CN103738355A - Speed detection system - Google Patents
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- CN103738355A CN103738355A CN201310714583.XA CN201310714583A CN103738355A CN 103738355 A CN103738355 A CN 103738355A CN 201310714583 A CN201310714583 A CN 201310714583A CN 103738355 A CN103738355 A CN 103738355A
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Abstract
The invention provides a speed detection system. The speed detection system is used for performing speed detection on vehicles and comprises at least one speed detection subsystem; the speed detection subsystem comprises a plurality of driving modules, a plurality of input voting modules, a plurality of unit processing modules, a speed integration module and an output voting module. A plurality of times of judgment is performed on vehicle speed signals which are collected by a sensor to ensure that the collected speed signals are available and then the available speed signals are integrated. According to the speed detection system, the accuracy, reliability and availability of the speed detection can be improved.
Description
Technical field
The present invention relates to Train Control Technology, relate in particular to a kind of velocity-measuring system.
Background technology
The cab signal system of urban track traffic is the nucleus equipment that subway train is realized safety automation control, cab signal system possesses the tachogenerator that is independent of Vehicular system, by the processing to sensor input signal, obtain the train speed that signal system is used, and complete accordingly the key functions such as train location, safe stopping distance calculating, overspeed protection, accurate parking.Therefore cab signal system has high requirement to the precision testing the speed and reliability.
Tachogenerator can be divided into two classes principle.One class is to rotate and produce count pulse based on wheel shaft, and by the number of pulses computation speed of unit of account time, can be described as axle sensor.The another kind of wheel shaft that do not rely on rotates, and by acceleration measurement, analysis, reflects from modes such as the signals (optical signal, ultrasonic signal, infrared signal etc.) of rail level, and the speed of indirect calculation train, can be described as non-axle sensor.
The advantages such as axle sensor has low price, test the speed accurately, stable performance, fast response time, but because rotating, wheel shaft sometimes can not truly reflect train speed, therefore under the weather that easily occurs to dally or skid at trains such as rain, snow, dusts storm, range rate accuracy has serious decline.Although non-axle sensor can be avoided idle running or skid on the impact of testing the speed, but under identical range rate accuracy requires, often to pay the Costco Wholesale times over axle sensor, and according to measuring principle difference, non-axle sensor is easily subject to the impact of various circumstances not known factors, complex structure, stability is poor, for Breakdown Maintenance has brought larger difficulty.
The invention provides a kind of velocity-measuring system, the accuracy and the reliability that can raising speed detect.
Summary of the invention
The invention provides a kind of velocity-measuring system, can improve accuracy, the reliability of estimating detection.
The invention provides a kind of velocity-measuring system, for vehicle is carried out to speed detection, comprise at least one subsystem that tests the speed, the described subsystem that tests the speed comprises: multiple driver modules, multiple input voting modules, multiple cell processing modules, speed Fusion Module, output voting module
Wherein each driver module, be connected with an input voting module with a sensor respectively, and each driver module comprises multiple sub-driver modules, connected sensor corresponding to this driver module is by each the sub-driver module of velocity information input collecting, the velocity information that each sub-driver module collects sensor is converted to the speed signal that input voting module can be identified, and is input in input voting module;
Wherein each input voting module, also be connected with a cell processing module respectively, for the multiple speed signals that driver module are input to self, carry out safe voting, and when the variance of each voting result is greater than preset value, judge corresponding sensor fault, and send failure report to connected cell processing module, when the variance of voting result is less than preset value, by after synchronous each speed signal after safety voting and be input in connected cell processing module;
Wherein each cell processing module, also be connected with described speed Fusion Module, and each cell processing module comprises multiple subelement processing modules, the input voting module connected with this cell processing module inputted each speed signal after synchronizeing respectively in described multiple subelement processing module, each subelement processing module judges the state of corresponding sensor for the speed signal and the failure report that are input to self according to input voting module, and the speed signal that state judged result and input voting module are input to self is input to speed Fusion Module,
Described speed Fusion Module, comprise multiple speed fusant modules, wherein each speed fusant module is used for, from each cell processing module, receive respectively judged result and speed signal that a sub-cell processing module sends, after according to the judged result receiving, speed signal being merged, fusion results is input to output voter arrangement;
Output voting module, puts to the vote for the fusion results that each speed fusant module is input to self, and exports according to voting result the result that tests the speed.
Preferably, described system also comprises at least one axle sensor and at least one non-axle sensor.
Preferably, described speed fusant module also comprises:
Judge submodule, for be input to the speed signal that the state judged result of described speed Fusion Module judges that corresponding subelement processing module is input to self according to each subelement processing module, whether can use;
Fusant module, for to judging that submodule is judged as available speed signal and merges, and is input to output voter arrangement by fusion results.
Preferably, described fusant module, specifically for when the number that is judged as available speed signal by described judgement submodule reaches preset value, merges available speed signal.
Preferably, described velocity-measuring system comprises that at least two while testing the speed subsystem, when the velocity measurement of arbitrary subsystem that tests the speed is zero-speed, to other subsystems that test the speed, sends zero-speed signal,
Described judgement submodule, also when receiving the zero-speed signal that other subsystems that test the speed send and the state judged result that has the output of speed Fusion Module corresponding to axle sensor for " empty sliding " at the affiliated subsystem that tests the speed, judge that the speed signal that speed Fusion Module corresponding to this axle sensor is input to self can use.
Preferably, described fusant module is averaged as fusion results specifically for velocity amplitude corresponding to the speed signal to available.
Preferably, described velocity-measuring system also comprises:
Speed output module, for by the result output of testing the speed of the subsystem that tests the speed of specifying, and when the result that tests the speed of the subsystem that tests the speed of specifying is invalid, exports the result that tests the speed of other subsystems that test the speed.
In the velocity-measuring system providing in the present invention, use multiple sensor collection vehicle speed signals, and guarantee that through repeatedly adjudicating the speed signal that collects can use, available speed signal merges afterwards.Adopt velocity-measuring system provided by the invention, the accuracy, the reliabilty and availability that can raising speed detect.
Accompanying drawing explanation
The velocity-measuring system that Fig. 1 provides for the embodiment of the present invention one comprises a structural representation while testing the speed subsystem;
The distribution schematic diagram of each sensor in the velocity-measuring system that Fig. 2 provides for the embodiment of the present invention two.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is further described.Following examples are only for technical scheme of the present invention is more clearly described, and can not limit the scope of the invention with this.
The invention provides a kind of velocity-measuring system, for vehicle is carried out to speed detection, comprise at least one subsystem that tests the speed, as shown in Figure 1, the described subsystem that tests the speed comprises: multiple driver modules, multiple input voting modules, multiple cell processing modules, speed Fusion Module, output voting module
Wherein each driver module, be connected with an input voting module with a sensor respectively, and each driver module comprises multiple sub-driver modules, connected sensor corresponding to this driver module is by each the sub-driver module of velocity information input collecting, the velocity information that each sub-driver module collects sensor is converted to the speed signal that input voting module can be identified, and is input in input voting module;
Wherein each input voting module, also be connected with a cell processing module respectively, for the multiple speed signals that driver module are input to self, carry out safe voting, and when the variance of each voting result is greater than preset value, judge corresponding sensor fault, and send failure report to connected cell processing module, when the variance of voting result is less than preset value, by after synchronous each speed signal after safety voting and be input in connected cell processing module;
Wherein each cell processing module, also be connected with described speed Fusion Module, and each cell processing module comprises multiple subelement processing modules, the input voting module connected with this cell processing module inputted each speed signal after synchronizeing respectively in described multiple subelement processing module, each subelement processing module judges the state of corresponding sensor for the speed signal and the failure report that are input to self according to input voting module, and the speed signal that state judged result and input voting module are input to self is input to speed Fusion Module,
Described speed Fusion Module, comprise multiple speed fusant modules, wherein each speed fusant module is used for, from each cell processing module, receive respectively judged result and speed signal that a cell processing module sends, after according to the judged result receiving, speed signal being merged, fusion results is input to output voter arrangement;
Described output voting module, puts to the vote for the fusion results that each speed fusant module is input to self, and exports according to voting result the result that tests the speed.
Preferably, described multiple sensor comprises at least one axle sensor and at least one non-axle sensor.As pointed in background technology, the sensor of a particular type may be because current environment difference, causes the velocity amplitude that records higher or on the low side, on this basis, selects at least two kinds of sensors in the embodiment of the present invention, and the result that makes to test the speed is more accurate.
Preferably, in the embodiment of the present invention two, the sub-Fusion Module of described speed comprises:
Judge submodule, for be input to the speed signal that the state judged result of described speed Fusion Module judges that corresponding subelement processing module is input to self according to each subelement processing module, whether can use;
Fusant module, for to judging that submodule is judged as available speed signal and merges, and is input to output voter arrangement by fusion results.
Further, the fusant module in the embodiment of the present invention two, specifically for when the number that is judged as available speed signal by described judgement submodule reaches preset value, merges available speed signal, and fusion results is exported.If it is very few to be judged as available speed sensor, the accuracy of the result that possibly cannot guarantee tests the speed, now no longer merges, corresponding, just there is no fusion results output.In the embodiment of the present invention, when the number that is only judged as available speed signal at judge module reaches preset value, fusant module merges available speed signal, thereby guarantees that the velocity measurement of output is more accurate.
Further, when the velocity-measuring system providing when the embodiment of the present invention two comprises two subsystems, when the velocity measurement of arbitrary subsystem that tests the speed is zero-speed, to other subsystems that test the speed, send zero-speed signal;
Described judge module, also when receiving the zero-speed signal that other subsystems that test the speed send and the state judged result that has the output of speed Fusion Module corresponding to axle sensor for " empty sliding " at the affiliated subsystem that tests the speed, judge that the speed signal that speed Fusion Module corresponding to this axle sensor is input to self can use.
Further, the velocity-measuring system providing when the embodiment of the present invention two comprises at least two while testing the speed subsystem, and described velocity-measuring system also comprises:
Speed output module, for by the fusion results output of the subsystem that tests the speed of specifying, and when the fusion results of the subsystem that tests the speed of specifying is invalid, exports the fusion results of other subsystems that test the speed.
In this way, the comprehensively final result that tests the speed of result output that tests the speed of each subsystem that tests the speed, the further accuracy that improves the result that tests the speed.
The idiographic flow of the velocity-measuring system below embodiment of the present invention being provided describes:
Suppose in velocity-measuring system that the embodiment of the present invention provides, modules distribution graph as shown in Figure 2, in each 2 axle sensor and 1 the non-axle sensor of arranging of the every end headstock of train, formed respectively first system subsystem and the second system subsystem that tests the speed that tests the speed, first, second is main and standby relation, by cab signal system, determines which is principal series.Between first, second system, passing through the communications cable end to end connects.It should be noted that, this patent does not limit the quantity of every kind of sensor, 2 axle sensor and 1 configuration that non-axle sensor is suggestion, when the sensor performance of selecting is better, use sensor still less still can meet the requirement of system range rate accuracy and reliability, increasing sensor can provide the availability of velocity-measuring system.
In practical application, it is treater that driver module can adopt the some of concurrent working under security of system redundancy structure, each is that treater is as a sub-driver module, for example three get A, the B, the C tri-owner's machines that under two frameworks, represent concurrent working and participation voting, two take advantage of two to get the A1 and the A2 main frame that under two frameworks, represent concurrent working and participation voting, or B1 and B2 main frame, scheme is not subject to the restriction of cab signal security of system redundancy structure described in this patent.
Test the speed after beginning, each sensor is measured speed by physical principle separately, and export the electric signal that can characterize velocity magnitude, velocity reversal and sensor states to corresponding input voting module, afterwards electric signal is input in each owner's machine, each owner's machine velocity information that just sensor collects is converted to the speed signal that input voting module can identify and is input to input voting module.
Input voting module, before Dui Ge road sensor speed signal is processed, first these incoming signals of each owner's machine are carried out to safe voting, if voting result is inconsistent, while there is great difference, should judge the fault that tests the speed (irrecoverable), if the voting result only value of testing the speed has little deviation, thinking that voting result is consistent, is synchronously in full accord by each system value of testing the speed, and is input to afterwards in each subelement processing module in corresponding cell processing module.
Judge whether voting result exists the mode of great difference to be: preset sample variance thresholding, and calculate the variance yields of each voting result, when the variance yields calculating is greater than sample variance thresholding, thinks and have great difference, otherwise think that each value of testing the speed only has little deviation.
The situation of change of speed signal and the number of times of the failure report that input voting module sends continuously that according to input voting module, are input to self, each subelement processing module can be following several states by corresponding sensor judgement:
When this sensor is axle sensor, its corresponding state can comprise: sensor major failure, sensor transient fault, wheel shaft slipping;
When this sensor is axle sensor, its corresponding state can comprise, sensor major failure, sensor transient fault.
Above-mentioned judgment rule and determining step can, according to those skilled in the art's the setting that needs, no longer describe in detail at this.
The speed signal that each subelement processing module is input to self by state judged result and input voting module is afterwards inputted corresponding speed fusant module, each speed fusant module receives respectively judged result and the speed signal that a cell processing module sends from cell processing module corresponding to each sensor, the submodule that judges of speed fusant module judges according to the state of each sensor whether the speed signal that each sensor is corresponding can be used, concrete, can be in the following way: when being judged as major failure, putting immediately this sensor is " fault " state, the speed of this sensor cannot be used, when being judged as transient fault, putting immediately this sensor is " extremely " state, when the time length of " extremely " state has exceeded default thresholding, putting immediately this sensor is " extremely overtime " state, according to the difference of abnormal cause, different time-out times can be set, the speed of this sensor cannot be used, when being judged as wheel shaft generation idle running or skidding, put immediately this sensor for " empty sliding " state, when the time length of " empty sliding " state has exceeded default thresholding, put immediately this sensor for " empty sliding overtime " state, dally and slide different time-out times can be set, if have the speed approximating method during empty cunning, the speed of this sensor can be used before sky cunning is overtime, otherwise cannot use, if above-mentioned state does not all occur, putting this sensor is " normally " state, and the speed of this sensor can be used.
Judging that submodule draws after above-mentioned judged result, corresponding fusant module merges each speed signal, concrete fusion rule according to priority sequence from high to low can be: if 1 there is the axle sensor of " normally ", the output of their speed being averaged; If 2 there is the non-axle sensor of " normally ", the output of their speed being averaged; If 3 there is the axle sensor of " empty sliding ", and system allows to use axle sensor speed (or the speed after algorithm matching) under this state, by their speed (or speed) after the algorithm matching output of averaging; If meet the sensor sum of 1 and/or 2 and/or 3 conditions, cannot reach default thresholding, judge the fault that tests the speed; Testing the speed between age at failure, is example with first, if received the zero-speed signal that second system sends, the sensor of " empty sliding overtime ", " extremely overtime " state can be set to " normally "; After operation, the sensor sum that meets 1 and/or 2 and/or 3 conditions has reached default thresholding if so, and the fault that tests the speed can be recovered, if the fault that tests the speed still can not be recovered, Fusion Module no longer carries out speed fusion.
The fusant module of each speed Fusion Module is input to fusion results in output voting module afterwards, the fusion results that output voting module is input to self to each speed fusant module is put to the vote, and according to voting result, the result that tests the speed is input to the speed output module of velocity-measuring system.
The voting rule of output voter arrangement can be consistent with above-mentioned input voter arrangement, do not repeat them here.
Speed output module is the result output of testing the speed of the subsystem that tests the speed of specifying, and when the result that tests the speed of the subsystem that tests the speed of specifying is invalid, exports the result that tests the speed of other subsystems that test the speed.。
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. a velocity-measuring system, it is characterized in that, for vehicle is carried out to speed detection, comprise at least one subsystem that tests the speed, the described subsystem that tests the speed comprises: multiple driver modules, multiple input voting modules, multiple cell processing modules, speed Fusion Module, output voting module, wherein each driver module, be connected with an input voting module with a sensor respectively, and each driver module comprises multiple sub-driver modules, connected sensor corresponding to this driver module is by each the sub-driver module of velocity information input collecting, the velocity information that each sub-driver module collects sensor is converted to the speed signal that input voting module can be identified, and be input in input voting module,
Wherein each input voting module, also be connected with a cell processing module respectively, for the multiple speed signals that driver module are input to self, carry out safe voting, and when each voting result is inconsistent, judge corresponding sensor fault, and send failure report to connected cell processing module, when each voting result is consistent, by after synchronous each speed signal after safety voting and be input in connected cell processing module;
Wherein each cell processing module, also be connected with described speed Fusion Module, and each cell processing module comprises multiple subelement processing modules, the input voting module connected with this cell processing module inputted each speed signal after synchronizeing respectively in described multiple subelement processing module, each subelement processing module judges the state of corresponding sensor for the speed signal and the failure report that are input to self according to input voting module, and the speed signal that state judged result and input voting module are input to self is input to speed Fusion Module,
Described speed Fusion Module, comprise multiple speed fusant modules, wherein each speed fusant module is used for, from each cell processing module, receive respectively judged result and speed signal that a sub-cell processing module sends, after according to the judged result receiving, speed signal being merged, fusion results is input to output voter arrangement;
Described output voting module, puts to the vote for the fusion results that each speed fusant module is input to self, and exports according to voting result the result that tests the speed.
2. velocity-measuring system as claimed in claim 1, is characterized in that, also comprises: at least one axle sensor and at least one non-axle sensor.
3. velocity-measuring system as claimed in claim 1, is characterized in that,
Described speed fusant module also comprises:
Judge submodule, for be input to the speed signal that the state judged result of described speed Fusion Module judges that corresponding subelement processing module is input to self according to each subelement processing module, whether can use;
Fusant module, for to judging that submodule is judged as available speed signal and merges, and is input to output voter arrangement by fusion results.
4. velocity-measuring system as claimed in claim 3, is characterized in that,
Described fusant module, specifically for when the number that is judged as available speed signal by described judgement submodule reaches preset value, merges available speed signal, and fusion results is exported.
5. velocity-measuring system as claimed in claim 3, is characterized in that, described velocity-measuring system comprises that at least two while testing the speed subsystem, when the velocity measurement of arbitrary subsystem that tests the speed is zero-speed, to other subsystems that test the speed, sends zero-speed signal;
Described judgement submodule, also when receiving the zero-speed signal that other subsystems that test the speed send and the state judged result that has the output of speed Fusion Module corresponding to axle sensor for " empty sliding " at the affiliated subsystem that tests the speed, judge that the speed signal that speed Fusion Module corresponding to this axle sensor is input to self can use.
6. velocity-measuring system as claimed in claim 3, is characterized in that, described fusant module is averaged specifically for velocity amplitude corresponding to the speed signal to available, and aviation value is exported as fusion results.
7. velocity-measuring system as claimed in claim 1, is characterized in that, described velocity-measuring system also comprises:
Speed output module, for by the result output of testing the speed of the subsystem that tests the speed of specifying, and when the result that tests the speed of the subsystem that tests the speed of specifying is invalid, exports the result that tests the speed of other subsystems that test the speed.
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| CN113682350A (en) * | 2021-08-11 | 2021-11-23 | 交控科技股份有限公司 | Double-end ATP speed measurement system and method for guaranteeing speed measurement availability |
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