Attitude control system based on single-rail inspection vehicle

Abstract

The invention discloses an attitude control system based on a single-rail inspection vehicle, and the system specifically comprises a driving data acquisition module which collects the inspection driving data of the inspection vehicle through an angle sensor and a speed sensor in the turning process of the inspection vehicle; the attitude control module is used for regulating and controlling the attitude of the inspection vehicle by outputting adjustment data through a PID (Proportion Integration Differentiation) control algorithm based on the inspection driving data, and the control data integration module is used for integrating the driving data and the adjustment data of the inspection vehicle to obtain an inspection vehicle control data set. According to the method, the effect of the single-rail inspection vehicle attitude control system can be evaluated more comprehensively, the evaluation inaccuracy caused by only paying attention to a single factor is reduced, the attitude deviation condition of the inspection vehicle running on a curve can be known by integrating and analyzing the driving data and the adjustment data, and the accuracy of the inspection vehicle running on the curve is improved. Powerful support is provided for optimization and improvement of attitude control during turning operation of the follow-up inspection vehicle, so that the operation stability and safety of the inspection vehicle are improved.

Description

Technical Field

[0001] The invention relates to the technical field of single rail inspection vehicle control, and in particular to a posture control system based on the single rail inspection vehicle. Background Art

[0002] With the rapid development of industrial automation and intelligent technology, the safety inspection work of rail transit has gradually transformed from manual to automated and intelligent. As a highly efficient inspection equipment, the single rail inspection vehicle can autonomously travel on the track to complete the monitoring task of the track and its surrounding environment. However, at present, during the inspection process of the inspection vehicle, during the process of running on the track, the posture control of the inspection vehicle is particularly important when running on curves. The existing inspection vehicle posture control system cannot capture the posture changes of the inspection vehicle during the turning process when facing the complex and changeable curve environment, resulting in delayed or excessive posture adjustment, which in turn affects the driving stability and safety of the inspection vehicle. In addition, when evaluating the posture control effect, the existing system often focuses on a single posture deviation indicator, which makes it difficult to fully and accurately reflect the actual operating status of the inspection vehicle. Summary of the invention

[0003] The object of the present invention is to provide a posture control system based on a single rail inspection vehicle to solve at least one of the above-mentioned prior art problems.

[0004] The present invention provides a posture control system based on a single rail inspection vehicle, which specifically includes: Driving data acquisition module: When the inspection vehicle turns, the inspection driving data of the inspection vehicle is collected through the angle sensor and speed sensor; Posture control module: Based on the inspection driving data, the PID control algorithm is used to output adjustment data to adjust and control the posture of the inspection vehicle; Control data integration module: Based on the driving data and adjustment data of the inspection vehicle, the module integrates and obtains the inspection vehicle control data set; Posture control effect evaluation module: Based on the inspection vehicle control data set, it evaluates the posture control effect and generates a posture control effect difference signal; Optimization control module: Based on the attitude control effect difference signal, optimization adjustment is performed through the deviation coefficient combined with genetic algorithm.

[0005] Beneficial effects of the present invention: 1. The present invention improves the stability and safety of the inspection vehicle when turning on a single rail, and also ensures the accuracy of the data and the reliability of subsequent analysis through high-frequency data acquisition and precise time stamp recording; 2. The present invention can more comprehensively evaluate the effect of the posture control system of a single rail inspection vehicle, reduce inaccurate evaluation caused by focusing only on a single factor, and by integrating and analyzing driving data and adjustment data, understand the posture deviation of the inspection vehicle when running on a curve, and provide strong support for the optimization and improvement of posture control of subsequent inspection vehicles when running through curves, thereby improving the operating stability and safety of the inspection vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0007] Figure 1 It is a structural schematic diagram of a posture control system based on a single rail inspection vehicle of the present invention; Figure 2 It is a flow chart of the posture control method based on the single rail inspection vehicle of the present invention; Figure 3 It is a structural schematic diagram of a posture control device based on a single rail inspection vehicle of the present invention.

[0008] In the figure: 3, computer device; 301, processor; 302, memory; 303, computer program; DETAILED DESCRIPTION

[0009] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0010] Embodiment 1 Figure 2The flowchart of the posture control method based on a single rail inspection vehicle provided in the first embodiment of the present invention, the embodiment of the present invention can be applied to the situation of posture control and adjustment of the inspection vehicle during the operation of a curve, the posture control method based on a single rail inspection vehicle can be executed by a posture control system based on a single rail inspection vehicle, the posture control system based on a single rail inspection vehicle can be implemented by software and / or hardware, and the posture control system based on a single rail inspection vehicle can be configured in a posture control device based on a single rail inspection vehicle. Optionally, the posture control device based on a single rail inspection vehicle can be an electronic device, which can be a notebook, a desktop computer, a smart tablet, etc., and the embodiment of the present invention does not limit this.

[0011] like Figure 1 As shown, the posture control system based on the single rail inspection vehicle provided by the embodiment of the present invention specifically includes: Driving data acquisition module: When the inspection vehicle turns, the inspection driving data of the inspection vehicle is collected through the angle sensor and speed sensor; Among them, the angle sensor includes a gyroscope and an inclination sensor; the speed sensor includes a wheel speed sensor; In some embodiments, during the operation of the inspection vehicle on the single rail, when the inspection vehicle detects that it is about to enter a turn, a start collection instruction is sent; The manner in which the inspection vehicle detects that it is about to enter a turn includes but is not limited to: based on track map information, based on a steering instruction; Specifically, the process of detecting track map information is as follows: when the vehicle approaches a curve through the vehicle positioning system (such as GPS combined with a track odometer), a start acquisition instruction is immediately sent to the driving data acquisition module; It should be noted that the inspection vehicle pre-stores track map data, including but not limited to: the location, curvature, and length of the curve; For example, when the inspection vehicle is 12 meters away from the starting point of the curve, data collection is performed based on precise coordinate matching of the track map; The process based on the steering command detection is as follows: if the inspection vehicle is manually controlled by the driver or turns based on the steering command of the automatic driving system, then when the steering wheel angle changes or the automatic driving system sends a turning signal, a start acquisition command is immediately sent to the driving data acquisition module; For example, when the steering wheel angle exceeds 5 degrees, it is determined that the vehicle has started turning and data collection is performed; When the collection command is started, the angle sensor and speed sensor collect data at a high frequency of 100 times per second to obtain the inspection driving data of the inspection vehicle; Among them, the inspection driving data of the inspection vehicle includes angular velocity, vehicle body inclination angle, and vehicle speed; The data collection process includes: the gyroscope continuously measures the horizontal rotation angular velocity of the patrol vehicle. Each measurement data is accompanied by a timestamp, which is accurate to the microsecond level, so that the dynamic changes of the patrol vehicle during the turning process can be accurately restored later; For example, at a certain microsecond moment, the angular velocity measured by the gyroscope is 0.5 degrees / second, and the angular velocity is recorded together with the corresponding timestamp; The inclination sensor works synchronously to measure the inclination angle of the vehicle body relative to the direction of gravity and also records the timestamp. Since the inclination angle of the vehicle body may change rapidly in a short period of time, especially when driving on a curve, high-frequency acquisition can capture these subtle changes; For example, at a certain moment, the vehicle body tilts 3 degrees to the left, and the tilt angle is recorded together with the corresponding timestamp; The wheel speed sensor closely tracks the rotation of the wheel. The pulse signal generated by each wheel rotation is counted. Combined with the known circumference of the wheel (for example, the wheel diameter is 0.5 meters, and the circumference is 1.57 meters according to the circumference formula), the real-time driving speed of the inspection vehicle is calculated by the number of pulses per unit time. For example, within 1 second, the wheel speed sensor receives 100 pulse signals. It is known that each pulse represents that the wheel has moved forward 0.01 meters (1.57 meters ÷ 100). Then the vehicle speed at this time is 1 meter / second. This speed is recorded together with the corresponding timestamp. Arrange the collected inspection vehicle driving data according to the data format specification; Specifically, the data format specification is set, and each data record contains the sensor number, timestamp and specific measurement value; Sensor number, used to distinguish data from gyroscope, tilt sensor or wheel speed sensor; Timestamp, used for subsequent data synchronization and analysis; For example, a data record is “GYRO_01, 2024 - 01 - 03T10:00:00.000001, 0.5”, which means that the angular velocity measured by gyroscope No. 01 at 10:00:00:00.000001 microseconds on January 3, 2024 is 0.5 degrees / second; Posture control module: Based on the inspection driving data, the control algorithm outputs adjustment data to control the posture of the inspection vehicle; Among them, control algorithms include but are not limited to: PID (proportional-integral-derivative) control algorithm and fuzzy algorithm; In a specific embodiment, a PID (proportional-integral-differential) control algorithm is used, and the process of outputting adjustment data is: Setting the target posture of the inspection vehicle during the turning process on a single rail, wherein the target posture includes the target angular velocity, the target vehicle body inclination angle, and the target vehicle speed; The target attitude is set by implementers in this field based on track design requirements, safe operation specifications, and past experience data; Obtain the inspection driving angular velocity, vehicle body inclination angle, and vehicle speed, and mark them as actual angular velocity, actual vehicle body inclination angle, and actual vehicle speed; Calculate the deviation between the actual angle and the target angle, marked as the angle deviation value, where the actual angle is obtained by integrating the rotation angular velocity; Calculate the deviation between the actual vehicle body inclination angle and the target vehicle body inclination angle, and mark it as the vehicle body inclination angle deviation value; Calculate the deviation between the actual vehicle speed and the target vehicle speed, and mark it as the vehicle speed deviation value; For example, the target angle is set to 10 degrees, and the actual deflection angle obtained by integrating the gyroscope data is 12 degrees, then the deflection angle deviation is 12 - 10 = 2 degrees, the target body tilt angle is 1 degree, and the actual measured body tilt angle is 3 degrees, then the tilt angle deviation is 3 - 1 = 2 degrees, the target speed is set to 15 m / s, the actual speed is 13 m / s, the speed deviation is 13 - 15 = -2 m / s, indicating that the actual speed is lower than the target speed; For any one of the data of angular velocity, vehicle inclination angle and vehicle speed, set the proportional coefficient (P), integral time constant (TI) and differential time constant (TD); Among them, the proportional coefficient (P), integral time constant (TI) and differential time constant (TD) are summarized and set by technicians in this field based on historical experience and industry specifications; Calculating the adjustment amounts of the proportional term, the integral term and the differential term based on the calculated angle deviation value, the body inclination deviation value and the vehicle speed deviation value; Specifically, the proportional term adjustment amount is calculated as follows: the proportional control amount is calculated according to the proportional coefficient (P); For example, if the deflection angle deviation is 2 degrees and the proportional coefficient is 0.5, then the proportional control amount for the deflection angle is 2×0.5 = 1 degree adjustment. Similarly, if the speed deviation is -2 m / s, if the proportional coefficient of the speed control is set to 0.3, the proportional control amount of the speed is -2×0.3 = -0.6 m / s, indicating that the adjustment direction and amount of the vehicle speed should be increased. Integral item adjustment calculation: The integral item is calculated by accumulating the deviation value over a period of time and then multiplying it by the integral coefficient (1 / TI); For example, in the past 5 seconds, the tilt angle deviations are 1 degree, 1.2 degrees, 0.8 degrees, 1.1 degrees, and 0.9 degrees, respectively. The total of these deviation values ​​is 5 degrees. The integral time constant (TI) is 10 seconds, and the integral coefficient is 1 / 10 = 0.1. Then the integral control amount of the tilt angle is 5×0.1 = 0.5 degrees, which is used to eliminate possible steady-state errors and make the posture more accurately approach the target posture. Calculation of differential item adjustment: Determine the differential item control amount by calculating the rate of change of the deviation value; For example, the calculation process of the angle deviation value change rate is: the difference between the angle deviation value at the current moment and the angle deviation value at the previous moment is divided by the sampling time interval to obtain the angle deviation value change rate; For example, the deflection angle deviation at the previous moment is 1.5 degrees, the deflection angle deviation at the current moment is 2 degrees, and the sampling time interval is 0.01 seconds (because the sensor collects data 100 times per second), then the deviation change rate is (2 - 1.5) ÷ 0.01 = 50 degrees / second. If the differential time constant (TD) is 2 seconds, the differential coefficient is 2, and the differential control amount of the deflection angle is 50×2 = 100 degrees / second. It is mainly used to suppress excessive oscillation that may occur during the attitude adjustment process, making the adjustment process more stable. For any one of the angular velocity, the vehicle body tilt angle, and the vehicle speed, the adjustment amount calculated by the proportional term, the integral term, and the differential term are summed to obtain the adjustment data; The technical solution of this embodiment is: the driving data acquisition module collects the angular velocity, body inclination angle and vehicle speed inspection driving data at high frequency when the inspection vehicle turns, and uses these data to output adjustment data through the control algorithm (such as PID algorithm) in the posture control module to accurately control the posture of the inspection vehicle; This improves the stability and safety of the inspection vehicle when turning on a single rail, and also ensures the accuracy of the data and the reliability of subsequent analysis through high-frequency data collection and precise timestamp recording.

[0012] Embodiment 2 Based on the above embodiments, Figure 1 As shown, the posture control system based on the single rail inspection vehicle provided by the embodiment of the present invention specifically includes: Control data integration module: Based on the driving data and adjustment data of the inspection vehicle, the module integrates and obtains the inspection vehicle control data set; In some embodiments, the inspection vehicle collects driving data in real time when it is running on a curve, and the real-time driving data of the inspection vehicle and the target posture at the same time are marked as a same-time array; Among them, the real-time driving data includes real-time angular velocity, real-time vehicle body tilt angle, and real-time vehicle speed; After the inspection vehicle passes through the single-rail curve, the simultaneous data of all moments are integrated to obtain the inspection vehicle control data set; Posture control effect evaluation module: Based on the inspection vehicle control data set, it evaluates the posture control effect and generates a posture control effect good signal or a posture control effect poor signal; In some embodiments, based on the acquired inspection vehicle control data set, the real-time driving data and the target posture in the same time data are subjected to difference calculation to obtain a difference representation value; The calculation process of the difference representation value is as follows: the real-time angular velocity and the target angular velocity are calculated to be different, the difference is taken as an absolute value, and the angular velocity difference value is obtained; the real-time vehicle body tilt angle and the target vehicle body tilt angle are calculated to be different, the difference is taken as an absolute value, and the tilt angle difference value is obtained; the real-time vehicle speed and the target vehicle speed are calculated to be different, the difference is taken as an absolute value, and the vehicle speed difference value is obtained; Performing weighted sum calculation on the angular velocity difference value, the inclination angle difference value and the vehicle speed difference value to obtain a difference representation value; Setting a difference characterization threshold, wherein the difference characterization threshold is set by a person skilled in the art based on a summary of multiple historical experimental data; The total time of the inspection vehicle running on the curve is divided into several sub-time points, and the sub-time points are used as the horizontal coordinates, and the difference characterization values ​​corresponding to the sub-time points are used as the vertical coordinates to draw a difference characterization value change curve; Mark the curves between adjacent sub-time points as difference characterization value change sub-curves, and calculate the slope of each difference characterization value change sub-curve; The difference characterization value change sub-curve with a positive slope is marked as a growth sub-curve, the number of growth sub-curves is counted, and the ratio of the number of growth sub-curves to the total number of difference characterization value change sub-curves is calculated to obtain the ratio of the number of growth sub-curves; Integrate the continuous growth sub-curves and mark them as growth sub-curve groups. Count the number of each growth sub-curve group, extract the maximum number of the growth sub-curve group, calculate the ratio of the maximum number of the growth sub-curve group to the number of growth sub-curves, and obtain the maximum continuous growth sub-curve ratio. The weighted sum of the percentage of the number of growth sub-curves and the percentage of the number of maximum continuous growth sub-curves is calculated to obtain the slope quantity representation value; It should be explained that the proportion of the number of growth sub-curves reflects the proportion of the sub-time period in which the posture deviation of the inspection vehicle increases in the entire curve operation process. If the proportion of the number of growth sub-curves is high, it means that the posture deviation of the inspection vehicle is increasing in a large period of time when the inspection vehicle is running on the curve; the proportion of the maximum continuous growth sub-curve reflects the severity of the continuous increase in the posture deviation of the inspection vehicle. If the proportion of the maximum continuous growth sub-curve is high, it means that the posture deviation of the inspection vehicle is increasing for a long period of time. The difference characterization value corresponding to each sub-time point of the difference characterization value change curve is compared with the difference characterization threshold value. If the difference characterization value is greater than the difference characterization threshold value, a large posture deviation signal is generated. If the difference characterization value is less than or equal to the difference characterization threshold value, a small posture deviation signal is generated. The number of large posture deviation signals is generated by counting, and the ratio of the number of large posture deviation signals to the total number of sub-time points is calculated to obtain the proportion of large posture deviation signals; The difference characterization values ​​corresponding to the large signal of the posture deviation are respectively calculated with the difference characterization threshold to obtain the difference characterization deviation value, all the difference characterization deviation values ​​are summed and averaged to obtain the difference characterization deviation mean, and the difference characterization deviation mean is calculated with the difference characterization threshold to obtain the difference characterization overlimit ratio; The weighted sum of the proportion of large number of posture deviations and the difference representation over-limit ratio is calculated to obtain the posture deviation over-limit representation value; It should be explained that the percentage of large posture deviations reflects the frequency of large posture deviations during the operation of the inspection vehicle on the curve, and the difference representation over-limit ratio reflects the average level of deviation relative to the threshold when the posture deviation of the inspection vehicle exceeds the threshold. The higher the posture deviation over-limit representation value, the poorer the control effect of the posture control system during the operation of the curve. The slope quantity representation value and the attitude deviation excess representation value are multiplied to obtain the attitude effect evaluation value; By multiplying the slope quantity representation value and the attitude deviation excess representation value to obtain the attitude effect evaluation value, the changing trend of the attitude deviation of the inspection vehicle when running on a curve and the situation where the deviation exceeds the threshold can be comprehensively considered. This comprehensive consideration can more comprehensively evaluate the effect of the attitude control system and reduce inaccurate evaluation caused by focusing on only a single factor; Setting a posture effect evaluation threshold, comparing the posture evaluation value with the posture evaluation threshold, if the posture evaluation value is greater than the posture evaluation threshold, generating a poor posture control effect signal, if the posture evaluation value is less than or equal to the posture evaluation threshold, generating a good posture control effect signal; Among them, the posture effect evaluation threshold is set by those skilled in the art based on the summary of multiple historical experimental data; The technical solution of this embodiment is: by integrating the driving data and adjustment data of the inspection vehicle, a control data set is obtained, and then the posture control effect is evaluated. The evaluation process includes calculating the difference characterization value, drawing the difference characterization value change curve, analyzing the growth sub-curve and the posture deviation large signal, and comprehensively considering the change trend of the posture deviation when the inspection vehicle is running on the curve and the situation where the deviation exceeds the threshold, to generate a signal of whether the posture control effect is good or bad; This will enable a more comprehensive evaluation of the effectiveness of the single-rail inspection vehicle posture control system and reduce inaccurate evaluations caused by focusing only on a single factor. By integrating and analyzing driving data and adjustment data, the posture deviation of the inspection vehicle when running on a curve can be understood, providing strong support for the subsequent optimization and improvement of posture control of the inspection vehicle when running through curves, thereby improving the operating stability and safety of the inspection vehicle.

[0013] Embodiment 3 Based on the above embodiments, Figure 1 As shown, the posture control system based on the single rail inspection vehicle provided by the embodiment of the present invention specifically includes: Optimization control module: Based on the attitude control effect difference signal, optimization adjustment is performed through the deviation coefficient combined with genetic algorithm; The deviation ratio between the evaluation effect value and the evaluation effect threshold can intuitively reflect the gap between the control effect of the current attitude control system and the expected effect. If the deviation ratio is large, it means that the control effect is quite different from the expected effect, and the PID parameters (i.e., proportional coefficient P, integral time constant TI and differential time constant TD) need to be adjusted to improve the control effect. In some embodiments, three parameters of the PID are encoded, wherein the parameters include: a proportional coefficient, an integral coefficient, and a differential coefficient; Coding methods include, but are not limited to: binary coding or real number coding; For example, when binary coding is used, the coding length is determined according to the required accuracy. Assuming that each parameter is represented by 10 bits of binary, then an individual (i.e., a set of PID parameters) is composed of a 30-bit binary string; Randomly initialize a population of a certain size. The population size is usually pre-set according to the complexity of the problem, such as 50-100 individuals. These individuals represent different PID parameter combinations and are randomly generated in the initial stage. The difference between the evaluation effect value and the evaluation effect threshold is calculated, and the ratio between the difference and the evaluation effect value is calculated to obtain the deviation coefficient R; Set the fitness function F, specifically: , the smaller the deviation coefficient R, the larger the fitness function value F; The selected parent individuals are paired in pairs, and the crossover operation is performed according to a certain crossover probability, and the position of the crossover point is randomly determined; Methods for selecting parent individuals include, but are not limited to: roulette selection method, tournament selection method; If binary coding is used, for example, crossover between the 15th and 16th positions will exchange the corresponding parts of the genes of the two parent individuals to generate two new offspring individuals; It simulates the gene recombination process in biological genetics. Through crossover operation, the genes of different excellent individuals can be combined together, which may produce a PID parameter combination with better performance. For each gene in the offspring individuals, mutate according to the lower mutation probability; If binary coding is used, mutation is to change 0 to 1 or 1 to 0; If real number encoding is used, the mutation can be a random perturbation within a certain range of the gene value, such as adding a small random value that follows a normal distribution; The mutation operation can introduce new genetic characteristics, prevent the algorithm from falling into the local optimal solution too early, make the search space more comprehensive, and possibly find a better PID parameter combination; Replace the original population with offspring individuals that have undergone selection, crossover, and mutation to form a new population, and continuously iterate and optimize; Set the termination condition. When the optimal fitness value of the population for several consecutive generations is less than the extreme value, the algorithm is considered to have converged to a better PID parameter combination and the PID parameters corresponding to the optimal individual are output. The extreme value of the change is set by those skilled in the art based on experience; The technical solution of this embodiment is: when it is detected that the posture control effect is poor, the PID control parameters (proportional coefficient, integral coefficient, differential coefficient) are first encoded, and then the population is randomly initialized, and the deviation ratio between the evaluation effect value and the evaluation effect threshold is used as the basis of the fitness function, and the population is continuously iterated and optimized through operations such as selection, crossover, and mutation until the termination condition is met, and finally the optimal PID parameter combination is output; Therefore, when the posture control effect is not good, the genetic algorithm can be used to optimize the PID parameters. A better combination of PID parameters can effectively improve the performance of the posture control system of the single rail inspection vehicle, make the inspection vehicle run more stable, and reduce the safety hazards caused by posture control problems. At the same time, the iterative optimization of the algorithm is combined with clear termination conditions, which not only ensures the optimization effect, but also avoids meaningless waste of computing resources. Embodiment 4 Based on the above embodiments, Figure 2As shown, the posture control method based on the single rail inspection vehicle provided in the embodiment of the present invention specifically includes the following steps: Step 1: When the inspection vehicle is turning, the inspection driving data of the inspection vehicle is collected through the angle sensor and the speed sensor; Among them, the angle sensor includes a gyroscope and an inclination sensor; the speed sensor includes a wheel speed sensor; Step 2: Based on the inspection driving data, the control algorithm is used to output adjustment data to control the posture of the inspection vehicle; Among them, the control algorithms include but are not limited to: PID (proportional-integral-derivative) control algorithm and fuzzy algorithm; Step 3: Integrate the inspection vehicle's driving data and adjustment data to obtain the inspection vehicle control data set; Step 4: Based on the inspection vehicle control data set, evaluate the posture control effect, generate a posture control effect good signal or generate a posture control effect poor signal; Step 5: Based on the attitude control effect difference signal, optimization adjustment is performed through the deviation coefficient combined with genetic algorithm.

[0014] Embodiment 5 like Figure 3 As shown, an embodiment of the present invention further provides a computer device 3, comprising: a memory 302 and a processor 301 and a computer program 303 stored in the memory 302. When the computer program 303 is executed on the processor 301, a posture control method based on a single rail inspection vehicle as described in any one of the above methods is implemented.

[0015] The computer device 3 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The computer device 3 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that Figure 3 It is only an example of computer device 3 and does not constitute a limitation on computer device 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0016] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0017] In some embodiments, the memory 302 may be an internal storage unit of the computer device 3, such as a hard disk or memory of the computer device 3. In other embodiments, the memory 302 may also be an external storage device of the computer device 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 3. Further, the memory 302 may also include both an internal storage unit and an external storage device of the computer device 3. The memory 302 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 302 may also be used to temporarily store data that has been output or is to be output.

[0018] Embodiment 6 An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the posture control method based on a single rail inspection vehicle as described in any one of the above methods is implemented.

[0019] In this embodiment, if the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, USB flash drive, mobile hard disk, disk or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0020] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0021] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0022] In the embodiments disclosed in the present application, it should be understood that the disclosed apparatus / terminal equipment and method can be implemented in other ways. For example, the apparatus / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. One point, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electrical, mechanical or other forms.

[0023] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0024] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0025] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. The posture control system based on the single rail inspection vehicle is characterized by: Specifically include: Driving data acquisition module: When the inspection vehicle turns, the inspection driving data of the inspection vehicle is collected through the angle sensor and speed sensor; Posture control module: Based on the inspection driving data, the PID control algorithm is used to output adjustment data to adjust and control the posture of the inspection vehicle; Control data integration module: Based on the driving data and adjustment data of the inspection vehicle, the module integrates and obtains the inspection vehicle control data set; Posture control effect evaluation module: Based on the inspection vehicle control data set, it evaluates the posture control effect and generates a posture control effect difference signal; Optimization control module: Based on the attitude control effect difference signal, optimization adjustment is performed through the deviation coefficient combined with genetic algorithm.

2. The posture control system based on the single rail inspection vehicle according to claim 1 is characterized in that: The driving data acquisition module specifically includes: When the inspection vehicle is running on a single rail, it sends a start collection command when it detects that it is about to enter a turn; When the collection instruction is started, the angle sensor and the speed sensor collect data to obtain the inspection driving data of the inspection vehicle; Among them, the inspection driving data of the inspection vehicle includes angular velocity, vehicle body inclination angle, and vehicle speed; The collected inspection vehicle driving data is sorted according to the data format specifications.

3. The posture control system based on the single rail inspection vehicle according to claim 1 is characterized in that: The process of outputting the adjustment data is as follows: Setting the target posture of the inspection vehicle during the turning process on a single rail, wherein the target posture includes the target angular velocity, the target vehicle body inclination angle, and the target vehicle speed; Obtain the inspection driving angular velocity, vehicle body inclination angle, and vehicle speed, and mark them as actual angular velocity, actual vehicle body inclination angle, and actual vehicle speed; Calculate the deviation between the actual angle and the target angle, marked as the angle deviation value, where the actual angle is obtained by integrating the rotation angular velocity; Calculate the deviation between the actual vehicle body inclination angle and the target vehicle body inclination angle, and mark it as the vehicle body inclination angle deviation value; Calculate the deviation between the actual vehicle speed and the target vehicle speed, and mark it as the vehicle speed deviation value; For any one of the data of angular velocity, vehicle body inclination angle and vehicle speed, set the proportional coefficient (P), integral time constant (TI) and differential time constant (TD); Based on the calculated angle deviation value, body tilt deviation value and vehicle speed deviation value, and in combination with the proportional coefficient (P), the integral time constant (TI) and the differential time constant (TD), the adjustment amounts of the proportional term, the integral term and the differential term are calculated; For any one of the angular velocity, vehicle body inclination angle, and vehicle speed, the adjustment amounts calculated by the proportional term, the integral term, and the differential term are summed to obtain the adjustment data.

4. The posture control system based on the single rail inspection vehicle according to claim 1 is characterized in that: The acquisition process of the inspection vehicle control data set is as follows: When the inspection vehicle is running on a curve, real-time driving data is collected, and the real-time driving data of the inspection vehicle and the target posture at the same time are marked as a time array; Among them, the real-time driving data includes real-time angular velocity, real-time vehicle body tilt angle, and real-time vehicle speed; After the inspection vehicle passes through the single-rail curve, the simultaneous data of all moments are integrated to obtain the inspection vehicle control data set.

5. The posture control system based on the single rail inspection vehicle according to claim 1 is characterized in that: The process of generating the attitude control effect difference signal is as follows: Obtain the slope quantity representation value and the attitude deviation excess representation value; The slope quantity representation value and the attitude deviation excess representation value are multiplied to obtain the attitude effect evaluation value; A posture effect evaluation threshold is set, and the posture evaluation value is compared with the posture evaluation threshold. If the posture evaluation value is greater than the posture evaluation threshold, a posture control effect difference signal is generated.

6. The posture control system based on the single rail inspection vehicle according to claim 5 is characterized in that: The process of obtaining the slope quantity characterization value is as follows: Obtaining a difference characterization value change sub-curve with a positive slope; The difference characterization value change sub-curve with a positive slope is marked as a growth sub-curve, the number of growth sub-curves is counted, and the ratio of the number of growth sub-curves to the total number of difference characterization value change sub-curves is calculated to obtain the ratio of the number of growth sub-curves; Integrate the continuous growth sub-curves and mark them as growth sub-curve groups. Count the number of each growth sub-curve group, extract the maximum number of the growth sub-curve group, calculate the ratio of the maximum number of the growth sub-curve group to the number of growth sub-curves, and obtain the maximum continuous growth sub-curve ratio. The weighted sum of the percentage of the number of growth sub-curves and the percentage of the number of maximum continuous growth sub-curves is calculated to obtain the slope quantity representation value.

7. The posture control system based on the single rail inspection vehicle according to claim 6 is characterized in that: The process of obtaining the difference characterization value change sub-curve with a positive slope is as follows: Based on the acquired inspection vehicle control data set, the difference between the real-time driving data and the target posture in the same time data is calculated to obtain the difference representation value; The total time of the inspection vehicle running on the curve is divided into several sub-time points, and the sub-time points are used as the horizontal coordinates, and the difference characterization values ​​corresponding to the sub-time points are used as the vertical coordinates to draw a difference characterization value change curve; The curves between adjacent sub-time points are marked as difference characterization value change sub-curves, and the slope of each difference characterization value change sub-curve is calculated.

8. The posture control system based on the single rail inspection vehicle according to claim 7 is characterized in that: The calculation process of the difference characterization value is: The real-time angular velocity and the target angular velocity are calculated to be different, and the difference is taken as an absolute value to obtain an angular velocity difference value; the real-time vehicle body tilt angle and the target vehicle body tilt angle are calculated to be different, and the difference is taken as an absolute value to obtain a tilt angle difference value; the real-time vehicle speed and the target vehicle speed are calculated to be different, and the difference is taken as an absolute value to obtain a vehicle speed difference value; The angular velocity difference value, the inclination angle difference value and the vehicle speed difference value are weightedly summed to obtain a difference representation value.

9. The posture control system based on the single rail inspection vehicle according to claim 7 is characterized in that: The process of obtaining the attitude deviation over-limit characterization value is as follows: The difference characterization value corresponding to each sub-time point of the difference characterization value change curve is compared with the difference characterization threshold value. If the difference characterization value is greater than the difference characterization threshold value, a large posture deviation signal is generated. If the difference characterization value is less than or equal to the difference characterization threshold value, a small posture deviation signal is generated. The number of large posture deviation signals is generated by counting, and the ratio of the number of large posture deviation signals to the total number of sub-time points is calculated to obtain the proportion of large posture deviation signals; The difference characterization values ​​corresponding to the large signal of the posture deviation are respectively calculated with the difference characterization threshold to obtain the difference characterization deviation value, all the difference characterization deviation values ​​are summed and averaged to obtain the difference characterization deviation mean, and the difference characterization deviation mean is calculated with the difference characterization threshold to obtain the difference characterization overlimit ratio; The weighted sum of the proportion of large posture deviations and the difference representation excess ratio is calculated to obtain the posture deviation excess representation value.

10. The posture control system based on a single rail inspection vehicle according to claim 1, characterized in that: The specific process of the optimization control module is as follows: Encode the three parameters of PID, where the parameters include: proportional coefficient, integral coefficient, and differential coefficient; Initialize a population of a certain size; Obtain an evaluation effect value, calculate the difference between the evaluation effect value and the evaluation effect threshold, calculate the ratio between the difference and the evaluation effect value, and obtain a deviation coefficient R; Set the fitness function F, specifically: ; The selected parent individuals are paired in pairs, and the crossover operation is performed according to the crossover probability. The position of the crossover point is randomly determined; For each gene in the offspring individuals, mutate according to the lower mutation probability; Replace the original population with offspring individuals that have undergone selection, crossover, and mutation to form a new population, and continuously iterate and optimize; Set the termination conditions and output the PID parameters corresponding to the optimal individual.

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