Method, device and equipment for optimizing movement trajectory of head cover opening and closing device for railway vehicle

Abstract

The application discloses a head cover opening and closing device motion track optimization method, device and equipment applied to a head cover opening and closing device of a rail vehicle. The head cover opening and closing device comprises a fixed cover and an opening and closing cover. The opening and closing cover can move in a plane parallel to a preset plane. The head cover opening and closing device motion track optimization method comprises the following steps: determining 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 intersected by the target plane and the fixed cover; controlling the opening and closing cover to move according to a given preset path to obtain a motion track of the target position point; and comparing the motion track with the target curve to determine whether the preset path is a feasible path according to a comparison result. The feasible path is a path in which the opening and closing cover does not interfere with the fixed cover when moving. By comparing the motion track with the target curve, the relative position relationship between the opening and closing cover and the fixed cover is quantified, and interference between the opening and closing cover and the fixed cover when the opening and closing cover moves can be avoided.

Description

Technical Field

[0001] This invention relates to the field of motion path optimization technology for hood opening and closing devices of rail vehicles, and more specifically, to a method, apparatus, device, and computer-readable storage medium for optimizing the motion trajectory of a hood opening and closing device for rail vehicles. Furthermore, this invention also relates to a hood opening and closing device for rail vehicles. Background Technology

[0002] In rail vehicles, headgear opening and closing devices are widely used to facilitate coupler connection. The headgear opening and closing device consists of a fixed cover and an opening / closing cover, the latter being movable relative to the fixed cover.

[0003] However, with the increasing number of front-end structures on rail vehicles and EMUs, such as the addition of energy-absorbing structures and anti-climbing structures at the front of rail vehicles and EMUs, the installation space for the head cover opening and closing device has been greatly reduced. This reduces the space occupied by the head cover opening and closing device during its movement. Since the opening and closing device needs to avoid colliding with the fixed cover during its movement, it is necessary to re-optimize the movement trajectory of the opening and closing device.

[0004] In other words, how to provide a method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

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

[0006] Another objective of this invention is to provide a headgear opening and closing device for rail vehicles, wherein the feasible path for opening and closing the headgear is obtained by the above-mentioned motion trajectory optimization method for the headgear opening and closing device for rail vehicles, which can avoid collision between the headgear and the fixed headgear during the movement of the headgear.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A method for optimizing the motion trajectory of a head cover opening and closing device for rail vehicles is provided. The head cover opening and closing device includes a fixed cover and an opening and closing cover, and the opening and closing cover can move in a planar direction parallel to a preset plane.

[0009] The method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles includes:

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

[0011] Establish a target plane that passes through the target location point and is parallel to the preset plane;

[0012] Obtain the target curve where the target plane intersects with the fixed cover;

[0013] Control the opening and closing cover to move along a given preset path and obtain the movement trajectory of the target position point;

[0014] The motion trajectory is compared with the target curve, and the preset path is determined as a feasible path based on the comparison result. The feasible path is the 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 based on the comparison result, includes:

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

[0017] Determine if there are any points where the difference does not meet the preset conditions;

[0018] If so, the preset path is determined to be an infeasible path;

[0019] If not, then 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 the movement trajectory of the target position point includes:

[0021] The opening and closing cover is controlled to move along n different preset paths in sequence, and n different motion trajectories corresponding to the target position point along the different preset paths are obtained, 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 based on the comparison result, includes:

[0023] Each of the n motion trajectories is compared with the target curve, and the feasibility of each preset path is determined based on 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 at least two of the preset paths are feasible, the preset path corresponding to the motion trajectory with the smallest difference from the target curve is taken as the optimal path according to the comparison result.

[0026] Optionally, the head cover opening and closing device further includes a guide rail, a sliding member that slides along the guide rail, and a transmission mechanism. 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.

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

[0028] Determine the given path of the guide rail;

[0029] Control the slider to slide along the given path and obtain 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 based on the comparison result, includes:

[0031] The motion trajectory is compared with the target curve, and it is determined whether the given path is a suitable path based on the comparison result. When the given path is a suitable path, it is determined that when the slider slides along the guide rail, the opening and closing cover moves along the feasible path.

[0032] Optionally, determining a given path for the guide track includes:

[0033] Determine the start and end points of the guide track;

[0034] A different given path is given between the starting point and the ending point.

[0035] Optionally, the method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles 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] Establish m target planes that pass through m target location points and are parallel to the preset plane;

[0038] Obtain m target curves that intersect the fixed cover with each of the m target planes;

[0039] Control the opening and closing cover to move along the given preset path, and obtain m movement trajectories for m target position points;

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

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

[0042] A motion trajectory optimization device for a head cover opening and closing device for rail vehicles is provided. The head cover opening and closing device includes a fixed cover and an opening and closing cover, which can move in a planar direction parallel to a preset plane.

[0043] The motion trajectory optimization device for the headgear opening and closing device of the rail vehicle includes:

[0044] The target location point determination module is used to determine the target location point selected at the preset position of the opening and closing cover;

[0045] The target plane creation module is used to create a target plane that passes through the target location point and is parallel to the preset plane;

[0046] The target curve acquisition module is used to obtain the target curve where the target plane intersects with the fixed cover;

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

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

[0049] A motion trajectory optimization device for the opening and closing device of a rail vehicle's headgear includes:

[0050] Memory, used to store computer programs;

[0051] A processor is used to execute the computer program to implement the steps of any of the above-described methods for optimizing the motion trajectory of a headgear opening and closing device for rail vehicles.

[0052] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the above-described methods for optimizing the motion trajectory of a headgear opening and closing device for rail vehicles.

[0053] The present invention provides a method for optimizing the motion trajectory of a head cover opening and closing device for rail vehicles. By comparing the motion trajectory of the target position point with the target curve when the opening and closing cover moves along a given preset path, the relative positional relationship between the opening and closing cover and the fixed cover during the movement can be obtained. This allows for the quantification of the relative positional relationship between the opening and closing cover and the fixed cover during the movement. Based on the quantified relative positional relationship between the opening and closing cover and the fixed cover during the movement, it can be determined whether the preset path of the opening and closing cover is a feasible path, thereby determining the motion path of the opening and closing cover. This motion path can avoid interference between the opening and closing cover and the fixed cover during the movement. Furthermore, when providing a preset path for the opening and closing of the hood, the preset path can be determined based on the installation space reserved for the hood opening and closing device at the front end of the rail vehicle train, taking into full account the front structure of the rail vehicle train. This allows for the prediction of the relative positional relationship between the opening and closing hood and the fixed hood during the movement of the hood, while minimizing the movement space required by the hood opening and closing device. This helps to avoid collisions between the opening and closing hood and the fixed hood during movement, thereby expanding the applicability of the hood opening and closing device to different types of rail vehicle driver's cabs. This enables customized movement trajectories for different types of driver's cabs.

[0054] The headgear opening and closing device for rail vehicles provided by the present invention obtains the feasible path for opening and closing the headgear using the above-mentioned motion trajectory optimization method for the headgear opening and closing device for rail vehicles, and has the same beneficial effects as the above-mentioned motion trajectory optimization method for the headgear opening and closing device for rail vehicles.

[0055] The motion trajectory optimization device, motion trajectory optimization equipment, and computer-readable storage medium for the opening and closing device of a rail vehicle provided by the present invention correspond to the above-mentioned motion trajectory optimization method for the opening and closing device of a rail vehicle and have the same beneficial effects as the above-mentioned motion trajectory optimization method for the opening and closing device of a rail vehicle. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0057] Figure 1 A flowchart illustrating a method for optimizing the motion trajectory of a headgear opening and closing device for rail vehicles according to a specific embodiment of the present invention;

[0058] Figure 2 A flowchart of a method for optimizing the motion trajectory of a headgear opening and closing device for rail vehicles, provided in another specific embodiment of the present invention;

[0059] Figure 3 This is a schematic diagram of the structure of the headgear opening and closing device for rail vehicles provided in a specific embodiment of the present invention;

[0060] Figure 4 This is a structural block diagram of the motion trajectory optimization device for the headgear opening and closing device of a rail vehicle provided in a specific embodiment of the present invention;

[0061] Figure 5 The diagram below shows the structural block diagram of the motion trajectory optimization device for the headgear opening and closing device of a rail vehicle, provided in a specific embodiment of the present invention.

[0062] Figure 3 Figure labels in the diagram:

[0063] 1-Guide rail; 2-Sliding component; 3-Transmission mechanism; 31-Scissor-type linkage mechanism; 311-Intermediate rotating shaft; 4-Mounting bracket; 5-Linear drive mechanism; 6-Slide plate; 7-Linear guide rail. Detailed Implementation

[0064] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] The core of this invention is to provide a method, apparatus, device, and computer-readable storage medium for optimizing the motion trajectory of a headgear opening and closing device for rail vehicles, which can prevent the opening and closing cover from colliding with the fixed cover during movement. Another core aspect of this invention is to provide a headgear opening and closing device for rail vehicles, wherein the feasible path for opening and closing the cover is obtained by the aforementioned method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles, which can prevent the opening and closing cover from colliding with the fixed cover during movement.

[0066] Please refer to Figure 1 This invention provides a method for optimizing the motion trajectory of a headgear opening and closing device for rail vehicles. The headgear opening and closing device includes a fixed cover and an opening / closing cover, the latter capable of planar motion parallel to a preset plane. The method includes steps S1-S5:

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

[0068] S2: Establish a target plane that passes through the target location point and is parallel to the preset plane;

[0069] S3: Obtain the target curve where the target plane intersects with the fixed cover;

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

[0071] S5: Compare the motion trajectory of the target location point with the target curve, and determine whether the preset path is a feasible path based on the comparison result. A 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 planar manner. The normal direction of the preset plane can be 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 rail surface on which the rail vehicle travels.

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

[0074] It is understandable 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 the critical curve for the interference between the relative spatial positions of the opening / closing cover and the fixed cover. That is, when the opening / closing cover moves, once the trajectory of the target position point reaches the target curve, that is, when it intersects with the target curve, the opening / closing cover and the fixed cover will collide, and their positions will interfere, affecting the opening and closing of the opening / closing cover.

[0075] Therefore, in this embodiment of the invention, after controlling the opening and closing cover to move along a given preset path and obtaining the movement trajectory of the target position point, the movement trajectory is compared with the target curve. Based on the comparison result, it is determined whether the preset path is a feasible path for the opening and closing cover. A feasible path is a path in which the opening and closing cover does not interfere with the fixed cover when it moves.

[0076] In other words, by comparing the trajectory of the target position point with the target curve when the opening / closing cover moves along a given preset path, the relative positional relationship between the opening / closing cover and the fixed cover during the movement can be obtained. This quantifies the relative positional relationship between the opening / closing cover and the fixed cover during the movement. Based on this quantified relative positional relationship, it can be determined whether the preset path of the opening / closing cover is feasible, thus determining the movement path of the opening / closing cover. This movement path avoids interference between the opening / closing cover and the fixed cover during movement. Furthermore, when giving the preset path of the opening / closing cover, the preset path can be given based on the installation space reserved for the head cover opening / closing device at the front end of the rail vehicle train, taking into full account the front structure of the train. This minimizes the movement space required for the head cover opening / closing device and predicts the relative positional relationship between the opening / closing cover and the fixed cover during movement, preventing collisions. This expands the applicability of the head cover opening / closing device to different head shapes in rail vehicle cabs, allowing for customized movement trajectories for different head shapes.

[0077] It should be noted that this embodiment does not limit the specific method of comparing the motion trajectory with the target curve, as long as it can determine whether the preset path is a feasible path based on 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 based on the comparison result, includes steps S51 to S54:

[0079] S51: Subtract the target location point's trajectory from the target curve;

[0080] S52: Determine whether there are points where the difference does not meet the preset conditions;

[0081] S53: If so, then the given preset path is determined to be an infeasible path.

[0082] S54: If not, then the given preset path is determined to be a feasible path.

[0083] Understandably, infeasible paths are those where the opening and closing cover would interfere with or risk interference with the fixed cover during movement.

[0084] Additionally, it should be noted that this embodiment does not specifically limit the preset conditions. For example, the preset condition can be that the difference between the motion trajectory and the target curve is greater than zero. That is, when there is a point where the difference between the motion trajectory and the target curve is less than or equal to zero, it indicates that the preset path is an infeasible path. In other words, during the movement of the opening and closing cover according to the preset path, there are moments in the motion trajectory of the target position point that intersect with the target curve, or even moments 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 can also be that the difference between the motion trajectory and the target curve is greater than a preset value (this preset value is a given value greater than zero). That is, even if 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 an infeasible path. In other words, in this case, there is a situation where the gap between the opening / closing cover and the fixed cover is very small during the movement. To be on the safe side and avoid the opening / closing cover colliding with the fixed cover due to assembly errors, vibrations during movement, etc., the preset condition can be limited to the difference between the motion trajectory and the target curve being greater than the preset value, thus avoiding the situation where the gap between the opening / closing cover and the fixed cover is very small during the movement. It should be noted that this embodiment does not limit the specific size of the preset value, as long as it can ensure that there is always a suitable gap between the opening / closing cover and the fixed cover during the movement.

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

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

[0087] Step S5: Compare the movement trajectory of the target location point with the target curve, and determine whether the preset path is a feasible path based on the comparison result, including:

[0088] Compare the n motion trajectories of the target location point with the target curve, and determine whether each preset path is a feasible path based on the comparison results;

[0089] If only one preset path is a feasible path, then the feasible path is determined as the best path;

[0090] When there are at least two preset paths that are feasible, the preset path corresponding to the motion trajectory with the smallest difference from the target curve is taken as the optimal path based on the comparison results.

[0091] In other words, this embodiment provides n different preset paths, causing the opening and closing cover to move sequentially along these n different preset paths, resulting in n movement trajectories of the target location point. By comparing each of the n movement trajectories with the target curve, n different comparison results can be obtained. Based on these n comparison results, it can be determined whether each of the n preset paths is a feasible path. Thus, feasible preset paths can be selected from the n preset paths, while infeasible preset paths can be excluded.

[0092] Understandably, when only one of the n preset paths is feasible, that feasible path is determined as the optimal path; that is, this preset path can be used as the motion trajectory of the opening and closing shield during actual implementation. When at least two of the n preset paths are feasible, all feasible preset paths can be used as the motion trajectory of the opening and closing shield during actual implementation. However, to optimize the motion trajectory of the opening and closing shield, based on the comparison results, the preset path with the smallest difference from the target curve is selected as the optimal path. It is understood 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, which is more conducive to reducing the motion space required for the opening and closing shield. Therefore, the corresponding preset path is selected as the optimal path, thus allowing the selection of a better path from the n preset paths as the motion trajectory of the opening and closing shield.

[0093] It should be noted that the above embodiments do not limit the specific implementation method of driving the opening and closing of the cover. For the convenience of implementing the opening and closing of the cover, such as... Figure 3 As shown, in some embodiments, the headgear opening and closing device further includes a guide rail 1, a sliding member 2 that slides along the guide rail 1, and a transmission mechanism 3. The transmission mechanism 3 is connected between the sliding member 2 and the opening and closing hood so that the opening and closing hood moves along a feasible path when the sliding member 2 slides along the guide rail 1.

[0094] In other words, in this embodiment, by sliding the slider 2 along the guide rail 1, the slider 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 with the movement of the slider 2. In other words, the movement of the opening and closing cover is determined by the movement of the slider 2. That is, the movement trajectory of the slider 2 determines the movement trajectory of the opening and closing cover. And the movement trajectory of the slider 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 of the cover to move along a given preset path and obtaining the movement trajectory of the target position point includes:

[0096] Determine the given path for guide track 1;

[0097] Control the slider 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 results, including:

[0099] Compare the motion trajectory with the target curve, and determine whether the given path is a suitable path based on the comparison result. When the given path is a suitable path, determine that when the slider 2 slides along the guide rail 1, the opening and closing cover moves along the feasible path.

[0100] In other words, this embodiment changes the determination of whether a preset path is feasible to the determination of whether the given path of guide rail 1 is suitable. When the given path of guide rail 1 is suitable, it indicates that the preset path is feasible; when the given path of guide rail 1 is unsuitable, it indicates that the preset path is infeasible. This embodiment determines whether the given path of guide rail 1 is suitable by comparing the motion trajectory with the target curve. Once the given path is determined to be suitable, the trajectory of guide rail 1 can be determined, thus realizing the design of guide rail 1.

[0101] Furthermore, in order to facilitate the determination of a suitable path for guide rail 1, and to ensure that the movement of the opening and closing cover meets the installation space requirements, in some embodiments, determining a given path for guide rail 1 includes:

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

[0103] A different given path is given between the start point and the end point.

[0104] It is understandable that the starting and ending points of the guide rail 1 determine the starting and ending positions of the opening and closing hood. Therefore, this embodiment provides different given paths between the same starting and ending points, so that the movement trajectory of the opening and closing hood is determined between the same starting and ending positions. This helps to ensure that the movement of the opening and closing hood meets the installation space requirements. In addition, by providing different given paths, it is helpful to determine the optimal trajectory of the guide rail 1.

[0105] In addition, to improve the accuracy of the preset path determination, in some embodiments, the method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles further includes:

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

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

[0108] Obtain m target curves that intersect the fixed cover with each of the m target planes;

[0109] Control the opening and closing of the cover to move along a given preset path and obtain m movement trajectories for m target positions;

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

[0111] In other words, this embodiment limits the number of target location points to m, where m is a positive integer greater than or equal to 2, and verifies whether the preset path is a feasible path by setting multiple target location points.

[0112] It is understandable that when there are m target locations, there are m target planes that pass through the target locations and are parallel to the preset plane. When the opening and closing cover moves along the given preset path, each of the m target locations has a corresponding trajectory, meaning there are m trajectories. In other words, one target location corresponds to one target plane and one trajectory. By comparing the trajectory of each target location with its corresponding target plane, m comparison results can be obtained. When all m comparison results meet the requirements, it indicates that the preset path meets the requirements, and at this point, the preset path can be determined as a feasible path. That is, when the opening and closing cover moves along this preset path, it ensures that none of the m target locations collide with the fixed cover.

[0113] It is understandable that the target position points are the positions where the opening and closing cover is likely to collide with the fixed cover during the opening and closing process. When none of the m target position points collide with the fixed cover, then other positions of the opening and closing cover will also not collide with the fixed cover.

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

[0115] In other words, the key point of this embodiment is that the feasible path of the opening and closing of the head cover of the rail vehicle is obtained by the motion trajectory optimization method of the head cover opening and closing device of the rail vehicle disclosed in any of the above embodiments. Therefore, the head cover opening and closing device of the rail vehicle has the same beneficial effect as the motion trajectory optimization method of the head cover opening and closing device of the rail vehicle, which will not be repeated here.

[0116] It should be noted that the specific shapes, placement positions, and movement methods of the fixed and opening / closing covers can be found in relevant technologies, and will not be elaborated upon in this article.

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

[0118] As discussed above, in this structural case, the design of the opening and closing hood motion trajectory is transformed into the design of the guide rail 1 motion trajectory. 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 rail 1 is a suitable path, thereby determining the trajectory of the guide rail 1 and realizing the design of the guide rail 1.

[0119] It should be noted that the specific structure of the transmission mechanism 3 is not limited in the embodiments of the present invention, 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 specific driving method for driving the sliding member 2 to slide along the guide rail 1 is not limited in the embodiments of the present invention. For example, the intermediate rotating shaft 311 of the scissor-shaped linkage mechanism 31 can be slidably mounted on the mounting frame 4 in a preset direction. The mounting frame 4 is provided with a linear drive mechanism 5, such as a cylinder, which is connected to the intermediate rotating shaft 311 and used to drive the intermediate rotating shaft 311 to reciprocate along the preset direction. Thus, the intermediate rotating shaft 311 can be driven to reciprocate along the preset direction by the linear drive mechanism 5, so that the sliding member 2 can reciprocate along the guide rail 1, thereby causing the transmission mechanism 3 to drive the opening and closing cover to achieve the opening and closing action.

[0120] To ensure the reliability of the movement of the intermediate rotating shaft 311, in some embodiments, the intermediate rotating shaft 311 is connected to a sliding plate 6, and the mounting bracket 4 is provided with a linear guide rail 7, with the sliding plate 6 slidably connected to the linear guide rail 7. That is, in this embodiment, the movement of the sliding plate 6 is limited by the linear guide rail 7, which indirectly limits the movement of the intermediate rotating shaft 311, thereby ensuring the stability of the movement of the intermediate rotating shaft 311.

[0121] Corresponding to the above embodiment of the motion trajectory optimization method for the opening and closing device of a rail vehicle hood, this embodiment of the invention also provides a motion trajectory optimization device for the opening and closing device of a rail vehicle hood. Please refer to... Figure 4This is the structural frame of the motion trajectory optimization device for the headgear opening and closing device of a rail vehicle, provided in a specific embodiment of the present invention. This motion trajectory optimization device for the headgear opening and closing device of a rail vehicle is applied to the headgear opening and closing device of a rail vehicle. The headgear opening and closing device includes a fixed cover and an opening and closing cover, the opening and closing cover being capable of planar movement along a direction parallel to a preset plane; the motion trajectory optimization device for the headgear opening and closing device of a rail vehicle includes:

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

[0123] The target plane creation module 102 is used to create a target plane that passes through the target location point and is parallel to a preset plane;

[0124] The target curve acquisition module 103 is used to obtain the target curve where the target plane intersects with the fixed cover;

[0125] The motion trajectory control module 104 is used to control the opening and closing of the cover to move along a given preset path and to 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 based on the comparison result. The feasible path is the 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 opening and closing device of a rail vehicle corresponds to the motion trajectory optimization method for the opening and closing device of a rail vehicle described above. Therefore, it has the same beneficial effects as the aforementioned motion trajectory optimization method for the opening and closing device of a rail vehicle, and will not be repeated here. In addition, the motion trajectory optimization device for the opening and closing device of a rail vehicle and the motion trajectory optimization method for the opening and closing device of a rail vehicle described above can be referred to each other accordingly.

[0128] For an embodiment of the motion trajectory optimization method for the headgear opening and closing device of a rail vehicle, please refer to [link / reference]. Figure 5 The diagram shows the structure of the motion trajectory optimization device for the opening and closing device of a rail vehicle provided by the present invention. The motion trajectory optimization device for the opening and closing device of a rail vehicle includes a memory 201 and a processor 202. The memory 201 is used to store a computer program. The processor 202 is used to execute the computer program to implement the steps of the motion trajectory optimization method for the opening and closing device of a rail vehicle disclosed in any of the above embodiments.

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

[0130] Corresponding to the above embodiments of the method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps of the method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles disclosed in any of the above embodiments.

[0131] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0132] For a description of the computer-readable storage medium provided by this invention, please refer to the above embodiment of the method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles. This invention will not be described in detail here.

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

[0134] The foregoing has provided a detailed description of the motion trajectory optimization method, apparatus, equipment, computer-readable storage medium, and headgear opening and closing device for rail vehicles provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are merely for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A method of optimizing a movement trajectory of a head cover opening and closing device for a railway vehicle, characterized by, A headgear opening and closing device for rail vehicles, the headgear opening and closing device includes a fixed cover and an opening and closing cover, the opening and closing cover can move in a planar direction parallel to a preset plane; The method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles includes: Determine the target location point selected at the preset position of the opening and closing cover; Establish a target plane that passes through the target location point and is parallel to the preset plane; Obtain the target curve where the target plane intersects with the fixed cover; Control the opening and closing cover to move along a given preset path and obtain the movement trajectory of the target position point; The motion trajectory is compared with the target curve, and the preset path is determined as a feasible path based on the comparison result. The feasible path is the path that does not interfere with the fixed cover when the opening and closing cover moves. Comparing the motion trajectory with the target curve, and determining whether the preset path is a feasible path based on the comparison result, includes: Subtract the motion trajectory from the target curve; Determine if there are any points where the difference does not meet the preset conditions; If so, the preset path is determined to be an infeasible path; If not, then the preset path is determined to be the feasible path; Controlling the opening and closing cover to move along a given preset path and obtaining the movement trajectory of the target position point includes: The opening and closing cover is controlled to move along n different preset paths in sequence, and n different motion trajectories corresponding to the target position point along the different preset paths are obtained, 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 based on the comparison result, includes: Each of the n motion trajectories is compared with the target curve, and the feasibility of each preset path is determined based on the comparison results. When only one of the preset paths is a feasible path, the feasible path is determined as the optimal path; When at least two of the preset paths are feasible, the preset path corresponding to the motion trajectory with the smallest difference from the target curve is taken as the optimal path according to the comparison result.

2. The method of claim 1, wherein The headgear opening and closing device further includes a guide rail, a sliding member that slides along the guide rail, and a transmission mechanism. 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 movement trajectory of the target position point includes: Determine the given path of the guide rail; Control the slider to slide along the given path and obtain 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 based on the comparison result, includes: The motion trajectory is compared with the target curve, and it is determined whether the given path is a suitable path based on the comparison result. When the given path is a suitable path, it is determined that when the slider slides along the guide rail, the opening and closing cover moves along the feasible path.

3. The method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles according to claim 2, characterized in that, Determining a given path for the guide rail includes: Determine the start and end points of the guide track; A different given path is given between the starting point and the ending point.

4. The method for optimizing the motion trajectory of the headgear opening and closing device for rail vehicles according to claim 1, 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; Establish m target planes that pass through m target location points and are parallel to the preset plane; Obtain m target curves that intersect the fixed cover with each of the m target planes; Control the opening and closing cover to move along the given preset path, and obtain m movement trajectories for m target position points; Each of the motion trajectories is compared with the corresponding target curve. When the comparison results of m motion trajectories with the corresponding target curves all meet the requirements, the preset path is determined to be a feasible path.

5. A headgear opening and closing device for rail vehicles, characterized in that, It includes a fixed cover and an opening / closing cover, wherein the opening / closing cover can move in a planar direction parallel to a preset plane, and the feasible path of the opening / closing cover is obtained by the motion trajectory optimization method of the head cover opening / closing device for rail vehicles as described in any one of claims 1-4.

6. A motion trajectory optimization device for the opening and closing device of a headgear for rail vehicles, characterized in that, The headgear opening and closing device for rail vehicles as described in claim 5 includes a fixed cover and an opening and closing cover, wherein the opening and closing cover can move in a planar direction parallel to a preset plane. The motion trajectory optimization device for the headgear opening and closing device of the rail vehicle includes: The target location point determination module is used to determine the target location point selected at the preset position of the opening and closing cover; The target plane creation module is used to create a target plane that passes through the target location point and is parallel to the preset plane; The target curve acquisition module is used to obtain the target curve where the target plane intersects with the fixed cover; The motion trajectory control module is used to control the opening and closing cover to move along a given preset path and to obtain the motion trajectory of the target position point; The comparison module is used to compare the motion trajectory with the target curve, and determine whether the preset path is a feasible path based on the comparison result. The feasible path is the path that does not interfere with the fixed cover when the opening and closing cover moves.

7. A motion trajectory optimization device for the opening and closing device of a headgear for rail vehicles, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the motion trajectory optimization method for the headgear opening and closing device of a rail vehicle as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the motion trajectory optimization method for the headgear opening and closing device of a rail vehicle as described in any one of claims 1 to 4.

Images