A method, device and medium for monitoring vehicle running posture using inclination angle

Abstract

The present application relates to the technical field of vehicle stability monitoring, and discloses a method, device and medium for monitoring the running posture of a vehicle using an inclination angle, including: obtaining the inclination data of the car body and the bogie respectively, and analyzing the distribution characteristics of the inclination data to output a vehicle overturning warning signal. Thus, the running posture of the vehicle is monitored based on the inclination data of the car body and the bogie, and the possible dangers of the vehicle are warned in advance, thereby improving the safety of vehicle operation. In addition, the unstable phenomenon of the rotational movement of the bogie and the car body around a certain direction during operation is analyzed, and the monitoring content of the vehicle running posture is improved. At the same time, the long-term accumulation and analysis of the data such as the inclination angle and inclination angle difference of the bogie and the car body are further carried out, and then attention is paid to the state trend of the bogie, the car body and the components between the bogie and the car body, such as the suspension device, so as to fully understand the development law of the vehicle running posture.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle stability monitoring, and in particular to a method, device and medium for monitoring the running posture of a vehicle using an inclination angle. Background Art

[0002] In the development of urban rail transit, the stability and safety of vehicle operation have always been a crucial research direction. With the increase in mileage, the vehicle will be subjected to different loads and wheel-rail forces for a long time, which may cause fatigue, damping changes, and deformation in the vehicle's suspension system, which will then cause changes in the operating state of the vehicle body and bogie. In addition, the poor wheel-rail matching may affect the safety of vehicle operation, such as unstable vehicle operation, left and right shaking, front and back shaking, vehicle body tilting, and even the risk of overturning during operation. In addition, with the changes in vehicle structural design, the distance change of the vehicle suspension device design also has a certain impact on the vehicle's operating quality.

[0003] The current method is to independently detect and judge the vibration acceleration of the bogie and the car body in real time. This method only focuses on the vibration acceleration changes in the lateral and vertical directions of the bogie and the car body, that is, it only focuses on the translational movement of the monitored object. The information is not comprehensive, which is not conducive to the comprehensive monitoring of the vehicle's running posture and running quality and the analysis of problems.

[0004] It can be seen that how to conduct more comprehensive monitoring of the vehicle's operating posture, improve the vehicle's operating safety, and thereby enhance the user's comprehensive understanding of the vehicle's status is an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0005] The purpose of this application is to provide a method, device and medium for monitoring the running posture of a vehicle using inclination, so as to comprehensively monitor the running posture of the vehicle, improve the running safety of the vehicle, and further enhance the user's comprehensive understanding of the vehicle status.

[0006] In order to solve the above technical problems, the present application provides a method for monitoring the running posture of a vehicle using an inclination angle, comprising:

[0007] Respectively obtaining the inclination angle data of the vehicle body and / or the bogie of the vehicle to be tested;

[0008] The distribution characteristics of the various types of inclination angle data are analyzed to output a vehicle rollover warning signal.

[0009] Preferably, the analyzing the distribution characteristics of the various types of inclination data to output a vehicle rollover warning signal comprises:

[0010] Sorting the various types of inclination data in chronological order;

[0011] Determining in turn whether each type of inclination angle data is greater than a corresponding first threshold value according to the sorting result;

[0012] If it is greater than the first threshold, the counter is incremented by 1;

[0013] If it is not greater than the first threshold, the counter is reset;

[0014] Determine whether the current value corresponding to the counter is greater than a first preset value;

[0015] If it is greater than the first preset value, the capsizing warning signal is output and the counter is cleared;

[0016] If it is not greater than the first preset value, return to the step of determining in turn based on the sorting result whether each type of inclination angle data is greater than the corresponding first threshold value.

[0017] Preferably, the analyzing the distribution characteristics of the various types of inclination data to output a vehicle rollover warning signal comprises:

[0018] Sorting the various types of inclination data within a preset time period in chronological order;

[0019] Determining in turn whether each type of inclination angle data is greater than a corresponding second threshold value according to the sorting result;

[0020] If it is greater than the second threshold, the counter is incremented by 1;

[0021] If it is not greater than the second threshold, the counter is reduced by 1;

[0022] Determining whether the value corresponding to the counter is greater than a second preset value after the preset time period;

[0023] If it is greater than the second preset value, the capsizing warning signal is output and the counter is cleared;

[0024] If it is not greater than the second preset value, the counter is cleared, and the process returns to the step of determining in sequence according to the sorting result whether each type of inclination angle data is greater than the corresponding second threshold value.

[0025] Preferably, the inclination angle data includes a roll angle, a pitch angle and a yaw angle.

[0026] Preferably, when the vehicle speed is not 0, the step of respectively acquiring the inclination data of the vehicle body and / or the bogie of the vehicle to be tested comprises:

[0027] Respectively acquiring angular velocity data of the body of the vehicle to be tested and / or the bogie;

[0028] Calculating the angular velocity data based on the quaternion method to obtain the roll angle, pitch angle and yaw angle of the vehicle body and / or the bogie;

[0029] Acquiring vibration acceleration data of the vehicle body and / or the bogie;

[0030] The errors of the roll angle and the pitch angle are compensated by the vibration acceleration data, and the error of the yaw angle is compensated by the magnetometer data.

[0031] Preferably, when the vehicle speed is 0, the step of respectively acquiring the inclination data of the vehicle body and / or the bogie to be tested comprises:

[0032] Acquiring vibration acceleration data of the vehicle body and / or the bogie;

[0033] When the monitored object rotates around the Y-axis in the pre-established reference coordinate system, the roll angle is calculated according to the vibration acceleration data;

[0034] When the monitored object rotates around the X-axis in the reference coordinate system, the pitch angle is calculated according to the vibration acceleration data.

[0035] Preferably, after respectively acquiring the inclination data of the vehicle body and / or the bogie to be tested, the method further includes:

[0036] Calculating characteristic data of the tilt angle data; wherein the characteristic data includes a rolling angle extreme value, a pitch angle extreme value, and a yaw angle extreme value;

[0037] Analyze each type of characteristic data to determine whether the inclination index trend is continuously rising and / or fluctuates abnormally and / or the trend exceeds a limit;

[0038] Output the status alarm signal of the vehicle body and / or bogie to be tested.

[0039] Preferably, the analyzing of various types of characteristic data to determine whether the inclination index trend is continuously rising and / or fluctuates abnormally and / or the trend exceeds a limit comprises:

[0040] Obtaining data related to the vehicle's running speed;

[0041] Extracting the characteristic data corresponding to the driving speed related data that meets a first preset condition within a first preset period; wherein the first preset condition is that the driving speed reaches a preset speed level and the driving speed is within a preset speed range;

[0042] Calculate the average value Aud of each characteristic data within the first preset time period respectively;

[0043] Taking the second preset time length as a sliding window, calculating the average value Aw, variance Sw and slope Bw of each sliding window; wherein the first preset time length is less than the second preset time length;

[0044] Filtering a target sliding window whose variance Sw is less than a first preset variance S1, and averaging each average value Aw and each slope Bw in the target sliding window to obtain a first reference value Ah and a second reference value Bh;

[0045] When it is determined that the average value Aw of any type of characteristic data of the car body and / or the bogie is greater than the first reference value Ah for a first preset number of consecutive times, and the variance Sw is greater than the second reference value Bh, an alarm signal indicating that the inclination index trend of the corresponding bogie and / or car body continues to rise is output;

[0046] When it is determined that the variance Sw of any type of data in the target analysis data of the vehicle body and / or the bogie is greater than the first preset variance S1 for a second preset number of consecutive times, an abnormal fluctuation alarm signal of the inclination index trend of the corresponding bogie and / or vehicle body is output;

[0047] When it is determined that the first reference value Ah corresponding to any type of target analysis data of the vehicle body and / or the bogie is greater than the first reference threshold A1, and the corresponding second reference value Bh is greater than the second reference threshold B1, an out-of-limit alarm signal for the trend of the inclination index of the corresponding bogie and / or vehicle body is output.

[0048] Preferably, before screening the target sliding window whose variance Sw is less than the first preset variance S1 and averaging each average value Aw and each slope Bw in the target sliding window to obtain the first reference value Ah and the second reference value Bh, the method further includes:

[0049] When it is determined that the driving speed reaches the preset speed level within the second preset period, and / or the vehicle's mileage related data is obtained; when the mileage is less than the preset mileage, and / or the slope Bw is less than the preset slope, all the characteristic data within the first preset period are eliminated.

[0050] Preferably, after respectively acquiring the inclination data of the vehicle body and / or the bogie to be tested, the method further includes:

[0051] Obtaining data related to the vehicle's running speed;

[0052] Analyzing the inclination data of the car body and the bogie to determine whether the inclination difference index trend in each direction between the car body and the bogie is continuously rising and / or fluctuating abnormally and / or the trend is out of limit;

[0053] Output the status alarm signal of the components between the vehicle body and the bogie to be tested.

[0054] Preferably, analyzing the inclination data of the car body and the bogie to determine whether the inclination difference index trend between the car body and the bogie is continuously rising and / or fluctuating abnormally and / or the trend is out of limit comprises:

[0055] Extracting the inclination data corresponding to the driving speed related data that meets the second preset condition within a third preset period; wherein the second preset condition is that the driving speed reaches a preset speed level and the driving speed is within a preset speed range;

[0056] Calculating the inclination angle differences between the vehicle body and the bogie in the rolling, pitching and yaw directions respectively;

[0057] Calculating an average value Ave of each of the inclination angle differences within a third preset time length;

[0058] Taking the fourth preset time length as a sliding window, calculating the average value Ax, variance Sx and slope Bx of each sliding window; wherein the third preset time length is less than the fourth preset time length;

[0059] Filter the target sliding window whose variance Sx is less than the second preset variance S2, and respectively average each average value Ax and each slope Bx in the target sliding window to obtain a third reference value An and a fourth reference value Bn;

[0060] When it is determined that the average value Ax of any type of the inclination angle difference is greater than the third reference value An for a third preset number of consecutive times, and the variance Sx is greater than the fourth reference value Bn, an alarm signal indicating that the inclination angle difference index trend of the component between the vehicle body and the bogie to be tested is continuously increasing is output;

[0061] When it is determined that the variance Sx of any type of the inclination angle difference is greater than the second preset variance S2 for the third preset number of consecutive times, an abnormal fluctuation alarm signal of the inclination angle difference index trend of the components between the vehicle body and the bogie to be tested is output;

[0062] When it is determined that the third reference value An corresponding to any type of the inclination angle difference is greater than the reference threshold value A2, and the corresponding second reference value Bh is greater than the reference threshold value B2, an inclination angle difference index trend out-of-limit alarm signal of the components between the vehicle body and the bogie to be tested is output.

[0063] Preferably, the method for monitoring the running posture of a vehicle using an inclination angle further comprises:

[0064] Obtaining data related to the running speed of trains;

[0065] The various characteristic data of different vehicles of the same train are analyzed to determine whether the dispersion of vehicle indicators is abnormal, so as to output warning signals of the corresponding car body, and / or bogie, and / or components between the car body and the bogie.

[0066] Preferably, the analyzing of various characteristic data of different vehicles of the same train to determine whether the dispersion of vehicle indicators is abnormal, so as to output a warning signal of the corresponding vehicle body, and / or bogie, and / or components between the vehicle body and the bogie comprises:

[0067] Extracting target analysis data corresponding to the driving speed related data in which the driving speed reaches a preset speed level within a fourth preset period and the driving speed is within a preset speed interval from the driving speed related data; wherein the target analysis data includes vibration acceleration related data and / or angular velocity related data and / or inclination angle related data and / or inclination angle differences in various directions between the vehicle body and the bogie;

[0068] Calculating respectively the average value Au of each target analysis data of the vehicle within a fifth preset time period;

[0069] Calculating the average value At and the variance St of each of the target analysis data of the vehicle at different driving speed levels within a fifth preset period;

[0070] When it is determined that the variance St of any type of target analysis data corresponding to the vehicle is greater than the variance threshold Sm within a sixth preset time period, it is determined that the discreteness of the corresponding indicator of the vehicle is abnormal and an alarm signal of the corresponding vehicle body and / or bogie is output;

[0071] When it is determined that the variance St of any type of data in the target analysis data corresponding to the vehicle is greater than the variance threshold Sm within the seventh preset time length, and the maximum value of the variance St is the same target vehicle, it is determined that the discreteness of the corresponding indicator of the target vehicle is abnormal, and an alarm signal of the corresponding vehicle body and / or bogie is output.

[0072] In order to solve the above technical problems, the present application also provides a device for monitoring the running posture of a vehicle using an inclination angle, comprising:

[0073] An acquisition module, used to respectively acquire the inclination data of the vehicle body and / or the bogie;

[0074] The analysis module is used to analyze the distribution characteristics of the tilt angle data to output a vehicle rollover warning signal.

[0075] In order to solve the above technical problems, the present application also provides a device for monitoring the running posture of a vehicle using an inclination angle, comprising a memory for storing a computer program;

[0076] The processor is used to implement the steps of the method of using the inclination angle to monitor the running posture of the vehicle when executing the computer program.

[0077] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for monitoring the running posture of a vehicle using an inclination angle are implemented.

[0078] The present invention provides a method for monitoring the running posture of a vehicle using an inclination angle, comprising: obtaining the inclination angle data of the vehicle body and the bogie respectively, and analyzing the distribution characteristics of the inclination angle data to output a vehicle overturning warning signal. It can be seen that the technical solution provided by the present application monitors the running posture of the vehicle based on the inclination angle data of the vehicle body and the bogie, warns the possible dangers of the vehicle in advance, improves the safety of vehicle operation, and thus improves the user's grasp of the vehicle status. Further, the technical solution provided by the present application makes up for the problem that only the vibration acceleration index of the vehicle bogie and the body is monitored when the existing vehicle running posture is monitored, and proposes a monitoring method for the unstable phenomenon of the rotational movement of the bogie and the body around a certain direction during operation, and improves the monitoring content of the vehicle running posture. The method expands the original focus on the vibration acceleration changes of the bogie and the body in the horizontal and vertical directions, that is, only monitoring the translational movement of the vehicle, to focusing on the rotational movement of the bogie and the body around a certain direction during operation. At the same time, the technical solution of the present application further focuses on the long-term accumulation and analysis of data such as the inclination angle and inclination difference of the bogie and car body, and then focuses on the status trends of the bogie, car body and components between the bogie and the car body, such as suspension devices, to help train operation and maintenance personnel summarize the development laws of the vehicle's operating posture and determine the vehicle maintenance threshold value, providing support for train operation and maintenance personnel to grasp the status of vehicles and trains in advance and arrange maintenance work.

[0079] In addition, the present application also provides a device and medium for monitoring the running posture of a vehicle using an inclination angle, which corresponds to the above-mentioned method for monitoring the running posture of a vehicle using an inclination angle, and has the same effect as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0081] Figure 1 A flow chart of a method for monitoring the running posture of a vehicle using an inclination angle provided in an embodiment of the present application;

[0082] Figure 2 A schematic diagram of a train reference coordinate system provided in an embodiment of the present application;

[0083] Figure 3 A structural diagram of a device for monitoring the running posture of a vehicle using an inclination angle provided in an embodiment of the present application;

[0084] Figure 4 A structural diagram of a device for monitoring the running posture of a vehicle using an inclination angle provided in another embodiment of the present application. DETAILED DESCRIPTION

[0085] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0086] The core of this application is to provide a method, device and medium for monitoring the running posture of a vehicle using inclination, to comprehensively monitor the running posture of the vehicle, to improve the safety of vehicle operation, and thereby to enhance the user's comprehensive understanding of the vehicle status.

[0087] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0088] In the development of urban rail transit, the stability and safety of vehicle operation have always been a crucial research direction. With the increase in mileage, the vehicle will be subjected to different loads and wheel-rail forces for a long time, which may cause fatigue, damping changes, and deformation in the vehicle's suspension system, which will then cause changes in the operating state of the vehicle body and bogie. In addition, the poor wheel-rail matching may affect the safety of vehicle operation, such as unstable vehicle operation, left and right shaking, front and back shaking, vehicle body tilting, and even the risk of overturning during operation. In addition, with the changes in vehicle structural design, the distance change of the vehicle suspension device design also has a certain impact on the vehicle's operating quality.

[0089] The current method is to independently detect and judge the vibration acceleration of the bogie and the car body in real time. This method only focuses on the vibration acceleration changes in the lateral and vertical directions of the bogie and the car body, that is, it only focuses on the translational movement of the monitored object. The information is not comprehensive, which is not conducive to the comprehensive monitoring of the vehicle's running posture and running quality and the analysis of problems.

[0090] In order to solve the above technical problems, the vehicle running posture is monitored more comprehensively, the vehicle running safety is improved, and the user's comprehensive understanding of the vehicle status is improved. The embodiment of the present application provides a method for monitoring the vehicle running posture using inclination, by obtaining the inclination data of the body and / or bogie of the vehicle to be tested, and analyzing the distribution characteristics of various types of inclination data, and then outputting a vehicle overturning warning signal. Based on the monitoring of the rotational movement of the bogie and the body around a certain direction during operation, the vehicle running posture is comprehensively monitored, thereby improving the vehicle running safety.

[0091] Figure 1 A flow chart of a method for monitoring vehicle running posture using inclination provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes:

[0092] S10: respectively obtaining the inclination angle data of the vehicle body and / or the bogie of the vehicle to be tested;

[0093] In a specific embodiment, when obtaining the inclination data of the body and / or bogie of the vehicle to be tested, the corresponding sensors may be set on the body and / or bogie to directly collect the inclination data, or the vibration acceleration data and angular velocity data of the body and / or bogie may be obtained first, and then the inclination data may be calculated through the vibration acceleration data and angular velocity data. This application does not limit the method for obtaining the inclination data.

[0094] Among them, the inclination data includes roll angle, pitch angle and yaw angle. In fact, obtaining the roll angle, pitch angle and yaw angle can basically restore the operating posture of the component. Figure 2 A schematic diagram of a train reference coordinate system provided in an embodiment of the present application is shown as follows: Figure 2 As shown, a coordinate system is established with the train as the reference, that is, the train reference coordinate system is established with the lateral direction of the train as the X-axis, the longitudinal direction as the Y-axis, and the vertical direction as the Z-axis. The rotation of the vehicle around the X-axis is called roll, and the angle formed by the roll and the horizontal plane formed by the XY axes is the roll angle. The rotation of the vehicle around the Y-axis is called pitch, and the angle formed by the pitch and the horizontal plane formed by the XY axes is the pitch angle. The rotation of the vehicle around the Z-axis is called yaw, and the angle formed by the yaw and the plane formed by the XZ axes is the yaw angle.

[0095] During implementation, when the vehicle speed is not 0, when obtaining the inclination data of the car body and / or bogie, it is necessary to first obtain the angular velocity data and vibration acceleration data of the car body and / or bogie, and then calculate the angular velocity data based on the quaternion method to obtain the roll angle, pitch angle and yaw angle of the car body and / or bogie, and compensate for the errors in the roll angle and pitch angle through the vibration acceleration data, and compensate for the error in the yaw angle through the magnetometer data.

[0096] If the vehicle speed is 0, there is only a vibration acceleration signal, so the inclination data can only be calculated based on the vibration acceleration data. Specifically, after obtaining the vibration acceleration data of the vehicle body and / or bogie, when the monitored object rotates around the Y-axis in the pre-established reference coordinate system, the roll angle is calculated based on the vibration acceleration data, and when the monitored object rotates around the X-axis in the reference coordinate system, the pitch angle is calculated based on the vibration acceleration data.

[0097] S11: Analyze the distribution characteristics of various types of inclination data to output a vehicle rollover warning signal.

[0098] After obtaining various types of inclination data, the distribution characteristics of various types of inclination data can be analyzed, and then a warning signal of vehicle overturning can be output. Characteristic data of each inclination data can also be calculated, wherein the characteristic data includes the extreme value of the rolling angle, the extreme value of the pitch angle, and the extreme value of the yaw angle. After obtaining the characteristic data of the inclination data, various types of characteristic data are analyzed to determine whether the trend of the inclination index is continuously rising and / or fluctuating abnormally and / or the trend is out of limit, and then a status warning signal of the vehicle body and / or bogie to be tested is output.

[0099] In addition, additional data related to the vehicle's running speed can be obtained, and then the inclination data of the car body and the bogie can be analyzed based on the data related to the running speed, so as to determine whether the trend of the inclination difference index in each direction between the car body and the bogie has a continuous increase and / or abnormal fluctuation and / or a trend exceeding the limit, and output a status alarm signal of the components between the car body and the bogie of the vehicle to be tested.

[0100] Furthermore, after obtaining the data related to the train's running speed, various characteristic data of different vehicles in the same train can be analyzed to determine whether the discreteness of the vehicle indicators is abnormal, and output alarm signals for the corresponding car body, and / or bogie, and / or components between the car body and the bogie.

[0101] The method for monitoring the running posture of a vehicle using the inclination provided in the embodiment of the present application comprises: obtaining the inclination data of the car body and the bogie respectively, and analyzing the distribution characteristics of the inclination data to output a vehicle overturning warning signal. It can be seen that the technical solution provided by the present application monitors the running posture of the vehicle based on the inclination data of the car body and the bogie, warns the possible dangers of the vehicle in advance, improves the safety of vehicle operation, and thus improves the user's grasp of the vehicle status. Further, the technical solution provided by the present application makes up for the problem that only the vibration acceleration index of the vehicle bogie and the car body is monitored during the existing vehicle running posture monitoring, and proposes a monitoring method for the unsteady phenomenon of the rotational movement of the bogie and the car body around a certain direction during operation, and improves the monitoring content of the vehicle running posture. The method expands the original focus on the vibration acceleration changes of the bogie and the car body in the horizontal and vertical directions, that is, only monitoring the translational movement of the vehicle, to focusing on the rotational movement of the bogie and the car body around a certain direction during operation. At the same time, the technical solution of the present application further focuses on the long-term accumulation and analysis of data such as the inclination angle and inclination difference of the bogie and car body, and then focuses on the status trends of the bogie, car body and components between the bogie and the car body, such as suspension devices, to help train operation and maintenance personnel summarize the development laws of the vehicle's operating posture and determine the vehicle maintenance threshold value, providing support for train operation and maintenance personnel to grasp the status of vehicles and trains in advance and arrange maintenance work.

[0102] In a specific embodiment, when analyzing the distribution characteristics of various types of inclination data to output a vehicle rollover warning signal, the analysis can be performed in the following two ways:

[0103] Method 1: First, sort the various types of inclination data in chronological order to obtain the sorting results, and judge whether the various types of inclination data are greater than the corresponding first threshold value G1 according to the sorting results. If it is greater than the first threshold value G1, control the counter to add 1, and if it is not greater than the first threshold value G1, the counter is cleared. Further, it is judged in real time whether the value corresponding to the current counter is greater than the first preset value H1. If it is greater than the first preset value H1, it is determined that the risk of overturning of the vehicle may occur. At this time, a rollover warning signal is output and the counter is cleared. If it is not greater than the first preset value H1, it continues to judge whether the various types of inclination data are greater than the corresponding first threshold value G1.

[0104] Method 2: First, sort the various types of inclination data within the preset time length T in chronological order to obtain the sorting result, and judge in turn whether the various types of inclination data are greater than the corresponding second threshold value G2 according to the sorting result. If greater than, control the counter to add 1, otherwise, control the counter to subtract 1. Further, after the preset time length, it is determined that the value corresponding to the counter is greater than the second preset value H2, then it is determined that the vehicle may be at risk of overturning. At this time, an overturning warning signal is output and the counter is cleared. If the value corresponding to the counter is not greater than the second preset value H2, continue to judge whether the various types of inclination data are greater than the corresponding second threshold value G2. In implementation, method one can be selected to analyze whether the vehicle is at risk of overturning, or method two can be used for analysis, and this application does not make specific limitations on this.

[0105] The method for monitoring the running posture of a vehicle using inclination provided in the embodiment of the present application monitors the running posture of the vehicle based on the inclination data of the vehicle body and the bogie, and warns the vehicle of possible dangers in advance, thereby improving the safety of vehicle operation and thus improving the user's understanding of the vehicle status. In addition, by monitoring the unstable rotation of the bogie and the vehicle body around a certain direction during operation, the detection accuracy is improved based on the monitoring of three-dimensional angles.

[0106] In a specific embodiment, when the vehicle speed is not 0, when obtaining the inclination data of the body and / or bogie of the vehicle to be tested, the angular velocity data of the body and / or bogie of the vehicle to be tested are first obtained respectively, and the roll angle, pitch angle and yaw angle of the body and / or bogie are calculated based on the quaternion method through the angular velocity data. Further, the vibration acceleration data of the body and / or bogie are obtained, and the errors of the roll angle and pitch angle are compensated through the vibration acceleration data, and the error of the yaw angle is compensated through the magnetometer data.

[0107] Specifically, in order to describe the posture, it is necessary to introduce a three-dimensional spatial coordinate system and describe it using a spatial vector transformation method. Two different three-dimensional coordinate systems are defined: a reference coordinate system (also called a navigation coordinate system) and a carrier coordinate system.

[0108] During the operation of the monitored object, the reference coordinate system remains unchanged, and the carrier coordinate system is rotated one or more times relative to the reference coordinate system to obtain a new carrier coordinate system. In practice, if the operation-related data of the monitored object is collected by sensors, since the monitoring sensors need to be installed on the monitored object and are rigidly connected, the data obtained by the monitoring sensors are all in the carrier coordinate system. Therefore, in the attitude calculation, the data of the carrier coordinate system needs to be converted to the reference coordinate system before the attitude calculation is performed.

[0109] According to the Euler rotation theorem, the displacement of a rigid body around a fixed point can be achieved by rotating once around a certain axis of the point. In the Euler rotation, the carrier coordinate system is rotated three times to obtain the reference coordinate system. In the three rotations, the rotation axis of each rotation is a certain coordinate axis of the rotated coordinate system, and the rotation angle of each rotation is the Euler angle. Therefore, the attitude matrix determined by the Euler angle is the product of the three coordinate transformation matrices. Among them, the coordinate transformation matrix has the following standard form:

[0110]

[0111]

[0112]

[0113] in, is the matrix for rotation around the X axis, R Y (θ) is the matrix of rotation around the Y axis, R Z (Y) is the matrix for rotation around the Z axis.

[0114] According to the rotation order of Z axis, Y axis and X axis, the attitude rotation matrix can be obtained:

[0115]

[0116] According to matrix A, the rotation (or change) angles in the Z, Y, and X directions are:

[0117]

[0118] θ=arcsin[A(1,3)] (6)

[0119]

[0120] Among them, A(2,3) represents the data in the second row and third column of matrix A. The same is true for other matrices, which will not be described here.

[0121] Corresponding to matrix A, the attitude rotation matrix is ​​represented by quaternion method to obtain matrix B:

[0122]

[0123] Combining matrix A and matrix B, according to formula (5), formula (6) and formula (7), the rotation (or change) angles in the Z direction, Y direction and X direction are respectively:

[0124]

[0125] θ=arcsin[B(1,3)]=arcsin(2(q1q3-q0q2)) (10)

[0126]

[0127] Furthermore, the differential equation of the quaternion is:

[0128]

[0129] In formula (12), ω is the angular velocity measurement value of the monitored object. Formula (12) can also be expressed as:

[0130]

[0131] The update algorithm of quaternion in discrete domain is:

[0132]

[0133] Wherein, Δω is the angular velocity value of the monitored object.

[0134] In particular, in a specific embodiment, if only a gyroscope is used to monitor the angular velocity and to calculate the angle, although the dynamic performance of the gyroscope is good, the integration of the angular velocity measured by the gyroscope over time will cause cumulative errors. Therefore, it is not enough to only use a gyroscope to monitor the angular velocity.

[0135] In order to obtain an accurate yaw angle, the technical solution provided in this application is that the accelerometer can be used to compensate for the velocity errors of the roll angle and pitch angle of the gyroscope, and the velocity error of the yaw angle can be compensated by the signal of the magnetometer (i.e., electronic compass), thereby obtaining an accurate yaw angle.

[0136] That is to say, when the vehicle speed is not 0, after the inclination data are calculated based on the quaternion method, that is, after the roll angle, pitch angle and yaw angle are obtained, the errors of the roll angle and pitch angle are compensated by the vibration acceleration data, and the error of the yaw angle is compensated by the magnetometer data.

[0137] Furthermore, the quaternion is updated according to formula (14), and the updated quaternion is substituted into formula (9), formula (10) and formula (11), and the inclination data is calculated.

[0138] The method for monitoring the running posture of a vehicle using inclination provided in an embodiment of the present application, when the vehicle speed is not 0, after obtaining the angular velocity data of the body and / or bogie of the vehicle to be tested, calculates the angular velocity data based on the quaternion method to obtain the roll angle, pitch angle and yaw angle of the body and / or bogie, and compensates for the errors of the roll angle and pitch angle by using the vibration acceleration data, and compensates for the error of the yaw angle by using the magnetometer data, thereby obtaining accurate inclination data, thereby improving the monitoring accuracy of the vehicle running posture.

[0139] Furthermore, when the vehicle speed is 0, the inclination angle data can only be solved through the acceleration signal. Specifically, after the vibration acceleration data of the vehicle body and / or the bogie is obtained, when the monitored object rotates around the Y axis in the pre-established reference coordinate system, the roll angle is calculated according to the vibration acceleration data, and when the monitored object rotates around the X axis in the reference coordinate system, the pitch angle is calculated according to the vibration acceleration data.

[0140] In the implementation, a reference coordinate system is established in the three-dimensional space, with the Y axis as the traveling direction of the train. Assuming that the angle of rotation of the monitored object around the Y axis is θ, then θ is the roll angle of the monitored object, and the calculation formula of θ is:

[0141]

[0142] If the angle of rotation of the monitored object around the Y axis is ψ, then ψ is the pitch angle of the monitored object, and the calculation formula of ψ is:

[0143]

[0144] In fact, the yaw angle cannot be solved using only the acceleration signal. At this time, the yaw angle can be calculated based on the quaternion method, and the yaw angle can be obtained by compensating the error of the yaw angle through the magnetometer data.

[0145] The method for monitoring the running posture of a vehicle using the inclination provided in the embodiment of the present application can obtain the vibration acceleration data of the vehicle body and / or the bogie when the vehicle speed is 0, and when the monitored object rotates around the Y axis in the pre-established reference coordinate system, calculate the roll angle according to the vibration acceleration data, and when the monitored object rotates around the X axis in the reference coordinate system, calculate the pitch angle according to the vibration acceleration data. In this way, the static inclination data can be obtained, and the obtained inclination data can be analyzed to determine whether the vehicle is running smoothly, so that the operation and maintenance personnel can obtain the development law of the vehicle's running posture and provide corresponding support for maintenance operations.

[0146] In the technology of the above embodiment, after obtaining the inclination data of the vehicle body and / or bogie to be tested, the characteristic data of the inclination data can be calculated and various characteristic data can be analyzed to determine whether the inclination index trend has a continuous rise and / or abnormal fluctuation and / or a trend exceeding the limit, so as to output a state alarm signal of the vehicle body and / or bogie to be tested. It should be noted that the characteristic data of the inclination data includes the extreme value of the rolling angle, the extreme value of the pitch angle and the extreme value of the yaw angle.

[0147] Specifically, the analysis of various characteristic data of the inclination data includes the following steps:

[0148] Step 1: Acquire the driving speed related data of the vehicle, and extract the characteristic data corresponding to the driving speed related data that meets the first preset condition within a first preset period; wherein the first preset condition is that the driving speed reaches a preset speed level and the driving speed is within a preset speed range;

[0149] It is understandable that different speed levels and driving speeds correspond to different characteristic data. In order to improve monitoring accuracy, invalid data needs to be filtered out. For example, when the driving speed does not reach the preset level, it indicates that the vehicle is not driving. Then, using the generated data as analysis data will reduce the monitoring accuracy. Therefore, after obtaining the driving speed-related data, only the characteristic data that meets the first preset condition is extracted for analysis.

[0150] For example, the first preset period is 1 month. After obtaining the vehicle's driving speed related data, the characteristic data corresponding to the driving speed related data that reaches the preset speed level (for example, the driving speed level reaches 250km / h) within one month and the driving speed is within the preset speed range (for example, the driving speed fluctuates within [-10km / h, +10km / h]) is extracted.

[0151] It should be noted that the characteristic data includes the extreme values ​​of the roll angle, the pitch angle and the yaw angle. When selecting data for analysis, one or more types of characteristic data can be selected for analysis, and this application does not limit this.

[0152] Step 2: Calculate the mean Aud of each feature data within the first preset time length respectively, and use the second preset time length as a sliding window to calculate the mean value Aw, variance Sw and slope Bw of each sliding window; wherein the first preset time length is less than the second preset time length;

[0153] For example, if the first preset time is 1 day and the second preset time is n days, the daily mean Aud of each feature data is calculated, and then n days are used as a fixed sliding window, and each sliding window is one day. The average value Aw, variance Sw and slope Bw of each sliding window are calculated, where the calculation formulas for the average value Aw, variance Sw and slope Bw are:

[0154]

[0155]

[0156]

[0157] Step 3: Filter the target sliding window whose variance Sw is less than the first preset variance S1, and calculate the average of each average value Aw and each slope Bw in the target sliding window to obtain a first reference value Ah and a second reference value Bh;

[0158] Furthermore, the historical average value and the historical slope are calculated as the analysis basis for updating the data. That is, the target sliding window with Sw<S1 is selected. In fact, the selected target sliding window is the window with smaller data fluctuation. Then, the average values ​​Aw and the slopes Bw in each selected target sliding window are respectively averaged to obtain the first reference value Ah and the second reference value Bh. Of course, the average value can be further calculated based on the first reference value Ah and the second reference value Bh. Whether to further calculate the average value can be determined based on the data search volume of the ground analysis system. Often when the amount of data is large, it is necessary to further calculate the average value.

[0159] Step 4: Analyze whether the inclination index trend has a continuous rise and / or abnormal fluctuation and / or a trend exceeding the limit, and output a state alarm signal of the vehicle body and / or bogie to be tested;

[0160] Specifically, when it is determined that the average value Aw of any type of characteristic data of the car body and / or the bogie for a first preset number of consecutive times is greater than the first reference value Ah, and the variance Sw is greater than the second reference value Bh, an alarm signal indicating that the inclination index trend of the corresponding bogie and / or car body continues to rise is output;

[0161] When it is determined that the variance Sw of any type of data in the target analysis data of the car body and / or the bogie is greater than the first preset variance S1 for the second preset number of consecutive times, an abnormal fluctuation alarm signal of the inclination index trend of the corresponding bogie and / or car body is output;

[0162] When it is determined that the first reference value Ah corresponding to any type of data in the target analysis data of the car body and / or bogie is greater than the first reference threshold A1, and the corresponding second reference value Bh is greater than the second reference threshold B1, an out-of-limit alarm signal of the inclination index trend corresponding to the bogie and / or car body is output.

[0163] In a specific embodiment, in order to further improve the monitoring accuracy, after screening a target sliding window in which the variance Sw is less than the first preset variance S1, the analysis data is further filtered and processed before averaging each average value Aw and each slope Bw in the target sliding window to obtain the first reference value Ah and the second reference value Bh.

[0164] Specifically, when it is determined that the driving speed reaches the preset speed level within the second preset period, and / or the vehicle's mileage related data is obtained; when the mileage is less than the preset mileage, and / or the slope Bw is less than the preset slope, all feature data within the first preset period are eliminated.

[0165] The method for monitoring the running posture of a vehicle using inclination provided in the embodiment of the present application, after obtaining the inclination data of the vehicle body and / or bogie to be tested, calculates the characteristic data of the inclination data, and analyzes various characteristic data to determine whether the trend of the inclination index is continuously rising and / or fluctuating abnormally and / or the trend is out of limit, and then outputs a state alarm signal of the vehicle body and / or bogie to be tested. Thus, based on the characteristic data of the inclination data, the trend of the vehicle inclination index is analyzed, the state of the vehicle body and / or bogie is determined, and comprehensive information is provided for users to understand the vehicle state, thereby improving the safety of vehicle operation.

[0166] As a preferred embodiment, after obtaining the inclination data of the vehicle body and / or bogie to be tested, the vehicle speed-related data can also be obtained, and the inclination data of the vehicle body and bogie can be analyzed to determine whether the trend of the inclination difference index in each direction between the vehicle body and the bogie is continuously rising and / or fluctuating abnormally and / or the trend is out of limit, so as to output the status alarm signal of the components between the vehicle body and the bogie to be tested. Specifically, the following steps are included:

[0167] Step 1: extracting the inclination data corresponding to the driving speed related data that meets the second preset condition within the third preset period, and respectively calculating the inclination differences between the vehicle body and the bogie in the rolling, pitching and yaw directions; wherein the second preset condition is that the driving speed reaches a preset speed level and the driving speed is within a preset speed range;

[0168] For example, if the third preset period is one day, the inclination data corresponding to the driving speed related data of the driving speed level reaching 300km / h within one day and the driving speed within the preset interval of [-10km / h, +10km / h] are extracted, and the inclination difference between the car body and the bogie in the roll, pitch and yaw directions in the inclination data is calculated.

[0169] Step 2: Calculate the mean value Ave of each inclination difference within the third preset time length, and use the fourth preset time length as a sliding window to calculate the mean value Ax, variance Sx and slope Bx of each sliding window; wherein the third preset time length is less than the fourth preset time length;

[0170] Among them, the calculation formulas for the mean value Ax, variance Sx and slope Bx are:

[0171]

[0172]

[0173]

[0174] Step 3: Filter the target sliding window whose variance Sx is less than the second preset variance S2, and calculate the average of each average value Ax and each slope Bx in the target sliding window to obtain a third reference value An and a fourth reference value Bn;

[0175] The window of Sx<S2 is used as the target sliding window, and then the average values ​​of each average value Ax and each slope Bx in the target sliding window are calculated to obtain the third reference value An and the fourth reference value Bn. Similarly, the average value can be further calculated based on the third reference value An and the fourth reference value Bn, which is not limited in this application and can be adjusted accordingly according to the actual data volume.

[0176] Step 4: Analyze the inclination data of the car body and the bogie, and then determine whether the trend of the inclination difference index in each direction between the car body and the bogie is continuously rising and / or fluctuating abnormally and / or the trend is out of limit.

[0177] Specifically, when it is determined that the average value Ax of any type of inclination difference is greater than the third reference value An for a third preset number of consecutive times, and the variance Sx is greater than the fourth reference value Bn, an alarm signal indicating that the inclination difference index trend of the component between the vehicle body and the bogie to be tested is continuously increasing is output;

[0178] When it is determined that the variance Sx of any type of inclination difference is greater than the second preset variance S2 for the third consecutive preset number of times, an abnormal fluctuation alarm signal of the inclination difference index trend of the components between the vehicle body and the bogie to be tested is output;

[0179] When it is determined that the third reference value An corresponding to any type of inclination difference is greater than the reference threshold A2, and the corresponding second reference value Bh is greater than the reference threshold B2, an inclination difference index trend over-limit alarm signal of the components between the vehicle body and the bogie is output.

[0180] The method for monitoring the running posture of a vehicle using inclination provided in the embodiment of the present application, after respectively obtaining the inclination data of the vehicle body and / or bogie to be tested, obtains the relevant data of the vehicle running speed, and analyzes the inclination data of the vehicle body and the bogie to determine whether the trend of the inclination difference index in each direction between the vehicle body and the bogie is continuously rising and / or fluctuating abnormally and / or the trend is out of limit, and then outputs the status alarm signal of the components between the vehicle body and the bogie to be tested. Thus, the status of the components between the vehicle body and the bogie is determined based on the inclination data, which further improves the monitoring content of the vehicle running posture, pays attention to the status trend of the bogie, the vehicle body and the components between the bogie and the vehicle body, such as the suspension device, etc., and provides a basis for maintenance personnel to perform maintenance.

[0181] Furthermore, as a preferred embodiment, the technical solution provided by the present application can obtain the running speed related data of the train, and analyze various characteristic data of different vehicles of the same train to determine whether the dispersion of vehicle indicators is abnormal, and then output the corresponding warning signal of the car body, and / or bogie, and / or the components between the car body and the bogie. Specifically, it includes the following steps:

[0182] Step 1: extracting target analysis data corresponding to the driving speed related data in which the driving speed reaches the preset speed level within the fourth preset period and the driving speed is within the preset speed range from the driving speed related data; wherein the target analysis data includes vibration acceleration related data and / or angular velocity related data and / or inclination related data and / or inclination angle difference between the vehicle body and the bogie in each direction;

[0183] For example, the fourth preset period is 5 days, the preset speed level is 300km / h, and the preset speed range is [-5km / h, +5km / h]. The driving speed related data that reaches 300km / h within 5 days and the driving speed fluctuation range is within [-5km / h, +5km / h], the corresponding vibration acceleration related data and / or angular velocity related data, and / or inclination related data, and / or the inclination difference in each direction between the car body and the bogie are used as target analysis data.

[0184] That is to say, in addition to processing and obtaining the inclination data of the car body and the bogie, it is also necessary to obtain vibration acceleration related data and angular velocity related data, etc., which can be directly collected by setting corresponding sensor devices, and this application does not limit this.

[0185] Step 2: Calculate the mean value Au of each target analysis data of the vehicle within the fifth preset time period, and calculate the mean value At and variance St of each target analysis data of the vehicle at different driving speed levels within the fifth preset period;

[0186] For example, if the fifth preset time is 1 day, then the average value At and variance St of the train at different speed levels are calculated every day with 1 day as the unit. The calculation formulas of the average value At and variance St are:

[0187]

[0188]

[0189] Where n is the number of vehicles in a train, that is, the number of carriages.

[0190] Step 3: Analyze various characteristic data of different vehicles in the same train to determine whether the dispersion of vehicle indicators is abnormal;

[0191] Specifically, when it is determined that the variance St of any type of data in the target analysis data corresponding to the vehicle is greater than the variance threshold Sm within a sixth preset time period (for example, within three consecutive days), it is determined that the dispersion of the corresponding indicator of the vehicle is abnormal and an alarm signal of the corresponding vehicle body and / or bogie is output;

[0192] When it is determined that the variance St of any type of data in the target analysis data corresponding to the vehicle is greater than the variance threshold Sm within the seventh preset time period (for example, within one consecutive week), and the maximum value of the variance St is the same target vehicle, it is determined that the discreteness of the corresponding indicator of the target vehicle is abnormal, and an alarm signal of the corresponding vehicle body and / or bogie is output.

[0193] The method for monitoring the running posture of a vehicle using the inclination angle provided in the embodiment of the present application obtains the data related to the running speed of the train and analyzes various characteristic data of different vehicles of the same train, thereby determining whether the dispersion of the vehicle index is abnormal, and outputting the corresponding alarm signal of the car body, and / or bogie, and / or the components between the car body and the bogie. Thus, by analyzing various characteristic data of the vehicle and outputting the alarm signal of the car body, and / or bogie, and / or the components between the car body and the bogie, spatially, that is, analyzing different individuals of the same object, the monitoring range is further expanded, and the monitoring accuracy and reliability are improved.

[0194] In the above embodiments, the method for monitoring the running posture of a vehicle using an inclination angle is described in detail, and the present application also provides an embodiment corresponding to a device for monitoring the running posture of a vehicle using an inclination angle. It should be noted that the present application describes the embodiments of the device part from two perspectives, one is based on the perspective of functional modules, and the other is based on the perspective of hardware structure.

[0195] Figure 3 A structural diagram of a device for monitoring the running posture of a vehicle using an inclination angle provided in an embodiment of the present application, such as Figure 3 As shown, the device comprises:

[0196] An acquisition module 10 is used to respectively acquire the inclination data of the vehicle body and / or the bogie;

[0197] The analysis module 11 is used to analyze the distribution characteristics of the tilt angle data to output a vehicle rollover warning signal.

[0198] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0199] The device for monitoring the running posture of a vehicle using the inclination provided in the embodiment of the present application comprises: obtaining the inclination data of the car body and the bogie respectively, and analyzing the distribution characteristics of the inclination data to output a vehicle overturning warning signal. It can be seen that the technical solution provided by the present application monitors the running posture of the vehicle based on the inclination data of the car body and the bogie, warns the possible dangers of the vehicle in advance, improves the safety of vehicle operation, and thus improves the user's grasp of the vehicle status. Further, the technical solution provided by the present application makes up for the problem that only the vibration acceleration index of the vehicle bogie and the car body is monitored when monitoring the running posture of the existing vehicle, and proposes a monitoring method for the unsteady phenomenon of the rotational movement of the bogie and the car body around a certain direction during operation, and improves the monitoring content of the vehicle running posture. The method expands the original focus on the vibration acceleration changes of the bogie and the car body in the horizontal and vertical directions, that is, only monitoring the translational movement of the vehicle, to focusing on the rotational movement of the bogie and the car body around a certain direction during operation. At the same time, the technical solution of the present application further focuses on the long-term accumulation and analysis of data such as the inclination angle and inclination difference of the bogie and car body, and then focuses on the status trends of the bogie, car body and components between the bogie and the car body, such as suspension devices, to help train operation and maintenance personnel summarize the development laws of the vehicle's operating posture and determine the vehicle maintenance threshold value, providing support for train operation and maintenance personnel to grasp the status of vehicles and trains in advance and arrange maintenance work.

[0200] Figure 4 A structural diagram of a device for monitoring the running posture of a vehicle using an inclination angle is provided in another embodiment of the present application, such as Figure 4 As shown, the device for monitoring the running posture of a vehicle using an inclination angle comprises: a memory 20 for storing a computer program;

[0201] The processor 21 is used to implement the steps of the method of monitoring the running posture of a vehicle by using the inclination angle as mentioned in the above embodiment when executing the computer program.

[0202] The device for monitoring the running posture of a vehicle using the inclination angle provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0203] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (Digital Signal Processor, referred to as DSP), a field programmable gate array (Field-Programmable Gate Array, referred to as FPGA), and a programmable logic array (Programmable Logic Array, referred to as PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (Central Processing Unit, referred to as CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (Graphics Processing Unit, referred to as GPU), and the GPU is responsible for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (Artificial Intelligence, referred to as AI) processor, which is used to process computing operations related to machine learning.

[0204] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the method for monitoring the running posture of a vehicle using the inclination angle disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the relevant data involved in the method for monitoring the running posture of a vehicle using the inclination angle, etc.

[0205] In some embodiments, the device for monitoring the running posture of a vehicle using an inclination angle may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0206] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation on the device for monitoring the running posture of a vehicle using an inclination angle, and may include more or fewer components than those shown in the figure.

[0207] The device for monitoring the running posture of a vehicle using inclination provided in an embodiment of the present application includes a memory and a processor. When the processor executes a program stored in the memory, it can implement the following method: a method for monitoring the running posture of a vehicle using inclination.

[0208] The device for monitoring the running posture of a vehicle using the inclination angle provided in the embodiment of the present application monitors the running posture of the vehicle based on the inclination angle data of the vehicle body and the bogie, warns the vehicle of possible dangers in advance, improves the safety of vehicle operation, and thus improves the user's understanding of the vehicle status. Furthermore, the technical solution provided by the present application makes up for the problem that the existing vehicle running posture monitoring only monitors the vibration acceleration index of the vehicle bogie and the vehicle body, and proposes a monitoring method for the unstable phenomenon of the rotational motion of the bogie and the vehicle body around a certain direction during operation, which improves the monitoring content of the vehicle running posture.

[0209] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0210] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program code.

[0211] The above is a detailed introduction to the method, device and medium for monitoring the running posture of a vehicle using inclination provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0212] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for monitoring the running posture of a vehicle using an inclination angle, characterized in that: include: Respectively obtaining the inclination angle data of the vehicle body and / or the bogie of the vehicle to be tested; Analyzing the distribution characteristics of the various types of inclination data to output a vehicle overturning warning signal; The method further comprises: Obtaining data related to the running speed of trains; Extracting target analysis data corresponding to the driving speed related data in which the driving speed reaches a preset speed level within a fourth preset period and the driving speed is within a preset speed interval from the driving speed related data; wherein the target analysis data includes vibration acceleration related data and / or angular velocity related data and / or inclination angle related data and / or inclination angle differences in various directions between the vehicle body and the bogie; Calculating respectively the average value Au of each target analysis data of the vehicle within a fifth preset time period; Calculating the average value At and the variance St of each of the target analysis data of the vehicle at different driving speed levels within a fifth preset period; When it is determined that the variance St of any type of target analysis data corresponding to the vehicle is greater than the variance threshold Sm within a sixth preset time period, it is determined that the discreteness of the corresponding indicator of the vehicle is abnormal and an alarm signal of the corresponding vehicle body and / or bogie is output; When it is determined that the variance St of any type of data in the target analysis data corresponding to the vehicle is greater than the variance threshold Sm within the seventh preset time length, and the maximum value of the variance St is the same target vehicle, it is determined that the discreteness of the corresponding indicator of the target vehicle is abnormal, and an alarm signal of the corresponding vehicle body and / or bogie is output.

2. The method for monitoring vehicle running posture using inclination angle according to claim 1, characterized in that: The analyzing the distribution characteristics of the various types of inclination data to output a vehicle overturning warning signal comprises: Sorting the various types of inclination data in chronological order; Determining in turn whether each type of inclination angle data is greater than a corresponding first threshold value according to the sorting result; If it is greater than the first threshold, the counter is incremented by 1; If it is not greater than the first threshold, the counter is reset; Determine whether the current value corresponding to the counter is greater than a first preset value; If it is greater than the first preset value, the capsizing warning signal is output and the counter is cleared; If it is not greater than the first preset value, return to the step of determining in turn based on the sorting result whether each type of inclination angle data is greater than the corresponding first threshold value.

3. The method for monitoring vehicle running posture using inclination angle according to claim 1, characterized in that: The analyzing the distribution characteristics of the various types of inclination data to output a vehicle overturning warning signal comprises: Sorting the various types of inclination data within a preset time period in chronological order; Determining in turn whether each type of inclination angle data is greater than a corresponding second threshold value according to the sorting result; If it is greater than the second threshold, the counter is incremented by 1; If it is not greater than the second threshold, the counter is reduced by 1; Determining whether the value corresponding to the counter is greater than a second preset value after the preset time period; If it is greater than the second preset value, the capsizing warning signal is output and the counter is cleared; If it is not greater than the second preset value, the counter is cleared, and the process returns to the step of determining in sequence according to the sorting result whether each type of inclination angle data is greater than the corresponding second threshold value.

4. The method for monitoring vehicle running posture using inclination angle according to claim 1, characterized in that: The inclination angle data includes a roll angle, a pitch angle and a yaw angle.

5. The method for monitoring vehicle running posture using inclination angle according to claim 4 is characterized in that: When the vehicle speed is not 0, the step of respectively obtaining the inclination data of the vehicle body and / or the bogie of the vehicle to be tested comprises: Respectively acquiring angular velocity data of the body of the vehicle to be tested and / or the bogie; Calculating the angular velocity data based on the quaternion method to obtain the roll angle, pitch angle and yaw angle of the vehicle body and / or the bogie; Acquiring vibration acceleration data of the vehicle body and / or the bogie; The errors of the roll angle and the pitch angle are compensated by the vibration acceleration data, and the error of the yaw angle is compensated by the magnetometer data.

6. The method for monitoring vehicle running posture by using inclination angle according to claim 4 is characterized in that: When the vehicle speed is 0, the step of respectively obtaining the inclination data of the vehicle body and / or bogie to be tested includes: Acquiring vibration acceleration data of the vehicle body and / or the bogie; When the monitored object rotates around the Y-axis in the pre-established reference coordinate system, the roll angle is calculated according to the vibration acceleration data; When the monitored object rotates around the X-axis in the reference coordinate system, the pitch angle is calculated according to the vibration acceleration data.

7. The method for monitoring vehicle running posture by using inclination angle according to claim 4, characterized in that: After respectively acquiring the inclination data of the vehicle body and / or the bogie to be tested, the method further includes: Calculating characteristic data of the tilt angle data; wherein the characteristic data includes a rolling angle extreme value, a pitch angle extreme value, and a yaw angle extreme value; Analyze each type of characteristic data to determine whether the inclination index trend is continuously rising and / or fluctuates abnormally and / or the trend exceeds a limit; Output the status alarm signal of the vehicle body and / or bogie to be tested.

8. The method for monitoring vehicle running posture by using inclination angle according to claim 7 is characterized in that: The analysis of various characteristic data to determine whether the inclination index trend is continuously rising and / or fluctuating abnormally and / or the trend exceeds the limit includes: Obtaining data related to the vehicle's running speed; Extracting the characteristic data corresponding to the driving speed related data that meets a first preset condition within a first preset period; wherein the first preset condition is that the driving speed reaches a preset speed level and the driving speed is within a preset speed range; Calculate the average value Aud of each characteristic data within the first preset time period respectively; Taking the second preset time length as a sliding window, calculating the average value Aw, variance Sw and slope Bw of each sliding window; wherein the first preset time length is less than the second preset time length; Filtering a target sliding window whose variance Sw is less than a first preset variance S1, and averaging each average value Aw and each slope Bw in the target sliding window to obtain a first reference value Ah and a second reference value Bh; When it is determined that the average value Aw of any type of characteristic data of the car body and / or the bogie is greater than the first reference value Ah for a first preset number of consecutive times, and the variance Sw is greater than the second reference value Bh, an alarm signal indicating that the inclination index trend of the corresponding bogie and / or car body continues to rise is output; When it is determined that the variance Sw of any type of data in the target analysis data of the vehicle body and / or the bogie is greater than the first preset variance S1 for a second preset number of consecutive times, an abnormal fluctuation alarm signal of the inclination index trend of the corresponding bogie and / or vehicle body is output; When it is determined that the first reference value Ah corresponding to any type of target analysis data of the vehicle body and / or the bogie is greater than the first reference threshold A1, and the corresponding second reference value Bh is greater than the second reference threshold B1, an out-of-limit alarm signal for the trend of the inclination index of the corresponding bogie and / or vehicle body is output.

9. The method for monitoring vehicle running posture by using inclination angle according to claim 8, characterized in that: Before screening the target sliding window whose variance Sw is less than the first preset variance S1 and respectively averaging each average value Aw and each slope Bw in the target sliding window to obtain the first reference value Ah and the second reference value Bh, the method further includes: When it is determined that the driving speed reaches the preset speed level within the second preset period, and / or the vehicle's mileage related data is obtained; when the mileage is less than the preset mileage, and / or the slope Bw is less than the preset slope, all the characteristic data within the first preset period are eliminated.

10. The method for monitoring vehicle running posture by using inclination angle according to claim 1, characterized in that: After respectively acquiring the inclination data of the vehicle body and / or the bogie to be tested, the method further includes: Obtaining data related to the vehicle's running speed; Analyzing the inclination data of the car body and the bogie to determine whether the inclination difference index trend in each direction between the car body and the bogie is continuously rising and / or fluctuating abnormally and / or the trend is out of limit; Output the status alarm signal of the components between the vehicle body and the bogie to be tested.

11. The method for monitoring vehicle running posture by using inclination angle according to claim 10, characterized in that: The analyzing the inclination data of the car body and the bogie to determine whether the inclination difference index trend between the car body and the bogie is continuously rising and / or fluctuating abnormally and / or the trend is out of limit comprises: Extracting the inclination data corresponding to the driving speed related data that meets the second preset condition within a third preset period; wherein the second preset condition is that the driving speed reaches a preset speed level and the driving speed is within a preset speed range; Calculating the inclination angle differences between the vehicle body and the bogie in the rolling, pitching and yaw directions respectively; Calculating an average value Ave of each of the inclination angle differences within a third preset time length; Taking the fourth preset time length as a sliding window, calculating the average value Ax, variance Sx and slope Bx of each sliding window; wherein the third preset time length is less than the fourth preset time length; Filter the target sliding window whose variance Sx is less than the second preset variance S2, and respectively average each average value Ax and each slope Bx in the target sliding window to obtain a third reference value An and a fourth reference value Bn; When it is determined that the average value Ax of any type of the inclination angle difference is greater than the third reference value An for a third preset number of consecutive times, and the variance Sx is greater than the fourth reference value Bn, an alarm signal indicating that the inclination angle difference index trend of the component between the vehicle body and the bogie to be tested is continuously increasing is output; When it is determined that the variance Sx of any type of the inclination angle difference is greater than the second preset variance S2 for the third preset number of consecutive times, an abnormal fluctuation alarm signal of the inclination angle difference index trend of the components between the vehicle body and the bogie to be tested is output; When it is determined that the third reference value An corresponding to any type of the inclination angle difference is greater than the reference threshold value A2, and the corresponding second reference value Bh is greater than the reference threshold value B2, an inclination angle difference index trend out-of-limit alarm signal of the components between the vehicle body and the bogie to be tested is output.

12. A device for monitoring the running posture of a vehicle using an inclination angle, characterized in that: include: An acquisition module, used to respectively acquire the inclination data of the vehicle body and / or the bogie; An analysis module, used for analyzing the distribution characteristics of the tilt angle data to output a vehicle rollover warning signal; The device is also used to obtain the running speed related data of the train; extract the target analysis data corresponding to the running speed related data in which the running speed reaches the preset speed level within a fourth preset period and the running speed is within the preset speed range from the running speed related data; wherein the target analysis data includes vibration acceleration related data and / or angular velocity related data and / or inclination related data and / or inclination angle difference in each direction between the vehicle body and the bogie; respectively calculate the mean value Au of each of the target analysis data of the vehicle within the fifth preset time length; Calculate the average value At and variance St of each target analysis data of the vehicle at different driving speed levels within the fifth preset period; when it is determined that the variance St of any type of data in the target analysis data corresponding to the vehicle is greater than the variance threshold Sm within the sixth preset time length, determine that the discreteness of the corresponding indicator of the vehicle is abnormal and output an alarm signal of the corresponding vehicle body and / or bogie; when it is determined that the variance St of any type of data in the target analysis data corresponding to the vehicle is greater than the variance threshold Sm within the seventh preset time length, and the maximum value of the variance St is the same target vehicle, determine that the discreteness of the corresponding indicator of the target vehicle is abnormal, and output an alarm signal of the corresponding vehicle body and / or bogie.

13. A device for monitoring the running posture of a vehicle using an inclination angle, characterized in that: comprising a memory for storing a computer program; A processor is used to implement the steps of the method for monitoring the running posture of a vehicle using an inclination angle as described in any one of claims 1 to 11 when executing the computer program.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for monitoring the running posture of a vehicle using an inclination angle as described in any one of claims 1 to 11 are implemented.

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