Method, device and equipment for optimizing motion trail of hood opening and closing device for railway vehicle

Abstract

The invention discloses a method, a device and equipment for optimizing the motion trail of a hood opening and closing device for a railway vehicle, the hood opening and closing device is applied to the railway vehicle, the hood opening and closing device comprises a fixed hood and an opening and closing hood, and the opening and closing hood can do planar motion in the direction parallel to a preset plane; the method for optimizing the motion trail of the hood opening and closing device for the railway vehicle comprises the steps of determining a target position point selected at a preset position of an opening and closing hood; establishing a target plane which passes through the target position point and is parallel to the preset plane; obtaining a target curve where the target plane intersects with the fixed cover; the opening and closing cover is controlled to move according to a given preset path, and the movement track of the target position point is obtained; and comparing the motion track with the target curve, and determining whether the preset path is a feasible path according to a comparison result, the feasible path being a path which does not interfere with the fixed cover when the opening and closing cover moves. By comparing the movement track with the target curve, the relative position relation between the opening and closing cover and the fixed cover is quantified, and interference between the opening and closing cover and the fixed cover during movement can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of optimizing the motion path of a rail vehicle hood opening and closing device, and more specifically, to a method, device, equipment and computer-readable storage medium for optimizing the motion trajectory of a rail vehicle hood opening and closing device. In addition, the present invention also relates to a rail vehicle hood opening and closing device. Background Art

[0002] In rail vehicles, a head cover opening and closing device is widely used to facilitate the connection of a coupler. The head cover opening and closing device comprises a fixed cover and an opening and closing cover, and the opening and closing cover can move relative to the fixed cover.

[0003] However, with the increasing number of front-end structures of rail vehicle EMUs, for example, energy absorption structures and anti-climbing structures are now added to the front end of rail vehicle EMUs. This leads to a significant reduction in the installation space of the hood opening and closing device, thereby reducing the space occupied by the opening and closing hood of the hood opening and closing device during movement. During the movement of the opening and closing hood, it is necessary to avoid collision with the fixed hood, which requires re-optimization of the movement trajectory of the opening and closing hood.

[0004] That is, how to provide a method for optimizing the motion trajectory of a hood opening and closing device for a rail vehicle is a problem that currently needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a method, device, equipment and computer-readable storage medium for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle, which can prevent the opening and closing hood from colliding with the fixed hood during movement.

[0006] Another object of the present invention is to provide a head hood opening and closing device for a rail vehicle, wherein the feasible path of the opening and closing hood is obtained by the motion trajectory optimization method of the head hood opening and closing device for a rail vehicle, so as to avoid the opening and closing hood from colliding with the fixed hood during movement.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle, which is applied to the head cover opening and closing device of a rail vehicle, wherein the head cover opening and closing device comprises a fixed cover and an opening and closing cover, and the opening and closing cover can perform planar motion in a direction parallel to a preset plane;

[0009] The method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle comprises:

[0010] Determine a target position point selected at a preset position of the opening and closing cover;

[0011] Establishing a target plane passing through the target position point and parallel to the preset plane;

[0012] Obtaining a target curve where the target plane intersects the fixed cover;

[0013] Controlling the opening and closing cover to move along a given preset path and obtaining a motion trajectory of the target position point;

[0014] The motion trajectory is compared with the target curve, and whether the preset path is a feasible path is determined according to the comparison result, wherein the feasible path is a path that does not interfere with the fixed cover when the opening and closing cover moves.

[0015] Optionally, comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path according to the comparison result, includes:

[0016] Subtracting the motion trajectory from the target curve;

[0017] Determine whether there are points whose difference does not meet the preset conditions;

[0018] If yes, then determining that the preset path is a non-feasible path;

[0019] If not, the preset path is determined to be the feasible path.

[0020] Optionally, controlling the opening and closing cover to move along a given preset path and obtaining a motion trajectory of the target position point includes:

[0021] Controlling the opening and closing cover to move according to n different given preset paths in sequence, and obtaining n different motion trajectories of the target position point corresponding to different preset paths, where n is a positive integer greater than or equal to 2;

[0022] Comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path according to the comparison result, includes:

[0023] Compare the n motion trajectories with the target curve respectively, and determine whether each of the preset paths is a feasible path according to the comparison results;

[0024] When only one of the preset paths is a feasible path, the feasible path is determined as the optimal path;

[0025] When there are at least two of the preset paths that are feasible paths, the preset path corresponding to the motion trajectory having the smallest difference with the target curve is used as the optimal path according to the comparison result.

[0026] Optionally, the head cover opening and closing device further comprises a guide track, a sliding member sliding along the guide track, and a transmission mechanism, wherein the transmission mechanism is connected between the sliding member and the opening and closing cover, so that when the sliding member slides along the guide track, the opening and closing cover moves along the feasible path;

[0027] Controlling the opening and closing cover to move along a given preset path and obtaining the motion trajectory of the target position point includes:

[0028] determining a given path of the guide track;

[0029] Controlling the sliding member to slide along the given path and obtaining the motion trajectory of the target position point;

[0030] Comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path according to the comparison result, includes:

[0031] The motion trajectory is compared with the target curve, and whether the given path is a suitable path is determined according to the comparison result. When the given path is the suitable path, it is determined that when the sliding member slides along the guide track, the opening and closing cover moves along the feasible path.

[0032] Optionally, determining a given path of the guide track comprises:

[0033] Determine the starting point and the ending point of the guide track;

[0034] The given paths that are different are given between the starting point and the ending point.

[0035] Optionally, the method for optimizing the motion trajectory of a hood opening and closing device for a rail vehicle includes:

[0036] Determine m target position points selected from m different preset positions of the opening and closing cover, where m is a positive integer greater than or equal to 2;

[0037] Establishing m target planes that pass through the m target position points and are parallel to the preset plane;

[0038] Obtaining m target curves where the m target planes intersect the fixed cover respectively;

[0039] Controlling the opening and closing cover to move according to the given preset path, and obtaining m movement trajectories of the m target position points;

[0040] Each of the motion trajectories is compared with the corresponding target curve, and when the comparison results of the m motion trajectories and the corresponding target curves all meet the requirements, the preset path is determined to be a feasible path.

[0041] A head cover opening and closing device for a rail vehicle comprises a fixed cover and an opening and closing cover. The opening and closing cover can perform planar motion in a direction parallel to a preset plane. The feasible path of the opening and closing cover is obtained by any one of the above-mentioned motion trajectory optimization methods for the head cover opening and closing device for a rail vehicle.

[0042] A motion trajectory optimization device for a head cover opening and closing device for a rail vehicle, applied to the head cover opening and closing device of a rail vehicle, the head cover opening and closing device comprising a fixed cover and an opening and closing cover, the opening and closing cover can perform planar motion in a direction parallel to a preset plane;

[0043] The motion trajectory optimization device for the rail vehicle hood opening and closing device comprises:

[0044] A target position point determination module, used to determine a target position point selected at a preset position of the opening and closing cover;

[0045] A target plane establishing module, used to establish a target plane passing through the target position point and parallel to the preset plane;

[0046] A target curve obtaining module, used for obtaining a target curve where the target plane intersects with the fixed cover;

[0047] A motion trajectory control module, used to control the opening and closing cover to move along a given preset path and obtain the motion trajectory of the target position point;

[0048] A comparison module is used to compare the motion trajectory with the target curve, and determine whether the preset path is a feasible path according to the comparison result, wherein the feasible path is a path that does not interfere with the fixed cover when the opening and closing cover moves.

[0049] A motion trajectory optimization device for a head cover opening and closing device for a rail vehicle, comprising:

[0050] Memory for storing computer programs;

[0051] A processor is used to implement the steps of any of the above-mentioned methods for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle when executing the computer program.

[0052] A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of any of the above-mentioned methods for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle are implemented.

[0053] The method for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle provided by the present invention can obtain the relative position relationship between the opening and closing hood and the fixed hood during the movement by comparing the motion trajectory of a target position point with a target curve when the opening and closing hood moves according to a given preset path, and quantify the relative position relationship between the opening and closing hood and the fixed hood during the movement, and then determine whether the preset path of the opening and closing hood is a feasible path based on the quantified relative position relationship between the opening and closing hood and the fixed hood during the movement, thereby determining the motion path of the opening and closing hood, which motion path can avoid interference between the opening and closing hood and the fixed hood during movement. In addition, when giving a preset path for the opening and closing hood, the preset path can be given based on full consideration of the front end structure of the rail vehicle EMU and the installation space of the hood opening and closing device reserved at the front end of the rail vehicle EMU. Then, on the basis of fully reducing the movement space required for the hood opening and closing device, the relative position relationship between the opening and closing hood and the fixed hood during the movement of the opening and closing hood can be predicted to avoid the collision between the opening and closing hood and the fixed hood during the movement, thereby expanding the scope of application of the hood opening and closing device to the head shape of the rail vehicle driver's cab, so that customized movement trajectories can be achieved for different driver's cab head shapes.

[0054] The head cover opening and closing device for rail vehicles provided by the present invention has a feasible path for opening and closing the cover obtained by the motion trajectory optimization method of the head cover opening and closing device for rail vehicles, and has the same beneficial effects as the motion trajectory optimization method of the head cover opening and closing device for rail vehicles.

[0055] The motion trajectory optimization device for a hood opening and closing device for a rail vehicle, the motion trajectory optimization equipment for a hood opening and closing device for a rail vehicle, and the computer-readable storage medium provided by the present invention respectively correspond to the above-mentioned motion trajectory optimization method for a hood opening and closing device for a rail vehicle, and have the same beneficial effects as the above-mentioned motion trajectory optimization method for a hood opening and closing device for a rail vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0057] Figure 1 A flow chart of a method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle provided in a specific embodiment of the present invention;

[0058] Figure 2 A flow chart of a method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle provided by another specific embodiment of the present invention;

[0059] Figure 3 A schematic diagram of the structure of a head cover opening and closing device for a rail vehicle provided by a specific embodiment of the present invention;

[0060] Figure 4 A structural block diagram of a motion trajectory optimization device for a head cover opening and closing device for a rail vehicle provided by a specific embodiment of the present invention;

[0061] Figure 5 This is a structural block diagram of a motion trajectory optimization device for a rail vehicle hood opening and closing device provided in a specific embodiment of the present invention.

[0062] Figure 3 Reference numerals in the figures:

[0063] 1-guide rail; 2-sliding member; 3-transmission mechanism; 31-scissor-shaped connecting rod mechanism; 311-intermediate rotating shaft; 4-mounting frame; 5-linear driving mechanism; 6-slide plate; 7-linear guide rail. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] The core of the present invention is to provide a method, device, equipment and computer-readable storage medium for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle, which can prevent the opening and closing hood from colliding with the fixed hood when the opening and closing hood moves. Another core of the present invention is to provide a head hood opening and closing device for a rail vehicle, the feasible path of the opening and closing hood of which is obtained by the above-mentioned method for optimizing the motion trajectory of the head hood opening and closing device for a rail vehicle, which can prevent the opening and closing hood from colliding with the fixed hood when the opening and closing hood moves.

[0066] Please refer to Figure 1 The embodiment of the present invention provides a method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle, which is applied to the head cover opening and closing device of a rail vehicle. The head cover opening and closing device includes a fixed cover and an opening and closing cover, and the opening and closing cover can perform planar motion in a direction parallel to a preset plane; the method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle includes steps S1 to S5:

[0067] S1: Determine the target position point selected at the preset position of the opening and closing cover;

[0068] S2: Establish a target plane passing through the target position point and parallel to the preset plane;

[0069] S3: Obtaining a target curve where the target plane intersects the fixed cover;

[0070] S4: Control the opening and closing cover to move according to a given preset path, and obtain the motion trajectory of the target position point;

[0071] S5: Compare the motion trajectory of the target position point with the target curve, and determine whether the preset path is a feasible path according to the comparison result. The feasible path is a path that does not interfere with the fixed cover when the opening and closing cover moves.

[0072] It should be noted that the embodiments of the present invention do not specifically limit the preset plane parallel to which the opening and closing cover moves in a plane, and the normal direction of the preset plane can be in any direction as long as the movement of the opening and closing cover does not interfere with the fixed cover. In some embodiments, the preset plane is the track surface on which the rail vehicle travels.

[0073] In addition, it should be noted that the target position point in the embodiment of the present invention refers to a position on the opening and closing cover that is likely to collide with the fixed cover.

[0074] It can be understood that, if the target plane passes through the target position point and is parallel to the preset plane, then the target curve where the target plane intersects with the fixed cover is a critical curve at which the relative spatial positions of the opening and closing cover and the fixed cover interfere with each other. That is, when the opening and closing cover moves, once the motion trajectory of the target position point reaches the target curve, that is, when it intersects with the target curve, the opening and closing cover collides with the fixed cover, and the positions of the two interfere, affecting the opening and closing of the opening and closing cover.

[0075] Therefore, the embodiment of the present invention controls the opening and closing cover to move according to a given preset path, and after obtaining the motion trajectory of the target position point, the motion trajectory is compared with the target curve, and based on the comparison result, it is determined whether the preset path is a feasible path for the opening and closing cover. The feasible path is a path that does not interfere with the fixed cover when the opening and closing cover moves.

[0076] That is to say, the embodiment of the present invention can obtain the relative position relationship between the opening and closing cover and the fixed cover during the movement by comparing the motion trajectory of the target position point with the target curve when the opening and closing cover moves according to the given preset path, and quantify the relative position relationship between the opening and closing cover and the fixed cover during the movement, and then determine whether the preset path of the opening and closing cover is a feasible path according to the quantified relative position relationship between the opening and closing cover and the fixed cover during the movement, so as to determine the motion path of the opening and closing cover, which can avoid the interference between the opening and closing cover and the fixed cover during the movement. In addition, when the preset path of the opening and closing cover is given, the preset path can be given based on the installation space of the head cover opening and closing device reserved at the front end of the rail vehicle EMU on the basis of fully considering the front end structure of the rail vehicle EMU, and then on the basis of fully reducing the motion space required for the head cover opening and closing device, the relative position relationship between the opening and closing cover and the fixed cover during the movement is predicted to avoid the collision between the opening and closing cover and the fixed cover during the movement, thereby expanding the scope of application of the head cover opening and closing device to the head shape of the rail vehicle driver's cab, so as to achieve customized motion trajectories for different driver's cab head shapes.

[0077] It should be noted that the present embodiment does not limit the specific method of comparing the motion trajectory with the target curve, as long as it is possible to determine whether the preset path is a feasible path according to the comparison result.

[0078] Please combine Figure 1 and Figure 2 In some embodiments, step S5: comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path according to the comparison result, includes steps S51 to S54:

[0079] S51: Subtract the motion trajectory of the target position point from the target curve;

[0080] S52: Determine whether there is a point whose difference does not meet the preset condition;

[0081] S53: If yes, determine that the given preset path is a non-feasible path;

[0082] S54: If not, determine that the above given preset path is a feasible path.

[0083] It can be understood that a non-feasible path is a path in which the opening and closing cover may interfere with the fixed cover or there is a risk of interference during the movement.

[0084] In addition, it should be noted that the present embodiment does not specifically limit the preset condition. For example, the preset condition may be that the difference between the motion trajectory and the target curve is greater than zero. That is, when the difference between the motion trajectory and the target curve is less than or equal to zero, it indicates that the preset path is a non-feasible path. In other words, when the opening and closing cover moves along the preset path, there is a moment in the motion trajectory of the target position point that intersects with the target curve, and there is even a moment when it moves to the other side of the target curve. In this case, the opening and closing cover will interfere with the fixed cover during the movement. Of course, in other embodiments, the preset condition may also be that the difference between the motion trajectory and the target curve is greater than a preset value (the preset value is a given value greater than zero), that is, even when the difference between the motion trajectory and the target curve is greater than zero, if the difference between the motion trajectory and the target curve is less than or equal to the preset value, it indicates that the preset path is a non-feasible path, that is, in this case, the gap between the opening and closing cover and the fixed cover is very small during the movement process. For the sake of insurance, to avoid the collision between the opening and closing cover and the fixed cover due to assembly errors, vibrations during the movement process, etc., the preset condition can be limited to the difference between the motion trajectory and the target curve is greater than the preset value, so as to avoid the situation where the gap between the opening and closing cover and the fixed cover is very small during the movement process. It should be noted that the specific size of the preset value is not limited in this embodiment, as long as it can ensure that the opening and closing cover always has a suitable gap with the fixed cover during the movement process.

[0085] In addition, in order to determine a better movement path of the opening and closing cover, in some embodiments, step S4: controlling the opening and closing cover to move according to a given preset path and obtaining a movement trajectory of a target position point includes:

[0086] The opening and closing cover is controlled to move according to n different preset paths in sequence, and n different motion trajectories corresponding to different preset paths of the target position point are obtained, where n is a positive integer greater than or equal to 2;

[0087] Step S5: comparing the motion trajectory of the target position point with the target curve, and determining whether the preset path is a feasible path according to the comparison result, including:

[0088] Compare the n motion trajectories of the target position point with the target curve respectively, and determine whether each preset path is a feasible path according to the comparison result;

[0089] When there is only one preset path that is a feasible path, the feasible path is determined as the optimal path;

[0090] When there are at least two preset paths that are feasible paths, the preset path corresponding to the motion trajectory having the smallest difference with the target curve is used as the optimal path according to the comparison result.

[0091] That is to say, in this embodiment, by providing n different preset paths, the opening and closing cover moves in sequence along the n different preset paths, and n motion trajectories of the target position point are obtained. By comparing the n motion trajectories with the target curve respectively, n different comparison results can be obtained. Then, based on the n comparison results, it can be determined whether each of the n preset paths is a feasible path, so that the preset paths that are feasible paths can be screened out from the n preset paths, and the preset paths that are not feasible paths can be excluded.

[0092] It is understandable that when only one preset path among n preset paths is a feasible path, the feasible path is determined as the optimal path, that is, the preset path can be determined as the motion trajectory of the opening and closing cover during the actual implementation process. When at least two preset paths among n preset paths are feasible paths, the preset paths that are feasible paths can all be used as the motion trajectory of the opening and closing cover during the actual implementation. However, in order to make the motion trajectory of the opening and closing cover better, according to the comparison result, the preset path with the smallest difference with the target curve is used as the optimal path. It is understandable that the smaller the difference between the motion trajectory of the target position point and the target curve, the closer the motion trajectory is to the target curve, and the more conducive it is to reducing the motion space required for the opening and closing cover. Therefore, the corresponding preset path is used as the optimal path, so that a better path can be selected from the n preset paths as the motion trajectory of the opening and closing cover.

[0093] It should be noted that the above embodiments do not limit the specific implementation method of driving the opening and closing cover to move. In order to facilitate the movement of the opening and closing cover, Figure 3 As shown, in some embodiments, the head cover opening and closing device also includes a guide rail 1, a sliding member 2 sliding along the guide rail 1, and a transmission mechanism 3, wherein the transmission mechanism 3 is connected between the sliding member 2 and the opening and closing cover so that when the sliding member 2 slides along the guide rail 1, the opening and closing cover moves along a feasible path.

[0094] That is to say, in this embodiment, the sliding member 2 is made to slide along the guide rail 1, so that the sliding member 2 drives the opening and closing cover to move through the transmission mechanism 3, that is, the movement of the opening and closing cover is linked to the movement of the sliding member 2. In other words, the movement of the opening and closing cover is determined by the movement of the sliding member 2, that is, the movement trajectory of the sliding member 2 determines the movement trajectory of the opening and closing cover, and the movement trajectory of the sliding member 2 is limited by the trajectory of the guide rail 1. Therefore, when the trajectory of the guide rail 1 is determined, the movement trajectory of the opening and closing cover is determined. That is, in this case, the design of the movement trajectory of the opening and closing cover is transformed into the design of the movement trajectory of the guide rail 1.

[0095] Based on this, in some embodiments, controlling the opening and closing cover to move according to a given preset path and obtaining a motion trajectory of a target position point includes:

[0096] Determining a given path of guide track 1;

[0097] Control the sliding member 2 to slide along a given path and obtain the motion trajectory of the target position point;

[0098] Compare the motion trajectory with the target curve, and determine whether the preset path is a feasible path based on the comparison result, including:

[0099] The motion trajectory is compared with the target curve, and whether the given path is a suitable path is determined according to the comparison result. When the given path is a suitable path, it is determined that when the sliding member 2 slides along the guide track 1, the opening and closing cover moves along a feasible path.

[0100] That is to say, this embodiment changes the determination of whether the preset path is a feasible path to the determination of whether the given path of the guide track 1 is a suitable path. When the given path of the guide track 1 is a suitable path, it indicates that the preset path is a feasible path. When the given path of the guide track 1 is an inappropriate path, it indicates that the preset path is an inappropriate path. This embodiment compares the motion trajectory with the target curve, and determines whether the given path of the guide track 1 is a suitable path according to the comparison result. When it is determined that the given path is a suitable path, the trajectory of the guide track 1 can be determined to achieve the design of the guide track 1.

[0101] Further, in order to facilitate determining a suitable path of the guide track 1 and make the movement of the opening and closing cover meet the installation space requirements, in some embodiments, determining a given path of the guide track 1 includes:

[0102] Determine the starting point and the ending point of the guide track 1;

[0103] Given different given paths between the start point and the end point.

[0104] It can be understood that the starting point and the ending point of the guide track 1 determine the starting position and the ending position of the opening and closing cover. Therefore, this embodiment provides different given paths between the same starting point and the ending point, so that the movement trajectory of the opening and closing cover is determined between the same starting position and the ending position, which is conducive to making the movement of the opening and closing cover meet the installation space requirements. In addition, by giving different given paths, it is helpful to determine the optimal trajectory of the guide track 1.

[0105] In addition, in order to improve the accuracy of determining the preset path, in some embodiments, the method for optimizing the motion trajectory of the head cover opening and closing device for a rail vehicle further includes:

[0106] Determine m target position points selected at m different preset positions of the opening and closing cover, where m is a positive integer greater than or equal to 2;

[0107] Establish m target planes that pass through the m target position points and are parallel to the preset plane;

[0108] Obtaining m target curves where the m target planes intersect the fixed cover respectively;

[0109] Control the opening and closing cover to move according to a given preset path, and obtain m motion trajectories of m target position points;

[0110] Each motion trajectory is compared with the corresponding target curve. When the comparison results of the m motion trajectories and the corresponding target curves meet the requirements, the preset path is determined to be a feasible path.

[0111] That is, in this embodiment, by limiting the number of target location points to m, where m is a positive integer greater than or equal to 2, multiple target location points are set to verify whether the preset path is a feasible path.

[0112] It can be understood that when the number of target position points is m, there are m target planes passing through the target position points and parallel to the preset plane, and when the opening and closing cover moves according to the given preset path, the m target position points all have corresponding motion trajectories, that is, there are m motion trajectories, that is, one target position point corresponds to one target plane and one motion trajectory, and the motion trajectory corresponding to each target position point is compared with the corresponding target plane to obtain m comparison results. When the m comparison results all meet the requirements, it indicates that the preset path meets the requirements, and at this time, the preset path can be determined to be a feasible path. That is, when the opening and closing cover moves according to the preset path, the m target position points can be prevented from colliding with the fixed cover.

[0113] It can be understood that the target position point is a position point that is easy to collide with the fixed cover during the movement of the opening and closing cover. When the m target position points do not collide with the fixed cover, other positions of the opening and closing cover do not collide with the fixed cover either.

[0114] In addition to the above-mentioned method for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle, the present invention also provides a head hood opening and closing device for a rail vehicle, which includes a fixed hood and an opening and closing hood. The opening and closing hood can perform planar motion in a direction parallel to a preset plane, and the feasible path of the opening and closing hood is obtained by the method for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle disclosed in any one of the above-mentioned embodiments.

[0115] That is to say, the focus of this embodiment is that the feasible path of the opening and closing hood of the hood opening and closing device for rail vehicles is obtained by the motion trajectory optimization method of the hood opening and closing device for rail vehicles disclosed in any of the above embodiments. Therefore, the hood opening and closing device for rail vehicles has the same beneficial effects as the above-mentioned method for optimizing the motion trajectory of the hood opening and closing device for rail vehicles, which will not be repeated here.

[0116] It should be noted that the specific shapes, installation positions of the fixed cover and the opening and closing cover, and the movement modes of the opening and closing cover can be referred to in the relevant technology, and will not be described in detail in this article.

[0117] Please refer to Figure 3 In some embodiments, the head cover opening and closing device for rail vehicles also includes: a guide rail 1, a sliding member 2 sliding along the guide rail 1, and a transmission mechanism 3, wherein the transmission mechanism 3 is connected between the sliding member 2 and the opening and closing cover so that when the sliding member 2 slides along the guide rail 1, the opening and closing cover moves along a feasible path.

[0118] From the above discussion, it can be seen that in this structural case, the design of the movement trajectory of the opening and closing cover is transformed into the design of the movement trajectory of the guide track 1, that is, the determination of whether the preset path is a feasible path is transformed into the determination of whether the given path of the guide track 1 is a suitable path, so that the trajectory of the guide track 1 can be determined and the design of the guide track 1 can be realized.

[0119] It should be noted that the embodiment of the present invention does not limit the specific structure of the transmission mechanism 3, as long as the transmission mechanism 3 can convert the movement of the sliding member 2 into the movement of the opening and closing cover. For example, the transmission mechanism 3 may include a scissor-shaped linkage mechanism 31. In addition, the embodiment of the present invention does not limit the specific driving method for driving the sliding member 2 to slide along the guide track 1. For example, the intermediate shaft 311 of the scissor-shaped linkage mechanism 31 can be slidably arranged on the mounting frame 4 along a preset direction, and the mounting frame 4 is provided with a linear drive mechanism 5 connected to the intermediate shaft 311 and used to drive the intermediate shaft 311 to slide back and forth along the preset direction, such as a cylinder, so that the intermediate shaft 311 can be driven to move back and forth along the preset direction by the linear drive mechanism 5, so that the sliding member 2 can slide back and forth along the guide track 1, and then the transmission mechanism 3 drives the opening and closing cover to realize the opening and closing action.

[0120] In order to ensure the reliability of the movement of the intermediate rotating shaft 311, in some embodiments, the intermediate rotating shaft 311 is connected with a slide plate 6, the mounting frame 4 is provided with a linear guide rail 7, and the slide plate 6 is slidably connected with the linear guide rail 7. That is, in this embodiment, the movement of the slide plate 6 is limited by the linear guide rail 7, and the movement of the intermediate rotating shaft 311 is indirectly limited, so that the stability of the movement of the intermediate rotating shaft 311 can be ensured.

[0121] Corresponding to the above embodiment of the method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle, the embodiment of the present invention further provides a device for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle. Figure 4, is a structural frame of a motion trajectory optimization device for a head hood opening and closing device for a rail vehicle provided by a specific embodiment of the present invention. The motion trajectory optimization device for a head hood opening and closing device for a rail vehicle is applied to a head hood opening and closing device for a rail vehicle, the head hood opening and closing device comprises a fixed cover and an opening and closing cover, and the opening and closing cover can perform planar motion in a direction parallel to a preset plane; the motion trajectory optimization device for a head hood opening and closing device for a rail vehicle comprises:

[0122] The target position point determination module 101 is used to determine the target position point selected at the preset position of the opening and closing cover;

[0123] A target plane establishing module 102, for establishing a target plane passing through a target position point and parallel to a preset plane;

[0124] A target curve obtaining module 103 is used to obtain a target curve where the target plane intersects the fixed cover;

[0125] The motion trajectory control module 104 is used to control the opening and closing cover to move according to a given preset path and obtain the motion trajectory of the target position point;

[0126] The comparison module 105 is used to compare the motion trajectory with the target curve, and determine whether the preset path is a feasible path according to the comparison result. The feasible path is a path that does not interfere with the fixed cover when the opening and closing cover moves.

[0127] It can be seen that the motion trajectory optimization device for the hood opening and closing device for rail vehicles corresponds to the motion trajectory optimization method for the hood opening and closing device for rail vehicles described above, and therefore has the same beneficial effects as the motion trajectory optimization method for the hood opening and closing device for rail vehicles described above, which will not be repeated here. In addition, the motion trajectory optimization device for the hood opening and closing device for rail vehicles and the motion trajectory optimization method for the hood opening and closing device for rail vehicles described above can be referenced to each other.

[0128] Corresponding to the above embodiment of the method for optimizing the motion trajectory of the head cover opening and closing device for rail vehicles, please refer to Figure 5 , which is a structural block diagram of the motion trajectory optimization device for a rail vehicle hood opening and closing device provided by the present invention, and the motion trajectory optimization device for a rail vehicle hood opening and closing device comprises a memory 201 and a processor 202, the memory 201 is used to store computer programs; the processor 202 is used to implement the steps of the motion trajectory optimization method for a rail vehicle hood opening and closing device disclosed in any one of the above embodiments when executing the computer program.

[0129] For an introduction to the motion trajectory optimization device for a rail vehicle hood opening and closing device provided by the present invention, please refer to the above-mentioned embodiment of the motion trajectory optimization method for a rail vehicle hood opening and closing device, and the present invention will not be elaborated here.

[0130] Corresponding to the above embodiments of the method for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle, the present invention 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 optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle disclosed in any one of the above embodiments can be implemented.

[0131] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0132] For an introduction to the computer-readable storage medium provided by the present invention, please refer to the above-mentioned embodiment of the method for optimizing the motion trajectory of a hood opening and closing device for a rail vehicle, and the present invention will not be elaborated here.

[0133] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0134] The above is a detailed introduction to the motion trajectory optimization method, device, equipment, computer-readable storage medium and rail vehicle hood opening and closing device provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle, characterized in that: A head cover opening and closing device applied to a rail vehicle, the head cover opening and closing device comprising a fixed cover and an opening and closing cover, the opening and closing cover can perform planar motion in a direction parallel to a preset plane; The method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle comprises: Determine a target position point selected at a preset position of the opening and closing cover; Establishing a target plane passing through the target position point and parallel to the preset plane; Obtaining a target curve where the target plane intersects the fixed cover; Controlling the opening and closing cover to move along a given preset path and obtaining a motion trajectory of the target position point; The motion trajectory is compared with the target curve, and whether the preset path is a feasible path is determined according to the comparison result, wherein the feasible path is a path that does not interfere with the fixed cover when the opening and closing cover moves.

2. The method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle according to claim 1, characterized in that: Comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path according to the comparison result, includes: Subtracting the motion trajectory from the target curve; Determine whether there are points whose difference does not meet the preset conditions; If yes, then determining that the preset path is a non-feasible path; If not, the preset path is determined to be the feasible path.

3. The method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle according to claim 2, characterized in that: Controlling the opening and closing cover to move along a given preset path and obtaining the motion trajectory of the target position point includes: Controlling the opening and closing cover to move according to n different given preset paths in sequence, and obtaining n different motion trajectories of the target position point corresponding to different preset paths, where n is a positive integer greater than or equal to 2; Comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path according to the comparison result, includes: Compare the n motion trajectories with the target curve respectively, and determine whether each of the preset paths is a feasible path according to the comparison results; When only one of the preset paths is a feasible path, the feasible path is determined as the optimal path; When there are at least two of the preset paths that are feasible paths, the preset path corresponding to the motion trajectory having the smallest difference with the target curve is used as the optimal path according to the comparison result.

4. The method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle according to any one of claims 1 to 3, characterized in that: The head cover opening and closing device also includes a guide rail, a sliding member sliding along the guide rail, and a transmission mechanism, wherein the transmission mechanism is connected between the sliding member and the opening and closing cover, so that when the sliding member slides along the guide rail, the opening and closing cover moves along the feasible path; Controlling the opening and closing cover to move along a given preset path and obtaining the motion trajectory of the target position point includes: determining a given path of the guide track; Controlling the sliding member to slide along the given path and obtaining the motion trajectory of the target position point; Comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path according to the comparison result, includes: The motion trajectory is compared with the target curve, and whether the given path is a suitable path is determined according to the comparison result. When the given path is the suitable path, it is determined that when the sliding member slides along the guide track, the opening and closing cover moves along the feasible path.

5. The method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle according to claim 4, characterized in that: Determining a given path of the guide track includes: Determine the starting point and the ending point of the guide track; The given paths that are different are given between the starting point and the ending point.

6. The method for optimizing the motion trajectory of a head cover opening and closing device for a rail vehicle according to any one of claims 1 to 3, characterized in that: include: Determine m target position points selected from m different preset positions of the opening and closing cover, where m is a positive integer greater than or equal to 2; Establishing m target planes that pass through the m target position points and are parallel to the preset plane; Obtaining m target curves where the m target planes intersect the fixed cover respectively; Controlling the opening and closing cover to move according to the given preset path, and obtaining m movement trajectories of the m target position points; Each of the motion trajectories is compared with the corresponding target curve, and when the comparison results of the m motion trajectories and the corresponding target curves all meet the requirements, the preset path is determined to be a feasible path.

7. A head cover opening and closing device for a rail vehicle, characterized in that: It comprises a fixed cover and an opening and closing cover, wherein the opening and closing cover can make planar motion in a direction parallel to a preset plane, and the feasible path of the opening and closing cover is obtained by the motion trajectory optimization method of the head cover opening and closing device for rail vehicles according to any one of claims 1-6.

8. A motion trajectory optimization device for a head cover opening and closing device for a rail vehicle, characterized in that: A head cover opening and closing device applied to a rail vehicle, the head cover opening and closing device comprising a fixed cover and an opening and closing cover, the opening and closing cover can perform planar motion in a direction parallel to a preset plane; The motion trajectory optimization device for the rail vehicle hood opening and closing device comprises: A target position point determination module, used to determine a target position point selected at a preset position of the opening and closing cover; A target plane establishing module, used to establish a target plane passing through the target position point and parallel to the preset plane; A target curve obtaining module, used for obtaining a target curve where the target plane intersects with the fixed cover; A motion trajectory control module, used to control the opening and closing cover to move along a given preset path and obtain the motion trajectory of the target position point; A comparison module is used to compare the motion trajectory with the target curve, and determine whether the preset path is a feasible path according to the comparison result, wherein the feasible path is a path that does not interfere with the fixed cover when the opening and closing cover moves.

9. A motion trajectory optimization device for a head cover opening and closing device for a rail vehicle, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the method for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle as described in any one of claims 1 to 7 when executing the computer program.

10. 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 the processor, the steps of the method for optimizing the motion trajectory of a head hood opening and closing device for a rail vehicle as described in any one of claims 1 to 7 are implemented.

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