CN106251731A - A kind of city rail traffic route state dynamic test experience platform and using method - Google Patents
A kind of city rail traffic route state dynamic test experience platform and using method Download PDFInfo
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- CN106251731A CN106251731A CN201610825586.4A CN201610825586A CN106251731A CN 106251731 A CN106251731 A CN 106251731A CN 201610825586 A CN201610825586 A CN 201610825586A CN 106251731 A CN106251731 A CN 106251731A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
The invention discloses kind of a city rail traffic route state dynamic test experience platform, including track and setting train in orbit；Attitude measurement module and video acquisition module it is provided with on train；Described track is connected with control centre by controller；Control centre keeps communicating with attitude measurement module.Being additionally provided with position sensor and track switch on above-mentioned track, above-mentioned position sensor is infrared photoelectric sensor.Control centre carries out image rendering according to the detection data received, and described image rendering software is OpenGL；Described control centre writes the program of display interface by MFC and controls the program of function, and described control centre is computer.The present invention provides one can quickly, accurately complete track condition and detects and draw track circuit 3-D graphic calculating relevant parameter, communicates with control centre in real time, ensures urban railway transit train safety, comfortable operation.
Description
Technical field
The invention belongs to field of urban rail, relate to a kind of dynamically test experience platform and using method, especially
A kind of city rail traffic route state dynamic test experience platform and using method.
Background technology
Urban rail transit in China construction is in high-speed development period, and urban track traffic is the main side of Green Travel
Formula, is the most also the effective ways solving big and medium-sized cities traffic congestion.In Rail Transit System, the change of track condition is shadow
Ring the key factor of comfort level of passenger, and if metamorphosis will cause Ka Dao and the derailing of train beyond standard, may
Serious life and property loss can be caused.Therefore, detection track circuit state deformation become track operation department must
The important content that must grasp at any time.Traditional detection means owing to taking time and effort, precision is low etc., and reason cannot meet at present
The demand of track condition detection；Use the realization of new method, new technique that track condition carries out automatization, high speed accurately to detect and real
Time monitoring, guide maintenance operation, to ensure safe train operation be significant.
Abroad it is engaged in the research developing history of existing over one hundred year of track condition context of detection, up to the present, Ta Menyi
Have the detection technique of maturation, and develop polytype detection product, and achieve good economic benefit.Domestic carry out
The research of track condition detection is started late, and currently used track checking car main body entrance is from external.China's rail inspection state-detection
Means and platform there is also some problems, are mainly manifested in:
1. current, urban track traffic runs and the Synthetic Simulation Platform of control is more, but the operation rule used and skill
Art method is numerous and diverse, and specific aim is the strongest, it is adaptable to regular higher educational institutions's teaching is imitative with the track circuit state dynamic monitoring of real training
True platform lacks very much.
The most existing urban track traffic emulation platform of being correlated with mostly is MTR's training design, and overall structure is the most multiple
Miscellaneous, equipment component cost and sand table cost are high, take up room and installation difficulty is big, and computer processing procedure is that inside has been sealed
The fixing computing installed, directly perceived not for student, use suitable for application in regular higher educational institutions's relevant speciality teaching.
3., for scale model track and train, almost without being capable of showing that track circuit is drawn in real time, and formed
Track circuit case study, record report list carry out strap-down inertial system and the digital integration modeling method of feedback function.
Summary of the invention
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that one can quickly, accurately complete track
State-detection and draw track circuit 3-D graphic calculate relevant parameter platform, communicate with control centre in real time, guarantee
Urban railway transit train safety, comfortable operation.
It is an object of the invention to be achieved through the following technical solutions:
This city rail traffic route state dynamic test experience platform, including track and setting row in orbit
Car；
Attitude measurement module, video acquisition module and video transmission module it is provided with on described train；Described attitude measurement
Module includes accelerometer, gyroscope and bluetooth sending module；Described video acquisition module passes through video transmission module by video
Signal is transferred to display screen；
Described track is connected with the connecting computer oralia of control centre by controller；Described control centre and attitude measurement
Module keeps communication.
Further, above-mentioned track is additionally provided with position sensor and track switch.
Further, above-mentioned control centre is connected with single-chip microcomputer；Described control centre passes through Single-chip Controlling relay, institute
State the conversion of Control track switch.
Further, above-mentioned position sensor is infrared photoelectric sensor.
Further, above-mentioned position sensor sends the fixed position signal of train by single-chip microcomputer to control centre；Described
Single-chip microcomputer is STM32.
Further, above-mentioned control centre is provided with Bluetooth receptions module, sends mould by Bluetooth receptions module and bluetooth
Block keeps communicating with attitude measurement module；Described control centre and single chip communication mode are serial communication.Described control centre
Being connected with controller by serial ports, the start and stop by orbits controlling train of the described controller, described track is strip conductor.
Further, above-mentioned video acquisition module is photographic head, and described display screen is LCDs.
Further, above-mentioned control centre carries out image rendering, described image rendering software according to the detection data received
For OpenGL；Described control centre writes the program of display interface by MFC and controls the program of function, and described control centre is
Computer.
The using method of above-mentioned city rail traffic route state dynamic test experience platform, comprises the following steps:
Step 1: turn on the power and power on to test experience platform, control centre's inquiry track controller, Bluetooth Receiver, road
The port numbers of the communication port of trouble and single-chip microcomputer；The parameter of each COM1 is set the most in the heart, sets up in controlling
The heart and the serial communication of each equipment；
Step 2: control centre sends, to track switch and single-chip microcomputer, the circuit needing to switch by the serial ports opened in step 1 and refers to
Order, single-chip microcomputer controls the actuating of relay according to instruction, pulls track switch；Control centre starts train, train by controlling controller
Bring into operation；
Step 3: control centre accepts the signal of each port processing and carries out drawing three-dimensional route map by OpenGL, works as row
When garage sails to calibration point, calibration acceleration and angle；
Step 4: when train runs with stabilized speed, the data produced in running before removing train, again remember
Record and draw the three dimension pathline image of train stable operation；
Step 5: the three dimension pathline image obtained by step 4 is carried out Segment evaluation, the track condition after being evaluated.
Further, above-mentioned control centre is computer；Described single-chip microcomputer is STM32.
Relative to prior art, advantages of the present invention and effect it is:
The dynamic detection platform of rail line line state of the present invention devises a kind of being applicable to and studies track circuit detection
Experiment porch.
Sand table model designed by this platform is more simple, small volume, and circuit design is simple, it is easy to accomplish and install；
The programming software simple in construction that computer is used, it is easy to accomplish and study, maintenance period is short；Relevant components and parts are meeting substantially
Under conditions of requirement cheap, easily buy and repair and replacement, platform feature can meet teaching and the real training of relevant speciality student
Demand, and can be the most cost-effective.
This platform can preferably realize Train Detection and Identification, and display track circuit is drawn in real time, and completes to form track
Circuit question analysis, record report list carry out the functions such as feedback, and the teaching for urban track traffic provides a kind of new setting
Standby.
Accompanying drawing explanation
Fig. 1 is train composition schematic diagram of the present invention；
Fig. 2 is Control system architecture schematic diagram of the present invention；
Fig. 3 is the operational flowchart of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail:
As shown in Figure 1 to Figure 3, one city rail traffic route state of the present invention dynamic test experience platform, including rail
Road and setting train in orbit；
Attitude measurement module, video acquisition module and video transmission module it is provided with on described train；Described attitude measurement
Module includes accelerometer, gyroscope and bluetooth sending module；Described video acquisition module passes through video transmission module by video
Signal is transferred to display screen；
Described track is connected with the connecting computer oralia of control centre by controller；Described control centre and attitude measurement
Module keeps communication.
Position sensor and track switch it is additionally provided with on track.Control centre is connected with single-chip microcomputer；Described control centre leads to
Cross Single-chip Controlling relay, the conversion of described Control track switch.
Position sensor is infrared photoelectric sensor.Position sensor sends determining of train by single-chip microcomputer to control centre
Point position signalling；Described single-chip microcomputer is STM32.
Bluetooth receptions module it is provided with, by Bluetooth receptions module and bluetooth sending module and attitude measurement in control centre
Module keeps communication；Described control centre and single chip communication mode are serial communication.Described control centre passes through serial ports and control
Device processed connects, and the start and stop by orbits controlling train of the described controller, described track is strip conductor.
Video acquisition module is photographic head, and described display screen is LCDs.Control centre is according to the detection received
Data carry out image rendering, and described image rendering software is OpenGL；Described control centre writes the journey of display interface by MFC
Sequence and the program of control function, described control centre is computer.
The using method of above-mentioned city rail traffic route state dynamic test experience platform, comprises the following steps:
Step 1: turn on the power and power on to test experience platform, control centre's inquiry track controller, Bluetooth Receiver, road
The port numbers of the communication port of trouble and single-chip microcomputer；The parameter of each COM1 is set the most in the heart, sets up in controlling
The heart and the serial communication of each equipment；
Step 2: control centre sends, to track switch and single-chip microcomputer, the circuit needing to switch by the serial ports opened in step 1 and refers to
Order, single-chip microcomputer controls the actuating of relay according to instruction, pulls track switch；Control centre starts train, train by controlling controller
Bring into operation；
Step 3: control centre accepts the signal of each port processing and carries out drawing three-dimensional route map by OpenGL, works as row
When garage sails to calibration point, calibration acceleration and angle；
Step 4: when train runs with stabilized speed, the data produced in running before removing train, again remember
Record and draw the three dimension pathline image of train stable operation；
Step 5: the three dimension pathline image obtained by step 4 is carried out Segment evaluation, the track condition after being evaluated.
Wherein control centre is computer；Described single-chip microcomputer is STM32.
The present invention develops a set of dynamic detection platform of city rail traffic route state, comes simulation reconstruction city by platform
The process that rail line line state dynamically detects, and simulate the work in train driving room truly by drive simulating room
Environment.The dynamically detection of railway line line state is emulated by the mode utilizing software and hardware to combine, and software completes three-dimensional and builds
Mould and route parameter calculation；Hardware realizes laying and the true train operation test of track.The exploitation of this platform can be actual
The exploitation of rail inspection equipment provides principle reference, and be the teaching work such as experiment of the training of train driver and relevant speciality student
Move and provide equipment.
The present invention utilizes 1:48 ratio urban track traffic electricity passenger vehicle and orbital facilities model development urban track traffic rail
The real-time detection platform of road state.This platform can quickly, accurately complete track condition and detect and draw track circuit 3-D graphic
Calculate relevant parameter, communicate with control centre (OCC) in real time, ensure urban railway transit train safety, comfortable operation.
Track sand table: with XPS plastic foam as substrate, building the gradient that angle is about 10 degree, ellipse is former
Type does climb and fall, and does branch road with track switch, and contrast realizes detection and the purpose observed.
The present invention selects MPU6050 acceleration transducer, measures the accekeration of three axles, and obtains appearance by attitude fusion
State angle, utilizes attitude angle to draw the displacement diagram picture of time T.
MFC based on dialog box (Microsoft Foundation Classes) built-in function is used to carry out figure at PC end
Change interface program design.Later stage is that MFC adds interface database to beautify interface.
In actual moving process, Train Control platform program is by calling the method in mscomm ActiveX control, logical
Crossing serial line interface and carry out communication with sand table track controller, Content of communciation is the form of B-TC 877booster control command
Change character string.
For the real-time rendering of movement locus in train travelling process, we determine to use OpenGL to draw.
OpenGL be one powerful, call convenient underlying graphics storehouse, be widely used in education and scientific research field.In program initialization
After, first draw a right-handed coordinate system, and XOZ plane is painted, to represent ground.The sensing that train end sends is received at serial ports
After device information, X, Y, Z axis offset displacement and deflection angle are calculated, and in coordinate system, determine corresponding coordinate, draw phase
Answer track.On screen, show that real time sensor data is as reference in a 2D way simultaneously.
The transmission focusing on train real-time imaging of the virtual driving function of train and display.Video information is believed due to it
Breath flow is big, and requirement of real-time is high, and therefore we intend using the wireless communication technology of 2.4G frequency range to transmit image information.Upper
Position machine end, based on MFC and OpenGL, in that context it may be convenient to the figure collected is processed, shows, thus user obtain with
The visual experience that actual driving is very nearly the same.
Track switch is controlled by the simulation train controlling center of PC end.Control centre uses graphical control.User can lead to
Cross click to change switch status, to change the route of train.Locking will be given about track switch and conflicting route, it is ensured that OK simultaneously
Car safety (computer interlock), and provide permission signal, clearance train or car team to semaphore.During advancing, in control
The heart, by judging front road conditions, provides speed reference in real time, as the foundation of driving.
The using method that the present invention is concrete is:
1. open the power supply (using D.C. regulated power supply to power) of track controller 877,899；Open attitude transducer (with
Bluetooth transmitters integrates) on and off switch；Open the on and off switch of camera module (integrated with WiFi sending module)；
Track switch controls relay (execution structure), infrared position sensor powers on；Track switch and trackside equipment are controlled slave computer power on；
The operation control station of host computer (computer) is opened, and by under the control of track controller, Bluetooth Receiver, track switch and trackside equipment
The serial communication line of position machine is connected with usb hub, is matched by the bluetooth module of sensor bluetooth transceiver module with host computer
Right.The serial inquiring about track controller, Bluetooth Receiver and track switch and trackside equipment control single chip computer in equipment manager is led to
The port numbers of letter port.
2. according to the port numbers of inquiry in step 1, " the arranging and switch panel " in the upper left corner, Train Control platform interface
" communications setting " click three port numbers by key assignments each port of first row respectively, remaining parameters (baud rate,
Data bit, stopping position, check bit) holding is given tacit consent to can (controller and track switch and trackside equipment: baud rate: 9600 data bit: 8
Stopping position: 1 check bit: NONE Bluetooth Receiver: baud rate: 115200 data bit: 8 stopping positions: 1 check bit: NONE).
3., after confirming that in step 2, the setting value of parameter is corresponding with the port numbers reality inquired about in step 1, click in step 2
Three parameters set corresponding " ON " button on the right side of button, open the COM1 of correspondence, set up control centre and relevant device
Serial communication.
Click " line " and " No. two lines " two buttons controlled in the lower right corner, interface " route choosing " the most as required
Carry out the selection of vehicle line, control centre by the serial ports opened in step 3 to as track switch and trackside equipment controller
Single-chip microcomputer sends the line coding needing switching, and single-chip microcomputer changes the height conversion of corresponding I/O port level 0V-5V according to coding,
Make track switch control the actuating of relay, pull track switch.
5. click " starting train power supply " button controlling the lower left corner, interface, the upper right corner, interface " power supply status " right side
" closing (Shut Down) " and become " opening (Start Up) ", on the left of power supply status, icon is also changed into black by the "×" of black
" √ " of color, the speed handle of lower section becomes can dragging state.
Dragging the speed handle described in step 5 the most up and down, given tractive force of train, after speed handle release, in control
Serial ports one incremental speed code of transmission that the heart passed through every 0.5 second to open in step 3, to controller, is sent to when sharing for 5 seconds
Setting value, avoids the occurrence of the unstable feelings of launch train caused because of the excessive speeds code sent when starting to a certain extent
Condition.Such as, want to allow it run with the pull strength of 40%, then after unclamping sliding bar, send the speed code of 5% at once, cross 0.5
The speed code of 10% is sent after Miao, until the speed code sending 40% on the 5th second.Advantage of this is that can be to a certain degree
On avoid because the launch train that causes of excessive speeds code sent when starting is unstable.
The speed code received is converted to the pwm signal dutycycle on track by controller, and will by a booster circuit
Signal is sent on track, changes the voltage of track, and to control the pull strength of train motor, train brings into operation.Click control
On the left of interface, " starting display " button in " image setting ", controls center, interface and constantly updates the image of display three dimension pathline
(in step 9, describing drawing course in detail).
7. when train driving to calibration point (the track somewhere being set on level ground, be used for determining image level face and
Start angle) time, click " closing train power supply " button controlling the lower left corner, interface, carry out shut-down operation, meanwhile, in step 5
Described speed handle automatically returns to " zero-speed " position in the middle of dragging bar, identical with step 6, sends 0 speed code to track, change
Railway voltage, controls train running speed.Click " calibration acceleration and the angle " controlled on the left of interface in " image setting " to press
Key, after waiting to be calibrated completing, dragging speed handle gives tractive force of train, and train accelerates.
8., after waiting until that train runs with stabilized speed, click " coordinate and the image controlled on the left of interface in " image setting "
Reset " button, error information during non-stationary running in step 6 before removing.
9. the gyroscope in attitude angle module and accelerometer are constantly measured the angular velocity of current train operation and add
Speed, is obtained train operation attitude angle by internal arithmetic, and is sent in control by integrated bluetooth sending module
The heart.After the Bluetooth receptions module being connected with control centre receives data, by the simulative serial port in system, data are sent
To control centre.Draw data existence one is previously defined in after attitude angle data is carried out three dimensions parsing by control centre
In chained list in global scope, and it is simultaneously written in a fixed disk file and permanently stores, when chained list node is more than 3000
Time, time complexity too high during in order to avoid drawing, this chained list is carried out lossy compression method, finally obtains three-dimensional circuits model
Image, left mouse button dragged image can change viewing angle, and roller rolls can change visual angle radius.OpenGL draws and refreshes every time
(making number of pictures per second (FPS) maintain 30～31 with timer renovating), has the chained list of space coordinate resolution result (in advance to storage
One global object of definition, in internal memory, refreshes exclusively for each OpenGL and provides data) travel through, controlling interface
Space coordinates in each point is shown and connects the most two-by-two, just obtain the image of three-dimensional circuits.
10., every time after chained list press-in data, control centre takes the point of this press-in and two points before it, utilizes and compiles
The calculation procedure write calculates the circumscribed circle home position of trianglees and the radius of these 3 compositions, and to parameters such as the gradients of circuit
Carry out quantitative check, to judge line quality.In the case of sample frequency is sufficiently high, the calculating knot of the circumscribed circle center of circle and radius
Fruit can be considered as the radius of curvature of bend residing for now train.When judging current line situation value against regulation, in control
The heart i.e. data to this section (in advance track circuit being carried out segmentation) carry out record, write .csv file (a kind of form document),
And according to prescription track is evaluated state show control interface on.The .csv file generated after program end of run is i.e. deposited
All in-problem track section data are stored up.
Claims (10)
1. a city rail traffic route state dynamic test experience platform, it is characterised in that include track and arrange in-orbit
Train on road；
Attitude measurement module, video acquisition module and video transmission module it is provided with on described train；Described attitude measurement module
Including accelerometer, gyroscope and bluetooth sending module；Described video acquisition module passes through video transmission module by video signal
It is transferred to display screen；
Described track is connected with the connecting computer oralia of control centre by controller；Described control centre and attitude measurement module
Keep communication.
2. city rail traffic route state dynamic test experience platform as claimed in claim 1, it is characterised in that described rail
Position sensor and track switch it is additionally provided with on road.
3. city rail traffic route state dynamic test experience platform as claimed in claim 2, it is characterised in that described control
Center processed is connected with single-chip microcomputer；Described control centre passes through Single-chip Controlling relay, turning of described Control track switch
Change.
4. city rail traffic route state dynamic test experience platform as claimed in claim 3, it is characterised in that institute's rheme
Putting sensor is infrared photoelectric sensor.
5. city rail traffic route state dynamic test experience platform as claimed in claim 4, it is characterised in that institute's rheme
Put sensor and sent the fixed position signal of train by single-chip microcomputer to control centre；Described single-chip microcomputer is STM32.
6. city rail traffic route state dynamic test experience platform as claimed in claim 1, it is characterised in that described control
System is provided with Bluetooth receptions module in the heart, keeps logical by Bluetooth receptions module and bluetooth sending module with attitude measurement module
Letter；Described control centre and single chip communication mode are serial communication, and described control centre is connected with controller by serial ports, institute
Stating the controller start and stop by orbits controlling train, described track is strip conductor.
7. city rail traffic route state dynamic test experience platform as claimed in claim 1, it is characterised in that described regard
Frequently acquisition module is photographic head, and described display screen is LCDs.
8. city rail traffic route state dynamic test experience platform as claimed in claim 1, it is characterised in that described control
Center processed carries out image rendering according to the detection data received, and described image rendering software is OpenGL；Described control centre
Writing the program of display interface by MFC and control the program of function, described control centre is computer.
9. a using method based on above-mentioned 1-8 any one city rail traffic route state dynamic test experience platform, its
It is characterised by, comprises the following steps:
Step 1: turn on the power and power on to test experience platform, control centre inquiry track controller, Bluetooth Receiver, track switch,
Port numbers with the communication port of single-chip microcomputer；The parameter of each COM1 is set the most in the heart, sets up control centre
Serial communication with each equipment；
Step 2: control centre sends, to track switch and single-chip microcomputer, the line-command needing to switch by the serial ports opened in step 1,
Single-chip microcomputer controls the actuating of relay according to instruction, pulls track switch；Control centre starts train by controlling controller, and train starts
Run；
Step 3: control centre accepts the signal of each port processing and carries out drawing three-dimensional route map by OpenGL, when train row
When sailing to calibration point, calibration acceleration and angle；
Step 4: when train runs with stabilized speed, the data produced in running before removing train, again record also
Draw the three dimension pathline image of train stable operation；
Step 5: the three dimension pathline image obtained by step 4 is carried out Segment evaluation, the track condition after being evaluated.
10. using method as claimed in claim 9, it is characterised in that described control centre is computer；Described single-chip microcomputer is
STM32。
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| CN110553864A (en) * | 2019-09-30 | 2019-12-10 | 暨南大学 | tramcar simulation operation monitoring system |
| CN116750040A (en) * | 2023-08-23 | 2023-09-15 | 天津阿尔法优联电气有限公司 | Safety operation early warning method and system for subway driver controller |
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