CN107357213A - Horizontal intelligence derailer state monitoring system and its monitoring method - Google Patents
Horizontal intelligence derailer state monitoring system and its monitoring method Download PDFInfo
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- CN107357213A CN107357213A CN201710693284.0A CN201710693284A CN107357213A CN 107357213 A CN107357213 A CN 107357213A CN 201710693284 A CN201710693284 A CN 201710693284A CN 107357213 A CN107357213 A CN 107357213A
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- derailer
- horizontal
- intelligence
- state
- horizontal intelligence
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Abstract
The invention discloses a kind of horizontal intelligence derailer state monitoring system, it is characterized in that it, which includes some horizontal intelligence derailers, the wireless transmission unit being made up of several routers and a network coordinator and a horizontal intelligence derailer state monitoring host computer, described horizontal intelligence derailer, includes horizontal derailer and smart box；Described horizontal derailer includes horizontal derailer body, swing handle, vertical rod and warning sign；Described smart box includes the horizontal intelligence derailer state signal gathering unit of box body and its inside, and described smart box is fixed on hood type in the vertical rod of horizontal derailer.The horizontal intelligence derailer state monitoring system of the present invention, is a set of monitoring system high based on efficient, easy to operate, reliability, and real-time monitoring to anti-skid device state can be achieved, to ensureing that safe railway operation has very important significance and practical value.
Description
Technical field
The present invention relates to derailer security technology area, is especially adapted for use in the real-time prison realized to railway derailer state
Survey and manage, specifically a kind of horizontal intelligence derailer state monitoring system and its monitoring method.
Background technology
Derailer is the protection device on a kind of track, for protecting personnel or important rolling stock on track,
Once there are locomotive or vehicle injection to derail at once to ensure the safety of protected object.Inspection car is carried out in goods row to row inspection institute
When, both ends are just needed to dispose derailer, if locomotive slides, or other locomotive is emitted when proceeding to the station track, and derailer can be strong by locomotive
System de-orbits, and to protect the life security of people, the important rolling stock both ends of other are also provided with derailer, to protect these
The safety of important rolling stock.The state of derailer is divided into two kinds one is " lower rail " state, i.e. positioning states, now vehicle can
With normal through；The second is " upper rail " state, i.e. antiposition state, now illustrate have train to carry out upkeep operation in the station track, its
No through traffic for his vehicle.
At present, there is problems with conventional flat formula derailer：None- identified initial position, and the accumulation in motion process
Error can not eliminate, and increase over time, and error can be increasing；Magnetometer reads absolute force in space, can be by the external world
Interference.
The content of the invention
The purpose of the present invention is in view of the above-mentioned problems, proposing a kind of horizontal intelligence derailer state monitoring system and its prison
Survey method, realize the real-time monitoring to derailer state to ensureing that safe railway operation has very important significance and practical valency
Value.
The technical scheme is that：
The invention discloses a kind of horizontal intelligence derailer state monitoring system, and it includes some horizontals and intelligently derailed
Device, the wireless transmission unit being made up of several routers and a network coordinator and a horizontal intelligence derailer state
Monitor host computer,
(i) the horizontal intelligence derailer described in includes horizontal derailer and smart box；Described smart box is with anchor ear
Formula, which is fixed in the vertical rod of horizontal derailer, is used for the state that detection level formula intelligence derailer rotates in the horizontal direction,
(ii) the horizontal derailer described in includes horizontal derailer body, swing handle, vertical rod and warning sign,
(ii) smart box described in includes the horizontal intelligence derailer state signal gathering unit of box body and its inside,
(iii) the horizontal intelligence derailer state signal gathering unit described in includes gyroscope, magnetometer, temperature and passed
Sensor, central processing unit and radio receiving transmitting module, described gyroscope are used to detect the angle speed that smart box rotates in the horizontal direction
Degree；Magnetometer is used for the normal angle between the earth's magnetic field of place in the horizontal direction for detecting smart box setting face, and for pair
The angle obtained based on gyroscope angular speed computing is calibrated；Temperature sensor is used to measure the work of horizontal intelligence derailer
Temperature；Gyroscope, temperature sensor, the signal output part of magnetometer are connected with the corresponding signal input part of central processing unit,
Descending communication signal end wireless connection of the signal of communication end of central processing unit by radio receiving transmitting module with corresponding router,
The uplink communication signal end of each router monitors upper with network coordinator wireless connection, network coordinator with derailer state
It is connected between machine by RS485 buses or TCP/IP modes,
(i) the horizontal intelligence derailer state monitoring host computer described in is used to show each horizontal intelligence derailer state
The work state information of the horizontal derailer of signal gathering unit collection.
Described horizontal intelligence derailer, the angle, θ that warning sign and railway direction are detected by its smart box judge water
The working condition of flat intelligence derailer, when θ spends for -0.5~+0.5, horizontal intelligence derailer is " lower rail " state, and θ is
At 89.5~90.5 degree, horizontal intelligence derailer is " upper rail " state, and when θ is+0.5~89.5 degree, horizontal is intelligently derailed
Device is " centre " state.
The invention also discloses a kind of horizontal intelligence derailer state monitoring method, the angle detected by magnetometer is believed
Cease and the angle obtained based on gyroscope angular speed computing is calibrated, specific steps method is as follows：
(1), ensure that horizontal intelligence derailer is in " upper rail " position before smart box start, read level formula intelligence of starting shooting
The magnetic force value of magnetometer X-direction and Y direction is Xa, Ya when energy derailer is in " upper rail " position；In the setting time t1 seconds
Interior, horizontal intelligence derailer is turned to " lower rail " position by operation swing handle, now at read level formula intelligence derailer
The magnetic force value of magnetometer X-direction and Y direction is Xb, Yb when " lower rail " position,；Two class values of reading are stored in centre
Manage device internal register；
(2), now derailer is still in " lower rail " position, by gyroscope initial angle θ0It is set to 0 degree；
(3), set and count initial value i=0, count threshold n, open counter, central processing unit reads gyroscope angular speed
ω, carry out that horizontal intelligence derailer current angular θ is calculated by following formula,
θ=∫ ω+θ0
(4) condition adjudgement is operated to it based on horizontal intelligence derailer current angular θ sizes, obtains horizontal intelligence
Can derailer operating state data；
(5) central processing unit sends horizontal intelligence derailer operating state data to the road of wireless transmission unit per 5s
By device or network coordinator, i adds 1 automatically；
(6), as i >=n, the magnetic force value for reading current magnetometer X-direction and Y direction is Xc, Yc；And by Xc, Yc
Compared with value Xa, Ya and Xb, Yb that are stored in after start in central processing unit internal register, to the initial angle of gyroscope
Spend θ0It is updated：
If Xa-5<Xc<Xa+5 and Ya-5<Yc<During Ya+5, by θ0It is set to 90 degree；
If Xb-5<Xc<Xb+5 and Yb-5<Yc<During Yb+5, by θ0It is set to 0 degree；
If during Xa+5≤Xc≤Xb-5 or Ya+5≤Yc≤Yb-5, θ0Do not deal with, wait under horizontal intelligence derailer
Angle is handled accordingly when being once in upper rail position or lower rail position；
(7) counter O reset, return to step (3) circulation, are subjected to horizontal intelligence derailer current angular θ calibrations and work
Make status data transmission.
Specifically, in step (1), the setting time t of setting1For 15s.
Specifically, in step (3), the count threshold n of setting is 60.
Beneficial effects of the present invention
The present invention horizontal intelligence derailer state monitoring system, be it is a set of based on it is efficient, easy to operate, reliability is high
Monitoring system, the real-time monitoring to anti-skid device state can be achieved, to ensureing that safe railway operation has very important significance
And practical value.
Brief description of the drawings
Fig. 1 is the monitoring system structured flowchart of the present invention.
Fig. 2 is the horizontal intelligence derailer schematic block diagram of the present invention.
Fig. 3 is the horizontal intelligence derailer state monitoring method flow chart of steps of the present invention.
Embodiment
With reference to embodiment, the invention will be further described, but protection scope of the present invention not limited to this：
As depicted in figs. 1 and 2, a kind of horizontal intelligence derailer state monitoring system, it includes some horizontals intelligence
Derailer, by several routers (selecting F8914Zigbee modules) and a network coordinator (select F8125Zigbee moulds
Block) wireless transmission unit that forms and horizontal intelligence derailer state monitoring host computer, described horizontal it is intelligently de-
Rail device includes horizontal derailer and smart box 3.Described smart box 3 is fixed on the vertical rod 1 of horizontal derailer with hood type
Upper to be used to detect the state that derailer rotates in the horizontal direction, described horizontal derailer includes horizontal derailer body
5th, swing handle 4, vertical rod 1 and warning sign 2, described smart box 3 include box body and its horizontal intelligence derailer shape of inside
State signal gathering unit, described horizontal intelligence derailer state signal gathering unit include gyroscope and (selected
I3G4250D), magnetometer (selecting MAG3110), temperature sensor, central processing unit (CPU) and radio receiving transmitting module (model
CC2530), described gyroscope is used to detect the angular speed that the normal in the setting of smart box 3 face rotates in the horizontal direction, magnetometer
For detecting angle of the smart box 3 in the horizontal direction between the earth's magnetic field of place, for being obtained based on gyroscope angular speed computing
To angle calibrated, gyroscope, temperature sensor, the signal output part of magnetometer are with central processing unit to induction signal
Input is connected, and the signal of communication end of central processing unit (CPU) is led to by radio receiving transmitting module with the descending of corresponding router
Believe signal end wireless connection, the uplink communication signal end of each router with network coordinator wireless connection, network coordinator with
It is connected between derailer state monitoring host computer by RS485 buses or TCP/IP modes, described horizontal is intelligently derailed
Device status monitoring host computer is used for the horizontal derailer for showing each horizontal intelligence derailer state signal gathering unit collection
Work state information, wherein, temperature sensor be used for measure horizontal intelligence derailer operating temperature.
In the horizontal intelligence derailer body of the present invention, rotatable handles 4 are backwards to rail, derailer state signal acquisition
For the lock ring of unit smart box 3 in vertical rod 1, the angle, θ that warning sign 2 and railway direction are detected by its smart box 3 judges derailer
Working condition, when θ is 0 degree, horizontal intelligence derailer be " lower rail " state, θ for 90 degree when, horizontal intelligence derailer is
" upper rail " state.
With reference to Fig. 3, during specific implementation：The horizontal intelligence derailer state monitoring method of the present invention, comprises the following steps：
(1), ensure that horizontal intelligence derailer is in " upper rail " position before smart box start, read level formula intelligence of starting shooting
The magnetic force value of magnetometer X-direction and Y direction is Xa, Ya when energy derailer is in " upper rail " position；In setting time t1Second
Interior, horizontal intelligence derailer is turned to " lower rail " position by operation swing handle, now at read level formula intelligence derailer
The magnetic force value of magnetometer X-direction and Y direction is Xb, Yb when " lower rail " position,；Two class values of reading are stored in centre
Manage device internal register；
(2), now derailer is still in " lower rail " position, by gyroscope initial angle θ0It is set to 0 degree；
(3), set and count initial value i=0, count threshold n, open counter, central processing unit reads gyroscope angular speed
ω, carry out that horizontal intelligence derailer current angular θ is calculated by following formula,
θ=∫ ω+θ0
(4) condition adjudgement is operated to it based on horizontal intelligence derailer current angular θ sizes, obtains horizontal intelligence
Can derailer operating state data；
(5) central processing unit sends horizontal intelligence derailer operating state data to the road of wireless transmission unit per 5s
By device or network coordinator, i adds 1 automatically；
(6), as i >=n, the magnetic force value for reading current magnetometer X-direction and Y direction is Xc, Yc；And by Xc, Yc
Compared with value Xa, Ya and Xb, Yb that are stored in after start in central processing unit internal register, to the initial angle of gyroscope
Spend θ0It is updated：
If Xa-5<Xc<Xa+5 and Ya-5<Yc<During Ya+5, by θ0It is set to 90 degree；
If Xb-5<Xc<Xb+5 and Yb-5<Yc<During Yb+5, by θ0It is set to 0 degree；
If during Xa+5≤Xc≤Xb-5 or Ya+5≤Yc≤Yb-5, θ0Do not deal with, wait under horizontal intelligence derailer
Angle is handled accordingly when being once in upper rail position or lower rail position；
(7) counter O reset, return to step (3) circulation, are subjected to horizontal intelligence derailer current angular θ calibrations and work
Make status data transmission.
In the step (1) of the present invention, the setting time t of setting1For 15s.
In the step (3) of the present invention, the count threshold n of setting is 60.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
Specific embodiment described herein is only that spirit of the present invention is illustrated.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (5)
1. a kind of horizontal intelligence derailer state monitoring system, it is characterized in that it include some horizontal intelligence derailers, by
The wireless transmission unit and a horizontal intelligence derailer state monitoring that several routers and a network coordinator are formed
Host computer,
(i) the horizontal intelligence derailer described in includes horizontal derailer and smart box；Described smart box is consolidated with hood type
Due in the vertical rod of horizontal derailer,
(ii) the horizontal derailer described in includes horizontal derailer body, swing handle, vertical rod and warning sign,
(ii) smart box described in includes the horizontal intelligence derailer state signal gathering unit of box body and its inside,
(iii) the horizontal intelligence derailer state signal gathering unit described in includes gyroscope, magnetometer, TEMP
Device, central processing unit and radio receiving transmitting module, gyroscope, temperature sensor, magnetometer signal output part and central processing
The corresponding signal input part of device is connected, and the signal of communication end of central processing unit passes through radio receiving transmitting module and corresponding router
Descending communication signal end wireless connection, the uplink communication signal end of each router are assisted with network coordinator wireless connection, network
Device is adjusted to be connected between monitoring host computer with derailer state by RS485 buses or TCP/IP modes.
2. horizontal intelligence derailer state monitoring system according to claim 1, it is characterized in that described horizontal intelligence
Energy derailer, pass through the work shape that its smart box detects warning sign and the angle, θ determined level formula intelligence derailer in railway direction
State, when θ spends for -0.5~+0.5, horizontal intelligence derailer is " lower rail " state, when θ is 89.5~90.5 degree, horizontal intelligence
Energy derailer is " upper rail " state, and when θ is+0.5~89.5 degree, horizontal intelligence derailer is " centre " state.
3. a kind of horizontal intelligence derailer state monitoring method, it is characterized in that by the angle information that magnetometer detects to based on
The angle that gyroscope angular speed computing obtains is calibrated, and specific steps method is as follows：
(1), ensure that horizontal intelligence derailer is in " upper rail " position before smart box start, start read level formula is intelligently de-
The magnetic force value of magnetometer X-direction and Y direction is Xa, Ya when rail device is in " upper rail " position；In setting time t1In second, behaviour
Horizontal intelligence derailer is turned to " lower rail " position by the handle that rotates, now read level formula intelligence derailer be in " under
The magnetic force value of magnetometer X-direction and Y direction is Xb, Yb during rail " position,；Two class values of reading are stored in central processing unit
Internal register；
(2), now derailer is still in " lower rail " position, by gyroscope initial angle θ0It is set to 0 degree；
(3), set and count initial value i=0, count threshold n, open counter, central processing unit reads gyroscope angular velocity omega, leads to
Following formula are crossed to carry out that horizontal intelligence derailer current angular θ is calculated,
θ=∫ ω+θ0
(4) condition adjudgement is operated to it based on horizontal intelligence derailer current angular θ sizes, it is intelligently de- obtains horizontal
Rail device operating state data；
(5) central processing unit sends horizontal intelligence derailer operating state data to the router of wireless transmission unit per 5s
Or network coordinator, i add 1 automatically；
(6), as i >=n, the magnetic force value for reading current magnetometer X-direction and Y direction is Xc, Yc；And by Xc, Yc with opening
Value Xa, Ya and Xb, Yb being stored in after machine in central processing unit internal register are compared, to the initial angle θ of gyroscope0
It is updated：
If Xa-5<Xc<Xa+5 and Ya-5<Yc<During Ya+5, by θ0It is set to 90 degree；
If Xb-5<Xc<Xb+5 and Yb-5<Yc<During Yb+5, by θ0It is set to 0 degree；
If during Xa+5≤Xc≤Xb-5 or Ya+5≤Yc≤Yb-5, θ0Do not deal with；
(7), by counter O reset, return to step (3) circulation carries out horizontal intelligence derailer current angular θ calibrations and work shape
State data are sent.
4. horizontal derailer state monitoring method according to claim 3, it is characterized in that in step (1), setting is set
Fix time t1For 15s.
5. horizontal derailer state monitoring method according to claim 3, it is characterized in that in step (3), the meter of setting
Number threshold value n is 60.
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| CN108709491A (en) * | 2018-08-14 | 2018-10-26 | 河北稳控科技有限公司 | A kind of contactless structural deformation monitoring device and method |
| CN109050573A (en) * | 2018-08-15 | 2018-12-21 | 山西大学 | A kind of intelligent anti-running device displacement detector, method and system |
| CN109448346A (en) * | 2018-10-15 | 2019-03-08 | 南京富岛信息工程有限公司 | A kind of intelligence derailer state monitoring system and its group-net communication method |
| CN111708053A (en) * | 2020-07-08 | 2020-09-25 | 成都华畴网络技术有限公司 | Intelligent protection derailer system and monitoring method thereof |
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| CN107357213B (en) | 2019-04-05 |
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