Coupler difference measurement method, device, equipment and medium based on locomotive dynamics

Abstract

The present invention relates to the technical field of locomotive dynamics, and proposes a method, device, equipment and medium for measuring coupler difference based on locomotive dynamics, including: performing signal enhancement processing on laser pulse signals; recording the emission time and return time of laser pulse signals, and calculating the target distance between an image sensor and a laser sensor according to the emission time and return time; obtaining the reflected light path of the laser pulse signal, performing imaging operation according to the reflected light corresponding to the reflected light path, and generating a reflected light spot corresponding to the laser pulse signal according to the reflected light after the imaging operation; extracting the light spot position corresponding to the reflected light spot, monitoring the position change of the light spot position, and determining the target movement displacement of the light spot position according to the position change; calculating the baseline distance of the target coupler according to the target distance and the target movement displacement, and calculating the coupler difference of the target coupler according to the baseline distance and the original distance of the target coupler. The present invention can improve the accuracy of measuring coupler difference.

Description

Technical Field

[0001] The present invention relates to the technical field of locomotive dynamics, and in particular to a method, device, equipment and medium for measuring coupler difference based on locomotive dynamics. Background Art

[0002] At present, actively developing heavy-duty transport technology is one of the necessary conditions for promoting the rapid development of the national economy. Increasing the axle weight of freight cars and expanding the train formation are the two most common ways to expand the capacity and improve the efficiency of heavy-duty railway transportation. However, whether it is increasing the axle weight or expanding the train formation, it will cause the longitudinal impulse of heavy-duty trains to increase significantly. The severe longitudinal impulse causes the phenomenon of broken hooks, unhooking, and buffer damage. In severe cases, it will cause the train to derail, threatening the safety of life and property. Therefore, the dynamic problems related to braking and relief of trains in long downhill sections have received extensive attention.

[0003] Existing coupler difference measurement technologies are mostly based on traditional measuring tools to directly measure the gap and height of the coupler. In practical applications, the measurement tools are simple and easy to use, but they require manual operation and have limited measurement accuracy, resulting in large errors in measurement, which leads to low accuracy in coupler difference measurement. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention provide a method, device, equipment and medium for measuring coupler difference based on locomotive dynamics.

[0005] In a first aspect, an embodiment of the present invention provides a method for measuring a coupler difference based on locomotive dynamics, comprising: Collecting a laser pulse signal between a preset laser sensor and a target coupler, and performing signal enhancement processing on the laser pulse signal; Recording the emission time and return time of the laser pulse signal according to the processed laser pulse signal, and calculating the target distance between the preset image sensor and the laser sensor according to the emission time and the return time; Acquiring a reflected light path of the laser pulse signal, performing an imaging operation according to a reflected light corresponding to the reflected light path, and generating a reflected light spot corresponding to the laser pulse signal according to the reflected light after the imaging operation; Extracting the spot position corresponding to the reflected light spot, monitoring the position change of the spot position, and determining the target movement displacement of the spot position according to the position change; The baseline distance of the target coupler is calculated according to the target distance and the target movement displacement, and the coupler difference of the target coupler is calculated according to the baseline distance and the original distance of the target coupler.

[0006] According to an embodiment of the present invention, the step of performing signal enhancement processing on the laser pulse signal includes: Performing signal filtering on the laser pulse signal; Amplifying the laser pulse signal after signal filtering; Performing pulse shaping operation on the amplified laser pulse signal; Convert the pulse shaped laser pulse signal into an electrical signal.

[0007] According to an embodiment of the present invention, the step of calculating a target distance between a preset image sensor and a laser sensor according to the sending time and the return time includes: Calculate the time difference according to the sending time and the returning time; Calculate the round-trip distance between the preset image sensor and the laser sensor according to the time difference and the preset light speed; The target distance between the image sensor and the laser sensor is determined by the round-trip distance.

[0008] According to an embodiment of the present invention, performing an imaging operation according to the reflected light corresponding to the reflected light path includes: Converting photons corresponding to the reflected light path into electrons; storing the electrons in a preset pixel unit of an image sensor; The electrons stored in the pixel unit are converted into a voltage signal through a preset charge coupling; A reflected image corresponding to the reflected light is generated according to the voltage signal.

[0009] According to an embodiment of the present invention, determining the target movement displacement of the light spot position according to the position change includes: Recording the starting position coordinates corresponding to the light spot position; Determining updated position coordinates of the light spot position according to the position change; Determining the moving distance and moving direction of the light spot position according to the updated position coordinates and the starting position coordinates; The target movement displacement of the light spot position is determined according to the movement distance and the movement direction.

[0010] According to an embodiment of the present invention, the step of calculating the baseline distance of the target coupler according to the target distance and the target moving displacement includes: Get the lens focal length corresponding to the preset image sensor; Generate a laser triangular optical path diagram corresponding to the laser pulse signal according to the reflected light path; Determine the displacement relationship between the target distance and the target movement displacement according to the laser triangulation optical path diagram; The baseline distance of the target coupler is calculated according to the displacement relationship and the focal length of the lens.

[0011] According to an embodiment of the present invention, determining the displacement relationship between the target distance and the target movement displacement according to the laser triangulation optical path diagram includes: Determine a similar triangle between the target distance and the target movement displacement according to the laser triangulation optical path diagram; Extracting the proportional relationship corresponding to the similar triangles; The proportional relationship is converted into a displacement relationship between the target distance and the target movement displacement.

[0012] In a second aspect, an embodiment of the present invention provides a coupler difference measurement device based on locomotive dynamics, comprising: A laser pulse signal acquisition module is used to acquire the laser pulse signal between the preset laser sensor and the target coupler, and perform signal enhancement processing on the laser pulse signal; A target distance calculation module, used to record the sending time and return time of the laser pulse signal according to the processed laser pulse signal, and calculate the target distance between the preset image sensor and the laser sensor according to the sending time and the return time; A reflection spot generating module, used for acquiring a reflection light path of the laser pulse signal, performing an imaging operation according to the reflection light corresponding to the reflection light path, and generating a reflection light spot corresponding to the laser pulse signal according to the reflection light after the imaging operation; A target movement displacement determination module is used to extract the spot position corresponding to the reflected light spot, monitor the position change of the spot position, and determine the target movement displacement of the spot position according to the position change; The coupler difference calculation module is used to calculate the baseline distance of the target coupler according to the target distance and the target movement displacement, and calculate the coupler difference of the target coupler according to the baseline distance and the original distance of the target coupler.

[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 measuring coupler differences based on locomotive dynamics 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: In the embodiment of the present invention, the laser sensor is fixed at a fixed position of the locomotive coupler, and the laser emitting diode is aimed at the target to emit laser pulses. After being reflected by the target, the laser is scattered in all directions, and part of the scattered light returns to the sensor receiver, is received by the optical system and formed into an image, and then is amplified by the optical sensor with the amplification function inside the laser sensor, and converted into a corresponding electrical signal. By recording and processing the time from the emission of the light pulse to the return and reception, the target distance can be measured. When the two couplers float up and down due to the ramp curve during operation, the electrical signal of the measured data is transmitted by the ranging laser sensor to the data acquisition instrument and recorded. The coupler difference of the two couplers during operation can be measured, displayed, and recorded in real time by standard measuring tools, thereby reducing unnecessary safety hazards caused by the coupler difference problem during the operation of the train. Therefore, the coupler difference measurement method, device, equipment and medium based on locomotive dynamics proposed by the present invention can solve the problem of low accuracy when measuring coupler difference. 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 The flowchart of the method for measuring the coupler difference based on locomotive dynamics according to the first embodiment of the present invention is shown; Figure 2 A schematic diagram showing a laser triangulation optical path diagram according to the first embodiment of the present invention; Figure 3 The functional module diagram of the coupler difference measuring device based on locomotive dynamics according to the second embodiment of the present invention is shown; Figure 4 A schematic diagram of the composition structure of an electronic device for implementing the method for measuring coupler difference based on locomotive dynamics according to the 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 difference measurement method based on locomotive dynamics based on sensor imaging technology. Based on laser pulse theory and combined with light imaging method, the moving distance of the coupler is measured to realize automatic identification of coupler difference during train operation. Compared with traditional methods, the coupler difference measurement technology based on locomotive dynamics is more efficient and reduces human subjectivity, and has great potential and application prospects in heavy-load locomotive applications.

[0021] Embodiment 1 like Figure 1 As shown, the present invention proposes a method for measuring coupler difference based on locomotive dynamics, comprising the following steps: S1. Collecting a laser pulse signal between a preset laser sensor and a target coupler, and performing signal enhancement processing on the laser pulse signal.

[0022] In one of the practical application scenarios of the present invention, the laser sensor is small in size and easy to install. The test results are accurate and are not affected by the test distance, installation conditions, objects, materials, environment, and bad weather. Therefore, this set of equipment is installed on a 20,000-ton test locomotive, which can record and store the coupler difference data of a 20,000-ton heavy-load train in real time during operation. Combined with the driver's operating problems, the data is analyzed and summarized by a dedicated person to form a database, and the reasons are compared and analyzed to find out the deficiencies in the operation and equipment, and then improved and optimized.

[0023] In the embodiment of the present invention, the laser pulse signal refers to a short-duration, high-intensity light pulse emitted by a laser, and the laser pulse signal has a very short duration. The distance can be measured by transmitting and receiving pulses of the laser pulse signal, wherein the laser sensor is installed in an appropriate position, and ensure that the laser sensor is aimed at the target coupler, and the frequency and duration of the laser pulse are set, then the laser sensor periodically emits laser pulses according to preset parameters, that is, the laser pulses will propagate toward the target coupler, and the laser pulse signal emitted on the target coupler will be received by the sensor, wherein the laser sensor is equipped with a photodetector for capturing the returned light signal.

[0024] Furthermore, in order to make the collected laser pulse signals easier to detect, especially in low-light conditions or long-distance measurements, weak reflected signals can be better captured. Therefore, it is necessary to perform signal preprocessing on the collected laser pulse signals to remove unnecessary interference signals and noise, which helps to improve the quality and reliability of subsequent data analysis.

[0025] In the embodiment of the present invention, by performing signal enhancement processing on the laser pulse signal, unnecessary components can be effectively removed, and the clarity and recognizability of the signal can be improved. In addition, in long-distance transmission or low-power laser applications, the signal may become very weak. Through signal enhancement processing, the strength of the signal can be significantly improved, making it easier to be detected.

[0026] In an embodiment of the present invention, the signal enhancement processing of the laser pulse signal includes: Performing signal filtering on the laser pulse signal; Amplifying the laser pulse signal after signal filtering; Performing pulse shaping operation on the amplified laser pulse signal; Convert the pulse shaped laser pulse signal into an electrical signal.

[0027] In detail, a bandpass filter is used to select a suitable frequency range to retain the target signal and filter out interference, thereby removing unnecessary frequency components from the laser pulse signal, and the laser pulse signal is amplified by an optical sensor with an internal amplification function of the laser sensor to increase the signal strength, and the sharpness and width of the signal are adjusted through a pulse shaping circuit, such as a high-pass filter and a delay line, to improve detection accuracy and response speed, and then the shaped analog signal is converted into a digital signal using an analog-to-digital converter (ADC). Ensure that the conversion rate is high enough to capture the details of the signal, thereby significantly improving the quality of the laser pulse signal and laying a good foundation for the subsequent analysis and application of the laser pulse signal.

[0028] Furthermore, the laser sensor is fixed at a fixed position on the locomotive coupler, and the laser emitting diode is aimed at the target to emit laser pulses. After being reflected by the target, the laser is scattered in all directions, and part of the scattered light returns to the sensor receiver and is received by the optical system into an image. It is then amplified by the optical sensor with amplification function inside the laser sensor and converted into a corresponding electrical signal. By recording and processing the time from the emission of the light pulse to the return reception, the target distance can be measured.

[0029] S2. Record the emission time and return time of the laser pulse signal according to the processed laser pulse signal, and calculate the target distance between the preset image sensor and the laser sensor according to the emission time and the return time.

[0030] In the embodiment of the present invention, the emission time refers to the moment when the laser pulse signal is emitted, which is triggered by the laser and recorded by a high-precision timer; the return time refers to the moment when the reflected pulse signal is detected by the receiver, which is recorded by a high-precision timer, marking the time when the signal is reflected back from the target object.

[0031] In an embodiment of the present invention, recording the sending time and the return time of the laser pulse signal according to the processed laser pulse signal includes: Determining the signal emission time of the laser pulse signal as the emission time; Detecting a reflected pulse signal corresponding to the laser pulse signal; When the reflected pulse signal is received, recording the receiving time corresponding to the reflected pulse signal; The receiving time is determined as the return time of the laser pulse signal.

[0032] In detail, when a laser pulse signal is emitted, the emission moment is accurately recorded, and a high-precision timer or clock module is used to mark the moment of signal emission as the "emitting time", and a receiver is set to monitor the laser pulse signal reflected back from the environment, and a photoelectric detector is used to continuously monitor whether a reflected pulse signal is received. When a reflected pulse signal is received, the moment is immediately recorded, and a high-precision timer is used again to mark the time of the received reflected pulse signal as the "return time", so that the emission time and return time of the laser pulse signal can be accurately recorded.

[0033] Furthermore, the laser sensor can measure the distance between the target and the sensor by emitting laser pulses and receiving signals reflected from the target. The total round-trip time of the laser pulse can be calculated from the moment the laser pulse is emitted from the laser sensor and the moment the laser pulse is reflected by the target and returns to the sensor, thereby accurately calculating the distance between the target and the laser sensor.

[0034] In the embodiment of the present invention, the image sensor refers to CCD (Charge-Coupled Device), which is a technology used for image sensing. The image sensor can form an image by reflecting the light of the laser pulse signal, and the target distance refers to the straight-line distance between the laser sensor (or other ranging equipment) and the center of the image sensor, that is, the actual distance between the center of the image sensor and the sensor when the laser pulse is emitted from the sensor to the target and returns.

[0035] In the embodiment of the present invention, the step of calculating the target distance between the preset image sensor and the laser sensor according to the sending time and the return time includes: Calculate the time difference according to the sending time and the returning time; Calculate the round-trip distance between the preset image sensor and the laser sensor according to the time difference and the preset light speed; The target distance between the image sensor and the laser sensor is determined by the round-trip distance.

[0036] Specifically, the difference between the return time and the send time is taken as the time difference , and through the preset light speed (approximately m / s), the round trip distance is , since the round-trip distance is the round-trip distance of the laser pulse, the actual target distance is , that is, to obtain the target distance between the image sensor and the laser sensor. First, the position of the image sensor is determined and regarded as a fixed point. The distance between the target and the laser sensor is calculated with the laser sensor as a reference. According to the geometric relationship between the image sensor and the laser sensor, the actual distance between the two is obtained. By recording the time when the laser is emitted and returned and using the speed of light, the distance between the target and the laser sensor can be accurately calculated. Combined with the position of the image sensor, it can help realize more complex ranging and positioning functions.

[0037] Furthermore, a laser sensor mounting base is welded on the coupler anti-jump platform, and the laser sensor emission port is aimed at the hook tongue of the trailer coupler. The laser emits a laser beam, which is incident vertically on the target to be measured, and is reflected and scattered on the target surface. The reflected laser is focused and imaged by a lens at another angle, and the light spot is imaged on the CCD position sensor. The reflected light corresponding to the laser pulse signal is collected, thereby determining the moving distance of the coupler.

[0038] S3, acquiring a reflected light path of the laser pulse signal, performing an imaging operation according to a reflected light corresponding to the reflected light path, and generating a reflected light spot corresponding to the laser pulse signal according to the reflected light after the imaging operation.

[0039] In an embodiment of the present invention, the reflected light path refers to the path of a laser light beam that is triggered from a transmission source, reflected from a target object, and returned to a receiver. For example, a laser pulse is emitted from a laser sensor, and the laser light beam propagates in a straight line. When it encounters a target coupler, it is reflected. The reflected light beam returns to the receiver along a path opposite to the emission direction. The complete path of the reflected light and the target distance can be determined by a ray tracing algorithm. The process of acquiring the reflected light path is that the laser is emitted from the sensor, hits the target object, returns according to the reflection law, and is received by the sensor, thereby obtaining the complete path of the reflected light and the target distance.

[0040] Furthermore, in order to analyze the position change of the target coupler, imaging operation is performed through the CCD via the reflected light. When the object to be measured moves along the laser direction, the light spot on the position sensor will move, and its displacement size corresponds to the moving distance of the object to be measured. Therefore, imaging operation based on the reflected light path can obtain efficient and accurate information.

[0041] In the embodiment of the present invention, performing imaging operation on reflected light refers to the process of generating an image using information of reflected light, and constructing a reflected image according to the received light signal, that is, mapping the light intensity information onto a two-dimensional image plane.

[0042] In an embodiment of the present invention, the imaging operation is performed according to the reflected light corresponding to the reflected light path, including: Converting photons corresponding to the reflected light path into electrons; storing the electrons in a preset pixel unit of an image sensor; The electrons stored in the pixel unit are converted into a voltage signal through a preset charge coupling; A reflected image corresponding to the reflected light is generated according to the voltage signal.

[0043] In detail, when reflected light hits the image sensor, photons interact with the sensor material to generate electrons, that is, when light hits the photosensitive area of ​​the CCD chip, photons are converted into electrons, and these electrons are stored in pixel units. The generated electrons are stored in the pixel units of the preset image sensor. Each pixel unit corresponds to the received light intensity. The number of stored electrons reflects the light intensity at that location and is gradually transferred to the output end through charge coupling. The electrons stored in the pixel units are converted into voltage signals through a preset charge coupled device (CCD or CMOS), that is, the charge of the electrons is transferred to the output node and converted into a readable voltage signal. Finally, these charges are converted into voltage signals and processed to form an image. Based on the obtained voltage signal, an image processing algorithm is used to generate a reflected image. Different values ​​of the voltage correspond to different grayscales or colors in the image, thereby forming a complete reflected image, thereby realizing the transformation from reflected light to the final image, and can accurately capture the visual information of the object.

[0044] Specifically, after the laser pulse interacts with the surface of an object, part of the light is reflected, and the reflected light forms a light spot in a specific receiving area (such as a sensor or imaging device). The size and shape of the light spot are related to the characteristics of the laser beam and the characteristics of the reflecting surface. The sensor receives the reflected laser pulse signal, captures the position and intensity information of the light spot, and processes the received light spot signal to extract key features, such as the center position, intensity and shape of the light spot. Then, a reflected light spot image corresponding to the laser pulse signal is generated according to the processed voltage signal, presenting the details and features of the object surface. The reflected light spot refers to a light spot or pattern formed on a receiver or imaging device after part of the light (such as a laser) is reflected when the light is irradiated onto the surface of an object.

[0045] Furthermore, reflection and scattering occur on the target surface, and the reflected laser is focused and imaged by a lens at another angle. The light spot is imaged on the CCD position sensor. When the object being measured moves along the laser direction, the light spot on the position sensor will move, thereby monitoring the light spot position corresponding to the reflected light spot in real time.

[0046] S4. Extracting the spot position corresponding to the reflected light spot, monitoring the position change of the spot position, and determining the target movement displacement of the spot position according to the position change.

[0047] In the embodiment of the present invention, the light spot position refers to the specific coordinates or area of ​​the reflected light spot in the image or sensor. The light spot position can be expressed in two-dimensional coordinates. Indicates that represents the displacement in the horizontal direction, It represents the displacement in the vertical direction, wherein an edge detection algorithm (such as Canny edge detection) or a contour extraction algorithm (such as findContours in OpenCV) is used to identify the boundary of the light spot, and the position coordinates of the light spot are determined by calculating the centroid or maximum intensity point of the light spot contour, thereby determining the light spot position corresponding to the reflected light spot.

[0048] Specifically, the sensor is used to capture the position change of the light spot image in real time, and the light spot coordinates corresponding to each frame image are extracted. By comparing the positions of the light spots in consecutive frames, the change amount is calculated, that is, , To calculate the reflected light spot and The changes in direction can then be used to plot the changes in the light spot position into a chart or trajectory diagram to more intuitively observe its movement trend, thereby allowing real-time monitoring of the changes in the light spot position.

[0049] Furthermore, the movement of the light source, the change of the reflecting surface or the movement of surrounding objects will affect the position of the light spot. Based on the change in the position of the reflected light spot, the light spot on the position sensor will move, and the displacement size corresponds to the moving distance of the object being measured. Through the principle of similar triangles, the distance value between the object being measured and the baseline can be calculated.

[0050] In the embodiment of the present invention, the target movement displacement refers to the moving position of the light spot, that is, the actual displacement of the light spot from its starting position to the updated position, including the moving distance and the moving direction. The moving distance refers to the actual length moved by the object in space, and the moving direction refers to the direction angle formed by the light spot. In an embodiment of the present invention, the step of determining the target movement displacement of the light spot position according to the position change includes: Recording the starting position coordinates corresponding to the light spot position; Determining updated position coordinates of the light spot position according to the position change; Determining the moving distance and moving direction of the light spot position according to the updated position coordinates and the starting position coordinates; The target movement displacement of the light spot position is determined according to the movement distance and the movement direction.

[0051] Specifically, when the light spot first appears, its position coordinates are recorded as the starting position , over time, the position of the light spot is detected in real time using continuous image processing technology. After each update, the new light spot position coordinates are recorded as the updated position , then the moving distance is , the moving direction is , the calculated moving distance and direction are combined to determine the target moving displacement of the spot position. This target moving displacement can be expressed as a vector ,but ,in, is the actual distance moved, It is the moving direction relative to the starting position, thus determining the target moving displacement of the spot position .

[0052] Furthermore, the target distance is combined with the target movement displacement to calculate the distance between the target coupler and the laser sensor, thereby facilitating accurate connection of vehicles based on the exact position of the target coupler.

[0053] S5. Calculate the baseline distance of the target coupler according to the target distance and the target moving displacement, and calculate the coupler difference of the target coupler according to the baseline distance and the original distance of the target coupler.

[0054] In the embodiment of the present invention, the baseline distance refers to the distance between the target coupler and the laser sensor, and then the coupler difference caused by the up and down floating of the two couplers due to the ramp curve during operation is determined according to two different baseline distances.

[0055] In the embodiment of the present invention, the step of calculating the baseline distance of the target coupler according to the target distance and the target moving displacement includes: Get the lens focal length corresponding to the preset image sensor; Generate a laser triangular optical path diagram corresponding to the laser pulse signal according to the reflected light path; Determine the displacement relationship between the target distance and the target movement displacement according to the laser triangulation optical path diagram; The baseline distance of the target coupler is calculated according to the displacement relationship and the focal length of the lens.

[0056] In detail, the lens focal length corresponding to the image sensor is obtained based on the technical specifications of the CCD, and then the corresponding laser triangulation optical path diagram is generated according to the geometric relationship between laser emission and reception, such as Figure 2 As shown, it is a schematic diagram of the laser triangulation optical path diagram, wherein A and B are the receiving lenses of the laser, O and O' are the movable ranges of the object to be measured, E and H are the upper sizes reflected to the photosensitive film, and the target distance is the distance between the laser A and the receiving lens, and the target movement displacement is the distance length between EF. Based on the principle of similar triangles in the laser triangulation optical path diagram, the displacement relationship between the target distance and the target movement displacement can be determined, and then the baseline distance AO of the target coupler can be determined according to the displacement relationship and the focal length of the lens.

[0057] Specifically, the coupler difference of the target coupler is calculated according to the baseline distance and the original distance of the target coupler. First, the coupler difference is calculated to determine the baseline distances obtained respectively under the action of the laser sensor twice, and then the difference between the two baseline distances is calculated to determine the coupler difference. Alternatively, the original distance of the coupler is determined initially, and then the baseline distance calculated for the first time is subtracted from the original distance to obtain the coupler difference between the two. The coupler distance refers to the distance between two vehicles, usually measured when the railway or vehicle is connected, and refers to the straight-line distance between the coupler (a device for connecting other vehicles) of one vehicle and the coupler of another vehicle. The coupler difference refers to the distance difference between the two connected vehicles, and refers to the distance difference between the target coupler and the baseline coupler.

[0058] Furthermore, if the coupler difference is greater than zero, it means that the target coupler distance is greater than the baseline distance, and the connection may need to be adjusted; if the coupler difference is less than zero, it means that the target coupler distance is less than the baseline distance, and corresponding adjustments are also required; if the coupler difference is equal to zero, it means that the target coupler distance is equal to the baseline distance and the connection is normal. If the baseline distance is 10 meters and the original distance of the target coupler is 12 meters, it means that the target coupler distance is 2 meters more than the baseline distance.

[0059] Furthermore, when the two couplers float up and down due to the slope curve during operation, the ranging laser sensor will transmit the electrical signal of the measured data to the data acquisition device and record it. After the train arrives, the ground analysts will dump the data, analyze and compare them, and form a database, which will play a key role in the future safe operation of 20,000 tons.

[0060] Embodiment 2 In order to more clearly understand the present invention, the following further explains the situation when the displacement relationship is determined in the embodiment of the present invention through a second embodiment.

[0061] In the embodiment of the present invention, the displacement relationship refers to the mathematical relationship between the displacement (movement distance) of the target object and its target distance, which represents the connection between the target distance (the distance from the laser emitter to the target) and the target movement displacement.

[0062] In an embodiment of the present invention, determining the displacement relationship between the target distance and the target movement displacement according to the laser triangulation optical path diagram includes: Determine a similar triangle between the target distance and the target movement displacement according to the laser triangulation optical path diagram; Extracting the proportional relationship corresponding to the similar triangles; The proportional relationship is converted into a displacement relationship between the target distance and the target movement displacement.

[0063] In detail, Figure 2 In the equation, the distance AO from the coupler to the laser is to be solved, and the similar triangle between the target distance and the target displacement is and ,but , that is, the proportional relationship is , then the distance from the coupler to the laser is ,in, is the target distance, is the focal length of the lens, Move the target.

[0064] Furthermore, through standard measuring devices, the coupler difference between the two couplers during operation can be measured, displayed and recorded in real time, which will serve as the basis for future research and operation of heavy-load trains, reduce unnecessary safety hazards caused by coupler differences during train operation, break the previous reliance on human feeling as the basis for driving safety, and ensure safety through scientific and technological means.

[0065] In the embodiment of the present invention, the laser sensor is fixed at a fixed position of the locomotive coupler, and the laser emitting diode is aimed at the target to emit laser pulses. After being reflected by the target, the laser is scattered in all directions, and part of the scattered light returns to the sensor receiver, is received by the optical system and formed into an image, and then is amplified by the optical sensor with the amplification function inside the laser sensor, and converted into a corresponding electrical signal. By recording and processing the time from the emission of the light pulse to the return and reception, the target distance can be measured. When the two couplers float up and down due to the ramp curve during operation, the electrical signal of the measured data is transmitted by the ranging laser sensor to the data acquisition instrument and recorded. The coupler difference of the two couplers during operation can be measured, displayed, and recorded in real time by standard measuring tools, thereby reducing unnecessary safety hazards caused by the coupler difference problem during the operation of the train. Therefore, the coupler difference measurement method, device, equipment and medium based on locomotive dynamics proposed by the present invention can solve the problem of low accuracy when measuring coupler difference.

[0066] Embodiment 3 like Figure 3 As shown, this embodiment also provides a functional module diagram of a coupler difference measuring device based on locomotive dynamics.

[0067] The coupler difference measuring device 100 based on locomotive dynamics described in this embodiment can be installed in an electronic device. According to the functions to be implemented, the coupler difference measuring device 100 based on locomotive dynamics can include a laser pulse signal acquisition module 101, a target distance calculation module 102, a reflection spot generation module 103, a target movement displacement determination module 104 and a coupler difference calculation 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.

[0068] In this embodiment, the functions of each module / unit are as follows: The laser pulse signal acquisition module 101 is used to acquire the laser pulse signal between the preset laser sensor and the target coupler, and perform signal enhancement processing on the laser pulse signal; The target distance calculation module 102 is used to record the sending time and return time of the laser pulse signal according to the processed laser pulse signal, and calculate the target distance between the preset image sensor and the laser sensor according to the sending time and the return time; The reflected light spot generating module 103 is used to obtain the reflected light path of the laser pulse signal, perform an imaging operation according to the reflected light corresponding to the reflected light path, and generate a reflected light spot corresponding to the laser pulse signal according to the reflected light after the imaging operation; The target movement displacement determination module 104 is used to extract the spot position corresponding to the reflected light spot, monitor the position change of the spot position, and determine the target movement displacement of the spot position according to the position change; The coupler difference calculation module 105 is used to calculate the baseline distance of the target coupler according to the target distance and the target movement displacement, and calculate the coupler difference of the target coupler according to the baseline distance and the original distance of the target coupler.

[0069] In detail, each module described in the coupler difference measurement device 100 based on locomotive dynamics described in the embodiment of the present invention adopts the same technical means as the coupler difference measurement method based on locomotive dynamics described in Example 1 and Example 2 when used, and can produce the same technical effects, which will not be repeated here.

[0070] Embodiment 4 like Figure 4 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 difference measurement program based on locomotive dynamics.

[0071] 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 difference measurement program based on locomotive dynamics, etc.), and calling data stored in the memory 11.

[0072] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can 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 can 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. Further, the memory 11 can 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 difference measurement program based on locomotive dynamics, but also can be used to temporarily store data that has been output or is to be output.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0078] The coupler difference measurement program based on locomotive dynamics stored in the memory 11 of the electronic device is a combination of multiple instructions. When running in the processor 10, it can achieve: Collecting a laser pulse signal between a preset laser sensor and a target coupler, and performing signal enhancement processing on the laser pulse signal; Recording the emission time and return time of the laser pulse signal according to the processed laser pulse signal, and calculating the target distance between the preset image sensor and the laser sensor according to the emission time and the return time; Acquiring a reflected light path of the laser pulse signal, performing an imaging operation according to a reflected light corresponding to the reflected light path, and generating a reflected light spot corresponding to the laser pulse signal according to the reflected light after the imaging operation; Extracting the spot position corresponding to the reflected light spot, monitoring the position change of the spot position, and determining the target movement displacement of the spot position according to the position change; The baseline distance of the target coupler is calculated according to the target distance and the target movement displacement, and the coupler difference of the target coupler is calculated according to the baseline distance and the original distance of the target coupler.

[0079] 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.

[0080] 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).

[0081] 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 measuring coupler difference based on locomotive dynamics as described above are implemented.

[0082] 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.

[0083] 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.

[0084] 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 illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0085] 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.

[0086] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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 measuring coupler difference based on locomotive dynamics, characterized in that: The method comprises: Collecting a laser pulse signal between a preset laser sensor and a target coupler, and performing signal enhancement processing on the laser pulse signal; Recording the emission time and return time of the laser pulse signal according to the processed laser pulse signal, and calculating the target distance between the preset image sensor and the laser sensor according to the emission time and the return time; Acquiring a reflected light path of the laser pulse signal, performing an imaging operation according to a reflected light corresponding to the reflected light path, and generating a reflected light spot corresponding to the laser pulse signal according to the reflected light after the imaging operation; Extracting the spot position corresponding to the reflected light spot, monitoring the position change of the spot position, and determining the target movement displacement of the spot position according to the position change; The baseline distance of the target coupler is calculated according to the target distance and the target movement displacement, and the coupler difference of the target coupler is calculated according to the baseline distance and the original distance of the target coupler.

2. The method for measuring coupler difference based on locomotive dynamics according to claim 1, characterized in that: The signal enhancement processing of the laser pulse signal comprises: Performing signal filtering on the laser pulse signal; Amplifying the laser pulse signal after signal filtering; Performing pulse shaping operation on the amplified laser pulse signal; Convert the pulse shaped laser pulse signal into an electrical signal.

3. The method for measuring coupler difference based on locomotive dynamics according to claim 1, characterized in that: The calculating the target distance between the preset image sensor and the laser sensor according to the sending time and the returning time includes: Calculate the time difference according to the sending time and the returning time; Calculate the round-trip distance between the preset image sensor and the laser sensor according to the time difference and the preset light speed; The target distance between the image sensor and the laser sensor is determined by the round-trip distance.

4. The method for measuring coupler difference based on locomotive dynamics according to claim 1, characterized in that: The imaging operation is performed according to the reflected light corresponding to the reflected light path, comprising: Converting photons corresponding to the reflected light path into electrons; storing the electrons in a preset pixel unit of an image sensor; The electrons stored in the pixel unit are converted into a voltage signal through a preset charge coupling; A reflected image corresponding to the reflected light is generated according to the voltage signal.

5. The method for measuring coupler difference based on locomotive dynamics according to claim 1, characterized in that: The step of determining the target movement displacement of the light spot position according to the position change comprises: Recording the starting position coordinates corresponding to the light spot position; Determining updated position coordinates of the light spot position according to the position change; Determining the moving distance and moving direction of the light spot position according to the updated position coordinates and the starting position coordinates; The target movement displacement of the light spot position is determined according to the movement distance and the movement direction.

6. The method for measuring coupler difference based on locomotive dynamics as claimed in claim 4, characterized in that: The step of calculating the baseline distance of the target coupler according to the target distance and the target moving displacement includes: Get the lens focal length corresponding to the preset image sensor; Generate a laser triangular optical path diagram corresponding to the laser pulse signal according to the reflected light path; Determine the displacement relationship between the target distance and the target movement displacement according to the laser triangulation optical path diagram; The baseline distance of the target coupler is calculated according to the displacement relationship and the focal length of the lens.

7. The method for measuring coupler difference based on locomotive dynamics according to claim 6, characterized in that: The determining of the displacement relationship between the target distance and the target movement displacement according to the laser triangulation optical path diagram comprises: Determine a similar triangle between the target distance and the target movement displacement according to the laser triangulation optical path diagram; Extracting the proportional relationship corresponding to the similar triangles; The proportional relationship is converted into a displacement relationship between the target distance and the target movement displacement.

8. A coupler difference measuring device based on locomotive dynamics, characterized in that: The device comprises: A laser pulse signal acquisition module is used to acquire the laser pulse signal between the preset laser sensor and the target coupler, and perform signal enhancement processing on the laser pulse signal; A target distance calculation module, used to record the sending time and return time of the laser pulse signal according to the processed laser pulse signal, and calculate the target distance between the preset image sensor and the laser sensor according to the sending time and the return time; A reflection spot generating module, used for acquiring a reflection light path of the laser pulse signal, performing an imaging operation according to the reflection light corresponding to the reflection light path, and generating a reflection light spot corresponding to the laser pulse signal according to the reflection light after the imaging operation; A target movement displacement determination module is used to extract the spot position corresponding to the reflected light spot, monitor the position change of the spot position, and determine the target movement displacement of the spot position according to the position change; The coupler difference calculation module is used to calculate the baseline distance of the target coupler according to the target distance and the target movement displacement, and calculate the coupler difference of the target coupler according to the baseline distance and the original distance of the target coupler.

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 measuring coupler difference based on locomotive dynamics 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 measuring coupler difference based on locomotive dynamics as described in any one of claims 1 to 7 are implemented.

Images