Control method, device and equipment of rail flat car and storage medium
By determining the offset direction and body tilt degree in the track flatbed car, and adjusting the input current of the drive motor of the target wheel, the inclination and operation instability caused by the inconsistent wheel of the track flatbed car is solved, and a more stable and safe operation is achieved.
Patent Information
- Application Number
- CN202510058480.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-15
- Publication Date
- 2025-04-15
AI Technical Summary
During the walking process, the wheel processing error, assembly clearance and track deformation of the track, the wheel travel distance is inconsistent, causing the vehicle to tilt, which leads to unstable operation and vibration.
By determining the offset direction and body inclination of the rail flatbed car, adjusting the input current of the drive motor of the target wheel, so that it increases with the increase of the body inclination within the threshold range, thereby achieving a stable change in the target wheel speed.
It improves the operating stability of the track flatbed vehicle, reduces the risk of vehicle vibration and rollover, and enhances the safety of the vehicle.
Smart Images
Figure CN119821453A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rail transportation, and in particular to a control method, device, equipment and storage medium for a rail flatbed vehicle. Background Art
[0002] The rail flatbed vehicle usually moves on two parallel tracks. There are two wheels at the bottom of the rail flatbed vehicle. The rail flatbed vehicle can move forward and backward along the track by controlling the forward and reverse rotation of the wheels.
[0003] In the related art, due to reasons such as wheel processing errors, assembly clearances, and track deformation, the railcar will inevitably deviate during travel, that is, the travel distances of the two train wheels at the bottom of the railcar will be inconsistent, which will cause the railcar to tilt. At this time, the railcar needs to be controlled to make it go straight. During control, the speed of one of the train wheels is often adjusted according to the deviation direction of the railcar. For example, when the vehicle body deviates to the left, the speed of the left train wheel is controlled to slow down to the target value to achieve the purpose of deceleration, so as to correct the railcar and allow it to continue to go straight.
[0004] However, since the above method directly adjusts the speed of the target wheel to a certain target value when controlling the rail flatbed vehicle, the change in wheel speed is abrupt rather than gradual, so when the rail flatbed vehicle is moving, the sudden change in wheel speed will cause the rail flatbed vehicle to run unstably and cause vibration, or even rollover. Summary of the invention
[0005] The embodiments of the present disclosure provide a control method, device, equipment and storage medium for a rail flatbed vehicle, which can improve the running stability of the rail flatbed vehicle. The technical solution is as follows:
[0006] An embodiment of the present disclosure provides a control method for a rail flatbed vehicle, the control method comprising: determining an offset direction of the rail flatbed vehicle; determining a target wheel of the rail flatbed vehicle according to the offset direction, the target wheel being one of two wheels of the rail flatbed vehicle; determining a body inclination degree of the rail flatbed vehicle, the body inclination degree being the difference between an offset degree of a front of the rail flatbed vehicle relative to a center line of the track and an offset degree of a rear of the rail flatbed vehicle relative to the center line of the track; and adjusting an input current of a target drive motor for driving the target wheel according to the body inclination degree, so that the input current increases within a threshold range as the body inclination degree increases.
[0007] In yet another implementation of the present disclosure, the input current satisfies the following function:
[0008]
[0009] Among them, f(x) is the input current, the unit is mA; x is the degree of inclination of the vehicle body, the unit is mm; X1 and X2 are the minimum vehicle body inclination degree threshold and the maximum vehicle body inclination degree threshold respectively; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold respectively.
[0010] In yet another implementation of the present disclosure, the input current satisfies the following function:
[0011]
[0012] Among them, f(x) is the input current, the unit is mA; x is the tilt degree of the vehicle body, the unit is mm; n is the tilt degree coefficient, the value is greater than 1; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold, respectively.
[0013] In another implementation of the present disclosure, determining the degree of inclination of the body of the rail flatbed vehicle includes: acquiring a first distance and a second distance, the first distance being the distance between the center position of the front of the rail flatbed vehicle and the center line of the track, the second distance being the distance between the center position of the rear of the rail flatbed vehicle and the center line of the track, the front of the vehicle being the front end of the rail flatbed vehicle in the forward direction; determining the degree of inclination of the body of the vehicle based on the first distance and the second distance.
[0014] In another implementation of the present disclosure, determining the degree of inclination of the vehicle body according to the first distance and the second distance includes: calculating the degree of inclination of the vehicle body according to the following formula:
[0015] x = k(h1-h2);
[0016] x is the inclination degree of the vehicle body, in mm; h1 is the first distance; h2 is the second distance; k is the magnification coefficient, and its value is not less than 1.
[0017] In another implementation of the present disclosure, a control device for a rail flatbed vehicle is further provided, and the control device is implemented by the control method described above, and the control device includes a first determination module, a second determination module, a third determination module and a control module; the first determination module is used to determine the offset direction of the rail flatbed vehicle; the second determination module is used to determine the target wheel of the rail flatbed vehicle according to the offset direction, and the target wheel is one of the two train wheels of the rail flatbed vehicle; the third determination module is used to determine the body inclination degree of the rail flatbed vehicle, and the body inclination degree is the difference between the offset degree of the front of the rail flatbed vehicle relative to the center line of the track and the offset degree of the rear of the rail flatbed vehicle relative to the center line of the track; the control module is used to adjust the input current of the target drive motor used to drive the target wheel according to the body inclination degree, so that the input current increases within a threshold range as the body inclination degree increases.
[0018] In yet another implementation of the present disclosure, the control module is used to adjust the input current of the target drive motor used to drive the target wheel according to the following function:
[0019]
[0020] Among them, f(x) is the input current, the unit is mA; x is the degree of inclination of the vehicle body, the unit is mm; X1 and X2 are the minimum vehicle body inclination degree threshold and the maximum vehicle body inclination degree threshold respectively; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold respectively.
[0021] In yet another implementation of the present disclosure, the control module is used to adjust the input current of the target drive motor used to drive the target wheel according to the following function:
[0022]
[0023] Among them, f(x) is the input current, the unit is mA; x is the tilt degree of the vehicle body, the unit is mm; n is the tilt degree coefficient, the value is greater than 1; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold, respectively.
[0024] In yet another implementation of the present disclosure, a computer device is provided, which includes a processor and a memory configured to store executable instructions of the processor; the processor is configured to execute the control method of the rail flatbed vehicle described above.
[0025] In yet another implementation of the present disclosure, a computer storage medium is provided on which computer instructions are stored. When the computer instructions are executed by a processor, the control method of the rail flatbed vehicle described above is implemented.
[0026] The technical solution provided by the embodiments of the present disclosure has the following beneficial effects:
[0027] When the control method of the rail flatbed provided by the embodiment of the present disclosure controls the straight movement of the rail flatbed, when it is found that the rail flatbed is tilted, because the method first determines the offset direction of the rail flatbed, and determines the target wheel of the rail flatbed according to the offset direction, the wheels on the inner side of the offset direction can be used as the target vehicle. Then, the control method determines the degree of inclination of the vehicle body, and adjusts the input current of the target drive motor according to the degree of inclination of the vehicle body, so that the speed of the target wheel can be continuously changed in a set manner without sudden changes, thereby increasing the stability of the operation of the rail flatbed and improving the safety of the rail flatbed. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0029] Figure 1 A simplified schematic diagram of a rail flatbed vehicle provided for an embodiment of the present disclosure;
[0030] Figure 2 for Figure 1 Side view of
[0031] Figure 3 A flow chart of a control method for a rail flatbed vehicle provided in the disclosed embodiment;
[0032] Figure 4 A flow chart of another method for controlling a rail flatbed vehicle provided in the disclosed embodiment;
[0033] Figure 5 Different state diagrams corresponding to the left deviation of the rail flatbed vehicle provided in the disclosed embodiment;
[0034] Figure 6 Different state diagrams corresponding to the right deviation of the rail flatbed vehicle provided in the disclosed embodiment;
[0035] Figure 7 A schematic diagram of a curve of a first function provided for the disclosed embodiment;
[0036] Figure 8 A schematic diagram of a curve of a second function provided for the disclosed embodiment;
[0037] Fig. 9A schematic diagram of the change in the speed of the target wheel and the degree of inclination of the vehicle body provided in the disclosed embodiment;
[0038] Fig.10 A schematic diagram of a module of a control device for a rail flatbed vehicle provided in an embodiment of the present disclosure;
[0039] Fig.11 It is a structural block diagram of a computer device provided in an embodiment of the present disclosure.
[0040] The symbols in the figure mean the following:
[0041] 100, rail flatbed vehicle; 101, vehicle body; 102, wheels;
[0042] 201, first track; 202, second track;
[0043] 1000, control device; 1001, first determination module; 1002, second determination module; 1003, third determination module; 1004, control module; 1100, computer device; 1101, processor; 1102, memory. DETAILED DESCRIPTION
[0044] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.
[0045] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons with ordinary skills in the field to which the present disclosure belongs. The words "first", "second", "third" and similar words used in the patent application specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", "top", "bottom" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0046] Figure 1 A simplified schematic diagram of a rail flatbed vehicle provided in an embodiment of the present disclosure, Figure 2 for Figure 1 Side view of Figure 1 and Figure 2 The rail flatbed vehicle 100 includes a vehicle body 101 and two train wheels 102. The same train wheel 101 in the rail flatbed vehicle 100 includes a plurality of wheels arranged along the length direction of the rail flatbed vehicle 100. The first train wheel and the second train wheel are parallel to each other, and the first train wheel is located on the first track 201 (track A), and the second train wheel is located on the second track 202 (track B). The tracks are embedded in the ground. Track A corresponds to the first train wheel 101 of the rail flatbed vehicle 100, and track B corresponds to the second train wheel 102 of the rail flatbed vehicle 100.
[0047] Figure 3 A flow chart of a control method for a rail flatbed vehicle provided in the disclosed embodiment, combined with Figure 3 , control methods include:
[0048] S301: Determine the offset direction of the rail flatbed vehicle.
[0049] S302: Determine the target wheel of the rail flatbed vehicle according to the offset direction.
[0050] The target wheel is one of the two wheels of the rail flatbed car.
[0051] S303: Determine the inclination degree of the body of the rail flatbed vehicle.
[0052] The degree of vehicle body inclination is the difference between the degree of deviation of the front of the rail flatbed vehicle relative to the center line of the track and the degree of deviation of the rear of the rail flatbed vehicle relative to the center line of the track.
[0053] S304: adjusting the input current of the target driving motor for driving the target wheel according to the inclination degree of the vehicle body, so that the input current increases within a threshold range as the inclination degree of the vehicle body increases.
[0054] When the control method of the rail flatbed provided by the embodiment of the present disclosure controls the straight movement of the rail flatbed, when it is found that the rail flatbed is tilted, because the method first determines the offset direction of the rail flatbed, and determines the target wheel of the rail flatbed according to the offset direction, the wheels on the inner side of the offset direction can be used as the target vehicle. Then, the control method determines the degree of inclination of the vehicle body, and adjusts the input current of the target drive motor according to the degree of inclination of the vehicle body, so that the speed of the target wheel can be continuously changed in a set manner without sudden changes, thereby increasing the stability of the operation of the rail flatbed and improving the safety of the rail flatbed.
[0055] If the rail flatbed car does not deviate, the rail flatbed car continues to run in the original state.
[0056] Figure 4A flowchart of another control method for a rail flatbed vehicle provided in the disclosed embodiment, combined with Figure 4 , control methods include:
[0057] S401: Acquire a first distance and a second distance.
[0058] The first distance is the distance between the center position of the front of the rail flatbed vehicle and the center line of the track.
[0059] The second distance is the distance between the center position of the rear of the rail flatbed vehicle and the center line of the track. The front of the vehicle is the front end of the rail flatbed vehicle in the forward direction. The rear of the vehicle is the rear end of the rail flatbed vehicle in the forward direction.
[0060] In the disclosed embodiment, the first distance and the second distance can be obtained by a detection mechanism on the rail flatbed vehicle. The detection mechanism can be a distance measuring sensor.
[0061] Exemplarily, the detection mechanism is two distance measuring sensors, which are respectively installed on the top of the front and the top of the rear of the rail flatbed vehicle. In addition, the distance measuring sensor can be a laser distance measuring sensor. When measuring, a code strip parallel to the track is arranged above the rail flatbed vehicle, and the code strip can reflect the light emitted by the laser distance measuring sensor. By calculating the time required for the reflected light to be reflected back by the code strip, the distance of the reflected light can be obtained accordingly, and finally the first distance and the second distance can be obtained.
[0062] Among them, the first distance is greater than 0, which is used to indicate that the center position of the front of the vehicle is located on the first side of the center line of the track, and the second distance is greater than 0, which is used to indicate that the center position of the rear of the vehicle is located on the left side of the center line of the track. Correspondingly, the first distance is less than 0, which is used to indicate that the center position of the front of the vehicle is located on the right side of the center line of the track, and the second distance is less than 0, which is used to indicate that the center position of the rear of the vehicle is located on the right side of the center line of the track. The left and right sides are referenced to the forward direction of the rail flatbed vehicle. That is, the left side of the forward direction is the left side, and the right side of the forward direction is the right side.
[0063] S402: Determine the offset direction of the rail flatbed vehicle according to the first distance.
[0064] The deviation direction includes left deviation and right deviation. The left deviation is that the rail flatbed vehicle tilts to the left side relative to the forward direction. The right deviation is that the rail flatbed vehicle tilts to the right side relative to the forward direction.
[0065] In the disclosed embodiment, the offset direction can be reflected by the offset degree of the vehicle body, wherein the offset degree of the vehicle body is equal to the magnification factor*the offset value of the vehicle head.
[0066] That is to say, the degree of body offset satisfies the following formula:
[0067] z=kh1; (1)
[0068] Among them, z is the degree of vehicle body deviation; k is the magnification coefficient, which is not less than 1; h1 is the first distance.
[0069] k is a constant, which can be set artificially and is generally not less than 1. In the embodiment of the present disclosure, the amplification factor is 1.
[0070] The disclosed embodiment determines whether the rail flatbed vehicle is offset in the following manner.
[0071] (1) When the degree of vehicle body deviation is greater than the first threshold, the deviation direction is left deviation.
[0072] (2) When the degree of vehicle body deviation is not greater than the first threshold value and is greater than the inverse of the first threshold value, the rail flatbed vehicle does not deviate.
[0073] (3) When the degree of vehicle body deviation is less than the inverse of the first threshold value, the deviation direction of the rail flatbed vehicle is right deviation.
[0074] In the embodiment of the present disclosure, the first threshold is 0.5 mm, and the opposite of the first threshold is -0.5 mm.
[0075] Figure 5 For different state diagrams corresponding to the left deviation of the rail flatbed vehicle provided in the disclosed embodiment, see Figure 5 When the rail flatbed vehicle deviates to the left, there are four corresponding states, including the vehicle body tilting degree is not greater than -1.5mm (see Figure 5 The body tilt is greater than -1.5 and less than -0.5 mm (see Figure 5 The body tilt is greater than -0.5 and less than 0.5 mm (see Figure 5 The body tilt is greater than 0.5 mm (see Figure 5 Center line d).
[0076] Figure 6 For different state diagrams corresponding to the right deviation of the rail flatbed vehicle provided in the disclosed embodiment, see Figure 6 When the rail flatbed vehicle deviates to the right, there are four corresponding states, including the vehicle body tilting degree is not greater than -0.5mm (see Figure 6 The body tilt is greater than -0.5 and less than 0.5 mm (see Figure 6 The body tilt is greater than 0.5 and less than 1.5 mm (see Figure 6 The body tilt is greater than 1.5 mm (see Figure 6 Center line d).
[0077] S403: Determine the target wheel of the rail flatbed vehicle according to the offset direction.
[0078] The target wheel is one of the two wheels of the rail flatbed car.
[0079] In the disclosed embodiment, if the vehicle is biased to the left, it is necessary to decelerate the wheel on the right side, or speed up the wheel on the left side. On the contrary, if the vehicle is biased to the right, it is necessary to speed up the wheel on the right side, or speed up the wheel on the left side.
[0080] Since the adjustment in the disclosed embodiment is corrected by increasing the input current of the target drive motor, the speed of the target wheel is correspondingly increased. Thus, the target wheel can only be the wheel on the inner side of the offset direction.
[0081] That is, if it is left-biased, the target wheel is the left wheel. If it is right-biased, the target wheel is the right wheel. The left wheel and the right wheel are relative to the left and right of the forward direction of the rail flatbed vehicle.
[0082] S404: Determine the inclination degree of the body of the rail flatbed vehicle.
[0083] The degree of vehicle body inclination is the difference between the degree of deviation of the front of the rail flatbed vehicle relative to the center line of the track and the degree of deviation of the rear of the rail flatbed vehicle relative to the center line of the track.
[0084] In the disclosed embodiment, the degree of vehicle body inclination=magnification factor*(vehicle front offset value-vehicle rear offset value).
[0085] The amplification factor is a constant, which can be set manually and is generally ≥ 1. In the embodiment of the present disclosure, the amplification factor is 1.
[0086] That is to say, the degree of vehicle body inclination satisfies the following formula:
[0087] x=k(h1-h2); (2)
[0088] x is the degree of inclination of the vehicle body, in mm; h1 is the first distance; h2 is the second distance; k is the magnification coefficient, which is not less than 1.
[0089] S405: adjusting the input current of the target driving motor for driving the target wheel according to the inclination degree of the vehicle body, so that the input current increases within a threshold range as the inclination degree of the vehicle body increases.
[0090] In one example, when regulating, the input current satisfies the following function:
[0091]
[0092] Among them, f(x) is the input current, with the unit of mA; x is the degree of vehicle body tilt, with the unit of mm; X1 and X2 are the minimum and maximum thresholds of the vehicle body tilt degree respectively; Y1 and Y2 are the minimum and maximum input current thresholds respectively.
[0093] Figure 7 It is a schematic curve diagram of the first function provided for the disclosed embodiment. Combining Figure 7 , according to the above function, the corresponding curve is Figure 7 as shown. That is, the above function is a limiting ratio function.
[0094] That is to say, if the tilt degree x of the rail flatbed truck > X2, then the input current f(x) of the target drive motor that controls the drive target wheel (if it is left-biased, the target wheel is the left wheel; if it is right-biased, the target wheel is the right wheel) = Y2.
[0095] If the tilt degree x of the rail flatbed truck < X1, then the input current f(x) of the target drive motor that controls the drive target wheel (if it is left-biased, the target wheel is the left wheel; if it is right-biased, the target wheel is the right wheel) = Y1.
[0096] When the tilt degree of the rail flatbed truck satisfies X1 ≤ x ≤ X2, the input current f(x) of the target drive motor that drives the target wheel (if it is left-biased, the target wheel is the left wheel; if it is right-biased, the target wheel is the right wheel) satisfies the following:
[0097]
[0098] And the speed of the other side wheel remains unchanged.
[0099] The setting of this function does not need to divide regions according to the magnitude of the vehicle body tilt degree, so that the speed of the target wheel can change continuously according to the above function.
[0100] In the disclosed embodiment of the present disclosure, X1 = 0.5mm, X2 = 1.5mm.
[0101] In another example, the input current satisfies the following function:
[0102]
[0103] Among them, f(x) is the input current, with the unit of mA; x is the degree of vehicle body tilt, with the unit of mm; where n is the tilt degree coefficient, and the value is greater than 1; Y1 and Y2 are the minimum and maximum input current thresholds respectively.
[0104] Figure 8 It is a schematic curve diagram of the second function provided for the disclosed embodiment. Combining Figure 8, according to the above function, the corresponding curve is Figure 8 As shown. That is, the above function is the inverse tangent function. From Figure 8 It can be seen that the dependent variable in the function is within the maximum and minimum values, and increases with the increase of the independent variable, that is, the input current can increase with the increase of the inclination of the vehicle body. Therefore, the setting of this function also does not need to divide the area according to the inclination of the vehicle body, so that the given speed of the target wheel can change along the curve corresponding to the above function.
[0105] Fig. 9 A schematic diagram of the change in the speed of the target wheel and the degree of inclination of the vehicle body provided in the disclosed embodiment, combined with Fig. 9 .in, Fig. 9 The upper middle part of the figure is a curve chart showing the change of the vehicle body inclination degree over time. Fig. 9 The lower middle part is a graph of the two functions mentioned above for regulating the input current of the target drive motor.
[0106] It should be noted that when controlling the input current according to the two functions mentioned above, the ratio of the input current of the target drive motor to the input current of the non-target drive motor is directly used as the reference for regulation. Since the input current of the non-target drive motor remains unchanged, only the input current of the target drive motor is controlled. Therefore, when regulating, it is only necessary to set the input current of the target drive motor to N times the input current of the non-target drive motor, and N is not greater than 1. Therefore, to control the input current value of the target motor according to the two functions mentioned above, only N needs to be changed. Correspondingly, Fig. 9 The vertical coordinates of the two curves in the lower middle part of the figure represent N. The larger the N value is, the larger the input current is, and the smaller the N value is, the smaller the input current is.
[0107] Regardless of whether the input current of the target drive motor is controlled by the first function or the second function, the speed of the target wheel will change with the change of the inclination degree of the vehicle body, and the changing trend of the speed of the target wheel is the same as the changing trend of the inclination degree of the vehicle body, thereby making the speed of the target wheel change stably and improving the operation stability of the rail flatbed vehicle.
[0108] In other examples, the input current of the target drive motor may also be regulated in other functional forms, such as an arc sine function with a limit value, etc. As long as it is an increasing function within the threshold range, the above input setting can be satisfied.
[0109] On the other hand, the present disclosure provides a control device 1000 for a rail flatbed vehicle, such as Fig.10 As shown, the control device 1000 includes a first determination module 1001 , a second determination module 1002 , a third determination module 1003 and a control module 1004 .
[0110] The first determination module 1001 is used to determine the offset direction of the rail flatbed vehicle.
[0111] The second determination module 1002 is used to determine a target wheel of the rail flatbed vehicle according to the offset direction, where the target wheel is one of the two wheels of the rail flatbed vehicle.
[0112] The third determination module 1003 is used to determine the body inclination of the rail flatbed vehicle, which is the difference between the offset of the front of the rail flatbed vehicle relative to the center line of the track and the offset of the rear of the rail flatbed vehicle relative to the center line of the track.
[0113] The control module 1004 is used to adjust the input current of the target driving motor for driving the target wheel according to the inclination degree of the vehicle body, so that the input current increases within a threshold range as the inclination degree of the vehicle body increases.
[0114] The above control device has the same beneficial effects as the aforementioned control method, which will not be repeated here.
[0115] Optionally, the control module 1003 is configured to adjust an input current of a target driving motor for driving a target wheel according to the following function.
[0116] The function satisfies the formula (3) mentioned above.
[0117] Optionally, the control module 1003 is configured to adjust an input current of a target driving motor for driving a target wheel according to the following function.
[0118] The function satisfies the formula (5) mentioned above.
[0119] Optionally, the third determination module 1003 is further used to obtain a first distance and a second distance, wherein the first distance is the distance between the center position of the front of the rail flatbed vehicle and the center line of the track, and the second distance is the distance between the center position of the rear of the rail flatbed vehicle and the center line of the track, and the front of the rail flatbed vehicle is the front end of the rail flatbed vehicle in the forward direction. According to the first distance and the second distance, the degree of inclination of the vehicle body is determined.
[0120] Optionally, the third determination module 1003 is used to determine the degree of inclination of the vehicle body according to the above-mentioned formula (2).
[0121] It should be noted that: the control device for the type of rail flatbed vehicle provided in the above embodiment only uses the division of the above-mentioned functional modules as an example when controlling the rail flatbed vehicle. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the type of rail flatbed vehicle provided in the above embodiment and the control method embodiment of the type of rail flatbed vehicle belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.
[0122] Fig.11 is a structural block diagram of a computer device provided by an embodiment of the present disclosure. Fig.11 As shown, the computer device 1100 may be a vehicle-mounted computer, etc. The computer device 1100 includes: a processor 1101 and a memory 1102 .
[0123] The processor 1101 may include one or more processing cores, such as a 7-core processor, an 8-core processor, etc. The processor 1101 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1101 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1101 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1101 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.
[0124] The memory 1102 may include one or more computer-readable media, which may be non-transitory. The memory 1102 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable medium in the memory 1102 is used to store at least one instruction, which is used to be executed by the processor 1101 to implement the virtual image adjustment method of the head-up display provided in the embodiment of the present disclosure.
[0125] Those skilled in the art will understand that Fig.11 The structure shown in the figure does not constitute a limitation on the computer device 1100, and the computer device 1100 may include more or less components than shown in the figure, or combine some components, or adopt a different component arrangement.
[0126] The embodiments of the present disclosure also provide a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by a processor of a computer device, the computer device is enabled to execute the above control method for a rail flatbed vehicle provided in the embodiments of the present application.
[0127] A computer program product containing instructions, when running on a computer, enables the computer to execute the above rail flatbed vehicle control method provided in the embodiment of the present application.
[0128] The above description is only an optional embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.
Claims
1. A control method for a rail flatbed vehicle, characterized in that: The control method comprises: Determine the offset direction of the rail flatbed car; Determine a target wheel of the rail flatbed vehicle according to the offset direction, wherein the target wheel is one of two wheels of the rail flatbed vehicle; Determine the body inclination of the track flatbed vehicle, where the body inclination is the difference between the offset of the front of the track flatbed vehicle relative to the center line of the track and the offset of the rear of the track flatbed vehicle relative to the center line of the track; According to the inclination degree of the vehicle body, an input current of a target driving motor for driving the target wheel is adjusted so that the input current increases within a threshold range as the inclination degree of the vehicle body increases.
2. The control method according to claim 1, characterized in that: The input current satisfies the following function: Among them, f(x) is the input current, the unit is mA; x is the degree of inclination of the vehicle body, the unit is mm; X1 and X2 are the minimum vehicle body inclination degree threshold and the maximum vehicle body inclination degree threshold respectively; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold respectively.
3. The control method according to claim 1, characterized in that: The input current satisfies the following function: Among them, f(x) is the input current, the unit is mA; x is the tilt degree of the vehicle body, the unit is mm; n is the tilt degree coefficient, the value is greater than 1; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold, respectively.
4. The control method according to claim 1, characterized in that: Determining the inclination degree of the body of the rail flatbed vehicle comprises: Obtain a first distance and a second distance, wherein the first distance is the distance between the center position of the front of the rail flatbed vehicle and the center line of the track, and the second distance is the distance between the center position of the rear of the rail flatbed vehicle and the center line of the track, and the front of the rail flatbed vehicle is the front end of the rail flatbed vehicle in the forward direction; The degree of inclination of the vehicle body is determined according to the first distance and the second distance.
5. The control method according to claim 4, characterized in that: The determining the inclination degree of the vehicle body according to the first distance and the second distance includes: The degree of body offset is calculated according to the following formula: x = k(h1-h2); x is the inclination degree of the vehicle body, in mm; h1 is the first distance; h2 is the second distance; k is the magnification coefficient, and its value is not less than 1.
6. A control device for a rail flatbed vehicle, characterized in that: The control device is implemented based on the control method according to any one of claims 1 to 5, and comprises a first determination module, a second determination module, a third determination module and a control module; The first determination module is used to determine the offset direction of the rail flatbed vehicle; The second determination module is used to determine the target wheel of the rail flatbed vehicle according to the offset direction, and the target wheel is one of the two wheels of the rail flatbed vehicle; The third determination module is used to determine the body inclination degree of the rail flatbed vehicle, where the body inclination degree is the difference between the offset degree of the front of the rail flatbed vehicle relative to the center line of the track and the offset degree of the rear of the rail flatbed vehicle relative to the center line of the track; The control module is used to adjust the input current of the target drive motor used to drive the target wheel according to the inclination degree of the vehicle body, so that the input current increases within a threshold range as the inclination degree of the vehicle body increases.
7. The control device according to claim 6, characterized in that: The control module is used to adjust the input current of the target driving motor for driving the target wheel according to the following function: Among them, f(x) is the input current, the unit is mA; x is the degree of inclination of the vehicle body, the unit is mm; X1 and X2 are the minimum vehicle body inclination degree threshold and the maximum vehicle body inclination degree threshold respectively; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold respectively.
8. The control device according to claim 6, characterized in that: The control module is used to adjust the input current of the target driving motor for driving the target wheel according to the following function: Among them, f(x) is the input current, the unit is mA; x is the tilt degree of the vehicle body, the unit is mm; n is the tilt degree coefficient, the value is greater than 1; Y1 and Y2 are the minimum input current threshold and the maximum input current threshold, respectively.
9. A computer device, characterized in that: The computer device includes a processor and a memory configured to store executable instructions of the processor; the processor is configured to execute the control method of the rail flatbed vehicle described in any one of claims 1-5.
10. A computer storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by the processor, the control method of the rail flatbed vehicle described in any one of claims 1-5 is implemented.