CN113588984B - Train speed and distance measuring method and device, electronic equipment and storage medium - Google Patents
Train speed and distance measuring method and device, electronic equipment and storage medium Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/50—Devices characterised by the use of electric or magnetic means for measuring linear speed
- G01P3/54—Devices characterised by the use of electric or magnetic means for measuring linear speed by measuring frequency of generated current or voltage
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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Abstract
The invention provides a train speed and distance measuring method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; determining an accumulated pulse error; correcting the pulse measurement data of the first speed measurement and distance measurement unit at the current moment based on the pulse measurement data of the second speed measurement and distance measurement unit at the current moment, the accumulated pulse error and the instantaneous pulse error; and determining the running distance and the running speed of the train at the current moment. The method, the device, the electronic equipment and the storage medium solve the problem of inaccurate measurement when a single speed and distance measuring unit breaks down, ensure that the distance output value does not jump when the speed and distance measuring unit recovers from the fault, and improve the accuracy of train speed measurement and distance measurement.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train speed and distance measuring method, a train speed and distance measuring device, electronic equipment and a storage medium.
Background
The train control system is an important device for guaranteeing driving safety, improving transportation efficiency and operation management level of urban rail transit, wherein the speed and distance measuring system is one of key components of the train control system, and the train control system has the main functions of providing accurate and time-efficient speed and displacement information for the train control system. The speed and distance measuring system plays an important role in ensuring train running safety and improving train running efficiency.
The pulse wheel shaft speed sensor technology has been developed relatively mature, is convenient to realize in practical application, has the advantages of high accuracy in acquiring speed and distance information, digitalization and low manufacturing cost, and has been widely applied in recent years. However, since the pulse wheel shaft speed sensor is installed on the wheels of the train, when the wheels spin or slip, a speed and distance measurement error is easy to occur by the single pulse wheel shaft speed sensor alone.
Disclosure of Invention
The invention provides a train speed and distance measuring method, a device, electronic equipment and a storage medium, which are used for solving the technical problem that in the prior art, when a wheel rotates idle or slips, a speed and distance measuring error is easy to occur by a single pulse wheel shaft speed sensor.
The invention provides a train speed and distance measuring method, which comprises the following steps:
acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment;
if the first speed and distance measuring unit is determined to recover from a preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment, determining an accumulated pulse error based on the pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment;
correcting the pulse measurement data of the first speed measurement and distance measurement unit at the current moment based on the pulse measurement data of the second speed measurement and distance measurement unit at the current moment, the accumulated pulse error and the instantaneous pulse error;
and determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment.
According to the train speed and distance measuring method provided by the invention, the instantaneous pulse errors are determined based on pulse measurement data of the first speed and distance measuring unit and the second speed and distance measuring unit at each moment when the first speed and distance measuring unit and the second speed and distance measuring unit work normally.
According to the train speed and distance measuring method provided by the invention, the method for determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment comprises the following steps:
determining a first running distance and a first running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment;
determining a second running distance and a second running speed of the train at the current moment based on pulse measurement data of the second speed measuring and distance measuring unit at the current moment;
determining the running distance of the train at the current moment based on the average value of the first running distance and the second running distance;
and determining the running speed of the train at the current moment based on the larger value of the first running speed and the second running speed.
According to the train speed and distance measuring method provided by the invention, the pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment are obtained, and then the method further comprises the following steps:
if the first speed and distance measuring unit is determined to not recover from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment, the running distance and the running speed of the train at the current moment are determined based on the pulse measurement data of the second speed and distance measuring unit at the current moment.
According to the train speed and distance measuring method provided by the invention, the determining that the first speed and distance measuring unit recovers from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment comprises the following steps:
determining the train acceleration, the train running speed and the train running distance measured by the first speed and distance measuring unit at the current moment based on the pulse measurement data of the first speed and distance measuring unit at the current moment;
and if the train acceleration, the train running speed and the train running distance measured by the first speed measuring and distance measuring unit at the current moment meet preset conditions, determining that the first speed measuring and distance measuring unit recovers from a preset fault.
According to the train speed and distance measuring method provided by the invention, the first speed and distance measuring unit and the second speed and distance measuring unit are respectively arranged at the head end and the tail end of the train.
According to the train speed and distance measuring method provided by the invention, the preset faults comprise idle running or slipping of the train wheels where the first speed and distance measuring unit is located.
The invention provides a train speed and distance measuring device, comprising:
the acquisition unit is used for acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment;
the detection unit is used for determining accumulated pulse errors based on the pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment if the first speed and distance measuring unit is determined to recover from a preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment;
the correction unit is used for correcting the pulse measurement data of the first speed measurement and distance measurement unit at the current moment based on the pulse measurement data of the second speed measurement and distance measurement unit at the current moment, the accumulated pulse error and the instantaneous pulse error;
And the determining unit is used for determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment.
The invention provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the train speed and distance measuring method when executing the computer program.
The present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the train speed and distance measurement method.
According to the train speed and distance measuring method, device, electronic equipment and storage medium, when the second speed and distance measuring unit works normally, the first speed and distance measuring unit recovers from a preset fault at the current moment, the pulse measurement data of the first speed and distance measuring unit and the pulse measurement data of the second speed and distance measuring unit obtained at the current moment are utilized to determine accumulated pulse errors, the pulse measurement data of the first speed and distance measuring unit are corrected by combining the instant pulse errors between the first speed and distance measuring unit and the second speed and distance measuring unit, the running distance and the running speed of a train are determined according to the second speed and distance measuring unit and the corrected pulse measurement data of the first speed and distance measuring unit, the problem that the measurement is inaccurate when a single speed and distance measuring unit generates faults is solved, the distance output value is prevented from jumping when the speed and distance measuring unit recovers from the faults, and the accuracy of train speed measurement and distance measurement is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a train speed and distance measuring method provided by the invention;
fig. 2 is a schematic diagram of a train speed and distance measuring system provided by the invention;
FIG. 3 is a schematic flow chart of a fault detection method of the speed and distance measuring device provided by the invention;
fig. 4 is a flow chart of a data calculation method of the speed and distance measuring device provided by the invention;
fig. 5 is a flow chart of the error compensation method of the speed and distance measuring device provided by the invention;
fig. 6 is a schematic structural diagram of a train speed and distance measuring device provided by the invention;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the prior art, because the rotation of the wheels is used as an acquisition object to indirectly acquire the speed of the train, larger errors can be generated in the idling and sliding processes of the wheels in the running process. Therefore, the single pulse rotation speed sensor has larger limitation in the application process; if a radar sensor is installed, although the radar sensor does not have the problem of idle running or slipping, the cost of the speed and distance measuring device is greatly increased; or selecting one main sensor and one auxiliary sensor from two sensors, selecting the main sensor when the main sensor works normally, and selecting the measured value of the auxiliary sensor as output when the main sensor works abnormally.
In order to overcome the defects in the prior art, fig. 1 is a schematic flow chart of a train speed and distance measuring method provided by the invention, and as shown in fig. 1, the method comprises the following steps:
step 110, acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment.
In particular, the running speed and the running distance of the train play a vital role in safe and stable running of the train. Redundant speed and distance measuring units can be arranged on the train and used for measuring the running speed and the running distance of the train. The speed and distance measuring unit adopts a pulse wheel shaft speed sensor.
For the redundant speed and distance measuring unit, the working state comprises that two units work normally, two units fail, one unit fails and the other unit works normally. In general, both units work normally. When both units fail, emergency braking of the train should be performed at this time. The technical scene of the embodiment of the invention is that one unit breaks down and the other unit works normally. For convenience of description, the embodiment of the invention adopts a first speed measuring and ranging unit and a second speed measuring and ranging unit for description, and the second speed measuring and ranging unit works normally under the assumption that the first speed measuring and ranging unit fails.
The pulse measurement data is a raw data result obtained by direct measurement of the speed measurement and distance measurement unit, and for example, the pulse measurement data can comprise the number of pulses in each sampling period and the like.
The preset fault is a recoverable measurement fault type. At this time, although the speed and distance measuring unit has a preset failure, pulse measurement data can be acquired. For example, the preset failure may be the spin of the wheel where the tachometer unit is located.
Step 120, if it is determined that the first speed and distance measuring unit recovers from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current time, the accumulated pulse error is determined based on the pulse measurement data of the first speed and distance measuring unit at the current time and the pulse measurement data of the second speed and distance measuring unit at the current time.
Specifically, whether the first speed measuring and distance measuring unit recovers from the preset fault or not can be determined by analyzing pulse measurement data acquired at the current moment. For example, the number of pulses in a unit sampling time in the pulse measurement data can be counted, the running speed of the train at the current moment measured by the first speed measurement and ranging unit can be obtained according to the counted result, and if the running speed is consistent with the running speed measured by the speed measurement and ranging unit which works normally or is within a preset error range, the first speed measurement and ranging unit can be considered to be recovered from the preset fault.
However, since the pulse measurement data of the first speed measurement and ranging unit is always in an accumulated state when the fault is preset, the accumulated value is not generated by normally measuring the speed and the distance of the train, but is caused by the fault, and therefore, the pulse measurement data of the first speed measurement and ranging unit at the current moment needs to be corrected.
The accumulated pulse error can be determined according to the pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment. For example, the accumulated pulse error may be a difference between the total number of pulses at the current time of the first speed and distance measuring unit and the second speed and distance measuring unit.
And 130, correcting the pulse measurement data of the first speed and distance measuring unit at the current moment based on the pulse measurement data of the second speed and distance measuring unit at the current moment, the accumulated pulse error and the instantaneous pulse error.
Specifically, the instantaneous pulse error is the pulse error when the first speed measuring and distance measuring unit and the second speed measuring and distance measuring unit work normally.
And correcting the pulse measurement data of the first speed and distance measuring unit at the current moment. For example, the first speed and distance measuring unit at the ith moment returns to normal, and the pulse measurement data is A i The pulse measurement data of the second speed and distance measuring unit is B i The accumulated pulse error at this time may be c=a i -B i . Because the second speed and distance measuring unit is in a normal working state at the moment before the ith moment, the pulse measurement data B of the second speed and distance measuring unit at the current moment can be utilized i At this time, pulse error C is accumulated, and instantaneous pulse error D j The pulse measurement data of the first speed and distance measuring unit at the current moment is corrected, and the pulse measurement data is expressed as follows:
A′ i ＝A i -C+D j
wherein A 'is' i D, for the pulse measurement data of the corrected first speed and distance measuring unit at the current moment j And the instantaneous pulse error of the moment j before the preset fault occurs to the first speed and distance measuring unit.
And 140, determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment.
Specifically, when the pulse measurement data of the first speed and distance measuring unit at the current time is corrected, the pulse measurement data can be considered to be reliable. At this time, the running distance and the running speed of the train at the current moment can be determined according to the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment.
For example, the pulse measurement data is analyzed, and the running distance of the train can be calculated according to the total number of pulses; according to the number of pulses in the unit sampling time, the running speed of the train can be calculated; and according to the increasing number of pulses in the adjacent unit sampling time, the acceleration of the train can be calculated.
According to the train speed and distance measuring method provided by the embodiment of the invention, when the second speed and distance measuring unit works normally, the first speed and distance measuring unit recovers from the preset fault at the current moment, the pulse measurement data of the first speed and distance measuring unit and the pulse measurement data of the second speed and distance measuring unit obtained at the current moment are utilized to determine accumulated pulse errors, the pulse measurement data of the first speed and distance measuring unit is corrected by combining the instant pulse errors between the first speed and distance measuring unit and the second speed and distance measuring unit, the running distance and the running speed of the train are determined according to the second speed and distance measuring unit and the corrected pulse measurement data of the first speed and distance measuring unit, the problem of inaccurate measurement when a single speed and distance measuring unit generates faults is solved, the distance output value is prevented from jumping when the speed and distance measuring unit recovers from the faults, and the accuracy of train speed measurement is improved.
Based on any of the above embodiments, the instantaneous pulse error is determined based on pulse measurement data of the first speed measurement unit and the second speed measurement unit at each moment when the first speed measurement unit and the second speed measurement unit are both operating normally.
Specifically, the instantaneous pulse error is determined when the first speed measuring and distance measuring unit and the second speed measuring and distance measuring unit work normally, and the inherent difference characteristic between the speed measuring and distance measuring units is reflected. The pulse measurement data of the first speed measurement and distance measurement unit and the second speed measurement and distance measurement unit, which are obtained at each moment, can be determined and updated.
For example, the pulse measurement data of the first speed and distance measuring unit at the ith moment is A i The pulse measurement data of the second speed and distance measuring unit is B i The instantaneous pulse error at this time may be D i ＝A i -B i 。
Based on any of the above embodiments, step 140 includes:
determining a first running distance and a first running speed of the train at the current moment based on the pulse measurement data of the corrected first speed measurement and distance measurement unit at the current moment;
determining a second running distance and a second running speed of the train at the current moment based on pulse measurement data of the second speed measuring and distance measuring unit at the current moment;
Determining the running distance of the train at the current moment based on the average value of the first running distance and the second running distance;
the travel speed of the train at the current time is determined based on the greater of the first travel speed and the second travel speed.
Specifically, the first running distance and the first running speed of the train at the current moment can be determined according to the corrected pulse measurement data of the first speed and distance measuring unit at the current moment. And determining a second running distance and a second running speed of the train at the current moment according to the pulse measurement data of the second speed measuring and distance measuring unit at the current moment. The specific calculation method comprises the following steps: determining the advancing distance of the wheels corresponding to each pulse, analyzing pulse measurement data, and calculating the running distance of the train according to the total number of the pulses; according to the number of pulses in the unit sampling time, the running speed of the train can be calculated.
And determining the running distance of the train at the current moment according to the average value of the first running distance and the second running distance. Because the pulse measurement data collected by the first speed measurement and distance measurement unit is corrected after the first speed measurement and distance measurement unit recovers from the preset fault, the distance value jump of the determined running distance of the train at the current moment relative to the running distance at the previous moment cannot occur, and the stability of train control is improved.
And determining the running speed of the train at the current moment according to the larger value of the first running speed and the second running speed. Using a larger value may enable the train control system to consider more safety control margin based on a larger travel speed.
Based on any of the above embodiments, step 110 further comprises:
if the first speed and distance measuring unit is determined to not recover from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment, the running distance and the running speed of the train at the current moment are determined based on the pulse measurement data of the second speed and distance measuring unit at the current moment.
Specifically, if the first speed and distance measuring unit has not recovered from the preset fault, the second speed and distance measuring unit is in a normal working state, and at this time, the running distance and running speed of the train at the current moment can be determined according to the pulse measurement data of the second speed and distance measuring unit at the current moment.
The running speed measured by the second speed measuring and distance measuring unit can be directly used as the running speed of the train at the current moment.
In order to obtain an accurate driving distance, the driving distance measured by the second speed and distance measuring unit can be corrected. The correction value may be half the instantaneous pulse error.
Based on any of the above embodiments, step 120 includes:
based on pulse measurement data of the first speed and distance measuring unit at the current moment, determining train acceleration, train running speed and train running distance measured by the first speed and distance measuring unit at the current moment;
if the train acceleration, the train running speed and the train running distance measured by the first speed measuring and distance measuring unit at the current moment meet preset conditions, the first speed measuring and distance measuring unit is determined to recover from a preset fault.
Specifically, the preset condition may include that a difference between the acceleration of the train measured by the first speed measuring and ranging unit at the current time and the set acceleration of the train is within a preset acceleration error range, a difference between the speed of the train measured by the first speed measuring and ranging unit at the current time and the speed of the train measured by the second speed measuring and ranging unit at the current time is within a preset speed error range, and a difference between the travel distance of the train measured by the first speed measuring and ranging unit at the current time and the travel distance of the train measured by the second speed measuring and ranging unit at the current time is within a preset distance error range.
Here, the train set acceleration may be determined according to a traction level or a braking level of the train.
Based on any one of the above embodiments, the first speed measuring and distance measuring unit and the second speed measuring and distance measuring unit are respectively arranged at the head end and the tail end of the train.
Specifically, the first speed measuring and distance measuring unit and the second speed measuring and distance measuring unit can be respectively arranged at the head end and the tail end of the train, so that the speed measuring and distance measuring unit is close to the control system at the two ends of the train, the transmission time of measured data is shortened, and the control efficiency of the train is improved.
Based on any of the above embodiments, the preset failure includes spin or slip of the wheel of the train where the first speed and distance measuring unit is located.
Specifically, the preset fault in the method provided by the embodiment of the invention is a recoverable fault type, for example, the wheel of the train where the first speed and distance measuring unit is located is idle or slipping. Idle refers to the wheel rim of the train wheel rotating through a length greater than the length the train actually moves. Slip means that the rim of the train wheel rotates through a length less than the length the train actually moves.
Based on any one of the above embodiments, fig. 2 is a schematic structural diagram of the train speed and distance measuring system provided by the invention, and as shown in fig. 2, the system includes two sets of speed and distance measuring devices, which are placed at the head end and the tail end of the train and can communicate with each other. Any speed and distance measuring device comprises a central main control unit (CPU), a speed sensor information processing unit (SPU), a transponder information processing unit (BPU), a BPU antenna (BTM), a wheel axle speed sensor (speed measuring motor OPG) and a man-machine display interface (DMI).
The CPU is responsible for completing the safety processing of the speed and position information and the monitoring of the sensor state; SPU is in charge of completing the original processing of train motion state information measured by the speed measuring motor; the BTM acquires information of the ground, determines the position of the train, and assists the CPU to finish the determination of the accurate position of the train; the DMI is used for displaying states of the speed measuring motor and the like, and is connected with the CPU through the Ethernet; the CPU is connected with SPUs at two ends respectively through a communication bus.
The measuring information of the sensors at the head end and the tail end of the train is shared between the two speed measuring and distance measuring systems through the communication device.
The wheel axle speed sensor measures square wave signals of wheel rotation, the square wave signals are sent to the SPU, the SPU is converted into digital pulse signals which are available to the CPU, and the CPU calculates the digital signals to obtain the speed and mileage information of the current vehicle through the speed information processing unit.
After the head and tail ends respectively obtain the independent distance and speed information, if the head and tail data are normal after being judged, the head and tail speed and distance measuring system selects the data of the two sensors to process, the distance measuring value is the average value of the two sensors, the speed value is one of the two sensors, the speed value is the larger speed and distance measuring result after processing is output, and meanwhile, the difference value of the current A, B distance measurement is recorded to be used as a compensation value 1 when a certain sensor is in idle slip.
When the wheel axle speed sensor at any end of the front and the rear of the vehicle generates idle running or slipping, and the other sensor works normally, the integral data of the normal working sensor speed and the distance plus the compensation value 1 are used for output, the distance jump generated in the switching process is avoided, meanwhile, the accumulated distance error of the fault sensor is recorded, and when the idle running and slipping of the fault sensor is judged to be finished, the accumulated error and the compensation value 1 are subtracted, and the compensation value 1 is updated.
When the two sensors simultaneously slip in idle, judging that the speed and distance measurement of the train is invalid, and outputting emergency braking; when any one of the two sensors fails in an unrecoverable manner, emergency braking is output.
Detecting the speed and distance measuring system, comprising:
detecting whether two sensors of the speed and distance measuring system can work normally or not;
detecting whether effective communication can be carried out at two ends of the speed measuring and distance measuring system;
detecting whether a calculation result of a speed and distance measuring calculation module of the speed and distance measuring system is normal or not, and outputting the calculation result;
and detecting idle running or slipping of the wheel axle speed measuring sensors at the head end and the tail end of the distance measuring and measuring system.
In the train speed and distance measuring system, the head-to-tail speed and distance measuring devices have the same structure and function, can independently operate, and the measuring information of the sensors at the head end and the tail end of the train is shared between the two speed and distance measuring devices through the communication device.
Fig. 3 is a schematic flow chart of the fault detection method of the speed and distance measuring device provided by the invention, and a flow frame for overall collection and processing of speed and distance information is shown in fig. 3. After the speed and distance information of the vehicle is acquired by the wheel axle speed sensor, the loss condition of the speed and the distance is checked.
Fig. 4 is a flow chart of the data calculation method of the speed and distance measuring device provided by the invention, as shown in fig. 4, if the speed and distance measuring device collects data, the data processing is further performed on the speed and distance information.
The speed and distance are calculated by the pulse obtained by the wheel axle, whether the wheel axle sensor is available is judged by whether the difference value between the calculated value of each path and the average value exceeds a threshold value or not, and the calculated value is compared with the processing result of the data of the other wheel axle sensor, and whether the difference value between the calculated values is in the threshold value range or not is calculated. And finally, storing the speed value and the distance value obtained by calculating the wheel axle into an array.
Fig. 5 is a schematic flow chart of the error compensation method of the speed and distance measuring device provided by the invention, after the speed and distance data are processed, whether the idle slip occurs is judged, and the speed and distance measuring redundancy method at the moment is shown in fig. 5:
the initial value of the ranging error of the head sensor and the initial value of the ranging error of the tail sensor are 0, and the final value final_dist1 of the ranging distance of the head sensor and the final value final_dist2 of the tail sensor are the uploading value motion_samples_Wheel of the recording plate minus the error recording value.
When both the head sensor and 2 are working properly, the difference is recorded:
diff_normal_S1_S2＝(final_dis1-final_dis2)/2
in order to facilitate simpler writing, the following steps are provided:
S1＝final_dis1
S2＝final_dis2
ΔS＝diff_normal_S1_S2
when the vehicle head sensor and the vehicle tail sensor work normally, the final output is as follows:
final_distance＝(S1+S2)/2
the output final speed value selects one of the two sensors with larger speed for output.
If a single sensor a works properly and another sensor B works properly with spin or slip, or another sensor a works properly and another sensor a works with spin or slip, the redundancy compensation process is similar. Here, taking a processing method when the vehicle tail sensor works normally and the vehicle head sensor runs idle or slips as an example:
the tail sensor works normally, and the flag bit of the idle/skid of the tail sensor is initialized to 0:
OPG2_slide_or_skip_flag＝APP_FALSE；
if the head sensor slips or fails for the first time, the flag bit of the idle/slip at the previous time is in a normal working state app_false, so that the difference value of the relative distances between the two sensors at the moment of the just idle/slip is recorded and used as an initial error value between the sensors, and the flag of the first idle/slip is set as app_true, then:
the sensor error generated when the headstock sensor is idle or slipping is recorded as diff_error1, and the error recorded value of the latest moment after recording is equal to motion_samples_Wheel1-S2;
The most possible values of the distance and the speed output at the moment are the distance and the speed of the tail sensor. And updates the sensor difference deltas when both the head sensor and the head sensor 2 are normal.
Because the distance data of the recording plates of the train are accumulated continuously, when the locomotive sensor is recovered to work normally, the sampling data of the recording plates can accumulate the distance value of idle/skid before, so the diff_error1 is subtracted from the data of the recording plates to be used as the final distance value after the locomotive sensor is recovered to work normally.
And the head sensors and 2 are abnormal, and the emergency braking is directly performed.
After the processing of the slip is completed, the corresponding global variable is updated.
Based on any one of the above embodiments, fig. 6 is a schematic structural diagram of a train speed and distance measuring device provided by the present invention, as shown in fig. 6, the device includes:
an acquiring unit 610, configured to acquire pulse measurement data of the first speed measurement and ranging unit at a current time, and pulse measurement data of the second speed measurement and ranging unit at the current time; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment;
the detecting unit 620 is configured to determine, if it is determined that the first speed and distance measuring unit recovers from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current time, and determine an accumulated pulse error based on the pulse measurement data of the first speed and distance measuring unit at the current time and the pulse measurement data of the second speed and distance measuring unit at the current time;
The correction unit 630 is configured to correct the pulse measurement data of the first speed measurement and ranging unit at the current time based on the pulse measurement data of the second speed measurement and ranging unit at the current time, the accumulated pulse error, and the instantaneous pulse error;
and the determining unit 640 is used for determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment.
According to the train speed and distance measuring device provided by the embodiment of the invention, when the second speed and distance measuring unit works normally, the first speed and distance measuring unit recovers from the preset fault at the current moment, the pulse measurement data of the first speed and distance measuring unit and the pulse measurement data of the second speed and distance measuring unit obtained at the current moment are utilized to determine accumulated pulse errors, the pulse measurement data of the first speed and distance measuring unit is corrected by combining the instant pulse errors between the first speed and distance measuring unit and the second speed and distance measuring unit, the running distance and the running speed of the train are determined according to the second speed and distance measuring unit and the corrected pulse measurement data of the first speed and distance measuring unit, the problem of inaccurate measurement when a single speed and distance measuring unit generates faults is solved, the distance output value is prevented from jumping when the speed and distance measuring unit recovers from the faults, and the accuracy of train speed measurement is improved.
Based on any of the above embodiments, the instantaneous pulse error is determined based on pulse measurement data of the first speed measurement unit and the second speed measurement unit at each moment when the first speed measurement unit and the second speed measurement unit are both operating normally.
Based on any of the above embodiments, the determining unit 640 is configured to:
determining a first running distance and a first running speed of the train at the current moment based on the pulse measurement data of the corrected first speed measurement and distance measurement unit at the current moment;
determining a second running distance and a second running speed of the train at the current moment based on pulse measurement data of the second speed measuring and distance measuring unit at the current moment;
determining the running distance of the train at the current moment based on the average value of the first running distance and the second running distance;
the travel speed of the train at the current time is determined based on the greater of the first travel speed and the second travel speed.
Based on any of the above embodiments, the apparatus further comprises:
and the single-sensor determining unit is used for determining the running distance and the running speed of the train at the current moment based on the pulse measurement data of the second speed and distance measuring unit at the current moment if the first speed and distance measuring unit is determined not to recover from the preset faults based on the pulse measurement data of the first speed and distance measuring unit at the current moment.
Based on any of the above embodiments, the detection unit 620 is configured to:
based on pulse measurement data of the first speed and distance measuring unit at the current moment, determining train acceleration, train running speed and train running distance measured by the first speed and distance measuring unit at the current moment;
if the train acceleration, the train running speed and the train running distance measured by the first speed measuring and distance measuring unit at the current moment meet preset conditions, the first speed measuring and distance measuring unit is determined to recover from a preset fault.
Based on any one of the above embodiments, the first speed measuring and distance measuring unit and the second speed measuring and distance measuring unit are respectively arranged at the head end and the tail end of the train.
Based on any of the above embodiments, the preset failure includes spin or slip of the wheel of the train where the first speed and distance measuring unit is located.
Based on any of the above embodiments, fig. 7 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 7, the electronic device may include: processor (Processor) 710, communication interface (Communications Interface) 720, memory (Memory) 730, and communication bus (Communications Bus) 740, wherein Processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic commands in memory 730 to perform the following method:
Acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment; if the first speed and distance measuring unit is determined to recover from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment, determining accumulated pulse errors based on the pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment; based on the pulse measurement data of the second speed and distance measuring unit at the current moment, accumulated pulse errors and instantaneous pulse errors, correcting the pulse measurement data of the first speed and distance measuring unit at the current moment; and determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment.
In addition, the logic commands in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The processor in the electronic device provided by the embodiment of the invention can call the logic instruction in the memory to realize the method, and the specific implementation mode is consistent with the implementation mode of the method, and the same beneficial effects can be achieved, and the detailed description is omitted here.
Embodiments of the present invention also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments, for example, comprising:
acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment; if the first speed and distance measuring unit is determined to recover from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment, determining accumulated pulse errors based on the pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment; based on the pulse measurement data of the second speed and distance measuring unit at the current moment, accumulated pulse errors and instantaneous pulse errors, correcting the pulse measurement data of the first speed and distance measuring unit at the current moment; and determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment.
When the computer program stored on the non-transitory computer readable storage medium provided by the embodiment of the present invention is executed, the above method is implemented, and the specific implementation manner of the method is consistent with the implementation manner of the foregoing method, and the same beneficial effects can be achieved, which is not repeated herein.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The train speed and distance measuring method is characterized by comprising the following steps of:
acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment;
if the first speed and distance measuring unit is determined to recover from a preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment, determining an accumulated pulse error based on the pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment;
Correcting the pulse measurement data of the first speed measurement and distance measurement unit at the current moment based on the pulse measurement data of the second speed measurement and distance measurement unit at the current moment, the accumulated pulse error and the instantaneous pulse error;
determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment;
the first speed measuring and distance measuring unit and the second speed measuring and distance measuring unit adopt pulse wheel shaft speed sensors;
the method comprises the steps of acquiring pulse measurement data of a first speed measuring and distance measuring unit at the current moment and pulse measurement data of a second speed measuring and distance measuring unit at the current moment, and then further comprising:
if the first speed and distance measuring unit is determined to not recover from the preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment, determining the running distance and the running speed of the train at the current moment based on the pulse measurement data of the second speed and distance measuring unit at the current moment;
the determining, based on the pulse measurement data of the first speed and distance measurement unit at the current moment, that the first speed and distance measurement unit recovers from the preset fault includes:
Determining the train acceleration, the train running speed and the train running distance measured by the first speed and distance measuring unit at the current moment based on the pulse measurement data of the first speed and distance measuring unit at the current moment;
if the train acceleration, the train running speed and the train running distance measured by the first speed measuring and distance measuring unit at the current moment meet preset conditions, determining that the first speed measuring and distance measuring unit recovers from a preset fault;
the preset faults comprise idle running or slipping of wheels of the train where the first speed and distance measuring unit is located.
2. The train speed and distance measuring method according to claim 1, wherein the instantaneous pulse error is determined based on pulse measurement data of the first speed and distance measuring unit and the second speed and distance measuring unit at each moment when the first speed and distance measuring unit and the second speed and distance measuring unit are both operating normally.
3. The method according to claim 1, wherein the determining the travel distance and the travel speed of the train at the current time based on the corrected pulse measurement data of the first speed and distance measuring unit at the current time and the pulse measurement data of the second speed and distance measuring unit at the current time includes:
Determining a first running distance and a first running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment;
determining a second running distance and a second running speed of the train at the current moment based on pulse measurement data of the second speed measuring and distance measuring unit at the current moment;
determining the running distance of the train at the current moment based on the average value of the first running distance and the second running distance;
and determining the running speed of the train at the current moment based on the larger value of the first running speed and the second running speed.
4. A train speed and distance measuring method according to any one of claims 1 to 3, wherein the first speed and distance measuring unit and the second speed and distance measuring unit are respectively arranged at the head end and the tail end of the train.
5. A train speed and distance measuring device, comprising:
the acquisition unit is used for acquiring pulse measurement data of the first speed and distance measuring unit at the current moment and pulse measurement data of the second speed and distance measuring unit at the current moment; the first speed and distance measuring unit has preset faults before the current moment, and the second speed and distance measuring unit works normally at the current moment;
The detection unit is used for determining accumulated pulse errors based on the pulse measurement data of the first speed and distance measuring unit at the current moment and the pulse measurement data of the second speed and distance measuring unit at the current moment if the first speed and distance measuring unit is determined to recover from a preset fault based on the pulse measurement data of the first speed and distance measuring unit at the current moment;
the correction unit is used for correcting the pulse measurement data of the first speed measurement and distance measurement unit at the current moment based on the pulse measurement data of the second speed measurement and distance measurement unit at the current moment, the accumulated pulse error and the instantaneous pulse error;
the determining unit is used for determining the running distance and the running speed of the train at the current moment based on the corrected pulse measurement data of the first speed measuring and distance measuring unit at the current moment and the pulse measurement data of the second speed measuring and distance measuring unit at the current moment;
the first speed measuring and distance measuring unit and the second speed measuring and distance measuring unit adopt pulse wheel shaft speed sensors;
the apparatus further comprises:
the single-sensor determining unit is used for determining the running distance and the running speed of the train at the current moment based on the pulse measurement data of the second speed measurement and distance measurement unit at the current moment if the first speed measurement and distance measurement unit is determined not to recover from the preset fault based on the pulse measurement data of the first speed measurement and distance measurement unit at the current moment;
The detection unit is used for:
determining the train acceleration, the train running speed and the train running distance measured by the first speed and distance measuring unit at the current moment based on the pulse measurement data of the first speed and distance measuring unit at the current moment;
if the train acceleration, the train running speed and the train running distance measured by the first speed measuring and distance measuring unit at the current moment meet preset conditions, determining that the first speed measuring and distance measuring unit recovers from a preset fault;
the preset faults comprise idle running or slipping of wheels of the train where the first speed and distance measuring unit is located.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the train speed and distance measuring method according to any one of claims 1 to 4 when the computer program is executed.
7. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the train speed and distance measuring method according to any of claims 1 to 4.
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