to the rail vehicle 1.
The positioning tag 5 may be an active tag, and there is no shielding object between the positioning tag 5 and each positioning base station 2, so as to ensure that signals can be effectively transmitted between the positioning tag 5 and each positioning base station 2.
The UWB positioning system is a positioning system adopting a carrier-free communication technology and has the advantages of high transmission rate and accurate positioning.
The rail vehicle 1 in the UWB positioning system may be a subway or a motor car. The UWB positioning system can also comprise a control center, wherein the control center is used for receiving maintenance prompting signals corresponding to the inclination angles sent by the rail vehicles, or the system controller, or the positioning server. And then, the control center prompts related workers to maintain the track according to the maintenance prompt signal or controls the vehicle to adjust the running state. The adjustment of the running state of the vehicle may be performed by an onboard controller.
As shown in fig. l, the rail vehicle 1 may be provided with a first positioning tag 51 and a second positioning tag 52. Each positioning tag 5 may be mounted on top of the rail vehicle 1 by means of adhesive tape or suction cups. The first positioning tag 51 can be a positioning tag 5 arranged at the front end of the roof, the second positioning tag 52 can be a positioning tag 50 arranged at the rear end of the roof, and the distance between the first positioning tag 51 and the second positioning tag 52 can be adjusted according to the length of the body of the railway vehicle 1. When the rail vehicle 1 is inclined during driving, the first positioning tag 51 and the second positioning tag 52 slightly change along with the distortion distance of the vehicle, and the inclination angle of the rail vehicle is determined by using the change. It should be noted that the distance between the first positioning tag 51 and the second positioning tag 52 before and after the rail vehicle 1 is tilted is obtained by a two-way ranging (TWR) algorithm, and the base station 2 does not need to be located.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a method for determining a tilt angle of a rail vehicle according to the present application. As shown in fig. 2, the method is applied to a rail vehicle, a first positioning tag is arranged at a first position of a head of the rail vehicle, and a second positioning tag is arranged at a second position of the tail of the rail vehicle, wherein the first position and the second position have the same distance with a plane where a rail is located; the method may include:
and step 220, determining the inclination angle of the railway vehicle according to the change between the first distance and the length.
The length of the rail vehicle refers to the distance between the first positioning tag and the second positioning tag in the case of a non-inclined rail vehicle.
The first distance refers to the distance between the first positioning label and the second positioning label after the rail vehicle tilts during running.
Since the distance between the first positioning tag and the second positioning tag is obtained by the TWR algorithm, there is no need for a shield between the first positioning tag and the second positioning tag, and no shield between the first positioning tag and the second positioning tag, so that two positioning tags need to be mounted on the stand to maintain the height thereof. Preferably, the height of the bracket is adjustable.
The first position at which the first positioning tag is disposed may be a vertex of the vehicle head plane that is distal from the rail side, and the second position at which the second positioning tag is disposed may be a vertex of the vehicle tail plane that is distal from the rail side, wherein the vertex of the vehicle head plane and the vertex of the vehicle tail plane are located on the same side of the vehicle.
It should be noted that, of course, the first position and the second position may be disposed at other positions of the front plane and the rear plane, as long as it is ensured that the line connecting the first position and the second position is equal to the vehicle length in the case of no inclination of the rail vehicle.
In this embodiment, determining the inclination angle of the rail vehicle from the change between the distance and the length comprises:
acquiring the height of a rail vehicle;
the inclination angle of the rail vehicle is determined based on the length, the first distance and the height.
And setting the first position as a vertex of the upper end of the head plane, setting the second position as a vertex of the upper end of the tail plane, and enabling the height of the rail vehicle to be equal to the distance between the vertex of the upper end of the head plane and the vertex of the upper end of the tail plane and the plane where the rail is located.
Specifically, determining the inclination angle of the rail vehicle based on the length, the first distance, and the height comprises:
determining a vehicle head plane based on the first position and the position of the vehicle head in contact with the rail;
determining a vehicle tail plane based on the second location and the location of the vehicle tail in contact with the track;
determining the position of the foot drop of the second position in the plane of the vehicle head;
determining a second distance between the first position and the drop foot position based on the length and the first distance;
calculating the tilt angle based on the second distance and the height.
As shown in FIG. 3, the first position is set as a vertex A of the nose plane, which is denoted as plane ABCD (i.e., the nose plane after the vehicle is tilted, and the nose plane before the vehicle is tilted is denoted as A)1B1C1D) Setting the second position as a vertex E of the plane of the tail of the vehicle, representing the plane EFGH, making a perpendicular line through the point E on the plane EFGH, and intersecting the plane ABCD at A1Point, A1The point is the drop foot position, AA, of the second position in the plane of the head1Is the second distance between the first position and the drop foot position.
Specifically, said determining a second distance between said first position and said drop foot position based on said length and said first distance comprises:
constructing a right triangle based on the first position, the second position and the drop-foot position, wherein the length of the side determined by the drop-foot position and the second position is the length, and the length of the side determined by the first position and the second position is the first distance;
determining a second distance between the first coordinate and the drop foot coordinate based on the length and the first distance.
Respectively connected with the top point A and the foot position A of the head plane1Obtaining a right-angled triangle AA at three points of a vertex EE of the plane of the tail of the vehicle1E, wherein A1E is the above-mentioned groupA distance, denoted L1AE is the length of the rail vehicle mentioned above, and the length of the rail vehicle is denoted L2(ii) a Denote the second distance as AA1Based on said A1E and length of said AE to calculate AA1Is calculated out of
Specifically, the calculating the tilt angle based on the second distance and the height comprises:
acquiring the vertex position of the headrest close to the track side;
determining a third distance between the vertex coordinate and the drop foot location based on the height and the second distance;
and determining an included angle between the edge formed by the first position and the vertex position and the edge formed by the drop foot position and the vertex position as the inclination angle based on the height and the third distance.
Determining the vertex position of the head close to the rail side as a point D, and determining the vertex D coordinate and the vertical foot A1A third distance between the positions is A1D, the included angle between the edge formed by the vertex position and the edge formed by the foot hanging position and the vertex position is ^ ADA1，∠ADA1That is the angle of inclination. Because the inclination angle of the rail vehicle is usually very small, because the vertex A of the plane of the head of the vehicle and the vertical foot A1The position is very short in the height direction, so that A can be set1D is approximately the height I of the rail vehicle, in the form of an isosceles triangle ADA1And calculating the inclination angle.
Based on the AA1Is in the isosceles triangle AA1Calculation of < 0.5ADA in D1The sine value of (d);
sin1/2∠D＝＝1/2*AA1/AD；
namely, it is
Calculating cosine values of ^ ADA1 based on a double angle formula;
cos∠D＝1-0.5*(L2 2-L1 2)/I2；
method for calculating angle ADA based on inverse trigonometric function formula1The size of (2).
∠D＝arccos[1-0.5*(L2 2-L1 2)/I2]；
Then < D is the desired angle of inclination.
After the inclination angle is determined, the driving posture of the rail vehicle can be determined. The running attitude of the rail vehicle can be controlled to be corrected through the analysis of the running attitude, so that the running safety of the rail vehicle is improved.
When the inclination angle is larger than the inclination angle corresponding to the normal running of the vehicle and smaller than the inclination angle corresponding to the safety state of the vehicle, controlling the railway vehicle to generate an acting force opposite to the inclination direction, wherein the inclination direction is determined by the inclination angle;
and when the inclination angle is larger than the inclination angle corresponding to the vehicle safety state, sending a control instruction to a brake control system of the railway vehicle, wherein the control instruction is used for indicating a brake level signal, so that the brake control system generates a full-vehicle braking force according to the brake level signal.
For example, tan is less than when the tilt angle is greater than 10 minutes-1At 2h/t, the method for adjusting the left and right steering wheels and the running wheels enables the rail vehicle to generate forces in opposite directions to keep the balance of the vehicle body, and meanwhile, the sampling frequency and the uploading frequency of the inclination angle are increased; when the tilt angle is greater than tan-1At 2h/t, adjusting the vehicle state by reducing the vehicle speed or braking, and increasing the calculation frequency and the uploading frequency of the inclination angle; wherein h is the central height of the light rail, and t is the width of the single rail.
When the inclination angle is larger than the inclination angle corresponding to the normal running of the vehicle and smaller than the inclination angle corresponding to the safety state of the vehicle, determining that the track section corresponding to the inclination angle is in a first fault level;
sending a maintenance prompt signal corresponding to the first fault level to the control center;
determining that the track segment corresponding to the grade angle is at a second failure level when the grade angle is greater than the vehicle safe state angle,
and sending a maintenance prompt signal corresponding to the second fault level to the control center.
For example, tan is less than when the tilt angle is greater than 10 minutes-1When the speed is 2h/t, prompting that the track section is in a first fault level, wherein a corresponding maintenance prompting signal is used for indicating a signal for polishing an uneven weld and straightening a steel rail hard bend of the track;
when the tilt angle is greater than tan-1When the fault rate is 2h/t, the track is prompted to be in a second fault level, and a corresponding maintenance prompting signal is used for indicating a signal for replacing a failed sleeper or repairing and replacing a failed track component; wherein h is the central height of the light rail, and t is the width of the single rail.
The running state of the rail vehicle and the use condition of the rail are judged based on the size of the inclination angle, and the rail vehicle driving, the rail maintenance, the maintenance and the routing inspection can be adjusted according to the judgment result. The technical scheme provided by the application can effectively correct the running posture of the rail vehicle in the running process of the vehicle so as to improve the running safety of the vehicle.
The track state of the running road section can be detected by analyzing the inclination angle, so that the time required by track detection is effectively saved, and the track detection efficiency is improved.
Furthermore, the track maintenance is completed in an auxiliary mode through the maintenance prompt signal in the track detection process, and the treatment efficiency of track maintenance is effectively improved.
Referring to fig. 4, fig. 4 is a schematic structural diagram illustrating a tilt angle determining apparatus for a rail vehicle according to an embodiment of the present disclosure.
As shown in fig. 4, the device is applied to a rail vehicle, a first positioning tag is arranged at a first position of the head of the rail vehicle, and a second positioning tag is arranged at a second position of the tail of the rail vehicle, and the first position and the second position are the same in distance from the plane of the rail; the device includes:
the distance acquisition module 410 is configured to acquire a first distance between the first positioning tag and the second positioning tag and a length of the rail vehicle in a running process of the rail vehicle;
a tilt angle determination module 420 for determining a tilt angle of the rail vehicle based on a change between the first distance and the length.
Optionally, the tilt angle determination module comprises:
the height acquisition submodule is used for acquiring the height of the rail vehicle;
a tilt angle determination submodule to determine a tilt angle of the rail vehicle based on the length, the first distance, and the height.
Optionally, the tilt angle determination submodule is specifically configured to:
the vehicle head plane determining unit is used for determining a vehicle head plane based on the first position and the position of the vehicle head in contact with the rail;
a vehicle tail plane determining unit, configured to determine a vehicle tail plane based on the second position and a position where the vehicle tail contacts a track;
the foot drop position determining unit is used for determining the position of the foot drop of the second position in the plane of the vehicle head;
a second distance determination unit for determining a second distance between the first position and the drop foot position based on the length and the first distance;
a tilt angle calculation unit that calculates the tilt angle based on the second distance and the height.
Optionally, the second distance determining unit is specifically configured to:
constructing a right triangle based on the first position, the second position and the drop-foot position, wherein the length of the side determined by the drop-foot position and the second position is the length, and the length of the side determined by the first position and the second position is the first distance;
determining a second distance between the first coordinate and the drop foot coordinate based on the length and the first distance.
Optionally, the tilt angle calculation unit is specifically configured to:
acquiring the vertex position of the headrest close to the track side;
determining a third distance between the vertex coordinate and the drop foot location based on the height and the second distance;
and determining an included angle between the edge formed by the first position and the vertex position and the edge formed by the drop foot position and the vertex position as the inclination angle based on the height and the third distance.
Optionally, the apparatus further comprises a vehicle control module for:
when the inclination angle is larger than the inclination angle corresponding to the normal running of the vehicle and smaller than the inclination angle corresponding to the safety state of the vehicle, controlling the railway vehicle to generate an acting force opposite to the inclination direction, wherein the inclination direction is determined by the inclination angle;
and when the inclination angle is larger than the inclination angle corresponding to the vehicle safety state, sending a control instruction to a brake control system of the railway vehicle, wherein the control instruction is used for indicating a brake level signal, so that the brake control system generates a full-vehicle braking force according to the brake level signal.
Optionally, the apparatus further comprises a track fault determination module, the track fault determination module is configured to:
when the inclination angle is larger than the inclination angle corresponding to the normal running of the vehicle and smaller than the inclination angle corresponding to the safety state of the vehicle, determining that the track section corresponding to the inclination angle is in a first fault level;
sending a maintenance prompt signal corresponding to the first fault level to a control center;
determining that a track segment corresponding to the bank angle is at a second failure level when the bank angle is greater than the vehicle safe state angle,
and sending a maintenance prompt signal corresponding to the second fault level to a control center.
The inclination angle determination device provided by the application can be arranged in an on-board controller or a positioning server of a railway vehicle. The running state of the rail vehicle and the use condition of the rail are judged based on the size of the inclination angle, the driving of the rail vehicle can be adjusted according to the judgment result, and the rail can be maintained, maintained and inspected.
The technical scheme provided by the application can effectively correct the running posture of the rail vehicle in the running process of the vehicle so as to improve the running safety of the vehicle.
The track state of the running road section can be detected by analyzing the inclination angle, so that the time required by track detection is effectively saved, and the track detection efficiency is improved.
Furthermore, the track maintenance is completed in an auxiliary mode through the maintenance prompt signal in the track detection process, and the treatment efficiency of track maintenance is effectively improved.
In another aspect, the present invention further provides a rail vehicle, which includes the inclination angle determining apparatus described in the above embodiment, and a first positioning tag and a second positioning tag, wherein the first positioning tag is disposed at a first position of the head, the second positioning tag is disposed at a second position of the tail, and the first position and the second position are the same distance from the plane where the rail is located.
In another aspect, the present invention provides a tilt angle determination system for a rail vehicle, the system comprising the rail vehicle described in the above embodiments and a positioning base station in signal communication with the first positioning tag and the second positioning tag.
Under the condition that the inclination angle is known, the control center can recognize the condition of the rail according to the maintenance prompt signal, and the technical scheme provided by the application can effectively correct the running posture of the rail vehicle in the running process of the vehicle so as to improve the running safety of the vehicle.
The track state of the running road section can be detected by analyzing the inclination angle, so that the time required by track detection is effectively saved, and the track detection efficiency is improved.
Furthermore, the track maintenance is completed in an auxiliary mode through the maintenance prompt signal in the track detection process, and the treatment efficiency of track maintenance is effectively improved.
In another aspect, the present application also provides a computer-readable storage medium, which may be included in the server described in the following embodiments; or may exist separately and not be assembled into the server. Electronic device as shown in fig. 5, the server includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section into a Random Access Memory (RAM) 504. In the RAM503, various programs and data necessary for system operation are also stored. The CPU 501, ROM 502, and RAM503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 505.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drives are also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to an embodiment of the invention, the process described above with reference to the flowchart of fig. 1 may be implemented as a computer software program. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The above-described functions defined in the system of the present application are executed when the computer program is executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves. The described units or modules may also be provided in a processor or in a control processor, and may be described, for example, as: a control processor includes a distance acquisition module, a tilt angle determination module. Wherein the designation of a unit or module does not in some way constitute a limitation of the unit or module itself. For example, the distance acquisition module may also be described as a "module for acquiring a first distance between a first locating tag and a second locating tag and a length of a rail vehicle".
The above-mentioned computer-readable medium carries one or more programs which, when executed by a server, cause the server to carry out the method of determining a tilt angle of a rail vehicle as described in the above-mentioned embodiments. The server may be another electronic device.
For example, the server may implement: step S210, acquiring a first distance between a first positioning tag and a second positioning tag and the length of the rail vehicle in the running process of the rail vehicle; step S220, determining a tilt angle of the rail vehicle according to the change between the first distance and the length.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the disclosure. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (12)
1. The inclination angle determining method of the railway vehicle is characterized in that the inclination angle determining method is applied to the railway vehicle, a first positioning label is arranged at a first position of a head of the railway vehicle, a second positioning label is arranged at a second position of the tail of the railway vehicle, and the first position and the second position have the same distance with a plane where a railway is located;
the method comprises the following steps:
acquiring a first distance between the first positioning tag and the second positioning tag and the length of the rail vehicle in the running process of the rail vehicle;
determining a tilt angle of the rail vehicle from a change between the first distance and the length.
2. The method of claim 1, wherein said determining a tilt angle of said rail vehicle from a change between said distance and said length comprises:
acquiring the height of the rail vehicle;
determining a tilt angle of the rail vehicle based on the length, the first distance, and the height.
3. The method of claim 2, wherein determining the inclination angle of the rail vehicle based on the length, the first distance, and the height comprises:
determining a vehicle head plane based on the first position and the position of the vehicle head in contact with the rail;
determining a vehicle tail plane based on the second location and the location of the vehicle tail in contact with the track;
determining the position of the foot drop of the second position in the plane of the vehicle head;
determining a second distance between the first position and the drop foot position based on the length and the first distance;
calculating the tilt angle based on the second distance and the height.
4. The method of claim 3, wherein said determining a second distance between the first position and the drop foot position based on the length and the first distance comprises:
constructing a right triangle based on the first position, the second position and the drop-foot position, wherein the length of the side determined by the drop-foot position and the second position is the length, and the length of the side determined by the first position and the second position is the first distance;
determining a second distance between the first coordinate and the drop foot coordinate based on the length and the first distance.
5. The method of claim 3, wherein the calculating the tilt angle based on the second distance and the height comprises:
acquiring the contact position of the locomotive and a track as a vertex position;
determining a third distance between the vertex coordinate and the drop foot location based on the height and the second distance;
and determining an included angle between the edge formed by the first position and the vertex position and the edge formed by the drop foot position and the vertex position as the inclination angle based on the height and the third distance.
6. The method of claim 1, further comprising:
when the inclination angle is larger than the inclination angle corresponding to the normal running of the vehicle and smaller than the inclination angle corresponding to the safety state of the vehicle, controlling the railway vehicle to generate an acting force opposite to the inclination direction, wherein the inclination direction is determined by the inclination angle;
and when the inclination angle is larger than the inclination angle corresponding to the vehicle safety state, sending a control instruction to a brake control system of the railway vehicle, wherein the control instruction is used for indicating a brake level signal, so that the brake control system generates a full-vehicle braking force according to the brake level signal.
7. The method of claim 1, further comprising:
when the inclination angle is larger than the inclination angle corresponding to the normal running of the vehicle and smaller than the inclination angle corresponding to the safety state of the vehicle, determining that the track section corresponding to the inclination angle is in a first fault level;
sending a maintenance prompt signal corresponding to the first fault level to a control center;
determining that a track segment corresponding to the bank angle is at a second failure level when the bank angle is greater than the vehicle safe state angle,
and sending a maintenance prompt signal corresponding to the second fault level to a control center.
8. The inclination angle determining device of the railway vehicle is characterized in that a first positioning label is arranged at a first position of a head of the railway vehicle, a second positioning label is arranged at a second position of a tail of the railway vehicle, and the first position and the second position are the same in distance with a plane where a track is located; the device includes:
the distance acquisition module is used for acquiring a first distance between the first positioning tag and the second positioning tag and the length of the rail vehicle in the running process of the rail vehicle;
an inclination determination module to determine an inclination of the rail vehicle based on a change between the first distance and the length.
9. A rail vehicle, characterized in that it comprises a tilt angle determination device, and a first positioning tag arranged at a first position at the head of the vehicle, and a second positioning tag arranged at a second position at the tail of the vehicle, the first and second positions being at the same distance from the plane of the rail, the tilt angle determination device being adapted to perform the method according to any one of claims 1-7.
10. The rail vehicle of claim 9, characterized in that the first and second positioning tags are ultra-wideband UWB positioning tags.
11. A system for determining the inclination angle of a railway vehicle is characterized by comprising the railway vehicle, a first positioning tag and a second positioning tag, wherein the first positioning tag is arranged at a first position of a vehicle head, the second positioning tag is arranged at a second position of the vehicle tail, and the first position and the second position are the same in distance with a plane where a track is located;
the positioning base station establishes communication connection with the first positioning label and the second positioning label;
a system controller in wireless communication with a positioning base station for implementing the method of any one of claims 1-7.
12. A computer-readable storage medium, on which a computer program is stored, the computer program being for implementing the method of any one of claims 1-7.
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| CN202010753078.6A CN114056382A (en) | 2020-07-30 | 2020-07-30 | Rail vehicle, inclination angle determination method, device, system and medium thereof |
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| CN202010753078.6A CN114056382A (en) | 2020-07-30 | 2020-07-30 | Rail vehicle, inclination angle determination method, device, system and medium thereof |
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