Car coupler displacement detection method, device and equipment based on stay wire sensor and medium

Abstract

The invention relates to the technical field of sensors, and provides a draw gear displacement detection method, device, equipment and medium based on a stay wire sensor, and the method comprises the steps: collecting the mechanical displacement between a target draw gear and a stay wire, and converting the mechanical displacement into a linear voltage signal; the transverse displacement distance and the transverse displacement direction of the target coupler are calculated according to the linear voltage signal, and the swing amount of the target coupler is calculated through the transverse displacement distance and the original stay wire length of the target coupler; calculating the longitudinal displacement distance and the longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculating the expansion amount of the target coupler according to the longitudinal displacement distance and the original stay wire length; the comprehensive displacement value of the target coupler is determined according to the swing amount and the expansion amount, and the comprehensive displacement direction of the target coupler is determined according to the transverse displacement direction and the longitudinal displacement direction; and determining a comprehensive displacement vector of the target coupler through the comprehensive displacement value and the comprehensive displacement direction. According to the invention, the accuracy of coupler displacement detection can be improved.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a method, device, equipment and medium for detecting the displacement of a coupler based on a wire sensor. Background Art

[0002] With the development of automation technology, coupler detection can be combined with intelligent monitoring systems to achieve automatic alarm and status monitoring. The coupler is an important component that connects the vehicle with the cargo or other vehicles. Detecting the coupler status can effectively prevent accidents caused by looseness or damage. However, in order to accurately measure the impact of the coupler box position error on the locomotive's hook stability performance, it is necessary to accurately detect the coupler displacement during train operation.

[0003] Existing coupler displacement detection technologies mostly monitor the acceleration changes of the coupler through acceleration sensors and calculate the displacement through integration. In practical applications, small measurement errors of acceleration will accumulate during the integration process, resulting in increasing errors in displacement calculation, which reduces the accuracy of coupler displacement detection. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention provide a method, device, equipment and medium for detecting the displacement of a coupler based on a pull-wire sensor.

[0005] In a first aspect, an embodiment of the present invention provides a method for detecting coupler displacement based on a pull-wire sensor, comprising: The mechanical displacement between the preset target coupler and the pull wire is collected by a preset pull wire sensor, and the mechanical displacement is converted into a linear voltage signal; Calculating the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal, and calculating the swing amount of the target coupler according to the lateral displacement distance and the original wire length of the target coupler; Calculating the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculating the extension and contraction amount of the target coupler according to the longitudinal displacement distance and the original wire length; Determine the comprehensive displacement value of the target coupler according to the swing amount and the extension amount, and determine the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction; The comprehensive displacement vector of the target coupler is determined by the comprehensive displacement value and the comprehensive displacement direction.

[0006] According to an embodiment of the present invention, converting the mechanical displacement into a linear voltage signal comprises: Determining a resistance distribution corresponding to a preset potentiometer according to the mechanical displacement; Determining a resistance ratio between a resistance value of the potentiometer and a total resistance of the potentiometer according to the resistance distribution; The linear voltage signal corresponding to the mechanical displacement is determined by the resistance ratio and the pre-acquired power supply voltage.

[0007] According to an embodiment of the present invention, the step of calculating the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal includes: Extracting a proportionality coefficient between the linear voltage signal and the wire displacement of the target coupler; Determine the linear relationship between the linear voltage signal and the wire displacement according to the proportionality coefficient; Determining the lateral displacement distance of the target coupler according to the linear relationship; The lateral displacement direction of the target coupler is determined according to the distance value sign of the lateral displacement distance.

[0008] According to an embodiment of the present invention, the step of calculating the swing amount of the target coupler by using the lateral displacement distance and the original wire length of the target coupler includes: Calculate the lateral change length of the cable according to the lateral displacement distance and the original cable length; Extracting the target distance between the swing axis of the target coupler and the fixed point of the wire sensor; Calculating the swing angle of the target coupler according to the lateral change length of the pull line and the target distance; The swing amount of the target coupler is determined by the swing angle.

[0009] According to an embodiment of the present invention, the step of calculating the telescopic amount of the target coupler by using the longitudinal displacement distance and the original wire length includes: Calculate the longitudinal change length of the cable according to the longitudinal displacement distance and the original cable length; Calculating the length difference between the longitudinal change length of the pull wire and the original pull wire length; The length difference is determined as the extension and contraction amount of the target coupler.

[0010] According to an embodiment of the present invention, determining the comprehensive displacement value of the target coupler according to the swing amount and the telescopic amount includes: Creating a two-dimensional displacement coordinate system based on the lateral displacement distance and the longitudinal displacement distance; Determining the target coordinates of the target coupler in the two-dimensional displacement coordinate system according to the swing amount and the extension amount; The comprehensive displacement value of the target coupler is calculated according to the target coordinates.

[0011] According to an embodiment of the present invention, determining the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction includes: Extracting a transverse unit vector corresponding to the transverse displacement direction; Extracting the longitudinal unit vector corresponding to the longitudinal displacement direction; Constructing a direction vector of a target coupler according to the lateral displacement direction, the lateral unit vector, the longitudinal displacement direction and the longitudinal unit vector; The comprehensive displacement direction of the target coupler is determined according to the direction vector.

[0012] In a second aspect, an embodiment of the present invention provides a coupler displacement detection device based on a pull-wire sensor, comprising: A linear voltage signal conversion module, used for collecting the mechanical displacement between the preset target coupler and the pull wire through a preset pull wire sensor, and converting the mechanical displacement into a linear voltage signal; A swing amount calculation module, used to calculate the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal, and calculate the swing amount of the target coupler according to the lateral displacement distance and the original wire length of the target coupler; An expansion and contraction amount calculation module, used to calculate the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculate the expansion and contraction amount of the target coupler according to the longitudinal displacement distance and the original wire length; A comprehensive displacement direction determination module, used to determine the comprehensive displacement value of the target coupler according to the swing amount and the telescopic amount, and to determine the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction; The integrated displacement vector determination module is used to determine the integrated displacement vector of the target coupler through the integrated displacement value and the integrated displacement direction.

[0013] In a third aspect, an embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the multi-fuel cell system fan control method described in the above aspect.

[0014] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for detecting coupler displacement based on a wire sensor as described in the above aspect.

[0015] Compared with the prior art, the above technical solution of the present invention has the following beneficial effects: The embodiments of the present invention can improve the measurability of the signal by converting the mechanical displacement into a linear voltage signal; calculate the lateral displacement distance and direction to accurately grasp the dynamic state of the coupler, and calculate the swing amount to provide key data on the stability of the coupler; calculate the longitudinal displacement distance and direction to ensure accurate control during the docking or separation of the vehicles; calculate the telescopic amount to grasp the changes of the coupler under different working conditions; determine the comprehensive displacement value and direction to fully understand the displacement state of the coupler and provide more comprehensive displacement information. Therefore, the coupler displacement detection method, device, equipment and medium based on the wire sensor proposed by the present invention can solve the problem of low accuracy when performing coupler displacement detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram showing the displacement sensor of the first embodiment of the present invention measuring lateral displacement; Figure 2 A schematic diagram showing the displacement sensor of the first embodiment of the present invention measuring longitudinal displacement; Figure 3 The flowchart of the method for detecting the displacement of a coupler based on a wire sensor according to the second embodiment of the present invention is shown; Figure 4 The functional module diagram of the coupler displacement detection device based on the pull-wire sensor according to the third embodiment of the present invention is shown; Figure 5 A schematic diagram of the composition structure of an electronic device for implementing the method for detecting the displacement of a coupler based on a pull-wire sensor according to a fourth embodiment of the present invention is shown. DETAILED DESCRIPTION

[0018] The present disclosure is further described below in conjunction with the embodiments shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] The present invention proposes a coupler displacement detection method based on a cable sensor based on sensor technology. Based on the theory of potentiometer displacement sensor, combined with the displacement detection method, the coupler swing and extension amount are measured to realize automatic identification of coupler displacement. Compared with the traditional method, the coupler displacement detection technology based on cable sensor is more efficient and reduces human subjectivity, and has great potential and application prospects in heavy-duty locomotive applications.

[0021] Embodiment 1 like Figure 1 As shown in the figure, it is a schematic diagram of the displacement sensor measuring the lateral displacement. The vertical angle iron is welded on the front part of the anti-jump platform of the coupler to install the sensor base. The steel bar is welded near the lifting rod of the car body hook to fix the lateral wire displacement sensor. The lateral displacement of the coupler is measured by the lateral wire displacement sensor.

[0022] In detail, one end of the rope displacement sensor is installed on the fixed position of the hook head of the vehicle, and the other end is fixed on the fixed position of the vehicle body. The linear motion of the rope is aligned with the axis of motion of the moving object. When the coupler moves, the sensor rope stretches and contracts. An internal spring ensures that the tension of the rope remains constant. The threaded hub drives the precision rotary sensor to rotate and output an electrical signal proportional to the distance the rope moves. The output signal can be measured to obtain the displacement distance, direction or speed of the moving object, and the data can be stored and analyzed through the data acquisition instrument.

[0023] like Figure 2 The figure shows a schematic diagram of the displacement sensor measuring the longitudinal displacement. The welded bolts on the upper part of the hook tail frame are used to fix the pull wire longitudinal displacement sensor, and the longitudinal displacement of the coupler is measured by the longitudinal displacement sensor.

[0024] Embodiment 2 like Figure 3 As shown, the present invention proposes a method for detecting the displacement of a coupler based on a pull-wire sensor, comprising the following steps: S1. The mechanical displacement between the preset target hook and the pull wire is collected by a preset pull wire sensor, and the mechanical displacement is converted into a linear voltage signal.

[0025] In the embodiment of the present invention, the wire draw sensor refers to a wire draw displacement sensor, which uses a potentiometer displacement sensor to convert mechanical displacement into a linear voltage output through a potentiometer element. Ordinary linear potentiometers and circular potentiometers can be used as linear displacement and angular displacement sensors, respectively.

[0026] In detail, the mechanical displacement refers to the displacement of the hook relative to the reference point, which indicates the distance and direction of the hook's movement in space. A pull-wire displacement sensor can be used to fix one end of the sensor on the reference point of the target hook and the other end on a movable reference point, so that the pull wire can be freely extended and retracted when the hook moves, thereby collecting the mechanical displacement between the target hook and the pull wire through the pull-wire sensor.

[0027] Furthermore, the collected mechanical displacement needs to be converted into a linear voltage output through a potentiometer element. Ordinary linear potentiometers and circular potentiometers can be used as linear displacement sensors and angular displacement sensors, respectively.

[0028] In an embodiment of the present invention, the linear voltage signal refers to a voltage signal converted from mechanical displacement, and a voltage output having a linear relationship with the mechanical displacement. The change of the linear voltage signal is proportional to the change of the input variable, that is, when the input changes, the output voltage also changes at a fixed ratio.

[0029] In an embodiment of the present invention, converting the mechanical displacement into a linear voltage signal includes: Determining a resistance distribution corresponding to a preset potentiometer according to the mechanical displacement; Determining a resistance ratio between a resistance value of the potentiometer and a total resistance of the potentiometer according to the resistance distribution; The linear voltage signal corresponding to the mechanical displacement is determined by the resistance ratio and the pre-acquired power supply voltage.

[0030] In detail, the potentiometer-based displacement sensor converts mechanical displacement into a linear voltage output through a potentiometer element. The potentiometer has a movable brush and two fixed terminals (terminal A and terminal B). The resistance value of the potentiometer is fixed between terminal A and terminal B. First, the terminals A and B of the potentiometer are connected to a stable power supply voltage. When mechanical displacement occurs, the movable brush of the potentiometer will also move through the mechanical connection device. This movement will change the resistance distribution between the brush and the potentiometer terminals A and B, thereby affecting the output voltage. The movable brush of the potentiometer displacement sensor is connected to the object to be measured. The displacement of the object causes the resistance of the moving end of the potentiometer to change. The change in resistance reflects the value of the displacement, and the increase or decrease in resistance indicates the direction of the displacement.

[0031] Specifically, assuming that the sliding platform is located in the middle of the track, the movable brush of the potentiometer is exactly at the midpoint of the resistor, and the output voltage is the middle value. At this time, the resistance value of the potentiometer is Total resistance of potentiometer The ratio is 0.5. If the mechanical displacement moves to the right, the brush will move from the midpoint of the potentiometer to terminal B. At this time, the resistance between the brush and terminal B decreases, and the resistance between the brush and terminal A increases. The output linear voltage signal is ,resistance increases to terminal A, while the resistance from terminal B decreases, causing the output voltage If the sliding platform moves to the left, the brush moves from terminal B to the midpoint. At this time, the resistance between the brush and terminal B increases, and the resistance between the brush and terminal A decreases, and the voltage output becomes larger, when the platform moves to the right, the resistance between the brush and terminal B decreases, and the resistance between the brush and terminal A increases. This change reflects the displacement of the platform, so the potentiometer displacement sensor can accurately reflect the displacement and direction of the object being measured.

[0032] Furthermore, an internal spring ensures that the tension of the rope remains constant, and the threaded hub drives the precision rotary sensor to rotate, outputting an electrical signal proportional to the distance the rope moves. Measuring the output signal can determine the displacement distance, direction or speed of the moving object.

[0033] S2. Calculate the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal, and calculate the swing amount of the target coupler according to the lateral displacement distance and the original wire length of the target coupler.

[0034] In the embodiment of the present invention, the lateral displacement distance refers to the movement distance of the coupler in the horizontal direction relative to the base point, and the lateral displacement distance is expressed in a certain unit (such as millimeters or inches), indicating the position change of the coupler in the left and right direction.

[0035] In the embodiment of the present invention, the step of calculating the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal includes: Extracting a proportionality coefficient between the linear voltage signal and the wire displacement of the target coupler; Determine the linear relationship between the linear voltage signal and the wire displacement according to the proportionality coefficient; Determining the lateral displacement distance of the target coupler according to the linear relationship; The lateral displacement direction of the target coupler is determined according to the distance value sign of the lateral displacement distance.

[0036] In detail, record the output value of the linear voltage signal , and measure the corresponding wire displacement , the proportionality coefficient between the linear voltage signal and the coupler wire displacement can be determined as , which represents the displacement change corresponding to a unit voltage change, and then the linear relationship between the linear voltage signal and the wire displacement is determined according to the proportional coefficient, that is, , and then input the linear voltage signal into the linear relationship to obtain the lateral displacement distance of the target coupler , and according to the lateral displacement distance The corresponding distance value sign determines the lateral displacement direction of the target coupler, that is, , indicating that the coupler moves to the right. , indicating that the coupler moves to the left, and thus the lateral displacement distance and direction of the target coupler can be determined.

[0037] Furthermore, the swing amount of the coupler can be measured through the lateral distance of the sensor wire, which can more accurately determine the position of the coupler and ensure its stability and safety during operation. When the train is in operation and under different environmental conditions, calculating the swing amount can help the train operation system automatically adjust to maintain optimal performance.

[0038] In the embodiment of the present invention, the swing amount refers to the lateral displacement of the target coupler at the reference position, which is caused by external forces (such as traction or crosswind) and is usually used to describe the angular or linear displacement of an object after being acted upon by an external force, such as angular swing, the rotation angle of an object around a fixed axis, usually expressed in degrees or radians. The swing amount can reflect the degree of deviation of the coupler caused by external factors (such as wind, impact, etc.) during operation or driving, affecting the safety and stability of train operation.

[0039] In the embodiment of the present invention, the step of calculating the swing amount of the target coupler by using the lateral displacement distance and the original wire length of the target coupler includes: Calculate the lateral change length of the cable according to the lateral displacement distance and the original cable length; Extracting the target distance between the swing axis of the target coupler and the fixed point of the wire sensor; Calculating the swing angle of the target coupler according to the lateral change length of the pull line and the target distance; The swing amount of the target coupler is determined by the swing angle.

[0040] In detail, using the lateral displacement distance and original cable length The lateral change length of the pull wire can be calculated ,Right now , then the lateral length variation Represents the actual effective length of the cable after being acted upon by an external force, and extracts the target distance between the swing axis of the target hook and the fixed point of the cable sensor , and then according to the horizontal change of the length of the pull line Distance to target Calculate the swing angle of the target coupler using trigonometric functions ,but , according to the calculated swing angle , determine the swing amount of the target coupler ,but That is, based on the swing angle and the target distance, the actual swing amount is calculated, so as to finally obtain the swing amount of the target coupler based on the lateral displacement and the original wire length.

[0041] Furthermore, in order to ensure the safe operation of heavy-loaded locomotives, the coupler position error should be minimized as much as possible. Not only the lateral displacement distance and lateral displacement direction of the target coupler should be calculated, but also the longitudinal displacement distance and longitudinal displacement direction of the target coupler should be calculated. This way, the coupler position can be obtained in real time to ensure that it is within a safe range and reduce the risk of accidents.

[0042] S3. Calculate the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculate the extension and contraction amount of the target coupler according to the longitudinal displacement distance and the original wire length.

[0043] In the embodiment of the present invention, the longitudinal displacement distance refers to the displacement of the coupler along its main movement direction, reflecting the movement distance of the object relative to the initial position. The longitudinal displacement direction refers to the direction of the longitudinal displacement, which is usually consistent with the forward direction of the object and can clearly indicate whether the coupler moves forward or backward.

[0044] In detail, the step of calculating the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal is consistent with the step of calculating the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal in S2, and will not be repeated here.

[0045] Furthermore, in order to reflect the dynamic state of the coupler in real time and identify abnormal conditions during train operation, the geometric relationship between the longitudinal displacement and the length of the cable can determine the changes in the coupler during the stretching or compression process.

[0046] In the embodiment of the present invention, the expansion amount refers to the amount of change in the coupler displacement when the coupler is subjected to an external force, and is used to describe the degree of elongation or shortening of the coupler. The expansion amount is crucial to the normal operation and safety of the train.

[0047] In the embodiment of the present invention, the step of calculating the extension and contraction amount of the target coupler by using the longitudinal displacement distance and the original wire length includes: Calculate the longitudinal change length of the cable according to the longitudinal displacement distance and the original cable length; Calculating the length difference between the longitudinal change length of the pull wire and the original pull wire length; The length difference is determined as the extension and contraction amount of the target coupler.

[0048] In detail, by subtracting the longitudinal displacement distance from the original wire length, a new wire length, i.e., the longitudinal change length of the wire, is obtained. By comparing the longitudinal change length of the wire with the original length, a length difference is obtained. The length difference reflects the changes that have occurred in the wire during the working process. The calculated length difference is used as the expansion and contraction amount of the target coupler. The expansion and contraction amount can be used to determine whether the coupler is working within a safe range, thereby ensuring the performance and safety of the train during operation.

[0049] Furthermore, the swing amount represents the movement of the coupler in the lateral or vertical direction, while the extension amount reflects the change of the coupler in the longitudinal direction. Combining the two can provide a more comprehensive understanding of the actual position change of the coupler.

[0050] S4. Determine the comprehensive displacement value of the target coupler according to the swing amount and the extension amount, and determine the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction.

[0051] In the embodiment of the present invention, the comprehensive displacement value refers to the overall displacement of the coupler in space relative to the initial position, and the displacements of the coupler's swing amount and extension amount are integrated to measure the distance from the initial position to the target position of the coupler, including lateral displacement and longitudinal displacement.

[0052] In the embodiment of the present invention, the step of determining the comprehensive displacement value of the target coupler according to the swing amount and the telescopic amount includes: Creating a two-dimensional displacement coordinate system based on the lateral displacement distance and the longitudinal displacement distance; Determining the target coordinates of the target coupler in the two-dimensional displacement coordinate system according to the swing amount and the extension amount; The comprehensive displacement value of the target coupler is calculated according to the target coordinates.

[0053] Specifically, the axes of lateral and longitudinal displacement are set. Usually, the lateral direction (X axis) corresponds to the swing amount, and the longitudinal direction (Y axis) corresponds to the extension amount. ) and the amount of expansion ( ), calculate the target coordinates of the target coupler ,but , then the initial coordinates of the coupler are , and then use the Pythagorean theorem to calculate the comprehensive displacement of the target coupler ,but , thus obtaining the comprehensive displacement value of the target coupler.

[0054] Furthermore, in order to reflect the actual path from the initial position to the target position, it is necessary to determine by considering the combination of the lateral and longitudinal displacement directions. The lateral and longitudinal displacements can be regarded as vectors in two directions, so that the displacement direction of the coupler can be accurately identified.

[0055] In the embodiment of the present invention, the comprehensive displacement direction refers to the actual movement direction of the target object (such as a coupler) when it moves from the starting position to the target position on the basis of considering the lateral and longitudinal displacements. It is a synthesis of the lateral and longitudinal displacement directions, usually represented by a vector, which can reflect the movement trajectory and orientation of the target object in space.

[0056] In the embodiment of the present invention, the step of determining the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction includes: Extracting a transverse unit vector corresponding to the transverse displacement direction; Extracting the longitudinal unit vector corresponding to the longitudinal displacement direction; Constructing a direction vector of a target coupler according to the lateral displacement direction, the lateral unit vector, the longitudinal displacement direction and the longitudinal unit vector; The comprehensive displacement direction of the target coupler is determined according to the direction vector.

[0057] In detail, the lateral displacement direction is usually expressed as a specific direction, such as left or right. , the lateral unit vector can be obtained by normalizing the displacement , is a unit vector, indicating the horizontal direction. Similarly, the longitudinal displacement direction may be the front-back direction. If the lateral displacement is , whose unit vector is expressed as , is a unit vector, indicating the vertical direction. Based on the extracted horizontal and vertical unit vectors, the comprehensive direction vector of the target coupler can be constructed. , , then the comprehensive direction vector contains the moving direction information of the target coupler, and the comprehensive displacement direction can be calculated by the angle of the direction vector, usually using the inverse tangent function , giving the angle of the target coupler relative to a certain reference direction (such as the horizontal line), thereby describing its comprehensive displacement direction, we can clearly understand how to determine the comprehensive displacement direction of the target coupler from the lateral and longitudinal displacement directions.

[0058] Furthermore, the comprehensive displacement vector of the target coupler is determined by the comprehensive displacement value and the comprehensive displacement direction, so that the position of the coupler in space can be accurately described, which helps to improve the positioning accuracy, helps to dynamically adjust the coupler position in real time, and enhances the responsiveness and stability of the train operation system.

[0059] S5. Determine the comprehensive displacement vector of the target coupler through the comprehensive displacement value and the comprehensive displacement direction.

[0060] In the embodiment of the present invention, the comprehensive displacement vector refers to a vector that describes the displacement of the coupler within a specific time period. It combines the magnitude (i.e., displacement value) and direction of the displacement. The magnitude of the displacement reflects the total distance the object moves, and the direction of the displacement indicates the direction of movement of the coupler, thereby being able to describe the motion state of the coupler in an effective way.

[0061] In the embodiment of the present invention, the step of determining the comprehensive displacement vector of the target coupler by using the comprehensive displacement value and the comprehensive displacement direction includes: Determining the coupler displacement of the target coupler according to the comprehensive displacement value; Determining a coupler direction of a target coupler according to the comprehensive displacement direction; A displacement vector of a target coupler is determined according to the coupler displacement and the coupler direction.

[0062] In detail, the comprehensive displacement value is the total distance moved by the target coupler during the movement, reflecting the actual movement of the coupler within a specific time; the comprehensive displacement direction is an angle, indicating the specific direction of the coupler movement, which can be defined based on a reference direction (such as a horizontal line) to ensure consistency in different coordinate systems; the coupler displacement is determined as the displacement magnitude of the coupler, and the coupler direction is determined as the displacement direction of the coupler, and then the coupler displacement and the coupler direction are used to determine the displacement vector of the target coupler, so that the movement state of the target coupler in space can be accurately described based on the displacement vector.

[0063] Furthermore, the comprehensive displacement vector of the target coupler is determined by the comprehensive displacement value and comprehensive displacement direction, which can provide a clear displacement size and direction, ensure the accurate position of the target coupler in space, and reduce the operation risk by accurately controlling the displacement of the coupler, ensuring the safety of equipment and personnel, that is, the coupler force, coupler swing angle and car body lateral misalignment data under various braking conditions are obtained. The test results show that the greater the coupler force after braking is stable, the greater the coupler swing angle and the greater the lateral misalignment of the car body. Under various braking conditions, the coupler swing angle and the lateral misalignment of the car body have unidirectional characteristics; based on the test test and geometric measurement results, combined with the structure and working characteristics of the locomotive and buffer, the greater the distance of the coupler box from the center line, the greater the lateral misalignment of the coupler swing angle and the car body after braking, and the worse the safety of the locomotive. The higher the driving speed, the higher the requirement for the coupler box position accuracy. In order to ensure the safe operation of heavy-load locomotives, the coupler position error should be minimized.

[0064] The embodiments of the present invention can improve the measurability of the signal by converting the mechanical displacement into a linear voltage signal; calculate the lateral displacement distance and direction to accurately grasp the dynamic state of the coupler, and calculate the swing amount to provide key data on the stability of the coupler; calculate the longitudinal displacement distance and direction to ensure accurate control during the docking or separation of the vehicles; calculate the telescopic amount to grasp the changes of the coupler under different working conditions; determine the comprehensive displacement value and direction to fully understand the displacement state of the coupler and provide more comprehensive displacement information. Therefore, the coupler displacement detection method, device, equipment and medium based on the wire sensor proposed by the present invention can solve the problem of low accuracy when performing coupler displacement detection.

[0065] Embodiment 3 like Figure 4 As shown, this embodiment also provides a functional module diagram of a coupler displacement detection device based on a wire sensor.

[0066] The coupler displacement detection device 100 based on the cable sensor described in this embodiment can be installed in an electronic device. According to the functions to be implemented, the coupler displacement detection device 100 based on the cable sensor can include a linear voltage signal conversion module 101, a swing amount calculation module 102, a telescopic amount calculation module 103, a comprehensive displacement direction determination module 104 and a comprehensive displacement vector determination module 105. The module described in the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0067] In this embodiment, the functions of each module / unit are as follows: The linear voltage signal conversion module 101 is used to collect the mechanical displacement between the preset target coupler and the cable through a preset cable sensor, and convert the mechanical displacement into a linear voltage signal; The swing amount calculation module 102 is used to calculate the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal, and calculate the swing amount of the target coupler according to the lateral displacement distance and the original wire length of the target coupler; The expansion and contraction amount calculation module 103 is used to calculate the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculate the expansion and contraction amount of the target coupler according to the longitudinal displacement distance and the original wire length; The comprehensive displacement direction determination module 104 is used to determine the comprehensive displacement value of the target coupler according to the swing amount and the extension amount, and determine the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction; The comprehensive displacement vector determination module 105 is used to determine the comprehensive displacement vector of the target coupler according to the comprehensive displacement value and the comprehensive displacement direction.

[0068] In detail, each module described in the coupler displacement detection device 100 based on the pull-wire sensor described in the embodiment of the present invention adopts the same technical means as the coupler displacement detection method based on the pull-wire sensor described in Example 1 and Example 2 when in use, and can produce the same technical effect, which will not be repeated here.

[0069] Embodiment 4 like Figure 5 As shown, this embodiment also provides a computer electronic device, which may include a processor 10, a memory 11, a communication bus 12 and a communication interface 13, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a coupler displacement detection device program based on a pull wire sensor.

[0070] In some embodiments, the processor 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor 10 is the control core (ControlUnit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes various functions and processes data of the electronic device by running or executing programs or modules stored in the memory 11 (for example, executing a coupler displacement detection program based on a wire sensor, etc.), and calling data stored in the memory 11.

[0071] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of an electronic device, such as a mobile hard disk of the electronic device. In other embodiments, the memory 11 may also be an external storage device of an electronic device, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Furthermore, the memory 11 may also include both an internal storage unit of the electronic device and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device, such as the code of the coupler displacement detection program based on the wire sensor, but also be used to temporarily store data that has been output or is to be output.

[0072] The communication bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0073] The communication interface 13 is used for communication between the above-mentioned electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)), and optionally, the user interface may also be a standard wired interface, a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface.

[0074] The figure only shows an electronic device with components. Those skilled in the art will understand that the structure shown in the figure does not constitute a limitation on the electronic device, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0075] For example, although not shown, the electronic device may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0076] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0077] The coupler displacement detection program based on the pull-wire sensor stored in the memory 11 of the electronic device is a combination of multiple instructions. When running in the processor 10, it can achieve: The mechanical displacement between the preset target coupler and the pull wire is collected by a preset pull wire sensor, and the mechanical displacement is converted into a linear voltage signal; Calculating the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal, and calculating the swing amount of the target coupler according to the lateral displacement distance and the original wire length of the target coupler; Calculating the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculating the extension and contraction amount of the target coupler according to the longitudinal displacement distance and the original wire length; Determine the comprehensive displacement value of the target coupler according to the swing amount and the extension amount, and determine the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction; The comprehensive displacement vector of the target coupler is determined by the comprehensive displacement value and the comprehensive displacement direction.

[0078] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to the description of the relevant steps in the corresponding embodiment of the accompanying drawings, which will not be repeated here.

[0079] Furthermore, if the module / unit integrated in the electronic device 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. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0080] Embodiment 5 This embodiment provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of the method for detecting the displacement of a coupler based on a wire sensor as described above are implemented.

[0081] These program codes can also be loaded onto a computer or other programmable data processing device so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions executed on the computer or other programmable device for implementing the process. Figure 1 The steps of a specified function in a process or multiple processes.

[0082] Storage media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of storage media can include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0083] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0084] The modules described as separate components may or may not be physically separated, and the components shown as modules 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0085] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0086] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0087] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is not limited only according to the above description, and it is intended that all changes within the meaning and scope of equivalent elements within the scope of protection are included in the present invention.

[0088] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0089] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the system claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for detecting coupler displacement based on a pull-wire sensor, characterized in that: The method comprises: The mechanical displacement between the preset target coupler and the pull wire is collected by a preset pull wire sensor, and the mechanical displacement is converted into a linear voltage signal; Calculating the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal, and calculating the swing amount of the target coupler according to the lateral displacement distance and the original wire length of the target coupler; Calculating the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculating the extension and contraction amount of the target coupler according to the longitudinal displacement distance and the original wire length; Determine the comprehensive displacement value of the target coupler according to the swing amount and the extension amount, and determine the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction; The comprehensive displacement vector of the target coupler is determined by the comprehensive displacement value and the comprehensive displacement direction.

2. The method for detecting coupler displacement based on a pull-wire sensor according to claim 1, characterized in that: The step of converting the mechanical displacement into a linear voltage signal comprises: Determining a resistance distribution corresponding to a preset potentiometer according to the mechanical displacement; Determining a resistance ratio between a resistance value of the potentiometer and a total resistance of the potentiometer according to the resistance distribution; The linear voltage signal corresponding to the mechanical displacement is determined by the resistance ratio and the pre-acquired power supply voltage.

3. The method for detecting coupler displacement based on a pull-wire sensor according to claim 1, characterized in that: The step of calculating the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal comprises: Extracting a proportionality coefficient between the linear voltage signal and the wire displacement of the target coupler; Determine the linear relationship between the linear voltage signal and the wire displacement according to the proportionality coefficient; Determining the lateral displacement distance of the target coupler according to the linear relationship; The lateral displacement direction of the target coupler is determined according to the distance value sign of the lateral displacement distance.

4. The method for detecting the displacement of a coupler based on a pull-wire sensor according to claim 1, characterized in that: The step of calculating the swing amount of the target coupler by using the lateral displacement distance and the original wire length of the target coupler includes: Calculate the lateral change length of the cable according to the lateral displacement distance and the original cable length; Extracting the target distance between the swing axis of the target coupler and the fixed point of the wire sensor; Calculating the swing angle of the target coupler according to the lateral change length of the pull line and the target distance; The swing amount of the target coupler is determined by the swing angle.

5. The method for detecting coupler displacement based on a pull-wire sensor according to claim 1, characterized in that: The step of calculating the extension and contraction amount of the target coupler by using the longitudinal displacement distance and the original pull-wire length includes: Calculate the longitudinal change length of the cable according to the longitudinal displacement distance and the original cable length; Calculating the length difference between the longitudinal change length of the pull wire and the original pull wire length; The length difference is determined as the extension and contraction amount of the target coupler.

6. The method for detecting the displacement of a coupler based on a wire sensor according to any one of claims 4 to 5, characterized in that: Determining the comprehensive displacement value of the target coupler according to the swing amount and the extension amount includes: Creating a two-dimensional displacement coordinate system based on the lateral displacement distance and the longitudinal displacement distance; Determining the target coordinates of the target coupler in the two-dimensional displacement coordinate system according to the swing amount and the extension amount; The comprehensive displacement value of the target coupler is calculated according to the target coordinates.

7. The method for detecting the displacement of a coupler based on a wire sensor according to claim 1, characterized in that: Determining the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction includes: Extracting a transverse unit vector corresponding to the transverse displacement direction; Extracting the longitudinal unit vector corresponding to the longitudinal displacement direction; Constructing a direction vector of a target coupler according to the lateral displacement direction, the lateral unit vector, the longitudinal displacement direction and the longitudinal unit vector; The comprehensive displacement direction of the target coupler is determined according to the direction vector.

8. A coupler displacement detection device based on a pull-wire sensor, characterized in that: The device comprises: A linear voltage signal conversion module, used for collecting the mechanical displacement between the preset target coupler and the pull wire through a preset pull wire sensor, and converting the mechanical displacement into a linear voltage signal; A swing amount calculation module, used to calculate the lateral displacement distance and lateral displacement direction of the target coupler according to the linear voltage signal, and calculate the swing amount of the target coupler according to the lateral displacement distance and the original wire length of the target coupler; An expansion and contraction amount calculation module, used to calculate the longitudinal displacement distance and longitudinal displacement direction of the target coupler according to the linear voltage signal, and calculate the expansion and contraction amount of the target coupler according to the longitudinal displacement distance and the original wire length; A comprehensive displacement direction determination module, used to determine the comprehensive displacement value of the target coupler according to the swing amount and the telescopic amount, and to determine the comprehensive displacement direction of the target coupler according to the lateral displacement direction and the longitudinal displacement direction; The integrated displacement vector determination module is used to determine the integrated displacement vector of the target coupler through the integrated displacement value and the integrated displacement direction.

9. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method for detecting coupler displacement based on a wire sensor as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for detecting the displacement of a coupler based on a pull-wire sensor as described in any one of claims 1 to 7 are implemented.

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