CN114670896B - Train speed sharing system and method - Google Patents
Train speed sharing system and method Download PDFInfo
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- CN114670896B CN114670896B CN202210324343.8A CN202210324343A CN114670896B CN 114670896 B CN114670896 B CN 114670896B CN 202210324343 A CN202210324343 A CN 202210324343A CN 114670896 B CN114670896 B CN 114670896B
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- 230000004927 fusion Effects 0.000 claims abstract description 80
- 238000012545 processing Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims description 19
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000004364 calculation method Methods 0.000 description 11
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- 230000010365 information processing Effects 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
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Abstract
The invention provides a train speed sharing system and a method, wherein the system comprises the following steps: the speed sensor is arranged on the train axle and is used for measuring pulse signals generated by the rotation of the train wheels; and the signal processing unit is connected with the speed sensor and used for determining the train sharing speed according to the train fusion speeds respectively acquired by the plurality of processors and sharing the train sharing speed to each system of the train and the ground data center. According to the invention, the speed sensor and the speed measured by the millimeter wave radar are fused, so that the measurement of the train speed is realized, and the accuracy of the train speed measurement is improved.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train speed sharing system and method.
Background
The current speed measurement of the rail transit vehicle mainly fuses speed information measured at the axle end and speed information measured by an accelerometer to acquire train speed, but when the speed sensor at the axle end is installed to idle or slide for a long time, accurate speed cannot be acquired because of errors in the accumulated speed measurement of the accelerometer for a long time.
Disclosure of Invention
The train speed sharing system, the train speed sharing method and the train speed measuring system are used for solving the problems in the prior art, and the speed sensor and the millimeter wave radar are fused to measure the train speed, so that the accuracy of measuring the train speed is improved.
the invention provides a train speed sharing system, which comprises:
The speed sensor is arranged on the train axle and is used for measuring pulse signals generated by the rotation of the train wheels;
the signal processing unit is connected with the speed sensor and used for determining a train sharing speed according to the train fusion speeds respectively acquired by the plurality of processors and sharing the train sharing speed to each system of the train and the ground data center;
The train fusion speed is obtained by fusing the axle end speed of the train axle and the train speed measured by the millimeter wave radar by the processor;
The shaft end speed is obtained after the processor analyzes the pulse signal.
According to the present invention, there is provided a train speed sharing system, the signal processing unit includes:
And the processors are connected with the speed sensor and the millimeter wave radar and used for fusing the axle end speed and the train speed according to the total number of axles of the train with idle skidding to obtain the train fusion speed.
According to the present invention, there is provided a train speed sharing system, the processor comprising:
The fusion unit is used for determining the train fusion speed according to the train speed and the reference axle speed when the total number of axles with idle skidding is larger than a first preset threshold value;
The fusion unit is further configured to determine the train fusion speed according to the axle end speed of the axle that is not slipped when the total number of axles that are slipping and slipping is less than the first preset threshold;
The fusion unit is further used for determining the train fusion speed according to the shaft end speeds of all the axles of the train when the total number of the axles with the idle skidding is zero;
Wherein the first preset threshold is determined based on a total number of train axles.
according to the train speed sharing system provided by the invention, the processor further comprises:
the determining unit is connected with the fusion unit and is used for determining the total number of idle axles with the axle end speed being greater than the train speed;
The determining unit is further used for determining that the shaft end speed is smaller than the total number of the axles with slipping of the speed information;
The determining unit is further configured to determine the total number of axles with spin slip according to the total number of axles with spin and the total number of axles with slip.
According to the train speed sharing system provided by the invention, the determining unit comprises: the device comprises a first determining module, a second determining module and a third determining module;
The first determining module is used for determining a first axle total number of which the deceleration change of the wheel speed corresponding to the axle end speed is greater than a second preset threshold value;
The second determining module is used for determining a second total number of axles with the speed difference between the axle end speed and the reference axle speed being larger than a third preset threshold value;
The third determining module is connected with the first determining module and the second determining module and is used for determining the total number of the axles with idle running according to the total number of the first axles and the total number of the second axles.
according to the train speed sharing system provided by the invention, the determining unit further comprises: a fourth determination module, a fifth determination module, and a sixth determination module;
The fourth determining module is used for determining a third axle total number, of which the deceleration change of the wheel speed corresponding to the axle end speed is smaller than a fourth preset threshold value;
the fifth determining module is used for determining a fourth total number of axles, wherein the speed difference between the axle end speed and the reference axle speed is smaller than a fifth preset threshold value;
The sixth determining module is configured to determine the total number of axles with slip according to the total number of third axles and the total number of fourth axles.
According to the train speed sharing system provided by the invention, the train sharing speed is obtained by comparing the train fusion speeds obtained by the plurality of processors; the processors are in communication connection through a serial peripheral interface.
According to the train speed sharing system provided by the invention, the signal processing unit further comprises:
The TSN chip is connected with the processors and used for providing a first communication network for the information processing unit to share the train sharing speed to the ground data center based on the first communication network;
and the CAN chip is connected with the processors and is used for providing a second communication network for the information processing unit to share the train sharing speed to each train system based on the second communication network.
According to the train speed sharing system provided by the invention, the number of the signal processing units is set to be a plurality, and only one signal processing unit is in the working mode at the same time.
The invention also provides a train speed sharing method, which comprises the following steps:
Acquiring a pulse signal generated by the rotation of a train wheel and the train speed measured by a millimeter wave radar;
Based on a plurality of processors, fusing the axle end speed of the train axle and the train speed measured by the millimeter wave radar to obtain the train fusion speed;
determining a train sharing speed according to the train fusion speed, and sharing the train sharing speed to each system of the train and the ground data center;
the shaft end speed is obtained after the processor analyzes the pulse signal.
According to the train speed sharing system and method, the speed sensor and the millimeter wave radar are fused, so that the measurement of the train speed is realized, and the accuracy of the train speed measurement is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a train speed sharing system provided by the present invention;
Fig. 2 is a schematic diagram of millimeter wave speed measurement provided by the invention;
FIG. 3 is a schematic diagram of a flow of train fusion speed calculation provided by the invention;
FIG. 4 is a schematic diagram of an application scenario of the train speed sharing system provided by the invention;
Fig. 5 is a schematic flow chart of a train speed sharing method provided by the 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.
Fig. 1 is a schematic diagram of a train speed sharing system provided by the present invention, where, as shown in fig. 1, the system includes:
The speed sensor is arranged on the train axle and is used for measuring pulse signals generated by the rotation of the train wheels;
the signal processing unit is connected with the speed sensor and used for determining the train sharing speed according to the train fusion speeds respectively acquired by the plurality of processors and sharing the train sharing speed to each system of the train and the ground data center;
the train fusion speed is obtained by fusing the axle end speed of the train axle and the train speed measured by the millimeter wave radar by the processor;
the shaft end speed is obtained after the processor analyzes the pulse signal.
Optionally, a speed sensor installed at the axle end of the train is measured to obtain the axle end speed, speed fusion calculation is completed through a fusion algorithm based on speed information measured by millimeter wave radar, the train fusion speed obtained by a plurality of processors is compared to obtain a train sharing speed, for example, whether the difference value between the train fusion speeds obtained by each processor is within a preset normal range or not can be calculated to obtain the train sharing speed, and the train sharing speed is shared to ATP (e.g. a train automatic protection system) of each system of the train, TCMS (train control and management system), travel part monitoring system, bow net detection system and track detection system) and ground data center (e.g. a signal system and obstacle monitoring system) through a vehicle backbone network (e.g. a time sensitive network TSN), so that speed fusion and sharing of multiple systems of the train are realized, and corresponding signal acquisition by repeated installation equipment of each system of the train is avoided. The processors are in communication connection through a serial peripheral interface SPI.
Taking a metro vehicle as an example, the running environment of the metro vehicle is very simple, and most of the time, the front of the vehicle only has fixed facilities such as tunnels and other moving objects, so that the relative speed measured by the millimeter wave radar is the relative speed between the vehicle carrying the radar and the ground, namely the speed information obtained by measuring the millimeter wave radar finally. First, the millimeter wave radar emits electromagnetic waves of a specific frequency (wavelength), as shown by the broken line electromagnetic waves in fig. 2, and when encountering the front track, the frequency of the echo (solid line electromagnetic waves) is significantly higher than that of the broken line electromagnetic waves. The higher the relative speed of the metro vehicle, the higher the frequency of the echo, the lower the relative speed, and the lower the frequency of the echo. The relative speed of the two vehicles can be calculated by measuring the difference between the echo frequency and the emission frequency.
Based on pulse signals output by the speed sensors arranged at the shaft ends, counting the pulses generated by the rotation of the wheels to obtain the shaft end speed. Specifically: two speed sensors are arranged at the axle end of each train axle, pulse signals output by the two speed sensors are analyzed by a signal processing unit to obtain a first axle end speed and a second axle end speed, whether the difference between the first axle end speed and the speed information of the second axle end speed and the speed information of the millimeter wave radar are within an acceptable threshold range or not is compared, and if yes, any one of the first axle end speed and the second axle end speed is taken as the axle end speed; if only the difference value between the first shaft end speed and the speed information measured by the millimeter wave radar is within an acceptable threshold value range, taking the first shaft end speed as the shaft end speed; likewise, if only the difference between the second shaft end speed and the millimeter wave radar velocity information is within an acceptable threshold range, the second shaft end speed is taken as the shaft end speed.
And determining the total number of axles with idle running and slipping according to the obtained axle end speed and the train speed obtained by millimeter wave radar measurement, calculating the fusion speed according to the total number of axles with idle running and slipping, and obtaining the train sharing speed according to the fusion speed.
According to the train speed sharing system provided by the invention, the speed sensor and the millimeter wave radar are fused to measure the train speed, so that the accuracy of measuring the train speed is improved.
Further, in one embodiment, the signal processing unit includes:
and the processors are connected with the speed sensor and the millimeter wave radar and are used for fusing the axle end speed and the train speed according to the total number of axles of the train with idle skidding to obtain the train fusion speed.
Optionally, the calculation and sharing of the train sharing speed is based on a2 by 2 train speed sharing system as in fig. 1: each signal processing unit analyzes pulse signals acquired by each speed sensor installed at the axle end through a plurality of (e.g. 2) CPUs (processors) to obtain the axle end speed, determines the total number of axles of the train with idle skid according to the obtained axle end speed and the train speed acquired by the millimeter wave radar, and based on the total number of axles, utilizes the train fusion speed calculation flow shown in fig. 3 to fuse the axle end speed and the train speed to obtain the train fusion speed.
According to the train speed sharing system provided by the invention, the calculation of the train fusion speed is completed through the plurality of processors in the information processing unit, so that a foundation is laid for determining the train sharing speed based on the train fusion speed and completing the analysis of the train sharing speed.
further, in one embodiment, the processor may specifically include:
The fusion unit is used for determining the train fusion speed according to the train speed and the reference axle speed when the total number of axles with idle skidding is larger than a first preset threshold value;
the fusion unit is also used for determining the train fusion speed according to the shaft end speed of the non-skid axles when the total number of the axles with the idle skid is smaller than a first preset threshold value;
the fusion unit is also used for determining the fusion speed of the train according to the axle end speeds of all the axles of the train when the total number of the axles with idle skidding is zero;
Wherein the first preset threshold is determined based on the total number of train axles.
Optionally, referring to fig. 3, after determining the total number of axles with slip, the axle end speed obtained by the measurement and the speed information obtained by the millimeter wave radar measurement are fused based on a fusion algorithm to obtain a fusion speed, and the fusion speed is taken as the final obtained train speed, specifically:
And judging whether the total number n of axles with idle skidding is larger than a first preset threshold value, wherein the setting of the first preset threshold value is determined according to the total number of axles of the train.
For example, taking half of the total number of axles of the train as a first preset threshold value, judging whether the total number n of axles with idle skidding is greater than half of the total number of axles of the train, if so, fusing the speed information measured by the millimeter wave radar and the reference axle speed of the train to obtain the train speed, and specifically, taking the average value of the speed information measured by the millimeter wave radar and the reference axle speed of the train as the calculated train speed.
When it is determined that the total number n of axles with slip is smaller than half of the total number of axles of the train, an axle with no slip is found, and a fusion speed is calculated according to the measured axle end speed of the axle with no slip, specifically, the average value of the axle end speeds of the axles with no slip can be used as the fusion speed, and the fusion speed can be used as the train speed.
When the total number n of axles with idle skidding is determined to be zero, the fusion speed is calculated according to the measured axle end speeds of all axles of the train, specifically, the average value of all axle end speeds of the train can be taken as the fusion speed, and the fusion speed can be taken as the train speed.
According to the train speed sharing system provided by the invention, the speed sensor at the shaft end is used for measuring the shaft end speed and the speed information measured by the millimeter wave radar is used for completing speed fusion calculation through the fusion algorithm, so that the accuracy of the calculated train speed is improved.
further, in one embodiment, the processor may further specifically include:
The determining unit is connected with the fusion unit and is used for determining the total number of idle axles with axle end speed being greater than the train speed;
The determining unit is also used for determining that the axle end speed is smaller than the total number of the axles with slipping of the speed information;
and the determining unit is also used for determining the total number of the axles with the idle running slip according to the total number of the axles with the idle running and the total number of the axles with the slip.
Alternatively, wheel spin slip is divided into spin and coast 2 conditions. Idle refers to wheel speeds greater than the train speed, often occurring during the train traction phase; coasting refers to wheel speeds less than the train speed, typically occurring during the train braking phase. The determination of wheel slip mainly includes both monitoring deceleration and speed differential.
Based on this, the total number of axles that slip occurs can be obtained by determining that the axle end speed measured by the speed sensor mounted on the axle end is greater than the total number of axles that slip occurs of the speed information measured by the millimeter wave radar and determining that the axle end speed measured by the speed sensor mounted on the axle end is less than the total number of axles that slip occurs of the speed information measured by the millimeter wave radar, and simply summing the obtained total number of axles that slip occurs and the total number of axles that slip occurs.
According to the train speed sharing system provided by the invention, the total number of axles with idle skidding is calculated, so that a foundation is laid for the subsequent fusion calculation of speed information measured by a speed sensor at the axle end and the speed information measured by a millimeter wave radar by adopting a specific fusion algorithm, and the accuracy of the calculated train speed is improved.
Further, in an embodiment, the determining unit may specifically include: the device comprises a first determining module, a second determining module and a third determining module;
The first determining module is used for determining the total number of first axles, the deceleration change of the wheel speed corresponding to the axle end speed of which is greater than a second preset threshold value;
The second determining module is used for determining a second total number of axles with the speed difference between the axle end speed and the reference axle speed being larger than a third preset threshold value;
And the third determining module is connected with the first determining module and the second determining module and is used for determining the total number of the axles which idle according to the total number of the first axles and the total number of the second axles.
Alternatively, as shown in fig. 3, the determination of the wheel spin slip is mainly performed by two methods, namely, deceleration detection and speed difference detection, wherein the deceleration detection is to determine whether the slip occurs according to whether the change of the deceleration of the wheel corresponding to the axle exceeds a threshold value. The deceleration detection is to detect a single shaft, and can detect the sliding in time, and the speed change of the wheel set is relatively quick due to the large mass difference between the wheel set and the vehicle, so the deceleration detection is preferentially used. The speed difference detection is to judge whether the slip is caused or not according to whether the deviation of the shaft end speed from the reference shaft speed exceeds a threshold value, specifically:
Judging deceleration change DeltaV of wheel speed corresponding to axle end speedmWhether or not is greater than a second preset threshold value c1, and counting a deceleration change DeltaV of the wheel speedmThe total number of axles greater than the second preset threshold c1, i.e., the first total number of axles, where c1 > 0.
Judging whether the speed difference delta V between the shaft end speed and the reference shaft speed is larger than a third preset threshold value b1, and counting the total number of the axles, namely the total number of the second axles, of which the speed difference delta V between the shaft end speed and the reference shaft speed is larger than the third preset threshold value b1, wherein b1 is larger than 0.
It should be noted that, the values of the second preset threshold c1 and the third preset threshold b1 are obtained empirically.
the total number of axles that idle can be obtained by summing the first axle total number and the second axle total number obtained above.
According to the train speed sharing system provided by the invention, the total number of axles with idle running is determined by adopting different methods, so that a foundation is laid for obtaining accurate train speed by determining the total number of axles with idle running and slipping based on the total number of axles with idle running, and realizing fusion calculation of the axle end speed measured by a speed sensor and the speed information measured by a millimeter wave radar.
further, in an embodiment, the determining unit may further specifically include: a fourth determination module, a fifth determination module, and a sixth determination module;
a fourth determining module, configured to determine a third total number of axles for which a deceleration change of a wheel speed corresponding to the axle end speed is less than a fourth preset threshold;
a fifth determining module, configured to determine a fourth total number of axles whose speed difference between the axle end speed and the reference axle speed is less than a fifth preset threshold;
And the sixth determining module is used for determining the total number of the axles with slipping according to the total number of the third axles and the total number of the fourth axles.
Alternatively, as shown in fig. 3, the deceleration change Δv of the wheel speed corresponding to the shaft end speed is determinedmwhether or not is smaller than a fourth preset threshold value c2, and counting a deceleration change DeltaV of the wheel speedmThe total number of axles less than the fourth preset threshold c2, i.e. the total number of third axles, wherein c2 < 0.
Judging whether the speed difference delta V between the shaft end speed and the reference shaft speed is smaller than a fifth preset threshold value b2, and counting the total number of the axles of which the speed difference delta V between the shaft end speed and the reference shaft speed is smaller than the fifth preset threshold value b2, namely the total number of the fourth axles, wherein b2 is smaller than 0.
it should be noted that, the values of the fourth preset threshold c2 and the fifth preset threshold b2 are obtained empirically.
and summing the obtained third axle total number and the fourth axle total number to obtain the axle total number with slipping.
According to the train speed sharing system provided by the invention, the total number of axles with slipping is determined by adopting different methods, so that a foundation is laid for obtaining accurate train speed by determining the total number of axles with idle slipping based on the total number of axles with slipping, and realizing fusion calculation of the axle end speed measured by a speed sensor and the speed information measured by a millimeter wave radar.
Further, in one embodiment, the train sharing speed is obtained by comparing the train fusion speeds obtained by the plurality of processors; the plurality of processors are communicatively coupled via a serial peripheral interface.
Optionally, referring to fig. 1, the signal processing unit includes two CPUs (CPU 1 and CPU 2), where the CPU1 and the CPU2 respectively analyze pulse signals collected by the speed sensor to obtain axle end speeds of the axles of the train, and respectively obtain a train fusion speed after performing fusion calculation on the train speeds obtained by measuring the millimeter wave radar and the axle end speeds according to the total number of axles where the train is in idle slip, and if the train fusion speeds are respectively the first train fusion speed and the second train fusion speed, by comparing the first train fusion speed with the second train fusion speed, if a difference between the first train fusion speed and the second train fusion speed is within a preset normal range, then taking any one of the first train fusion speed and the second train fusion speed as the train sharing speed.
According to the train speed sharing system provided by the invention, the train sharing speed is calculated by adopting a 2-out-of-2 structure, and the accuracy of the train sharing speed calculation is improved.
Further, in an embodiment, the signal processing unit may further specifically include:
The TSN chip is connected with the plurality of processors and used for providing a first communication network for the information processing unit to share the train sharing speed to the ground data center based on the first communication network;
And the CAN chip is connected with the plurality of processors and is used for providing a second communication network for the information processing unit to share the train sharing speed to each system of the train based on the second communication network.
Optionally, referring to fig. 1, a first communication network, such as a train backbone time sensitive network, is provided through the TSN chip to share the train sharing speed, wherein the backbone typically employs an existing network of TCMS systems. The 2 signal processing units (comprising two CPUs, two TSN chips and two CAN chips) realize 2 times and meet 2 times 2 taking. The two CPUs communicate through an internal SPI (serial peripheral interface) bus, and the 2 signal processing units communicate through a CAN (controller area network) bus, and externally adopt TSN network communication.
As shown in fig. 4, the signal processing unit sends the obtained train sharing speed to each system of the train, such as an ATP (automatic train protection) system, TCMS (train control and management) system, a running part monitoring system, an arcnet detection system and a track detection system, through a second communication network provided by a CAN (controller area network), and shares the obtained train sharing speed to a ground data center, such as a signal system, an obstacle detection system and the like, through a first communication network provided by a CAN chip, so as to realize multi-system speed fusion and sharing; and meanwhile, redundant space and equipment replacement interfaces which can promote the backbone network to the TRDP network or the TSN network are reserved.
The train speed sharing system provided by the invention can realize speed fusion and sharing of multiple systems of the train, and meanwhile, the repeated installation equipment of each system of the train is prevented from collecting corresponding signals.
further, in one embodiment, the number of signal processing units is set to be plural, and only one signal processing unit is in the operation mode at the same time.
Optionally, the signal processing units are set in a primary-standby redundancy mode, only one signal processing unit is in a working mode at the same time, the rest signal processing units are in a standby mode, and when the signal processing units in the working mode fail, the signal processing units in the standby mode are started to complete sharing of the train sharing speed.
The train speed sharing system provided by the invention adopts a main and standby redundant setting mode, so that the reliability of sharing the train speed is improved.
The train speed measuring method provided by the invention is described below, and the train speed measuring method described below and the train speed sharing system described above can be correspondingly referred to each other.
As shown in fig. 5, the present invention further provides a train speed sharing method, including:
Step 100, acquiring a pulse signal generated by the rotation of a train wheel and a train speed measured by a millimeter wave radar;
Step 200, fusing the axle end speed of the train axle and the train speed measured by the millimeter wave radar based on a plurality of processors to obtain a train fusion speed;
step 300, determining a train sharing speed according to the train fusion speed, and sharing the train sharing speed to each system of the train and the ground data center;
The shaft end speed is obtained after the processor analyzes the pulse signals. According to the train speed sharing method provided by the invention, the speed sensor and the millimeter wave radar are fused, so that the measurement of the train speed is realized, and the accuracy of the train speed measurement is improved.
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 a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer power screen (which may be a personal computer, a server, or a network power screen, etc.) to perform the method described in the various 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 (5)
1. A train speed sharing system, comprising:
The speed sensor is arranged on the train axle and is used for measuring pulse signals generated by the rotation of the train wheels;
the signal processing unit is connected with the speed sensor and used for determining a train sharing speed according to the train fusion speeds respectively acquired by the plurality of processors and sharing the train sharing speed to each system of the train and the ground data center;
The train fusion speed is obtained by fusing the axle end speed of the train axle and the train speed measured by the millimeter wave radar by the processor;
the shaft end speed is obtained after the processor analyzes the pulse signal;
The processor comprises:
The fusion unit is used for determining the train fusion speed according to the train speed and the reference axle speed when the total number of axles with idle skidding is larger than a first preset threshold value;
The fusion unit is further configured to determine the train fusion speed according to the axle end speed of the axle that is not slipped when the total number of axles that are slipping and slipping is less than the first preset threshold;
The fusion unit is further used for determining the train fusion speed according to the shaft end speeds of all the axles of the train when the total number of the axles with the idle skidding is zero;
wherein the first preset threshold is determined according to the total number of train axles;
The processor further comprises:
the determining unit is connected with the fusion unit and is used for determining the total number of idle axles with the axle end speed being greater than the train speed;
The determining unit is further used for determining the total number of axles with slipping, wherein the axle end speed of the axles is smaller than the train speed;
The determining unit is further configured to determine the total number of axles with spin slip according to the total number of axles with spin and the total number of axles with slip;
The determination unit includes: the device comprises a first determining module, a second determining module and a third determining module;
The first determining module is used for determining a first axle total number of which the deceleration change of the wheel speed corresponding to the axle end speed is greater than a second preset threshold value;
The second determining module is used for determining a second total number of axles with the speed difference between the axle end speed and the reference axle speed being larger than a third preset threshold value;
The third determining module is connected with the first determining module and the second determining module and is used for determining the total number of the axles with idle running according to the total number of the first axles and the total number of the second axles;
the determining unit further includes: a fourth determination module, a fifth determination module, and a sixth determination module;
The fourth determining module is used for determining a third axle total number, of which the deceleration change of the wheel speed corresponding to the axle end speed is smaller than a fourth preset threshold value;
the fifth determining module is used for determining a fourth total number of axles, wherein the speed difference between the axle end speed and the reference axle speed is smaller than a fifth preset threshold value;
The sixth determining module is configured to determine the total number of axles with slip according to the total number of third axles and the total number of fourth axles;
the train sharing speed is obtained by comparing the train fusion speeds obtained by the plurality of processors; the processors are in communication connection through a serial peripheral interface.
2. The train speed sharing system according to claim 1, wherein the signal processing unit includes:
And the processors are connected with the speed sensor and the millimeter wave radar and used for fusing the axle end speed and the train speed according to the total number of axles of the train with idle skidding to obtain the train fusion speed.
3. the train speed sharing system according to claim 1, wherein the signal processing unit further comprises:
The TSN chip is connected with the processors and used for providing a first communication network for the signal processing unit to share the train sharing speed to the ground data center based on the first communication network;
And the CAN chip is connected with the processors and is used for providing a second communication network for the signal processing unit to share the train sharing speed to each train system based on the second communication network.
4. a train speed sharing system according to any one of claims 1 to 3, wherein the number of signal processing units is set to be plural, and only one of the signal processing units is in an operation mode at a time.
5. a train speed sharing method implemented based on the train speed sharing system according to any one of claims 1 to 4, comprising:
Acquiring a pulse signal generated by the rotation of a train wheel and the train speed measured by a millimeter wave radar;
Based on a plurality of processors, fusing the axle end speed of the train axle and the train speed measured by the millimeter wave radar to obtain the train fusion speed;
determining a train sharing speed according to the train fusion speed, and sharing the train sharing speed to each system of the train and the ground data center;
the shaft end speed is obtained after the processor analyzes the pulse signal.
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