A method for automatically generating a rail weld straightness grinding plan

Abstract

The present invention belongs to the technical field of rail welding repair, and specifically relates to an automatic generation method for a rail weld straightness grinding scheme, which collects the geometrically uneven waveform of the rail weld, and determines the straightness of the rail weld according to the geometrically uneven waveform; establishes the straightness grinding principle of the rail weld according to the rail weld straightness determination result; establishes a rail weld straightness grinding optimization model through the straightness grinding principle; solves the grinding optimization model to generate a rail weld straightness grinding scheme; the grinding optimization model is solved by an approximate dynamic programming algorithm, and the approximate dynamic programming algorithm includes a strategy function, a reward function, and a value function. The present invention can quickly generate a rail weld straightness grinding scheme, improve grinding accuracy, reduce the occurrence of "over-grinding" or "under-grinding" phenomena, and improve the operating efficiency of railway engineering departments.

Description

Technical Field

[0001] The invention belongs to the technical field of rail welding repair, and in particular relates to a method for automatically generating a rail weld straightness grinding scheme. Background Art

[0002] The straightness of rail welds is an important indicator for measuring joint quality, which is directly related to the wheel-rail contact performance and the comfort of train operation. When the weld straightness exceeds the standard, it will intensify the impact between the wheel and rail, increase the wear of the rails and wheels, and may even cause serious accidents such as train derailment. Therefore, maintaining the straightness of rail welds is of great significance to extending the service life of rails, reducing maintenance costs, and improving transportation efficiency. With the increase in train speed and transportation volume, the requirements for the straightness of rail welds are getting higher and higher, which puts higher requirements on the grinding process of rail welds. There is a coupling process between the straightness of rail joints and wheel-rail impact. On the one hand, abnormal straightness will increase the wheel-rail impact force, causing damage to the train wheels and reducing the comfort and stability of the train; on the other hand, severe wheel-rail impact will cause the straightness of rail joints to further deteriorate. The two factors promote each other, and in severe cases, they will cause internal damage to the rails and the risk of rail breakage at the rail welds. On the contrary, under a better straightness state, the wheel-rail impact is small and the straightness state can be maintained for a longer time. Therefore, improving the straightness of the weld will help improve the wheel-rail relationship, extend the service life of the rails and wheels, and enhance line safety, stability and comfort.

[0003] Rail weld grinding is an important means to improve weld straightness and joint quality. A reasonable grinding solution can effectively eliminate unevenness at the weld, reduce the impact and wear caused by wheel-rail interaction, and thus improve the stability and safety of train operation. However, at present, the existing rail joint grinding relies on manual measurement methods of 1m flat ruler + feeler gauge, or based on a 1m electronic flat ruler measuring instrument. Without obtaining more macroscopic geometric information near the weld, it is difficult for the grinding operation to effectively select the most effective grinding process, resulting in problems of "over-grinding" or "under-grinding".

[0004] In addition, one of the difficulties in designing the weld grinding plan is the grinding and treatment of low joints. According to actual on-site statistical data, the general low joints (i.e. "M" type joints) are low and collapsed in the middle, and the distance between the two high points exceeds 2m. The traditional 1m straight ruler cannot reflect the overall waveform. According to the operating specifications, the low joints need to be ground along the slope by one thousandth. For the grinding of asymmetric low joints, there is a lack of systematic grinding plan design methods. The existing grinding process often relies on experience and is difficult to meet the strict requirements of high-speed railways for joint quality. Summary of the invention

[0005] The purpose of the present invention is to provide a method for automatically generating a rail weld straightness grinding plan, which can quickly generate a rail weld straightness grinding plan, improve grinding accuracy, reduce the occurrence of "over-grinding" or "under-grinding" phenomena, and at the same time improve the operating efficiency of railway engineering departments.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A method for automatically generating a rail weld straightness grinding plan comprises the following steps:

[0008] Collecting the geometrically uneven waveform of the rail weld, and determining the straightness of the rail weld according to the geometrically uneven waveform;

[0009] According to the rail weld straightness determination results, the rail weld straightness grinding principle is established;

[0010] Establishing a rail weld straightness grinding optimization model based on the straightness grinding principle;

[0011] The grinding optimization model is solved to generate a rail weld straightness grinding plan.

[0012] As a preferred solution, the method for collecting geometrically uneven waveforms includes the following steps:

[0013] Step 1.1: Take Mm welds on the left and right of the weld point of the rail weld as the center to collect geometric irregular waveforms;

[0014] Step 1.2: Use a track gauge, corrugator or electronic straight ruler to collect data, and use equal interval sampling. The sampling interval is m;

[0015] Step 1.3: Record the geometrically irregular waveform sequence of the rail weld sampling points as ,N= , the waveform sequence of the sampling points is connected in sequence to form the reference chord of the geometrically uneven waveform.

[0016] As a preferred solution, the definition formula of the rail weld straightness is as follows:

[0017] ;

[0018] in, is the chord amplitude of the sampling point, i.e., the straightness of the rail weld, is the measuring point of the rail weld, For location is the number of sampling points within 1m of the center, is the number of sampling points from the measurement point on the reference chord to the left end of the reference chord, which is a positive integer, and ; is the number of sampling points from the measuring point to the right end of the reference chord, ; and Respectively The ratio of the distances between the measuring points and the two ends of the reference chord is and .

[0019] As a preferred solution, the formula for determining the straightness of the rail weld is as follows:

[0020] ;

[0021] in, is the minimum value of the chord amplitude, is the maximum value of the chord measured amplitude;

[0022] If the straightness of the rail weld is within the range of -0.3 to +0.8, the rail weld does not need to be ground; otherwise, it needs to be ground.

[0023] As a preferred solution, the straightness grinding principle includes the following steps:

[0024] Step 2.1: Select a suitable grinding center within 2mm of the rail weld point , set up a polished reference string with a length of 1m;

[0025] Step 2.2: In the grinding center Draw a vertical line between the reference string and the reference string. The length of the vertical line is the maximum grinding amount at that position. , while determining the location Maximum grinding area at

[0026] Step 2.3: In the grinding center Go to any position at the end of the vertical line in Step 2.2 and select the grinding amount , and must also satisfy , and obtain the geometrically uneven waveform of the rail weld after final grinding;

[0027] Step 2.4: Determine whether the weld straightness meets the specification requirements based on the geometric unevenness waveform in Step 2.3. If not, repeat Step 2.1-Step 2.3.

[0028] As a preferred solution, the expression of the polishing optimization model is as follows:

[0029] Object: ;

[0030] The constraint expression of the polishing optimization model is as follows:

[0031] ;

[0032] ;

[0033] in, Indicates the number of grinding times. Expressed as passing After the first grinding, The amount of grinding carried out at each location, Indicates passing After the first grinding, The maximum amount of sanding that can be performed in one position.

[0034] As a preferred solution, the polishing optimization model is solved by an approximate dynamic programming algorithm, which includes a strategy function, a reward function and a value function.

[0035] As a preferred solution, the strategy function represents the optimal action selection under the current state, and the optimal action selection is the optimal specific grinding amount under the current state;

[0036] The reward function represents the immediate reward obtained by selecting an action in the current state, and the immediate reward is set to the negative value of the specific polishing amount in the current state;

[0037] The value function represents the expected value of future cumulative rewards under the current state.

[0038] As a preferred solution, the solution steps of the approximate dynamic programming algorithm are as follows:

[0039] Step 4.1: Initialization: Randomly initialize the strategy function according to the polishing optimization model;

[0040] Step 4.2: Strategy evaluation: According to the current strategy function, perform the calculation actions of the polishing optimization model, calculate the immediate reward according to the current reward function, and use the temporal difference method to update the value function;

[0041] Step 4.3: Strategy Improvement: Update the strategy function of the polishing optimization model based on the immediate reward and value function evaluation obtained after executing the polishing optimization model;

[0042] Step 4.4: Convergence check: If the strategy function no longer changes, stop the iteration; otherwise, continue iterating and updating to eventually get the optimal specific polishing amount.

[0043] A rail weld straightness grinding plan automatic generation terminal comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned rail weld straightness grinding plan automatic generation method is implemented.

[0044] The technical effects achieved by the present invention are:

[0045] The present invention collects geometrically uneven waveforms of rail welds, uses the waveforms to construct straightness grinding principles and a straightness grinding optimization model, and uses an approximate dynamic programming algorithm to solve the grinding optimization model, so as to automatically generate a straightness grinding plan and determine the optimal specific grinding amount. The present invention can control the cumulative grinding amount of the rails within a relatively small range, directly grind the waveforms with weld straightness exceeding the limit to a reasonable state, directly guide the weld straightness grinding operation on site, thereby improving the grinding accuracy, reducing the occurrence of "over-grinding" or "under-grinding" phenomena, and improving the operating efficiency of railway engineering departments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a design flow chart of a rail weld straightness grinding scheme in an embodiment of the present invention;

[0047] Figure 2 is a waveform diagram of rail weld straightness calculation in an embodiment of the present invention;

[0048] Figure 3 It is a waveform diagram of a rail weld collected on-site in an embodiment of the present invention;

[0049] Figure 4 This is a waveform diagram of the rail weld grinding principle in an embodiment of the present invention;

[0050] Figure 5 1 is a graph comparing the grinding amount of weld 1 and the waveforms before and after grinding in an embodiment of the present invention;

[0051] Figure 6 1 is a graph comparing the grinding amount of weld seam 2 and the waveforms before and after grinding in an embodiment of the present invention;

[0052] Figure 7 3 is a comparison diagram of the grinding amount of weld seam 3 and the waveforms before and after grinding in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0054] like Figure 1-Figure 7 As shown, a method for automatically generating a rail weld straightness grinding plan includes the following steps:

[0055] Step 1: Collect the geometrically uneven waveform of the rail weld, and determine the straightness of the rail weld according to the geometrically uneven waveform;

[0056] Step 2: Establish the straightness grinding principle of the rail weld according to the straightness determination result of the rail weld;

[0057] Step 3: Establish a rail weld straightness grinding optimization model based on the straightness grinding principle;

[0058] Step 4: Solve the grinding optimization model to generate a rail weld straightness grinding plan.

[0059] Refer to the attached Figure 2 In step 1, the method of collecting the geometric irregularity waveform of the rail weld is as follows:

[0060] The geometrically uneven waveform of the rail weld is collected using a traditional rail inspection instrument, a wave grinder or an electronic straight ruler. The sampling interval 0.001m. When optimizing the straightness grinding, take the welding point of the rail weld as the center and take M=2.5m (2M=5m in total) of the weld irregularity waveform to design the grinding scheme. The 5m waveform sequence of the rail weld irregularity is recorded as , N=5001.

[0061] In this embodiment, the rail inspection instrument is used to sample the geometric irregularity waveform of the rail weld, which specifically includes the following steps:

[0062] Step (1) Instrument connection and setup: Insert the measuring spindle of the track inspection instrument into the positioning pin hole of the measuring arm and rotate the locking handwheel to lock it. Then connect the instrument to the computer, turn on the computer, and create a folder named after the current operation date on the desktop or in a designated location to store the collected data.

[0063] Step (2) Instrument startup and calibration: Press the side arm switch of the track detector, wait for the instrument to start and display a blue light, indicating that the lower computer has been turned on. Open the instrument software, check the password, enter the calibration interface, select parameters such as track gauge and level, and click "Start" to calibrate.

[0064] Step (3), waveform acquisition: Place the track detector near the rail weld and ensure that the measuring probe is in close contact with the rail surface. Start the waveform acquisition function, and the instrument will automatically collect the uneven waveform data of the rail weld. During the acquisition process, pay attention to the waveform data to ensure that the data is complete and accurate.

[0065] Step (4) Data saving and processing: After the acquisition is completed, save the waveform data to the folder created previously. Process and analyze the acquired data and draw the following Figure 2 The rail weld straightness calculation flow chart is shown.

[0066] In other embodiments, the geometrically uneven waveforms are collected by taking Mm welds on the left and right sides of the weld point of the rail weld as the center, and the sampling interval is m, M and The value of can be determined according to the actual sampling standard, and the geometric irregular waveform sequence of the rail weld sampling point is recorded as , and then determine the number of sampling points N= The sampling standard in this embodiment is based on the "Rules for the Repair of Conventional Railways" for M and Determine and then determine N.

[0067] Again refer to the attached Figure 2 The straightness of the rail weld is defined as the chord measurement amplitude within a range of 1m, based on the position The chord amplitude (rail weld straightness) of 1000 sampling points within 1m is calculated as :

[0068] (1)

[0069] In the formula, is the number of sampling points from the measurement point on the reference chord to the left end of the reference chord, which is a positive integer, and ; is the number of sampling points from the measuring point to the right end of the reference chord, ; and Respectively The ratio of the distance between the two ends of the reference chord and the measurement point is and .

[0070] In other embodiments, when different sampling standards are adopted, the rail weld straightness is defined as the chord amplitude within a range of 1m, and the position When it is the center, the number of sampling points within 1m is defined as , the calculation formula is , and then the chord amplitude is calculated The expression is as follows:

[0071] ;

[0072] Furthermore, is the chord amplitude at the sampling point, is the measuring point of the rail weld, For location is the number of sampling points within 1m of the center, is the number of sampling points from the measurement point on the reference chord to the left end of the reference chord, which is a positive integer, and ; is the number of sampling points from the measuring point to the right end of the reference chord, .

[0073] In this embodiment, according to the "Rules for Repair of Conventional Railways", is 0.001m, and then is 1000, and there are 1000 sampling points within a range of 1 m, thus formula (1) is obtained.

[0074] Secondly, within the range of 2M=5m centered on the rail weld point, the straightness calculated from any 1m reference chord should not exceed +0.8mm and should not be less than -0.3mm, that is:

[0075] (2)

[0076] In the formula, is the minimum value of the chord amplitude, is the maximum value of the chord amplitude.

[0077] Based on this criterion, the 5m waveform of a rail weld that was collected on site is as follows: Figure 3 As shown in the figure, it can be found that the straightness of the center of the rail weld is -0.43 mm, which exceeds the management limit of formula (2) and needs to be polished.

[0078] Of course, in other embodiments, when different sampling standards are adopted, The limited range is ; Then, in the actual calculation process, it is necessary to define , , The numerical value of .

[0079] Refer to the attached Figure 4 In step 2, the rail weld straightness grinding principles are as follows:

[0080] When grinding rails, the straightness of the rail weld after grinding needs to satisfy equation (2). According to the "Rules for Repair of Conventional Railways", the process of rail grinding is as follows: Figure 4 As shown, the specific steps can be summarized as follows:

[0081] Step 2.1: Select a suitable grinding center within 5m of the rail weld point , set up a grinding reference string with a length of 1m. In order to ensure that the grinding reference string can be smoothly set up, make 500< <4500;

[0082] Step 2.2: In the grinding center Draw a vertical line between the reference string and the reference string. The length of the vertical line is the maximum grinding amount at that position. , while determining the location Maximum grinding area at Figure 4 ); the yellow shaded area in

[0083] Step 2.3: In the grinding center Go to any position at the end of the vertical line in Step 2.2 and select the grinding amount , and must also satisfy , and obtain the final grinding rail weld geometrically uneven waveform (attached Figure 4 );

[0084] Step 2.4: Determine whether the weld straightness meets the specification requirements according to formula (2). If not, repeat Step 2.1-Step 2.3 until the weld straightness requirements in formula (2) are met.

[0085] See attached Figure 1 In step 3, according to the "Rules for Repair of Conventional Railways", the optimization model for rail weld straightness grinding is as follows:

[0086] In order to save grinding resources, the total amount of weld grinding should be reduced as much as possible while ensuring that the straightness after grinding meets the specification requirements (i.e., formula (2)). The specific optimization objectives and constraints can be expressed as follows:

[0087] Object: (3)

[0088] The feasible domain of the model solution must satisfy the following constraints:

[0089] (4)

[0090] (5)

[0091] In the formula, Indicates the number of grinding times. Expressed as passing After the first grinding, The amount of grinding carried out at each location, Indicates passing After the first grinding, The maximum amount of sanding that can be performed in one position.

[0092] Formula (3) indicates that the optimization goal of the optimization model is to reduce the cumulative grinding amount of the rail at all positions; Formula (4) indicates that the appropriate grinding center can be selected within a 5m range centered on the weld point of the rail weld. ; Formula (5) indicates that the welding seam grinding amount at the current position must be less than the maximum grinding amount.

[0093] Refer to the attached Figure 1 In step 4, according to the "Rules for Repairing Conventional Railways", the specific process of solving the grinding optimization model is as follows:

[0094] In this embodiment, the Approximate Dynamic Programming (ADP) algorithm is used to solve the above optimization model. Under the ADP framework, the state is defined as This is the weld grinding condition at stage t, and the geometric roughness waveform within a range of 5m centered on the weld point:

[0095] (6)

[0096] action Indicates in status Down in position The specific grinding amount at the location is:

[0097] (7)

[0098] Considering the transition probability It is deterministic, that is, the grinding center and grinding amount are determined Later you can directly transfer to the next state: ;

[0099] Reward Function Indicates in status Next select action The instant reward obtained, since the optimization goal of this article is to reduce and minimize the total amount of polishing, the instant reward at each iteration is set to the negative value of the polishing amount in the current state, that is:

[0100] (8)

[0101] In addition, ADP also contains strategy functions and value function , where the policy function Indicates in status The optimal action selection of the model (i.e. the optimal specific polishing amount); in addition, the value function represents the expected value of the future cumulative reward under the current state, so the optimization goal of this study can be restated as finding an optimal strategy , so that the initial state The expected cumulative reward at the beginning is maximized, that is:

[0102] (9)

[0103] In the formula, is the discount factor, , which is used to measure the current value of future rewards. Since the state space of this study is large and it is difficult to calculate the true value function, a parameterized model is used To approximate the value function.

[0104] The specific process of the ADP algorithm solving model can be summarized as follows:

[0105] Step 4.1: Initialization, random initialization strategy function , ;

[0106] Step 4.2: Strategy evaluation, based on the strategy function , perform the action , and calculate the immediate reward , update the value function using the temporal difference method ;

[0107] Step 4.3: Improve the strategy and get instant rewards based on the actions taken And the estimation of the value function, update the policy function of the polished optimization model ,Right now: ;

[0108] Step 4.4: Convergence check, if the strategy no longer changes, stop iteration and get the optimal specific polishing amount.

[0109] See attached Figure 5-Figure 7 , using the above-mentioned rail weld straightness grinding scheme automatic generation method, the grinding schemes generated for three different groups of welds and the effects after grinding are as follows:

[0110] Table 1 (weld grinding process flow chart):

[0111]

[0112] It can be seen from the results in the above table that the straightness grinding plan generated by the automatic generation method of the rail weld straightness grinding plan can control the cumulative grinding amount of the rail within a small range, and directly grind the waveform with excessive weld straightness to a reasonable state. It can directly guide the weld straightness grinding operation on site, thereby improving the grinding accuracy, reducing the occurrence of "over-grinding" or "under-grinding" phenomena, and improving the operating efficiency of the railway engineering department.

[0113] The present invention also provides a terminal for automatically generating a rail weld straightness grinding plan. The terminal is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0114] The number of processors may be one or more, and the processor and memory are connected through a bus or other means, and are connected to the input device and the output device. The memory is a computer-readable storage medium for storing computer programs, computer-executable instructions, and modules, such as the automatic generation method of the rail weld straightness grinding scheme in the embodiment of the present invention.

[0115] Secondly, the processor executes various functional applications and data processing of the terminal device by running computer programs, instructions and modules stored in the memory, that is, realizes the automatic generation of the above-mentioned rail weld straightness grinding plan.

[0116] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A method for automatically generating a rail weld straightness grinding plan, characterized in that: The following steps are involved: Collecting the geometrically uneven waveform of the rail weld, and determining the straightness of the rail weld according to the geometrically uneven waveform; According to the rail weld straightness determination results, the rail weld straightness grinding principle is established; Establishing a rail weld straightness grinding optimization model based on the straightness grinding principle; Solving the grinding optimization model to generate a rail weld straightness grinding plan; The method for collecting geometrically irregular waveforms comprises the following steps: Step 1.1: Take Mm welds on the left and right of the weld point of the rail weld as the center to collect geometric irregular waveforms; Step 1.2: Use a track gauge, corrugator or electronic straight ruler to collect data, and use equal interval sampling. The sampling interval is m; Step 1.3: Record the geometrically irregular waveform sequence of the rail weld sampling points as ,N= , the waveform sequence of the sampling points is connected in sequence to form a reference chord of the geometrically uneven waveform; The definition formula of the rail weld straightness is as follows: ； in, is the chord amplitude of the sampling point, i.e., the straightness of the rail weld, is the measuring point of the rail weld, For location is the number of sampling points within 1m of the center, is the number of sampling points from the measurement point on the reference chord to the left end of the reference chord, which is a positive integer, and ; is the number of sampling points from the measuring point to the right end of the reference chord, ; and Respectively The ratio of the distances between the measuring points and the two ends of the reference chord is and .

2. The method for automatically generating a rail weld straightness grinding plan according to claim 1, characterized in that: The formula for determining the straightness of the rail weld is as follows: ； in, is the minimum value of the chord amplitude, is the maximum value of the chord measured amplitude; If the straightness of the rail weld is within the range of -0.3 to +0.8, the rail weld does not need to be ground; otherwise, it needs to be ground.

3. The method for automatically generating a rail weld straightness grinding plan according to claim 2, characterized in that: The straightness grinding principle includes the following steps: Step 2.1: Select a suitable grinding center within 2mm of the rail weld point , set up a polished reference string with a length of 1m; Step 2.2: In the grinding center Draw a vertical line between the reference string and the reference string. The length of the vertical line is the maximum grinding amount at that position. , while determining the location Maximum grinding area at Step 2.3: In the grinding center Go to any position at the end of the vertical line in Step 2.2 and select the grinding amount , and must also satisfy , and obtain the geometrically uneven waveform of the rail weld after final grinding; Step 2.4: Determine whether the weld straightness meets the specification requirements based on the geometric unevenness waveform in Step 2.

3. If not, repeat Step 2.1-Step 2.

3.

4. The method for automatically generating a rail weld straightness grinding plan according to claim 3, characterized in that: The expression of the polishing optimization model is as follows: Object: ; The constraint expression of the polishing optimization model is as follows: ； ； in, Indicates the number of grinding times. Expressed as passing After the first grinding, The amount of grinding carried out at each location, Indicates passing After the first grinding, The maximum amount of sanding that can be performed in one position.

5. The method for automatically generating a rail weld straightness grinding plan according to claim 1, characterized in that: The polishing optimization model is solved by an approximate dynamic programming algorithm, which includes a strategy function, a reward function and a value function.

6. The method for automatically generating a rail weld straightness grinding plan according to claim 5, characterized in that: The strategy function represents the optimal action selection under the current state, and the optimal action selection is the optimal specific grinding amount under the current state; The reward function represents the immediate reward obtained by selecting an action in the current state, and the immediate reward is set to the negative value of the specific polishing amount in the current state; The value function represents the expected value of future cumulative rewards under the current state.

7. The method for automatically generating a rail weld straightness grinding plan according to claim 6, characterized in that: The solution steps of the approximate dynamic programming algorithm are as follows: Step 4.1: Initialization: Randomly initialize the strategy function according to the polishing optimization model; Step 4.2: Strategy evaluation: According to the current strategy function, perform the calculation actions of the polishing optimization model, calculate the immediate reward according to the current reward function, and use the temporal difference method to update the value function; Step 4.3: Strategy Improvement: Update the strategy function of the polishing optimization model based on the immediate reward and value function evaluation obtained after executing the polishing optimization model; Step 4.4: Convergence check: If the policy function no longer changes, stop the iteration; otherwise, continue iterating and updating to eventually get the optimal specific polishing amount.

8. A rail weld straightness grinding plan automatic generation terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for automatically generating a rail weld straightness grinding plan as described in any one of claims 1-7 is implemented.

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