Steel rail grinding wagon, motor control method and device thereof and storage medium

Abstract

The invention discloses a steel rail grinding wagon, a motor control method and device thereof and a storage medium, and relates to the technical field of rail traffic, and the method comprises the steps that according to an obtained grinding trigger instruction of a current grinding key, the instantaneous vehicle position of the steel rail grinding wagon corresponding to the grinding trigger instruction is detected and stored; according to the instantaneous vehicle position and the current vehicle position and the driving direction of the steel rail grinding wagon, the vehicle driving distance of the steel rail grinding wagon corresponding to the grinding trigger instruction and the motor grinding distance corresponding to each target grinding motor are determined; according to the motor polishing distance and the vehicle driving distance, each target polishing motor is controlled to ascend or descend; motor sequence control based on vehicle positioning is adopted, the problem that the grinding interval or the non-grinding interval is smaller than the vehicle length can be effectively solved, the grinding interval or the obstacle avoidance interval can be shortened, the grinding dead zone interval is reduced, continuous operation of multiple continuous grinding and non-grinding intervals is achieved, and the grinding efficiency of actual operation is improved.

Description

Technical Field

[0001] The present invention relates to the field of rail transportation technology, and in particular to a motor control method and device for a rail grinding vehicle, a rail grinding vehicle and a computer-readable storage medium. Background Art

[0002] Rails are one of the most important railway equipment that directly supports passenger and freight vehicles. During long-term use, they will develop cracks and wear to varying degrees, causing the contact position between the wheel pair and the rails to change, increasing the wear between the rails and the wheels, and in severe cases, causing the train to derail. Rail grinding is currently recognized as an efficient and economical means of repairing the rail profile and extending the service life of the rails. The rail grinding vehicle is one of the important railway equipment for repairing rails. The control of the grinding motor in the rail grinding vehicle (such as lifting control and deflection control) is the key and difficult point of rail grinding control, and it also directly affects the effect and quality of rail grinding.

[0003] At present, rail grinding control, as the core control technology of rail grinding trains, has been blocked and monopolized by foreign countries for many years, resulting in my country's rail grinding trains basically relying on imports. With the rapid development of urban rail, conventional rail and high-speed rail in my country, the volume and capacity of passenger and freight trains are constantly increasing, the mileage of lines is constantly increasing, and the maintenance and repair of rails is becoming increasingly heavy; and due to technical blockades, imported vehicles are difficult to meet my country's technological improvement and upgrading and multi-scenario application needs, such as it is difficult to achieve continuous and uninterrupted operation in multiple grinding and non-grinding sections, resulting in low grinding efficiency. Therefore, how to improve the control accuracy of the grinding motor control of the rail grinding vehicle, achieve uninterrupted operation that takes into account multiple continuous grinding and non-grinding sections, and improve grinding efficiency is an urgent problem to be solved today. Summary of the invention

[0004] The purpose of the present invention is to provide a motor control method and device for a rail grinding vehicle, a rail grinding vehicle and a computer-readable storage medium, so as to improve the control accuracy of the grinding motor control of the rail grinding vehicle, realize uninterrupted operation that takes into account multiple continuous grinding and non-grinding intervals, and improve the grinding efficiency.

[0005] In order to solve the above technical problems, the present invention provides a motor control method for a rail grinding vehicle, comprising:

[0006] According to the acquired grinding trigger instruction of the current grinding button, the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction is detected and stored; wherein the current grinding button is any preset grinding button;

[0007] According to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle, determine the vehicle driving distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distance corresponding to each target grinding motor; wherein the target grinding motor is the grinding motor corresponding to the current grinding button in the rail grinding vehicle, the vehicle driving distance is the distance of the rail grinding vehicle relative to the instantaneous vehicle position, the motor grinding distance is the distance of the target grinding motor corresponding to the instantaneous vehicle position relative to the target grinding starting and landing point, and the target grinding starting and landing point is the first grinding starting and landing point in front of the instantaneous vehicle position in the driving direction;

[0008] According to the motor grinding distance and the vehicle travel distance, each target grinding motor is controlled to be raised or lowered.

[0009] On the other hand, the determining, according to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle, the vehicle driving distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distance corresponding to each target grinding motor, comprises:

[0010] Determining the position of the target grinding take-off and landing point according to the driving direction and the instantaneous vehicle position;

[0011] Determine the motor grinding distance corresponding to each of the target grinding motors according to the current vehicle position, the position of the target grinding starting and landing point, and the position information of each of the target grinding motors in the rail grinding vehicle;

[0012] The vehicle travel distance is determined according to the instantaneous vehicle position and the current vehicle position.

[0013] On the other hand, the controlling of raising or lowering each of the target grinding motors according to the motor grinding distance and the vehicle driving distance includes:

[0014] If the vehicle driving distance reaches the motor grinding distance corresponding to the current target grinding motor, the current target grinding motor is controlled to be raised or lowered according to the button type of the current grinding button; wherein the current target grinding motor is any of the target grinding motors, and the button type includes a grinding raising button and a grinding lowering button.

[0015] On the other hand, the controlling of raising or lowering the current target grinding motor according to the button type of the current grinding button includes:

[0016] According to the lifting mark of the current target grinding motor corresponding to the stored grinding trigger instruction, the current target grinding motor is controlled to be lifted or lowered; wherein the lifting mark includes a lifting mark and a lowering mark.

[0017] On the other hand, the method of detecting and storing the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction according to the obtained grinding trigger instruction of the current grinding button includes:

[0018] Obtaining a grinding trigger instruction of the current grinding button;

[0019] According to the grinding trigger instruction, determining whether the operation condition of the rail grinding vehicle meets the operation condition corresponding to the current grinding button;

[0020] If so, the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction is detected and stored.

[0021] On the other hand, the method of detecting and storing the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction according to the obtained grinding trigger instruction of the current grinding button includes:

[0022] When the grinding trigger instruction triggered by the current grinding button is detected, the position mileage of the rail grinding vehicle is acquired by using the mileage position encoder in the rail grinding vehicle, and the position mileage is used as the instantaneous vehicle position.

[0023] In another aspect, the method further comprises:

[0024] According to the acquired mode sending trigger instruction of the sending button in the grinding mode, the sending instant vehicle position of the rail grinding vehicle corresponding to the sending trigger instruction in the mode is detected and stored;

[0025] According to the issued instantaneous vehicle position, the current vehicle position and the driving direction, determine the issued vehicle driving distance of the rail grinding vehicle corresponding to the issuing trigger instruction in the mode and the deflection grinding distance corresponding to each target deflection unit; wherein the target deflection unit is the deflection unit corresponding to the issuing trigger instruction in the mode in the rail grinding vehicle, the issued vehicle driving distance is the distance of the rail grinding vehicle relative to the issued instantaneous vehicle position, the deflection grinding distance is the distance of the target deflection unit corresponding to the instantaneous vehicle position relative to the target fixed-point deflection position, and the target fixed-point deflection position is the first fixed-point deflection position in front of the issued instantaneous vehicle position in the driving direction;

[0026] According to the deflection grinding distance and the issued vehicle driving distance, the target deflection unit is controlled to deflect the corresponding grinding motor to the target grinding mode angle; wherein the target grinding mode is the grinding mode corresponding to the issued trigger instruction under the mode.

[0027] The present invention also provides a motor control device for a rail grinding vehicle, comprising:

[0028] A detection unit, configured to detect and store the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction acquired for the current grinding button, wherein the current grinding button is any preset grinding button;

[0029] a determination unit, for determining the vehicle travel distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distances corresponding to each target grinding motor according to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle; wherein the target grinding motor is the grinding motor corresponding to the current grinding button in the rail grinding vehicle, the vehicle travel distance is the distance of the rail grinding vehicle relative to the instantaneous vehicle position, the motor grinding distance is the distance of the target grinding motor corresponding to the instantaneous vehicle position relative to the target grinding starting and landing point, and the target grinding starting and landing point is the first grinding starting and landing point in front of the instantaneous vehicle position in the driving direction;

[0030] The control unit is used for controlling the lifting or lowering of each target grinding motor according to the grinding distance of the motor and the driving distance of the vehicle.

[0031] The present invention also provides a rail grinding vehicle, comprising:

[0032] Memory for storing computer programs;

[0033] The processor is used to implement the steps of controlling the motor of the rail grinding vehicle as described above when executing the computer program.

[0034] In addition, 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 motor control method of the rail grinding vehicle as described above are implemented.

[0035] A motor control method for a rail grinding vehicle provided by the present invention comprises: detecting and storing the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction according to the acquired grinding trigger instruction of the current grinding button; wherein the current grinding button is any preset grinding button; determining the vehicle driving distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distance corresponding to each target grinding motor according to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle; wherein the target grinding motor is the grinding motor corresponding to the current grinding button in the rail grinding vehicle, the vehicle driving distance is the distance of the rail grinding vehicle relative to the instantaneous vehicle position, the motor grinding distance is the distance of the target grinding motor corresponding to the instantaneous vehicle position relative to the target grinding starting and landing point, and the target grinding starting and landing point is the first grinding starting and landing point in front of the instantaneous vehicle position in the driving direction; and controlling the lifting or lowering of each target grinding motor according to the motor grinding distance and the vehicle driving distance.

[0036] It can be seen that the present invention can effectively solve the problem that the grinding interval or non-grinding interval is smaller than the vehicle length by controlling the lifting or lowering of each target grinding motor according to the motor grinding distance and the vehicle driving distance, and adopting motor sequence control based on vehicle positioning, shortening the grinding interval or obstacle avoidance interval, reducing the grinding dead zone interval, and realizing uninterrupted operation that takes into account multiple continuous grinding and non-grinding intervals, thereby improving the grinding efficiency of actual operations. In addition, the present invention also provides a motor control device for a rail grinding vehicle, a rail grinding vehicle, and a computer-readable storage medium, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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.

[0038] Figure 1 A schematic diagram of a grinding lifting position;

[0039] Figure 2 A flow chart of a motor control method for a rail grinding vehicle provided by an embodiment of the present invention;

[0040] Figure 3 A schematic flow chart of another motor control method for a rail grinding vehicle provided by an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of an operator performing grinding provided by an embodiment of the present invention;

[0042] Figure 5A schematic diagram of the distance of motor sequence deflection of a rail grinding vehicle provided by an embodiment of the present invention;

[0043] Figure 6 This is a structural block diagram of a motor control device for a rail grinding vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0045] like Figure 1 As shown, when the rail grinding vehicle is traveling in the forward direction (i.e., the pre-set forward direction of the vehicle), it needs to pass through the grinding section 1 (X0-X1, i.e., the grinding motor is lowered at the X0 position and the grinding motor is raised at the X1 position), the non-grinding section 1 (X1-X2, i.e., the grinding motor is lowered at the X2 position), the grinding section 2 (X2-X3), the non-grinding section 2 (X3-X4), the grinding section 3 (X4-X5), the non-grinding section 3 (X5-X6) and the grinding section 4 (X6-X7) in sequence; wherein, the grinding section is the line section for grinding, and the non-grinding section is the line section that cannot be ground because the line is in good condition or there are important line equipment; when the rail grinding vehicle is traveling in the backward direction (i.e., the pre-set forward direction of the vehicle), the lifting and lowering actions are opposite.

[0046] When |X7-X0|<=car length, different grinding motors of the rail grinding vehicle need to present different grinding states at the same time. For example, some grinding motors may be grinding, some may still be lifted but not polished, some may be descending, and some may be lifted. Using a single grinding start or end instruction in the relevant technology to control all grinding motors will only achieve continuous grinding control in a single interval, and cannot achieve uninterrupted operation that takes into account multiple continuous grinding and non-grinding intervals, resulting in a long grinding dead zone (such as an interval that cannot be ground or an interval that cannot avoid obstacles), and the grinding efficiency and control accuracy are very low.

[0047] Therefore, in order to solve the problem that the grinding section or non-grinding section is smaller than the vehicle length, this embodiment provides a motor control method for a rail grinding vehicle to reduce the grinding dead zone and improve the grinding efficiency and control accuracy of the actual operation of the rail grinding vehicle.

[0048] For details, please refer to Figure 2 , Figure 2 A flow chart of a motor control method for a rail grinding vehicle provided by an embodiment of the present invention, the method comprising:

[0049] Step 101: according to the acquired grinding trigger instruction of the current grinding button, detecting and storing the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction; wherein the current grinding button is any preset grinding button.

[0050] It is understandable that the current grinding button in this embodiment can be any pre-set grinding button (i.e., preset grinding button) in the rail grinding vehicle for controlling the lifting and / or lowering of all or part of the grinding motors, such as a physical hardware button or a virtual button in the human-computer interaction interface. The specific number and type of preset grinding buttons in the rail grinding vehicle in this embodiment can be set by the designer according to practical scenarios and user needs. For example, the preset grinding button can include a grinding lifting button and a grinding lowering button; for example, the grinding lifting button can include a first grinding lifting button for controlling the lifting of all grinding motors and / or a second grinding lifting button for controlling the lifting of the left grinding motor and a third grinding lifting button for controlling the lifting of the right grinding motor; the grinding lowering button can include a first grinding lowering button for controlling the lifting of all grinding motors and / or a second grinding lowering button for controlling the lowering of the left grinding motor and a third grinding lowering button for controlling the lowering of the right grinding motor.

[0051] Correspondingly, the grinding trigger instruction in this embodiment can be an instruction triggered after the current grinding button is pressed by the user. The instantaneous vehicle position in this embodiment can be the vehicle position of the rail grinding vehicle at the moment when the current grinding button triggers the grinding trigger instruction, so as to realize the motor sequence control corresponding to the grinding trigger instruction by detecting and storing the instantaneous vehicle position corresponding to the grinding trigger instruction.

[0052] It should be noted that the specific manner in which the processor of the rail grinding vehicle in this embodiment detects and stores the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction can be set by the designer according to practical scenarios and user needs. For example, when the processor detects the grinding trigger instruction triggered by the current grinding button, it uses the mileage position encoder in the rail grinding vehicle to obtain the position mileage of the rail grinding vehicle, and uses the position mileage as the instantaneous vehicle position; that is, a high-precision mileage position encoder can be installed in the rail grinding vehicle to measure the vehicle's travel speed and the position mileage of the positioning. The processor can also use other positioning components in the rail grinding vehicle to detect and store the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction. This embodiment does not impose any restrictions on this.

[0053] Further, such as Figure 3As shown, in this step, after the processor detects the grinding trigger instruction triggered by the current grinding button, it can determine whether the operation status of the rail grinding vehicle meets the operating conditions corresponding to the current grinding button; if so, the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction is detected and stored; if not, this process can be ended or a prompt message can be output to avoid the situation where the grinding button is accidentally triggered.

[0054] Correspondingly, the specific number and content of the operating conditions corresponding to the above-mentioned current grinding button can be set by the designer. For example, when the button type of the current grinding button is a grinding down button, the operating conditions may include conditions such as the travel speed reaching the speed threshold and the hydraulic pump starting.

[0055] Step 102: According to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle, the vehicle driving distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distance corresponding to each target grinding motor are determined.

[0056] Among them, the target grinding motor is the grinding motor corresponding to the current grinding button in the rail grinding vehicle, the vehicle driving distance is the distance of the rail grinding vehicle relative to the instantaneous vehicle position, the motor grinding distance is the distance between the target grinding motor corresponding to the instantaneous vehicle position and the target grinding starting and landing point, and the target grinding starting and landing point is the first grinding starting and landing point in front of the instantaneous vehicle position in the driving direction.

[0057] It can be understood that in this step, the processor can determine the vehicle driving distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distances corresponding to each target grinding motor based on the instantaneous vehicle position corresponding to the grinding trigger instruction, the current vehicle position of the rail grinding vehicle (i.e., the current vehicle position) and the driving direction, so as to control the target grinding motor to perform the lifting or lowering operation corresponding to the grinding trigger instruction according to the determined vehicle driving distance and the motor grinding distance corresponding to each target grinding motor.

[0058] Correspondingly, the target grinding motor in this embodiment can be the grinding motor to be controlled by the current grinding button, that is, the grinding motor to be controlled by the grinding trigger instruction triggered by the current grinding button. The vehicle travel distance in this embodiment is the distance of the rail grinding vehicle relative to the instantaneous vehicle position (such as Figure 3 The motor grinding distance in this embodiment can be the distance between each target grinding motor corresponding to the instantaneous vehicle position and the target grinding starting and landing point (such as Figure 3The target grinding starting and landing point in this embodiment can be the first grinding starting and landing point in front of the instantaneous vehicle position in the direction of travel when the rail grinding vehicle is in the instantaneous vehicle position; Figure 4 As shown, when the driving direction is the forward direction to the right, the target grinding starting and landing point can be point P, and when the driving direction is the backward direction to the left, the target grinding starting and landing point can be point Q; Figure 4 In the figure, point P and point Q can be the grinding starting and landing points in the forward and backward directions of the vehicle respectively; L0 and M0 can be the distances between the grinding starting and landing points in the forward and backward directions and the front position of the vehicle respectively; L1 / L2 can be the distances between the single-sided motor 1 and motor 3 and the front position of the vehicle in the forward direction respectively; M1 / M2 can be the distances between the single-sided motor 1 and motor 3 and the front position of the vehicle in the backward direction respectively.

[0059] Among them, the specific method for the processor in this step to determine the vehicle driving distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distance corresponding to each target grinding motor according to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle can be set by the designer. For example, the processor can determine the position of the target grinding starting and landing points according to the driving direction and the instantaneous vehicle position; determine the motor grinding distance corresponding to each target grinding motor according to the current vehicle position, the position of the target grinding starting and landing points and the position information of each target grinding motor in the rail grinding vehicle; and determine the vehicle driving distance according to the instantaneous vehicle position and the current vehicle position.

[0060] Correspondingly, the position information of each target grinding motor in the rail grinding vehicle may be the position information of each target grinding motor in the rail grinding vehicle, such as the distance from the front position of the vehicle in the forward direction (e.g. Figure 4 L1 and L2 in the figure) and the distance from the front position of the vehicle in the backward direction (such as Figure 4 M1 and M2 in the rail grinding vehicle). For example, the above process of determining the motor grinding distance corresponding to each target grinding motor according to the current vehicle position, the position of the target grinding starting and landing point, and the position information of each target grinding motor in the rail grinding vehicle may include: determining the head position of the rail grinding vehicle in the driving direction (i.e., the head position close to the target grinding starting and landing point) and the distance between the head position and the position of the target grinding starting and landing point (e.g., Figure 4L0 or M0 in); according to the position information of each target grinding motor, determine the distance of each target grinding motor relative to the head position; calculate the sum of the distance of each target grinding motor relative to the head position and the distance between the head position and the position of the target grinding take-off and landing point, and obtain the motor grinding distance corresponding to each target grinding motor.

[0061] Step 103: According to the motor grinding distance and the vehicle travel distance, control the lifting or lowering of each target grinding motor.

[0062] It can be understood that in this step, the processor can control the lifting or lowering of each target grinding motor according to the motor grinding distance corresponding to each target grinding motor and the current vehicle driving distance to complete the motor sequence control of the grinding trigger instruction of the current grinding button.

[0063] Correspondingly, the specific way in which the processor controls the lifting or lowering of each target grinding motor according to the motor grinding distance and the vehicle driving distance in this step can be set by the designer according to the usage scenario and user needs. For example, when the vehicle driving distance reaches the motor grinding distance corresponding to the current target grinding motor, the processor can control the lifting or lowering of the current target grinding motor according to the key type of the current grinding key; wherein the current target grinding motor is any target grinding motor, and the key type includes a grinding lifting key and a grinding lowering key; correspondingly, when the vehicle driving distance does not reach the motor grinding distance corresponding to the current target grinding motor, this process can be ended to wait for the vehicle driving distance to be updated. In other words, for any target grinding motor (i.e., the current target grinding motor), when the current vehicle driving distance reaches its corresponding motor grinding distance, the control operation of the grinding trigger instruction (such as a lifting operation or a lowering operation) can be executed, so that the current target grinding motor can be lifted or lowered correspondingly at the target grinding take-off and landing point, thereby realizing the sequence control of all target grinding motors.

[0064] For example, the above-mentioned process of controlling the lifting or lowering of the current target grinding motor according to the button type of the current grinding button may include: controlling the lifting or lowering of the current target grinding motor according to the lifting mark of the current target grinding motor corresponding to the stored grinding trigger instruction; wherein the lifting mark includes a lifting mark and a lowering mark; that is to say, in this embodiment, not only the instantaneous vehicle position corresponding to each grinding trigger instruction of the current grinding button can be stored, but also the lifting mark of the target grinding motor corresponding to each grinding trigger instruction can be stored, so as to control each grinding trigger instruction to control the target grinding motor at its respective target grinding take-off and landing point according to the stored lifting mark, thereby facilitating the lifting and lowering control of the target grinding motor. Correspondingly, the method provided in this embodiment may also include the step of storing the lifting mark corresponding to each grinding trigger instruction according to the button type of the grinding trigger instruction; such as Figure 3 As shown, in this embodiment, the processor can store the triggering times (button count) of the current polishing button and the instantaneous vehicle position (button mileage) and lifting mark corresponding to each triggering times after obtaining the polishing trigger instruction of the current polishing button.

[0065] Correspondingly, the method provided in this embodiment may also include a process of clearing the instantaneous vehicle position of the rail grinding vehicle corresponding to the stored grinding trigger instruction. For example, the processor may clear the instantaneous vehicle position of the rail grinding vehicle corresponding to the stored grinding trigger instruction when the rail grinding vehicle stops or changes its driving direction, such as clearing the stored trigger times of all preset grinding buttons and the corresponding instantaneous vehicle position and lifting mark. The processor may also clear the storage content of a grinding trigger instruction after controlling all target grinding motors corresponding to a grinding trigger instruction to complete the lifting or lowering corresponding to the grinding trigger instruction. This embodiment does not impose any restrictions on this.

[0066] It can be understood that this embodiment demonstrates the motor control method of the sequential lifting and grinding motor as an example. The method provided in this embodiment can also include the motor control process of the sequential deflection grinding motor to realize the motor sequence deflection control based on vehicle positioning, reduce the deflection transition area, and improve the working efficiency; the motor control process of the sequential deflection grinding motor can be set in a similar manner to the motor control process of the sequential lifting and grinding motor in this embodiment, but with slight differences in the deflection triggering conditions.

[0067] For example, the deflection control of the grinding motor can be divided into synchronous deflection and sequence fixed-point deflection. Among them, the overall synchronous deflection can be used to deflect all the grinding motors to a fixed position at the same time during the maintenance of the rail grinding vehicle, so as to facilitate the replacement of the grinding wheel; when the grinding motor does not need to be deflected (such as motor failure), the upper computer can be set to prohibit deflection; the control of the overall synchronous deflection is simple, and there is no need to locate the position of the deflection unit that controls the deflection of the grinding motor.

[0068] Correspondingly, the sequence fixed-point deflection can be used at the beginning of grinding. When the grinding motor reaches the predetermined fixed-point deflection position (such as the grinding take-off and landing point) and descends, the corresponding grinding motor needs to be deflected in sequence to the predetermined angle; at the end of grinding, when the motor reaches the fixed-point deflection position and rises, the corresponding grinding motor needs to be deflected in sequence to the middle position (such as 0° angle); during the grinding process, when entering a curve from a straight line or a curve from a straight line, the grinding motor needs to be deflected in sequence to the preset grinding mode angle and power for grinding.

[0069] Correspondingly, the motor control process of the sequence deflection grinding motor may include: 1. calculating the distance of the deflection unit; Figure 5As shown, when each grinding motor (grinding motor 1-16) corresponds to one deflection unit, the deflection grinding distance of each deflection unit can adopt the grinding distance of the corresponding motor; Figure 5 In the figure, P and Q can be the fixed-point deflection positions in the forward direction and the backward direction (such as the grinding take-off and landing points), that is, the deflection unit needs to start deflection only when it reaches this position; L1-L8 can be the forward deflection unit distance of the 16 deflection units corresponding to the 16 grinding motors in the forward direction from the fixed-point deflection position, and the motor grinding distance of each corresponding grinding motor in the forward direction can be taken, and the forward deflection unit distance of the two deflection units corresponding to the two parallel grinding motors can be the same; M1-L8 can be the backward deflection unit distance of the 16 deflection units corresponding to the 16 grinding motors in the backward direction from the fixed-point deflection position, and the motor grinding distance of each corresponding grinding motor in the backward direction can be taken; accordingly, when each deflection unit corresponds to two or more grinding motors on the same side, the deflection unit distance (i.e., the deflection grinding distance) of the deflection unit in the driving direction (i.e., the forward direction or the backward direction) can be taken as the motor grinding distance of each grinding motor traveling in front.

[0070] 2. Determine the target angle of the deflection unit; if the grinding lowering button is pressed and the deflection unit reaches the corresponding fixed-point deflection position, the grinding motor will be controlled to deflect to the preset angle of the adopted grinding mode (the grinding mode is a set of data combination including the target power and target angle of all grinding motors on the vehicle edited by the upper computer interface); if the grinding raising button is pressed and the deflection unit reaches the corresponding fixed-point deflection position, the grinding motor will be controlled to deflect to the middle 0° angle (needs to return to the position); when the mode switching button (such as a physical hardware switch or an interface virtual switch) is pressed and the deflection unit reaches the corresponding fixed-point deflection position, it can be deflected according to the preset angle of the latest issued grinding mode.

[0071] That is to say, after step 102, the method provided in this embodiment can also determine the deflection grinding distances corresponding to the target deflection units corresponding to the current grinding button according to the motor grinding distances corresponding to the target grinding motors; and control the deflection of the target grinding motors to the corresponding preset angles according to the current grinding mode according to the deflection grinding distances corresponding to the target deflection units and the vehicle driving distance. In addition, the method provided in this embodiment can also include switching the current grinding mode to the grinding mode corresponding to the switching trigger instruction according to the acquired mode switching button switching trigger instruction.

[0072] 3. Sequence deflection control issued in multiple continuous grinding modes; if multiple grinding modes are input and issued successively during the grinding process, a process similar to the motor control of the above-mentioned sequence lifting and grinding motor can be adopted, such as ① storing the instantaneous vehicle position when the button is pressed in each mode; ② comparing the current vehicle position with the instantaneous vehicle position, and when the deflection unit reaches the corresponding fixed-point deflection position (i.e., the target fixed-point deflection position), the deflection is started; ③ when the vehicle stops, the stored instantaneous vehicle position and deflection action mark are cleared.

[0073] That is to say, the method provided in this embodiment may also include: according to the acquired mode sending trigger instruction of the sending button in the grinding mode, detecting and storing the instantaneous vehicle position of the rail grinding vehicle corresponding to the mode sending trigger instruction; determining the vehicle driving distance of the rail grinding vehicle corresponding to the mode sending trigger instruction and the deflection grinding distance corresponding to each target deflection unit according to the instantaneous vehicle position sent and the current vehicle position and driving direction; according to the deflection grinding distance and the driving distance of the sending vehicle, controlling the angle of the grinding motor corresponding to the target deflection unit to the target grinding mode; wherein the target deflection unit is the deflection unit corresponding to the mode sending trigger instruction in the rail grinding vehicle, the sending vehicle driving distance is the distance of the rail grinding vehicle relative to the sending instantaneous vehicle position, the deflection grinding distance is the distance of the target deflection unit corresponding to the instantaneous vehicle position relative to the target fixed-point deflection position, and the target fixed-point deflection position is the first fixed-point deflection position in front of the sending instantaneous vehicle position in the driving direction; the target grinding mode is the grinding mode corresponding to the mode sending trigger instruction.

[0074] Correspondingly, in some other embodiments, the method provided in this embodiment may also include: detecting and storing the switching instantaneous vehicle position of the rail grinding vehicle corresponding to the mode switching trigger instruction according to the acquired mode switching trigger instruction of the grinding mode switching button; determining the switching vehicle driving distance of the rail grinding vehicle corresponding to the mode switching trigger instruction and the deflection grinding distance corresponding to each target deflection unit according to the switching instantaneous vehicle position and the current vehicle position and driving direction; controlling the grinding motor corresponding to the target deflection unit to deflect to the target switching grinding mode angle according to the deflection grinding distance and the switching vehicle driving distance; wherein the target deflection unit is the deflection unit corresponding to the mode switching trigger instruction in the rail grinding vehicle, the switching vehicle driving distance is the distance of the rail grinding vehicle relative to the switching instantaneous vehicle position, the deflection grinding distance is the distance of the target deflection unit corresponding to the instantaneous vehicle position relative to the target fixed-point deflection position, and the target fixed-point deflection position is the first fixed-point deflection position in front of the switching instantaneous vehicle position in the driving direction; the target switching grinding mode is the grinding mode corresponding to the mode switching trigger instruction. That is to say, in other embodiments, sequential deflection control of multiple continuous grinding mode switching can be implemented; for example, during the grinding process, when multiple grinding modes are switched successively, the above process can be used to perform sequential deflection control on the corresponding grinding motor using the switched grinding mode.

[0075] In this embodiment, the embodiment of the present invention controls the lifting or lowering of each target grinding motor according to the motor grinding distance and the vehicle driving distance, and adopts motor sequence control based on vehicle positioning, which can effectively solve the problem that the grinding section or non-grinding section is smaller than the vehicle length, shorten the grinding section or obstacle avoidance section, reduce the grinding dead zone section, and achieve uninterrupted operation that takes into account multiple continuous grinding and non-grinding sections, thereby improving the grinding efficiency of actual operations; and the method provided in this embodiment can cover most domestic vehicle models and on-site application scenarios, and has a wide range of applications.

[0076] Corresponding to the above method embodiment, the embodiment of the present invention further provides a motor control device for a rail grinding vehicle. The motor control device for a rail grinding vehicle described below and the motor control method for a rail grinding vehicle described above can be referred to each other.

[0077] Please refer to Figure 6 , Figure 6 This is a structural block diagram of a motor control device for a rail grinding vehicle provided by an embodiment of the present invention. The device may include:

[0078] The detection unit 10 is used to detect and store the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction according to the acquired grinding trigger instruction of the current grinding button; wherein the current grinding button is any preset grinding button;

[0079] The determination unit 20 is used to determine the vehicle travel distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distances corresponding to each target grinding motor according to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle; wherein the target grinding motor is the grinding motor corresponding to the current grinding button in the rail grinding vehicle, the vehicle travel distance is the distance of the rail grinding vehicle relative to the instantaneous vehicle position, the motor grinding distance is the distance of the target grinding motor corresponding to the instantaneous vehicle position relative to the target grinding starting and landing point, and the target grinding starting and landing point is the first grinding starting and landing point in front of the instantaneous vehicle position in the driving direction;

[0080] The control unit 30 is used to control the lifting or lowering of each target grinding motor according to the grinding distance of the motor and the driving distance of the vehicle.

[0081] In another aspect, the determining unit 20 may include:

[0082] The first determination subunit is used to determine the position of the target grinding take-off and landing point according to the driving direction and the instantaneous vehicle position;

[0083] The second determination subunit is used to determine the motor grinding distance corresponding to each target grinding motor according to the current vehicle position, the position of the target grinding take-off and landing point and the position information of each target grinding motor in the rail grinding vehicle;

[0084] The third determination subunit is used to determine the vehicle travel distance according to the instantaneous vehicle position and the current vehicle position.

[0085] On the other hand, the control unit 30 can be specifically used to control the lifting or lowering of the current target grinding motor according to the button type of the current grinding button if the vehicle driving distance reaches the motor grinding distance corresponding to the current target grinding motor; wherein the current target grinding motor is any target grinding motor, and the button type includes a grinding lifting button and a grinding lowering button.

[0086] In another aspect, the control unit 30 may include

[0087] The control subunit is used to control the lifting or lowering of the current target grinding motor according to the lifting mark of the current target grinding motor corresponding to the stored grinding trigger instruction; wherein the lifting mark includes a lifting mark and a lowering mark.

[0088] In another aspect, the detection unit 10 may include:

[0089] The instruction acquisition subunit is used to acquire the grinding trigger instruction of the current grinding button;

[0090] The operation judgment subunit is used to judge whether the operation status of the rail grinding vehicle meets the operation conditions corresponding to the current grinding button according to the grinding trigger instruction;

[0091] The detection storage subunit is used to detect and store the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction if the operating conditions corresponding to the current grinding button are met.

[0092] On the other hand, the detection unit 10 can be specifically used to obtain the position mileage of the rail grinding vehicle using the mileage position encoder in the rail grinding vehicle when detecting the grinding trigger instruction triggered by the current grinding button, and use the position mileage as the instantaneous vehicle position.

[0093] In another aspect, the apparatus may further include:

[0094] A sending detection unit is used to send a trigger instruction according to the mode of the sending button in the acquired grinding mode, and detect and store the sending instantaneous vehicle position of the rail grinding vehicle corresponding to the sending trigger instruction in the mode;

[0095] The sending determination unit is used to determine the sending vehicle travel distance of the rail grinding vehicle corresponding to the sending trigger instruction in the mode and the deflection grinding distance corresponding to each target deflection unit according to the sent instantaneous vehicle position and the current vehicle position and driving direction; wherein the target deflection unit is the deflection unit corresponding to the sending trigger instruction in the mode of the rail grinding vehicle, the sending vehicle travel distance is the distance of the rail grinding vehicle relative to the sent instantaneous vehicle position, the deflection grinding distance is the distance of the target deflection unit corresponding to the instantaneous vehicle position relative to the target fixed-point deflection position, and the target fixed-point deflection position is the first fixed-point deflection position in front of the sending instantaneous vehicle position in the driving direction;

[0096] The sending control unit is used to control the angle of the grinding motor corresponding to the target deflection unit to the target grinding mode according to the deflection grinding distance and the sending vehicle driving distance; wherein the target grinding mode is the grinding mode corresponding to the mode sending trigger instruction.

[0097] In this embodiment, the control unit 30 of the present invention controls the lifting or lowering of each target grinding motor according to the motor grinding distance and the vehicle driving distance, and adopts motor sequence control based on vehicle positioning, which can effectively solve the problem that the grinding interval or non-grinding interval is smaller than the vehicle length, shorten the grinding interval or obstacle avoidance interval, reduce the grinding dead zone interval, and realize uninterrupted operation of multiple continuous grinding and non-grinding intervals, thereby improving the grinding efficiency of actual operation; and the method provided in this embodiment can cover most domestic vehicle models and on-site application scenarios, and has a wide range of applications.

[0098] Corresponding to the above method embodiment, the embodiment of the present invention further provides a rail grinding vehicle. The rail grinding vehicle described below and the motor control method of the rail grinding vehicle described above can be referred to each other.

[0099] A rail grinding vehicle, comprising:

[0100] Memory for storing computer programs;

[0101] The processor is used to implement the steps of the motor control method of the rail grinding vehicle provided in the above embodiment when executing the computer program.

[0102] Corresponding to the above method embodiment, the embodiment of the present invention further provides a computer program product. The computer program product described below and the motor control method of a rail grinding vehicle described above can be referred to each other.

[0103] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the motor control method for a rail grinding vehicle provided in the above method embodiment.

[0104] Corresponding to the above method embodiment, the embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium described below and the motor control method of a rail grinding vehicle described above can be referred to each other.

[0105] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the motor control method of a rail grinding vehicle in the above method embodiment are implemented.

[0106] The computer-readable storage medium may be 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, etc., which can store program codes.

[0107] The various embodiments in the 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 referred to each other. For the device, rail grinding vehicle, computer program product and computer readable storage medium disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0108] The above is a detailed introduction to the motor control method, device, rail grinding vehicle and computer-readable storage medium of a rail grinding vehicle 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 claims of the present invention.

Claims

1. A motor control method for a rail grinding vehicle, characterized in that: include: According to the acquired grinding trigger instruction of the current grinding button, the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction is detected and stored; wherein the current grinding button is any preset grinding button; According to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle, determine the vehicle driving distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distance corresponding to each target grinding motor; wherein the target grinding motor is the grinding motor corresponding to the current grinding button in the rail grinding vehicle, the vehicle driving distance is the distance of the rail grinding vehicle relative to the instantaneous vehicle position, the motor grinding distance is the distance of the target grinding motor corresponding to the instantaneous vehicle position relative to the target grinding starting and landing point, and the target grinding starting and landing point is the first grinding starting and landing point in front of the instantaneous vehicle position in the driving direction; According to the motor grinding distance and the vehicle travel distance, each target grinding motor is controlled to be raised or lowered.

2. The motor control method of a rail grinding vehicle according to claim 1, characterized in that: The method of determining the vehicle travel distance of the rail grinding vehicle and the motor grinding distances corresponding to each target grinding motor corresponding to the grinding trigger instruction according to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle comprises: Determining the position of the target grinding take-off and landing point according to the driving direction and the instantaneous vehicle position; Determine the motor grinding distance corresponding to each of the target grinding motors according to the current vehicle position, the position of the target grinding starting and landing point, and the position information of each of the target grinding motors in the rail grinding vehicle; The vehicle travel distance is determined according to the instantaneous vehicle position and the current vehicle position.

3. The motor control method of a rail grinding vehicle according to claim 1, characterized in that: The step of controlling the lifting or lowering of each target grinding motor according to the motor grinding distance and the vehicle driving distance includes: If the vehicle driving distance reaches the motor grinding distance corresponding to the current target grinding motor, the current target grinding motor is controlled to be raised or lowered according to the button type of the current grinding button; wherein the current target grinding motor is any of the target grinding motors, and the button type includes a grinding raising button and a grinding lowering button.

4. The motor control method for a rail grinding vehicle according to claim 3, characterized in that: The step of controlling the lifting or lowering of the current target grinding motor according to the button type of the current grinding button includes: According to the lifting mark of the current target grinding motor corresponding to the stored grinding trigger instruction, the current target grinding motor is controlled to be lifted or lowered; wherein the lifting mark includes a lifting mark and a lowering mark.

5. The motor control method for a rail grinding vehicle according to claim 1, characterized in that: The method of detecting and storing the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction according to the obtained grinding trigger instruction of the current grinding button comprises: Obtaining a grinding trigger instruction of the current grinding button; According to the grinding trigger instruction, determining whether the operation condition of the rail grinding vehicle meets the operation condition corresponding to the current grinding button; If so, the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction is detected and stored.

6. The motor control method of a rail grinding vehicle according to claim 1, characterized in that: The method of detecting and storing the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction according to the obtained grinding trigger instruction of the current grinding button comprises: When the grinding trigger instruction triggered by the current grinding button is detected, the position mileage of the rail grinding vehicle is acquired by using the mileage position encoder in the rail grinding vehicle, and the position mileage is used as the instantaneous vehicle position.

7. The motor control method of a rail grinding vehicle according to any one of claims 1 to 6, characterized in that: Also includes: According to the acquired mode sending trigger instruction of the sending button in the grinding mode, the sending instant vehicle position of the rail grinding vehicle corresponding to the sending trigger instruction in the mode is detected and stored; According to the issued instantaneous vehicle position, the current vehicle position and the driving direction, determine the issued vehicle driving distance of the rail grinding vehicle corresponding to the issuing trigger instruction in the mode and the deflection grinding distance corresponding to each target deflection unit; wherein the target deflection unit is the deflection unit corresponding to the issuing trigger instruction in the mode in the rail grinding vehicle, the issued vehicle driving distance is the distance of the rail grinding vehicle relative to the issued instantaneous vehicle position, the deflection grinding distance is the distance of the target deflection unit corresponding to the instantaneous vehicle position relative to the target fixed-point deflection position, and the target fixed-point deflection position is the first fixed-point deflection position in front of the issued instantaneous vehicle position in the driving direction; According to the deflection grinding distance and the issued vehicle driving distance, the target deflection unit is controlled to deflect the corresponding grinding motor to the target grinding mode angle; wherein the target grinding mode is the grinding mode corresponding to the issued trigger instruction under the mode.

8. A motor control device for a rail grinding vehicle, characterized in that: include: A detection unit, configured to detect and store the instantaneous vehicle position of the rail grinding vehicle corresponding to the grinding trigger instruction acquired for the current grinding button, wherein the current grinding button is any preset grinding button; a determination unit, for determining the vehicle travel distance of the rail grinding vehicle corresponding to the grinding trigger instruction and the motor grinding distances corresponding to each target grinding motor according to the instantaneous vehicle position and the current vehicle position and driving direction of the rail grinding vehicle; wherein the target grinding motor is the grinding motor corresponding to the current grinding button in the rail grinding vehicle, the vehicle travel distance is the distance of the rail grinding vehicle relative to the instantaneous vehicle position, the motor grinding distance is the distance of the target grinding motor corresponding to the instantaneous vehicle position relative to the target grinding starting and landing point, and the target grinding starting and landing point is the first grinding starting and landing point in front of the instantaneous vehicle position in the driving direction; The control unit is used for controlling the lifting or lowering of each target grinding motor according to the grinding distance of the motor and the driving distance of the vehicle.

9. A rail grinding vehicle, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of controlling the motor of the rail grinding vehicle as claimed 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 a processor, the steps of the motor control method for a rail grinding vehicle according to any one of claims 1 to 7 are implemented.

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