Control method, electronic device, railway vehicle and storage medium

Abstract

The invention discloses a control method, an electronic device, a rail vehicle and a storage medium, the method is used for the rail vehicle, the rail vehicle comprises a movable guide wheel, the control method comprises the steps that rail road condition information of the rail vehicle at the current rail position is obtained, and the rail road condition information comprises defect information of a guide face, opposite to the guide wheel, of a rail; and the guide wheel is controlled to move, so that the pose information of the guide wheel is matched with the defect information. The movement of the guide wheel enables the guide wheel to be in contact with the guide surface of the rail all the time, and the rail vehicle can better adapt to the width of the rail at the defect position, so that the impact force on the rail vehicle passing through the defect position is reduced, namely, by controlling the movement of the guide wheel and matching the pose information with the defect information, the accuracy is improved. Production errors and defects of a guide surface of a track are actively avoided, a vehicle is helped to keep a horizontal posture, transverse shaking of the vehicle is avoided, and the stability, stability and comfort of vehicle running are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more particularly, to a control method, an electronic device, a rail vehicle, and a non-volatile computer-readable storage medium. Background Art

[0002] Guideway-type rubber-tyred vehicles, also known as guideway trams or rubber-tyred trams, are generally equipped with guide devices that work together with the guide rails of the track to guide the guideway-type rubber-tyred vehicles.

[0003] However, if the guide rail has defects, the stability of the rail-type rubber-tyred vehicle will be affected. For example, if there is a protrusion on the guide rail, the guide device will collide with the protrusion when passing over it. The instantaneous impact of the collision will cause the vehicle to shake laterally, thus affecting the lateral stability of the rail-type rubber-tyred vehicle during driving. Summary of the Invention

[0004] Embodiments of the present application provide a control method, an electronic device, a rail vehicle, and a non-volatile computer-readable storage medium, which can improve the lateral stability of a rail-type rubber-tyred vehicle during travel.

[0005] A control method according to one embodiment of the present application is used for a rail vehicle, wherein the rail vehicle includes movable guide wheels. The control method includes: obtaining track condition information of the rail vehicle at a current track position, wherein the track condition information includes defect information of a guide surface of the track relative to the guide wheel; and controlling the guide wheel to move so that the position information of the guide wheel matches the defect information.

[0006] In some embodiments, the track traffic information includes preset traffic information and real-time traffic information. The preset traffic information is generated after scanning the track in advance, and the real-time traffic information is generated based on real-time collected information from a ranging system set up on the rail vehicle.

[0007] In some embodiments, the activity includes extension and retraction, the posture information includes extension and retraction length, and the controlling the guide wheel to move so that the posture information of the guide wheel matches the defect information includes: when there is no deviation between the preset road condition information and the real-time road condition information, controlling the guide wheel to extend and retract so that the extension and retraction length of the guide wheel matches the defect information of the preset road condition information; when there is a deviation between the preset road condition information and the real-time road condition information, controlling the guide wheel to extend and retract so that the extension and retraction length of the guide wheel matches the defect information of the real-time road condition information.

[0008] In some embodiments, the track includes a base, a first track beam and a second track beam, the first track beam and the second track beam are arranged relative to each other in the base, the guide wheel is arranged in an installation space surrounded by the first track beam and the second track beam, the guide wheel includes a first side guide wheel and a second side guide wheel, the first side navigation wheel is arranged relative to the first track beam, and the second side guide wheel is arranged relative to the second track beam, the ranging system includes a first ranging sensor and a second ranging sensor, the first ranging sensor is used to measure a first distance between the first side guide wheel and the guide surface of the first track beam, and the second ranging sensor is used to measure a second distance between the first side guide wheel and the guide surface of the second track beam, the method also includes: based on the first distance and the second distance of the current track position, determining the real-time road condition information of the current track position.

[0009] In some embodiments, the real-time road condition information of the current track position is determined based on the first spacing and the second spacing of the current track position, including: when the first spacing is greater than a preset value, determining that there is a pit on the guide surface of the first track beam at the current track position; and / or when the first spacing is less than a preset value, determining that there is a bulge on the guide surface of the first track beam at the current track position; and / or when the second spacing is greater than a preset value, determining that there is a pit on the guide surface of the second track beam at the current track position; and / or when the second spacing is less than a preset value, determining that there is a bulge on the guide surface of the second track beam at the current track position.

[0010] In some embodiments, the distance measuring system is located in front of the guide wheel in the forward direction of the rail vehicle.

[0011] In some embodiments, the defect information includes at least one of the depth of the pit and the height of the protrusion, the activity includes extension and retraction, the posture information includes extension and retraction length, and controlling the guide wheel to move so that the posture information of the guide wheel matches the defect information includes: controlling the guide wheel opposite to the pit to extend so that the extended length of the guide wheel matches the depth of the pit; and / or controlling the guide wheel opposite to the protrusion to contract so that the contracted length of the guide wheel matches the height of the protrusion.

[0012] In some embodiments, the track road condition information includes preset road condition information, and the preset road condition information includes the defect position of the guide surface of the track relative to the guide wheel. The method also includes: obtaining the current position and current speed of the rail vehicle; based on the current position of the rail vehicle, the speed information and the target defect position, calculating the first time duration for the rail vehicle to reach the target defect position, the target defect position being any defect position located in front of the current position in the forward direction of the rail vehicle; when the second time duration for the rail vehicle to reach the target defect position does not match the first time duration, updating the position information of the rail vehicle based on the position information of the target defect.

[0013] In some embodiments, the track road condition information includes preset road condition information, and the preset road condition information includes the defect position of the track and the guide surface relative to the guide wheel. The method also includes: when the rail vehicle reaches the target defect position, updating the current position of the vehicle based on the target defect position.

[0014] In some embodiments, the ranging system of the rail vehicle is used to measure a third spacing between the defects on the guide wheel and the guide surface in the direction of travel of the rail vehicle, and the method also includes: when the third spacing matches the spacing corresponding to the target defect position, determining that the rail vehicle has reached the target defect position.

[0015] In certain embodiments, the rail vehicle further includes a shock absorber and a drive system, wherein the shock absorber is connected to the rail vehicle and the guide wheel, and the drive system is used to drive the shock absorber to extend and retract, thereby driving the guide wheel to extend and retract.

[0016] In some embodiments, the shock absorber includes a cylinder body and a piston rod, the piston rod is telescopically arranged in the cylinder body, the piston rod is connected to the guide wheel, and the drive system drives the piston rod to be telescopic to drive the guide wheel to be telescopic.

[0017] The electronic device of the embodiment of the present application includes a processor, which is connected to a memory; the memory stores a computer program, and the processor executes the computer program to implement the instructions of the control method described in any of the above embodiments.

[0018] The rail vehicle according to the embodiment of the present application includes movable guide wheels and the electronic device described in any one of the above embodiments.

[0019] The non-volatile computer-readable storage medium of an embodiment of the present application includes a computer program. When the computer program is executed by a processor, the processor executes the control method described in any of the above embodiments.

[0020] The control method, electronic device, rail vehicle and storage medium of the embodiments of the present application obtain track condition information of the rail vehicle at the current track position, the track condition information including defect information of the guide surface of the rail relative to the guide wheel (for example, location information of defects such as pits and protrusions, depth information of pits and height information of protrusions, etc.), and then control the guide wheel to move so that the position information of the guide wheel matches the defect information (for example, the guide wheel is controlled to extend, and the extension length corresponds to the depth of the pit). Since the position information of the guide wheel matches the defect information, the guide wheel and the guide surface of the rail can always maintain contact during the movement of the rail vehicle, and the rail vehicle can better adapt to the width of the rail at the defect position, thereby reducing the impact force received by the rail vehicle when passing through the defect. That is, by controlling the movement of the guide wheel and matching the posture information with the defect information (for example, by controlling the direction of extension and retraction of the guide wheel, the length of extension and retraction, and the defect type and defect depth in one-to-one correspondence with the defect information, so that the posture of the guide wheel matches the defect type), the production errors and defects of the guide surface relative to the track and the guide wheel are actively avoided, helping the rail vehicle to maintain a horizontal posture while driving, avoiding lateral shaking of the vehicle, and improving the smoothness, stability and comfort of the vehicle operation.

[0021] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0023] Figure 1 This is a schematic diagram of an application scenario of the control method of certain embodiments of the present application;

[0024] Figure 2 It is a schematic diagram of the structure of the control method of certain embodiments of the present application;

[0025] Figure 3 is a schematic diagram of a control method according to certain embodiments of the present application;

[0026] Figure 4 is a flow chart of a control method according to certain embodiments of the present application;

[0027] Figure 5 is a flow chart of a control method according to certain embodiments of the present application;

[0028] Figure 6 is a flow chart of a control method according to certain embodiments of the present application;

[0029] Figure 7 is a flow chart of a control method according to certain embodiments of the present application;

[0030] Figure 8 is a flow chart of a control method according to certain embodiments of the present application;

[0031] Figure 9 is a flow chart of a control method according to certain embodiments of the present application;

[0032] Figure 10 is a flow chart of a control method according to certain embodiments of the present application;

[0033] Figure 11 is a schematic diagram of a module of a control device in certain embodiments of the present application;

[0034] Figure 12 This is a schematic diagram of the connection status of a non-volatile computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0035] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0036] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include at least one feature. In the description of this application, "plurality" means at least two, for example, two or three, unless otherwise specifically defined.

[0038] To facilitate understanding of this application, the background of this application is explained below:

[0039] Guideway-type rubber-tyred vehicles, also known as guideway trams or rubber-tyred trams, are generally equipped with guide devices that work together with the guide rails of the track to guide the guideway-type rubber-tyred vehicles.

[0040] However, defects in the guide rails can compromise the stability of the rail-type rubber-tyred vehicle. For example, if there is a protrusion on the guide rail, the guide device will collide with the protrusion when passing over it. The instantaneous impact of the collision can cause the vehicle to sway laterally, thus affecting the lateral stability of the rail-type rubber-tyred vehicle.

[0041] To solve the above technical problems, an embodiment of the present application provides a control method, which can be applied to rail vehicles, etc.

[0042] See also Figure 1 First, we will introduce the application scenarios of the technical solution of this application. The control method provided by this application can be applied to Figure 1 In the illustrated rail vehicle 100 , the rail vehicle 100 includes movable guide wheels.

[0043] The rail vehicle 100 may be, for example, a rubber-wheeled train, a cloud bus, or the like.

[0044] Optionally, see Figure 1 、 Figure 2 and Figure 3 The rail vehicle 100 includes movable guide wheels. For example, the rail vehicle 100 may include a bogie 10 , on which the guide wheels 11 are movably disposed.

[0045] Optionally, the rail vehicle further includes a ranging system 20 , which may be a ranging sensor (eg, a laser sensor, an infrared sensor, etc.). In the forward direction of the rail vehicle 100 , the ranging system 20 is disposed on the bogie 10 and is located in front of the guide wheel 11 .

[0046] The control method of this application will be described in detail below:

[0047] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The present application provides a control method, which is described by taking the control method applied to a rail vehicle including movable guide wheels as an example. The control method includes:

[0048] Step 011: Acquire track condition information of the rail vehicle at the current track position, the track condition information including defect information of the guide surface of the rail relative to the guide wheel;

[0049] The current track position may be a track position on the guide surface of the track corresponding to the guide wheel.

[0050] Among them, the track condition information includes defect information of the guide surface opposite to the guide wheel. The defect information may be information about defects on the guide surface in contact with the guide wheel (defects that affect the smoothness of the contact between the guide wheel and the guide surface. Defects may be pits, scratches, protrusions, etc.), for example, defect location, defect depth, defect length, etc.

[0051] Specifically, during the travel of a rail vehicle, the guide wheels roll along the guide surface of the track to guide the travel of the rail vehicle. Furthermore, the contact force (e.g., sideways force) between the guide wheels and the guide surface can also limit the lateral movement of the rail vehicle, thereby improving the lateral stability of the rail vehicle. In the event that there are defects in the guide surface of the track (e.g., pits on the guide surface), the guide wheels will be continuously subjected to irregular impact forces (e.g., sudden lateral thrust or pull) when rolling on the defective guide surface, causing the rail vehicle to deviate or wobble laterally, thereby affecting the stability of the rail vehicle.

[0052] Therefore, by obtaining track condition information of the rail vehicle at its current track position, it is possible to determine whether the guide surface at the guide wheel location has defects. For example, a sensor (such as a laser sensor, an optical sensor, etc.) can be installed on the rail vehicle to capture defect information on the guide surface to obtain track condition information. For another example, the rail vehicle can be controlled to travel along the track to collect and record defect information on the guide surface of the track (including defect type and defect location, etc.), generate track condition information, and obtain the track condition information of the rail vehicle at its current track position based on the track defect map.

[0053] Step 012: Control the guide wheel to move so that the position information of the guide wheel matches the defect information.

[0054] Controlling the guide wheel to move may include controlling the guide wheel to extend and retract, and the position information of the guide wheel may include the extension length of the guide wheel.

[0055] Specifically, based on the acquired track condition information, the guide wheel is controlled to move (for example, extend or contract) at the track position where the defect exists, and the posture information (for example, the length of the extension or contraction) matches the defect information (for example, taking the activity including extension and contraction as an example, the guide wheel can be controlled to extend or contract according to the defect type of the defect information so that the posture information of the guide wheel matches the defect information; for another example, the direction and length of the extension and contraction of the guide wheel can be controlled to correspond one-to-one with the defect type and defect depth of the defect information). The guide wheel and the guide surface of the track can always maintain contact, and the guide wheel can better adapt to the width of the track at the defect position, reduce the impact force received by the rail vehicle when passing through the defect, avoid lateral shaking of the vehicle, and improve the smoothness and stability of the vehicle operation.

[0056] See also Figure 5 Optionally, the defect information includes at least one of a depth of a pit and a height of a protrusion, the movement includes extension and retraction, and the posture information includes the extension and retraction length. Step 012: controlling the guide wheel to move so that the guide wheel posture information matches the defect information, including:

[0057] Step 0121: controlling the guide wheel opposite to the pit to extend so that the extended length of the guide wheel matches the depth of the pit; and / or

[0058] Step 0122: Control the guide wheel opposite to the protrusion to retract so that the retracted length of the guide wheel matches the height of the protrusion.

[0059] The defect may include at least one of a pit and a protrusion, and the defect information includes at least one of a depth of the pit and a height of the protrusion.

[0060] Specifically, the case where there is a defect at the current track position, where the defect is a pit, is used as an example for explanation. When there is a pit on the guide surface of the track, the guide wheel is likely to sink into the pit when passing through the pit, causing the rail vehicle to sway laterally toward the pit, affecting the stability of the rail vehicle. Therefore, when the guide wheel of the rail vehicle passes through the pit, the guide wheel opposite to the pit can be controlled to extend, and the extension length matches the depth of the pit, thereby avoiding lateral shaking caused by the guide wheel sinking into the pit when the rail vehicle passes through the pit, causing the rail vehicle to tilt to the left or right, helping the vehicle maintain a horizontal posture, improving the stability of the rail vehicle, and thus improving the comfort of users riding the rail vehicle.

[0061] For example, consider a bump in the current track position. When a bump exists on the track's guide surface, the guide wheels passing over it can easily cause the rail vehicle to jolt, affecting its stability. Therefore, when the rail vehicle's guide wheels pass over the bump, the guide wheels opposite the bump can be controlled to retract, with the retraction length matching the height of the bump. This reduces the impact between the guide wheels and the bump, lessens the impact on the guide wheels, and reduces jolting and vibration during rail vehicle travel, preventing lateral sway and improving driving stability.

[0062] See also Figure 2 Optionally, the rail vehicle further includes a shock absorber 30 and a drive system, the shock absorber 30 is connected to the rail vehicle 100 (for example, connected to the bogie 10 of the rail vehicle 100) and the guide wheel 11, and the drive system is used to drive the shock absorber 30 to extend and retract, thereby driving the guide wheel to extend and retract.

[0063] Optionally, the shock absorber includes a cylinder body and a piston rod, the piston rod is telescopically arranged on the cylinder body, the piston rod is connected to the guide wheel, the drive system drives the piston rod to retract and retract to drive the guide wheel to retract and retract, and the rail vehicle also includes a shock-absorbing spring, which is sleeved on the shock absorber.

[0064] The driving system may be a hydraulic system, a pneumatic system, or the like.

[0065] Specifically, a rail vehicle includes a shock absorber and a drive system. For example, the drive system is a pneumatic system. The shock absorber comprises a cylinder body and a piston rod. The cylinder body is connected to the rail vehicle, and the piston rod is connected to the guide wheel. The drive system drives the piston rod to expand and contract relative to the cylinder body along the width of the track (the piston rod expands and contracts horizontally), thereby driving the guide wheel to expand and contract. The rail vehicle also includes a damping spring, which is mounted on the shock absorber and expands and contracts with the shock absorber to provide vibration reduction performance for the rail vehicle.

[0066] In this way, by obtaining the track condition information of the rail vehicle at the current track position, the track condition information includes the defect information of the guide surface of the track relative to the guide wheel (for example, the position information of defects such as pits and protrusions, the depth information of the pits and the height information of the protrusions, etc.), and then controlling the guide wheel to move so that the position information of the guide wheel matches the defect information (for example, controlling the guide wheel to extend, and the extension length corresponds to the depth of the pit). Since the position information of the guide wheel matches the defect information, during the movement of the rail vehicle, the guide wheel and the guide surface of the track can always maintain contact, and the rail vehicle can better adapt to the width of the track at the defect position, thereby reducing the impact force received by the rail vehicle when passing through the defect. That is, by controlling the movement of the guide wheel and matching the posture information with the defect information (for example, by controlling the direction of extension and retraction of the guide wheel, the length of extension and retraction, and the defect type and defect depth in one-to-one correspondence with the defect information, so that the posture of the guide wheel matches the defect type), the production errors and defects of the guide surface relative to the track and the guide wheel are actively avoided, helping the rail vehicle to maintain a horizontal posture while driving, avoiding lateral shaking of the vehicle, and improving the smoothness, stability and comfort of the vehicle operation.

[0067] In some embodiments, the track traffic information includes preset traffic information and real-time traffic information. The preset traffic information is generated after scanning the track in advance, and the real-time traffic information is generated based on real-time collected information from a ranging system set up by the rail vehicle.

[0068] The ranging system may be a sensor for scanning defects, and the ranging system may be used to determine the depth or height of the defect, the distance between the defect and the rail vehicle, etc. For example, the ranging system may be an infrared sensor, a laser sensor, an ultra-high-speed image sensor, etc.

[0069] The distance measurement system is located in front of the guide wheels in the direction of the rail vehicle's travel. Because the distance measurement system is located in front of the guide wheels, the rail vehicle can promptly control the guide wheels to extend or retract based on the real-time road condition information generated by the distance measurement system.

[0070] Among them, the preset road condition information is generated after scanning the track in advance. The preset road condition information can be information recording the defect type (such as pits or bumps, etc.) of the guide surface of the track, the depth or height corresponding to the defect, and the defect position, etc. The preset road condition information can be obtained by setting sensors to pre-collect and record the defect type and defect position of the guide surface of the track (for example, by setting sensors on the rail vehicle, and then controlling the rail vehicle to travel along the track before operation to collect and record road condition information).

[0071] Among them, real-time road condition information is generated based on real-time collected information from the ranging system installed on the rail vehicle.

[0072] See also Figure 6Optionally, the movement includes extension and retraction, and the posture information includes the extension length. Step 012: controlling the guide wheel to move so that the posture information of the guide wheel matches the defect information, including:

[0073] Step 0123: When there is no deviation between the preset road condition information and the real-time road condition information, controlling the guide wheel to extend and retract so that the extension length of the guide wheel matches the defect information of the preset road condition information;

[0074] Step 0124: When there is a deviation between the preset road condition information and the real-time road condition information, the guide wheel is controlled to be extended and retracted so that the extension length of the guide wheel matches the defect information of the real-time road condition information.

[0075] Specifically, the distance measurement system of the rail vehicle can collect defects on the guide surface in real time and correct the preset road condition information during driving. That is, when there is no deviation between the real-time road condition information collected by the distance measurement system and the preset road condition information, the guide wheel is controlled to extend and retract, and the extension length matches the defect information recorded in the preset road condition information (such as defect depth and height, etc.). If there is a deviation between the real-time road condition information collected by the distance measurement system and the preset road condition information (for example, due to aging of the track, resulting in pits on the guide surface, etc.), in order to ensure the stability of the vehicle's driving, the guide wheel is controlled to extend and retract based on the real-time road condition information detected by the distance measurement system, so that the extension length of the guide wheel matches the defect information in the real-time road condition information.

[0076] For example, a rail vehicle can determine its current position based on a positioning system (for example, a global positioning system (GPS)), and then match the current position of the rail vehicle with preset road condition information (including the track position) to determine the defect information (including the defect position, defect type, or defect height and depth, etc.) of the defect that the rail vehicle has not passed in front of it. When the current position of the rail vehicle and the defect position are the same, if there is no deviation between the real-time road condition information and the preset road condition information collected by the ranging system at this time, the guide wheel is controlled to extend and retract, and the extension length matches the defect information recorded in the preset road condition information. If there is a deviation between the real-time road condition information and the preset road condition information collected by the ranging system at this time, the guide wheel is controlled to extend and retract according to the real-time road condition information.

[0077] For another example, the current position of the rail vehicle and the speed of the rail vehicle can be obtained to match the current position of the rail vehicle with the preset road condition information. The arrival time of the rail vehicle to the defect position is calculated based on the distance between the defect position closest to the current position of the rail vehicle in front of the rail vehicle and the current position and the speed of the rail vehicle. After the arrival time, the guide wheel is controlled to be extended and retracted according to the preset road condition information. If there is no deviation between the real-time road condition information collected by the ranging system and the preset road condition information at this time, the extension length of the guide wheel will not be adjusted (controlled according to the preset road condition information). If there is a deviation between the real-time road condition information collected by the ranging system and the preset road condition information at this time, the guide wheel is controlled to be extended and retracted according to the real-time road condition information.

[0078] Optionally, see Figure 2 and Figure 3 The track includes a base 201, a first track beam 202, and a second track beam 203. The first track beam 202 and the second track beam 203 are arranged relative to the base 201. The guide wheel 11 is arranged in an installation space surrounded by the first track beam 202 and the second track beam 203. The guide wheel 11 includes a first side guide wheel 111 and a second side guide wheel 112. The first side guide wheel 111 is arranged opposite to the first track beam 202, and the second side guide wheel 112 is arranged opposite to the second track beam 203. The distance measuring system 20 includes a first distance measuring sensor 21 and a second distance measuring sensor 22. The first distance measuring sensor 21 is used to measure a first distance between the first side guide wheel 111 and the guide surface of the first track beam 202. The second distance measuring sensor 22 is used to measure a second distance between the second side guide wheel 112 and the guide surface of the second track beam 203.

[0079] See also Figure 7 , the control method further includes:

[0080] Step 013: Based on the first spacing and the second spacing of the current track position, determine the real-time traffic information of the current track position.

[0081] Among them, the contact surface between the guide wheel and the guide surface is taken as the installation surface, and the first ranging sensor is arranged at the axis center of the first guide wheel for explanation. The spacing (first spacing or second spacing) can be the distance between the installation surface of the guide wheel and the guide surface; it can also be the distance between the axis center of the guide wheel and the guide surface, etc.

[0082] Specifically, the guide wheels include a first side guide wheel and a second side guide wheel, the first side guide wheel and the second side guide wheel being respectively arranged on both sides of the rail vehicle, the first side guide wheel being arranged opposite to the first track beam, and the second side guide wheel being arranged opposite to the second track beam. The distance measuring system includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor being used to measure a first distance between the first side guide wheel and the guide surface of the first track beam, and the second distance measuring sensor being used to measure a second distance between the first side guide wheel and the guide surface of the second track beam. The real-time road condition information at the current track position is determined based on the distance between the guide wheel and the mounting surface obtained at the current track position of the rail vehicle, namely, defect information (such as the presence of a defect, the defect type, and the defect depth or height) of the first track beam at the current track position is determined based on the first distance between the first side guide wheel and the first track beam, and defect information (such as the presence of a defect, the defect type, and the defect depth or height) of the second track beam at the current track position is determined based on the second distance between the second guide wheel and the second track beam. Finally, the real-time road condition information at the current track position is determined based on the defect information of the first track beam and the defect information of the second track beam.

[0083] In some embodiments, step 013: determining the real-time traffic information of the current track location based on the first distance and the second distance of the current track location includes at least one of the following:

[0084] (1) when the first spacing is greater than a preset value, determining that a pit exists on the guide surface of the first track beam at the current track position;

[0085] (2) when the first spacing is less than a preset value, determining that the guide surface of the first track beam has a protrusion at the current track position;

[0086] (3) when the second spacing is greater than a preset value, determining that a pit exists on the guide surface of the second track beam at the current track position;

[0087] (4) When the second spacing is smaller than a preset value, it is determined that the guide surface of the second track beam has a protrusion at the current track position.

[0088] Among them, the preset value can be the distance between the guide wheel and the guide surface when there is no defect on the guide surface. For example, it can be the distance value between the axis of the guide wheel and the guide surface when there is no defect on the guide surface.

[0089] Specifically, the first distance between the first side guide wheel and the first track beam can be determined by the first distance measuring sensor. If the first distance is greater than a preset value, it is determined that there is redundant space between the first guide wheel and the first track beam, that is, there is a pit on the guide surface of the first track beam at the current track position. If the first distance is less than the preset value, it is determined that the first guide wheel and the first track beam may be squeezed and collided, and therefore there is a bulge on the guide surface of the first track beam at the current track position. Similarly, the second distance between the second side guide wheel and the second track beam can be determined by the second distance measuring sensor. If the second distance is greater than the preset value, it is determined that there is a pit on the guide surface of the second track beam at the current track position. If the second distance is less than the preset value, it is determined that there is a bulge on the guide surface of the second track beam at the current track position.

[0090] See also Figure 8 In some embodiments, the track condition information includes preset condition information, the preset condition information includes a defect position of a guide surface of the track relative to the guide wheel, and the method further includes:

[0091] Step 014: Obtain the current position and current speed of the rail vehicle;

[0092] Step 015: Calculating a first time duration for the rail vehicle to reach the target defect position based on the current position, speed information, and target defect position of the rail vehicle, where the target defect position is any defect position located ahead of the current position in the forward direction of the rail vehicle;

[0093] Step 016: When the second time duration for the rail vehicle to reach the target defect position does not match the first time duration, the position information of the vehicle is updated based on the position information of the target defect.

[0094] Specifically, the first time duration for the rail vehicle to reach the target defect position (i.e., first distance / current speed = first time duration) can be calculated based on the current position of the rail vehicle (for example, by monitoring the position signal of the transponder on the track and determining the position of the rail vehicle when the rail vehicle reaches the position of the transponder; or by determining through GPS, etc.; or by combining the transponder signal and GPS to determine the current position of the rail vehicle) and the first distance between the target defect position and the current speed of the rail vehicle. Then, by obtaining the second time duration when the rail vehicle reaches the target defect position, if the second time duration does not match the first time duration (for example, the first time duration is not equal to the second time duration; or the time difference between the first time duration and the second time duration is greater than the time duration threshold), the current position information of the rail vehicle is updated according to the position information of the target defect to correct and calibrate the position of the rail vehicle and improve the accuracy of the position information of the rail vehicle.

[0095] See also Figure 9In some embodiments, the track condition information includes preset condition information, the preset condition information includes a defect position between the track and the guide wheel relative to the guide surface, and the control method further includes:

[0096] Step 017: When the rail vehicle reaches the target defect position, the current position of the vehicle is updated based on the target defect position.

[0097] Specifically, the current position of the rail vehicle can be obtained, and the defect position of the rail and the guide wheel relative to the guide surface in the preset road condition information can be used as the calibration position. When the rail vehicle reaches the target defect position, the position information of the target defect position is used as the current position of the rail vehicle to update the position information of the rail vehicle and improve the accuracy of the position information of the rail vehicle.

[0098] See also Figure 10 Optionally, the distance measuring system of the rail vehicle is used to measure a third distance between the guide wheel and the defect on the guide surface in the traveling direction of the rail vehicle, and the control method further includes:

[0099] Step 018: When the third spacing matches the spacing corresponding to the target defect position, it is determined that the rail vehicle has arrived at the target defect position.

[0100] Specifically, when the third spacing matches the spacing corresponding to the target defect position (for example, the third spacing is 0 or the third spacing is less than a preset distance value, etc.), it can be considered that the guide wheel and the defect position coincide, and the rail vehicle is at the target defect position.

[0101] See also Figure 11 In order to facilitate better implementation of the control method of the embodiment of the present application, the embodiment of the present application also provides a control device 300 for a rail vehicle, the rail vehicle includes a movable guide wheel, the control device 300 includes an acquisition module 301 and a telescopic module 302, the acquisition module 301 is used to obtain track road condition information of the rail vehicle at the current track position, the track road condition information includes defect information of the guide surface relative to the track and the guide wheel, and the telescopic module 302 is used to control the guide wheel to move so that the position information of the guide wheel matches the defect information.

[0102] In some embodiments, the activity includes extension and retraction, and the posture information includes the extension length. The extension module 302 is specifically used to control the guide wheel to extend and retract when there is no deviation between the preset road condition information and the real-time road condition information, so that the extension length of the guide wheel matches the defect information of the preset road condition information; when there is a deviation between the preset road condition information and the real-time road condition information, control the guide wheel to extend and retract so that the extension length of the guide wheel matches the defect information of the real-time road condition information.

[0103] In some embodiments, the track includes a base, a first track beam and a second track beam, the first track beam and the second track beam are arranged relative to each other in the base, the guide wheels are arranged in an installation space surrounded by the first track beam and the second track beam, the guide wheels include a first side guide wheel and a second side guide wheel, the first side navigation wheel is arranged relative to the first track beam, and the second side guide wheel is arranged relative to the second track beam, the ranging system includes a first ranging sensor and a second ranging sensor, the first ranging sensor is used to measure a first distance between the first side guide wheel and the guide surface of the first track beam, and the second ranging sensor is used to measure a second distance between the first side guide wheel and the guide surface of the second track beam, the control device 300 also includes a determination module 303, the determination module 303 is used to determine the real-time road condition information of the current track position based on the first distance and the second distance of the current track position.

[0104] In some embodiments, the determination module 303 is specifically further used to determine that there is a pit on the guide surface of the first track beam at the current track position when the first spacing is greater than a preset value; and / or to determine that there is a protrusion on the guide surface of the first track beam at the current track position when the first spacing is less than a preset value; and / or to determine that there is a pit on the guide surface of the second track beam at the current track position when the second spacing is greater than a preset value; and / or to determine that there is a protrusion on the guide surface of the second track beam at the current track position when the second spacing is less than a preset value.

[0105] In some embodiments, the defect information includes at least one of the depth of the pit and the height of the protrusion, the activity includes extension and retraction, and the posture information includes the extension length. The extension and retraction module 302 is specifically used to control the guide wheel opposite to the pit to extend so that the extended length of the guide wheel matches the depth of the pit; and / or control the guide wheel opposite to the protrusion to contract so that the contracted length of the guide wheel matches the height of the protrusion.

[0106] In some embodiments, the track road condition information includes preset road condition information, and the preset road condition information includes the defect position of the guide surface of the track relative to the guide wheel. The control device 300 also includes an update module 304, and the update module 304 is used to obtain the current position and current speed of the rail vehicle; based on the current position, speed information and target defect position of the rail vehicle, calculate the first time duration for the rail vehicle to reach the target defect position, and the target defect position is any defect position located in front of the current position in the forward direction of the rail vehicle; when the second time duration for the rail vehicle to reach the target defect position does not match the first time duration, the position information of the rail vehicle is updated based on the position information of the target defect.

[0107] In some embodiments, the track condition information includes preset road condition information, which includes the defect position of the track and the guide wheel relative to the guide surface. The update module 304 is specifically used to update the current position of the vehicle based on the target defect position when the rail vehicle reaches the target defect position.

[0108] In some embodiments, the ranging system of the rail vehicle is used to measure a third distance between the defects on the guide wheel and the guide surface in the direction of travel of the rail vehicle, and the determination module 303 is specifically used to determine that the rail vehicle has reached the target defect position when the third distance matches the distance corresponding to the target defect position.

[0109] The control device 300 is described above from the perspective of a functional module in conjunction with the accompanying drawings. The functional module can be implemented in hardware form, can be implemented by instructions in software form, or can be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software form instructions in the processor, and the steps of the method disclosed in the embodiment of the present application can be directly embodied as being executed by a hardware coding processor, or can be executed by a combination of hardware and software modules in the coding processor. Optionally, the software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in conjunction with its hardware.

[0110] The rail vehicle of the embodiment of the present application includes a processor 40, which is connected to a memory 50. The memory 50 stores a computer program 51. The processor 40 executes the computer program to implement any one of the control methods described above. For the sake of brevity, it will not be repeated here.

[0111] The electronic device of the embodiment of the present application includes a processor, the processor is connected to a memory, a computer program is stored in the memory, and the processor executes the computer program to implement any one of the control methods described above. For the sake of brevity, it will not be repeated here.

[0112] See also Figure 1 , wherein the electronic device can serve as the processor 40 of the vehicle 100, and the electronic device can be installed in the vehicle so that the rail vehicle can implement the control method of any of the above embodiments through the electronic device.

[0113] The rail vehicle of the embodiment of the present application includes the control device or electronic device of the above embodiment, for example, the control device or electronic device is a processor of the rail vehicle. The rail vehicle implements any one of the control methods described above through the control device or electronic device.

[0114] See also Figure 12 The embodiment of the present application also provides a computer-readable storage medium 500 on which a computer program 510 is stored. When the computer program 510 is executed by the processor 520, the steps of the control method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0115] In the description of this specification, the reference terms "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0116] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0117] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method, characterized in that: For a rail vehicle including movable guide wheels, the control method includes: Acquiring track condition information of the rail vehicle at a current track position, the track condition information including defect information of a guide surface of the track opposite to the guide wheel; The guide wheel is controlled to move so that the position information of the guide wheel matches the defect information.

2. The control method according to claim 1, characterized in that: The track traffic information includes preset traffic information and real-time traffic information. The preset traffic information is generated after scanning the track in advance, and the real-time traffic information is generated based on real-time collected information from a distance measurement system provided on the rail vehicle.

3. The control method according to claim 2, characterized in that: The movement includes extension and retraction, the posture information includes extension and retraction length, and controlling the guide wheel to move so that the posture information of the guide wheel matches the defect information includes: When there is no deviation between the preset road condition information and the real-time road condition information, controlling the guide wheel to extend and retract so that the extension length of the guide wheel matches the defect information of the preset road condition information; When there is a deviation between the preset road condition information and the real-time road condition information, the guide wheel is controlled to be extended and retracted so that the extension length of the guide wheel matches the defect information of the real-time road condition information.

4. The control method according to claim 2 or 3, characterized in that: The track includes a base, a first track beam and a second track beam, the first track beam and the second track beam are arranged relative to each other on the base, the guide wheels are arranged in an installation space surrounded by the first track beam and the second track beam, the guide wheels include a first side guide wheel and a second side guide wheel, the first side guide wheel is arranged relative to the first track beam, and the second side guide wheel is arranged relative to the second track beam, the distance measuring system includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor is used to measure a first distance between the first side guide wheel and the guide surface of the first track beam, and the second distance measuring sensor is used to measure a second distance between the second side guide wheel and the guide surface of the second track beam, and the method further includes: The real-time traffic information of the current track position is determined based on the first distance and the second distance of the current track position.

5. The control method according to claim 4, characterized in that: The determining the real-time traffic information of the current track position based on the first spacing and the second spacing of the current track position includes: When the first distance is greater than a preset value, determining that a pit exists on the guide surface of the first track beam at the current track position; and / or When the first distance is less than a preset value, determining that a protrusion exists on the guide surface of the first track beam at the current track position; and / or When the second distance is greater than a preset value, determining that a pit exists on the guide surface of the second track beam at the current track position; and / or When the second distance is smaller than a preset value, it is determined that a protrusion exists on the guide surface of the second track beam at the current track position.

6. The control method according to claim 4, characterized in that: In the forward direction of the rail vehicle, the distance measuring system is located in front of the guide wheel.

7. The control method according to any one of claims 1 to 6, characterized in that: The defect information includes at least one of a depth of a pit and a height of a protrusion, the movement includes extension and retraction, the posture information includes a retraction length, and controlling the guide wheel to move so that the posture information of the guide wheel matches the defect information includes: controlling the guide wheel opposite to the pit to extend so that the extended length of the guide wheel matches the depth of the pit; and / or The guide wheel opposite to the protrusion is controlled to retract so that the retracted length of the guide wheel matches the height of the protrusion.

8. The control method according to claim 1, characterized in that: The track road condition information includes preset road condition information, and the preset road condition information includes a defect position of a guide surface of the track relative to the guide wheel. The method further includes: Obtaining the current position and current speed of the rail vehicle; Calculating a first time duration for the rail vehicle to reach the target defect position based on the current position of the rail vehicle, the speed information, and a target defect position, wherein the target defect position is any defect position located ahead of the current position in the forward direction of the rail vehicle; In a case where a second time duration for the rail vehicle to reach the target defect position does not match the first time duration, the position information of the rail vehicle is updated based on the position information of the target defect.

9. The control method according to claim 1, characterized in that: The track condition information includes preset road condition information, and the preset road condition information includes defect positions of the track and the guide wheel relative to the guide surface. The method further includes: When the rail vehicle reaches a target defect location, the current location of the vehicle is updated based on the target defect location.

10. The control method according to claim 8 or 9, characterized in that: The distance measuring system of the rail vehicle is used to measure a third distance between the guide wheel and the defect on the guide surface in the traveling direction of the rail vehicle, and the method further includes: In a case where the third distance matches the distance corresponding to the target defect position, it is determined that the rail vehicle has arrived at the target defect position.

11. The control method according to claim 1, characterized in that: The rail vehicle further includes a shock absorber and a drive system. The shock absorber is connected to the rail vehicle and the guide wheel. The drive system is used to drive the shock absorber to extend and retract, thereby driving the guide wheel to extend and retract.

12. The control method according to claim 11, characterized in that: The shock absorber includes a cylinder body and a piston rod. The piston rod is telescopically arranged on the cylinder body. The piston rod is connected to the guide wheel. The driving system drives the piston rod to be telescopic to drive the guide wheel to be telescopic.

13. An electronic device, characterized in that: Used for a rail vehicle, the rail vehicle comprising movable guide wheels, the electronic device comprising: A processor connected to a memory; a computer program is stored in the memory, and the processor executes the computer program to implement the instructions of the control method according to any one of claims 1 to 12.

14. A rail vehicle, characterized in that: include: The electronic device according to claim 13.

15. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method according to any one of claims 1 to 12 is implemented.

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