CN-122020848-A - Method and device for determining installation information of flexible pipe of train, electronic equipment, train, storage medium and program product

CN122020848ACN 122020848 ACN122020848 ACN 122020848ACN-122020848-A

Abstract

The disclosure provides a method, a device, electronic equipment, a train, a storage medium and a program product for determining train flexible pipe installation information, and relates to the technical field of rail transit. The method comprises the steps of outputting target simulation data corresponding to a target flexible pipe by using a train flexible pipe simulation model, determining installation information of the target flexible pipe on a train according to the target simulation data, wherein the train flexible pipe simulation model is determined through target parameters, determining the target parameters of the train flexible pipe simulation model comprises the steps of fixing the target flexible pipe on pose test equipment according to preset installation constraint conditions, acquiring a plurality of first pose data and a plurality of second pose data of the target flexible pipe acquired by the pose test equipment, acquiring initial parameters of the train flexible pipe simulation model aiming at the target flexible pipe, and adjusting the initial parameters according to the plurality of first pose data and the plurality of second pose data to obtain the target parameters of the train flexible pipe simulation model.

Inventors

JIANG WEI
ZOU HONGWEI
ZHANG RAN
LIU YUE
XING LI

Assignees

中车青岛四方机车车辆股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260123

Claims (15)

1. A method for determining train flexible pipe installation information comprises the following steps: outputting target simulation data corresponding to a target flexible pipe to be installed on a train by utilizing a train flexible pipe simulation model; determining the installation information of the target flexible pipe on the train according to the target simulation data, wherein the train flexible pipe simulation model is determined through target parameters, and determining the target parameters of the train flexible pipe simulation model comprises: fixing the target flexible pipe to pose test equipment according to preset installation constraint conditions; Acquiring a plurality of first pose data and a plurality of second pose data of the target flexible pipe, wherein the first pose data are acquired by the pose test equipment, the first pose data are used for simulating the static limit position and the static limit pose of the target flexible pipe when a train is stationary, and the second pose data are used for simulating the maximum movable range of the target flexible pipe when the train is running; acquiring initial parameters of a train flexible pipe simulation model aiming at the target flexible pipe; And adjusting the initial parameters according to the first pose data and the second pose data to obtain target parameters of the train flexible pipe simulation model.
2. The method of claim 1, wherein the acquiring a plurality of first pose data and a plurality of second pose data of the target flexible tube acquired by the pose testing device comprises: Controlling the pose test equipment to sequentially adjust the target flexible pipe to a plurality of preset static limit positions and a plurality of corresponding static limit poses, and collecting the first pose data at each static limit position and each corresponding static limit pose; And controlling the pose test equipment to sequentially move the target flexible pipe according to a plurality of preset tracks, and collecting the second pose data of a plurality of key points corresponding to each track.
3. The method of claim 1, wherein the plurality of static limit positions comprises a limit extension position of the target flexible pipe in a first direction, a limit extension position in a second direction, and a limit extension position in a third direction, wherein the first direction, the second direction, and the third direction are orthogonal to each other, as compared to a mounting reference point of the target flexible pipe on the pose testing apparatus; The plurality of static limit poses includes at least two of a limit rotation pose of the target flexible pipe about a first axis, a limit rotation pose of the target flexible pipe about a second axis, and a limit rotation pose of the target flexible pipe about a third axis, wherein the first axis, the second axis, and the third axis are orthogonal to each other.
4. The method of claim 3, wherein the plurality of trajectories includes at least two of a path of movement from a first position to a second position in any one of the first direction, the second direction, and the third direction, a path of movement of the target flexible tube about any one of the first axis, the second axis, and the third axis from a first pose to a second pose.
5. The method of claim 2, wherein the acquiring the first pose data at each of the static limit positions and the corresponding static limit poses comprises: and scanning the target flexible tube at each static limit position and the corresponding static limit gesture to obtain the first gesture data.
6. The method of claim 2, wherein the plurality of key nodes comprises at least two of a limit endpoint of a trajectory, a speed mutation point, a trajectory inflection point; the acquiring the second pose data of the plurality of key points corresponding to each track comprises: Acquiring three-dimensional data for each key node obtained by scanning when the target flexible pipe is sequentially adjusted to each key node and kept still; and splicing the three-dimensional data of each key node to obtain the second pose data.
7. The method of claim 1, wherein the adjusting the initial parameters according to the plurality of first pose data and the plurality of second pose data to obtain target parameters of the train flexible pipe simulation model comprises: and iteratively executing the adjustment operation of adjusting the initial parameters according to the plurality of first pose data and the plurality of second pose data until a preset iteration condition is reached, and outputting the target parameters.
8. The method of claim 7, wherein the k+1st time of the adjusting operation comprises: Training an initial simulation model based on the K group of model parameters obtained by the K adjustment operation to obtain an initial simulation model with the K training completed; Obtaining K-th group simulation data aiming at the target flexible pipe, which is output by the initial simulation model after the K-th training is completed; Comparing the static simulation data in the K group of simulation data with the plurality of first pose data to obtain first deviation values of the static simulation data compared with the plurality of first pose data; Comparing the dynamic simulation data in the K group of simulation data with the plurality of second pose data to obtain second deviation values of the dynamic simulation data compared with the plurality of second pose data; And under the condition that the first deviation value and the second deviation value do not meet the preset data condition, carrying out K+1st adjustment on the initial parameters to obtain K+1st group of model parameters.
9. The method of claim 7, wherein the predetermined iteration condition comprises the first and second bias values meeting a predetermined data condition and/or reaching a predetermined number of iterations.
10. The method of claim 1, wherein the preset installation constraints include at least one of an installation location, an installation style, an installation boundary limit, and a train structure limit of the target flexible pipe at the train.
11. A device for determining installation information of a flexible pipe of a train, comprising: The output module comprises a target flexible pipe to be installed on a train, and outputs target simulation data corresponding to the target flexible pipe by utilizing a train flexible pipe simulation model; The determining module comprises a step of determining the installation information of the target flexible pipe on the train according to the target simulation data, wherein the train flexible pipe simulation model is determined through target parameters; the fixing module is used for fixing the target flexible pipe to pose test equipment according to preset installation constraint conditions; The first acquisition module is used for acquiring a plurality of first pose data and a plurality of second pose data of the target flexible pipe, wherein the first pose data are acquired by the pose test equipment, the first pose data are used for simulating the static limit position and the static limit pose of the target flexible pipe when a train is stationary, and the second pose data are used for simulating the maximum movable range of the target flexible pipe when the train is running; the second acquisition module is used for acquiring initial parameters of a train flexible pipe simulation model aiming at the target flexible pipe; And the adjusting module is used for adjusting the initial parameters according to the plurality of first pose data and the plurality of second pose data to obtain target parameters of the train flexible pipe simulation model.
12. An electronic device, comprising: one or more processors; A memory for storing one or more programs, Wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 10.
13. A train, comprising: The electronic device of claim 12.
14. A computer readable storage medium having stored thereon executable instructions which when executed by a processor cause the processor to implement the method of any of claims 1 to 10.
15. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 10.

Description

Method and device for determining installation information of flexible pipe of train, electronic equipment, train, storage medium and program product Technical Field The present disclosure relates to the field of rail transit technology, and more particularly, to a method, an apparatus, an electronic device, a train, a storage medium, and a program product for determining installation information of a flexible pipe of a train. Background In order to design the installation information of the flexible pipe on the train, the related method is usually designed by designer based on experience in the early design process, and verification is performed in the vehicle production stage, for example, whether the space pose of the flexible pipe is reasonable is verified by on-site investigation and research judgment. In the process of realizing the disclosed concept, the inventor finds that at least the following problems exist in the related art, namely in the related method, if the flexible pipe needs to be changed, the modification of a plurality of parts is needed, the cost consumption is extremely high, and a plurality of departments are designed to cooperate together, so that the working efficiency is low. Disclosure of Invention In view of this, the present disclosure provides a method, apparatus, electronic device, train, storage medium, and program product for determining train flexible pipe installation information. The method comprises the steps of outputting target simulation data corresponding to a target flexible pipe by means of a train flexible pipe simulation model aiming at the target flexible pipe to be installed on a train, determining installation information of the target flexible pipe on the train according to the target simulation data, determining target parameters of the train flexible pipe simulation model according to target parameters, fixing the target flexible pipe on pose test equipment according to preset installation constraint conditions, acquiring a plurality of first pose data and a plurality of second pose data of the target flexible pipe, wherein the first pose data are used for simulating the static limit position and the static limit pose of the target flexible pipe when the train is stationary, the second pose data are used for simulating the maximum movement range of the target flexible pipe when the train is running, acquiring initial parameters of the train flexible pipe simulation model aiming at the target flexible pipe, and adjusting the initial parameters according to the first pose data and the second pose data to obtain the target parameters of the train flexible pipe simulation model. According to the embodiment of the disclosure, acquiring the first pose data and the second pose data of the target flexible pipe acquired by the pose test equipment comprises controlling the pose test equipment to sequentially adjust the target flexible pipe to a plurality of preset static limit positions and a plurality of corresponding static limit poses, acquiring the first pose data at each static limit position and the corresponding static limit pose, and controlling the pose test equipment to sequentially move the target flexible pipe according to a plurality of preset tracks and acquire the second pose data of a plurality of key points corresponding to each track. According to the embodiment of the disclosure, the plurality of static limit positions comprise a limit extension position of the target flexible pipe along a first direction, a limit extension position of the target flexible pipe along a second direction and a limit extension position of the target flexible pipe along a third direction, wherein the first direction, the second direction and the third direction are orthogonal in pairs, compared with a mounting datum point on the position test equipment of the target flexible pipe, and the plurality of static limit positions comprise at least two of a limit rotation position of the target flexible pipe around a first axis, a limit rotation position of the target flexible pipe around a second axis and a limit rotation position of the target flexible pipe around a third axis, wherein the first axis, the second axis and the third axis are orthogonal in pairs. According to an embodiment of the present disclosure, the plurality of trajectories includes at least two of a movement path from the first position to the second position in any one of a first direction, a second direction, and a third direction, a movement path of the target flexible tube from the first pose to the second pose about any one of a first axis, a second axis, and a third axis. According to the embodiment of the disclosure, acquiring the first pose data at each static limit position and corresponding static limit pose comprises scanning a target flexible tube at each static limit position and corresponding static limit pose to obtain the first pose data. According to the embodiment of the disclosure, the