Coupler position and buffer stroke monitoring method, system, device and medium

Abstract

The application discloses a car coupler posture and buffer stroke monitoring method, system, device and medium, and belongs to the technical field of railway vehicle monitoring. The method comprises the following steps: first, calibrating three wire displacement sensors at the fixed end of the car body; based on the wire outlet coordinate, the car coupler measurement point initial coordinate and the three wire initial lengths, collecting the wire length change sequence to generate the instantaneous actual lengths of the three wires; then, grouping according to a fixed window, sorting, removing extreme values and then averaging to obtain the actual wire lengths corresponding to the current group of three. Then, taking the initial coordinate as the center, constructing a three-dimensional discrete candidate point set according to the physical motion range of the car coupler, and pre-generating a mapping table corresponding to the coordinates and the theoretical wire length; comparing and screening the effective candidate points with the required error to calculate the real-time coordinates of the measurement points, and finally combining the equivalent length of the car coupler, the initial reference height to calculate the horizontal swing angle, the vertical swing angle and the buffer tension and compression stroke of the car coupler. The method improves the reliability of the online monitoring of the state of the car coupler and the buffer.

Description

Technical Field

[0001] This invention relates to the field of monitoring technology for rail transit locomotives and rolling stock, and more specifically, to a method, system, equipment, and medium for monitoring coupler attitude and buffer travel based on robust inversion of three-coupler displacement signals. Background Technology

[0002] The coupler and buffer device is a key component for connecting locomotives and rolling stock, traction, transmitting longitudinal forces, and mitigating train impacts. During traction, braking, curve traversing, gradient running, marshalling operations, and relative movement between vehicles, the coupler not only bears significant longitudinal tensile and compressive loads but also experiences lateral, vertical, and torsional loads, resulting in horizontal and vertical swaying, as well as variations in the buffer's tension and compression stroke. When the horizontal or vertical sway angle of the coupler is excessive, it can easily lead to abnormal coupler posture, uneven load distribution on the coupler tongue, and accelerated wear of the coupler and buffer device. In severe cases, it may induce coupler instability, decoupling risks, or abnormal vehicle connection conditions. Especially under curved tracks, heavy-load traction, frequent braking, and complex marshalling conditions, the changes in coupler posture exhibit significant dynamic and random characteristics.

[0003] As a crucial component for absorbing and mitigating longitudinal impact energy from trains, the buffer's tension and compression stroke directly reflects the stress and buffering operation status of the coupler system. When the buffer is subjected to excessive compression, excessive tension, or abnormal stroke for extended periods, it may lead to decreased buffering performance, internal structural damage, poor reset, or an increased risk of failure. Buffer failure weakens the train's longitudinal impact absorption capacity, causing the coupler, coupler tail frame, tail plate base, and end structure of the car body to bear greater impact loads, thus affecting train operation safety and vehicle structural lifespan. Therefore, real-time monitoring of the coupler's horizontal and vertical swing angles, as well as the buffer's tension and compression stroke, allows for timely understanding of the dynamic operating status of the coupler system on actual lines, providing a basis for anomaly warning, experimental analysis, structural optimization, and operation and maintenance decisions.

[0004] Currently, on-site inspections of couplers and buffers largely rely on manual visual inspection, mechanical measurements during train stops, or data analysis following tests. These methods struggle to reflect transient impacts, continuous swaying, and dynamic stroke changes during train operation, failing to meet the need for real-time identification of coupler instability trends and buffer anomalies. While some sensor-based measurement methods can acquire local displacement or angle information, obtaining stable and reliable coupler sway angles and buffer strokes remains challenging in the actual locomotive installation environment due to space constraints, vibration and impact, oil and dust contamination, electromagnetic interference, sensor installation errors, and sampling noise. Summary of the Invention

[0005] The purpose of this invention is to provide a method, system, device, and medium for monitoring coupler attitude and buffer travel based on robust inversion of three-wire displacement signals. This invention aims to solve the technical problem in the prior art where vibration, shock, wire jitter, installation errors, sensor noise, and abnormal sampling at the locomotive operating site easily lead to no solution or coordinate jumps when directly solving the three-wire displacement sensing signals using analytical geometry, thus making it impossible to stably and reliably monitor the coupler swing angle and buffer travel online.

[0006] In a first aspect, the present invention discloses a method for monitoring the attitude of a coupler and the stroke of a buffer, comprising the following steps: S11: Three guy wire displacement sensors are calibrated at the fixed end of the car body. Based on the output coordinates of the cable outlet, the initial coordinates of the coupler measuring point and the initial length of the three guy wires, the sequence of changes in the length of the three guy wires from the fixed end of the car body to the coupler measuring point is collected to generate the instantaneous actual length of the three guy wires. S12: Group the instantaneous actual lengths according to a fixed window length, sort the data in each group and remove extreme values, calculate the average of the remaining data, and output the three actual draw lengths corresponding to the current group; S13: Using the initial coordinates of the coupler measuring point as the center, construct a three-dimensional discretized candidate point set according to the physical motion range of the coupler, and pre-calculate the three theoretical cable lengths from each candidate point in the candidate point set to each of the cable outlet coordinates, and output the theoretical mapping table containing the correspondence between the candidate point coordinates and the theoretical cable lengths; S14: Compare the error between the three actual guy wire lengths and the three theoretical guy wire lengths, filter out a set of valid candidate points with an error less than the preset matching tolerance, and calculate and output the real-time spatial coordinates of the coupler measuring point based on the set of valid candidate points; S15: Based on the real-time spatial coordinates of the coupler measuring points, combined with the equivalent length of the coupler and the initial reference height, calculate the horizontal swing angle of the coupler, the vertical swing angle of the coupler, and the tension / compression stroke of the buffer, respectively.

[0007] As an optional implementation of the first aspect of this application, step S12 specifically includes: grouping the continuous sampling data according to the fixed window length; sorting the change data of each pull line in the current group according to the numerical value from smallest to largest; removing the minimum value and the maximum value of the set quantity after sorting; calculating the average value of each remaining data in the middle, and adding the average value to the corresponding initial length of the pull line to obtain the lengths of the three pull lines corresponding to the current group.

[0008] As an optional implementation of the first aspect of this application, step S13 specifically includes: determining a three-dimensional spatial search boundary centered on the initial coordinates of the coupler measuring point based on the lateral swing range, vertical swing range, and buffer tension / compression stroke range of the coupler; discretizing the space within the three-dimensional spatial search boundary according to a set spatial step size to generate a candidate point set composed of multiple candidate points; and calculating the Euclidean distance from each candidate point in the candidate point set to the coordinates of the three outlets, which serves as the three theoretical cable lengths for the corresponding candidate point.

[0009] As an optional implementation of the first aspect of this application, step S14 specifically includes: for the current group, calculating the three length errors between the three theoretical guy wire lengths and the three actual guy wire lengths for each candidate point; determining whether the three length errors are all less than the set matching tolerance; if they are all less than the set matching tolerance, then the corresponding candidate point is determined as a valid candidate point and added to the set of valid candidate points; when the set of valid candidate points is empty under the initially set matching tolerance, the matching tolerance is gradually increased according to the set tolerance increment and the filtering is performed again until the set of valid candidate points is not empty or the maximum tolerance limit is reached; when the set of valid candidate points is not empty, extracting the coordinates of all valid candidate points in the set of valid candidate points, calculating the average of all the coordinates of the valid candidate points, and using the average as the real-time spatial coordinates of the coupler measuring point corresponding to the current group.

[0010] As an optional implementation of the first aspect of this application, in the step of extracting the coordinates of all valid candidate points in the set of valid candidate points and calculating the mean of the coordinates of all valid candidate points, a weighted average method is used for calculation, specifically including: defining a comprehensive error for each valid candidate point, wherein the comprehensive error is the sum of the absolute values ​​of the three length errors; calculating the weight of each valid candidate point based on the comprehensive error, wherein the smaller the comprehensive error, the larger the corresponding weight; using the calculated weights of each valid candidate point to perform a weighted summation of the coordinates of all valid candidate points, and outputting the weighted real-time spatial coordinates of the coupler measuring point.

[0011] As an optional implementation of the first aspect of this application, before step S14, an abnormal data protection mechanism is also included: determining whether the actual change in the length of the pull wire in the current group is greater than the set abnormal threshold, and determining whether the number of data points exceeding the limit exceeds the set abnormal row number threshold; if the exceeding condition is met, the data of the group is determined to be abnormal, and the spatial coordinate inversion process for the group is skipped; if the set of valid candidate points is still empty after reaching the maximum tolerance limit, the inversion result of the group is marked as invalid or the original data is retained and not output.

[0012] As an optional implementation of the first aspect of this application, step S15, calculating the horizontal swing angle of the coupler, the vertical swing angle of the coupler, and the tension / compression stroke of the buffer, specifically includes: the real-time spatial coordinates of the coupler measuring point include a lateral coordinate component, a vertical coordinate component, and a longitudinal coordinate component; the absolute value of the horizontal swing angle of the coupler is the arcsine of the quotient of the absolute value of the lateral coordinate component and the equivalent length of the coupler; the direction of the horizontal swing angle is determined according to the sign of the lateral coordinate component, and then the horizontal swing angle of the coupler is output; the vertical coordinate difference is obtained by subtracting the initial reference height from the vertical coordinate component; the absolute value of the vertical swing angle of the coupler is the arcsine of the quotient of the absolute value of the vertical coordinate difference and the equivalent length of the coupler; the vertical swing upward or downward is determined according to the sign of the vertical coordinate difference, and then the vertical swing angle of the coupler is output; the offset parameter is calculated by subtracting the buffer stroke from the longitudinal coordinate component to obtain the tension / compression stroke of the buffer; the buffer is in a tension state or a compression state is determined according to the sign of the tension / compression stroke of the buffer.

[0013] Secondly, this application discloses a coupler attitude and buffer travel monitoring system, including: The data acquisition module is used to acquire the coordinates of the outlet of the three guy wire displacement sensors at the fixed end of the car body, the initial coordinates of the coupler measuring point, and the initial length of the three guy wires; and during the locomotive operation, it uses the three guy wire displacement sensors to collect the sequence of changes in the length of the three guy wires from the fixed end of the car body to the coupler measuring point, and generates the instantaneous actual length of the three guy wires. The noise reduction module is used to group the instantaneous actual length according to a fixed window length, sort the data in each group and remove extreme values, calculate the average of the remaining data, and output the three actual pull wire lengths corresponding to the current group. The mapping construction module is used to construct a three-dimensional discretized candidate point set based on the initial coordinates of the coupler measuring point and the physical motion range of the coupler, and pre-calculate the three theoretical guy wire lengths from each candidate point in the candidate point set to each of the line outlet coordinates, and output the theoretical mapping table containing the correspondence between the candidate point coordinates and the theoretical guy wire lengths; The measurement point inversion module is used to compare the error between the three actual guy wire lengths and the three theoretical guy wire lengths, filter out a set of valid candidate points with an error less than the preset matching tolerance, and calculate and output the real-time spatial coordinates of the coupler measurement points based on the set of valid candidate points. The attitude and stroke calculation module is used to calculate the horizontal swing angle, vertical swing angle and buffer tension and compression stroke of the coupler based on the real-time spatial coordinates of the coupler measuring points, combined with the equivalent length of the coupler and the initial reference height.

[0014] Thirdly, this application discloses an electronic device, including: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the method as described in the first aspect.

[0015] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the method described in the first aspect.

[0016] Compared with existing technologies, it has the following beneficial effects: 1. This invention utilizes the characteristics of three-wire displacement signal grouping and noise reduction processing technology. Instead of directly using a single sampling point to solve for the anchor point, it groups the physical displacement signal into fixed windows, sorts them, removes extreme values, and takes the average value. This effectively solves the problem of sudden changes in swing angle and stroke monitoring results caused by vibration and shock and sensor spikes during locomotive operation, and improves the continuity of the attitude monitoring curve.

[0017] 2. This invention utilizes the technical feature of establishing a candidate monitoring space based on the actual movement range of the coupler measuring points, constraining the algorithm search space within the actual physical range of the coupler's horizontal swing, vertical swing, and buffer tension / compression stroke, reducing invalid solutions and non-physical solutions, and improving the physical reliability of coupler measuring point position inversion.

[0018] 3. This invention utilizes the technical feature of three-wire length tolerance matching, breaking the conventional mathematical limitation that requires the lengths of the three wires to strictly meet the precise intersection of three spheres. Instead, it selects candidate measurement points within the allowable error range, completely solving the problem that analytical methods have no solution when there is noise and calibration error in the wire length on site.

[0019] 4. This invention utilizes the technical feature of fusing multiple candidate measuring points to suppress monitoring jumps. When there are multiple candidate measuring points that meet the conditions in the same calculation cycle, the weighted average is used to determine the real-time coordinates of the coupler measuring points, which greatly reduces coordinate jumps caused by discrete grids and small measurement fluctuations, and improves the stability of monitoring results.

[0020] 5. This invention utilizes the technical features of theoretical length pre-calculation and spatial indexing to pre-calculate the lengths of the three theoretical guy wires corresponding to the candidate test points. During real-time calculation, only matching and filtering are performed, which reduces the amount of data processing for long-term line test and greatly improves the real-time performance of online monitoring of the equipment. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 The following is a diagram illustrating the implementation steps of a method for monitoring the attitude of a coupler and the stroke of a buffer provided by the present invention. Figure 2 This is a schematic diagram of the on-site sensor arrangement according to an embodiment of the present invention; Figure 3 This is a schematic diagram of candidate space discretization in an embodiment of the present invention; Figure 4 This is a schematic diagram of the theoretical length mapping of candidate points in an embodiment of the present invention; Figure 5 This is a schematic diagram of tolerance matching inversion in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a coupler attitude and buffer stroke monitoring system provided by the present invention; Figure 7 This is a structural diagram of an electronic device disclosed in this invention. Detailed Implementation

[0023] 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, 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.

[0024] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] The technical solution of this invention includes three-wire displacement signal acquisition, on-site signal noise reduction processing, coupler measuring point spatial coordinate inversion, coupler attitude and buffer stroke calculation, monitoring result output, and over-limit judgment. The three wire displacement sensors acquire the actual physical displacement signal between the fixed end of the car body and the coupler measuring point; the candidate space and tolerance matching are not isolated mathematical calculations, but are established based on the actual degrees of freedom of the coupler measuring point relative to the car body, the coupler swing range, and the buffer tension and compression stroke range; the calculation results are used to output the coupler horizontal swing angle, vertical swing angle, and buffer stroke, and are further used for coupler and buffer status monitoring.

[0026] Specifically, such as Figure 1 The diagram shows the implementation steps of a coupler attitude and buffer stroke monitoring method provided by the present invention.

[0027] S11: Calibrate three guy wire displacement sensors at the fixed end of the car body. Based on the output coordinates of the cable outlet, the initial coordinates of the coupler measuring point, and the initial lengths of the three guy wires from the fixed end of the car body to the coupler measuring point, collect the sequence of changes in the lengths of the three guy wires and generate the instantaneous actual lengths of the three guy wires.

[0028] First, calibrate the sensors at the fixed end of the vehicle body, and observe them on-site using methods such as... Figure 2 The displacement sensor shown.

[0029] Let the coordinates of the outlets of the three wire displacement sensors be: The initial coordinates of the coupler measuring point or guy wire anchor point are: The initial lengths of the three guy wires are as follows: in, The locations of the cable outlets for the three sensors are shown. This represents the x-axis, y-axis, and z-axis of the i-th wire displacement sensor. , This is the initial position of the coupler measuring point. The x-axis, y-axis, and z-axis represent the initial positions of the coupler measuring points.

[0030] Secondly, during vehicle operation, the outputs of the three cable displacement sensors are collected to obtain a sequence of changes in the length of the three cables: in This is the sampling sequence number. The instantaneous actual lengths of the three pull wires are: in , , These represent the initial lengths of the first, second, and third guy wires, respectively. Since the data collected on-site may contain vibration, impact and spike noise, this invention does not directly use a single sampling point for spatial inversion, but first performs grouping and noise reduction processing.

[0031] S12: Group the instantaneous actual lengths according to a fixed window length, sort the data in each group and remove extreme values, calculate the average of the remaining data, and output the three actual draw lengths corresponding to the current group.

[0032] Continuously sampled data are divided into fixed window lengths Grouping. (Number) The group contains sampling points: For the first The pull wire in the first The change data in the group are denoted as: right Sort by value from smallest to largest, and we get: in Indicates to Data set sorted by numerical value from smallest to largest This represents the Nth data point after sorting, which is the largest sample value in the set; Before removal Minimum value and then Find the maximum value, and average the intermediate data to obtain the stable length variation of this set: Preferably, Then, after removing the 10 minimum and 10 maximum values ​​from each group, the average of the remaining 80 data points is calculated: The purpose of this step is to reduce the impact of on-site vibration, instantaneous impact, and abnormal sampling points on subsequent coordinate inversion, making the three input lengths more stable.

[0033] No. The actual lengths of the three guy wires corresponding to the group are: S13: Using the initial coordinates of the coupler measuring point as the center, construct a three-dimensional discretized candidate point set according to the physical motion range of the coupler, and pre-calculate the three theoretical guy wire lengths from each candidate point in the candidate point set to each of the line outlet coordinates, and output the theoretical mapping table containing the correspondence between the candidate point coordinates and the theoretical guy wire lengths.

[0034] Initial coordinates of the coupler measurement point Centered on the coupler, a three-dimensional candidate coordinate space is established based on the physical motion range of the coupler: in The range of lateral swing of the coupler, the range of vertical swing of the coupler, and the range of tension and compression stroke of the buffer are determined.

[0035] According to step size Discretize the above space to obtain the candidate point set: in, The total number of candidate points. Indicates candidate points, The x-axis, y-axis, and z-axis represent the candidate points.

[0036] For example, such as Figure 3 The diagram shown is a schematic representation of the candidate space discretization according to an embodiment of the present invention, which can be set... The direction search range is 8 cm to the left and right of the initial point. The direction search range is 15 cm to the left and right of the initial point. The direction search range is 5cm downwards and 10cm upwards from the initial point, with a step size of [missing information]. The value is 0.3 cm. The above value is only an example and can be adjusted according to the vehicle model and sensor layout.

[0037] For candidate set Each candidate point in Calculate the connection to each of the three sensor output ports. Theoretical draw length: The lengths of the three theoretical draw lines corresponding to each candidate point are represented as follows: Therefore, a mapping table between candidate coordinates and theoretical length is established: like Figure 4 The diagram shows the theoretical length mapping of candidate points. This mapping table is generated in advance before the calculation begins, so there is no need to repeatedly calculate the distance from all candidate points to the sensor during real-time processing.

[0038] S14: Compare the error between the three actual guy wire lengths and the three theoretical guy wire lengths, filter out a set of valid candidate points with an error less than the preset matching tolerance, and calculate and output the real-time spatial coordinates of the coupler measuring point based on the set of valid candidate points.

[0039] For the The calculation group has three actual cable length vectors: For each candidate point Calculate the error between the theoretical and actual guy wire lengths: When the candidate point satisfies: Then the candidate point is determined to be the first Valid candidate points for the group.

[0040] The set of valid candidate points is represented as: in This is the preset matching tolerance.

[0041] If there are no valid candidate points under the initial matching tolerance, that is, the set of valid candidate points is empty, then the tolerance is increased step by step according to the following formula: in: And satisfy: in Indicates the initial matching tolerance. This represents the tolerance value used in the r-th search. This indicates the number of tolerance relaxations or search round numbers, where R represents the maximum search round. This indicates the maximum tolerance limit.

[0042] Preferably: When there is a valid set of candidate points At that time, the average of the coordinates of all valid candidate points is taken as the real-time spatial coordinates of the current coupler measuring point: When expanded, it appears as follows: Therefore, the real-time spatial coordinates of the current coupler measuring point are: in, The number of valid candidate points. , , These represent the x-axis, y-axis, and z-axis of the current coupler measuring point, respectively.

[0043] like Figure 5 The diagram shown is a tolerance matching inversion diagram. This tolerance inversion method does not require the lengths of the three pull wires to strictly correspond to the precise intersection points of the three spheres. Instead, it allows for a certain error between the actual length and the theoretical length, making it more suitable for field noise data.

[0044] In other alternative embodiments, to further improve inversion accuracy, candidate points can be weighted according to their error magnitude. Candidate points are defined. The overall error is: The weights are defined as follows: in, To prevent small positive numbers with a denominator of zero.

[0045] The real-time spatial coordinates of the current measuring point can then be obtained from the weighted average: This method allows candidate points with smaller errors to contribute more to the final coordinates, which can further improve the stability and accuracy of the inversion results.

[0046] In other alternative embodiments, to prevent abnormal sensor values ​​from affecting the calculation, the present invention sets up an abnormal data protection mechanism. If the original data of the three pull lines involved in the inversion have obvious over-range or abnormally large values, the coordinate inversion of that segment is skipped.

[0047] Let the abnormal threshold be The threshold for the number of abnormal rows is If the following conditions are met: in This indicates the number of abnormal sampling points and the number of data rows that meet the abnormal conditions. , , These represent the changes in length of the 1st, 2nd, and 3rd pull lines at the kth sampling point, respectively.

[0048] If the data segment is deemed unsuitable for geometric inversion, the calculation of that segment should be skipped or the original data should be retained.

[0049] Preferably, the following can be adopted: It can also be set according to the sensor range and sampling frequency.

[0050] For a certain set of calculations If the matching tolerance is increased step by step to Even after that, no valid candidate points could be obtained, that is: The inversion results for this set are then marked as invalid. One of the following strategies can be adopted in this case: 1. Retain the original data for this set; 2. Output an invalid flag, NaN; 3. Use the previous set of valid coordinates for short-term holding; 4. Perform interpolation smoothing.

[0051] Preferably, in the processing of field test data, the method of "retaining the original data" or "outputting invalid labels" is adopted to avoid mistaking invalid inversion results as true zero values.

[0052] In other alternative embodiments, when the number of candidate points When the value is large, iterating through all candidate points group by group to calculate the error will result in a significant computational burden. To improve real-time performance, the theoretical length of the candidate points can be shifted to... Construct it as a spatial index structure, such as a KD tree.

[0053] Real-time calculation When grouping, use the actual length vector. As a query point, the search distance in the three-dimensional theoretical length space does not exceed [the specified distance]. The candidate point set is then processed by applying three error rules to the candidate set, each with an error less than [a certain value]. The screening process.

[0054] This method transforms the traversal of all candidate points into a neighborhood query, reducing computational load and improving the efficiency of long-term data processing and online computing.

[0055] S15: Based on the real-time spatial coordinates of the coupler measuring points, combined with the equivalent length of the coupler and the initial reference height, calculate the horizontal swing angle of the coupler, the vertical swing angle of the coupler, and the tension / compression stroke of the buffer, respectively.

[0056] Let the equivalent length of the coupler be... The initial reference height is .

[0057] (1) Based on the real-time spatial coordinates of the current measuring point The absolute value of the horizontal swing angle of the coupler is: according to The sign determines the direction of the horizontal swing angle: Convert to angle system: (2) The vertical swing angle of the coupler can be written as: when hour, , indicating the swing of the coupler; when hour, , indicating the lower edge of the coupler.

[0058] Convert to angle system: (3) Let To calculate the offset parameters for the rear structural parameters of the coupler or the buffer stroke, the buffer tension / compression stroke is: in, The positive and negative directions can be determined according to the project agreement.

[0059] Preferably, This indicates that the buffer is stretched. This indicates buffer compression.

[0060] like Figure 6 As shown, the present invention also discloses a coupler attitude and buffer stroke monitoring system, which includes the following key modules: Data acquisition module 11 is used to acquire the coordinates of the outlet of the three guy wire displacement sensors at the fixed end of the car body, the initial coordinates of the coupler measuring point, and the initial length of the three guy wires; and during the locomotive operation, it uses the three guy wire displacement sensors to acquire the sequence of changes in the length of the three guy wires from the fixed end of the car body to the coupler measuring point, and generates the instantaneous actual length of the three guy wires. The noise reduction module 12 is used to group the instantaneous actual length according to a fixed window length, sort the data in each group and remove extreme values, calculate the average of the remaining data, and output the three actual pull wire lengths corresponding to the current group. The mapping construction module 13 is used to construct a three-dimensional discretized candidate point set based on the initial coordinates of the coupler measuring point and the physical motion range of the coupler, and to pre-calculate the three theoretical guy wire lengths from each candidate point in the candidate point set to each of the line outlet coordinates, and output the theoretical mapping table containing the correspondence between the candidate point coordinates and the theoretical guy wire lengths. The measuring point inversion module 14 is used to compare the error between the three actual guy wire lengths and the three theoretical guy wire lengths, filter out a set of valid candidate points with an error less than the preset matching tolerance, and calculate and output the real-time spatial coordinates of the coupler measuring point based on the set of valid candidate points. The attitude stroke calculation module 15 is used to calculate the horizontal swing angle, vertical swing angle and buffer tension / compression stroke of the coupler based on the real-time spatial coordinates of the coupler measuring point, combined with the equivalent length of the coupler and the initial reference height.

[0061] Furthermore, embodiments of this application also disclose an electronic device, Figure 7 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0062] Figure 7 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the coupler attitude and buffer travel monitoring method disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0063] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0064] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0065] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0066] The operating system 221 manages and controls the various hardware devices and computer programs 222 on the electronic device 20 to enable the processor 21 to perform calculations and processing on the massive amounts of data 223 in the memory 22. It can be Windows Server, Netware, Unix, Linux, etc. The computer program 222, in addition to including a computer program capable of performing a coupler attitude and buffer travel monitoring method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, may further include computer programs capable of performing other specific tasks. The data 223 may include data received by the electronic device from external devices, as well as data collected by its own input / output interface 25.

[0067] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned high-resolution image demoiring method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0068] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0069] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application. The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly in hardware, software modules executed by a processor, or a combination of both. The software module may be located in random access memory (RAM), memory, read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, removable disks, CD-ROMs (Compact Disc-Read Only Memory), or any other form of storage medium known in the art.

[0070] Finally, it should 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.

[0071] The solution provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for monitoring the attitude of a coupler and the stroke of a buffer, characterized in that, Includes the following steps: S11: Three guy wire displacement sensors are calibrated at the fixed end of the car body. Based on the output coordinates of the cable outlet, the initial coordinates of the coupler measuring point and the initial length of the three guy wires, the sequence of changes in the length of the three guy wires from the fixed end of the car body to the coupler measuring point is collected to generate the instantaneous actual length of the three guy wires. S12: Group the instantaneous actual lengths according to a fixed window length, sort the data in each group and remove extreme values, calculate the average of the remaining data, and output the three actual draw lengths corresponding to the current group; S13: Using the initial coordinates of the coupler measuring point as the center, construct a three-dimensional discretized candidate point set according to the physical motion range of the coupler, and pre-calculate the three theoretical cable lengths from each candidate point in the candidate point set to each of the cable outlet coordinates, and output a theoretical mapping table containing the correspondence between the candidate point coordinates and the theoretical cable lengths; S14: Compare the error between the three actual guy wire lengths and the three theoretical guy wire lengths, filter out a set of valid candidate points with an error less than the preset matching tolerance, and calculate and output the real-time spatial coordinates of the coupler measuring point based on the set of valid candidate points; S15: Based on the real-time spatial coordinates of the coupler measuring points, combined with the equivalent length of the coupler and the initial reference height, calculate the horizontal swing angle, vertical swing angle, and buffer tension / compression stroke of the coupler, specifically including: The real-time spatial coordinates of the coupler measuring point are: Let the equivalent length of the coupler be... The initial reference height is The offset parameters for calculating the rear structural parameters of the coupler or the stroke of the buffer are as follows: ; The absolute value of the horizontal swing angle of the coupler is This outputs the horizontal swing angle of the coupler; The absolute value of the vertical swing angle of the coupler is This outputs the vertical swing angle of the coupler; The buffer's tension / compression stroke is .

2. The method according to claim 1, characterized in that, Step S12 specifically includes: Group the continuously sampled data according to the fixed window length; Sort the change data of each draw line in the current group in ascending order of value; Remove the minimum and maximum values ​​of the set quantity after sorting; The average of the remaining data is calculated, and the average is added to the corresponding initial length of the pull line to obtain the actual lengths of the three pull lines corresponding to the current group.

3. The method according to claim 1, characterized in that, Step S13 specifically includes: Based on the lateral swing range, vertical swing range, and buffer tension / compression stroke range of the coupler, a three-dimensional spatial search boundary centered on the initial coordinates of the coupler measuring point is determined. The space within the three-dimensional spatial search boundary is discretized according to the set spatial step size to generate the candidate point set composed of multiple candidate points; For each candidate point in the candidate point set, calculate the Euclidean distance from the candidate point to the coordinates of the three exit points, which will be used as the three theoretical cable lengths for the corresponding candidate point.

4. The method according to claim 1, characterized in that, Step S14 specifically includes: For the current group, calculate three length errors between the three theoretical wire lengths and the three actual wire lengths for each candidate point; Determine whether all three length errors are less than the set matching tolerance. If all are less than the set matching tolerance, then the corresponding candidate point is determined as a valid candidate point and added to the set of valid candidate points. When the set of valid candidate points is empty under the initially set matching tolerance, the matching tolerance is increased step by step according to the set tolerance increment and the filtering is performed again until the set of valid candidate points is not empty or the maximum tolerance limit is reached. When the set of valid candidate points is not empty, extract the coordinates of all valid candidate points in the set of valid candidate points, calculate the mean of all the coordinates of the valid candidate points, and use the mean as the real-time spatial coordinates of the coupler measuring point corresponding to the current group.

5. The method according to claim 4, characterized in that, In the step of extracting the coordinates of all valid candidate points in the set of valid candidate points and calculating the mean of the coordinates of all valid candidate points, a weighted average method is used for calculation, specifically including: Define a comprehensive error for each of the valid candidate points, wherein the comprehensive error is the sum of the absolute values ​​of the three length errors; The weight of each valid candidate point is calculated based on the comprehensive error; the smaller the comprehensive error, the greater the corresponding weight. The coordinates of all the effective candidate points are weighted and summed using the weights of each effective candidate point obtained from the calculation, and the weighted real-time spatial coordinates of the coupler measuring point are output.

6. The method according to claim 4, characterized in that, Prior to step S14, an abnormal data protection mechanism is also included: Determine whether the actual change in the length of the pull line in the current group is greater than the set abnormal threshold, and determine whether the number of data points exceeding the limit exceeds the set abnormal row number threshold; If the condition of exceeding the limit is met, the data of the group is determined to be abnormal, and the spatial coordinate inversion process for the group is skipped. If the set of valid candidate points is still empty after reaching the maximum tolerance limit, the inversion result of the group is marked as invalid or the original data is retained and not output.

7. A coupler attitude and buffer stroke monitoring system, characterized in that, The method for monitoring coupler attitude and buffer stroke as described in claim 1 includes: The data acquisition module is used to acquire the coordinates of the outlet of the three guy wire displacement sensors at the fixed end of the car body, the initial coordinates of the coupler measuring point, and the initial length of the three guy wires; and during the locomotive operation, it uses the three guy wire displacement sensors to collect the sequence of changes in the length of the three guy wires from the fixed end of the car body to the coupler measuring point, and generates the instantaneous actual length of the three guy wires. The noise reduction module is used to group the instantaneous actual length according to a fixed window length, sort the data in each group and remove extreme values, calculate the average of the remaining data, and output the three actual pull wire lengths corresponding to the current group. The mapping construction module is used to construct a three-dimensional discretized candidate point set based on the initial coordinates of the coupler measuring point and the physical motion range of the coupler, and to pre-calculate the three theoretical guy wire lengths from each candidate point in the candidate point set to each of the line outlet coordinates, and output a theoretical mapping table containing the correspondence between the candidate point coordinates and the theoretical guy wire lengths. The measurement point inversion module is used to compare the error between the three actual guy wire lengths and the three theoretical guy wire lengths, filter out a set of valid candidate points with an error less than the preset matching tolerance, and calculate and output the real-time spatial coordinates of the coupler measurement points based on the set of valid candidate points. The attitude stroke calculation module is used to calculate the coupler horizontal swing angle, coupler vertical swing angle, and buffer tension / compression stroke based on the real-time spatial coordinates of the coupler measuring points, combined with the coupler equivalent length and initial reference height. Specifically, it includes: The real-time spatial coordinates of the coupler measuring point are: Let the equivalent length of the coupler be... The initial reference height is The offset parameters for calculating the rear structural parameters of the coupler or the stroke of the buffer are as follows: ; The absolute value of the horizontal swing angle of the coupler is This outputs the horizontal swing angle of the coupler; The absolute value of the vertical swing angle of the coupler is This outputs the vertical swing angle of the coupler; The buffer's tension / compression stroke is .

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the steps of a coupler attitude and buffer travel monitoring method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the steps of a coupler attitude and buffer travel monitoring method as described in any one of claims 1 to 6.

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