CN101633363A - Train curve prewarning system and prewarning method of wireless sensor network - Google Patents
Train curve prewarning system and prewarning method of wireless sensor network Download PDFInfo
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Abstract
The invention provides a train curve prewarning system and prewarning method of a wireless sensor network. The prewarning system mainly comprises a MEMS accelerometer module, a data acquisition module, a GPS global positioning system, a wireless transceiving module, a hazard warning module and a display module. A wireless sensor node uses a MEMS accelerometer to detect a train centripetal acceleration, and the centripetal acceleration is compared with an acceleration threshold at a train curve; if the detected acceleration is higher than an alarm value or a preset value of a system, a lateral acceleration value is sent to a wireless sensor sink node, the sink node adopts the form of acousto-optical warning to warn the train driver to slow down and displays the current geographical position through the display module, the maximum lateral acceleration value and the limit running speed of the train at the curve on a liquid crystal display (LCD) module so as to prevent the train from generating rollover due to overspeed. The system has small volume and high reliability, can be applicable to ordinary trains or motor cars, and has an important role in improving the running safety for trains.
Description
(1) technical field
The present invention relates to a kind of safety monitoring warning, be specifically related to a kind of train curve forewarn system.
(2) background technology
Along with the continuous development of science and technology, the quickening gradually of social rhythm, whether people fast have higher requirement to the vehicle.Yet for this vehicle of train, the reliable and stable of train trusted by masses always, but train accident is in case generation will bring tremendous loss to society.In recent years, because the continuous speed-raising of railway, the problem that does not occur before speed-raising is embodied more and more, has caused tremendous loss for the people's the life and the property of country, for example, on April 28th, 2008, T195 the train that is left for Qingdao by Beijing is too high owing to bend place speed near the Zhou village, causes the compartment derailing, with another train colliding, cause 72 people's death, 416 people are injured.In about 2 o'clock morning on the 9th of March in 2008, the rollover accident of overstepping the limit takes place in the train engine head in advancing on the urban district, Xianyang is exposed to the sun a north of a road side salty (sun) copper (river) line, causes five or the six meters long courtyard walls in the other place of railway and is ruined.How to avoid train rollover problem (also be called and draw dragon) in the process of moving to become the matter of utmost importance that guarantees that train safe need be considered.The reason that causes the train rollover mainly contains two kinds, and the one, objectively because the aging rollover that causes of track rail long neglected and in disrepair: another kind is subjective, because carelessness in the driver driving process or train are by the excessive rollover that causes of bend brief acceleration.The research of rollover at present also is based on the theory stage of laboratory investigation, has set up a lot of models, has analyzed the condition of train rollover.But from car bend alerting automatic telling status and immature.
(3) summary of the invention
The object of the present invention is to provide a kind of can the realization that train is reported to the police in the phenomenon that rollover takes place when turning of running at high speed, avoid the train curve forewarn system and the method for early warning thereof of the wireless sensor network of rollover accident generation.
The object of the present invention is achieved like this: the train curve forewarn system of this wireless sensor network mainly is made up of wireless senser aggregation node and wireless sensor node, the wireless senser aggregation node is by microprocessor module, the RF RF receiving and transmission module, the MEMS acceleration pick-up, the GPS module, survey the inclination angle circuit, warning circuit, LED shows, LCD shows and power-supply system is formed, the RF RF receiving and transmission module, the MEMS acceleration pick-up, the GPS module, survey the inclination angle circuit, warning circuit, LED shows, the LCD demonstration all is connected microprocessor module with power-supply system, wireless sensor node is by microprocessor module, radio receiving transmitting module, survey the inclination angle module, the accelerometer module, GPS module and power module are formed, radio receiving transmitting module, survey the inclination angle module, the accelerometer module, the GPS module all is connected microprocessor module with power module, and MEMS acceleration pick-up and accelerometer module are loaded in the railway car.
Method for early warning of the present invention is: system adopts the microprocessor of ARM as core, adopt MEMS micro-machine acceleration transducer and GPS position fixing system as the core information acquisition module, wherein the measurement of dip angle circuit is measured by using triaxial accelerometer, degree of will speed up meter is loaded in the railway car, send to the centripetal acceleration and the alarm message that record in the wireless senser master control aggregation node of locomotive by wireless sensor network, the GPS position fixing system is located via satellite running section information is reached the ARM microprocessor simultaneously, draw train at this highway section centripetal acceleration a1 by the inclination angle that recorded and in conjunction with the data of car body, the road section information of being determined by GPS also can provide a maximum centripetal acceleration a2 simultaneously, if the centripetal acceleration of actual measurement is greater than among a1 or the a2 any, just there is the danger that rollover takes place in train.
Technical characterstic of the present invention has:
1, system is made up of wireless senser aggregation node and wireless sensor node, wireless sensor node adopts the lateral acceleration of the real-time collection train of accelerometer, and compare with the threshold acceleration at bend place, when dangerous, degree of will speed up information and alarm message send to the wireless senser aggregation node by RF transmit-receive circuit, and aggregation node adopts the form of acousto-optic to report to the police.
2, described wireless sensor node mainly is made up of microprocessor, GPS module, accelerometer module and radio frequency transceiving module.The mouth of accelerometer module links to each other with the input end of microprocessor, and the GPS module adopts the mode of serial communication to link to each other with microprocessor, and radio receiving transmitting module and microprocessor adopt SPI mode or serial mode to communicate.
3, described wireless senser aggregation node is made up of little processing, RF receiving and transmission module, GPS module, LCD demonstration, power module, alarm module, LED driving display module and Keysheet module.Microprocessor and GPS module adopt serial ports to communicate; Radio receiving transmitting module and microprocessor adopt SPI or serial ports to communicate; The input end that LCD shows links to each other with microprocessor; Alarm module adopts the light-emitting diode and the buzzer phone of high brightness to carry out sound and light alarm.
4, described train curve safety monitoring warning has also comprised an angle of roll circuit, the angle of roll circuit is characterized in that it can being that the accelerometer of the high-precision micromechanics triaxial accelerometer of MEMS or a plurality of low precision is united the information that takes measurement of an angle of using, also can be gyroscope and special-purpose side angle circuit, its output port links to each other with the I/O input port of microprocessor.
5, described train curve safety monitoring warning also is to have comprised a GPS module, is used for locating the geographic coordinates of train driving, and the maximum centripetal acceleration of storing in the binding data storehouse that this highway section allowed, and threshold value rationally is set.Also the leaning angle that can go out track by the side angle circuit measuring that is installed in wireless sensor node also can be determined by the common information of the two according to the rollover threshold value that the Calculation and Analysis of Force of train goes out.This has just guaranteed the safety of train driving to the full extent.
6, described MEMS micro-mechanical accelerometer is single shaft, twin shaft, one or more accelerometers of three, the output of acceleration/accel is analog signal or digital signal, output is if analog signal, link to each other with the input port of microprocessor by A/D conversion back, the accelerometer of digital interface directly links to each other with the input interface of microprocessor.
7, described train curve safety monitoring warning also comprises a warning circuit, and warning circuit mainly is made up of the light-emitting diode of high brightness and buzzer phone or sound circuit, and its driving circuit adopts the integrated circuit or the discrete circuitry of constant current.Its output is connected with the input of microprocessor respectively.This system design is three grades of warnings, when detected accekeration during near the acceleration rate threshold set, three grades of warnings are made response successively, preceding two-stage is indicated by light-emitting diode, when detected accekeration surpasses secure threshold, buzzer phone is made response, finishes the warning of total system with this.
8, described train curve safety detecting alarm system applies RF receiving and transmission module, described RF RF receiving and transmission module all is connected power amplifier module with radio receiving transmitting module, power amplifier module connects antenna; This RF receiving and transmission module has adopted power amplification circuit, guaranteed the intensity of received signal, improved the obstacle overcome ability of system, the acceleration information of sensor acquisition and alarm message send to the wireless senser aggregation node by RF receiving and transmission module through power gain.
9, described train curve safety detecting alarm system has also comprised keyboard load module and LCD display module, utilize keyboard can import the relevant information of train, such as: load carrying ability and own wt information, the height of gravitational center of vehicle after the load-carrying, can better set secure threshold, also can be used for the detection certainly of system.And the use of LCD module has strengthened the function of man-machine interaction, and they are connected with the input port of microprocessor respectively.
In order to solve the technical matters that rollover easily takes place train when running at high speed turning, the basic design of the technical solution used in the present invention is that the employing wireless sensor network is a technology platform, utilizes the lateral acceleration value in the real-time detection train travelling process of twin shaft acceleration/accel.Adopt 3-axis acceleration to detect bend place orbit inclination, and handle at native processor, the mathematics model analysis data by the train curve set up draw actual lateral acceleration threshold value.In system, store simultaneously the geographic coordinates information at track bend place and the theoretical maximum lateral acceleration information list at this bend place, the GPS position fixing system that employing is installed in every joint compartment detects the geographical location information of train in real time, obtain the theoretical maximum acceleration figure at this bend place by tabling look-up, acceleration information and the theoretical peak acceleration information of calculating this bend place in the math modeling are compared, when arriving bend, select in two threshold values minimum value as with reference to value, when the lateral acceleration of train surpasses minimum threshold, dangerous information is sent to the main controlled node of locomotive by wireless sensor network, adopt the form of acousto-optic electricity to remind chaufeur to slow down, prevent the generation of train curve rollover phenomenon.The present invention considered simultaneously in the train travelling process the actual measurement peak acceleration and by the theoretical peak acceleration of train at certain tracks bend place, both information fusion are carried out as the condition of estimating the train rollover, as basis for estimation, has higher reliability with respect to traditional single condition.
Train in the process of advancing, only be subjected to vertically downward gravity and rail to these two power of bearing capacity of train.On vertical surface, the component and the gravity of bearing capacity are cancelled out each other, and the horizontal component of force of bearing capacity then provides train to turn to required centripetal force.Because not seamless link between the rail, this makes train produce the variation of the power of vertical and rail; There is pulling force in the joint compartment to train simultaneously.In model analysis, the cycle changes and to single-piece influence and little, the employing low-pass filter can filtering because this power is.
Utilize the rotary balance of object to calculate maximum centripetal acceleration.Can not influence the rotary balance of object through the moment of rotating fulcrum.Consider that train is about to the limiting case of overturning: train turns left as shown in Figure 2, the wheel in train left side will lose with rail and contact at this moment, so all bearing capacitys all will have the rail on right side to provide, again because train will be a fulcrum with right side rail and the train place of bearing, so the moment that bearing capacity produces can not influence the rotary balance of train.By force analysis as can be known, the moment that balances each other of the moment that produces of train gravity in rotating process is the moment of centnifugal force.
g·cos∠3＝a·sin∠3
Wherein, mg is the quality of train, and L is two distances between the rail, and h returns the morals height for the train centroidal distance, and F ' is the centnifugal force of train.Formula is further simplified, can be got:
a＝g·cot∠3
Wherein, a is the maximum centripetal acceleration a that train can bear
1Simultaneously, the max-thresholds acceleration/accel that can be provided by the GPS location is a2.When the actual accekeration that records during greater than in above-mentioned two values any, system can report to the police with the form of buzzing or light, and driver is taked corresponding expeditious measures.Actual measurement peak acceleration in system's operational process and the theoretical peak acceleration that is provided by system database have been provided simultaneously in this system, both information fusion are carried out as the condition of estimating the train rollover, as basis for estimation, has higher reliability with respect to traditional single condition.
The present invention relates to a kind of train curve safety monitoring warning, this system's arterial railway field of traffic, mainly finish the function of train bend speed limit and alarm in the process of running at high speed, can actv. avoid the generation of train rollover phenomenon, improve the safety of railway traffic transportation.
The present invention is a kind of train curve safety monitoring system, is intended to train and runs at high speed in the way when turning, and rollover takes place train reports to the police before dangerous, reminds chaufeur to take appropriate measures, and prevents that train from turning on one's side.System mainly adopts wireless sensor network technology to realize the safe early warning of system.This system mainly is made up of mems accelerometer module, data acquisition module, GPS position fixing system, radio receiving transmitting module, danger warning module and display module.The train centripetal acceleration that wireless sensor node detects by the MEMS micro-acceleration gauge, this acceleration/accel compares with the acceleration rate threshold at track bend place, in the process of train driving, the acceleration/accel that records is greater than warning value or system just during the value of establishing, the lateral acceleration value is sent to the wireless senser aggregation node, aggregation node adopts the form of sound and light alarm, remind the train operator to slow down, simultaneously by the current geographic position of display module with train, maximum lateral acceleration value and the limit moving velocity of train at the bend place are presented on the LCD MODULE, prevent that train is owing to hypervelocity is turned on one's side.System bulk of the present invention is little, and the reliability height can be applicable to ordinary train or motor-car, has significant effect for the driving safety that improves train.
(4) description of drawings
Fig. 1 is the hardware composition frame chart of system of the present invention;
Fig. 2 is the force analysis figure at train curve place;
Fig. 3 is radio-frequency module interface circuit figure;
Fig. 4 is RF RF receiving and transmission module schematic circuit diagram;
Fig. 5 is the system power supply schematic diagram;
Fig. 6 is the system reset circuit schematic diagram;
Fig. 7 is an acceleration/accel Acquisition Circuit schematic diagram;
Fig. 8 is the LCD schematic circuit diagram;
Fig. 9 is the led circuit schematic diagram;
Figure 10 is a GPS interface circuit schematic diagram;
Figure 11 is the buzzer circuit schematic diagram;
Figure 12 is the warning indicator lamp schematic circuit diagram;
Figure 13 is the keyboard circuit schematic diagram;
Figure 14 is system's slave computer software diagram of circuit.
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
In conjunction with Fig. 1, the train curve forewarn system of present embodiment wireless sensor network mainly is made up of wireless senser aggregation node and wireless sensor node, the wireless senser aggregation node is by microprocessor module, the RF RF receiving and transmission module, the MEMS acceleration pick-up, the GPS module, survey the inclination angle circuit, warning circuit, LED shows, LCD shows and power-supply system is formed, the RF RF receiving and transmission module, the MEMS acceleration pick-up, the GPS module, survey the inclination angle circuit, warning circuit, LED shows, the LCD demonstration all is connected microprocessor module with power-supply system, wireless sensor node is by microprocessor module, radio receiving transmitting module, survey the inclination angle module, the accelerometer module, GPS module and power module are formed, radio receiving transmitting module, survey the inclination angle module, the accelerometer module, the GPS module all is connected microprocessor module with power module, and MEMS acceleration pick-up and accelerometer module are loaded in the railway car.
In conjunction with Fig. 5, the whole ware circuit of present embodiment adopts LM7805 or LM2575 three terminal regulator to obtain operating voltage and SPX1117-3.3 or the LP2950CZ-3.3 three terminal regulator acquisition 3.3V operating voltage of 5V.System adopts MAX708SCSA or CAT1025JI-30 to reset chip to the system outlet reset signal, as Fig. 6.In data acquisition circuit and main processor modules, design jtag interface, so that online according to actual needs treater is programmed.
Be depicted as acceleration/accel in conjunction with the block diagram on Fig. 1 the right and take into account data acquisition module, this module adopts ARM7LPC213X as microprocessor, accelerometer adopts U.S. new company to have the twin-axis accelerometer MXC62020M of standard I 2C interface, the twin-axis accelerometer of the I2C interface of U.S. new company and I2C driving circuit schematic diagram thereof are as shown in Figure 7, I2C drives and adopts the P82B96 of two Philips companies to realize that the accelerometer module is connected to I2C1 mouth-P0.11 (SCL) and the P0.14 (SDA) of LPC213X.Finish the transmission of data as the figure microprocessor by read-write accelerometer MXC62020M relevant register, and improved the precision of systematic survey by deviation compensation and corresponding digital filtering.Microprocessor sends to the RF radio-frequency module with the data that collect by serial ports-P0.0 (TX) and P0.1 (RX), as shown in Figure 4, by the RF transceiver module data is sent it back main processor modules and handles.Four LED lamp-LED2, LED3, LED4, LED5 are respectively applied for the mode of operation of indicating the RF RF receiving and transmission module in this module.Comprise a GPS module in this module, be used for gathering the concrete orientation of railway carriage, simultaneously the data that collect are sent it back primary processor by the RF module.
Fig. 1 left-hand component block diagram is depicted as main processor modules, and this module is a main processor modules, and module adopts LPC213X as treater, and its hardware circuit mainly is made of Fig. 4～5 and Fig. 7～13.This module provides the interface of RF RF receiving and transmission module and indication radio-frequency front-end mode of operation four independently LED lamps.System has also designed standard RS232 serial ports, in order to connect the GPS module, shows the concrete orientation of train simultaneously in real time by LCD, and circuit structure is seen Fig. 8.The LED charactron provides numeral output intuitively, is mainly used in the quantitative data input of display keyboard, circuit diagram such as Fig. 9.LED drives and adopts 74LS245 to drive four static state positive LED charactron altogether, and CS1, CS2, CS3, CS4 hold as the sheet choosing of group of four figures pipe respectively.In the system six independently LED lamp-DS1, DS2, DS3, DS4, DS5, DS6 adopt the connection of anode altogether, in the time of the corresponding I/O mouth output low level of bonded assembly LPC213X, the LED lamp is lighted, when the output high level, the LED lamp extinguishes, as shown in figure 12, the type of drive that circuit has adopted the I/O mouth to irritate electric current is come driving LED, guaranteed the display brightness of LED, led array is made up of one group of high brightness or super brightness, single primary colours or dual base color or three-color light-emitting diode, one-tenth row placed side by side.According to train inclination degree, light-emitting diode is lighted successively, and the light-emitting diode of lighting is many more, shows that the vehicle roll degree is serious more.When the vehicle side inclination is in early warning critical (acceleration rate threshold 70%), wherein two beginning LED flicker, when detected accekeration continues to increase, accordingly, residue LED lamp also begins flicker, if accekeration surpasses 90% of acceleration rate threshold, buzzer phone can be reported to the police, in this way, the safety traffic degree very first time of train can be informed driver and crew.The buzzer phone control circuit uses PNP aerotron Q1 to carry out drive controlling, the circuit structure schematic diagram as shown in figure 11, when P0.14 control level output " 0 ", Q1 conducting, buzzer phone buzzing; When P0.7 control level output " 1 ", Q1 ends, and buzzer phone stops buzzing.Native system has used the matrix keyboard of 4X4, its line is R1, R2, R3, R4, be connected respectively to P0.26, P1.18, P1.19, the P0.22 of LPC213X, its alignment is L1, L2, L3, L4, be connected respectively to P0.15, P0.16, P1.20, the P0.19 of LPC213X, wherein line is as the input of button, and circuit structure is seen Figure 13.Because when the I/O mouth was done the input end use, its inner supreme resistance that draws was so externally used the pull-up resistor of R5-R8.Scanning method is adopted in button identification, detects the low level input of I/O mouth, and all I/O mouths all use the GPIO function.The functional departmentalization of button is as follows:
1.0 digital keys to 9;
2. arithmetic point input ". ";
3. keyboard starts START;
4. digital reset key CLEAR;
5. System self-test is surveyed CHECK.
The total system program flow diagram as shown in figure 14.When system installs first, need to import the correlation parameter of car train by the user, as unloaded quality, load-carrying, height of gravitational center etc., according to the math modeling of having set up, program can calculate the parameter relevant with acceleration rate threshold, in conjunction with the related data that collects in the train travelling process, can calculate the secure threshold of acceleration/accel again.Lateral acceleration and obliquity information by the real-time collection train of sensor, be converted into the train factor of comprehensively turning on one's side, be used as judging the condition of train rollover, when the rollover factor reaches train rollover threshold value, report to the police, so just can avoid the turning on one's side generation of phenomenon can reduce the traffic accident that rollover causes by actv..By with system in adopted multiple functional module GPS and mems accelerometer, therefore to accomplish time-sharing multiplex when treater being programmed, could guarantee normally carrying out of data transmission like this.
Claims (10)
1, a kind of train curve forewarn system of wireless sensor network, the train curve forewarn system that it is characterized in that this wireless sensor network mainly is made up of wireless senser aggregation node and wireless sensor node, the wireless senser aggregation node is by microprocessor module, the RF RF receiving and transmission module, the MEMS acceleration pick-up, the GPS module, survey the inclination angle circuit, warning circuit, LED shows, LCD shows and power-supply system is formed, the RF RF receiving and transmission module, the MEMS acceleration pick-up, the GPS module, survey the inclination angle circuit, warning circuit, LED shows, the LCD demonstration all is connected microprocessor module with power-supply system, wireless sensor node is by microprocessor module, radio receiving transmitting module, survey the inclination angle module, the accelerometer module, GPS module and power module are formed, radio receiving transmitting module, survey the inclination angle module, the accelerometer module, the GPS module all is connected microprocessor module with power module, and MEMS acceleration pick-up and accelerometer module are loaded in the railway car.
2, the train curve forewarn system of wireless sensor network according to claim 1, the mouth that it is characterized in that the accelerometer module of described wireless sensor node links to each other with the input end of microprocessor module, the GPS module adopts the mode of serial communication to link to each other with microprocessor module, and radio receiving transmitting module and microprocessor module adopt SPI mode or serial mode to communicate.
3, the train curve forewarn system of wireless sensor network according to claim 1 is characterized in that the microprocessor module of described wireless senser aggregation node and GPS module adopt serial ports to communicate; RF RF receiving and transmission module and microprocessor module adopt SPI or serial ports to communicate; The input end that LCD shows links to each other with microprocessor module; Alarm module adopts the light-emitting diode and the buzzer phone of high brightness to carry out sound and light alarm.
4, according to the train curve forewarn system of the wireless sensor network of claim 1, it is characterized in that described angle of roll circuit is that the accelerometer of the high-precision micromechanics triaxial accelerometer of MEMS or a plurality of low precision is united the information that takes measurement of an angle of using, also can be gyroscope and special-purpose side angle circuit, its output port links to each other with the I/O input port of microprocessor module.
5, according to the train curve forewarn system of claim 1,4 described wireless sensor networks, it is characterized in that described GPS module is used for locating the geographic coordinates of train driving, and the maximum centripetal acceleration of storing in the binding data storehouse that this highway section allowed, leaning angle that threshold value can go out track by the side angle circuit measuring that is installed in wireless sensor node is set according to the rollover threshold value that the Calculation and Analysis of Force of train goes out, also can determines by the common information of the two.
6, the train curve forewarn system of wireless sensor network according to claim 1, it is characterized in that described MEMS micro-mechanical accelerometer is single shaft, twin shaft, one or more accelerometers of three, acceleration/accel is output as analog signal or digital signal, output is if analog signal, link to each other with the input port of microprocessor by A/D conversion back, the accelerometer of digital interface directly links to each other with the input interface of microprocessor module.
7, the train curve forewarn system of wireless sensor network according to claim 1, it is characterized in that described warning circuit is made up of the light-emitting diode of high brightness and buzzer phone or sound circuit, its driving circuit adopts the integrated circuit or the discrete circuitry of constant current, its output is connected with the input of microprocessor respectively, this system is three grades of warnings, when detected accekeration during near the acceleration rate threshold set, three grades of warnings are made response successively, preceding two-stage is indicated by light-emitting diode, when detected accekeration surpasses secure threshold, buzzer phone is made response, finishes the warning of total system with this.
8, the train curve forewarn system of wireless sensor network according to claim 1, it is characterized in that RF receiving and transmission module has adopted power amplification circuit, the acceleration information of sensor acquisition and alarm message send to the wireless senser aggregation node by RF receiving and transmission module through power gain.
9, the train curve forewarn system of wireless sensor network according to claim 1 is characterized in that the keyboard load module is connected with the input port of microprocessor module respectively with the LCD display module.
10, a kind of method for early warning of train curve forewarn system of wireless sensor network, it is characterized in that system is made up of wireless senser aggregation node and wireless sensor node, adopt the microprocessor of ARM as core, adopt MEMS micro-machine acceleration transducer and GPS position fixing system as the core information acquisition module, wherein the measurement of dip angle circuit is measured by using triaxial accelerometer, degree of will speed up meter is loaded in the railway car, adopt the lateral acceleration of the real-time collection train of acceleration pick-up, send to the centripetal acceleration and the alarm message that record in the wireless senser master control aggregation node of locomotive by wireless sensor network, the GPS position fixing system is located via satellite running section information is reached the ARM microprocessor simultaneously, draw train at this highway section centripetal acceleration a1 by the inclination angle that recorded and in conjunction with the data of car body, the road section information of being determined by GPS also can provide a maximum centripetal acceleration a2 simultaneously, if the centripetal acceleration of actual measurement is greater than among a1 or the a2 any, just there is the danger that rollover takes place in train, when dangerous, degree of will speed up information and alarm message send to the wireless senser aggregation node by RF transmit-receive circuit, and aggregation node adopts the form of acousto-optic to report to the police.
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