CN114593924A - Subway train swing detection device and detection method - Google Patents
Subway train swing detection device and detection method Download PDFInfo
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- CN114593924A CN114593924A CN202210227166.1A CN202210227166A CN114593924A CN 114593924 A CN114593924 A CN 114593924A CN 202210227166 A CN202210227166 A CN 202210227166A CN 114593924 A CN114593924 A CN 114593924A
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- G01M17/00—Testing of vehicles
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a subway train swing detection device which comprises a fixing plate, wherein a swing detection sensor, a single chip microcomputer, a wireless transmission module and a power supply module are fixedly arranged on the fixing plate, the swing detection sensor, the wireless transmission module and the power supply module are respectively and electrically connected with the single chip microcomputer, the swing detection sensor is configured to acquire subway operation information, the single chip microcomputer is configured to process the subway operation information, the wireless transmission module is configured to send the processed subway operation information to an external terminal, and the power supply module is configured to supply power to the single chip microcomputer. The invention also provides a detection method of the subway train swing detection device. The detection device provided by the invention has strong real-time performance, and can be used for analyzing swing data of a subway train in operation in time.
Description
Technical Field
The invention relates to the technical field of rail train equipment, in particular to a subway train swing detection device and a detection method.
Background
In subway train's operation, the wheelset of train can constantly take place the friction with the rail, and along with people's demand to the subway trip is higher and higher, the time of subway operation is constantly prolonging, and subway train's wheelset inevitably can lead to the fact wearing and tearing to the rail. Once the abrasion of the rail exceeds the limit range, the subway train can swing, and the riding comfort is affected. In addition, a train body fault can exist on the subway train, and the safe operation of the train is threatened under severe conditions.
Traditional subway track detects mainly relies on cooperation such as track inspection car and track geometric status detector to carry out. The rail inspection vehicle regularly inspects the rails, can effectively detect the contact state of the rails, and ensures the safety and reliability of the rails and facilities. The track geometric state detector is used for detecting and maintaining the static geometric state of the track daily, and the relative error of the measured track internal geometric parameters can reach a submillimeter level. The wear state of the rail can be effectively detected by a method combining dynamic detection and static detection. However, the track inspection vehicle can only inspect the track during the train shutdown period, which is inconvenient and cannot accurately detect the running condition of the subway train; the dynamic and static combined detection mode cannot directly react to the riding comfort of passengers.
Therefore, the subway train swing detection device and the detection method provided by the invention can directly acquire the swing condition of the carriage when the subway train runs, and provide better safety guarantee for the running of the subway train.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a subway train swing detection device and a detection method.
The subway train swing detection device comprises a fixing plate, wherein a swing detection sensor, a single chip microcomputer, a wireless transmission module and a power supply module are fixedly arranged on the fixing plate, the swing detection sensor, the wireless transmission module and the power supply module are respectively and electrically connected with the single chip microcomputer, the swing detection sensor is configured to acquire subway operation information, the single chip microcomputer is configured to process the subway operation information, the wireless transmission module is configured to send the processed subway operation information to an external terminal, and the power supply module is configured to supply power to the single chip microcomputer.
Preferably, a power failure alarm module is fixedly arranged on the fixing plate and electrically connected with the power supply module.
Preferably, a support piece is further fixedly connected to the fixing plate, and the support piece is configured to be connected with a subway carriage.
Preferably, a second alarm module is fixedly arranged on the fixing plate and electrically connected with the single chip microcomputer.
Further, the subway operation information comprises acceleration information and angle information.
Further, the sway detection sensor includes a gyroscope and an accelerometer.
Preferably, the minimum detection unit of the swing detection sensor is 0.07dgrs/sec, and the sampling frequency is 10 Hz.
The invention also provides a detection method of the subway train swing detection device, which comprises the following steps:
initializing the single chip microcomputer through an attitude calculation algorithm and a sensor compensation algorithm;
acquiring the subway operation information through the swing detection sensor and transmitting the subway operation information to the single chip microcomputer;
and calculating angle information of the subway train during operation through a sensor fusion filtering algorithm.
Further, in the attitude calculation algorithm, a coordinate system is calculated through a quaternion algorithm; in the sensor compensation algorithm, the drift amounts of the gyroscope and the accelerometer are obtained through a static compensation algorithm.
Further, in the sensor fusion filtering algorithm, acceleration information measured by the accelerometer is converted into first angle information, angular velocity information measured by the gyroscope is converted into second angle information, and the first angle information and the second angle information are combined to obtain angle information of subway operation.
Compared with the prior art, the invention has the following beneficial effects:
the subway train swing detection device is strong in instantaneity, low in energy consumption and small in occupied area, swing data of a subway train during operation are analyzed in real time, and important data support can be provided for improving the comfort of passengers. The invention has simple process, easy implementation and low cost, is not limited by the train running time, and is suitable for industrial popularization and use.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of a subway train swing detection apparatus according to an embodiment of the present invention.
In the figure, the position of the first and second end faces,
1-a sway detection sensor-a sway detector,
2-a second alarm module for alarming the user,
3-a fixed plate is arranged on the upper portion of the frame,
4-a smoke sensor, wherein the smoke sensor is arranged on the base,
5-a power failure alarm module, wherein,
6-a wireless transmission module, wherein the wireless transmission module,
7-a single-chip microcomputer,
8-a power supply module for supplying power to the power supply module,
9-a heat-insulating plate,
10-temperature sensor.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the invention.
The invention provides a subway train swing detection device and a detection method.
As shown in fig. 1, the subway train swing detection device of this embodiment includes swing detection sensor 1, fixed plate 3, power failure alarm module 5, wireless transmission module 6, single chip microcomputer 7, and power supply module 8, wherein, swing detection sensor 1, power failure alarm module 5, wireless transmission module 6, single chip microcomputer 7, and power supply module 8 are concentrated and fixed on fixed plate 3, and the detection device of this embodiment is formed. The swing detection sensor 1, the wireless transmission module 6 and the power supply module 8 are electrically connected with the single chip microcomputer 7, and the power failure alarm module 5 is electrically connected with the power supply module 8.
The fixed plate 3 realizes the connection of each part, still is connected with support piece at the fixed plate 3 for the back that fig. 1 shows, and support piece is used for realizing being connected of fixed plate 3 and subway train carriage. The fixing plate 3 can be bonded with the subway train carriage through glue, and can also be connected in a spot welding mode to realize the stability of the detection device of the embodiment in the train carriage.
The swing detection sensor 1 is used for acquiring subway operation information, and the subway operation information specifically comprises acceleration information and angle information. The swing detection sensor 1 transmits the acquired subway operation information to the single chip microcomputer 7, the single chip microcomputer 7 calculates and processes the subway operation information through a preset calculation method to obtain angle information of the subway train, and the single chip microcomputer 7 transmits the angle information of the subway train to an external terminal through the wireless transmission module 6. The external terminal comprises a computer program, a mobile phone APP and the like, and the swing state of the subway can be judged through subway angle information collected by a person through a computer or a mobile phone.
The swing detection sensor 1 collects acceleration information and angular velocity information of a subway train, integrates a gyroscope and an accelerometer, can collect three-axis angular velocity and three-axis acceleration of the subway during operation respectively through the gyroscope and the accelerometer, and obtains angle information of the train during operation through calculation of the angular velocity and the acceleration.
In order to accurately acquire the operation data of the subway train, in the embodiment, the minimum detection unit of the swing detection sensor 1 is 0.07dgrs/sec, and the sampling frequency is 10 Hz.
The single chip microcomputer 7 integrates data processing algorithms including an attitude calculation algorithm, a sensor compensation algorithm and a sensor fusion filtering algorithm, processes data transmitted by the swing detection sensor 1 through the algorithms to obtain angle information of the subway train, and outputs the angle information. In this embodiment, the single chip microcomputer 7 is of the type Arduino Mega2560, and can rapidly receive and process data.
The power supply module 8 is used for supplying power to the singlechip 7, and the power supply module 8 can be a storage battery. The power supply module 8 is electrically connected with the power failure alarm module 5, and when the power supply module 8 stops supplying power, the power failure alarm module 5 gives an alarm to remind a worker to check.
The fixed plate 3 is also provided with a second alarm module 2, and the second alarm module 2 is electrically connected with the singlechip 7. The single chip microcomputer 7 judges the subway angle information obtained after processing, compares the subway angle information with a threshold value set on the single chip microcomputer 7, and when the real-time subway angle value is larger than the set threshold value, an alarm is given out through the second alarm module 2 to remind personnel that the subway train swings at an overlarge angle.
As shown in fig. 1, a smoke sensor 4 and a temperature sensor 10 are further provided on the fixing plate 3, and the smoke sensor 4 and the temperature sensor 10 are blocked from the surrounding environment in one direction by a heat insulation plate 9. Smoke transducer 4 and temperature sensor 10 can monitor smog concentration and temperature to whether the condition of a fire appears in judging the train carriage, and in time send alarm information, ensure subway train operation's safety.
The subway train sway detection device of this embodiment locates in the subway train carriage, specifically can establish on the floor of two sections carriage junctions, also can establish on the floor in a section carriage, and these two kinds of modes homoenergetic enough detect subway train's the condition of swaying.
It should be noted that the positions of the components shown in fig. 1 are not limited to actual positions, and the actual positions of the components may be adjusted as needed.
The detection method of the subway train swing detection device comprises the following steps:
in the attitude calculation algorithm, a coordinate system of the detection device is calculated through a quaternion algorithm; in the sensor compensation algorithm, the drift amounts of the gyroscope and the accelerometer are obtained through a static compensation algorithm, and errors generated when the gyroscope and the accelerometer are used are reduced.
Step 2, acquiring subway operation information through the swing detection sensor 1 and transmitting the subway operation information to the single chip microcomputer 7;
and 3, calculating angle information of the subway train during operation through a sensor fusion filtering algorithm.
In the sensor fusion filtering algorithm, acceleration information measured by an accelerometer is converted into first angle information, angular velocity information measured by a gyroscope is converted into second angle information through Kalman filtering, and the first angle information and the second angle information are combined to obtain angle information of subway operation.
After the subway angle information is obtained through calculation by the single chip microcomputer 7, the subway angle information is transmitted to an external terminal through the wireless transmission module 6 and is used by personnel for judgment.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a subway train sways detection device, includes the fixed plate, its characterized in that, it sways detection sensor, singlechip, wireless transmission module, power module to set firmly on the fixed plate, sway detection sensor wireless transmission module power module respectively with the singlechip electricity is connected, it is configured to gather subway operation information to sway detection sensor, the singlechip is configured to handle subway operation information, wireless transmission module is configured to after will handling subway operation information sends to external terminal, power module be configured to the singlechip power supply.
2. The subway train swing detection device as claimed in claim 1, wherein said fixing plate is further fixedly provided with a power failure alarm module, and said power failure alarm module is electrically connected to said power supply module.
3. The subway train sway detector of claim 1, wherein a support member is further fixedly attached to the fixed plate, the support member being configured to be attached to a subway car.
4. The subway train swing detection device according to claim 1, wherein a second alarm module is further fixedly arranged on said fixing plate, said second alarm module being electrically connected to said single chip microcomputer.
5. The subway train sway detection apparatus of claim 1, wherein the subway operation information comprises acceleration information and angle information.
6. The subway train swing detection apparatus of claim 5, wherein said swing detection sensor comprises a gyroscope and an accelerometer.
7. A subway train swing detecting device as claimed in claim 6, wherein said swing detecting sensor has a minimum detecting unit of 0.07dgrs/sec and a sampling frequency of 10 Hz.
8. The detection method of a subway train swing detection apparatus as claimed in any one of claims 1-7, wherein said method comprises the steps of:
initializing the single chip microcomputer through an attitude calculation algorithm and a sensor compensation algorithm;
the subway operation information is collected through the swing detection sensor and is transmitted to the single chip microcomputer;
and calculating the angle information of the subway train during running through a sensor fusion filtering algorithm.
9. The detection method of the subway train swing detection device according to claim 8, wherein in said attitude calculation algorithm, a coordinate system is calculated by a quaternion algorithm; in the sensor compensation algorithm, the drift amounts of the gyroscope and the accelerometer are obtained through a static compensation algorithm.
10. The detection method of the subway train sway detection device of claim 8, wherein in the sensor fusion filtering algorithm, the acceleration information measured by the accelerometer is converted into first angle information, the angular velocity information measured by the gyroscope is converted into second angle information, and the first angle information and the second angle information are combined to obtain the angle information of subway operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210227166.1A CN114593924A (en) | 2022-03-08 | 2022-03-08 | Subway train swing detection device and detection method |
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| CN202210227166.1A CN114593924A (en) | 2022-03-08 | 2022-03-08 | Subway train swing detection device and detection method |
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Citations (7)
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