CN102556122A - Train navigation monitoring early warning system and early warning method thereof - Google Patents

Train navigation monitoring early warning system and early warning method thereof Download PDF

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Publication number
CN102556122A
CN102556122A CN2012100160001A CN201210016000A CN102556122A CN 102556122 A CN102556122 A CN 102556122A CN 2012100160001 A CN2012100160001 A CN 2012100160001A CN 201210016000 A CN201210016000 A CN 201210016000A CN 102556122 A CN102556122 A CN 102556122A
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CN
China
Prior art keywords
train
early warning
module
navigation
monitoring
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CN2012100160001A
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Chinese (zh)
Inventor
张卫国
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张卫国
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Priority to CN2012100160001A priority Critical patent/CN102556122A/en
Publication of CN102556122A publication Critical patent/CN102556122A/en

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Abstract

The invention relates to a train navigation monitoring early warning system which comprises a navigation monitoring early warning module, a power supply module and a monitoring center, wherein the navigation monitoring early warning module comprises an inertia navigation module, a wireless communication module and an image processing module; the power supply module is connected with the navigation monitoring early warning module; the monitoring center comprises a server and a wireless communication module, and the server is connected with the navigation monitoring early warning module by a wireless network. The early warning method comprises the following steps: the navigation monitoring early warning module measuring the acceleration of a train in real time by adopting an accelerometer, and collecting the attitude information of the train in running by adopting a gyroscope; adopting an inertial navigation algorithm to calculate the collected acceleration data and the attitude information in a central processor to obtain the train running speed and the position information of the train; and adopting the image processing module to collect the situation of surrounding objects of the train in running, so as to judge whether a barrier exists in front of the train. The train navigation monitoring early warning system can effectively prevent the occurrence of abnormal events such as train derailment, collision or the like.

Description

Train navigation monitoring forewarn system and method for early warning thereof

Technical field

The present invention relates to a kind of navigation safety forewarn system, particularly a kind of train navigation monitoring forewarn system.

Background technology

Along with the development of railway, speed is increasingly high, and the problem of bringing of running at high speed also comes out gradually; A lot of problems that take place at a high speed because of train had taken place in recent years, and this has caused tremendous loss for life of the people and national property, for example: about 2 o'clock mornings on the 23rd of May in 2010; By K859 the passenger train generation derailment accident that Guilin is left in Shanghai, this time accident has caused 19 people dead, severely injured 11 people; Slight wound 60 people have evacuated more than 2800 passenger; 20: 27 on the 23rd July in 2011; D301 the train driving of Beijing to Foochow be to the Wenzhou City during Shuan Yu highway section, leaves for D3115 the train from overtaking collision of Foochow with Hangzhou, causes D3115 train 2 joint compartments to fall under the bridge; The suspension of 1 joint compartment in midair in addition; Accident causes 34 people dead altogether, and 191 people are injured, and 12 people's situation are critical.Real-time and Dynamic navigation monitoring early warning for train has proposed requirements at the higher level for this reason; How to accomplish the running state of train is monitored in real time; Avoid derail and situation about knocking into the back to take place once again, need a kind of train navigation monitoring prior-warning device to solve the problem of these existence.

Summary of the invention

The present invention is directed to the drawback of prior art, a kind of train navigation monitoring forewarn system and method for early warning thereof are provided.An object of the present invention is to provide a kind of device that train is monitored in real time, the safe operation of train is monitored.

Another object of the present invention provides a kind of navigation monitoring forewarn system, in real time the running state of train is analyzed and record.

Another purpose of the present invention provides a kind of train method for early warning, and the situation of train operation is carried out monitoring analysis, and real time execution information is provided, and avoids unnecessary dangerous situation to take place.

For this reason, the invention discloses a kind of train navigation monitoring forewarn system, it is characterized in that, comprising:

Navigation monitoring early warning module, it comprises inertial navigation module, first wireless communication module and image processing module, and said first wireless communication module is connected with said inertial navigation module, and said image processing module is connected with said inertial navigation module;

Supply module, said supply module is connected with navigation monitoring early warning module;

Monitoring and control centre, it comprises the server and second wireless communication module, said server is connected with first wireless communication module in the said navigation monitoring early warning module through second wireless communication module, to be connected with said navigation monitoring early warning module realization wireless telecommunications.

Preferably, in the described train navigation monitoring forewarn system, said inertial navigation module comprises central process unit, gyroscope and accelerometer.

Preferably, in the described train navigation monitoring forewarn system, said gyroscope is connected with said central process unit, and said accelerometer is connected with said central process unit.

A kind of train navigation monitoring method for early warning is characterized in that, may further comprise the steps:

Step 1, supply module are that navigation monitoring early warning module provides operation required electric energy;

Step 2, navigation monitoring early warning module adopt accelerometer to measure the acceleration/accel of train in real time, adopt gyroscope to gather the attitude information in the train travelling process in real time;

Step 3, through the inertial navigation algorithm acceleration information that is collected and attitude information, in central process unit, calculate the speed of train operation and the location information of train;

Step 4, adopt image processing module, gather in the train travelling process around the situation of object, judge whether train operation ahead has obstacle;

Step 5, employing first wireless communication module send to monitoring and control centre with the data message of gathering in step 3 and the step 4;

Step 6, monitoring and control centre receive data through second wireless communication module, analyze the back then and through second wireless communication module proper operation information are sent to train.

Preferably; In the described train navigation monitoring method for early warning; Be provided with the abnormality critical value in accelerometer described in the step 2 and the gyroscope; If said accelerometer and/or gyroscope survey or the numerical value that collects surpass the abnormality critical value; Then said accelerometer and/or gyroscope send fault pre-alarming signal or damage early warning signal to central processing unit, and said central processing unit sends said fault pre-alarming signal or damage early warning signal to Surveillance center by first wireless communication module

Preferably; In the described train navigation monitoring method for early warning; The algorithm of inertial navigation described in the step 3 is meant 1) acceleration information that collects and attitude information are transformed into navigation coordinate system from carrier coordinate system; 2) through the quaternion algorithm; Resolve the roll angle, pitch angle and the azimuth that obtain in the train travelling process, 3) obtain the speed of train operation through acceleration calculation, 4) calculate the position of train operation through speed and roll angle, pitch angle and azimuth angle and initial position.

Preferably, in the described train navigation monitoring method for early warning, said error state critical value comprises threshold speed and roll angle critical value, pitch angle critical value and azimuth angle critical value.

Preferably, in the said train navigation monitoring method for early warning, said monitoring and control centre receives the data message that sends from different trains simultaneously.

Preferably, in the said train navigation monitoring method for early warning, said monitoring and control centre is to analyzing and preserve from the data message of different trains.

The beneficial effect of train navigation monitoring forewarn system disclosed by the invention and method for early warning thereof:

1, adopts inertial navigation technology, efficiently solve the existing gps signal that do not receive of independent use GPS navigation, defective such as perhaps gps signal is bad.

2, monitoring and control centre carries out summary record and storage to the data in the train travelling process; Then the data that gather are carried out analysis and judgement; Send to train to correct operation information, instruct the true(-)running of train, canned data is convenient to the operational process of train made analysis afterwards.

3, through to the analysis of gyro data and with the contrast of system's initial value, can find the danger that possibly exist in the train travelling process, can in time carry out early warning to train, also be convenient to the running condition of train analyzed afterwards.

4, adopt image recognition technology, the ambient conditions of train operation is analyzed, help avoiding in the train travelling process generation of unsafe condition.

Description of drawings

Fig. 1 is the structural representation of train navigation monitoring forewarn system of the present invention;

Fig. 2 is the schematic flow sheet of train navigation monitoring method for early warning of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing the present invention is done further detailed description, can implement according to this with reference to the specification sheets literal to make those skilled in the art.

As shown in Figure 1, train navigation monitoring forewarn system of the present invention, it comprises:

Navigation monitoring early warning module 1, it comprises inertial navigation module 4, first wireless communication module 5 and image processing module 6, said first wireless communication module 5 is connected with said inertial navigation module 4; Said image processing module 6 is connected with said inertial navigation module 4, and said inertial navigation module 4 comprises central process unit 7, gyroscope 8 and accelerometer 9, and said gyroscope 8 is connected with said central process unit 7; Said accelerometer 9 is connected with said central process unit 7, and said inertial navigation module 4 is gathered the speed and the attitude information of train operation through gyroscope 8 and accelerometer 9, exports central process unit 7 to; After 7 pairs of various information fusion of said central process unit are handled, obtain the position and the attitude information of said train, the analysis of location information; Realized navigation feature,, realized train operation is monitored dynamically the analysis of attitude information to train; In time find the dynamic fortune situation in the train operation, handle the various information that obtain for central process unit 7, system can pass through first wireless communication module 5; Be transferred to monitoring and control centre 3; Realize data interaction, can obtain the running condition of train on every side in real time, wait danger to avoid bumping or knock into the back through first wireless communication module, 5 trains with monitoring and control centre 3; Image processing module 6 is that the running environment around the train is carried out IMAQ; Object situation around can finding in the train travelling process through image processing module 6 can judge around the train whether obstacle is arranged, and can train taken safety measures.

Supply module 2, said supply module 2 is connected with navigation monitoring early warning module 1, and said supply module 2 provides electric energy for the operation of navigation monitoring forewarn system.

Monitoring and control centre 3, it comprises the server 10 and second wireless communication module 11, said server 10 is connected with first wireless communication module 5 in the said navigation monitoring early warning module 2 through second wireless communication module 11; To realize that with said navigation monitoring early warning module 2 wireless telecommunications are connected; Train in real time the related data of self, sends to monitoring and control centre 3 through first wireless communication module 5; Monitoring and control centre 3 can in time gather the running condition of each train; Thereby can grasp the running condition of all trains, through adopting second wireless communication module 11, monitoring and control centre 3 can send to the train operation situation of closing on this train on the train in real time simultaneously; Thereby make this train make effective judgement; Avoiding train colliding or to knock into the back, the data logging storage in 10 pairs of train travelling processes of server is so that make analysis to the operational process of train afterwards.

A kind of train navigation monitoring method for early warning, it may further comprise the steps:

Step 1, supply module provide operation required electric energy for navigation early warning module;

Step 2, navigation early warning module adopt accelerometer to measure the acceleration of train in real time; Adopt gyroscope to gather the attitude information in the train travelling process in real time; Be provided with the abnormality critical value in said accelerometer and the gyroscope; If said accelerometer and/or gyroscope survey or the numerical value that collects surpass the abnormality critical value; Then said accelerometer and/or gyroscope send fault pre-alarming signal or damage early warning signal to central processing unit; Said central processing unit sends said fault pre-alarming signal or damage early warning signal to Surveillance center by first wireless communication module, and said abnormality critical value comprises threshold speed and roll angle critical value, angle of pitch critical value and azimuth angle critical value;

Step 3, through the inertial navigation algorithm acceleration information that is collected and attitude information; In central process unit, calculate; 1) acceleration information that collects and attitude information are transformed into navigation coordinate system from carrier coordinate system; 2), resolve the roll angle, pitch angle and the azimuth that obtain in the train travelling process, 3 through the quaternion algorithm) obtain the speed of train operation through acceleration calculation; 4) obtain the position of train operation through speed and roll angle, pitch angle and azimuth angle calculation, obtain the speed of train operation and the location information of train at last;

Step 4, adopt image processing module, gather in the train travelling process around the situation of object, judge whether train operation ahead has obstacle, can train be taken safety measures;

Step 5, employing first wireless communication module; The data message of gathering in step 3 and the step 4 is sent to monitoring and control centre; Monitoring and control centre receives simultaneously from the data message of different trains transmissions and to the data that receive through second wireless communication module and analyzes and preserve; Through second wireless communication module proper operation information is sent to train, the data message of preservation is so that analyze the running state of train afterwards.

Although embodiment of the present invention are open as above; But it is not restricted to listed utilization in specification sheets and the embodiment; It can be applied to various suitable the field of the invention fully, for being familiar with those skilled in the art, can easily realize other modification; Therefore under the universal that does not deviate from claim and equivalency range and limited, the legend that the present invention is not limited to specific details and illustrates here and describe.

Claims (9)

1. a train navigation monitoring forewarn system is characterized in that, comprising:
Navigation monitoring early warning module, it comprises inertial navigation module, first wireless communication module and image processing module, and said first wireless communication module is connected with said inertial navigation module, and said image processing module is connected with said inertial navigation module;
Supply module, said supply module is connected with navigation monitoring early warning module;
Monitoring and control centre, it comprises the server and second wireless communication module, said server is connected with first wireless communication module in the said navigation monitoring early warning module through second wireless communication module, to be connected with said navigation monitoring early warning module realization wireless telecommunications.
2. train navigation monitoring forewarn system as claimed in claim 1 is characterized in that said inertial navigation module comprises central process unit, gyroscope and accelerometer.
3. train navigation monitoring forewarn system as claimed in claim 2 is characterized in that said gyroscope is connected with said central process unit, and said accelerometer is connected with said central process unit.
4. a train navigation monitoring method for early warning is characterized in that, may further comprise the steps:
Step 1, supply module are that navigation monitoring early warning module provides operation required electric energy;
Step 2, navigation monitoring early warning module adopt accelerometer to measure the acceleration/accel of train in real time, adopt gyroscope to gather the attitude information in the train travelling process in real time;
Step 3, through the inertial navigation algorithm acceleration information that is collected and attitude information, in central process unit, calculate the speed of train operation and the location information of train;
Step 4, adopt image processing module, gather in the train travelling process around the situation of object, judge whether train operation ahead has obstacle;
Step 5, employing first wireless communication module send to monitoring and control centre with the data message of gathering in step 3 and the step 4;
Step 6, monitoring and control centre receive said data through second wireless communication module, through second wireless communication module proper operation information are sent to train through analyzing the back then.
5. train navigation monitoring method for early warning as claimed in claim 4; It is characterized in that; Be provided with the abnormality critical value in accelerometer described in the step 2 and the gyroscope; If said accelerometer and/or gyroscope survey or the numerical value that collects surpass the abnormality critical value; Then said accelerometer and/or gyroscope send fault pre-alarming signal or damage early warning signal to central processing unit, and said central processing unit sends said fault pre-alarming signal or damage early warning signal to Surveillance center by first wireless communication module.
6. train navigation monitoring method for early warning as claimed in claim 5; It is characterized in that; The algorithm of inertial navigation described in the step 3 is meant 1) acceleration information that collects and attitude information are transformed into navigation coordinate system from carrier coordinate system; 2) through the quaternion algorithm; Resolve the roll angle, pitch angle and the azimuth that obtain in the train travelling process, 3) obtain the speed of train operation through acceleration calculation, 4) calculate the position of train operation through speed and roll angle, pitch angle and azimuth angle and initial position.
7. train navigation monitoring method for early warning as claimed in claim 6 is characterized in that, said error state critical value comprises threshold speed and roll angle critical value, pitch angle critical value and azimuth angle critical value.
8. like the said train navigation monitoring of claim 4 method for early warning, it is characterized in that said monitoring and control centre receives the data message that sends from different trains simultaneously.
9. like the said train navigation monitoring of claim 8 method for early warning, it is characterized in that said monitoring and control centre is to analyzing and preserve from the data message of different trains.
CN2012100160001A 2012-01-18 2012-01-18 Train navigation monitoring early warning system and early warning method thereof CN102556122A (en)

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Cited By (6)

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Publication number Priority date Publication date Assignee Title
CN102923167A (en) * 2012-10-25 2013-02-13 北京交通大学 Train tracking and approaching pre-warning system
CN103017764A (en) * 2012-12-07 2013-04-03 河北汉光重工有限责任公司 Autonomous navigation and attitude measurement device for high speed train
CN103625507A (en) * 2012-08-24 2014-03-12 河南蓝信科技有限公司 Train tracking approaching early warning method for high speed railway and system thereof
CN103625509A (en) * 2012-08-24 2014-03-12 河南蓝信科技有限公司 Device and method for judging whether train is driven into siding
CN104501817A (en) * 2014-11-24 2015-04-08 李青花 Error elimination-based vehicle navigation system
CN105835718A (en) * 2016-06-06 2016-08-10 合肥工业大学 Tube train system for high-speed rail transit and application of tube train system

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103625507B (en) * 2012-08-24 2016-02-24 河南蓝信科技股份有限公司 High Speed Railway Trains is followed the trail of close to method for early warning and system thereof
CN103625509B (en) * 2012-08-24 2016-07-13 河南蓝信科技股份有限公司 Train enters side line discriminating gear and train enters side line method of discrimination
CN103625507A (en) * 2012-08-24 2014-03-12 河南蓝信科技有限公司 Train tracking approaching early warning method for high speed railway and system thereof
CN103625509A (en) * 2012-08-24 2014-03-12 河南蓝信科技有限公司 Device and method for judging whether train is driven into siding
CN102923167B (en) * 2012-10-25 2015-10-14 北京交通大学 Train is followed the trail of close to forewarn system
CN102923167A (en) * 2012-10-25 2013-02-13 北京交通大学 Train tracking and approaching pre-warning system
CN103017764A (en) * 2012-12-07 2013-04-03 河北汉光重工有限责任公司 Autonomous navigation and attitude measurement device for high speed train
CN104501817A (en) * 2014-11-24 2015-04-08 李青花 Error elimination-based vehicle navigation system
CN105835718A (en) * 2016-06-06 2016-08-10 合肥工业大学 Tube train system for high-speed rail transit and application of tube train system

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