CN105711621B - A kind of displacement of Intelligent iron shoe runaway and alarm detector and method - Google Patents
A kind of displacement of Intelligent iron shoe runaway and alarm detector and method Download PDFInfo
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- CN105711621B CN105711621B CN201610046686.7A CN201610046686A CN105711621B CN 105711621 B CN105711621 B CN 105711621B CN 201610046686 A CN201610046686 A CN 201610046686A CN 105711621 B CN105711621 B CN 105711621B
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 180
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 90
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims abstract description 61
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 7
- 230000003068 static effect Effects 0.000 claims description 5
- 230000002459 sustained effect Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000000737 periodic effect Effects 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000004458 analytical method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a kind of displacement of Intelligent iron shoe runaway and alarm detector and method, the device includes power management module, apart from detection module, 3-axis acceleration sensor module, main control module and wireless transport module.The device judges whether Intelligent iron shoe is in place by range finding, is alarmed if not in place；Judge whether runaway or stolen by detecting the inclination angle of Intelligent iron shoe under Vibration Condition, runaway displacement is calculated to acceleration double integrator if it there is runaway, otherwise send stolen alarm.The arrangement achieves the displacement of Intelligent iron shoe runaway and alarm detection, to improving railway operation safety, and for crash analysis judges to provide important guarantee.
Description
Technical field
The present invention relates to the anti-slip field of railroad train, and in particular to a kind of displacement of Intelligent iron shoe runaway and alarm detector
With method.
Background technology
It is the important requirement for ensureing railway job safety that its runaway is prevented after railway intermediate station, Train Stopping, and is placed
Intelligent iron shoe is the Main Means of vehicle anti-skid operation.Traditional mechanical intelligent skate is wasted time and energy, and can not meet iron
The growing demand of the anti-slip operation in road, Intelligent iron shoe replaces traditional intelligence skate into certainty.
Used as a kind of new intelligent anti-running device, current Intelligent iron shoe can't detect that this is to thing to runaway displacement
Therefore recollect afterwards, accident analysis is adversely affected.Additionally, Intelligent iron shoe is during operation, runaway or stolen how is distinguished
Also exist and judge the problems such as not accurate enough.
The content of the invention
To solve the problems, such as prior art, the present invention proposes a kind of displacement of Intelligent iron shoe runaway and is filled with alarm detection
Put and method, the functions such as runaway distance are calculated with distinguishing runaway and being stolen and detect.
A kind of displacement of Intelligent iron shoe runaway and alarm detector, the device include power management module, distance detection mould
Block, 3-axis acceleration sensor module, main control module and wireless transport module, the power management module connection distance detection mould
Block, it is described to be connected with main control module apart from detection module, wireless transport module, 3-axis acceleration sensor module；It is described away from
With a distance from detection module detection Intelligent iron shoe to wheel；The 3-axis acceleration sensor module measurement axle of Intelligent iron shoe three is quiet
State acceleration, be respectively：The x-axis directional acceleration a of two interorbital vertical directionx, the y-axis directional acceleration of rail tangential direction
ayWith the z-axis directional acceleration a of vertical track in-planez.The device judges whether Intelligent iron shoe is in place by range finding,
Alarmed if not in place；Judge whether runaway or stolen by detecting the inclination angle of Intelligent iron shoe under Vibration Condition, if hair
Raw runaway then calculates runaway displacement, otherwise sends stolen alarm.
A kind of displacement of Intelligent iron shoe runaway and alarm detection procedure, based on Intelligent iron shoe runaway of the present invention displacement with
Alarm detector, detects that Intelligent iron shoe, to the distance of wheel, judges whether Intelligent iron shoe is placed into by apart from detection module
Position；Judge the inclination alpha of Intelligent iron shoe Vibration Condition and Intelligent iron shoe by three axle static acceleration sensor assemblies, and based on shaking
The inclination alpha of Intelligent iron shoe judges whether runaway or stolen in the case of dynamic, and runaway displacement s is calculated if it there is runaway, no
Then send stolen alarm.
Preferably, the distance for passing through ultrasound examination Intelligent iron shoe to wheel apart from detection module, and given threshold, if
Distance is more than given threshold, then send placement alarm not in place.
Preferably, the axle static acceleration of Intelligent iron shoe three, and given threshold are measured by 3-axis acceleration sensor module；
If ax, ayAnd azMiddle any value fluctuation is more than given threshold, then judge that Intelligent iron shoe is in Vibration Condition.
Preferably, according to formula：
It is calculated Intelligent iron shoe inclination alpha.
Preferably, in the case of Intelligent iron shoe sustained vibration, given threshold, if Intelligent iron shoe inclination alpha is in given threshold
Within, then it is considered as runaway；If Intelligent iron shoe inclination angle is outside given threshold, it is considered as stolen.
Preferably, by 3-axis acceleration sensor module periodic sampling y-axis directional acceleration ay, and y-axis direction is added
Speed ayDouble integrator is carried out to calculate runaway displacement s.
Preferably, when Intelligent iron shoe works, comprise the following steps：
(1) main control module of Intelligent iron shoe, wireless transport module, 3-axis acceleration sensor module initialization；
(2) if Intelligent iron shoe is in Vibration Condition and certain time, step (3) is gone to；Otherwise, go to step (9)；
Preferably, the certain hour is 3 seconds；
(3) Intelligent iron shoe inclination alpha is detected；
(4) if α is between given threshold bound, step (5) is gone to；Otherwise, go to step (8)；
(5) initialization runaway displacement s is 0；
(6) detection Intelligent iron shoe y-axis directional acceleration ay, and to y-axis directional acceleration ayDouble integrator is carried out to calculate runaway
Displacement s；
(7) runaway alarm is sent, and runaway displacement is transmitted to remote monitoring computer, gone to step (11)；
(8) stolen alarm is sent, is gone to step (11)；
(9) initialized apart from detection module, detect wheel distance；
(10) if wheel distance is more than given threshold, send Intelligent iron shoe and place alarm not in place, go to step (11), it is excellent
Choosing, given threshold is 15cm；Otherwise send Intelligent iron shoe state normal, go to step (11)；
(11) terminate.
Preferably, runaway displacement is calculated by acceleration double integrator, is comprised the following steps：
(1) 3-axis acceleration sensor module initialization；
(2) initialization runaway displacement s=0；
(3) opening timing device, sets the sampling period t of 3-axis acceleration sensor module, it is preferred that sampling period t=
10ms；
(4) rail tangential direction is along 3-axis acceleration sensor module y-axis direction, detection y-axis directional acceleration ay
The instantaneous acceleration a at ith sample momentyi, according to formula
si=si-1+ayit2
It is calculated the displacement s in the ith sample cyclei, wherein s0=0；
(5) calculate
S=∑s si
Obtain total runaway displacement s；
(6) if counting down to setting time, runaway displacement s is issued by remote monitoring computer by wireless transport module,
Otherwise go to step (3), it is preferred that a setting time is 5 seconds.
Beneficial effect：
The invention discloses a kind of displacement of Intelligent iron shoe runaway and alarm detector and method, the device is sentenced by range finding
Whether disconnected Intelligent iron shoe is in place, and is alarmed if not in place；Judged by detecting the inclination angle of Intelligent iron shoe under Vibration Condition
Whether there is runaway or stolen, runaway displacement is calculated to acceleration double integrator if it there is runaway, otherwise send stolen alarm.Should
Device realizes the displacement of Intelligent iron shoe runaway and alarm detection, to improving railway operation safety, and for crash analysis judges to provide
Important guarantee.
Brief description of the drawings
Fig. 1 is present system structural representation；
Fig. 2 is Intelligent iron shoe Dip countion schematic diagram of the present invention；
Fig. 3 is workflow diagram of the present invention；
Fig. 4 is runaway displacement calculation flow chart of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the invention is described further.The Intelligent iron shoe is arranged on the north
Certain large-scale station.Design requirement sends a secondary data in 5 seconds under Intelligent iron shoe abnormal conditions, and detection data is wirelessly uploaded to
Remote monitoring computer.The present embodiment is implemented premised on technical solution of the present invention, but protection scope of the present invention is not limited
In following embodiments.
As shown in figure 1, Intelligent iron shoe device mainly includes power management module, apart from detection module, 3-axis acceleration is passed
Sensor module, main control module and wireless transport module group.Power management module provides voltage for Intelligent iron shoe, apart from detection module
Whether detection Intelligent iron shoe is in place, and 3-axis acceleration sensor module is used for runaway and antitheft detection, all detection signals
Remote monitoring computer is sent to by wireless transport module.Main control module is responsible for total tune control.
In Intelligent iron shoe implementation process, 3-axis acceleration sensor module measures the x-axis side of two interorbital vertical direction
To acceleration ax, the y-axis directional acceleration a of rail tangential directionyWith the z-axis directional acceleration a of vertical track in-planez, when
ax, ayAnd azMiddle any value fluctuation is acceleration of gravity more than the threshold value 0.1g, g of setting, then it is believed that Intelligent iron shoe is shaken
It is dynamic.
As shown in Fig. 2 xyz be natural system of coordinates, rail on x/y plane, along the y-axis direction.Acceleration of gravity is along sensing
The axle of device coordinate system three, i.e. xsensor, ysensor, zsensorThe component of axle is respectively ax, ayAnd az, then sensor ysensorAxle and nature
The inclination alpha of the angle between coordinate system x/y plane, i.e. Intelligent iron shoe is,
In preferred embodiment, in the case of Intelligent iron shoe sustained vibration, if α is more than 30 ° or less than -30 °, it is believed that
Intelligent iron shoe is stolen, and sends stolen alarm.
As shown in figure 3, when Intelligent iron shoe carries out runaway stolen detection, specific works step is as follows：
(1) Intelligent iron shoe main control module, wireless transport module, 3-axis acceleration sensor module initialization；
(2) if Intelligent iron shoe has vibration and continues 3 seconds, step (3) is gone to, otherwise, is gone to step (9)；
(3) Intelligent iron shoe inclination alpha is detected；
(4) if α is between -30 ° and+30 °, step (5) is gone to, otherwise, is gone to step (8)；
(5) initialization runaway displacement s is 0；
(6) detection Intelligent iron shoe y-axis directional acceleration ay, and to y-axis directional acceleration ayDouble integrator is carried out to calculate runaway
Displacement s；
(7) runaway alarm is sent, and runaway displacement is transmitted to remote monitoring computer, gone to step (11)；
(8) stolen alarm is sent, step (11) is gone to；
(9) range finder module initialization, detects wheel distance；
(10) if wheel distance is more than 15cm, send Intelligent iron shoe and place alarm not in place, go to step (11) and otherwise send out
Go out Intelligent iron shoe state normal；
(11) terminate.
In preferred embodiment, in the case of Intelligent iron shoe sustained vibration, if α is between -30 ° and 30 °, it is believed that intelligence
Can skate runaway, calculating runaway displacement.As shown in figure 4, detection Intelligent iron shoe y-axis directional acceleration ay, and y-axis direction is accelerated
Degree ayCarry out double integrator to calculate runaway displacement s, the calculating of runaway displacement s comprises the following steps：
(1) 3-axis acceleration sensor module initialization；
(2) initialization runaway displacement s=0；
(3) opening timing device, sets the sampling period t=10ms of acceleration transducer；
(4) rail direction detects that acceleration transducer y-axis adds in the instantaneous of ith sample moment along sensor y-axis direction
Speed ayi, according to formula
si=si-1+ayit2
It is calculated the displacement s in the ith sample cyclei, wherein s0=0；
(5) calculate
S=∑s si
Obtain total runaway displacement s；
(6) if counting down to 5s, runaway displacement s is issued by remote monitoring computer by wireless transport module, is otherwise turned
Step (3).
The present invention has passed through above-described embodiment and its brief description of the drawings is clear, in the situation without departing substantially from spirit of the invention and essence
Under, those skilled in the art can make respective change and amendment according to the present invention, and these variations and modifications belong to this hair
Bright scope of the claims.
It is same as the prior art or can be realized using prior art that the present invention is not directed to method.
Claims (5)
1. a kind of displacement of Intelligent iron shoe runaway and alarm detection procedure, are filled based on a kind of displacement of Intelligent iron shoe runaway and alarm detection
Put, the device is comprising power management module, apart from detection module, 3-axis acceleration sensor module, main control module and wireless biography
Defeated module, the power management module connection is described to add apart from detection module, wireless transport module, three axles apart from detection module
Acceleration sensor module is connected with main control module；It is described to detect Intelligent iron shoe to the distance of wheel apart from detection module；It is described
3-axis acceleration sensor module measures the axle static acceleration of Intelligent iron shoe three, is respectively：The x-axis side of two interorbital vertical direction
To acceleration ax, the y-axis directional acceleration a of rail tangential directionyWith the z-axis directional acceleration a of vertical track in-planez, its
It is characterised by, detects that Intelligent iron shoe, to the distance of wheel, judges whether Intelligent iron shoe is in place by apart from detection module；It is logical
The inclination alpha that three axle static acceleration sensor assemblies judge Intelligent iron shoe Vibration Condition and Intelligent iron shoe is crossed, and based on vibration feelings
The inclination alpha of Intelligent iron shoe judges whether runaway or stolen under condition, and runaway displacement s is calculated if it there is runaway, otherwise sends out
Go out stolen alarm；
The axle static acceleration of Intelligent iron shoe three, and given threshold are measured by 3-axis acceleration sensor module；If ax, ayAnd az
Middle any value fluctuation is more than given threshold, then judge that Intelligent iron shoe is in Vibration Condition；
According to formula：
It is calculated Intelligent iron shoe inclination alpha；In the case of Intelligent iron shoe sustained vibration, given threshold, if Intelligent iron shoe inclination alpha
Within given threshold, then it is considered as runaway；If Intelligent iron shoe inclination angle is outside given threshold, it is considered as stolen.
2. a kind of Intelligent iron shoe runaway according to claim 1 displacement and alarm detection procedure, it is characterised in that distance inspection
Distance of the module by ultrasound examination Intelligent iron shoe to wheel, and given threshold are surveyed, if distance is more than given threshold, is sent out
Go out and place alarm not in place.
3. a kind of Intelligent iron shoe runaway according to claim 1 displacement and alarm detection procedure, it is characterised in that by three
Axle acceleration sensor module periodic sampling y-axis directional acceleration ay, and to y-axis directional acceleration ayDouble integrator is carried out to calculate
Runaway displacement s.
4. a kind of Intelligent iron shoe runaway according to claim 3 displacement and alarm detection procedure, it is characterised in that intelligent iron
When footwear work, comprise the following steps：
(1) main control module of Intelligent iron shoe, wireless transport module, 3-axis acceleration sensor module initialization；
(2) if Intelligent iron shoe is in Vibration Condition and certain time, step (3) is gone to；Otherwise, go to step (9)；
(3) Intelligent iron shoe inclination alpha is detected；
(4) if α is between given threshold bound, step (5) is gone to；Otherwise, go to step (8)；
(5) initialization runaway displacement s is 0；
(6) detection Intelligent iron shoe y-axis directional acceleration ay, and to y-axis directional acceleration ayDouble integrator is carried out to calculate runaway displacement
s；
(7) runaway alarm is sent, and runaway displacement is transmitted to remote monitoring computer, gone to step (11)；
(8) stolen alarm is sent, is gone to step (11)；
(9) initialized apart from detection module, detect wheel distance；
(10) if wheel distance is more than given threshold, send Intelligent iron shoe and place alarm not in place, go to step (11)；Otherwise send out
Go out Intelligent iron shoe state normal, go to step (11)；
(11) terminate.
5. a kind of Intelligent iron shoe runaway displacement according to claim 3 or 4 and alarm detection procedure, it is characterised in that logical
Cross acceleration double integrator and calculate runaway displacement, comprise the following steps：
(1) 3-axis acceleration sensor module initialization；
(2) initialization runaway displacement s=0；
(3) opening timing device, sets the sampling period t of 3-axis acceleration sensor module；
(4) rail tangential direction is along 3-axis acceleration sensor module y-axis direction, detection y-axis directional acceleration ayAt i-th
The instantaneous acceleration a of sampling instantyi, according to formula
si=si-1+ayit2
It is calculated the displacement s in the ith sample cyclei, wherein s0=0；
(5) calculate
S=Σ si
Obtain total runaway displacement s；
(6) if counting down to setting time, runaway displacement s is issued by remote monitoring computer by wireless transport module, otherwise
Go to step (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610046686.7A CN105711621B (en) | 2016-01-22 | 2016-01-22 | A kind of displacement of Intelligent iron shoe runaway and alarm detector and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610046686.7A CN105711621B (en) | 2016-01-22 | 2016-01-22 | A kind of displacement of Intelligent iron shoe runaway and alarm detector and method |
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| CN105711621A CN105711621A (en) | 2016-06-29 |
| CN105711621B true CN105711621B (en) | 2017-06-16 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117186B (en) * | 2017-04-27 | 2019-02-01 | 南京富岛信息工程有限公司 | A kind of Intelligent iron shoe and its data transmission method for uplink based on Lora communication |
| CN108001477B (en) * | 2018-01-03 | 2024-02-13 | 伊军庆 | System and method for remotely monitoring and managing iron shoes |
| CN110712669A (en) * | 2019-10-22 | 2020-01-21 | 深圳市微度数字技术有限公司 | Anti-slip iron shoe management and control device and alarm method |
| CN111055877B (en) * | 2019-12-24 | 2021-05-28 | 南京富岛信息工程有限公司 | Wide-temperature-range intelligent iron shoe and anti-slip state judgment method thereof |
| CN112265568B (en) * | 2020-10-26 | 2022-07-29 | 南京富岛信息工程有限公司 | Intelligent iron shoe slip alarm system |
| CN112793616B (en) * | 2021-02-08 | 2022-08-30 | 南京富岛信息工程有限公司 | Novel intelligent skate and in-place distance acquisition method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT367817B (en) * | 1980-10-08 | 1982-08-10 | Plasser Bahnbaumasch Franz | DRIVABLE TRACK CONSTRUCTION MACHINE WITH RAIL TROLLEY AND STEP-BY-STEP WORKING PROCEDURE |
| DE3426747A1 (en) * | 1984-07-20 | 1986-01-30 | Alfred Teves Gmbh, 6000 Frankfurt | SLIP-CONTROLLED BRAKE SYSTEM FOR MOTOR VEHICLES WITH ALL-WHEEL DRIVE |
| CN2887698Y (en) * | 2006-03-01 | 2007-04-11 | 陈立 | Antislip iron shoes with alarming function |
| CN202046322U (en) * | 2010-12-31 | 2011-11-23 | 北京世纪东方国铁科技股份有限公司 | Intelligent anti-slipping brake shoe system capable of being monitored |
| CN204452481U (en) * | 2015-01-23 | 2015-07-08 | 武汉铁路局科学技术研究所 | The anti-slip electronics skate of rolling stock |
| CN204472832U (en) * | 2015-02-11 | 2015-07-15 | 中国神华能源股份有限公司 | The safety monitoring device of anti-slip metal shoe |
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