CN101041359A - Method for measurement of railcar stroke encoding wheel - Google Patents
Method for measurement of railcar stroke encoding wheel Download PDFInfo
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- CN101041359A CN101041359A CN 200710078263 CN200710078263A CN101041359A CN 101041359 A CN101041359 A CN 101041359A CN 200710078263 CN200710078263 CN 200710078263 CN 200710078263 A CN200710078263 A CN 200710078263A CN 101041359 A CN101041359 A CN 101041359A
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Abstract
The invention relates to a measuring method for journey coding wheel of rail car, characterized in that it is carried out by following procedures; the first step 1 is that the equipment is installed; the second step 2 is that the car zero point and other standard stopping point are determined; the third step 3 is that the speed control program for rail car (1) is decided coarsely; the forth step 4 is that the speed control program for rail car (1) is emended; the fifth step 5 is that journey database of rail car is demarcated accurately; the sixth step is that the journey of rail car is measured. The notable effect is that the measuring method for journey coding wheel of rail car can inspect running position and speed of rail car; accumulative error in journey can be eliminated; ant it is provided with high accuracy.
Description
Technical field
The invention belongs to the method for measurement of vehicle travel, particularly a kind of method for measurement of railcar stroke encoding wheel.
Background technology
The guideway vehicle of field of traffic comprises railway, light rail, subway etc.; The guideway vehicle of industrial circle comprises the guideway vehicle of various material handlings, as driving, gantry crane, elevator winch etc. and the various Working vehicles that orbit, as pusher machine, coke guide, coke quenching car and the charging car etc. of coking industry.
In existing rail vehicle location technology, be that operating personal relies on vision and experience to determine whether rail vehicle puts in place and centering whether mostly, tend to occur lagging behind or specifying the parking stall in advance, cause frequent manipulation to make controller, the frequent start-stop of retarder, hydraulic contracting frequently open, safety reduction, the service life of power plant are shortened.
In the rail vehicle location technology that retrieves at present, infrared coding location detecting technology, Microwave Measurement technology and inductive wireless technology are arranged.
Wherein the infrared coding location detecting technology is the mode that adopts nonadjustable signal to combine with movable scale:
Nonadjustable signal: nonadjustable signal length is 1 meter, and 10 infrared emission windows are arranged on the nonadjustable signal, and the spacing a of each infrared emission window is 100mm, and an infrared diode is arranged in each infrared emission window.Per 30 meter amperes are adorned a power supply box.Connecting cable between nonadjustable signal.
Movable scale (mobile scale): length is 100mm, and 10 infrared receiving windows are arranged on the movable scale, and the spacing of each infrared receiving window is 10mm.
The infrared diode of nonadjustable signal constantly sends the coded modulation infrared light that comprises the self-position signal.Movable scale is installed on the locomotive, and movable scale constantly receives the infrared position signal that nonadjustable signal sends in moving process, thereby obtains the absolute address of locomotive.Movable scale uploads to the CPU treater to address signal.
Unit: mm
Shown in mobile coding and regular coding conversion table: the theoretical value of infrared coding location detecting technology accuracy of detection is 10mm.
The technical characterstic and the shortcoming of infrared coding location detecting technology are as follows:
1, nonadjustable signal is to adopt the series system power supply, and per 30 nonadjustable signals need be equipped with a power supply box, and its power supply mode complexity is unreliable.
2, in every nonadjustable signal independently Single Chip Microcomputer (SCM) system is arranged, the interface of numerous series systems and solder joint can reduce system reliability greatly.If the reliability of each link is 0.999, calculate by 1000 links, the reliability of series system then has only 0.37.
3, the initialization of infrared coding method for detecting position is very complicated, needs to adopt intensity detector that each infrared diode of each nonadjustable signal is carried out intensity detection; Adopt the code detection instrument that nonadjustable signal is encoded; Adopt location detector that movable scale is demarcated, install.
4, Single Chip Microcomputer (SCM) system in the nonadjustable signal and electric power system are subjected to electromagnetism easily, as interference such as frequency converter high-frequency impulse, motor-field, the sparkings of three-phase alternating-current supply brush.
5, require every two weeks to month to clean the infrared emission window of a nonadjustable signal, work capacity is huge.
6, nonadjustable signal and fixing mark light-emitting diode etc. exist the angular error influence of installation error, particularly diode installation big, scattering error; The infrared coding location detecting technology adopts infrared light to transmit coded message, is subjected to ambient infrared light easily and disturbs.Therefore the precision of infrared coding position probing is difficult to reach 10mm, and control accuracy is just lower.
7, because the infrared coding method for detecting position can only detection position information and can not detection speed information, so it can not accomplish speed control preferably, thereby performance is not fully up to expectations when being used for automatic centering.
The Microwave Measurement technology is that a plurality of electronic tags are installed in orbit, each is representing the physical location of technology respectively, the position of technology can be differentiated according to the 32b sequence number of electronic tag, when electronic tag that the locomotive approach is buried underground, reader is read the geocoding of this label, thereby determine the position of locomotive, main control computer pushes away the running state arrival assigned address of rail vehicle according to the Data Control of electronic tag.
The accuracy of detection of Microwave Measurement technology is not high, because certain casual emissivity that microwave has, even to its travel direction restriction, the accuracy of detection that is reached also is far longer than 1cm, is difficult to reach the positioning requirements of three big locomotives, generally is used for the coarse positioning of locomotive.
Inductive wireless technology is that flat cable is buried underground in orbit, links centralized control room by communication cable, and induction antenna is installed on the locomotive, and antenna is measured the rail vehicle position from the about 20cm of induction cable with induction mode.
But inductive wireless technology is disturbed by the various electromagnetic signals of production scene easily, causes photoelectric detection system output that the distortion distortion takes place, and makes system's malfunction or causes industrial accident.
Existing rail vehicle walking location technology has following deficiency: can only detection position information and can not detection speed information.
Summary of the invention
The purpose of this invention is to provide a kind of method for measurement of railcar stroke encoding wheel that can detect the rail vehicle walking position and the speed of travel.
For achieving the above object, a kind of method for measurement of railcar stroke encoding wheel of the present invention, so its key is carried out following these steps to:
Step 1: equipment is installed;
The mouth that wheeled stroke detector, CPU treater, man machine communication mechanism, wherein said wheeled stroke detector are installed on rail vehicle is connected with the input end of described CPU treater, and described CPU treater is connected with man machine communication mechanism is two-way;
Described wheeled stroke detector is made up of the scroll wheel and the rotary encoder that are installed on the rail vehicle, wherein, described rotary encoder is positioned on the center shaft of scroll wheel, drawing 2 output signal lines from described rotary encoder is connected with the input end of described CPU treater, described CPU treater reads the pulse information of rotary encoder output, identifies the hand of rotation of scroll wheel and rotative speed etc.;
Step 2 is determined locomotive zero point and other standard point stations;
An initial website is set as rail vehicle zero point, and an above standard point station is set along the line at rail vehicle;
The setting of standard point station and initial website is need pre-determine according to work-site.
Step 3, the speed control program of slightly deciding rail vehicle;
According to the distance difference between described each standard point station, determine the running velocity and the status requirement of rail vehicle, for rail vehicle is set corresponding speed control program;
Step 4, the speed control program of correcting track car;
Starting rail vehicle moves between each standard point station, requirement in conjunction with described speed control program, proofread and correct the dynamic data that described rail vehicle is walked between any two standard point stations, this dynamic data comprises speed data, time data and the run-length data of described rail vehicle, and gives described speed control program with this dynamic data assignment;
Step 5 is accurately demarcated rail vehicle run-length data storehouse;
Described dynamic data assignment and speed control program are deposited in the data bank of described CPU treater, and utilize described man machine communication mechanism, edit the data bank of described CPU treater, set the permissible error scope;
Step 6 is measured the rail vehicle stroke;
Start described rail vehicle, described wheeled stroke detector is started working, and output detects data in real time to described CPU treater, described CPU treater is in conjunction with the rail vehicle run-length data storehouse of demarcating in advance, judge the current operation conditions of rail vehicle, and and preset value between difference, and send described man machine communication mechanism to and show.
The method to set up of described initial website is: elder generation is provided with a signal generator on the track side at rail vehicle zero point, to be provided with sensor corresponding with described signal generator for rail vehicle again, and the signal output part of this sensor is connected with the input end of described CPU treater.
After rail vehicle was got back to zero point, signal generator sent signal and gives sensor, and sensor output reset signal is given described CPU treater, and cumulative errors are eliminated in all data zero clearings that the CPU treater will read from described rotary encoder.
Described method for control speed is:
Distance is far away, is set at accordingly and runs at high speed, repeatedly the speed control program of ramp to stop;
Close together, be set at corresponding low speed driving, the speed control program of single ramp to stop.
Described run-length data is determined by the pulse information accumulated value of described wheeled stroke detector output, described time data is the record data that described CPU treater is the vehicle track running time, and described speed data is that the current frequency values of described wheeled stroke detector pulse information is determined.
When rail vehicle moved between the standard point station, described scroll wheel was along orbit rotation, and described rotary encoder is done with the cireular frequency rotation, and the impulse rate that two photosensitive receiving tubes of rotary encoder in-to-in send is fast more, and the moving velocity of rail vehicle is fast more;
Simultaneously, described CPU treater can accurately be judged the direction of travel of described rail vehicle according to signal sequence and phase relation that described two photosensitive receiving tubes send, and this is a prior art;
Speed and bearing data information that described CPU treater sends according to rotary encoder, binding time data and run-length data generate dynamic data, and assignment gives described speed control program,
Because the data of thick orbit determination road vehicle speed control program are the empirical datas of importing in advance in step 3, need to proofread and correct, its actual value is to be as the criterion with the dynamic data that the actual walking of rail vehicle is produced.
Described error limit is the distance based on stroke, and its error allows to be arranged within 5～10mm.
When rail vehicle walks to arbitrary standard point station, described CPU treater will compare the currency that initialize data in its data bank and described wheeled stroke detector are measured, when the two difference beyond described error limit, the CPU treater will send alarm by described man machine communication mechanism.
Scroll wheel in the described wheeled stroke detector is the wheel of described rail vehicle.
Scroll wheel in the described wheeled stroke detector rolls with track and is connected, and is connected with tie-beam on the center shaft of this scroll wheel, and this tie-beam is connected with the bottom surface strand of described rail vehicle.
Remarkable result of the present invention is: a kind of method for measurement of railcar stroke encoding wheel that can detect the rail vehicle walking position and the speed of travel is provided, and can eliminates the cumulative errors in the stroke, have the high characteristics of precision.
Description of drawings
Accompanying drawing 1 is the structure scheme of installation of rail vehicle and wheeled stroke detector;
Accompanying drawing 2 is wheeled stroke detector 2, CPU treater 3, man machine communication mechanism 4 connection block diagrams;
Accompanying drawing 3 is the algorithm scheme drawing of this method.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
A kind of method for measurement of railcar stroke encoding wheel, so its key is carried out following these steps to:
Step 1: equipment is installed;
Shown in accompanying drawing 1, accompanying drawing 2:
The mouth that wheeled stroke detector 2, CPU treater 3, man machine communication mechanism 4, wherein said wheeled stroke detector 2 are installed on rail vehicle 1 is connected described CPU treater 3 and 4 two-way connections of man machine communication mechanism with the input end of described CPU treater 3;
Described wheeled stroke detector 2 is made up of the scroll wheel 5 and the rotary encoder 6 that are installed on the rail vehicle 1, wherein, described rotary encoder 6 is positioned on the center shaft of scroll wheel 5, drawing 2 output signal lines from described rotary encoder 6 is connected with the input end of described CPU treater 3, described CPU treater 3 reads the pulse information of rotary encoder 6 output, identifies the hand of rotation of scroll wheel 5 and rotative speed etc.;
Described rotary encoder 6 adopts the incremental encoder of AUTONIC company.Rotary encoder 6 is consistent with the cireular frequency of scroll wheel 5 rotations, when scroll wheel 5 rotates a circle, rotary encoder 6 sends fixing pulse count, the corresponding fixing pulse count of the girth of scroll wheel 5, the pulse count of sending with rotary encoder 6 what, just can measure the stroke of scroll wheel 5.
Step 2 is determined locomotive zero point and other standard point stations;
An initial website is set as rail vehicle zero point, and an above standard point station is set along the line at rail vehicle;
The setting of standard point station and initial website is need pre-determine according to work-site.
Step 3, the speed control program of slightly deciding rail vehicle 1;
According to the distance difference between described each standard point station, determine the running velocity and the status requirement of rail vehicle, for rail vehicle is set corresponding speed control program;
Step 4, the speed control program of correcting track car 1;
Starting rail vehicle 1 moves between each standard point station, requirement in conjunction with described speed control program, proofread and correct the dynamic data that described rail vehicle 1 is walked between any two standard point stations, this dynamic data comprises speed data, time data and the run-length data of described rail vehicle 1, and gives described speed control program with this dynamic data assignment;
Step 5 is accurately demarcated rail vehicle run-length data storehouse;
Described dynamic data assignment and speed control program are deposited in the data bank of described CPU treater 3, and utilize described man machine communication mechanism 4, edit the data bank of described CPU treater 3, set the permissible error scope;
Step 6 is measured the rail vehicle stroke;
Start described rail vehicle, described wheeled stroke detector 1 is started working, and output detects data in real time to described CPU treater 2, described CPU treater 2 is in conjunction with the rail vehicle run-length data storehouse of demarcating in advance, judge rail vehicle 1 current operation conditions, and and preset value between difference, and send described man machine communication mechanism 4 to and show.
The method to set up of described initial website is: elder generation is provided with a signal generator on the track side at rail vehicle zero point, to be provided with sensor corresponding with described signal generator for rail vehicle again, and the signal output part of this sensor is connected with the input end of described CPU treater 2.
Wherein sensor is an infrared pickoff, signal generator is a light deflector, the infrared light that infrared pickoff sends is reflected by light deflector, infrared pickoff output reset signal is given described CPU treater 2, cumulative errors are eliminated in all data zero clearings that CPU treater 2 will read from described rotary encoder 6.
Described method for control speed is:
Distance is far away, is set at accordingly and runs at high speed, repeatedly the speed control program of ramp to stop;
Close together, be set at corresponding low speed driving, the speed control program of single ramp to stop.
Described run-length data is determined by the pulse information accumulated value of described wheeled stroke detector 2 outputs, described time data is that described CPU treater 3 is the record data of rail vehicle 1 time of run, and described speed data is that the current frequency values of described wheeled stroke detector 2 pulse informations is determined.
When rail vehicle 1 moved between the standard point station, described scroll wheel 5 was along orbit rotation, and described rotary encoder 6 is done with the cireular frequency rotation, and the impulse rate that two photosensitive receiving tubes of rotary encoder 6 in-to-ins send is fast more, and the moving velocity of rail vehicle is fast more;
Simultaneously, described CPU treater 2 can accurately be judged the direction of travel of described rail vehicle 1 according to signal sequence and phase relation that described two photosensitive receiving tubes send, and this is a prior art;
Speed and bearing data information that described CPU treater 2 sends according to rotary encoder 6, binding time data and run-length data generate dynamic data, and assignment is given described speed control program;
Because slightly deciding the data of rail vehicle 1 speed control program in step 3 is the empirical data of importing in advance, need to proofread and correct, its actual value is to be as the criterion with the dynamic data that the actual walking of rail vehicle is produced.
Described error limit is the distance based on stroke, and its error allows to be arranged within 5～10mm.
When rail vehicle walks to arbitrary standard point station, described CPU treater 3 will compare the currency that initialize data in its data bank and described wheeled stroke detector 2 are measured, when the two difference beyond described error limit, CPU treater 3 will send alarm by described man machine communication mechanism 4.
Scroll wheel 5 in the described wheeled stroke detector 2 is the wheel of described rail vehicle 1.
Scroll wheel 5 in the described wheeled stroke detector 2 rolls with track and is connected, and is connected with tie-beam on the center shaft of this scroll wheel 5, and this tie-beam is connected with the bottom surface strand of described rail vehicle 1.
Its service condition is as follows:
According to rail vehicle 1 stroke-measuring method of the present invention, in the certain stroke of rail vehicle, how much what send pulse count with wheeled stroke detector 2 is standard, pre-determines each section stroke of rail vehicle, when rail vehicle 1 operation, relatively what of pulse count are judged the displacement of rail vehicle 1, simultaneously, frequency according to pulse count, judge the kinematic velocity of rail vehicle, calibration value that relatively sets in advance and the currency that reads in service judge whether the running state of rail vehicle 1 is normal.
Claims (7)
1, a kind of method for measurement of railcar stroke encoding wheel is characterized in that it being to follow these steps to carry out:
Step 1: equipment is installed;
Go up the mouth that wheeled stroke detector (2), CPU treater (3), man machine communication mechanism (4), wherein said wheeled stroke detector (2) are installed at rail vehicle (1) and be connected described CPU treater (3) and two-way connection of man machine communication mechanism (4) with the input end of described CPU treater (3);
Described wheeled stroke detector (2) is made up of the scroll wheel (5) and the rotary encoder (6) that are installed on the rail vehicle (1), wherein, described rotary encoder (6) is positioned on the center shaft of scroll wheel (5), drawing 2 output signal lines from described rotary encoder (6) is connected with the input end of described CPU treater (3), described CPU treater (3) reads the pulse information of rotary encoder (6) output, identifies the hand of rotation of scroll wheel (5) and rotative speed etc.;
Step 2 is determined locomotive zero point and other standard point stations;
An initial website is set as rail vehicle zero point, and an above standard point station is set along the line at rail vehicle;
Step 3, the speed control program of slightly deciding rail vehicle (1);
According to the distance difference between described each standard point station, determine the running velocity and the status requirement of rail vehicle, for rail vehicle is set corresponding speed control program;
Step 4, the speed control program of correcting track car (1);
Starting rail vehicle (1) moves between each standard point station, requirement in conjunction with described speed control program, proofread and correct the dynamic data that described rail vehicle (1) is walked between any two standard point stations, this dynamic data comprises speed data, time data and the run-length data of described rail vehicle (1), and gives described speed control program with this dynamic data assignment;
Step 5 is accurately demarcated rail vehicle run-length data storehouse;
Described dynamic data assignment and speed control program are deposited in the data bank of described CPU treater (3), and utilize described man machine communication mechanism (4), edit the data bank of described CPU treater (3), set the permissible error scope;
Step 6 is measured the rail vehicle stroke;
Start described rail vehicle, described wheeled stroke detector (1) is started working, and output detects data in real time to described CPU treater (2), described CPU treater (2) is in conjunction with the rail vehicle run-length data storehouse of demarcating in advance, judge the current operation conditions of rail vehicle (1), and and preset value between difference, and send described man machine communication mechanism (4) to and show.
2, method for measurement of railcar stroke encoding wheel according to claim 1, it is characterized in that: the method to set up of described initial website is: elder generation is provided with a signal generator on the track side at rail vehicle zero point, to be provided with sensor corresponding with described signal generator for rail vehicle again, and the signal output part of this sensor is connected with the input end of described CPU treater (2).
3, method for measurement of railcar stroke encoding wheel according to claim 1 is characterized in that: described method for control speed is:
Distance is far away, is set at accordingly and runs at high speed, repeatedly the speed control program of ramp to stop;
Close together, be set at corresponding low speed driving, the speed control program of single ramp to stop.
4, method for measurement of railcar stroke encoding wheel according to claim 1, it is characterized in that: described run-length data is determined by the pulse information accumulated value of described wheeled stroke detector (2) output, described time data is that described CPU treater (3) is the record data of rail vehicle (1) time of run, and described speed data is that the current frequency values of described wheeled stroke detector (2) pulse information is determined.
5, method for measurement of railcar stroke encoding wheel according to claim 1 is characterized in that: described error limit is the distance based on stroke, and its error allows to be arranged within 5～10mm.
6, method for measurement of railcar stroke encoding wheel according to claim 1 is characterized in that: the scroll wheel (5) in the described wheeled stroke detector (2) is the wheel of described rail vehicle (1).
7, method for measurement of railcar stroke encoding wheel according to claim 1, it is characterized in that: the scroll wheel (5) in the described wheeled stroke detector (2) rolls with track and is connected, be connected with tie-beam on the center shaft of this scroll wheel (5), this tie-beam is connected with the bottom surface strand of described rail vehicle (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100782634A CN100519292C (en) | 2007-03-08 | 2007-03-08 | Method for measurement of railcar stroke encoding wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100782634A CN100519292C (en) | 2007-03-08 | 2007-03-08 | Method for measurement of railcar stroke encoding wheel |
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| CN101041359A true CN101041359A (en) | 2007-09-26 |
| CN100519292C CN100519292C (en) | 2009-07-29 |
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| CNB2007100782634A Expired - Fee Related CN100519292C (en) | 2007-03-08 | 2007-03-08 | Method for measurement of railcar stroke encoding wheel |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103569164A (en) * | 2012-07-26 | 2014-02-12 | 上海工程技术大学 | Fault-tolerant detection method used for positioning of urban rail traffic service detection vehicle |
| CN104670773A (en) * | 2015-01-07 | 2015-06-03 | 南京音飞储存设备股份有限公司 | Shuttle vehicle automatic walking position measuring method |
| CN108982507A (en) * | 2017-05-31 | 2018-12-11 | 武汉桑普瑞奇科技有限公司 | A kind of Rail Surface hurt detection device and method |
| CN110510353A (en) * | 2019-09-20 | 2019-11-29 | 南京帝鼎数控科技有限公司 | A kind of sectional track transport platform |
| CN111307078A (en) * | 2020-02-21 | 2020-06-19 | 暨南大学 | Track irregularity detection method and system based on four-point chord measurement method |
| CN114802358A (en) * | 2022-05-25 | 2022-07-29 | 武汉大学 | Track inspection vehicle positioning method and system based on visual identification |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1115275C (en) * | 1999-03-26 | 2003-07-23 | 宝山钢铁股份有限公司 | Vehicle number collector and collecting method for work station point |
| JP4087786B2 (en) * | 2003-12-19 | 2008-05-21 | 株式会社日立製作所 | Train position detection method |
| JP4454303B2 (en) * | 2003-12-22 | 2010-04-21 | 株式会社日立製作所 | Signal security system |
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- 2007-03-08 CN CNB2007100782634A patent/CN100519292C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103569164A (en) * | 2012-07-26 | 2014-02-12 | 上海工程技术大学 | Fault-tolerant detection method used for positioning of urban rail traffic service detection vehicle |
| CN103569164B (en) * | 2012-07-26 | 2015-12-02 | 上海工程技术大学 | A kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location |
| CN104670773A (en) * | 2015-01-07 | 2015-06-03 | 南京音飞储存设备股份有限公司 | Shuttle vehicle automatic walking position measuring method |
| CN104670773B (en) * | 2015-01-07 | 2017-02-01 | 南京音飞储存设备股份有限公司 | Shuttle vehicle automatic walking position measuring method |
| CN108982507A (en) * | 2017-05-31 | 2018-12-11 | 武汉桑普瑞奇科技有限公司 | A kind of Rail Surface hurt detection device and method |
| CN110510353A (en) * | 2019-09-20 | 2019-11-29 | 南京帝鼎数控科技有限公司 | A kind of sectional track transport platform |
| CN111307078A (en) * | 2020-02-21 | 2020-06-19 | 暨南大学 | Track irregularity detection method and system based on four-point chord measurement method |
| CN114802358A (en) * | 2022-05-25 | 2022-07-29 | 武汉大学 | Track inspection vehicle positioning method and system based on visual identification |
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| CN100519292C (en) | 2009-07-29 |
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