A method, system, device, and computer storage medium for measuring six-dimensional force of a coupler.

Abstract

This application discloses a method, system, device, and computer storage medium for measuring six-dimensional forces in a vehicle coupler, relating to the field of vehicle condition monitoring technology. The method involves acquiring contact pressure signals of the coupler in four different directions; acquiring relative displacement signals of the coupler, including longitudinal displacement, displacement difference between the left and right sides of the coupler, and displacement difference between the upper and lower sides of the coupler; obtaining a pre-constructed six-dimensional force decoupling model based on calibration coefficients, which are used to fit the relationship between the six-dimensional forces and the contact pressure and relative displacement signals; generating physical constraint relationships for the coupler; and processing the contact pressure and relative displacement signals according to the six-dimensional force decoupling model to generate six-dimensional forces that satisfy the physical constraint relationships. The six-dimensional forces include longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment. This allows for a more comprehensive and accurate perception of the actual stress state of the coupler using these six-dimensional forces.

Description

Technical Field

[0001] This application relates to the field of vehicle condition monitoring technology, and more specifically, to a method, system, device, and computer storage medium for measuring six-dimensional force of a coupler. Background Technology

[0002] Currently, vehicle maintenance is gradually shifting from planned maintenance to condition-based maintenance. The core of condition-based maintenance lies in the ability to acquire the health status of components online and in real time, thereby enabling precise and efficient maintenance decisions. As the component connecting vehicles in a trainset, the coupler buffer device not only needs to transmit longitudinal traction and compressive loads but also needs to adapt to curves, undulating slopes, and complex relative movements between vehicles. The real-time stress state of the coupler is directly related to the operational safety of the vehicle; fatigue fracture of any coupler component can lead to a safety accident. Therefore, online, real-time, and comprehensive perception of the coupler's stress state has become an industry requirement.

[0003] To achieve this goal, existing methods measure longitudinal forces by attaching strain gauges to the coupler. However, this method can only measure a single longitudinal force component, resulting in a blind spot in the perception of the actual stress state of the coupler.

[0004] In summary, how to comprehensively and accurately perceive the actual stress state of the coupler is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a six-dimensional force measurement method for couplers, which can, to a certain extent, solve the technical problem of how to comprehensively and accurately perceive the actual force state of the coupler. This application also provides a six-dimensional force measurement system for couplers, electronic equipment, and a computer-readable storage medium.

[0006] To achieve the above objectives, this application provides the following technical solution: Firstly, a method for measuring the six-dimensional force of a coupler is provided, including: The contact pressure signals experienced by the coupler in four different directions were collected; The relative displacement signal of the coupler is collected. The relative displacement signal includes the longitudinal displacement of the coupler, the displacement difference between the left and right sides of the coupler, and the displacement difference between the upper and lower sides of the coupler. Obtain a six-dimensional force decoupling model pre-constructed based on calibration coefficients, which are used to fit the relationship between the six-dimensional force, contact pressure signal, and relative displacement signal; Generate the physical constraints of the coupler; Based on the six-dimensional force decoupling model, the contact pressure signal and relative displacement signal are processed to generate a six-dimensional force of the coupler that satisfies the physical constraint relationship. The six forces of the coupler include longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment.

[0007] On the other hand, obtaining a pre-constructed six-dimensional force decoupling model based on calibration coefficients includes: Obtain a six-dimensional force decoupling model pre-constructed based on calibration coefficients; The six-dimensional force decoupling model includes: ; ; ; ; ; ; in, This indicates the longitudinal force of the coupler; , Indicates the yaw angle of the coupler. This indicates the displacement difference of the coupler on the left side. This indicates the displacement difference of the coupler on the right side. Represents the arctangent function. This indicates the horizontal distance between the left and right displacement difference sensors; , Indicates the pitch angle of the coupler. This indicates the displacement difference of the coupler on the upper side. This indicates the displacement difference of the coupler on the lower side. This indicates the vertical spacing between the upper and lower displacement differential sensors; This represents the sum of the contact pressure signals; , Indicates the mass of the coupler involved in the motion. Indicates the longitudinal acceleration of the coupler; This indicates the lateral force of the coupler; This indicates the contact pressure signal experienced by the coupler in the rightward direction; This indicates the contact pressure signal experienced by the coupler in the left direction; , Indicates the calibration coefficient; This indicates the vertical force of the coupler; This indicates the contact pressure signal experienced by the coupler in the upward direction; This indicates the contact pressure signal experienced by the coupler in the downward direction; , Indicates the calibration coefficient; This indicates the pitching moment of the coupler; This indicates the horizontal and vertical distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the yaw moment of the coupler; This indicates the horizontal distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the rolling torque of the coupler; , This represents the calibration coefficient.

[0008] On the other hand, the physical constraints for generating the coupler include: Generate the lever arm constraint for the coupler, the lever arm constraint includes , ; Generate stiffness constraints for the coupler, including: ; Lever arm constraint and stiffness constraint are used as the physical constraint relationships of the coupler; in, This represents the lever arm from the point of application of the coupler force to the measuring section; This indicates the lateral stiffness of the coupler.

[0009] On the other hand, based on the six-dimensional force decoupling model, the contact pressure signal and relative displacement signal are processed to generate a six-dimensional force of the coupler that satisfies the physical constraint relationship, including: The yaw angle of the coupler is generated based on the displacement difference between the left and right sides of the coupler. The pitch angle of the coupler is generated based on the displacement difference between the upper and lower sides of the coupler. Construct a state vector containing the six-dimensional force components of the coupler, yaw angle, and pitch angle; An observation vector is constructed based on the contact pressure signal, relative displacement signal, and longitudinal acceleration of the coupler. A process model is constructed based on the longitudinal dynamics of the coupler. Based on the six-dimensional force decoupling model and the physical constraint relationship, an observation model is constructed; The Kalman filter algorithm is used to process the state vector, observation vector, process model, and observation model to generate a six-dimensional force for the coupler.

[0010] On the other hand, before obtaining the six-dimensional force decoupling model pre-constructed based on calibration coefficients, the following steps are also included: According to the six-dimensional forces of the coupler, single forces are applied to the coupler in sequence, and coupler data is collected. Based on the coupler data, calibration coefficients are generated.

[0011] Secondly, a six-dimensional force measurement system for a coupler is provided, comprising: The pressure sensor array is used to collect contact pressure signals that the coupler experiences in four different directions; The laser rangefinder sensor group is used to collect the relative displacement signal of the coupler. The relative displacement signal includes the longitudinal displacement of the coupler, the displacement difference between the left and right sides of the coupler, and the displacement difference between the upper and lower sides of the coupler. The main control chip is used to acquire a six-dimensional force decoupling model pre-constructed based on calibration coefficients, which are used to fit the relationship between the six-dimensional force and the contact pressure signal and the relative displacement signal; generate the physical constraint relationship of the coupler; and process the contact pressure signal and the relative displacement signal according to the six-dimensional force decoupling model to generate a six-dimensional force of the coupler that satisfies the physical constraint relationship. The six forces of the coupler include longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment.

[0012] On the other hand, the pressure sensor group includes: multiple pressure sensors with independent packaging structures installed on the four sides of the contact surface at the tail of the coupler. Among them, a positioning groove is provided at the force interface connecting the coupler and the buffer device, and the coupler and the car body, for embedding the pressure sensor; and the surface of the pressure sensor is covered with a force transmission pad.

[0013] On the other hand, the laser ranging sensor group includes: a longitudinal laser ranging sensor installed between the rear of the coupler housing and the slave plate, used to measure the displacement of the coupler along the longitudinal direction; transverse laser ranging sensors installed on the left and right sides of the coupler respectively, used to measure the displacement difference between the left and right sides of the coupler; and vertical laser ranging sensors installed on the upper and lower sides of the coupler respectively, used to measure the displacement difference between the upper and lower sides of the coupler.

[0014] Thirdly, an electronic device is provided, comprising: Memory, used to store computer programs; A processor is used to implement the steps of the six-dimensional force measurement method for couplers as described above when executing the computer program.

[0015] Fourthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when executed by a processor, the computer program implements the steps of the six-dimensional force measurement method for couplers as described above.

[0016] This application provides a method for measuring six-dimensional forces in a train coupler. The method involves acquiring contact pressure signals from the coupler in four different directions; acquiring relative displacement signals from the coupler, including longitudinal displacement, displacement differences between the left and right sides, and displacement differences between the upper and lower sides; obtaining a pre-constructed six-dimensional force decoupling model based on calibration coefficients, which are used to fit the relationship between the six-dimensional forces, contact pressure signals, and relative displacement signals; generating physical constraint relationships between the coupler; and processing the contact pressure signals and relative displacement signals according to the six-dimensional force decoupling model to generate six-dimensional forces that satisfy the physical constraint relationships. The six-dimensional forces include longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment. In this application, contact pressure signals and relative displacement signals of the coupler in four different directions are collected. Using a six-dimensional force decoupling model between the coupler's six-dimensional forces and the contact pressure and relative displacement signals, the longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment of the coupler are generated. Compared to measuring only the longitudinal force of the coupler, this expands the methods for measuring coupler forces, allowing for a more comprehensive perception of the coupler's true stress state using the six-dimensional forces. Furthermore, the relationship between the six-dimensional forces and the contact pressure and relative displacement signals needs to be fitted using calibration coefficients, and the six-dimensional forces need to be constrained using the coupler's physical constraints, ensuring the accuracy of the generated six-dimensional forces and thus enabling high-precision perception of the coupler's true stress state. The coupler six-dimensional force measurement system, electronic equipment, and computer-readable storage medium provided in this application also solve the corresponding technical problems. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 A flowchart for measuring the six-dimensional force of the coupler provided in this application embodiment; Figure 2 This is a schematic diagram of the structure of the six-dimensional force measurement sensor for the coupler used in this application; Figure 3 This is a schematic diagram of a six-dimensional force measurement system for a coupler provided in an embodiment of this application; Figure 4 A flowchart illustrating a coupler quality assessment method provided in this application embodiment; Figure 5 This is a schematic diagram of the structure of a coupler quality assessment system provided in an embodiment of this application; Figure 6This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 7 This is another structural schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] Sensors are required during the six-dimensional force measurement of the coupler, so please refer to [link / reference needed]. Figure 1 and Figure 2 , Figure 1 This is a flowchart illustrating the measurement of six-dimensional forces in a coupler, provided in an embodiment of this application. Figure 2 This is a schematic diagram of the six-dimensional force measurement sensor for the coupler used in this application. In the diagram, 1 represents the upper pressure sensor, 2 represents the lower pressure sensor, 3 represents the left or right pressure sensor, 4 represents the longitudinal lower laser ranging sensor, 5 represents the transverse left laser ranging sensor, 6 represents the longitudinal laser ranging sensor, 7 represents the longitudinal upper laser ranging sensor, and 8 represents the transverse right laser ranging sensor.

[0021] The six-dimensional force measurement method for couplers provided in this application embodiment may include the following steps: Step S101: Collect the contact pressure signals of the coupler in four different directions.

[0022] In practical applications, a pressure sensor array can be used to collect contact pressure signals of the coupler in four different directions. These four different directions can be the top, bottom, left, and right of the coupler. In this case, the pressure sensor array can include multiple pressure sensors installed on the top, bottom, left, and right positions of the contact surface at the tail of the coupler. Among them, the upper pressure sensor P... U The coordinates are (0, 0, h), and the pressure sensor P is below. D The coordinates are (0, 0, -h), and the left pressure sensor P... L The right pressure sensor P is located at coordinates (0, -w, 0). R The coordinates are (0, w, 0), where h is the horizontal and vertical distance from the upper and lower sensors to the X-axis, and w is the horizontal distance from the left and right sensors to the X-axis.

[0023] In an exemplary embodiment, the pressure sensor can be independently packaged, allowing for easy removal and replacement, facilitating later maintenance and calibration. To ensure the positioning accuracy and structural stability of the pressure sensor installation, positioning grooves can be created at the force-bearing interfaces connecting the coupler and the buffer device, and the coupler and the vehicle body, for embedding the pressure sensor. A force-transmitting pad is then placed over the pressure sensor surface to ensure uniform load distribution and protect the pressure sensor. Furthermore, a clearance fit can be used between the force-transmitting pad and the positioning groove to isolate tangential forces from damaging the pressure sensor body, ensuring that the pressure sensor is not directly exposed to the sliding friction surface and primarily bears the normal pressure, avoiding the problems of easy detachment and wear of traditional adhesive strain gauges. A set of pressure sensors can be configured in each of the four directions of the coupler, with each set including a main pressure sensor and a backup pressure sensor to achieve a redundancy design. This allows for automatic switching to the backup pressure sensor when the main pressure sensor fails, improving the reliability of coupler quality assessment.

[0024] Step S102: Collect the relative displacement signal of the coupler. The relative displacement signal includes the longitudinal displacement of the coupler, the displacement difference between the left and right sides of the coupler, and the displacement difference between the upper and lower sides of the coupler.

[0025] In practical applications, the measurement of the six-dimensional force of the coupler still requires the use of the relative displacement signal of the coupler. The relative displacement signal of the coupler can be collected by a laser rangefinder sensor group to replace the traditional wire sensor, eliminate mechanical wear and zeroing error, and improve the long-term stability of coupler quality assessment.

[0026] Since the relative displacement signal characterizes the change in relative distance between the coupler and the car body / driven plate, it can include the longitudinal displacement of the coupler, the displacement difference between the left and right sides of the coupler, and the displacement difference between the upper and lower sides of the coupler. Therefore, the laser ranging sensor group can include: a longitudinal laser ranging sensor L installed between the rear of the coupler housing and the driven plate. x It is used to measure the displacement of the coupler along the longitudinal direction, that is, along the X-axis. The displacement can be either compressive or tensile, and the unit can be mm; the lateral laser rangefinders L are respectively installed on the left and right sides of the coupler. yL and L yR It is used to measure the displacement difference between the left and right sides of the coupler, and the horizontal distance between them is... W Vertical laser rangefinders L are respectively installed on the upper and lower sides of the coupler. zU and L zD It is used to measure the displacement difference between the upper and lower sides of the coupler, and the vertical distance between them is... H In this way, by using a specific spatial combination of pressure sensors and laser rangefinders, complete geometric and mechanical boundary conditions were constructed that can simultaneously calculate longitudinal traction force, lateral impact force, vertical force, and triaxial torque, providing a data foundation for the subsequent generation of six-dimensional forces in the coupler.

[0027] It should be noted that the six forces of the coupler include longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment. For ease of understanding, the vehicle's forward direction is used as the reference direction, and a coupler coordinate system O-XYZ is established according to the right-hand rule: the origin O is located at the geometric center of the connection surface between the coupler tail and the buffer device; the X-axis is along the longitudinal axis of the coupler, pointing in the direction of train movement, with the tension being positive; the Y-axis is horizontal to the right; and the Z-axis is vertically upward. The longitudinal force... Force in the direction of vehicle movement; positive values ​​represent tension in the stretched state, and negative values ​​represent compression in the coupler state; lateral force. A horizontal force perpendicular to the vehicle's direction of travel, which can be a shear force pointing to the left or right of the vehicle, generated by curves or serpentine movements; a vertical force. Vertical force perpendicular to the rail surface, generated by vehicle body pitching, vertical vibration, or ramps; lateral rolling moment. The torque about the X-axis, that is, the torque of the coupler rotating about the longitudinal axis, is generated by the uneven load on the left and right sides; pitching torque. The torque about the Y-axis, that is, the torque that causes the coupler to rotate about the lateral axis, is generated by the uneven vertical load between the front and rear ends; yaw torque. The torque about the Z-axis, that is, the torque of the coupler rotating about the vertical axis, is generated by the lateral force eccentricity.

[0028] Step S103: Obtain a six-dimensional force decoupling model pre-constructed based on calibration coefficients. The calibration coefficients are used to fit the relationship between the six-dimensional force, contact pressure signal, and relative displacement signal.

[0029] In practical applications, the coupler bears six degrees of freedom loads in three-dimensional space during operation. Since the coupler is a rigid body, the pressure sensors on the four surfaces not only respond to longitudinal forces but also experience pressure redistribution due to eccentric loading and sway. Eccentric loading is equivalent to torque, and sway is equivalent to angle. Therefore, this application, in measuring the six-dimensional forces, no longer relies solely on geometric constraints to derive the torque. Instead, it directly utilizes the spatial distribution characteristics of the four pressure sensors to measure the bending moment and uses laser ranging data to correct geometric nonlinear errors, thereby achieving high-precision full-dimensional decoupling. In other words, a laser sensor is used to measure the coupler's minute deflection angle to correct the pressure sensor readings; then, the four pressure values ​​are used through a pre-calibrated mechanical mapping matrix and dynamic constraints to deduce the complete six-dimensional forces and torques acting on the coupler, thus solving the measurement distortion problem under large-angle deflections.

[0030] Based on this, during the conversion of laser ranging to attitude parameters, the arctangent function can be used for geometric calculation to ensure accuracy at small angles. At this point, the lateral yaw angle is... , , This indicates the displacement difference of the coupler on the left side. This indicates the displacement difference of the coupler on the right side, which can be positive to the right. Represents the arctangent function. This indicates the horizontal distance between the left and right displacement differential sensors. The vertical swing angle, also known as the pitch angle. , , This indicates the displacement difference of the coupler on the upper side. This indicates the displacement difference of the coupler on the lower side, which can be positive if upward. This indicates the vertical distance between the upper and lower displacement differential sensors. Longitudinal displacement. , ,in, This is the initial zero position, which is the free gap of the buffer when there is no load.

[0031] Furthermore, the pressure sensor reading P U P D P L P R This is the projection result of the six-dimensional load onto the contact surface. In establishing the analytical relationship between force and displacement, and eliminating geometric effects using laser ranging data, the longitudinal force... The correction is based on the sum of the pressures from the four sensors. Considering the coupler sway, there is an angle between the contact surface normal and the X-axis. Furthermore, the geometric force error and inertial force caused by the coupler sway must be deducted. ,in, , which is the sum of the four pressure sensors; , This indicates the mass of the coupler involved in the movement, including the coupler body and part of the buffer device; This represents the longitudinal acceleration of the coupler, which can be the longitudinal acceleration of the vehicle. For pitching and yaw moments, according to the lever principle, if the upper part of the coupler experiences more pressure and the lower part less, the pressure difference between the upper and lower pressure sensors will increase. Utilizing the lever arm effect of the pressure sensors, the bending moment can be directly calculated with higher accuracy than indirect derivation; that is, the bending moment around the Y-axis. , This indicates the horizontal and vertical distance from the data collector to the longitudinal axis of the coupler. This represents the calibration coefficient, which is the stiffness compensation term caused by the pitch angle, such as the additional bending moment generated by the asymmetric compression of the buffer, and can be obtained through calibration. According to the lever principle, if the left side of the coupler is subjected to more pressure and the right side to less pressure, the pressure difference between the left and right pressure sensors will increase, thus increasing the bending moment around the Z-axis. , This indicates the horizontal distance from the data collector to the longitudinal axis of the coupler. This represents the calibration coefficient, which is the stiffness compensation term caused by the yaw angle. For lateral and vertical forces, these forces mainly manifest as the gradient of bending moments, and are also directly affected by the yaw angle, allowing for the establishment of a linear mapping relationship. , , , Indicates the calibration coefficient. , This represents the calibration coefficient, obtained through calibration. Even without actual lateral force, a pressure difference will occur solely due to the swing angle, hence the second term... and Used to separate purely geometric effects. For torque, which induces shear stress at the contact surface, the normal pressure sensor has low sensitivity, but it can be estimated using the seesaw effect. The first item The second term represents the diagonal pressure difference. This is a cross-coupling term, that is, the torsion caused by the compound pendulum angle. , This represents the calibration coefficient.

[0032] Based on this, the six-dimensional force decoupling model pre-constructed using calibration coefficients is as follows: ; ; ; ; ; ; in, This indicates the longitudinal force of the coupler; , Indicates the yaw angle of the coupler. This indicates the displacement difference of the coupler on the left side. This indicates the displacement difference of the coupler on the right side. Represents the arctangent function. This indicates the horizontal distance between the left and right displacement difference sensors; , Indicates the pitch angle of the coupler. This indicates the displacement difference of the coupler on the upper side. This indicates the displacement difference of the coupler on the lower side. This indicates the vertical spacing between the upper and lower displacement differential sensors; This represents the sum of the contact pressure signals; , Indicates the mass of the coupler involved in the motion. Indicates the longitudinal acceleration of the coupler; This indicates the lateral force of the coupler; This indicates the contact pressure signal experienced by the coupler in the rightward direction; This indicates the contact pressure signal experienced by the coupler in the left direction; , Indicates the calibration coefficient; This indicates the vertical force of the coupler; This indicates the contact pressure signal experienced by the coupler in the upward direction; This indicates the contact pressure signal experienced by the coupler in the downward direction; , Indicates the calibration coefficient; This indicates the pitching moment of the coupler; This indicates the horizontal and vertical distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the yaw moment of the coupler; This indicates the horizontal distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the rolling torque of the coupler; , This represents the calibration coefficient.

[0033] In the exemplary embodiment, before obtaining the pre-constructed six-dimensional force decoupling model based on calibration coefficients, a single force can be applied to the coupler sequentially according to the six-dimensional forces of the coupler, and coupler data can be collected; calibration coefficients can be generated based on the coupler data. For example, the contact surface at the tail of the coupler can be fixed to a six-degree-of-freedom force sensor, and the front end of the coupler can be loaded through a servo actuator. The zero-point outputs of all pressure sensors and laser rangefinders can be recorded for zero-point calibration; during the calibration of the angle compensation coefficients, the longitudinal force is maintained. Constant, for example, a constant of 500kN, etc., and then change. and Record the changes of each pressure sensor and fit the data. , Correction factor and , The function form can be a low-order polynomial. During the calibration of the lateral / vertical force coefficients, a purely lateral force can be applied. That is, no longitudinal force, recording and , return to get , Similarly, calibrate , During the calibration of the torque coefficient, pure torque can be applied. Record the diagonal pressure difference and fit the data. Applying at the compound swing angle , calibrate cross terms Furthermore, for ease of implementation, all calibration data can be aggregated, and a multidimensional response surface from sensor readings to a six-dimensional force can be constructed using a quadratic polynomial or a shallow neural network, serving as a reference mapping for online decoupling.

[0034] Step S104: Generate the physical constraint relationship of the coupler.

[0035] In practical applications, to improve robustness and address underdeterminacy, it is also necessary to generate the physical constraint relationships of the coupler, such as the lever arm constraint. The lever arm constraint indicates that, under static or quasi-static conditions, there is an approximate relationship between the bending moment and the lateral / vertical force. , , This represents the lever arm from the point of application of the coupler force to the measurement section; it generates the stiffness constraints of the coupler, including... That is, the buffer has lateral stiffness. Lateral displacement occurs under the action of lateral force. ,and The lever arm constraint and stiffness constraint are used as the physical constraint relationships of the coupler. Specifically, the lever arm constraint... With lateral stiffness During the calibration process, static tests can be used to measure... and The ratio is calculated by combining the geometric dimensions.

[0036] Step S105: Based on the six-dimensional force decoupling model, the contact pressure signal and relative displacement signal are processed to generate the six-dimensional force of the coupler that satisfies the physical constraint relationship; the six-dimensional force of the coupler includes longitudinal force, lateral force, vertical force, rolling moment, pitching moment and yaw moment.

[0037] In practical applications, during the process of processing contact pressure signals and relative displacement signals according to the six-dimensional force decoupling model to generate the six-dimensional force of the coupler that satisfies physical constraints, Kalman filtering can be used to fuse these multi-source information to improve robustness to sensor noise and temporary failures, thereby generating accurate six-dimensional coupler forces. For example, the yaw angle of the coupler can be generated based on the displacement difference between the left and right sides; the pitch angle can be generated based on the displacement difference between the upper and lower sides; and a state vector containing the six-dimensional force components of the coupler, yaw angle, and pitch angle can be constructed. Based on the contact pressure signal, relative displacement signal, and longitudinal acceleration of the coupler, an observation vector is constructed. Based on the longitudinal dynamics of the coupler, a process model is constructed, such as updating the model based on the longitudinal dynamics of the vehicle and the known traction and braking forces. It is assumed that the lateral / vertical forces and moments are random walks or first-order Markov processes. Based on the six-dimensional force decoupling model and physical constraint relationships, an observation model is constructed. For the nonlinear part, it can be linearized by extended Kalman filtering or unscented Kalman filtering. The Kalman filtering algorithm is used to process the state vector, observation vector, process model and observation model to generate the six-dimensional force of the coupler.

[0038] This application provides a method for measuring six-dimensional forces in a train coupler. The method involves acquiring contact pressure signals from the coupler in four different directions; acquiring relative displacement signals from the coupler, including longitudinal displacement, displacement differences between the left and right sides, and displacement differences between the upper and lower sides; obtaining a pre-constructed six-dimensional force decoupling model based on calibration coefficients, which are used to fit the relationship between the six-dimensional forces, contact pressure signals, and relative displacement signals; generating physical constraint relationships between the coupler; and processing the contact pressure signals and relative displacement signals according to the six-dimensional force decoupling model to generate six-dimensional forces that satisfy the physical constraint relationships. The six-dimensional forces include longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment. In this application, contact pressure signals of the coupler in four different directions are collected, as well as relative displacement signals of the coupler. By using a six-dimensional force decoupling model between the six-dimensional forces of the coupler and the contact pressure and relative displacement signals, the longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment of the coupler are generated. Compared with measuring the single longitudinal force of the coupler, this expands the measurement methods of the coupler force, and allows for a more comprehensive perception of the actual stress state of the coupler using the six-dimensional forces of the coupler. Furthermore, the relationship between the six-dimensional forces and the contact pressure and relative displacement signals needs to be fitted through calibration coefficients, and the six-dimensional forces of the coupler need to be constrained through the physical constraints of the coupler, which ensures the accuracy of the generated six-dimensional forces of the coupler, thereby enabling a high-precision perception of the actual stress state of the coupler.

[0039] Please see Figure 3 , Figure 3 This is a schematic diagram of a six-dimensional force measurement system for a coupler provided in an embodiment of this application.

[0040] This application provides a six-dimensional force measurement system for a coupler, which may include: The pressure sensor array is used to collect contact pressure signals that the coupler experiences in four different directions; The laser rangefinder sensor group is used to collect the relative displacement signal of the coupler. The relative displacement signal includes the longitudinal displacement of the coupler, the displacement difference between the left and right sides of the coupler, and the displacement difference between the upper and lower sides of the coupler. The main control chip is used to acquire a six-dimensional force decoupling model pre-constructed based on calibration coefficients. The calibration coefficients are used to fit the relationship between the six-dimensional force and the contact pressure signal and relative displacement signal; generate the physical constraint relationship of the coupler; and process the contact pressure signal and relative displacement signal according to the six-dimensional force decoupling model to generate the six-dimensional force of the coupler that satisfies the physical constraint relationship. The six forces of the coupler include longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment.

[0041] In an exemplary embodiment, the pressure sensor group includes: multiple pressure sensors with independent encapsulation structures installed on the four sides of the contact surface at the rear of the coupler; wherein, a positioning groove is provided at the force interface connecting the coupler and the buffer device, and the coupler and the vehicle body, for embedding the pressure sensor; and the surface of the pressure sensor is covered with a force transmission pad.

[0042] In an exemplary embodiment, the laser ranging sensor group includes: a longitudinal laser ranging sensor installed between the rear of the coupler housing and the slave plate, for measuring the longitudinal displacement of the coupler; lateral laser ranging sensors installed on the left and right sides of the coupler respectively, for measuring the displacement difference between the left and right sides of the coupler; and vertical laser ranging sensors installed on the upper and lower sides of the coupler respectively, for measuring the displacement difference between the upper and lower sides of the coupler.

[0043] It should be noted that the data collected by the sensor needs to be converted before it can be used by the main control chip. Assuming the main control chip is built into the data acquisition hardware, the data acquisition hardware can consist of the main control chip, a signal acquisition module, and a time synchronization system. The main control chip can be an RK3588 to support real-time multitasking, meet the high-speed computation requirements of the six-dimensional force / torque decoupling algorithm, and can also have a built-in hardware floating-point accelerator to improve the efficiency of complex mathematical operations. The signal acquisition module includes an analog-to-digital converter (ADC) and a weak signal amplifier. The ADC chip can be an 8-channel 16-bit synchronous sampling ADC such as the AD7606, with a single-channel sampling rate of 200kSPS, a signal-to-noise ratio of 94dB, and support for ±10V / ±5V bipolar input to ensure accurate synchronous acquisition of the pressure sensor and laser ranging signals. The weak signal amplifier can be a fully differential amplifier such as the AD8139, configured with a gain of 100x, adjustable via an external precision resistor network, a bandwidth of 1.2GHz, and a slew rate of 1500V / μs to effectively amplify the mV-level weak signal output from the pressure sensor and suppress common-mode interference. The time synchronization system's timing module can be a BeiDou-3 high-precision timing module, with an accuracy of ≤10ns per 1PPS (pulse per second) output to provide millisecond-level absolute timestamps, ensuring time synchronization of multi-sensor data and meeting the timing consistency requirements of dynamic load measurements. In this way, the AD7606's 8 channels can achieve synchronous sampling, and in conjunction with the RK3588's direct memory access transmission, it enables zero-delay acquisition of 4-channel pressure signals and 4-channel laser displacement signals. The AD8139 differential amplifier circuit, combined with the PCB layered layout, can effectively suppress electromagnetic interference in industrial environments and improve signal integrity by more than 30%. The RK3588's hardware floating-point unit and DSP instruction set ensure that the single calculation time of the decoupling algorithm, which includes trigonometric functions and matrix operations, is <1ms, meeting the real-time control requirements above 100Hz. Furthermore, through the collaborative design of high-performance main control, high-precision acquisition, and accurate timing, high-speed, synchronous, and low-noise acquisition of sensor signals is achieved, providing a reliable hardware foundation for the six-dimensional force / torque decoupling algorithm.

[0044] It is understandable that after measuring the six-dimensional force of the coupler, the six-dimensional force of the coupler can be used flexibly according to actual needs. For example, the measured six-dimensional force data of the coupler can be fed back to the vehicle operation simulation system to verify the coupling impact performance of the vehicle train. The coupler can also be used to evaluate the quality of the coupler based on the six-dimensional force of the coupler. This application does not make any specific limitations here.

[0045] For ease of understanding, let's assume that the coupler's quality is assessed using six-dimensional forces. See [reference needed]. Figure 4 , Figure 4 A flowchart illustrating a coupler quality assessment method provided in this application embodiment.

[0046] This application provides a method for evaluating the quality of a car coupler, which may include the following steps: Step S201: Establish a high-fidelity finite element model of the coupler.

[0047] In practical applications, a high-fidelity finite element model of the coupler can be established first, so that this high-fidelity finite element model can be used for coupler quality assessment later. The coupler can be a coupler for heavy-haul trains, urban rail vehicles or heavy machinery, etc.

[0048] In the exemplary embodiment, during the process of establishing a high-fidelity finite element model of the coupler, a high-fidelity finite element model can be established in finite element software based on the geometry and material properties of the coupler; and mesh refinement can be performed in key areas of the coupler, and material SN curves can be input to ensure calculation accuracy.

[0049] Step S202: Generate the full-order stress snapshot matrix of the high-fidelity finite element model.

[0050] Step S203: Reduce the order of the full-order stress snapshot matrix to generate the reduced-order basis matrix and the mean stress field.

[0051] In practical applications, to utilize the six-dimensional forces of the coupler, after establishing a high-fidelity finite element model of the coupler, it is necessary to generate a full-order stress snapshot matrix of the high-fidelity finite element model. Then, the full-order stress snapshot matrix is ​​reduced in order to generate a reduced-order basis matrix and an average stress field, establishing a high-precision, fast computational mapping relationship from the external six-dimensional forces to the internal full-field stress. This way, subsequent inputs only require real-time measured six-dimensional force data of the coupler to reconstruct the stress field of the entire coupler structure in milliseconds. Furthermore, by reducing the model order, a few dominant modes that best represent the structural mechanical response can be extracted from a large number of stress field snapshots. Subsequent calculations do not require running a large full-order model; only the reduced-order basis matrix and average stress field need to be applied, reducing computational complexity and balancing computational accuracy and efficiency.

[0052] In an exemplary embodiment, during the generation of the full-order stress snapshot matrix of the high-fidelity finite element model, for the high-fidelity finite element model, unit load cases and combined load cases can be applied in the six-dimensional force load space, that is, six-dimensional forces of unit size can be applied sequentially; the global stress field under each load case is generated; and the full-order stress snapshot matrix is ​​constructed based on the global stress field. During the process of reducing the order of the full-order stress snapshot matrix to generate the reduced-order basis matrix and the mean stress field, eigenorthogonal decomposition, kriging model, or principal component analysis can be performed on the full-order stress snapshot matrix to extract the dominant modes, and then the reduced-order basis matrix and the mean stress field are generated based on the dominant modes.

[0053] Step S204: Obtain the six-dimensional force data of the coupler, which includes longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment.

[0054] Step S205: Fuse the reduced-order basis matrix, average stress field, and six-dimensional force data to generate the instantaneous stress field of the coupler.

[0055] Step S206: Extract the equivalent stress time series of the coupler target monitoring part from the instantaneous stress field.

[0056] In practical applications, after obtaining the reduced-order basis matrix and the average stress field, the six-dimensional force data of the coupler can be acquired. This data includes longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment. The reduced-order basis matrix, average stress field, and six-dimensional force data are fused to generate the instantaneous stress field of the coupler. Then, the equivalent stress time series of the target monitoring parts of the coupler is extracted from the instantaneous stress field, allowing for the application of this time series to assess the coupler's quality. The target monitoring parts of the coupler can be key monitoring areas, such as the root of the coupler tongue, the coupler tail pin hole, or the bend transition zone.

[0057] In an exemplary embodiment, during the process of fusing the reduced-order basis matrix, the average stress field, and the six-dimensional force data to generate the instantaneous stress field of the coupler, the six-dimensional force data can be mapped to obtain the modal coefficient vector. , Representing time, the mapping method can be radial basis function interpolation, neural networks, or linear regression, etc.; based on the modal coefficient vector The product value with the reduced basis matrix Generate intermediate parameters of the stress field. r This indicates the number of selected modes; the instantaneous stress field of the coupler is generated based on the sum of the intermediate parameters and the average stress field. ,For example Because this process involves linear algebraic operations, the entire coupler stress field at the current moment can be reconstructed in a short time, improving the efficiency of coupler quality assessment.

[0058] Step S207: Perform a quality assessment of the coupler based on the equivalent stress time series and generate the quality assessment results.

[0059] In practical applications, during the quality assessment of couplers based on equivalent stress time series and the generation of quality assessment results, sliding window sampling and cycle counting analysis can be performed on the equivalent stress time series to obtain the initial amplitude of stress cycles. and initial mean , i represents the data point number sampled by the sliding window. This represents the initial amplitude of the i-th data point. This represents the initial mean of the i-th data point. The window length for the sliding window sampling can be 100 seconds, corresponding to 1000 data points at a 10Hz sampling rate. Cyclic analysis methods can include rainflow counting, etc. After this, since the material SN curve is usually measured under a stress ratio R=-1, i.e., symmetrical cycling, but the actual mean of the stress cycle is often not zero, it is necessary to correct the non-zero mean stress amplitude of the stress cycle to an equivalent zero mean stress amplitude based on the initial amplitude and initial mean of the stress cycle. , The equivalent zero-mean stress amplitude at the i-th data point can be represented by methods such as Goodman, Gerber, or Soderberg. Based on the SN curve of the coupler material, the theoretical fatigue life N corresponding to the stress cycle is determined. i For example, for each equivalent zero-mean stress amplitude, its corresponding theoretical fatigue life N can be calculated through interpolation or formula. i At this point, the theoretical fatigue life characterizes the number of cycles required for fatigue failure to occur at the i-th data point under this stress amplitude; based on the theoretical fatigue life, the cumulative damage degree of the coupler is generated using the cumulative damage method. , This represents the actual number of loading cycles experienced by the i-th data point; the coupler is quality assessed based on the cumulative damage level, and a quality assessment result is generated.

[0060] In an exemplary embodiment, a single cumulative damage level is insufficient to comprehensively reflect the health status of the coupler. Therefore, during the process of assessing the coupler's quality based on the cumulative damage level, generating the assessment result, and obtaining the critical damage threshold, a fatigue cumulative damage factor can be generated based on the ratio of the cumulative damage level to the critical damage threshold. A peak load factor and a service time factor can also be generated. These factors are then weighted and fused to generate a health score for the coupler. This health score is then used as the quality assessment result. In this way, a health score can be generated by comprehensively considering the fatigue cumulative damage factor, peak load factor, and service time factor for quality assessment. The assessment result is more intuitive and comprehensive, making it easier for users to perceive the coupler's quality status.

[0061] In specific application scenarios, the fatigue cumulative damage factor of the coupler is generated based on the ratio of cumulative damage to the critical damage threshold. During the process, it can be done through formula generate, The critical damage threshold can be 0.5 to 0.7, etc., with `max` representing the maximum value. During the generation of the peak load factor for the coupler, the maximum equivalent stress in the equivalent stress time series can be obtained. Obtain the fatigue limit value of the coupler. and tensile strength value Based on the first difference between the maximum equivalent stress and the fatigue limit value, intermediate load parameters are generated; a second difference between the tensile strength value and the fatigue limit value is generated; and the peak load factor is generated based on the ratio of the intermediate load parameters and the second difference. , During the process of generating the service time factor of the coupler, the service time of the coupler can be obtained. and design life ; Generate the service time factor based on the ratio of service time to design life. , Correspondingly, health score Can be , , , For weights, for example , , wait.

[0062] In specific application scenarios, couplers can be classified into four status levels based on their health scores, and corresponding maintenance strategies can be matched to control coupler quality. For example, when the health score is 80-100, the coupler is considered healthy, triggering a green alert and normal monitoring; when the health score is 60-80, attention to coupler quality is required, triggering a yellow alert and planned inspection; when the health score is 40-60, a coupler warning is required, triggering an orange alert and arranging non-destructive testing; when the health score is 0-40, the coupler is considered dangerous, triggering a red alert and immediately limiting vehicle speed and returning the vehicle to the depot for coupler replacement. Furthermore, by combining health scores and trends, cumulative damage, estimated remaining lifespan, coordinates of the location of maximum stress, and recommended maintenance operations, early warning information can be generated and uploaded to a remote monitoring platform for archiving, providing decision support for intelligent condition-based maintenance management of vehicles.

[0063] This embodiment provides a method for quality assessment of a train coupler, which involves establishing a high-fidelity finite element model of the coupler; generating a full-order stress snapshot matrix of the high-fidelity finite element model; reducing the order of the full-order stress snapshot matrix to generate a reduced-order basis matrix and an average stress field; acquiring six-dimensional force data of the coupler, including longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment; fusing the reduced-order basis matrix, the average stress field, and the six-dimensional force data to generate an instantaneous stress field of the coupler; extracting the equivalent stress time series of the target monitoring part of the coupler from the instantaneous stress field; and performing a quality assessment of the coupler based on the equivalent stress time series to generate a quality assessment result. In this embodiment, a reduced-order basis matrix and mean stress field are established by using a high-fidelity finite element model and model reduction to map the external six-dimensional forces of the coupler to the internal full-field stress. This can convert the six-dimensional forces of the coupler into an equivalent stress time series of the target monitoring part of the coupler. Since the six-dimensional forces of the coupler reflect the coupler state from six aspects: longitudinal force, lateral force, vertical force, rolling moment, pitching moment, and yaw moment, the equivalent stress time series can accurately reflect the stress changes of the target monitoring part. Therefore, accurate and reliable coupler quality assessment can be carried out based on the equivalent stress time series. Furthermore, the six-dimensional forces of the coupler, the reduced-order basis matrix, the mean stress field, and the equivalent stress time series can all be used to trace the coupler quality assessment process in the future, making it more applicable.

[0064] Based on this embodiment, please refer to Figure 5 , Figure 5 This is a schematic diagram of a coupler quality assessment system provided in an embodiment of this application.

[0065] This application provides a coupler quality assessment system, which may include: Model building module 101 is used to build a high-fidelity finite element model of the coupler. Matrix generation module 102 is used to generate full-order stress snapshot matrix of high-fidelity finite element model; Model reduction module 103 is used to reduce the order of the full-order stress snapshot matrix and generate the reduced-order basis matrix and the mean stress field. The six-dimensional force acquisition module 104 is used to acquire the six-dimensional force data of the coupler. The six-dimensional force data includes longitudinal force, lateral force, vertical force, rolling moment, pitching moment and yaw moment. The fusion module 105 is used to fuse the reduced-order basis matrix, the average stress field, and the six-dimensional force data to generate the instantaneous stress field of the coupler. The stress sequence extraction module 106 is used to extract the equivalent stress time sequence of the coupler target monitoring part from the instantaneous stress field; The quality assessment module 107 is used to assess the quality of the coupler based on the equivalent stress time series and generate the quality assessment results.

[0066] This application provides a coupler quality assessment system, the fusion module of which may include: The mapping unit is used to map the six-dimensional force data to obtain the modal coefficient vector; The fusion unit is used to generate intermediate stress field parameters based on the product of the modal coefficient vector and the reduced-order basis matrix; and to generate the instantaneous stress field of the coupler based on the sum of the intermediate stress field parameters and the average stress field.

[0067] This application provides a coupler quality assessment system, the quality assessment module of which may include: The analysis unit is used to perform sliding window sampling and cycle counting analysis on the equivalent stress time series to obtain the initial amplitude and initial mean of the stress cycles; The correction unit is used to correct the non-zero mean stress amplitude of the stress cycle to an equivalent zero mean stress amplitude based on the initial amplitude and initial mean of the stress cycle. The determination unit is used to determine the theoretical fatigue life corresponding to the stress cycle based on the SN curve of the coupler material; The damage generation unit is used to generate the cumulative damage of the coupler based on the theoretical fatigue life and using the cumulative damage method. The quality assessment unit is used to assess the quality of the coupler based on the cumulative damage level and generate quality assessment results.

[0068] This application provides a coupler quality assessment system. The quality assessment unit is used to: obtain the critical damage threshold of the coupler; generate the fatigue cumulative damage factor of the coupler based on the ratio of cumulative damage to the critical damage threshold; generate the peak load factor and service time factor of the coupler; perform weighted fusion of the fatigue cumulative damage factor, peak load factor and service time factor to generate the health score of the coupler; and use the health score as the quality assessment result of the coupler.

[0069] This application provides a coupler quality assessment system. The quality assessment unit is used to: obtain the maximum equivalent stress in the equivalent stress time series; obtain the fatigue limit value and tensile strength value of the coupler; generate intermediate load parameters based on the first difference between the maximum equivalent stress and the fatigue limit value; generate a second difference between the tensile strength value and the fatigue limit value; and generate a peak load factor based on the ratio of the intermediate load parameters and the second difference.

[0070] This application provides a coupler quality assessment system, wherein the quality assessment unit is used to: obtain the service time and design life of the coupler; and generate a service time factor based on the ratio of the service time to the design life.

[0071] This application provides a coupler quality assessment system, the matrix generation module of which may include: The load application element is used to apply unit load cases and combined load cases in a six-dimensional force load space for high-fidelity finite element models. The matrix generation unit is used to generate the global stress field under each working condition; and to construct a full-order stress snapshot matrix based on the global stress field.

[0072] This application also provides an electronic device and a computer-readable storage medium, both of which have the corresponding effects of the six-dimensional force measurement and quality assessment method for couplers provided in the embodiments of this application. Please refer to... Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0073] An electronic device provided in this application includes a memory 201 and a processor 202. The memory 201 stores a computer program, and when the processor 202 executes the computer program, it implements the steps of the six-dimensional force measurement and quality assessment method for couplers as described in any of the above embodiments.

[0074] Please see Figure 7 Another electronic device provided in this application embodiment may further include: an input port 203 connected to the processor 202 for transmitting commands input from the outside to the processor 202; a display unit 204 connected to the processor 202 for displaying the processing results of the processor 202 to the outside; and a communication module 205 connected to the processor 202 for enabling communication between the electronic device and the outside. The display unit 204 may be a display panel, a laser scanning display, etc.; the communication method adopted by the communication module 205 includes, but is not limited to, Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connection: Wireless Fidelity (WiFi), Bluetooth communication technology, Bluetooth Low Energy communication technology, and communication technology based on IEEE 802.11s.

[0075] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the six-dimensional force measurement and quality assessment method for couplers as described in any of the above embodiments.

[0076] The computer-readable storage media involved in this application include random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs (compact disc read-only memory), or any other form of storage media known in the art.

[0077] This application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the six-dimensional force measurement method for couplers as described in any of the above embodiments.

[0078] For descriptions of relevant parts of the coupler six-dimensional force measurement system, electronic device, and computer-readable storage medium provided in this application's embodiments, please refer to the detailed descriptions of the corresponding parts in the coupler six-dimensional force measurement method provided in this application's embodiments; they will not be repeated here. Furthermore, parts of the technical solutions provided in this application that are consistent with the implementation principles of corresponding technical solutions in the prior art are not described in detail to avoid excessive elaboration.

[0079] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0080] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for measuring the six-dimensional force of a coupler, characterized in that, include: The contact pressure signals experienced by the coupler in four different directions were collected; The relative displacement signal of the coupler is collected. The relative displacement signal includes the longitudinal displacement of the coupler, the displacement difference between the left and right sides of the coupler, and the displacement difference between the upper and lower sides of the coupler. Obtain a six-dimensional force decoupling model pre-constructed based on calibration coefficients, which are used to fit the relationship between the six-dimensional force, contact pressure signal, and relative displacement signal; Generate the physical constraints of the coupler; Based on the six-dimensional force decoupling model, the contact pressure signal and relative displacement signal are processed to generate a six-dimensional force of the coupler that satisfies the physical constraint relationship. Among them, the four different directions include the four directions of the contact surface at the rear of the coupler: top, bottom, left, and right; the six forces of the coupler include longitudinal force, lateral force, vertical force, roll moment, pitch moment, and yaw moment. Among these, obtaining a pre-constructed six-dimensional force decoupling model based on calibration coefficients includes: Obtain a six-dimensional force decoupling model pre-constructed based on calibration coefficients; The six-dimensional force decoupling model includes: ; ; ; ; ; ; in, This indicates the longitudinal force of the coupler; , Indicates the yaw angle of the coupler. This indicates the displacement difference of the coupler on the left side. This indicates the displacement difference of the coupler on the right side. Represents the arctangent function. This indicates the horizontal distance between the left and right displacement difference sensors; , Indicates the pitch angle of the coupler. This indicates the displacement difference of the coupler on the upper side. This indicates the displacement difference of the coupler on the lower side. This indicates the vertical spacing between the upper and lower displacement differential sensors; This represents the sum of the contact pressure signals; , Indicates the mass of the coupler involved in the motion. Indicates the longitudinal acceleration of the coupler; This indicates the lateral force of the coupler; This indicates the contact pressure signal experienced by the coupler in the rightward direction; This indicates the contact pressure signal experienced by the coupler in the left direction; , Indicates the calibration coefficient; This indicates the vertical force of the coupler; This indicates the contact pressure signal experienced by the coupler in the upward direction; This indicates the contact pressure signal experienced by the coupler in the downward direction; , Indicates the calibration coefficient; This indicates the pitching moment of the coupler; This indicates the horizontal and vertical distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the yaw moment of the coupler; This indicates the horizontal distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the lateral rolling torque of the coupler; , Indicates the calibration coefficient; The physical constraints for generating the coupler include: Generate the lever arm constraint for the coupler, the lever arm constraint includes , ; Generate stiffness constraints for the coupler, including: ; Lever arm constraint and stiffness constraint are used as the physical constraint relationships of the coupler; in, This represents the lever arm from the point of application of the coupler force to the measuring section; This indicates the lateral stiffness of the coupler.

2. The method according to claim 1, characterized in that, Based on the aforementioned six-dimensional force decoupling model, the contact pressure signal and relative displacement signal are processed to generate a six-dimensional force for the coupler that satisfies the aforementioned physical constraints, including: The yaw angle of the coupler is generated based on the displacement difference between the left and right sides of the coupler. The pitch angle of the coupler is generated based on the displacement difference between the upper and lower sides of the coupler. Construct a state vector containing the six-dimensional force components of the coupler, yaw angle, and pitch angle; An observation vector is constructed based on the contact pressure signal, relative displacement signal, and longitudinal acceleration of the coupler. A process model is constructed based on the longitudinal dynamics of the coupler. Based on the six-dimensional force decoupling model and the physical constraint relationship, an observation model is constructed; The Kalman filter algorithm is used to process the state vector, observation vector, process model, and observation model to generate a six-dimensional force for the coupler.

3. The method according to claim 1, characterized in that, Before obtaining the pre-constructed six-dimensional force decoupling model based on calibration coefficients, the following steps are also included: According to the six-dimensional forces of the coupler, single forces are applied to the coupler in sequence, and coupler data is collected. Based on the coupler data, calibration coefficients are generated.

4. A six-dimensional force measurement system for a coupler, characterized in that, include: The pressure sensor array is used to collect contact pressure signals that the coupler experiences in four different directions; The laser rangefinder sensor group is used to collect the relative displacement signal of the coupler. The relative displacement signal includes the longitudinal displacement of the coupler, the displacement difference between the left and right sides of the coupler, and the displacement difference between the upper and lower sides of the coupler. The main control chip is used to acquire a six-dimensional force decoupling model pre-constructed based on calibration coefficients, which are used to fit the relationship between the six-dimensional force and the contact pressure signal and the relative displacement signal; generate the physical constraint relationship of the coupler; and process the contact pressure signal and the relative displacement signal according to the six-dimensional force decoupling model to generate a six-dimensional force of the coupler that satisfies the physical constraint relationship. Among them, the four different directions include the four directions of the contact surface at the rear of the coupler: top, bottom, left, and right; the six forces of the coupler include longitudinal force, lateral force, vertical force, roll moment, pitch moment, and yaw moment. The main control chip is used to: acquire a six-dimensional force decoupling model pre-constructed based on calibration coefficients; The six-dimensional force decoupling model includes: ; ; ; ; ; ; in, This indicates the longitudinal force of the coupler; , Indicates the yaw angle of the coupler. This indicates the displacement difference of the coupler on the left side. This indicates the displacement difference of the coupler on the right side. Represents the arctangent function. This indicates the horizontal distance between the left and right displacement difference sensors; , Indicates the pitch angle of the coupler. This indicates the displacement difference of the coupler on the upper side. This indicates the displacement difference of the coupler on the lower side. This indicates the vertical spacing between the upper and lower displacement differential sensors; This represents the sum of the contact pressure signals; , Indicates the mass of the coupler involved in the motion. Indicates the longitudinal acceleration of the coupler; This indicates the lateral force of the coupler; This indicates the contact pressure signal experienced by the coupler in the rightward direction; This indicates the contact pressure signal experienced by the coupler in the left direction; , Indicates the calibration coefficient; This indicates the vertical force of the coupler; This indicates the contact pressure signal experienced by the coupler in the upward direction; This indicates the contact pressure signal experienced by the coupler in the downward direction; , Indicates the calibration coefficient; This indicates the pitching moment of the coupler; This indicates the horizontal and vertical distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the yaw moment of the coupler; This indicates the horizontal distance from the data collector to the longitudinal axis of the coupler; Indicates the calibration coefficient; This indicates the lateral rolling torque of the coupler; , Indicates the calibration coefficient; The main control chip is used for: Generate the lever arm constraint for the coupler, the lever arm constraint includes , ; Generate stiffness constraints for the coupler, including: ; Lever arm constraint and stiffness constraint are used as the physical constraint relationships of the coupler; in, This represents the lever arm from the point of application of the coupler force to the measuring section; This indicates the lateral stiffness of the coupler.

5. The system according to claim 4, characterized in that, The pressure sensor group includes multiple pressure sensors with independent packaging structures installed on the four sides of the contact surface at the rear of the coupler, at the top, bottom, left, and right. Among them, a positioning groove is provided at the force interface connecting the coupler and the buffer device, and the coupler and the car body, for embedding the pressure sensor; and the surface of the pressure sensor is covered with a force transmission pad.

6. The system according to claim 5, characterized in that, The laser ranging sensor group includes: a longitudinal laser ranging sensor installed between the rear of the coupler housing and the slave plate, used to measure the longitudinal displacement of the coupler; transverse laser ranging sensors installed on the left and right sides of the coupler, used to measure the displacement difference between the left and right sides of the coupler; and vertical laser ranging sensors installed on the upper and lower sides of the coupler, used to measure the displacement difference between the upper and lower sides of the coupler.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the six-dimensional force measurement method for couplers as described in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the six-dimensional force measurement method for couplers as described in any one of claims 1 to 3.

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