CN116022194A - Method, device and medium for monitoring running posture of vehicle by using inclination angle - Google Patents

Abstract

This application relates to the technical field of vehicle stability monitoring, and discloses a method, device and medium for monitoring vehicle running attitude by using the inclination angle, including: obtaining the inclination data of the vehicle body and the bogie respectively, and analyzing the distribution characteristics of the inclination data to obtain Output vehicle overturning warning signal. Therefore, based on the inclination data of the car body and the bogie, the attitude of the vehicle is monitored, and the possible danger of the vehicle is warned in advance to improve the safety of the vehicle. In addition, the analysis of the unsteady phenomenon of the bogie and car body rotating around a certain direction during the running process improves the monitoring content of the vehicle running attitude. At the same time, the long-term accumulation and analysis of data such as the inclination angle and inclination angle difference of the bogie and car body, and then pay attention to the state trends of the bogie, car body, and components between the bogie and car body, such as suspension devices, in order to Fully understand the development law of vehicle running attitude.

Description

A method, device and medium for monitoring vehicle running attitude by using inclination angle

technical field

The present application relates to the technical field of vehicle stability monitoring, in particular to a method, device and medium for monitoring vehicle running attitude by using inclination angle.

Background technique

In the development of urban rail transit, the stability and safety of vehicle operation has always been a crucial research direction. With the increase of running mileage, the vehicle's suspension system may experience fatigue, damping changes, and deformation after long-term stresses such as different loads and wheel-rail forces, which in turn lead to changes in the operating status of the car body and bogies. Coupled with poor wheel-rail matching, it may affect the safety of the vehicle, such as unsteady operation of the vehicle body, left and right shaking, front and rear shaking, and tilting of the vehicle body, which may even lead to the risk of the vehicle overturning during operation. In addition, with the change of the vehicle structure design, the distance change of the vehicle suspension device design also has a certain impact on the vehicle running quality.

The current method is to perform independent detection and real-time judgment on the vibration acceleration of the bogie and the car body alone. This method only pays attention to the vibration acceleration changes in the horizontal and vertical directions of the bogie and the car body respectively, that is, only pays attention to the translational movement of the monitoring object, and the information is not comprehensive, which is not conducive to the comprehensive monitoring and monitoring of the vehicle's running attitude and running quality. Analysis of the problem.

It can be seen that how to monitor the running attitude of the vehicle more comprehensively, improve the safety of the running of the vehicle, and further improve the user's comprehensive understanding of the state of the vehicle is an urgent problem to be solved by those skilled in the art.

Contents of the invention

The purpose of this application is to provide a method, device and medium for monitoring vehicle running posture by using inclination angle, so as to comprehensively monitor vehicle running posture, improve vehicle running safety, and further enhance users' comprehensive understanding of vehicle status.

In order to solve the above-mentioned technical problems, the present application provides a method for monitoring the vehicle's running attitude by using the inclination angle, including:

Respectively obtain the inclination data of the body and/or the bogie of the vehicle to be tested;

The distribution characteristics of the various types of inclination data are analyzed to output a vehicle overturning warning signal.

Preferably, analyzing the distribution characteristics of the various types of inclination data to output the vehicle overturning warning signal includes:

Sorting various types of inclination data according to time order;

Judging in turn according to the sorting results whether the various types of inclination data are greater than the corresponding first threshold;

If it is greater than the first threshold, add 1 to the counter;

If not greater than the first threshold, the counter is cleared;

determining whether the current value corresponding to the counter is greater than a first preset value;

If it is greater than the first preset value, outputting the overturning warning signal and clearing the counter;

If it is not greater than the first preset value, return to the step of sequentially judging whether each type of inclination data is greater than the corresponding first threshold according to the sorting result.

Preferably, analyzing the distribution characteristics of the various types of inclination data to output the vehicle overturning warning signal includes:

Sorting all kinds of inclination data within a preset time period in chronological order;

Judging in turn according to the sorting results whether the various types of inclination data are greater than the corresponding second threshold;

If it is greater than the second threshold, add 1 to the counter;

If it is not greater than the second threshold, the counter is decremented by 1;

determining whether the value corresponding to the counter is greater than a second preset value after the preset duration;

If it is greater than the second preset value, outputting the overturning warning signal and clearing the counter;

If it is not greater than the second preset value, clear the counter, and return to the step of sequentially judging whether each type of inclination data is greater than the corresponding second threshold according to the sorting result.

Preferably, the inclination data includes roll angle, pitch angle and yaw angle.

Preferably, when the vehicle speed is not 0, said obtaining the inclination data of the vehicle body and/or the bogie of the vehicle to be tested respectively comprises:

Obtaining the angular velocity data of the body of the vehicle to be tested and/or the bogie respectively;

calculating the angular velocity data based on the quaternion method to obtain the roll angle, pitch angle and yaw angle of the vehicle body and/or the bogie;

Obtain vibration acceleration data of the vehicle body and/or the bogie;

The errors of the roll angle and the pitch angle are compensated by the vibration acceleration data, and the errors of the yaw angle are compensated by the magnetometer data.

Preferably, when the vehicle speed is 0, said obtaining the inclination data of the vehicle body and/or bogie to be tested respectively comprises:

Obtain vibration acceleration data of the vehicle body and/or the bogie;

When the monitored object rotates around the Y axis in the pre-established reference coordinate system, the roll angle is calculated according to the vibration acceleration data;

When the monitored object rotates around the X-axis in the reference coordinate system, the pitch angle is calculated according to the vibration acceleration data.

Preferably, after said acquisition of the inclination data of the vehicle body and/or bogie to be tested respectively, it also includes:

calculating characteristic data of the inclination data; wherein, the characteristic data includes an extreme value of a roll angle, an extreme value of a pitch angle, and an extreme value of a yaw angle;

Analyzing various types of said characteristic data to determine whether the dip index trend continues to rise and/or fluctuates abnormally and/or the trend exceeds the limit;

Output the state warning signal of the vehicle body and/or the bogie of the vehicle to be tested.

Preferably, the analysis of various types of characteristic data to determine whether the dip index trend continues to rise and/or fluctuates abnormally and/or the trend exceeds the limit includes:

Obtain data related to the driving speed of the vehicle;

Extracting the feature data corresponding to the driving speed related data that satisfies a first preset condition within a first preset period; wherein, the first preset condition is that the driving speed reaches a preset speed level, and the driving The speed is within the preset speed range;

Calculating the mean value Aud of each of the characteristic data within the first preset time length respectively;

Taking the second preset duration as a sliding window, calculating the average value Aw, variance Sw, and slope Bw of each of the sliding windows; wherein, the first preset duration is less than the second preset duration;

Screening the target sliding window whose variance Sw is smaller than the first preset variance S1, calculating the mean value of each average value Aw and each slope Bw in the target sliding window respectively to obtain a first reference value Ah and a second reference value Bh;

When it is determined that any one type of data in the characteristic data of the car body and/or the bogie is continuous for a first preset number of times, the average value Aw is greater than the first reference value Ah, and the variance Sw is greater than the first reference value Ah, and the variance Sw is greater than the first predetermined number of times. When the second reference value Bh, output the alarm signal corresponding to the trend of the inclination index of the bogie and/or car body rising continuously;

When it is determined that any one type of data in the target analysis data of the car body and/or the bogie is continuous for a second preset number of times and the variance Sw is greater than the first preset variance S1, output the corresponding bogie and/or Alarm signal for abnormal trend fluctuation of vehicle body inclination index;

When it is determined that the first reference value Ah corresponding to any type of data in the target analysis data of the vehicle body and/or the bogie is greater than the first reference threshold A1, and the corresponding second reference value Bh is greater than the second reference threshold B1 , output a corresponding bogie and/or vehicle body inclination index trend overrun warning signal.

Preferably, in the target sliding window in which the variance Sw of the screening is smaller than the first preset variance S1, the average values Aw and the slopes Bw in the target sliding window are respectively averaged to obtain the first reference value Ah and the second reference value Ah. Before the second reference value Bh, also include:

When it is determined that the driving speed reaches the preset speed level in the second preset period, and/or the data related to the driving kilometers of the vehicle is obtained; when the driving kilometers are less than the preset kilometers, and/or the slope Bw is less than When the slope is preset, all the characteristic data in the first preset period are eliminated.

Preferably, after said acquisition of the inclination data of the vehicle body and/or bogie to be tested respectively, it also includes:

Obtain data related to the driving speed of the vehicle;

Analyzing the inclination data of the vehicle body and the bogie to determine whether the trend of the inclination difference index in each direction between the vehicle body and the bogie continues to rise and/or fluctuates abnormally and/or the trend exceeds the limit;

Output the status warning signal of the components between the vehicle body and the bogie to be tested.

Preferably, the analysis of the inclination data of the car body and the bogie to determine whether the trend of the inclination difference index between the car body and the bogie continues to rise and/or fluctuates abnormally and/or the trend exceeds the limit includes :

Extracting the inclination data corresponding to the driving speed related data that meets the second preset condition within the third preset period; wherein, the second preset condition is that the driving speed reaches a preset speed level, and the driving speed is within within the preset speed range;

Calculate the inclination angle difference between the vehicle body and the bogie in the roll, pitch and yaw directions respectively;

Calculating the average value Ave of each of the inclination differences within the third preset time period;

Taking the fourth preset duration as a sliding window, calculating the average value Ax, variance Sx and slope Bx of each of the sliding windows; wherein, the third preset duration is less than the fourth preset duration;

Screening the target sliding window whose variance Sx is smaller than the second preset variance S2, calculating the average value of each average value Ax and each slope Bx in the target sliding window respectively to obtain a third reference value An and a fourth reference value Bn;

When it is determined that the average value Ax of any type of the inclination angle difference is greater than the third reference value An and the variance Sx is greater than the fourth reference value Bn, output the vehicle to be tested The trend of the inclination difference index of the components between the body and the bogie continues to rise, and the alarm signal;

When it is determined that the variance Sx of any one type of the inclination angle difference is greater than the second preset variance S2 for the third preset number of times in succession, output the inclination angle difference index trend fluctuation of the parts between the vehicle body and the bogie to be tested Abnormal alarm signal;

When it is determined that the third reference value An corresponding to any one of the inclination difference values is greater than the reference threshold A2, and the corresponding second reference value Bh is greater than the reference threshold B2, the inclination angle of the component between the vehicle body and the bogie to be tested is output The warning signal of the difference index trend exceeding the limit.

Preferably, the method for monitoring the vehicle's running attitude by using the inclination angle further includes:

Obtain data related to the speed of train operation;

Analyze various types of characteristic data of different vehicles of the same train to determine whether the dispersion of vehicle indicators is abnormal, so as to output an alarm for the corresponding car body, and/or bogie, and/or components between the car body and the bogie Signal.

Preferably, the various types of characteristic data of different vehicles of the same train are analyzed to determine whether the dispersion of the vehicle index is abnormal, so as to output the corresponding vehicle body, and/or bogie, and/or the relationship between the car body and the bogie. The alarm signals of the components among them include:

Extracting target analysis data corresponding to the traveling speed related data in which the traveling speed reaches a preset speed level in the fourth preset period and the traveling speed is within a preset speed interval from the traveling speed related data; wherein, The target analysis data includes vibration acceleration-related data and/or angular velocity-related data, and/or inclination-angle-related data, and/or inclination angle differences in various directions between the vehicle body and the bogie;

respectively calculating the average value Au of each of the target analysis data of the vehicle within the fifth preset time period;

Calculating the average value At and variance St of each of the target analysis data of the vehicle at different driving speed levels within the fifth preset period;

When it is determined that the variance St of any type of data corresponding to the target analysis data of the vehicle is greater than the variance threshold Sm within the sixth preset time length, it is determined that the dispersion of the corresponding index of the vehicle is abnormal and the corresponding vehicle body and/or steering are output rack warning signal;

When it is determined that any type of data in the target analysis data corresponding to the vehicle has the variance St greater than the variance threshold Sm within the seventh preset time length, and the maximum value of the variance St is the same target vehicle, then determine the target vehicle If the dispersion of the corresponding index is abnormal, an alarm signal for the corresponding car body and/or bogie is output.

In order to solve the above-mentioned technical problems, the present application also provides a device for monitoring the running attitude of the vehicle by using the inclination angle, including:

An acquisition module, configured to acquire the inclination data of the car body and/or the bogie respectively;

The analysis module is used to analyze the distribution characteristics of the inclination data to output the vehicle overturning warning signal.

In order to solve the above technical problems, the present application also provides a device for monitoring the running posture of a vehicle by using the inclination angle, including a memory for storing computer programs;

The processor is configured to implement the steps of the method for monitoring the running attitude of the vehicle by using the inclination angle when executing the computer program.

In order to solve the above-mentioned technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the described monitoring of vehicle operation by using inclination angle is realized. The steps of the pose method.

A method for monitoring the running attitude of a vehicle by using the inclination angle provided by the present invention includes: obtaining the inclination angle data of the car body and the bogie respectively, and analyzing the distribution characteristics of the inclination angle data to output a vehicle overturning warning signal. It can be seen that the technical solution provided by this application monitors the posture of the vehicle based on the inclination data of the car body and the bogie, and provides early warning of possible dangers of the vehicle in advance to improve the safety of the vehicle, thereby improving the user's awareness of the vehicle. state of mastery. Furthermore, the technical solution provided by this application makes up for the existing problem of only monitoring the vibration acceleration indicators of the vehicle bogie and car body when monitoring the running posture of the existing vehicle, and proposes a method for bogie and car body running The monitoring method for the unsteady phenomenon of the rotational movement around a certain direction during the process improves the monitoring content of the vehicle's running attitude. This method expands the original focus on the vibration acceleration changes in the horizontal and vertical directions of the bogie and car body, that is, to monitor only the translational movement of the vehicle, to focus on the bogie and car body in a certain direction during operation. of rotational motion. At the same time, the technical solution of the present application further pays attention to the long-term accumulation and analysis of data such as the inclination angle and inclination angle difference of the bogie and car body, and then pays attention to the bogie, car body, and components between the bogie and car body, such as The status trend of the suspension device, etc. helps the train operation and maintenance personnel to summarize the development law of the vehicle's operating posture, determine the vehicle maintenance threshold, and provide support for the train operation and maintenance personnel to grasp the status of the vehicle and train in advance and arrange maintenance operations.

In addition, the present application also provides a device and medium for monitoring vehicle running attitude by using inclination angle, corresponding to the above-mentioned method for monitoring vehicle running attitude by using inclination angle, and the effect is the same as above.

Description of drawings

In order to illustrate the embodiments of the present application more clearly, the following will briefly introduce the accompanying drawings used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. As far as people are concerned, other drawings can also be obtained based on these drawings on the premise of not paying creative work.

FIG. 1 is a flow chart of a method for monitoring vehicle running attitude by using inclination provided by an embodiment of the present application;

Fig. 2 is the schematic diagram of a kind of train reference coordinate system provided by the embodiment of the present application;

Fig. 3 is a structural diagram of a device for monitoring vehicle running attitude by using inclination angle provided by the embodiment of the present application;

Fig. 4 is a structural diagram of a device for monitoring a vehicle running attitude by using an inclination angle according to another embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of this application.

The core of the present application is to provide a method, device and medium for monitoring the running attitude of the vehicle by using the inclination angle, so as to comprehensively monitor the running attitude of the vehicle, improve the safety of the running of the vehicle, and further enhance the user's comprehensive understanding of the vehicle state.

In order to enable those skilled in the art to better understand the solution of the present application, the present application will be further described in detail below in conjunction with the drawings and specific embodiments.

In the development of urban rail transit, the stability and safety of vehicle operation has always been a crucial research direction. With the increase of running mileage, the vehicle's suspension system may experience fatigue, damping changes, and deformation after long-term stresses such as different loads and wheel-rail forces, which in turn lead to changes in the operating status of the car body and bogies. Coupled with poor wheel-rail matching, it may affect the safety of the vehicle, such as unsteady operation of the vehicle body, left and right shaking, front and rear shaking, and tilting of the vehicle body, which may even lead to the risk of the vehicle overturning during operation. In addition, with the change of the vehicle structure design, the distance change of the vehicle suspension device design also has a certain impact on the vehicle running quality.

The current method is to perform independent detection and real-time judgment on the vibration acceleration of the bogie and the car body alone. This method only pays attention to the vibration acceleration changes in the horizontal and vertical directions of the bogie and the car body respectively, that is, only pays attention to the translational movement of the monitoring object, and the information is not comprehensive, which is not conducive to the comprehensive monitoring and monitoring of the vehicle's running attitude and running quality. Analysis of the problem.

In order to solve the above technical problems, monitor the running attitude of the vehicle more comprehensively, improve the safety of the vehicle running, and further improve the user's comprehensive understanding of the state of the vehicle, the embodiment of the present application provides a method for monitoring the running attitude of the vehicle by using the inclination angle. The inclination data of the car body and/or bogie of the vehicle to be tested, and analyze the distribution characteristics of various inclination data, and then output the vehicle overturning warning signal, based on the bogie and car body in a certain direction during operation The monitoring of the rotation movement realizes the comprehensive monitoring of the vehicle's running posture and improves the safety of the vehicle's operation.

Fig. 1 is a flow chart of a method for monitoring vehicle running attitude by using inclination provided by the embodiment of the present application. As shown in Fig. 1, the method includes:

S10: Obtain the inclination data of the car body and/or the bogie of the vehicle to be tested respectively;

In a specific embodiment, when acquiring the inclination data of the vehicle body and/or the bogie of the vehicle to be tested, the corresponding sensors can be arranged on the vehicle body and/or the bogie to directly collect the inclination data, or the vehicle body and/or bogie can be obtained first. The vibration acceleration data and angular velocity data of the body and/or the bogie are calculated to obtain the inclination data through the vibration acceleration data and the angular velocity data, and the method for obtaining the inclination data is not limited in this application.

Among them, the inclination angle data includes roll angle, pitch angle and yaw angle. In fact, obtaining the roll angle, pitch angle and yaw angle can basically restore the operating attitude of the component. Fig. 2 is a schematic diagram of a train reference coordinate system provided by the embodiment of the present application. As shown in Fig. 2, the coordinate system is established with the train as a reference, that is, the horizontal direction of the train is the X axis, the vertical direction is the Y cycle, and the vertical direction is the Y axis. Establish a train reference coordinate system for the Z axis. The rotation of the vehicle around the X axis is called roll. The angle formed by the roll and the horizontal plane formed by the X-Y axis is the roll angle. The rotation of the vehicle around the Y axis is called pitch. The angle formed by the horizontal plane formed by the axis is the pitch angle, and the rotation of the vehicle around the Z axis is called yaw, and the angle formed by the yaw and the plane formed by the X-Z axis is the yaw angle.

In practice, when the vehicle speed is not 0, when acquiring the inclination data of the vehicle body and/or bogie, it is necessary to obtain the angular velocity data and vibration acceleration data of the vehicle body and/or bogie first, and then based on the quaternion method Calculate the roll angle, pitch angle and yaw angle of the car body and/or bogie by calculating the angular velocity data, and compensate the errors of the roll angle and pitch angle through the vibration acceleration data, and use the geomagnetometer data to correct the yaw angle error is compensated.

If the vehicle speed is 0, there is only the vibration acceleration signal, so the inclination data can only be calculated according to the vibration acceleration data. Specifically, after obtaining the vibration acceleration data of the car body and/or bogie, when the monitored object rotates around the Y-axis in the pre-established reference coordinate system, the roll angle is calculated according to the vibration acceleration data, and when the detected object rotates around the reference coordinate system When the X axis in the coordinate system rotates, the pitch angle is calculated from the vibration acceleration data.

S11: Analyze the distribution characteristics of various inclination data to output vehicle overturning warning signals.

After obtaining various inclination data, the distribution characteristics of various inclination data can be analyzed, and then an early warning signal of vehicle overturning can be output. It is also possible to calculate the characteristic data of each inclination data, wherein the characteristic data include the extreme value of the roll angle, the extreme value of the pitch angle and the extreme value of the yaw angle. In the case of continuous rise and/or abnormal fluctuation and/or trend exceeding the limit, the status warning signal of the vehicle body and/or bogie to be tested is output.

In addition, it is also possible to additionally obtain data related to the running speed of the vehicle, and then analyze the inclination data of the car body and the bogie based on the data related to the running speed, and then determine whether the trend of the inclination difference index in each direction between the car body and the bogie is continuous. If the rise and/or fluctuation are abnormal and/or the trend exceeds the limit, and output the status warning signal of the parts between the vehicle body and the bogie to be tested.

Further, after obtaining the data related to the running speed of the train, it is possible to analyze various characteristic data of different vehicles of the same train, and then determine whether the dispersion of the vehicle index is abnormal, and output the corresponding car body and/or bogie, and/or warning signals for components between the car body and the bogie.

The method for monitoring the running attitude of a vehicle by using the inclination angle provided by the embodiment of the present application includes: obtaining the inclination data of the car body and the bogie respectively, and analyzing the distribution characteristics of the inclination data to output a vehicle overturning warning signal. It can be seen that the technical solution provided by this application monitors the posture of the vehicle based on the inclination data of the car body and the bogie, and provides early warning of possible dangers of the vehicle in advance to improve the safety of the vehicle, thereby improving the user's awareness of the vehicle. state of mastery. Furthermore, the technical solution provided by this application makes up for the existing problem of only monitoring the vibration acceleration indicators of the vehicle bogie and car body when monitoring the running posture of the existing vehicle, and proposes a method for bogie and car body in operation The monitoring method for the unsteady phenomenon of the rotational movement around a certain direction during the process improves the monitoring content of the vehicle's running posture. This method expands the original focus on the variation of the vibration acceleration in the horizontal and vertical directions of the bogie and car body, that is, to monitor only the translational movement of the vehicle, to focus on the movement of the bogie and car body in a certain direction during operation. of rotational motion. At the same time, the technical solution of the present application further pays attention to the long-term accumulation and analysis of data such as the inclination angle and inclination angle difference of the bogie and car body, and then pays attention to the bogie, car body, and components between the bogie and car body, such as The status trend of the suspension device, etc. helps the train operation and maintenance personnel to summarize the development law of the vehicle's operating posture, determine the vehicle maintenance threshold, and provide support for the train operation and maintenance personnel to grasp the status of the vehicle and train in advance and arrange maintenance operations.

In a specific embodiment, when analyzing the distribution characteristics of various types of inclination data to output vehicle overturning warning signals, the analysis can be performed in the following two ways:

Method 1: First, sort the various types of inclination data in chronological order to obtain the sorting results, and then judge whether the various types of inclination data are greater than the corresponding first threshold G1 according to the sorting results. If it is greater than the first threshold G1, add 1 to the control counter. is greater than the first threshold G1, the counter is cleared. Further, it is judged in real time whether the value corresponding to the current counter is greater than the first preset value H1, and if it is greater than the first preset value H1, it is determined that the risk of the vehicle overturning may occur, and at this time an overturning warning signal is output and the counter is cleared. If it is not greater than the first preset value H1, continue to judge whether the various types of inclination data are greater than the corresponding first threshold G1.

Method 2: first sort the various types of inclination data within the preset time length T according to the time order to obtain the sorting results, and then judge whether the various types of inclination data are greater than the corresponding second threshold G2 according to the sorting results, if greater, add 1 to the control counter , otherwise, the control counter is decremented by 1. Further, if it is determined that the value corresponding to the counter is greater than the second preset value H2 after a preset period of time, it is determined that the vehicle may overturn, and at this time an overturn warning signal is output and the counter is reset. If the value corresponding to the counter is not greater than the second preset value H2, continue to determine whether the various types of inclination data are greater than the corresponding second threshold G2. During implementation, the method 1 may be selected to analyze whether the vehicle is at risk of overturning, or the method 2 may be used for analysis, which is not specifically limited in this application.

The method for monitoring the running attitude of the vehicle by using the inclination angle provided in the embodiment of the present application monitors the running attitude of the vehicle based on the inclination data of the car body and the bogie, and gives early warning of the possible danger of the vehicle in advance, so as to improve the safety of the vehicle operation, and further Improve the user's grasp of the vehicle status. And through the monitoring of the unsteady phenomenon of the bogie and car body rotating around a certain direction during operation, based on the monitoring of the three-dimensional angle, the detection accuracy is improved.

In a specific embodiment, when the vehicle speed of the vehicle is not 0, and the inclination data of the vehicle body and/or the bogie of the vehicle to be tested are acquired, the angular velocity data of the vehicle body and/or the bogie of the vehicle to be tested are first obtained respectively, and The roll angle, pitch angle and yaw angle of the vehicle body and/or the bogie are calculated based on the angular velocity data based on the quaternion method. Further, by acquiring the vibration acceleration data of the vehicle body and/or the bogie, the errors of the roll angle and the pitch angle are compensated by the vibration acceleration data, and the errors of the yaw angle are compensated by the magnetometer data.

Specifically, in order to describe the posture, it is necessary to introduce a three-dimensional coordinate system in space and describe it with a space vector transformation method. Define two different three-dimensional coordinate systems, the reference coordinate system (also known as the navigation coordinate system) and the carrier coordinate system.

During the operation of the monitored object, the reference coordinate system remains unchanged, and the carrier coordinate system is rotated one or more times relative to the reference coordinate system to obtain a new carrier coordinate system. In practice, if the sensor is used to collect the operation-related data of the monitored object, since the monitoring sensor needs to be installed on the monitored object and is rigidly connected, the data acquired by the monitoring sensor is all in the carrier coordinate system. Therefore, in attitude calculation, it is necessary to convert the data of the carrier coordinate system into the reference coordinate system before performing attitude calculation.

According to the Euler rotation theorem, the displacement of a rigid body around a fixed point can be realized by one rotation around a certain axis of the point. In the Euler rotation, the reference coordinate system is obtained by rotating the carrier coordinate system three times. In the three rotations, each rotation axis is a certain coordinate axis of the rotated coordinate system, and each rotation angle is the Euler angle. Therefore, the attitude matrix determined in Euler angles is the product of the three coordinate transformation matrices. Among them, the coordinate transformation matrix has the following standard form:

为绕X轴旋转的矩阵，R_Y(θ)为绕Y轴旋转的矩阵，R_Z(Y)为绕Z轴旋转的矩阵。in,

is a matrix that rotates around the X axis, R _Y (θ) is a matrix that rotates around the Y axis, and R _Z (Y) is a matrix that rotates around the Z axis.

According to the rotation sequence of Z axis, Y axis and X axis, the attitude rotation matrix can be obtained:

According to the matrix A, the inclination angles of rotation (or change) in the Z direction, Y direction and X direction are respectively:

θ＝arcsin[A(1,3)] (6)

Among them, A(2,3) represents the data in the second row and the third column of matrix A, and the same is true for other matrices, which will not be described here.

Corresponding to the matrix A, the attitude rotation matrix is represented by the quaternion method, and the matrix B is obtained:

Combining matrix A and matrix B, according to formula (5), formula (6) and formula (7), the inclination angles of rotation (or change) in Z direction, Y direction and X direction are respectively:

θ=arcsin[B(1,3)]=arcsin(2(q ₁ q ₃ -q ₀ q ₂ )) (10)

Further, the differential equation of the quaternion is:

In the formula (12), ω is the measured value of the angular velocity of the monitoring object. Formula (12) can also be expressed as:

The update algorithm of quaternion in discrete domain is:

Among them, Δω is the angular velocity value of the monitoring object.

In particular, in a specific embodiment, if only the gyroscope is used to monitor the angular velocity and is used to calculate the angle, although the dynamic performance of the gyroscope is good, it will bring accumulation when the angular velocity measured by the gyroscope is integrated over time. Error, therefore, it is not enough to monitor the angular velocity only with the gyroscope.

In order to obtain an accurate yaw angle, in the technical solution provided by the application, the accelerometer can be used to compensate the speed error of the roll angle and the pitch angle of the gyroscope, and the speed error of the yaw angle can use a geomagnetometer (that is, Electronic compass) signal is compensated to obtain accurate yaw angle.

That is to say, when the speed of the vehicle is not 0, after calculating the data of each inclination angle based on the quaternion method, that is, after obtaining the roll angle, pitch angle and yaw angle, the calculation of the roll angle and pitch angle by the vibration acceleration data The error is compensated, and the error of the yaw angle is compensated by the magnetometer data.

Further, the quaternion is updated according to the formula (14), and the updated quaternion is brought into the formula (9), formula (10) and formula (11), and then the inclination data is calculated.

In the method for monitoring the running attitude of a vehicle using the inclination angle provided in the embodiment of the present application, when the vehicle speed is not 0, after obtaining the angular velocity data of the vehicle body and/or the bogie of the vehicle to be tested, the angular velocity data is calculated based on the quaternion method. Perform calculations to obtain the roll angle, pitch angle and yaw angle of the car body and/or bogie, and compensate the error of the roll angle and pitch angle through the vibration acceleration data, and use the geomagnetometer data to correct the error of the yaw angle Compensation is performed to obtain accurate inclination data, thereby improving the monitoring accuracy of the vehicle's running attitude.

Further, when the speed of the vehicle is 0, at this time, only the acceleration signal can be used to obtain the inclination data. Specifically, after obtaining the vibration acceleration data of the vehicle body and/or bogie, when the monitored object rotates around the Y axis in the pre-established reference coordinate system, the roll angle is calculated according to the vibration acceleration data. When the X axis in the coordinate system rotates, the pitch angle is calculated from the vibration acceleration data.

In the implementation, a reference coordinate system is established in the three-dimensional space, and the Y-axis is the direction of travel of the train. Assuming that the rotation angle of the monitoring object around the Y-axis is θ, then θ is the roll angle of the monitoring object, and the calculation formula of θ for:

If the rotation angle of the monitoring object around the Y axis is ψ, then ψ is the pitch angle of the monitoring object, and the calculation formula of ψ is:

In fact, the yaw angle cannot be calculated only by using the acceleration signal. At this time, the yaw angle can be calculated based on the quaternion method, and the yaw angle can be obtained by compensating the error of the yaw angle through the geomagnetometer data.

In the method for monitoring vehicle running attitude by using inclination angle provided in the embodiment of the present application, when the vehicle speed is 0, the vibration acceleration data of the vehicle body and/or the bogie can be obtained, and when the monitoring object rotates around the pre-established reference coordinate system When the Y axis rotates, the roll angle is calculated according to the vibration acceleration data, and when the monitored object rotates around the X axis in the reference coordinate system, the pitch angle is calculated according to the vibration acceleration data. In this way, the static inclination data is obtained, and the obtained inclination data is analyzed to determine whether the vehicle is running smoothly, so that the operation and maintenance personnel can obtain the development law of the vehicle's operating posture and provide corresponding support for maintenance operations.

In the technical aspects of the above embodiments, after obtaining the inclination data of the vehicle body and/or bogie to be tested, it is possible to calculate the characteristic data of the inclination data and analyze various characteristic data to determine whether the inclination index trend occurs The phenomenon of continuous rise and/or abnormal fluctuation and/or trend exceeding the limit, so as to output the status warning signal of the vehicle body and/or bogie to be tested. It should be noted that the feature data of the inclination data includes an extreme value of a roll angle, an extreme value of a pitch angle, and an extreme value of a yaw angle.

Specifically, the analysis of various characteristic data of the inclination data includes the following steps:

Step 1: Obtain the driving speed related data of the vehicle running, and extract the characteristic data corresponding to the driving speed related data that meets the first preset condition in the first preset period; wherein, the first preset condition is that the driving speed reaches the preset Speed level, and the driving speed is within the preset speed range;

It is understandable that different speed levels and driving speeds correspond to different characteristic data. In order to improve the monitoring accuracy, it is necessary to filter out invalid data. For example, when the driving speed does not reach the preset level, indicating that the vehicle is not driving, the The data used as analysis data will reduce the monitoring accuracy. Therefore, after obtaining the data related to the driving speed, only the characteristic data satisfying the first preset condition are extracted for analysis.

For example, the first preset period is 1 month. After obtaining the relevant data of the vehicle's driving speed, extract the data that the driving speed reaches the preset speed level (for example, the driving speed level reaches 250km/h) within one month, and the driving speed is within the preset speed level. Set the feature data corresponding to the traveling speed related data within the speed range (for example, traveling speed floating within [-10km/h, +10km/h]).

It should be noted that the characteristic data include the extreme value of the roll angle, the extreme value of the pitch angle and the extreme value of the yaw angle. When selecting data for analysis, one or more types of characteristic data can be selected for analysis. Do limited.

Step 2: Calculate the average value Aud of each feature data within the first preset time length, and use the second preset time length as a sliding window to calculate the average value Aw, variance Sw and slope Bw of each sliding window; A preset duration is shorter than a second preset duration;

For example, if the first preset duration is 1 day and the second preset duration is n days, then calculate the daily average value Aud of each feature data, and then use n days as a fixed sliding window, sliding one day at a time, calculate each sliding The average value Aw, the variance Sw and the slope Bw of the window, where the calculation formulas of the average value Aw, the variance Sw and the slope Bw are respectively:

Step 3: Screen the target sliding window whose variance Sw is smaller than the first preset variance S1, and calculate the average value of each average value Aw and each slope Bw in the target sliding window to obtain the first reference value Ah and the second reference value Bh;

Further, the historical average value and historical slope are calculated as the basis for analyzing the updated data. That is, the target sliding window with Sw<S1 is screened out. In fact, the screened target sliding window is a window with less data fluctuation. Then, the mean values Aw and the slopes Bw in the selected target sliding windows are respectively averaged to obtain the first reference value Ah and the second reference value Bh. Of course, the average value can also be calculated on the basis of the first reference value Ah and the second reference value Bh later, and whether to further calculate the average value can be determined according to the data search volume of the ground analysis system. Often when the amount of data is large, further averaging is required.

Step 4: Analyze whether the trend of the inclination index is continuously rising and/or fluctuating abnormally and/or the trend exceeds the limit, and output the status warning signal of the vehicle body and/or bogie to be tested;

Specifically, when it is determined that the average value Aw of any type of data in the characteristic data of the car body and/or the bogie is greater than the first reference value Ah, and the variance Sw is greater than the second reference value Bh, output the corresponding steering wheel The trend of the inclination index of the frame and/or the vehicle body continues to rise, and the warning signal;

When it is determined that any type of data in the target analysis data of the car body and/or the bogie has a second preset number of consecutive variances Sw greater than the first preset variance S1, the corresponding bogie and/or car body inclination index trend fluctuation is abnormal warning signal;

When it is determined that the first reference value Ah corresponding to any type of data in the target analysis data of the vehicle body and/or bogie is greater than the first reference threshold A1, and the corresponding second reference value Bh is greater than the second reference threshold B1, output the corresponding The warning signal that the tendency of the inclination index trend of the bogie and/or car body exceeds the limit.

In a specific embodiment, in order to further improve the monitoring accuracy, in the target sliding window where the screening variance Sw is smaller than the first preset variance S1, the average values Aw and the slopes Bw in the target sliding window are respectively averaged to obtain the first reference The analysis data are further filtered and processed before the value Ah and the second reference value Bh.

Specifically, when it is determined that the driving speed reaches the preset speed level in the second preset period, and/or the data related to the number of kilometers traveled by the vehicle is obtained; when the number of kilometers traveled is less than the preset number of kilometers, and/or the slope Bw is less than the preset slope When , all characteristic data in the first preset period are eliminated.

In the method for monitoring the running attitude of a vehicle using the inclination angle provided in the embodiment of the present application, after obtaining the inclination data of the vehicle body and/or the bogie to be tested, the inclination angle is determined by calculating the characteristic data of the inclination data and analyzing various characteristic data Whether the index trend continues to rise and/or fluctuates abnormally and/or the trend exceeds the limit, and then output the status warning signal of the vehicle body and/or bogie to be tested. Therefore, based on the characteristic data of the inclination data, the analysis of the trend of the vehicle inclination index can be realized, the state of the car body and/or bogie can be determined, and comprehensive information can be provided for the user to understand the state of the vehicle, thereby improving the safety of vehicle operation.

As a preferred embodiment, after obtaining the inclination data of the vehicle body and/or bogie to be tested, the data related to the running speed of the vehicle can also be obtained, and the inclination data of the vehicle body and bogie can be analyzed to determine the inclination angle of the vehicle body and/or bogie Whether the trend of the inclination difference index in each direction between the bogies continues to rise and/or fluctuates abnormally and/or the trend exceeds the limit, so as to output a status warning signal of the components between the vehicle body and the bogies. Specifically, the following steps are included:

Step 1: extract the inclination data corresponding to the driving speed related data satisfying the second preset condition in the third preset period, and calculate the inclination difference values of the car body and the bogie in the roll, pitch and yaw directions respectively; Wherein, the second preset condition is that the driving speed reaches a preset speed level, and the driving speed is within a preset speed range;

For example, if the third preset cycle is one day, then extract the data related to the driving speed of the driving speed level within a day to reach 300km/h, and the driving speed is within the preset interval of [-10km/h, +10km/h] The corresponding inclination data, and calculate the inclination angle difference between the car body and the bogie in the roll, pitch and yaw directions respectively in the inclination data.

Step 2: Calculate the average value Ave of each inclination difference in the third preset time length, and use the fourth preset time length as a sliding window to calculate the average value Ax, variance Sx and slope Bx of each sliding window; where, the first The third preset duration is less than the fourth preset duration;

Among them, the calculation formulas of average value Ax, variance Sx and slope Bx are respectively:

Step 3: Screen the target sliding window whose variance Sx is smaller than the second preset variance S2, and calculate the average value of each average value Ax and each slope Bx in the target sliding window to obtain the third reference value An and the fourth reference value Bn;

The window of Sx<S2 is used as the target sliding window, and then the third reference value An and the fourth reference value Bn are obtained by calculating the mean value of each average value Ax and each slope Bx in the target sliding window. Similarly, the average value may be further calculated on the basis of the third reference value An and the fourth reference value Bn, which is not limited in the present application, and may be adjusted accordingly according to the actual amount of data.

Step 4: Analyze the inclination data of the car body and the bogie, and then determine whether the trend of the inclination difference index in each direction between the car body and the bogie continues to rise and/or fluctuates abnormally and/or the trend exceeds the limit.

Specifically, when it is determined that the average value Ax of the third preset times of any type of inclination difference is greater than the third reference value An, and the variance Sx is greater than the fourth reference value Bn, output the component between the vehicle body and the bogie to be tested The trend of the inclination difference index continues to rise and the alarm signal;

When it is determined that the variance Sx of any one type of inclination angle difference is greater than the second preset variance S2 in a row for the third preset number of times, an abnormal alarm signal of the trend fluctuation of the inclination angle difference index of the components between the vehicle body and the bogie to be tested is output;

When it is determined that the third reference value An corresponding to any type of inclination difference is greater than the reference threshold A2, and the corresponding second reference value Bh is greater than the reference threshold B2, the inclination difference of the components between the vehicle body and the bogie to be tested is output Indicator trend overrun warning signal.

In the method for monitoring vehicle running attitude by using inclination provided in the embodiment of the present application, after obtaining the inclination data of the vehicle body and/or bogie to be tested respectively, by obtaining the data related to the running speed of the vehicle, and analyzing the vehicle body and steering The inclination data of the frame is used to determine whether the trend of the inclination difference index in each direction between the car body and the bogie continues to rise and/or the fluctuation is abnormal and/or the trend exceeds the limit, and then output the components between the vehicle body and the bogie to be tested. Status warning signal. Therefore, based on the inclination data, the state of the parts between the car body and the bogie is determined, which further improves the monitoring content of the vehicle's running attitude, and pays attention to the state of the bogie, car body, and parts between the bogie and car body, such as the suspension device. Trends provide basis for maintenance personnel to perform maintenance.

Further, as a preferred embodiment, the technical solution provided by this application can determine whether the dispersion of the vehicle index is abnormal by obtaining the data related to the running speed of the train and analyzing various characteristic data of different vehicles of the same train. , and then output the alarm signal of the corresponding car body, and/or the bogie, and/or the components between the car body and the bogie. Specifically, the following steps are included:

Step 1: Extract the target analysis data corresponding to the driving speed related data whose driving speed reaches the preset speed level in the fourth preset period and the driving speed is within the preset speed range from the driving speed related data; among them, the target analysis data Including vibration acceleration related data and/or angular velocity related data, and/or inclination angle related data, and/or inclination angle difference in each direction between the car body and the bogie;

For example, the fourth preset period is 5 days, the preset speed level is 300km/h, and the preset speed range is [-5km/h, +5km/h], then the driving speed will reach 300km/h within 5 days, and The driving speed related data within the range of [-5km/h, +5km/h], the corresponding vibration acceleration related data and/or angular velocity related data, and/or inclination angle related data, and/or the vehicle body and The inclination angle difference in each direction between the bogies is used as the target analysis data.

That is to say, in addition to processing and obtaining the inclination data of the car body and bogie, it is also necessary to obtain vibration acceleration-related data and angular velocity-related data, which can be directly collected by setting corresponding sensor devices, which is not limited in this application.

Step 2: Calculate the average value Au of each target analysis data of the vehicle within the fifth preset period, and calculate the average value At and variance St of each target analysis data of the vehicle at different driving speed levels within the fifth preset period ;

For example, if the fifth preset duration is 1 day, the average value At and the variance St of the trains at different speed levels are calculated in units of 1 day, and the calculation formulas for the average value At and the variance St are respectively:

Wherein, n is the number of vehicles in a train, that is, the number of carriages.

Step 3: Analyze various characteristic data of different vehicles of the same train to determine whether the dispersion of vehicle indicators is abnormal;

Specifically, when it is determined that any type of data in the target analysis data corresponding to the vehicle is within the sixth preset time period (for example, within three consecutive days) the variance St>variance threshold Sm, it is determined that the dispersion of the corresponding indicators of the vehicle is abnormal and the corresponding vehicle body is output and/or bogie warning signals;

When it is determined that any type of data in the target analysis data corresponding to the vehicle has a variance St>variance threshold Sm within the seventh preset time period (for example, within a continuous week), and the maximum value of the variance St is the same target vehicle, then it is determined that the target vehicle corresponding If the index dispersion is abnormal, an alarm signal for the corresponding car body and/or bogie will be output.

The method for monitoring vehicle running attitude by using inclination angle provided in the embodiment of the present application obtains the data related to the running speed of the train and analyzes various characteristic data of different vehicles of the same train to determine whether the dispersion of the vehicle index is abnormal. And output the alarm signal of the corresponding car body, and/or the bogie, and/or the components between the car body and the bogie. Therefore, by analyzing various characteristic data of the vehicle and outputting the warning signals of the vehicle body, and/or the bogie, and/or the parts between the vehicle body and the bogie, from the space, that is, for different individuals of the same object Perform analysis to further expand the scope of monitoring and improve monitoring accuracy and reliability.

In the above embodiments, the method for monitoring the running attitude of the vehicle by using the inclination angle is described in detail, and the present application also provides a corresponding embodiment of the device for monitoring the running attitude of the vehicle by using the inclination angle. It should be noted that this application describes the embodiments of the device part from two perspectives, one is based on the perspective of functional modules, and the other is based on the perspective of hardware structure.

Fig. 3 is a structural diagram of a device for monitoring the vehicle's running attitude by using the inclination angle provided by the embodiment of the present application. As shown in Fig. 3, the device includes:

An acquisition module 10, configured to acquire the inclination data of the vehicle body and/or the bogie respectively;

The analysis module 11 is configured to analyze the distribution characteristics of the inclination data to output a vehicle overturning warning signal.

Since the embodiment of the device part corresponds to the embodiment of the method part, please refer to the description of the embodiment of the method part for the embodiment of the device part, and details will not be repeated here.

The device for monitoring the running attitude of a vehicle by using the inclination angle provided by the embodiment of the present application includes: obtaining the inclination data of the vehicle body and the bogie respectively, and analyzing the distribution characteristics of the inclination data to output a vehicle overturning warning signal. It can be seen that the technical solution provided by this application monitors the posture of the vehicle based on the inclination data of the car body and the bogie, and provides early warning of possible dangers of the vehicle in advance to improve the safety of the vehicle, thereby improving the user's awareness of the vehicle. state of mastery. Furthermore, the technical solution provided by this application makes up for the existing problem of only monitoring the vibration acceleration indicators of the vehicle bogie and car body when monitoring the running posture of the existing vehicle, and proposes a method for bogie and car body during the running process. The monitoring method of the unsteady phenomenon of the rotational motion around a certain direction improves the monitoring content of the vehicle's running attitude. This method expands the original focus on the vibration acceleration changes in the horizontal and vertical directions of the bogie and car body, that is, to monitor only the translational movement of the vehicle, to focus on the bogie and car body in a certain direction during operation. of rotational motion. At the same time, the technical solution of the present application further pays attention to the long-term accumulation and analysis of data such as the inclination angle and inclination angle difference of the bogie and car body, and then pays attention to the bogie, car body, and components between the bogie and car body, such as The status trend of the suspension device, etc. helps the train operation and maintenance personnel to summarize the development law of the vehicle's operating posture, determine the vehicle maintenance threshold, and provide support for the train operation and maintenance personnel to grasp the status of the vehicle and train in advance and arrange maintenance operations.

FIG. 4 is a structural diagram of a device for monitoring vehicle running posture by using inclination angle provided by another embodiment of the present application. As shown in FIG. 4 , the device for monitoring vehicle running posture by using inclination angle includes: a memory 20 for storing computer programs;

The processor 21 is configured to implement the steps of the method for monitoring the running attitude of the vehicle by using the inclination angle as mentioned in the above-mentioned embodiments when executing the computer program.

The device for monitoring the running attitude of a vehicle by using the inclination angle provided in this embodiment may include but not limited to a smart phone, a tablet computer, a notebook computer or a desktop computer, and the like.

Wherein, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 21 can be at least one of a Digital Signal Processor (DSP for short), a Field-Programmable Gate Array (FPGA for short), and a Programmable Logic Array (PLA for short). implemented in the form of hardware. Processor 21 may also include a main processor and a coprocessor, and the main processor is a processor for processing data in a wake-up state, also known as a central processing unit (Central Processing Unit, referred to as CPU); It is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a Graphics Processing Unit (GPU for short), and the GPU is used for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI for short) processor, and the AI processor is used to process computing operations related to machine learning.

Memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory, and non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can realize the relevant steps of the method disclosed in any of the above-mentioned embodiments to monitor the vehicle's running attitude by using the inclination angle . In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Wherein, the operating system 202 may include Windows, Unix, Linux and so on. The data 203 may include, but not limited to, related data involved in the method of monitoring the vehicle's running attitude by using the inclination angle.

In some embodiments, the device for monitoring vehicle running attitude by using inclination angle may further include a display screen 22 , an input/output interface 23 , a communication interface 24 , a power supply 25 and a communication bus 26 .

Those skilled in the art can understand that the structure shown in FIG. 4 does not constitute a limitation to the device for monitoring the running attitude of the vehicle by using the inclination angle, and may include more or less components than those shown in the illustration.

The device for monitoring vehicle running attitude by using inclination angle provided by the embodiment of the present application includes a memory and a processor. When the processor executes the program stored in the memory, the following method can be realized: the method for monitoring the vehicle running attitude by using inclination angle.

The device for monitoring the running attitude of the vehicle by using the inclination angle provided by the embodiment of the present application monitors the running attitude of the vehicle based on the inclination data of the car body and the bogie, and gives early warning of possible dangers of the vehicle in advance, so as to improve the safety of the vehicle operation, and further Improve the user's grasp of the vehicle status. Furthermore, the technical solution provided by this application makes up for the existing problem of only monitoring the vibration acceleration indicators of the vehicle bogie and car body when monitoring the running posture of the existing vehicle, and proposes a method for bogie and car body during the running process. The monitoring method of the unsteady phenomenon of the rotational motion around a certain direction improves the monitoring content of the vehicle's running attitude.

Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. A computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the steps described in the foregoing method embodiments are implemented.

It can be understood that if the methods in the above embodiments are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , executing all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), magnetic disk or optical disc, etc., which can store program codes. medium.

The method, device and medium for monitoring the running attitude of a vehicle provided by the present application have been described in detail above. Each embodiment in the description is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part. It should be pointed out that those skilled in the art can make some improvements and modifications to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

It should also be noted that in this specification, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is no such actual relationship or order between the operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Claims (16)

1. A method for monitoring the operational attitude of a vehicle using tilt angles, comprising:

respectively acquiring inclination angle data of a vehicle body and/or a bogie of a vehicle to be tested;

and analyzing the distribution characteristics of the various inclination angle data to output a vehicle overturning early warning signal.

2. The method for monitoring the vehicle running posture by using the inclination angle according to claim 1, wherein the analyzing the distribution characteristics of the various kinds of inclination angle data to output the vehicle overturning early warning signal comprises:

sorting the various inclination angle data according to a time sequence;

sequentially judging whether the inclination angle data of each type are larger than a corresponding first threshold value according to the sequencing result;

if the value is larger than the first threshold value, the counter is increased by 1;

if the first threshold value is not greater than the first threshold value, the counter is cleared;

determining whether the value corresponding to the counter is larger than a first preset value or not;

if the value is larger than the first preset value, outputting the overturning early-warning signal, and resetting the counter;

and if not, returning to the step of sequentially judging whether the inclination angle data of each type are larger than the corresponding first threshold value according to the sequencing result.

3. The method for monitoring the vehicle running posture by using the inclination angle according to claim 1, wherein the analyzing the distribution characteristics of the various kinds of inclination angle data to output the vehicle overturning early warning signal comprises:

sorting the various inclination angle data in the preset duration according to a time sequence;

Sequentially judging whether the inclination angle data of each type are larger than a corresponding second threshold value according to the sorting result;

if the value is larger than the second threshold value, the counter is increased by 1;

if not, the counter is decremented by 1;

determining whether the value corresponding to the counter after the preset time period is greater than a second preset value;

if the value is larger than the second preset value, outputting the overturning early-warning signal, and resetting the counter;

and if the inclination angle data is not larger than the second preset value, resetting the counter, and returning to the step of sequentially judging whether the inclination angle data of various types is larger than the corresponding second threshold value according to the sequencing result.

4. The method for monitoring vehicle operating attitude using tilt angle of claim 1, wherein the tilt angle data includes roll angle, pitch angle, and yaw angle.

5. The method for monitoring the running posture of a vehicle using the tilt angle according to claim 4, wherein when the vehicle speed is not 0, the respectively acquiring the tilt angle data of the body and/or the bogie of the vehicle to be tested includes:

respectively acquiring angular speed data of a vehicle body and/or a bogie of the vehicle to be tested;

calculating the angular speed data based on a quaternion method to obtain a roll angle, a pitch angle and a yaw angle of the vehicle body and/or the bogie;

Acquiring vibration acceleration data of the vehicle body and/or the bogie;

and compensating the errors of the roll angle and the pitch angle through the vibration acceleration data, and compensating the errors of the yaw angle through geomagnetic data.

6. The method for monitoring the running posture of a vehicle by using the inclination angle according to claim 4, wherein when the vehicle speed is 0, the respectively acquiring the inclination angle data of the vehicle body and/or the bogie to be tested includes:

acquiring vibration acceleration data of the vehicle body and/or the bogie;

calculating a roll angle according to the vibration acceleration data when the monitored object rotates around a Y axis in a pre-established reference coordinate system;

and calculating a pitch angle according to the vibration acceleration data when the monitoring object rotates around the X axis in the reference coordinate system.

7. The method for monitoring the running posture of a vehicle by using the inclination angle according to claim 4, further comprising, after the acquiring inclination angle data of the vehicle body and/or the bogie to be measured, respectively:

calculating characteristic data of the inclination angle data; wherein the characteristic data includes roll angle extremum, pitch angle extremum and yaw angle extremum;

Analyzing various types of the characteristic data to determine whether the inclination index trend continuously rises and/or fluctuates abnormally and/or the trend exceeds the limit;

and outputting a state alarm signal of the vehicle body and/or the bogie to be tested.

8. The method of claim 7, wherein analyzing the various types of characteristic data to determine whether the dip index trend is continuously rising and/or fluctuating anomalies and/or the trend is overrun comprises:

acquiring running speed related data of running of a vehicle;

extracting the characteristic data corresponding to the driving speed related data meeting a first preset condition in a first preset period; the first preset condition is that the running speed reaches a preset speed level, and the running speed is in a preset speed interval;

respectively calculating the mean value Aud of each characteristic data in a first preset time period;

taking a second preset duration as a sliding window, and calculating the average value Aw, the variance Sw and the slope Bw of each sliding window; the first preset duration is smaller than the second preset duration;

screening a target sliding window with the variance Sw smaller than a first preset variance S1, and respectively averaging each average value Aw and each slope Bw in the target sliding window to obtain a first reference value Ah and a second reference value Bh;

When the average value Aw of any type of data in the characteristic data of the vehicle body and/or the bogie is determined to be larger than the first reference value Ah for a first preset time continuously, and the variance Sw is larger than the second reference value Bh, outputting a continuous rising alarm signal of the inclination index trend of the corresponding bogie and/or the vehicle body;

outputting inclination index trend fluctuation abnormal alarm signals corresponding to the bogie and/or the bogie when the variance Sw of any type of data in the target analysis data of the bogie is determined to be larger than the first preset variance S1 continuously for a second preset time;

when the first reference value Ah corresponding to any type of data in the target analysis data of the vehicle body and/or the bogie is determined to be larger than the first reference threshold value A1 and the corresponding second reference value Bh is determined to be larger than the second reference threshold value B1, outputting an inclination index trend overrun warning signal corresponding to the bogie and/or the vehicle body.

9. The method for monitoring the running posture of a vehicle by using an inclination angle according to claim 8, wherein before said screening the target sliding window in which the variance Sw is smaller than the first preset variance S1, respectively averaging each average Aw and each slope Bw in the target sliding window to obtain a first reference value Ah and a second reference value Bh, further comprising:

When the running speed reaches a preset speed level in a second preset period, and/or the running mileage related data of the vehicle is obtained; and when the driving mileage is smaller than a preset mileage and/or the slope Bw is smaller than a preset slope, eliminating all the characteristic data in the first preset period.

10. The method for monitoring the running posture of a vehicle by using the inclination angle according to claim 1, further comprising, after the acquiring inclination angle data of the vehicle body and/or the bogie to be measured, respectively:

acquiring running speed related data of running of a vehicle;

analyzing the inclination angle data of the car body and the bogie to determine whether the inclination angle difference index trend of each direction between the car body and the bogie continuously rises and/or fluctuates abnormally and/or the trend is overrun;

and outputting a state alarm signal of a part between the vehicle body and the bogie of the vehicle to be tested.

11. The method of using tilt angles to monitor vehicle operating attitudes of claim 10, wherein analyzing the tilt angle data of the vehicle body and truck to determine whether each tilt angle difference indicator trend between the vehicle body and truck is continuously rising and/or fluctuating anomalies and/or trends overrun comprises:

Extracting inclination angle data corresponding to the driving speed related data meeting a second preset condition in a third preset period; the second preset condition is that the running speed reaches a preset speed level, and the running speed is in a preset speed interval;

respectively calculating the inclination angle difference values of the vehicle body and the bogie in the roll direction, the pitch direction and the yaw direction;

calculating the average value Ave of each inclination angle difference value in a third preset time period;

taking a fourth preset time length as a sliding window, and calculating the average value Ax, the variance Sx and the slope Bx of each sliding window; the third preset duration is smaller than the fourth preset duration;

screening a target sliding window with the variance Sx smaller than a second preset variance S2, and respectively averaging each average value Ax and each slope Bx in the target sliding window to obtain a third reference value An and a fourth reference value Bn;

when the average value Ax of the continuous third preset times of any type of inclination angle difference values is determined to be larger than the third reference value An, and the variance Sx is larger than the fourth reference value Bn, outputting An inclination angle difference index trend continuous rising alarm signal of a part between a vehicle body and a bogie of the vehicle to be detected;

Outputting an inclination angle difference index trend fluctuation abnormal alarm signal of a part between a vehicle body and a bogie to be tested when the variance Sx of any type of inclination angle difference value is determined to be larger than the second preset variance S2 continuously for a third preset times;

and outputting An inclination angle difference index trend overrun warning signal of a component between the vehicle body and the bogie to be tested when the third reference value An corresponding to any inclination angle difference value is determined to be larger than the reference threshold value A2 and the corresponding second reference value Bh is determined to be larger than the reference threshold value B2.

12. The method for monitoring a vehicle running posture using a tilt angle according to claim 1, further comprising:

acquiring running speed related data of train running;

the various types of the characteristic data of different vehicles of the same train are analyzed to determine whether the vehicle index is abnormal in dispersion or not, so as to output alarm signals of corresponding vehicle bodies, and/or bogies, and/or components between the vehicle bodies and the bogies.

13. The method of claim 12, wherein analyzing the feature data of the various vehicles of the same train to determine whether the vehicle index is anomalous to output warning signals for the corresponding vehicle body, and/or the bogie, and/or the components between the vehicle body and the bogie comprises:

Extracting target analysis data corresponding to the running speed related data in a preset speed interval, wherein the running speed reaches a preset speed grade in a fourth preset period from the running speed related data; the target analysis data comprise vibration acceleration related data and/or angular velocity related data and/or inclination angle difference values of the vehicle body and the bogie in all directions;

respectively calculating the average value Au of each target analysis data of the vehicle in a fifth preset duration;

calculating the average At and the variance St of each target analysis data of the vehicle At different driving speed levels in a fifth preset period;

when determining that the variance St is larger than a variance threshold Sm in a sixth preset duration of any type of data in the target analysis data corresponding to the vehicle, determining that the corresponding index dispersion of the vehicle is abnormal and outputting an alarm signal of a corresponding vehicle body and/or bogie;

when it is determined that any type of data in the target analysis data corresponding to the vehicle is larger than the variance threshold value Sm within a seventh preset duration, and the maximum value of the variance St is the same target vehicle, determining that the corresponding index dispersion of the target vehicle is abnormal, and outputting an alarm signal of a corresponding vehicle body and/or bogie.

14. An apparatus for monitoring the operational attitude of a vehicle using an inclination angle, comprising:

the acquisition module is used for respectively acquiring inclination angle data of the vehicle body and/or the bogie;

and the analysis module is used for analyzing the distribution characteristics of the inclination angle data so as to output a vehicle overturning early warning signal.

15. An apparatus for monitoring the operational attitude of a vehicle using an inclination angle, comprising a memory for storing a computer program;

a processor for implementing the steps of the method for monitoring the vehicle operating posture using tilt angle according to any one of claims 1 to 13 when executing the computer program.

16. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the method for monitoring the vehicle's operational pose with tilt angle according to any of claims 1 to 13.

Images