CN103738355B - A kind of velocity-measuring system - Google Patents
A kind of velocity-measuring system Download PDFInfo
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- CN103738355B CN103738355B CN201310714583.XA CN201310714583A CN103738355B CN 103738355 B CN103738355 B CN 103738355B CN 201310714583 A CN201310714583 A CN 201310714583A CN 103738355 B CN103738355 B CN 103738355B
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Abstract
The invention provides a kind of velocity-measuring system, for carrying out velocity measuring to vehicle, comprising at least one subsystem that tests the speed, the described subsystem that tests the speed comprises: multiple driver module, multiple input voting module, multiple cell processing module, speed Fusion Module, exports voting module.In the velocity-measuring system provided in the present invention, to the vehicle velocity signal that sensor gathers, repeatedly adjudicate and ensure that the speed signal collected can be used, speed signal available afterwards merges.Adopt velocity-measuring system provided by the invention, the accuracy of velocity measuring, reliabilty and availability can be improved.
Description
Technical field
The present invention relates to Train Control Technology, particularly relate to a kind of velocity-measuring system.
Background technology
The cab signal system of urban track traffic is the nucleus equipment that subway train realizes safety automation control, cab signal system possesses the tachogenerator independent of Vehicular system, by the process to sensor input signal, obtain the train speed that signal system uses, and complete the key function such as train location, safe stopping distance calculating, overspeed protection, accurately parking accordingly.Therefore cab signal system has high requirement to the precision tested the speed and reliability.
Tachogenerator can be divided into two classes principle.One class rotates based on wheel shaft to produce count pulse, and pass through the number of pulses computation speed of unit of account time, can be described as axle sensor.The another kind of wheel shaft that do not rely on rotates, and by acceleration measurement, analyze reflection from modes such as the signals (optical signal, ultrasonic signal, infrared signal etc.) of rail level, the speed of indirect calculation train, can be described as non-axle sensor.
The advantages such as axle sensor has low price, test the speed accurately, stable performance, fast response time, but because wheel shaft rotates sometimes truly can not reflect train speed, therefore easily there is the weather dallying or skid at trains such as rain, snow, dusts storm under, range rate accuracy has serious decline.Although non-axle sensor can be avoided idle running or skid on the impact of testing the speed, but under identical range rate accuracy requires, often to pay the Costco Wholesale times over axle sensor, and it is different according to measuring principle, non-axle sensor is easily subject to the impact of various circumstances not known factor, complex structure, stability is poor, for Breakdown Maintenance brings larger difficulty.
The invention provides a kind of velocity-measuring system, accuracy and the reliability of velocity measuring can be improved.
Summary of the invention
The invention provides a kind of velocity-measuring system, accuracy, the reliability of estimating detection can be improved.
The invention provides a kind of velocity-measuring system, for carrying out velocity measuring to vehicle, comprising at least one subsystem that tests the speed, the described subsystem that tests the speed comprises: multiple driver module, multiple input voting module, multiple cell processing module, speed Fusion Module, exports voting module
Wherein each driver module, input with a sensor and decide by vote module with one and be connected respectively, and each driver module comprises multiple sub-driver module, the velocity information collected inputs in each sub-driver module by the sensor that be connected corresponding to this driver module, the velocity information that sensor collects by each sub-driver module is converted to the speed signal that input voting module can identify, and is input in input voting module;
Wherein each input voting module, also be connected with a cell processing module respectively, multiple speed signals for being input to self to driver module carry out safe voting, and when the variance of each voting result is greater than preset value, judge corresponding sensor fault, and send failure report to the cell processing module be connected, when the variance of voting result is less than preset value, be input in connected cell processing module after each speed signal after safety being decided by vote is synchronous;
Wherein each cell processing module, also be connected with described speed Fusion Module, and each cell processing module comprises multiple subelement processing module, deciding by vote module with the input that this cell processing module is connected inputs in described multiple subelement processing module by each speed signal after synchronous respectively, each subelement processing module is used for the state being input to the speed signal of self and the sensor of failure report judgement correspondence according to input voting module, and speed signal condition adjudgement result and input voting module being input to self is input to speed Fusion Module,
Described speed Fusion Module, comprise multiple speed fusant module, wherein each speed fusant module is used for, from each cell processing module, receive judged result and the speed signal of a sub-cell processing module transmission respectively, after speed signal being merged according to the judged result received, fusion results is input to and exports voting module;
Export voting module, put to the vote for the fusion results each speed fusant module being input to self, and export according to voting result the result that tests the speed.
Preferably, described system also comprises at least one axle sensor and at least one non-axle sensor.
Preferably, described speed fusant module also comprises:
Judge submodule, the condition adjudgement result for being input to described speed Fusion Module according to each subelement processing module judges whether the speed signal that corresponding subelement processing module is input to self can be used;
Fusant module, for judging that submodule is judged as that available speed signal merges, and is input to fusion results and exports voting module.
Preferably, described fusant module, specifically for when being judged as that the number of available speed signal reaches preset value by described judgement submodule, merges available speed signal.
Preferably, described velocity-measuring system comprise at least two test the speed subsystem time, when the velocity measurement of arbitrary subsystem that tests the speed is zero-speed, send zero-speed signal to other subsystems that test the speed,
Described judgement submodule, also for receive zero-speed signal that other subsystems that test the speed send at the affiliated subsystem that tests the speed and the condition adjudgement result that exports of the speed Fusion Module having axle sensor corresponding for " empty sliding " time, judge that the speed signal that speed Fusion Module corresponding to this axle sensor is input to self can be used.
Preferably, described fusant module is averaged as fusion results specifically for the velocity amplitude corresponding to available speed signal.
Preferably, described velocity-measuring system also comprises:
Speed output module, for the result that tests the speed of the subsystem that tests the speed of specifying being exported, and when the result that tests the speed of the subsystem that tests the speed of specifying is invalid, exports the result that tests the speed of other subsystems that test the speed.
In the velocity-measuring system provided in the present invention, use multiple sensor collection vehicle speed signal, and ensure that the speed signal collected can be used through repeatedly adjudicating, speed signal available afterwards merges.Adopt velocity-measuring system provided by the invention, the accuracy of velocity measuring, reliabilty and availability can be improved.
Accompanying drawing explanation
Fig. 1 for velocity-measuring system that the embodiment of the present invention one provides comprise one test the speed subsystem time structural representation;
The distribution schematic diagram of each sensor in the velocity-measuring system that Fig. 2 provides for the embodiment of the present invention two.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is further described.Following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
The invention provides a kind of velocity-measuring system, for carrying out velocity measuring to vehicle, comprising at least one subsystem that tests the speed, as shown in Figure 1, the described subsystem that tests the speed comprises: multiple driver module, multiple input voting module, multiple cell processing module, speed Fusion Module, exports voting module
Wherein each driver module, input with a sensor and decide by vote module with one and be connected respectively, and each driver module comprises multiple sub-driver module, the velocity information collected inputs in each sub-driver module by the sensor that be connected corresponding to this driver module, the velocity information that sensor collects by each sub-driver module is converted to the speed signal that input voting module can identify, and is input in input voting module;
Wherein each input voting module, also be connected with a cell processing module respectively, multiple speed signals for being input to self to driver module carry out safe voting, and when the variance of each voting result is greater than preset value, judge corresponding sensor fault, and send failure report to the cell processing module be connected, when the variance of voting result is less than preset value, be input in connected cell processing module after each speed signal after safety being decided by vote is synchronous;
Wherein each cell processing module, also be connected with described speed Fusion Module, and each cell processing module comprises multiple subelement processing module, deciding by vote module with the input that this cell processing module is connected inputs in described multiple subelement processing module by each speed signal after synchronous respectively, each subelement processing module is used for the state being input to the speed signal of self and the sensor of failure report judgement correspondence according to input voting module, and speed signal condition adjudgement result and input voting module being input to self is input to speed Fusion Module,
Described speed Fusion Module, comprise multiple speed fusant module, wherein each speed fusant module is used for, from each cell processing module, receive judged result and the speed signal of a cell processing module transmission respectively, after speed signal being merged according to the judged result received, fusion results is input to and exports voting module;
Described output voting module, puts to the vote for the fusion results each speed fusant module being input to self, and exports according to voting result the result that tests the speed.
Preferably, described multiple sensor comprises at least one axle sensor and at least one non-axle sensor.As pointed in background technology, the sensor of a particular type may because current environment be different, causes the velocity amplitude that records higher or on the low side, on this basis, selects at least two kinds of sensors in the embodiment of the present invention, and the result that makes to test the speed is more accurate.
Preferably, in the embodiment of the present invention two, the sub-Fusion Module of described speed comprises:
Judge submodule, the condition adjudgement result for being input to described speed Fusion Module according to each subelement processing module judges whether the speed signal that corresponding subelement processing module is input to self can be used;
Fusant module, for judging that submodule is judged as that available speed signal merges, and is input to fusion results and exports voting module.
Further, the fusant module in the embodiment of the present invention two, specifically for when being judged as that the number of available speed signal reaches preset value by described judgement submodule, merges available speed signal, and fusion results is exported.If it is very few to be judged as available speed sensor, then the accuracy of the result that possibly cannot ensure to test the speed, now no longer merges, accordingly, does not just have fusion results to export.In the embodiment of the present invention, only when judge module is judged as that the number of available speed signal reaches preset value, fusant module merges available speed signal, thus ensures that the velocity measurement exported is more accurate.
Further, when the velocity-measuring system that the embodiment of the present invention two provides comprises two subsystems, when the velocity measurement of arbitrary subsystem that tests the speed is zero-speed, send zero-speed signal to other subsystems that test the speed;
Described judge module, also for receive zero-speed signal that other subsystems that test the speed send at the affiliated subsystem that tests the speed and the condition adjudgement result that exports of the speed Fusion Module having axle sensor corresponding for " empty sliding " time, judge that the speed signal that speed Fusion Module corresponding to this axle sensor is input to self can be used.
Further, when the velocity-measuring system that the embodiment of the present invention two provides comprise at least two test the speed subsystem time, described velocity-measuring system also comprises:
Speed output module, the fusion results for the subsystem that tests the speed of will specify exports, and when the fusion results of the subsystem that tests the speed of specifying is invalid, exports the fusion results of other subsystems that test the speed.
In this way, can the result that test the speed of comprehensive each subsystem that tests the speed export the final result that tests the speed, improve the accuracy of the result that tests the speed further.
Below the idiographic flow of the velocity-measuring system that the embodiment of the present invention provides is described:
Suppose in the velocity-measuring system that the embodiment of the present invention provides, modules distribution graph as shown in Figure 2, headstock is often held to arrange 2 axle sensor and 1 non-axle sensor at train, constitute test the speed subsystem and second system of first system respectively to test the speed subsystem, first, second is main and standby relation, determines which is principal series by cab signal system.By communications cable connection end to end between first, second system.It should be noted that, this patent does not limit the quantity of often kind of sensor, 2 axle sensor and 1 non-axle sensor are the configuration of suggestion, when the sensor performance selected is better, use less sensor still can meet the requirement of system range rate accuracy and reliability, increase the availability that sensor can provide velocity-measuring system.
In practical application, driver module can adopt some systems treater of concurrent working under security of system redundancy structure, each is that treater is as a sub-driver module, such as three get two frameworks under represent concurrent working and participate in A, B, C tri-owner's machine of voting, two take advantage of two to get two frameworks under represent concurrent working and participate in voting A1 and A2 main frame, or B1 and B2 main frame, scheme described in this patent is not by the restriction of cab signal security of system redundancy structure.
Test the speed after starting, each sensor is measured speed by respective physical principle, and export the electric signal that can characterize velocity magnitude, velocity reversal and sensor states to the input voting module of correspondence, be input to by electric signal afterwards in each owner's machine, each owner's machine velocity information that just sensor collects is converted to the input voting module speed signal that can identify and is input to input voting module.
Input voting module, before each road sensor speed signal is processed, first these incoming signals of each owner's machine are carried out safe voting, if voting result is inconsistent, when namely there is great difference, the fault (irrecoverable) that tests the speed should be judged, if voting result only tests the speed, value has little deviation, then think that voting result is consistent, then the value that each system tested the speed, synchronously for completely the same, is input in each subelement processing module in corresponding cell processing module afterwards.
Judge that the mode whether voting result exists great difference can be: preset sample variance thresholding, and calculate the variance yields of each voting result, when the variance yields calculated is greater than sample variance thresholding, think to there is great difference, otherwise think that each value of testing the speed only has little deviation.
Be input to the situation of change of the speed signal of self according to input voting module and input the number of times of the failure report that voting module sends continuously, the judgement of the sensor of correspondence can be following several state by each subelement processing module:
When this sensor is axle sensor, the state of its correspondence can comprise: sensor major failure, sensor transient fault, wheel shaft slipping;
When this sensor is axle sensor, the state of its correspondence can comprise, sensor major failure, sensor transient fault.
Above-mentioned judgment rule and determining step can need setting according to those skilled in the art, no longer describe in detail at this.
Condition adjudgement result and input voting module are input to the speed fusant module of the speed signal input correspondence of self by each subelement processing module afterwards, each speed fusant module receives the judged result and speed signal that a cell processing module sends respectively from cell processing module corresponding to each sensor, speed fusant module judge whether the speed signal that submodule is corresponding according to each sensor of the condition adjudgement of each sensor can be used, concrete, can in the following way: when being judged as major failure, put this sensor immediately for " fault " state, the speed of this sensor cannot use, when being judged as transient fault, putting this sensor is immediately "abnormal" state, when the time length of "abnormal" state has exceeded the thresholding preset, put this sensor immediately for " abnormal overtime " state, difference according to abnormal cause can arrange different time-out times, and the speed of this sensor cannot use, when being judged as that wheel shaft idle running occurs or skids, put this sensor immediately for " empty sliding " state, when the time length of " empty sliding " state has exceeded the thresholding preset, put this sensor immediately for " empty sliding time-out " state, dally and slide and different time-out times can be set, if have the velocity fitting method during empty cunning, then the speed of this sensor can use before the sliding time-out of sky, otherwise cannot use, if above-mentioned state does not all occur, then put this sensor for " normally " state, the speed of this sensor can use.
After judging that submodule draws above-mentioned judged result, corresponding fusant module merges each speed signal, concrete fusion rule according to priority sequence from high to low can be: if the axle sensor of 1 existence " normally ", then output of their speed being averaged; If the non-axle sensor of 2 existence " normally ", then output of their speed being averaged; If the axle sensor of 3 existence " empty sliding ", and axle sensor speed (or the speed after algorithm matching) under this state of system permission use, then output of their speed (or the speed after algorithm matching) being averaged; If the sensor sum meeting 1 and/or 2 and/or 3 conditions cannot reach default thresholding, then judge to test the speed fault; Testing the speed between age at failure, is example with first, if having received the zero-speed signal of second system transmission, then the sensor of " empty sliding time-out ", " abnormal overtime " state can be set to " normally "; If so after operation, the sensor sum meeting 1 and/or 2 and/or 3 conditions reaches default thresholding, then the fault that tests the speed can be recovered, if the fault that tests the speed still can not be recovered, then Fusion Module no longer carries out speed fusion.
Fusion results is input to and exports in voting module by the fusant module of each speed Fusion Module afterwards, export voting module to put to the vote to the fusion results that each speed fusant module is input to self, and the result that tests the speed is input to the speed output module of velocity-measuring system according to voting result.
The voting rule exporting voting module can be consistent with above-mentioned input voter arrangement, do not repeat them here.
The result that tests the speed of the subsystem that tests the speed of specifying exports by speed output module, and when the result that tests the speed of the subsystem that tests the speed of specifying is invalid, exports the result that tests the speed of other subsystems that test the speed.。
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. a velocity-measuring system, it is characterized in that, for carrying out velocity measuring to vehicle, comprise at least one subsystem that tests the speed, the described subsystem that tests the speed comprises: multiple driver module, multiple input voting module, multiple cell processing module, speed Fusion Module, export voting module, wherein each driver module, input with a sensor and decide by vote module with one and be connected respectively, and each driver module comprises multiple sub-driver module, the velocity information collected inputs in each sub-driver module by the sensor that be connected corresponding to this driver module, the velocity information that sensor collects by each sub-driver module is converted to the speed signal that input voting module can identify, and be input in input voting module,
Wherein each input voting module, also be connected with a cell processing module respectively, multiple speed signals for being input to self to driver module carry out safe voting, and when each voting result is inconsistent, judge corresponding sensor fault, and send failure report to the cell processing module be connected, when each voting result is consistent, be input in connected cell processing module after each speed signal after safety being decided by vote is synchronous;
Wherein each cell processing module, also be connected with described speed Fusion Module, and each cell processing module comprises multiple subelement processing module, deciding by vote module with the input that this cell processing module is connected inputs in described multiple subelement processing module by each speed signal after synchronous respectively, each subelement processing module is used for the state being input to the speed signal of self and the sensor of failure report judgement correspondence according to input voting module, and speed signal condition adjudgement result and input voting module being input to self is input to speed Fusion Module,
Described speed Fusion Module, comprise multiple speed fusant module, wherein each speed fusant module is used for, from each cell processing module, receive judged result and the speed signal of a sub-cell processing module transmission respectively, after speed signal being merged according to the judged result received, fusion results is input to and exports voting module;
Described output voting module, puts to the vote for the fusion results each speed fusant module being input to self, and exports according to voting result the result that tests the speed.
2. velocity-measuring system as claimed in claim 1, is characterized in that, also comprise: at least one axle sensor and at least one non-axle sensor.
3. velocity-measuring system as claimed in claim 1, is characterized in that,
Described speed fusant module also comprises:
Judge submodule, the condition adjudgement result for being input to described speed Fusion Module according to each subelement processing module judges whether the speed signal that corresponding subelement processing module is input to self can be used;
Fusant module, for judging that submodule is judged as that available speed signal merges, and is input to fusion results and exports voting module.
4. velocity-measuring system as claimed in claim 3, is characterized in that,
Described fusant module, specifically for when being judged as that the number of available speed signal reaches preset value by described judgement submodule, merges available speed signal, and fusion results is exported.
5. velocity-measuring system as claimed in claim 3, is characterized in that, described velocity-measuring system comprise at least two test the speed subsystem time, when the velocity measurement of arbitrary subsystem that tests the speed is zero-speed, send zero-speed signal to other subsystems that test the speed;
Described judgement submodule, also for receive zero-speed signal that other subsystems that test the speed send at the affiliated subsystem that tests the speed and the condition adjudgement result that exports of the speed Fusion Module having axle sensor corresponding for " empty sliding " time, judge that the speed signal that speed Fusion Module corresponding to this axle sensor is input to self can be used.
6. velocity-measuring system as claimed in claim 3, it is characterized in that, described fusant module is averaged specifically for the velocity amplitude corresponding to available speed signal, and is exported as fusion results by aviation value.
7. velocity-measuring system as claimed in claim 1, it is characterized in that, described velocity-measuring system also comprises:
Speed output module, for the result that tests the speed of the subsystem that tests the speed of specifying being exported, and when the result that tests the speed of the subsystem that tests the speed of specifying is invalid, exports the result that tests the speed of other subsystems that test the speed.
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| CN104608803B (en) * | 2014-12-09 | 2017-02-22 | 北京交控科技股份有限公司 | Method for measuring speed of train |
| CN106627673A (en) * | 2016-10-27 | 2017-05-10 | 交控科技股份有限公司 | Multi-sensor fusion train positioning method and system |
| CN108762271A (en) * | 2018-06-04 | 2018-11-06 | 北京智行者科技有限公司 | Control unit for vehicle |
| CN108693881A (en) * | 2018-06-04 | 2018-10-23 | 北京智行者科技有限公司 | Control method for vehicle |
| CN110231496A (en) * | 2019-06-19 | 2019-09-13 | 浙江吉利控股集团有限公司 | A kind of speed calibrating installation and method |
| CN112730876A (en) * | 2020-12-22 | 2021-04-30 | 山东华阳众能动力科技有限公司 | Speed measuring system of rotary mechanical equipment |
| CN113682350A (en) * | 2021-08-11 | 2021-11-23 | 交控科技股份有限公司 | Double-end ATP speed measurement system and method for guaranteeing speed measurement availability |
| CN116902042B (en) * | 2023-09-12 | 2024-01-09 | 比亚迪股份有限公司 | Positioning method, system and train |
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