CN105905134A - Rail transit vehicle accurate speed measuring system and method - Google Patents
Rail transit vehicle accurate speed measuring system and method Download PDFInfo
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- CN105905134A CN105905134A CN201610398082.9A CN201610398082A CN105905134A CN 105905134 A CN105905134 A CN 105905134A CN 201610398082 A CN201610398082 A CN 201610398082A CN 105905134 A CN105905134 A CN 105905134A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 241001669679 Eleotris Species 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 29
- 238000005259 measurement Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000000725 suspension Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 8
- 238000012360 testing method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0036—Conductor-based, e.g. using CAN-Bus, train-line or optical fibres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/009—On-board display devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- General Physics & Mathematics (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a rail transit vehicle accurate speed measuring system. The system comprises a laser ranging sensor for scanning the section outline of sleepers laid under rails, a data processing host used for calculating the running speed of a train according to the time difference of the train passing through two sleepers and the laying distance of the sleepers, and a speed display terminal used for speed indicating and overspeed warning. The invention further provides a rail transit vehicle accurate speed measuring method. The rail transit vehicle accurate speed measuring system and method have the advantages that the laser ranging sensor scans the rail road surface during running of the train and measures the distance between the laser ranging sensor and the rail road face, the data processing host is used for extracting characteristic signals of the sleepers from data changing periodically, recognizing the characteristic signals of the sleepers and calculating time of the two adjacent sleeper characteristic signals, the laying distance of the sleepers is divided by the time, and the train running speed can be calculated accurately. The system and method have high speed measuring accuracy and are especially suitable for no-wheel rail transits such as magnetic suspension.
Description
Technical field
The present invention relates to track velocity-measuring system, particularly relate to a kind of accurate velocity-measuring system of rail traffic vehicles and method.
Background technology
Rail traffic vehicles driving process needs train speed is accurately measured, it is simple to train operator controls traveling and tests the speed and master control control centre monitoring circuit running status, and reduces travel speed when bend or complex road condition, it is to avoid derailment accident occurs.The velocity measuring technique of current track vehicular traffic typically has the most several:
1) installing sensor on wheel additional, calculate speed by metering wheel revolution number, this technology can cause measurement data deviation occur due to wheel in rail level skidding under sleet environment；
2) realizing testing the speed by Doppler radar principle, this technology is the most ripe, but certainty of measurement is poor and can be affected by sleety weather, and when train speed is less than 40 kilometers, effect is poor；
3) calculating speed by GPS location technology, this technology is extensively applied, but cannot use in subway or tunnel and the error that tests the speed in relatively short distance is bigger；
4) measuring train by RFID technique and calculate speed by the time of particular measurement point, the defect of this technology is to measure in locality.
For ensureing accuracy and the reliability of locomotive velocity measuring data, current track vehicular traffic typically uses multiple technologies to be used in combination the measurement realizing train running speed.
In the traveling of train manages, a lot of local needs is had to use train precise speed, the brake part of such as train can reduce due to the reasons such as abrasion, stopping power, and engineering department needs to grasp stopping power data in time and assesses whether to overhaul brakes.In addition the weather conditions such as sleet also can have a strong impact on train braking ability, and driver needs to control Vehicle Speed according to the stopping power of current environment Train.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of accurate velocity-measuring system of rail traffic vehicles and method.
The invention provides a kind of accurate velocity-measuring system of rail traffic vehicles, including the laser range sensor of the profiled outline scanning the sleeper being laid under rail, the data processing host being calculated the travel speed of train according to train by the time difference of two sleepers and the Lay interval of sleeper and speed display terminal.
As a further improvement on the present invention, described data processing host includes processor, data output interface and GPS receiver module, wherein, the outfan of described laser range sensor is connected with described processor, the outfan of described GPS receiver module is connected with described processor, and the outfan of described processor is connected with described data output interface, speed display terminal respectively.
As a further improvement on the present invention, the accurate velocity-measuring system of described rail traffic vehicles includes that compartment, described data processing host and speed display terminal are separately positioned on described compartment, and described laser range sensor is arranged on the lower section in described compartment.
Present invention also offers a kind of accurate speed-measuring method of rail traffic vehicles, scan the profiled outline of the sleeper being laid under rail by laser range sensor and identify its characteristic signal, being calculated the travel speed of train according to train by the adjacent time difference of two sleepers and the Lay interval of sleeper.
As a further improvement on the present invention, when train is advanced, laser range sensor is constantly launched range laser signal and receives reflected signal, measures its distance to rail road surface, and the sleeper owing to laying under rail causes ranging data periodically change occur.
As a further improvement on the present invention, process and the identification of the distance measuring signal to laser range sensor is realized by data processing host, range finding curve is formed ranging data after being filtered processing, by the characteristic signal identifying sleeper in range finding curve, obtain the train time by adjacent two sleepers, and then calculate train speed.
As a further improvement on the present invention, measurement data is sent to be arranged on the speed display terminal of driver's cabin by data wire, is used for showing train real-time speed and providing sound flash alarm system when hypervelocity.
As a further improvement on the present invention, data processing host includes a data output interface, exports to train control system or traffic control center by this data output interface by data, for assessing stopping power and the train operation scheduling of train.
As a further improvement on the present invention, data processing host includes a GPS receiver module, obtains current location by this GPS receiver module, carries out the coupling of speed calibration and sleeper pitch.
The invention has the beneficial effects as follows: by installing laser range sensor on rail traffic vehicles, laser range sensor continually scans for track road surface and measures its distance to track road surface when train driving, owing to the sleeper laid is apparently higher than track road surface, therefore ranging data there will be cyclically-varying, gone out the characteristic signal of sleeper in periodically variable extracting data by data processing host, data processing host identifies characteristic signal and calculates the time of adjacent two sleeper characteristic signals, train running speed can be accurately calculated divided by this time with the Lay interval of sleeper.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention accurate velocity-measuring system of a kind of rail traffic vehicles.
Fig. 2 is the theory diagram of the present invention accurate velocity-measuring system of a kind of rail traffic vehicles.
Fig. 3 is the schematic flow sheet that tests the speed of the present invention accurate speed-measuring method of a kind of rail traffic vehicles.
Detailed description of the invention
The present invention is further described for explanation and detailed description of the invention below in conjunction with the accompanying drawings.
Drawing reference numeral in Fig. 1 to Fig. 3 is: sleeper 1；Laser range sensor 2；Data processing host 3；Processor 31；Data output interface 32；GPS receiver module 33；Speed display terminal 4；Compartment 5.
As shown in Figure 1, the invention provides a kind of accurate velocity-measuring system of rail traffic vehicles, including the laser range sensor 2 of the profiled outline scanning the sleeper 1 being laid under rail, the data processing host 3 being calculated the travel speed of train according to train by the adjacent time difference of two sleepers 1 and the Lay interval of adjacent sleeper 1 and speed display terminal 4.
As shown in Figure 2, described data processing host 3 includes processor 31, data output interface 32 and GPS receiver module 33, wherein, the outfan of described laser range sensor 2 is connected with described processor 31, the outfan of described GPS receiver module 33 is connected with described processor 31, and the outfan of described processor 31 is connected with described data output interface 32, speed display terminal 4 respectively.
As shown in Figure 2, laser range sensor 2 is installed in the lower section of rail traffic vehicles, laser range sensor 2 is connected by data and power cable with processor 31, and laser range sensor 2 persistently carries out when vehicle travels finding range and ranging data sending to processor 31.
As shown in Figure 2, owing to laying the objects such as fastening bolt on tiny fragments of stone, coal, etc. stone in orbit and sleeper 1, the scanning curve not smooth curve that ranging data is formed can be caused, there is substantial amounts of interference signal as shown in Figure 3, processor 31 carrys out filtering interfering by filtering, amplitude limit scheduling algorithm, finally extracts the characteristic signal of sleeper 1.
As in figure 2 it is shown, speed display terminal 4 shows train running speed numerical value in real time, and alerted by sound and light signal when exceeding current orbit interval speed limit.
As in figure 2 it is shown, GPS receiver module 33 is connected with processor 31 by data/address bus, transmit train current position coordinates information, be used for mating current orbit interval speed limit numerical value, and coupling current orbit sleeper 1 Lay interval data.
As shown in Figure 2, data output interface 32 is for providing real time speed measuring data for other system in train or equipment, it is achieved train driving controls or parameter monitoring function, such as, be connected with brake system, braking distance feedback can be provided for drive-control system with the stopping power of real-time assessment train.Data output interface 32 can be also that train speed monitoring data are transmitted at traffic control center by wireless network.
As it is shown in figure 1, the accurate velocity-measuring system of described rail traffic vehicles includes that compartment 5, described data processing host 3 and speed display terminal 4 are separately positioned on described compartment 5, described laser range sensor 2 is arranged on the lower section in described compartment 5.
As shown in Figure 1 to Figure 3, a kind of accurate speed-measuring method of rail traffic vehicles, the profiled outline being scanned the sleeper 1 being laid under rail by laser range sensor 2 identifies its signal, is calculated the travel speed of train by the adjacent time difference of two sleepers 1 and the Lay interval of sleeper 1 according to train.
As shown in Figure 1 to Figure 3, when train is advanced, laser range sensor 2 is constantly launched range laser signal and receives reflected signal, measures its distance to rail road surface, and the sleeper 1 owing to laying under rail causes ranging data periodically change occur.
As shown in Figure 1 to Figure 3, process and the identification of distance measuring signal to laser range sensor 2 is realized by data processing host 3, range finding curve is formed ranging data after being filtered processing, by the characteristic signal identifying sleeper 1 in range finding curve, obtain the train time by adjacent two sleepers 1, and then calculate train speed.
As shown in Figure 1 to Figure 3, measurement data is sent to be arranged on the speed display terminal 4 of driver's cabin by data wire, is used for showing train real-time speed and providing sound flash alarm system when hypervelocity.
As shown in Figure 1 to Figure 3, data processing host 3 includes an acceleration transducer, differentiate whether train is in static or is at the uniform velocity transport condition by acceleration transducer, and close laser range sensor 2 when static or at the uniform velocity state, extend laser range sensor 2 service life.
As shown in Figure 1 to Figure 3, data processing host 3 includes a data output interface 32, is exported data to train control system or traffic control center by this data output interface 32, is used for assessing stopping power and train operation scheduling.
As shown in Figure 1 to Figure 3, data processing host 3 includes a GPS receiver module 33, obtains current location by this GPS receiver module 33, carries out speed verification and the coupling of sleeper 1 spacing.Train travels interval speed limit in difference and requires difference, such as, can set speed limit according to different radiuss of turn when turning, therefore receive position coordinates by GPS receiver module 33 and change alarm speed limit.It addition, some track section can be according to the difference of geological conditions, the interval of sleeper or sleeper 1 changes, and according to GPS receiver to positional information, laying interval data based on the correspondence position sleeper 1 prestored revises measurement result.
Being the steadiness ensureing track during urban rail transit construction, can lay railway sleepers when construction below rail, rail is arranged on sleeper.In recent years along with the application in urban rail transit construction of the one-piece casting technology, sleeper is begun with.No matter using sleeper or sleeper, its Lay interval and tolerance all follow concerned countries and industry standard specification.
The present invention provides a kind of accurate velocity-measuring system of rail traffic vehicles and method, by installing laser range sensor 2 on the compartment 5 of rail traffic vehicles, continually scans for track road surface when train driving and measures its distance to track road surface.Sleeper 1 owing to laying is higher than track road surface, therefore ranging data there will be cyclically-varying, gone out the characteristic signal of sleeper 1 in periodically variable extracting data by Digital Signal Processing, and then calculate the rail traffic vehicles time t through two sleepers 1, the Lay interval L of the sleeper 1 by prestoring, utilizes formula V=L/t can calculate train speed.
The present invention provides a kind of accurate velocity-measuring system of rail traffic vehicles and method, laser range sensor 2 is arranged on the lower section in the compartment 5 of rail traffic vehicles, laser range sensor 2 launch laser ranging signal measurement its to the distance of track, ranging data is sent to and after data processing host 3 processes, forms range finding curve, and in curve, identify the characteristic signal of the sleeper 1 of track, calculate the time of the characteristic signal of adjacent two sleepers 1, the speed of train can be calculated.Can be used for measuring the application such as train running speed and assessment train braking performance in real time.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert the present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (9)
1. the accurate velocity-measuring system of rail traffic vehicles, it is characterised in that: include scanning the laser range sensor of the sleeper profiled outline being laid under rail, being calculated the data processing host of the travel speed of train by the time difference of adjacent two sleepers and the Lay interval of adjacent sleeper according to train and for speed instruction and the speed display terminal of hypervelocity alarm.
The accurate velocity-measuring system of rail traffic vehicles the most according to claim 1, it is characterized in that: described data processing host includes processor, data output interface and GPS receiver module, wherein, the outfan of described laser range sensor is connected with described processor, the outfan of described GPS receiver module is connected with described processor, and the outfan of described processor is connected with described data output interface, speed display terminal respectively.
The accurate velocity-measuring system of rail traffic vehicles the most according to claim 1, it is characterized in that: the accurate velocity-measuring system of described rail traffic vehicles includes compartment, described data processing host and speed display terminal are separately positioned on described compartment, and described laser range sensor is arranged on the lower section in described compartment.
4. the accurate speed-measuring method of rail traffic vehicles, it is characterized in that: scan, by laser range sensor, the sleeper profiled outline being laid under rail and identify its signal, being calculated the travel speed of train according to train by the time difference of adjacent two sleepers and the Lay interval of adjacent sleeper.
The accurate speed-measuring method of rail traffic vehicles the most according to claim 4, it is characterized in that: when train is advanced, laser range sensor is constantly launched range laser signal and receives reflected signal, measuring its distance to rail road surface, the sleeper owing to laying under rail causes ranging data periodically change occur.
The accurate speed-measuring method of rail traffic vehicles the most according to claim 5, it is characterized in that: realized process and the identification of the distance measuring signal to laser range sensor by data processing host, range finding curve is formed ranging data after being filtered processing, by the characteristic signal identifying sleeper in range finding curve, obtain the train time by adjacent two sleepers, and then calculate train speed.
The accurate speed-measuring method of rail traffic vehicles the most according to claim 6, it is characterised in that: measurement data is sent to be arranged on the speed display terminal of driver's cabin by data wire, is used for showing train real-time speed and providing sound flash alarm system when hypervelocity.
The accurate speed-measuring method of rail traffic vehicles the most according to claim 7, it is characterized in that: data processing host includes a data output interface, by this data output interface, data are exported to train control system or traffic control center, be used for assessing train brake Braking system ability and train operation scheduling.
The accurate speed-measuring method of rail traffic vehicles the most according to claim 7, it is characterised in that: data processing host includes a GPS receiver module, obtains current location by this GPS receiver module, carries out the coupling of speed calibration and sleeper pitch.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610398082.9A CN105905134A (en) | 2016-06-07 | 2016-06-07 | Rail transit vehicle accurate speed measuring system and method |
| PCT/CN2016/112365 WO2017211068A1 (en) | 2016-06-07 | 2016-12-27 | Accurate speed-measuring system and method for rail transit vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610398082.9A CN105905134A (en) | 2016-06-07 | 2016-06-07 | Rail transit vehicle accurate speed measuring system and method |
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| WO (1) | WO2017211068A1 (en) |
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| CN106476851A (en) * | 2016-10-10 | 2017-03-08 | 株洲中车时代装备技术有限公司 | Train running speed detection method based on non-fragment orbit and system |
| CN107121149A (en) * | 2017-07-13 | 2017-09-01 | 中国人民解放军国防科学技术大学 | A kind of high-speed magnetic floating rail based on eddy current effect examines absolute mileage reading device |
| WO2017211068A1 (en) * | 2016-06-07 | 2017-12-14 | 深圳航天科技创新研究院 | Accurate speed-measuring system and method for rail transit vehicle |
| CN107957501A (en) * | 2016-10-18 | 2018-04-24 | 株洲中车时代电气股份有限公司 | Apparatus and method for the speed of measure track vehicle |
| CN108556876A (en) * | 2018-04-18 | 2018-09-21 | 北京交通大学 | A kind of new type train tests the speed distance-measuring equipment and method |
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| CN106476851A (en) * | 2016-10-10 | 2017-03-08 | 株洲中车时代装备技术有限公司 | Train running speed detection method based on non-fragment orbit and system |
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| CN109085377A (en) * | 2018-08-02 | 2018-12-25 | 北京世纪东方通讯设备有限公司 | A kind of method for detecting vehicle speed and device of track checking car |
| CN109318938A (en) * | 2018-08-24 | 2019-02-12 | 同济大学 | A kind of magnetic-levitation train tests the speed range-measurement system |
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| CN114735049B (en) * | 2022-03-23 | 2023-11-17 | 北京全路通信信号研究设计院集团有限公司 | Method and system for speed measurement and positioning of maglev train based on laser radar |
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| CN115027533B (en) * | 2022-06-14 | 2024-04-19 | 通号城市轨道交通技术有限公司 | Rail train speed and distance measuring method and device |
| CN115626200A (en) * | 2022-12-05 | 2023-01-20 | 成都劳杰斯信息技术有限公司 | Real-time positioning method and system for railway locomotive |
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