CN101870295A - A derailment detection device for a large road maintenance vehicle - Google Patents

A derailment detection device for a large road maintenance vehicle Download PDF

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CN101870295A
CN101870295A CN 201010207414 CN201010207414A CN101870295A CN 101870295 A CN101870295 A CN 101870295A CN 201010207414 CN201010207414 CN 201010207414 CN 201010207414 A CN201010207414 A CN 201010207414A CN 101870295 A CN101870295 A CN 101870295A
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ultrasonic
distance sensor
road maintenance
maintenance vehicle
ultrasonic distance
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尹勇
周祖德
刘泉
龙毅宏
梅伟
华长权
刘波
邢根轩
董明东
李京蔚
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Wuhan University of Technology WUT
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Abstract

The invention relates to a derailing detector for a large road maintenance vehicle. The derailing detector comprises an ultrasonic distance sensor and a processor; the ultrasonic distance sensor is arranged on the bottom of the large road maintenance vehicle and directed at the surfaces of railroad rails; the processor is used for receiving and processing a distance value transmitted by the ultrasonic distance sensor; and the processor selects the following actions: when the current distance value transmitted by the ultrasonic distance sensor is larger than or equal to a set value, transmitting an alarm signal; or when the current distance value transmitted by the ultrasonic distance sensor is less than the set value, processing a next distance value transmitted by the ultrasonic distance sensor. The derailing detector can actively detect whether the large road maintenance vehicle is derailed or probably derailed, and can transmit an alarm signal when the large road maintenance vehicle is derailed or probably derailed.

Description

一种大型养路作业车脱轨检测装置 A derailment detection device for a large road maintenance vehicle

技术领域technical field

本发明涉及轨道车辆,具体涉及铁路维护部门大型养路作业车(如清筛车、捣固车等)安全防护领域。The invention relates to a rail vehicle, in particular to the field of safety protection of a large-scale road maintenance vehicle (such as a cleaning vehicle, a tamping vehicle, etc.) in a railway maintenance department.

背景技术Background technique

大型养路作业车属于列车中的一种,大型养路作业车在施工过程中,与普通列车一样,也经常存在脱轨现象。然而,已有的相关成果主要集中在高速、重载、客货混跑、桥梁、货车空跑等环境下的列车脱轨现象,所采取的方法极为复杂,考虑的因素众多,这些成果对于大型养路作业车的脱轨现象并不实用,原因在于:Large-scale road maintenance vehicle is a kind of train. During the construction process, large-scale road maintenance vehicle, like ordinary trains, often derails. However, the existing relevant achievements mainly focus on the train derailment phenomenon under the environment of high speed, heavy load, mixed passenger and freight, bridges, and empty trucks. The methods adopted are extremely complicated and there are many factors considered. The derailment of the work vehicle is not practical for the following reasons:

(1)大型养路作业车运行速度非常缓慢,不存在外部条件不良时的紧急制动、超过额定的列车运行速度、不合理的车辆悬挂刚度及车体扭转刚度以及提速状态下的全列空载货车和轻、重货车混编等前提条件,不可能出现滑轨脱轨和跳轨脱轨现象;(1) The running speed of the large-scale road maintenance vehicle is very slow, there is no emergency braking when the external conditions are bad, the running speed of the train exceeds the rated speed, the unreasonable suspension stiffness and torsional stiffness of the vehicle body, and the full train no-load under the speed-up state Preconditions such as trucks and light and heavy trucks are mixed, and it is impossible for the phenomenon of derailment and derailment of the slide rail;

(2)大型养路作业车运行方式与常规客运和货运列车不同,通常是一边运行一边施工,因此作业车与钢轨的轮轨接触及受力关系与常规客运和货运列车相差极大;(2) The operating mode of large-scale road maintenance vehicles is different from that of conventional passenger and freight trains, and is usually constructed while running, so the wheel-rail contact and force relationship between the working vehicle and the rail is very different from that of conventional passenger and freight trains;

(3)根据已有的成果所开发的预警装置、报警装置成本高、参数设置复杂,并且只能起到报警或预警作用(考虑到误报或漏报情况),以在检测到脱轨情况下发出信号给列车驾驶员采取相应措施,无法自动停车。(3) The early warning device developed according to the existing achievements has high cost and complex parameter setting, and can only play an alarm or early warning role (taking into account false positives or missed negatives), so that when derailment is detected Send a signal to the train driver to take corresponding measures, and cannot stop automatically.

由于以上缺陷,目前尚未有适合大型养路作业车脱轨检测方法及装置。国内解决大型养路作业车脱轨所采取的应付手段是,在作业车脱轨后利用复轨器或起复装置进行起复。该方法是在大型养路作业车脱轨后所采取的一种应急措施,属于一种被动的事后援救处理方式。Due to the above defects, there is no derailment detection method and device suitable for large-scale road maintenance vehicles at present. The domestic solution to the derailment of large-scale road maintenance vehicles is to use a rerailer or a recovery device to recover the vehicle after it has derailed. This method is an emergency measure taken after the derailment of a large-scale road maintenance vehicle, and belongs to a passive post-event rescue treatment method.

然而,由于大型养路作业车脱轨后所造成的影响和带来的损失无法预知,在某些情况下,即使采用复轨器或起复装置对脱轨大型养路作业车成功进行起复,但造成的延点和大型养路作业车脱轨所带来的损失仍然无法避免。However, due to the unpredictable impact and loss caused by the derailment of the large track maintenance vehicle, in some cases, even if the derailed large track maintenance vehicle is successfully recovered by using a rerailer or recovery device, the delay caused The loss caused by the derailment of the large road maintenance vehicle is still unavoidable.

发明内容Contents of the invention

本发明要解决的技术问题是:提供一种大型养路作业车脱轨检测装置,能够主动检测大型养路作业车是否脱轨或是否可能脱轨,并在脱轨或可能脱轨时发出报警信号。The technical problem to be solved by the present invention is to provide a derailment detection device for a large-scale road maintenance vehicle, which can actively detect whether a large-scale road maintenance vehicle is derailed or whether it may derail, and send an alarm signal when the derailment or possible derailment occurs.

本发明为解决上述技术问题所采取的技术方案为:The technical scheme that the present invention takes for solving the problems of the technologies described above is:

一种大型养路作业车脱轨检测装置,其特征在于:它包括:A derailment detection device for a large-scale road maintenance vehicle, characterized in that it includes:

设置在大型养路作业车底部并指向钢轨轨面的超声波距离传感器、The ultrasonic distance sensor set on the bottom of the large road maintenance vehicle and pointing to the rail surface,

用于接收超声波距离传感器发出的距离值并进行处理的处理器;A processor for receiving and processing the distance value sent by the ultrasonic distance sensor;

所述处理器对以下动作进行选择:The processor selects from the following actions:

当超声波距离传感器发出的当前距离值大于等于设定值时,发出报警信号;When the current distance value sent by the ultrasonic distance sensor is greater than or equal to the set value, an alarm signal is sent;

或,or,

当超声波距离传感器发出的当前距离值小于设定值时,处理超声波距离传感器发出的下一个距离值。When the current distance value sent by the ultrasonic distance sensor is less than the set value, process the next distance value sent by the ultrasonic distance sensor.

上述方案中,所述超声波距离传感器为具有温度补偿功能的超声波距离传感器。In the above solution, the ultrasonic distance sensor is an ultrasonic distance sensor with a temperature compensation function.

上述方案中,所述超声波距离传感器发出的超声波频率为250KHz。In the above solution, the ultrasonic frequency emitted by the ultrasonic distance sensor is 250KHz.

上述方案中,所述超声波距离传感器包括超声波探头、处理模块,超声波探头接收超声回波后向处理模块输出电压信号,处理模块处理电压信号的频率位于200-300KHz之间,幅值位于2.5-3.3v之间。In the above solution, the ultrasonic distance sensor includes an ultrasonic probe and a processing module. The ultrasonic probe receives the ultrasonic echo and outputs a voltage signal to the processing module. The frequency of the voltage signal processed by the processing module is between 200-300KHz, and the amplitude is between 2.5-3.3 between v.

本发明的工作原理为:采用超声波方式精确检测设置在大型养路作业车底部的超声波传感器与轨面距离,当超声波传感器与轨面距离大于等于设定值时,说明大型养路作业车已经脱轨或可能发生脱轨,本发明大型养路作业车脱轨检测装置发出报警信号报警。The working principle of the present invention is as follows: the ultrasonic sensor is used to accurately detect the distance between the ultrasonic sensor installed at the bottom of the large-scale road maintenance vehicle and the rail surface, and when the distance between the ultrasonic sensor and the rail surface is greater than or equal to the set value, it indicates that the large-scale road maintenance vehicle has derailed When derailment occurs, the derailment detection device of the large-scale road maintenance vehicle of the present invention sends out an alarm signal to alarm.

本发明的有益效果为:The beneficial effects of the present invention are:

1、可主动检测大型养路作业车的脱轨与否,及时补救,避免损失;1. It can actively detect the derailment of large-scale road maintenance vehicles, and make timely remedies to avoid losses;

2、增加温度补偿系数,提高超声波距离传感器灵敏度和精度;2. Increase the temperature compensation coefficient to improve the sensitivity and accuracy of the ultrasonic distance sensor;

3、本发明所采用的超声波频率增大,超声波频率为250KHz,使得超声波波长比通常情况下大约短5倍,极大的提高了超声波的穿透能力及对周围环境的抗干扰能力,避免了空气湿度等影响。3. The ultrasonic frequency used in the present invention is increased, and the ultrasonic frequency is 250KHz, so that the ultrasonic wave length is about 5 times shorter than usual, which greatly improves the penetration ability of the ultrasonic wave and the anti-interference ability to the surrounding environment, avoiding the Influenced by air humidity, etc.

4、采用基于阈值自动设置的抗环境干扰信号方法,处理模块仅仅接收超声回波后向输出有用电压信号,处理模块处理的有用电压信号的频率位于200-300KHz之间,幅值位于2.5-3.3v之间,将范围之外的信号作为环境干扰信号,以去除环境中叠加的干扰信号,减小了发射部分带来的余波和串扰直通波干扰,可降低误报率和漏报率。4. Using the anti-environmental interference signal method based on the automatic setting of the threshold, the processing module only receives the ultrasonic echo and then outputs the useful voltage signal. The frequency of the useful voltage signal processed by the processing module is between 200-300KHz, and the amplitude is between 2.5-3.3 Between v, the signal outside the range is used as the environmental interference signal to remove the superimposed interference signal in the environment, reduce the aftermath and crosstalk direct wave interference caused by the transmitting part, and reduce the false alarm rate and false alarm rate.

附图说明Description of drawings

图1为本发明实施例的传感器的结构框图Fig. 1 is the structural block diagram of the sensor of the embodiment of the present invention

图2为车轮脱轨前状态示意图Figure 2 is a schematic diagram of the state before the wheel derailment

图3为车轮脱轨后状态示意图Figure 3 is a schematic diagram of the state of the wheel after derailment

图4为处理器工作流程图Figure 4 is a flowchart of the processor work

图5为超声波回波频率与幅值阈值设置示意图Figure 5 is a schematic diagram of ultrasonic echo frequency and amplitude threshold setting

具体实施方式Detailed ways

如图1所示,本发明实施例包括:As shown in Figure 1, the embodiment of the present invention includes:

设置在大型养路作业车底部并指向钢轨轨面的超声波距离传感器、The ultrasonic distance sensor set on the bottom of the large road maintenance vehicle and pointing to the rail surface,

用于接收超声波距离传感器发出的距离值并进行处理的处理器;A processor for receiving and processing the distance value sent by the ultrasonic distance sensor;

所述超声波距离传感器为具有温度补偿功能的超声波距离传感器,超声波距离传感器发出的超声波频率为250KHz。The ultrasonic distance sensor is an ultrasonic distance sensor with a temperature compensation function, and the ultrasonic frequency emitted by the ultrasonic distance sensor is 250KHz.

所述处理器对以下动作进行选择:The processor selects from the following actions:

当超声波距离传感器发出的当前距离值大于等于设定值时,发出报警信号;When the current distance value sent by the ultrasonic distance sensor is greater than or equal to the set value, an alarm signal is sent;

或,or,

当超声波距离传感器发出的当前距离值小于设定值时,处理超声波距离传感器发出的下一个距离值。When the current distance value sent by the ultrasonic distance sensor is less than the set value, process the next distance value sent by the ultrasonic distance sensor.

本实施例中,超声波距离传感器包括超声波探头、温度传感器、脉宽调制输出模块PWM(控制超声波传感器的超声波频率)、阈值设置模块、计时器(对超声波传感器发射端发出超声波,至回波到达超声波传感器接收端进行计时)、温度补偿模块。其中,脉宽调制输出模块、阈值设置模块、计时器、温度补偿模块都集成在32位DSP芯片TMS320F2812中。脉宽调制输出模块产生250KHz的脉冲,驱动超声波传感器产生频率为250KHz的超声波。阈值设置模块设置有用电压信号的频率位于200-300KHz之间,幅值位于2.5-3.3v之间。In this embodiment, the ultrasonic distance sensor includes an ultrasonic probe, a temperature sensor, a pulse width modulation output module PWM (controlling the ultrasonic frequency of the ultrasonic sensor), a threshold value setting module, and a timer (sending ultrasonic waves to the transmitting end of the ultrasonic sensor until the echo reaches the ultrasonic wave) sensor receiving end for timing), temperature compensation module. Among them, the pulse width modulation output module, the threshold value setting module, the timer and the temperature compensation module are all integrated in the 32-bit DSP chip TMS320F2812. The pulse width modulation output module generates 250KHz pulses to drive the ultrasonic sensor to generate ultrasonic waves with a frequency of 250KHz. The threshold value setting module sets the frequency of the useful voltage signal between 200-300KHz and the amplitude between 2.5-3.3v.

TMS320F2812工作频率为120MHz,计时器计时精确度为:The operating frequency of TMS320F2812 is 120MHz, and the timing accuracy of the timer is:

μμ == 11 120120 ×× 1010 66 == 8.38.3 ×× 1010 -- 99 sthe s == 8.38.3 nsns

温度传感器采用LM92温度传感器进行环境温度检测,将所检测的环境温度传递给DSP芯片TMS320F2812,对超声波在不同环境温度下的传播速度进行补偿。LM92温度传感器的温度测试分辨率为0.0625℃,能很好的补偿超声波在不同温度的传播速度。The temperature sensor adopts the LM92 temperature sensor to detect the ambient temperature, and transmits the detected ambient temperature to the DSP chip TMS320F2812 to compensate the propagation speed of the ultrasonic wave at different ambient temperatures. The temperature measurement resolution of the LM92 temperature sensor is 0.0625°C, which can well compensate the propagation speed of ultrasonic waves at different temperatures.

图2、3为车轮脱轨前后示意图,通常情况下,超声波探头3所在大型养路作业车底部1(本实施例与车轮圆心等高位置)与钢轨轨面2的距离为300mm;车轮外圈4与车轮内圈5之间距离20mm,车轮脱轨瞬间,车轮圆心与钢轨轨面的距离为320mm,因此,本实施例处理器设定值为320mm。Figures 2 and 3 are schematic diagrams before and after the derailment of the wheel. Normally, the distance between the bottom 1 of the large-scale road maintenance vehicle where the ultrasonic probe 3 is located (this embodiment is at the same height as the center of the wheel) and the rail surface 2 is 300mm; The distance between the wheel inner rings 5 is 20 mm, and the moment the wheel derails, the distance between the center of the wheel circle and the rail surface is 320 mm. Therefore, the processor setting value of this embodiment is 320 mm.

超声波探头发射端发出超声波至回波到达超声波传感器接收端的时间为t,则车轮圆心至钢轨轨面之间的距离s=ct/2,c为超声波波速。The time from the sending end of the ultrasonic probe to the time when the echo reaches the receiving end of the ultrasonic sensor is t, then the distance between the center of the wheel circle and the rail surface is s=ct/2, and c is the ultrasonic wave velocity.

由于超声波波速c会随着环境温度的影响而改变,因此增加温度系数对c进行补偿。超声波波速c与实时环境温度T之间的关系为:c=c0+0.607T,c0为超声波在常温下的空气介质中的传播速度,且c0=340m/s。Since the ultrasonic wave speed c will change with the influence of the ambient temperature, the temperature coefficient is increased to compensate for c. The relationship between the ultrasonic wave speed c and the real-time ambient temperature T is: c=c 0 +0.607T, c 0 is the propagation speed of ultrasonic wave in the air medium at normal temperature, and c 0 =340m/s.

因此,车轮圆心至钢轨轨面之间的距离:Therefore, the distance from the wheel center to the rail surface:

s=ct/2=(c0+0.607T)t/2    (1)s=ct/2=(c 0 +0.607T)t/2 (1)

其中c0已知,只需要测得实时环境温度T和超声波传感器发射端发出超声波至回波到达超声波传感器接收端的时间t即可。Where c 0 is known, it is only necessary to measure the real-time ambient temperature T and the time t from when the ultrasonic sensor emits the ultrasonic wave to when the echo reaches the ultrasonic sensor receiving end.

如图4所示,处理器的设定值为320mm,处理器将设定值和计算模块发出的距离信号s进行比较,当s≥320mm时,说明大型养路作业车已经脱轨或即将脱轨,处理器发出报警信号(如声音信号、显示信号等)或/和停车信号;当s<320mm时,说明大型养路作业车安全,处理器处理超声波距离传感器发出的下一个距离值信号。As shown in Figure 4, the set value of the processor is 320mm, and the processor compares the set value with the distance signal s sent by the calculation module. When s≥320mm, it means that the large road maintenance vehicle has derailed or is about to derail. The sensor sends an alarm signal (such as sound signal, display signal, etc.) or/and a stop signal; when s<320mm, it means that the large road maintenance vehicle is safe, and the processor processes the next distance value signal sent by the ultrasonic distance sensor.

如图5所示,本实施例的超声波频率为250KHz,其波形经过放大处理后的幅值为3.3v。故设置接收的频率和幅值的阈值为250Khz和3v,当超声波频率位于200KHz-300KHz,幅值位于2.5v-3.3v时为有用信号,即:超声波探头接收超声回波后向处理模块输出电压信号,TMS320F2812处理模块处理电压信号的频率位于200-300KHz之间,幅值位于2.5-3.3v之间。范围之外的信号为环境干扰信号,以去除环境中叠加的干扰信号,减小了发射部分带来的余波和串扰直通波干扰,具有降低误报率和漏报率等特点。As shown in FIG. 5 , the ultrasonic frequency of this embodiment is 250KHz, and the amplitude of the waveform after amplification is 3.3v. Therefore, set the receiving frequency and amplitude thresholds to 250Khz and 3v. When the ultrasonic frequency is 200KHz-300KHz and the amplitude is 2.5v-3.3v, it is a useful signal, that is, the ultrasonic probe outputs a voltage to the processing module after receiving the ultrasonic echo. Signal, the TMS320F2812 processing module processes the voltage signal with a frequency between 200-300KHz and an amplitude between 2.5-3.3v. The signals outside the range are environmental interference signals to remove the superimposed interference signals in the environment, reduce the aftermath and crosstalk direct wave interference caused by the transmitting part, and have the characteristics of reducing false alarm rate and false alarm rate.

Claims (4)

1. derailing detector for large road maintenance vehicle, it is characterized in that: it comprises:
Be arranged on large-scale road maintenance operation car bottom and point to the rail rail level the ultrasonic distance sensor,
Be used to receive distance value that the ultrasonic distance sensor sends and the treater of handling;
Described treater is selected following action:
The current distance value of sending when the ultrasonic distance sensor is sent alerting signal during more than or equal to setting value;
Or,
The current distance value of sending when the ultrasonic distance sensor is handled the next distance value that the ultrasonic distance sensor sends during less than setting value.
2. derailing detector for large road maintenance vehicle as claimed in claim 1 is characterized in that: described ultrasonic distance sensor is the ultrasonic distance sensor with temperature compensation function.
3. derailing detector for large road maintenance vehicle as claimed in claim 1 is characterized in that: the ultrasonic frequency that described ultrasonic distance sensor sends is 250KHz.
4. derailing detector for large road maintenance vehicle as claimed in claim 1, it is characterized in that: described ultrasonic distance sensor comprises ultrasonic probe, processing module, ultrasonic probe receives behind the ultrasonic echo to the processing module output voltage signal, processing module is handled the frequency of voltage signal between 200-300KHz, and amplitude is between 2.5-3.3v.
CN 201010207414 2010-06-24 2010-06-24 A derailment detection device for a large road maintenance vehicle Pending CN101870295A (en)

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CN107521520A (en) * 2017-08-18 2017-12-29 唐智科技湖南发展有限公司 A kind of method and system of wheel derailment early warning
CN108274113A (en) * 2018-01-19 2018-07-13 上海维宏电子科技股份有限公司 The laser head assembly carried apart from inducing function with temperature-compensating
CN108333590A (en) * 2017-12-05 2018-07-27 欣旺达电子股份有限公司 Method, apparatus, equipment and the storage medium of ultrasonic wave frequency conversion ranging
CN109032057A (en) * 2018-07-10 2018-12-18 北京同和时代科技有限公司 To monitoring method, the device and system of the polishing trolley derailing of track grinding machine
CN111688752A (en) * 2020-06-18 2020-09-22 中车四方车辆有限公司 Anti-falling control device and anti-falling control method for railway vehicle
CN114896828A (en) * 2022-07-14 2022-08-12 合肥磐石智能科技股份有限公司 Traveling crane electronic differential algorithm and demonstration device based on large-curvature fixed track
AT526526B1 (en) * 2022-11-30 2024-04-15 Siemens Mobility Austria Gmbh Device and method for derailment detection for rail vehicles and rail vehicle

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CN103308905B (en) * 2013-06-06 2015-12-23 湖南农业大学 Anti-collision device and method for ballast cleaning machine
CN103308905A (en) * 2013-06-06 2013-09-18 湖南农业大学 Collision prevention device and method for ballast screening machine
CN106483526B (en) * 2016-12-03 2023-09-19 杭州立方控股股份有限公司 Non-blind area ultrasonic ranging probe and ranging method
CN106483526A (en) * 2016-12-03 2017-03-08 杭州立方控股股份有限公司 A kind of non-blind area ultrasonic ranging probe and distance-finding method
CN107521520A (en) * 2017-08-18 2017-12-29 唐智科技湖南发展有限公司 A kind of method and system of wheel derailment early warning
CN107521520B (en) * 2017-08-18 2019-04-05 唐智科技湖南发展有限公司 A kind of method and system of wheel derailment early warning
CN108333590A (en) * 2017-12-05 2018-07-27 欣旺达电子股份有限公司 Method, apparatus, equipment and the storage medium of ultrasonic wave frequency conversion ranging
CN108274113A (en) * 2018-01-19 2018-07-13 上海维宏电子科技股份有限公司 The laser head assembly carried apart from inducing function with temperature-compensating
CN109032057A (en) * 2018-07-10 2018-12-18 北京同和时代科技有限公司 To monitoring method, the device and system of the polishing trolley derailing of track grinding machine
CN111688752B (en) * 2020-06-18 2022-05-24 青岛中车四方轨道车辆有限公司 Anti-falling control device and anti-falling control method for railway vehicle
CN111688752A (en) * 2020-06-18 2020-09-22 中车四方车辆有限公司 Anti-falling control device and anti-falling control method for railway vehicle
CN114896828A (en) * 2022-07-14 2022-08-12 合肥磐石智能科技股份有限公司 Traveling crane electronic differential algorithm and demonstration device based on large-curvature fixed track
AT526526B1 (en) * 2022-11-30 2024-04-15 Siemens Mobility Austria Gmbh Device and method for derailment detection for rail vehicles and rail vehicle
AT526526A4 (en) * 2022-11-30 2024-04-15 Siemens Mobility Austria Gmbh Device and method for derailment detection for rail vehicles and rail vehicle

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Application publication date: 20101027