CN107631725A - A kind of railway transportation equipment attitude monitoring system - Google Patents
A kind of railway transportation equipment attitude monitoring system Download PDFInfo
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Abstract
The invention discloses a kind of railway transportation equipment attitude monitoring system, including attitude information monitoring node AMU, attitude reference node ARU and train supervision terminal, the attitude reference node ARU and attitude information monitoring node AMU wireless connections, the train supervision terminal and attitude reference node ARU wireless connections.Railway transportation equipment attitude monitoring system disclosed by the invention, it automatically can carry out round-the-clock monitoring to the posture of railway transportation equipment, the posture of intelligent decision railway transportation equipment, and early warning is sent in time, ensure the promptness and accuracy of monitoring, the human cost of transport is saved, ensures the transportation safety of railway transportation equipment.
Description
Technical field
The present invention relates to railway traffic safety technical field of transportation, more particularly to a kind of railway transportation equipment attitude monitoring
System.
Background technology
At present, railway transportation compares with other means of transportation as a kind of important means of transportation, has transporting power
Greatly, the effect of natural conditions such as cheap, climate of cost is small, regular and continuation is secure and is easy to safely and reliably implement
The advantages such as mass transit, are widely used in the production and life of people, welcomed by the people.
For this special means of transportation of railway transportation, train in the process of running, the equipment placed thereon due to by
Power form complexity is various, in the case of reinforcing is bundled, it is also difficult to ensures that equipment does not shift in transit.Once
Railway transportation equipment shifts, and the operation easily to railway is brought into great influence, while bring great economic loss.
Therefore, it is necessary to take technological means to carry out round-the-clock monitoring to the posture of railway transportation equipment, ensure the transportation safety of equipment.
At present, in order to carry out round-the-clock monitoring to the posture of railway transportation equipment, the railway fortune of high value is especially escorted
During defeated equipment, the mode of generally use video monitoring, this mode, which relies on, escorts the artificial cognition that worker equip posture, night
Between and IFR conditions limit it larger, and Yi Shouren physiological condition limitation, such as objective reality personnel notice point
Scattered situation, certain potential safety hazard be present, it is especially longer in transportation route, the time relatively long in the case of, to railway transportation
The posture of equipment carries out round-the-clock monitoring and more seems difficult, is more difficult to ensure that the promptness and accuracy of monitoring.It is meanwhile existing
Transmission bandwidth requirement also be present compared with the problems such as high, power consumption is big, train power supply is difficult in video monitoring equipment.
Therefore, at present there is an urgent need to develop a kind of technology, it automatically can be carried out to the posture of railway transportation equipment
Round-the-clock monitoring, the posture of intelligent decision railway transportation equipment, and send early warning in time, ensure the promptness of monitoring and accurate
Property, the human cost of transport is saved, ensures the transportation safety of railway transportation equipment, is obviously improved the informationization of railway transport administration
It is horizontal.
The content of the invention
In view of this, it is an object of the invention to provide a kind of railway transportation equipment attitude monitoring system, it can be automatically
Round-the-clock monitoring, the posture of intelligent decision railway transportation equipment are carried out to the posture of railway transportation equipment, and send early warning in time,
Ensure the promptness and accuracy of monitoring, save the human cost of transport, ensure the transportation safety of railway transportation equipment, significantly carry
The level of IT application of railway transport administration is risen, is advantageous to the extensive production application of railway transportation equipment attitude monitoring system, has
Great production practices meaning.
Therefore, the invention provides a kind of railway transportation equipment attitude monitoring system, including：
Attitude information monitoring node AMU, being installed on the default of the railway transportation equipment needs detection position, for detecting this
The default nine axle movable informations needed in detection position, obtain the attitude information monitoring node AMU and referred in railway transportation equipment
The relative position information that coordinate system is fastened with geo-referenced coordinates, and using the relative position information as attitude information monitoring node
Then AMU radios to attitude reference node ARU in the default attitude information needed in detection position；
Attitude reference node ARU, with attitude information monitoring node AMU wireless connections, the attitude reference node ARU installations
In the preset reference position of train flatcar, for detecting nine axle movable informations on preset reference position, the posture base is obtained
The relative position information that quasi- node ARU fastens in train flatcar reference frame and geo-referenced coordinates, and by the relative position
Then information puts down attitude reference node ARU in train as attitude informations of the attitude reference node ARU in preset reference position
Coordinate information in car reference frame needs test section with the received attitude information monitoring node AMU in described preset
Coordinate information on position is contrasted, and calculates the real-time attitude change information for obtaining current rail transportation equipment on train flatcar
And it is wirelessly sent to train supervision terminal；
Train supervision terminal, and attitude reference node ARU wireless connections, for judging current rail transportation equipment in train
Whether real-time attitude change information on flatcar exceedes default max-thresholds, if it does, then correspond to issue the user with it is default
Safe early warning information；
Wherein, the railway transportation equipment reference frame includes railway transportation equipment level X-axis to the right, horizontal forward
Y-axis and perpendicular to horizontal Z axis upwardly；The train flatcar reference frame include train flatcar level X-axis to the right,
Horizontal forward Y-axis and the Z axis perpendicular to level upwardly；The geo-referenced coordinates system is on the basis of horizontal plane, by vertical
In horizontal Z axis, the Y-axis of magnetic north extreme direction and the X-axis composition in horizontal direction eastwards upwardly.
Wherein, attitude informations of the attitude reference node ARU in preset reference position saves with attitude information monitoring
Point AMU needs the attitude information in detection position to be contrasted in described preset, and specific contrast operation is：
X-axis that attitude informations of the attitude reference node ARU in preset reference position is included, Y-axis, Z axis position
And the angle of pitch, deflection angle and roll angle this six spatial degrees of freedom information, and the attitude information monitoring node AMU is described pre-
If X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle this six for needing the attitude information in detection position to include
Spatial degrees of freedom information, correspond to carry out additive operation respectively, so as to obtain reality of the current rail transportation equipment on train flatcar
When attitudes vibration information.
Wherein, the default of the railway transportation equipment needs the position of centre of gravity that detection position is specially the railway transportation equipment
Or easy moving part；
The attitude reference node ARU is installed on the train flatcar bottom plate.
Wherein, ZigBee protocol or family's thing are passed through between attitude information monitoring node AMU and attitude reference the node ARU
Combined network communication agreement technical protocol communicates wirelessly；
Radio communication is carried out by Sub-GHz agreements between the attitude reference node ARU and train supervision terminal.
Wherein, the attitude information monitoring node AMU includes：
One or nine axis movement sensor, for detecting the railway transportation equipment in default nine axles needed in detection position
Movable information, it is then transferred to the first data processing unit；
First electricity collection sensor, for gathering the energy of default species, and it is converted into electric energy and exists and arrive energy storage
In first power module；
First power module, it is connected with the first electricity collection sensor, for storing the first electricity collection sensing
The electric energy of device conversion, and provide work electricity consumption for the attitude information monitoring node AMU；
First data processing unit, it is connected respectively with the one or nine axis movement sensor, the first power module, for basis
The nine axle movable informations that one or nine axis movement sensor is sent, obtain the attitude information monitoring node AMU and transported in railway
The relative position information that defeated equipment reference frame is fastened with geo-referenced coordinates, and believe the relative position information as posture
Then breath monitoring node AMU radios to attitude reference node ARU in the default attitude information needed in detection position.
Wherein, the attitude reference node ARU includes：
Two or nine axis movement sensor, for detecting the railroad transport flat car in default nine axles needed in detection position
Movable information, then radio to train supervision terminal；
Second electricity collection sensor, for gathering the energy of default species, and it is converted into electric energy and exists and arrive energy storage
In second source module；
Second source module, it is connected with the second electricity collection sensor, for storing the second electricity collection sensing
The electric energy of device conversion, and provide work electricity consumption for the attitude reference node ARU；
Second data processing unit, it is connected respectively with the two or nine axis movement sensor, second source module, for basis
The nine axle movable informations that two or nine axis movement sensor is sent, obtain the attitude reference node ARU and join in train flatcar
The relative position information that coordinate system is fastened with geo-referenced coordinates is examined, and using the relative position information as attitude reference node
ARU preset reference position attitude information, then with the received attitude information monitoring node AMU described default
Need the attitude information in detection position to carry out contrast operation, obtain real-time attitude of the current rail transportation equipment on train flatcar
Change information, and it is wirelessly sent to train supervision terminal.
Wherein, the train supervision terminal includes：
Embedded type terminal equipment, it is connected with attitude information datum node ARU, for judging current rail transport dress respectively
The standby relative position on train flatcar, i.e., included in real-time attitude information of the current rail transportation equipment on train flatcar
Whether X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle information exceed default max-thresholds, if it does, then sentencing
There is potential safety hazard in disconnected railway transportation equipment, threshold value is corresponding to send default safe early warning information to display device；
Display device, it is connected with embedded type terminal equipment, for showing current rail transportation equipment in train flatcar
Real-time attitude information, and by embedded type terminal equipment send default safe early warning presentation of information to user；
Telecommunication equipment, be connected with embedded type terminal equipment, for by current rail transportation equipment in train flatcar
On real-time attitude information be uploaded to Cloud Server carry out data storage.
Wherein, HDMI, the built-in terminal are respectively arranged with the embedded type terminal equipment and display device
Equipment is connected with display device by HDMI connecting lines.
The technical scheme provided by the invention more than, compared with prior art, the present invention proposes a kind of railway
Transportation equipment attitude monitoring system, its by embedded system and technology of Internet of things, by acquisition process fortune equipment posture
Information, data fusion, intelligent decision, early warning are carried out, round-the-clock monitoring automatically can be carried out to the posture of railway transportation equipment,
The posture of intelligent decision railway transportation equipment, and early warning is sent in time, ensure the promptness and accuracy of monitoring, save transport
Human cost, ensure the transportation safety of railway transportation equipment, be obviously improved the level of IT application of railway transport administration, be advantageous to iron
The extensive production application of road transportation equipment attitude monitoring system, is of great practical significance.
In addition, railway transportation equipment attitude monitoring system provided by the invention also has, transmission bandwidth requires low, electricity consumption is few
And the advantages of low-power consumption, the objective condition on train can be conformed better to, has further been obviously improved the practice of system
Ability, good practical application effect can be obtained.
Brief description of the drawings
Fig. 1 is a kind of structured flowchart of railway transportation equipment attitude monitoring system provided by the invention；
Fig. 2 is a kind of structured flowchart of railway transportation equipment attitude monitoring system specific embodiment provided by the invention；
Fig. 3 is a kind of concrete application scene schematic diagram of railway transportation equipment attitude monitoring system provided by the invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the accompanying drawings with embodiment to this
Invention is described in further detail.
The invention provides a kind of railway transportation equipment attitude monitoring system, for the posture progress to railway transportation equipment
Round-the-clock monitoring.It should be noted that the posture of railway transportation equipment refers to the relative attitude between equipment and train, Liang Zhezi
State is determined with the relative position of carrier reference frame and geo-referenced coordinates system.Carrier reference frame include equipment or
The X-axis of person's train flatcar level to the right, horizontal forward Y-axis, the Z axis perpendicular to level upwardly.Geo-referenced coordinates system, with
On the basis of horizontal plane, by being formed perpendicular to horizontal Z axis, the Y-axis of magnetic north extreme direction and the X-axis in horizontal direction eastwards upwardly.
Generally, geo-referenced coordinates system is invariable.In the present invention, the posture for stating equipment often uses space six-freedom degree
Statement, is specifically represented by X-axis, Y-axis, Z axis position and one group of attitude angle (angle of pitch, deflection angle and roll angle), is implemented
On, acceleration, three-axis attitude angular speed and the three axle sides of three axles such as nine axis movement sensors acquisition X-axis, Y-axis, Z axis can be passed through
To angle, altogether nine exercise parameters, then by carrying out data fusion to nine operation parameters, obtain the six-freedom degree in space.
The present invention can judge that current equipment motion conditions whether there is potential safety hazard by the change of attitude data.
Wherein, the data anastomosing algorithm side that nine exercise parameters are estimated by the assembled gesture based on Kalman filtering
Case is calculated, and is specifically as follows：Using quaternary number attitude algorithm algorithm known to existing technical staff, 3-axis acceleration is utilized
The measured value of meter calculates the angle of pitch and roll angle, and deflection angle is calculated using magnetometer (such as three axle magnetic induction sensors) measured value,
Predicted value of the attitude angle calculated according to three-axis gyroscope as Kalman filter, magnetometer and accelerometer are calculated
Attitude angle realizes the information fusion of multisensor by Kalman filtering, it is ensured that the accuracy of pose estimation as measured value
(specifically seeing below).
Referring to Fig. 1, Fig. 3, a kind of railway transportation equipment attitude monitoring system provided by the invention, attitude information is specifically included
Monitoring node (Attitude Reference Unit, AMU) 100, attitude reference node (Attitude Monitor Unit,
ARU) 200 and train supervision terminal 300, wherein：
Attitude information monitoring node AMU 100, it is installed on the default need of the railway transportation equipment 400 (a such as automobile)
Detection position, for detecting the default nine axle movable informations needed in detection position, obtain the attitude information monitoring node AMU
100 in railway transportation equipment reference frame and the relative position information of geo-referenced coordinates system, i.e. attitude information monitoring section
Then point AMU 100 radios to attitude reference node ARU200 in the default attitude information needed in detection position；
Wherein, it is the portion that the attitude information monitoring node AMU 100, which presets and needs the attitude information in detection position,
The relative position that the reference frame of position is fastened with geo-referenced coordinates, including X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle
With this six spatial degrees of freedom information of roll angle.By being integrated to acceleration measuring value, the displacement of X, Y, Z axis is obtained, is utilized
Accelerometer determines the angle of pitch and roll angle,The weight component on each direction of principal axis of accelerometer is represented, then is bowed
The elevation angleRoll angle Represent three axle magnetic
The component of each axle is counted by force, then deflection angleObtain accelerometer signal and magnetometer signal of change
Attitude angle；The attitude angle (including the angle of pitch, deflection angle and roll angle) for recycling three-axis gyroscope signal measurement to obtain is used as
The predicted value of Kalman filter, estimation procedure state-noise covariance, the attitude angle that magnetometer and accelerometer are calculated
As measured value, estimate measurement noise covariance matrix with reference to gyro error, realize the fusion of multi-sensor information, improve number
According to accuracy.
It should be noted that Kalman filter algorithm be according to previous system optimal value calculate current estimate and
Covariance, Kalman gains are calculated according to covariance size, finally calculate optimal value and association according to current estimate and measured value
Variance：
The calculation formula of the optimal value of quantity of state pre-estimation is：
Wherein,Represent based on the k-1 pre-estimation to k times,Represent the optimal value of k-1 times, A
The state-transition matrix of k-1 times to k times is represented, B (k) is the gain matrix for inputting dominant vector, and U (k) is input dominant vector.
Pre-estimation optimal value covariance P (k | k-1) calculation formula is：
P (k | k-1)=AP (k-1 | k-1) AT+Q(k)；Wherein, Q (k) represents the covariance of input noise.
Kalman gain matrix calculation formula is：
K (k)=P (k | k-1) HT[HP(k|k-1)HT+R(k)]-1；Wherein, R (k) is the covariance of observation noise.
The formula of more new estimation is：
P (k | k)=(I-K (k) H) P (k | k-1)；
Wherein, Z (k) represents the measured value of k times, and I is unit matrix.
Attitude reference node ARU200, with the wireless connections of attitude information monitoring node AMU 100, the attitude reference node
ARU200 is installed on the preset reference position of train flatcar 500, for detecting nine axle movable informations on preset reference position, obtains
The relative position information that the attitude reference node ARU200 fastens in train flatcar reference frame and geo-referenced coordinates is obtained,
And using the relative position information as attitude informations of the attitude reference node ARU200 in preset reference position, then with being received
To the attitude information monitoring node AMU 100 it is described it is default need the attitude information in detection position to be contrasted, calculate
Obtain real-time attitude change information of the current rail transportation equipment 400 on train flatcar 500 and (obtain current rail transport dress
The standby 400 relative position change information on train flatcar 500), and it is wirelessly sent to train supervision terminal 300；
Wherein, the railway transportation equipment reference frame includes railway transportation equipment level X-axis to the right, horizontal forward
Y-axis and perpendicular to horizontal Z axis upwardly；The train flatcar reference frame include train flatcar level X-axis to the right,
Horizontal forward Y-axis and the Z axis perpendicular to level upwardly；The geo-referenced coordinates system is on the basis of horizontal plane, by vertical
In horizontal Z axis, the Y-axis of magnetic north extreme direction and the X-axis composition in horizontal direction eastwards upwardly.
In the present invention, attitude informations of the attitude reference node ARU200 in preset reference position is believed with the posture
Breath monitoring node AMU 100 needs the attitude information in detection position to be contrasted in described preset, and specific contrast operation is：
X-axis that attitude informations of the attitude reference node ARU200 in preset reference position is included, Y-axis, Z axis position
Put and the angle of pitch, deflection angle and roll angle this six spatial degrees of freedom information, and the attitude information monitoring node AMU 100 exists
Default X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle for needing the attitude information in detection position to include
This six spatial degrees of freedom information, correspond to carry out additive operation respectively, so as to obtain current rail transportation equipment in train flatcar
On real-time attitude change information.Both when the difference that six-freedom degree correspondingly subtracts each other changes, i.e., in the free degree
Between relative position changed.
Train supervision terminal 300, and attitude reference node ARU200 wireless connections, for judging current rail transportation equipment
Whether the real-time attitude change information (i.e. relative position change information) on train flatcar exceedes (being more than) default maximum threshold
Value, so as to judge that railway transportation equipment whether there is potential safety hazard, if it exceeds (being specially X-axis, Y-axis, Z axis position and pitching
Any one spatial degrees of freedom exceedes default max-thresholds in this six spatial degrees of freedom of angle, deflection angle and roll angle), then sentence
There is potential safety hazard in disconnected railway transportation equipment, corresponding to issue the user with default safe early warning information (such as deceleration, early warning of stopping
Information), so that the users such as escort personnel refer to.
It should be noted that real-time attitude change information of the current rail transportation equipment on train flatcar, specifically
X-axis, Y-axis, Z axis position and this six spaces of the angle of pitch, deflection angle and roll angle for being railway transportation equipment on train flatcar
The change information of free degree information, i.e. changing value.
In specific implementation, the default max-thresholds refer to X-axis of the default railway transportation equipment on train flatcar, Y
The change maximum of this six spatial degrees of freedom information of axle, Z axis position and the angle of pitch, deflection angle and roll angle, this six spaces
Free degree information has corresponding default max-thresholds respectively.The default max-thresholds can fill according to railway computing of the present invention
The needs of standby attitude monitoring system user are configured or the service condition such as pavement quality according to railway is set in advance
Put.
In specific implementation, the train supervision terminal 300 can be put down by comparing railway transportation equipment with corresponding train
Whether the position of car bottom plate and the moving part of equipment are subjected to displacement, compared with safety of railway traffic standard, it is determined that
The equipment whether there is potential safety hazard, if potential safety hazard be present, the warning information for carrying out appropriate level (such as parking, is slowed down
Deng).Specially：Peak excursion (i.e. displacement) must not exceed what the default vehicle gauge of the locomotive of system user and particular section loaded
Limitation.Peak excursion is no more than the gauge of each section, and normal range of vibration occurs, (scope is bundled to reinforce equipment
Reserved scope during reinforcing) beyond skew when, should be alarmed, remind escort personnel equipment binding go wrong.)
It should be noted that safety of railway traffic standard is that the gauge of cargo transport is provided, specific threshold value
Setting, need to be configured according to actual conditions by the system user of the present invention.
In the present invention, the attitude information monitoring node AMU 100 is installed on the default of railway transportation equipment 400 and needs to examine
Position is surveyed, the position on specially described railway transportation equipment with relative motion, such as can be the railway transportation equipment
Top center, as shown in Figure 3.
In the present invention, the attitude reference node ARU 200 is installed on the preset reference position of train flatcar, such as can
The bottom plate center of the train flatcar 500 being installed on immediately below the railway transportation equipment 400 is thought, such as Fig. 3 institutes
Show.
In the present invention, purple is passed through between the attitude information monitoring node AMU 100 and attitude reference node ARU200
Honeybee agreement or family's Internet of Things communications protocol technical protocol (Zigbee/Thread) communicate wirelessly, and Zigbee/Thread leads to
Letter is used as close range wireless communication modes, and there is transmission bandwidth to require the characteristics of low, low in energy consumption.
In the present invention, Sub-GHz is passed through between the attitude reference node ARU200 and train supervision terminal 300
(1GHz) agreement carries out radio communication, in specific implementation, in the attitude reference node ARU200 and train supervision terminal 300 point
Sub-GHz chips are not installed, for carrying out mutual Sub-GHz communications.The Sub-GHz chips, in specific implementation,
Such as can be the Si4467 of the Silicon Labs companies and CC1120 etc. of TI companies of Texas Instrument.
In the present invention, the one or nine axis movement sensor is included referring to Fig. 2, the attitude information monitoring node AMU 100
101st, the first electricity collection sensor 102, the first power module 103 and the first data processing unit 104, wherein：
One or nine axis movement sensor 101, default needed for detecting the railway transportation equipment at this in detection position
Nine axle movable informations (specifically include 3-axis acceleration, three-axis attitude angular speed, three direction of principal axis angle-datas), are then transferred to
One data processing unit 104；
First electricity collection sensor 102, for gathering the energy of default species, and it is converted into electric energy and exists to energy storage
The first power module 103 in, so as to improve the continued power ability of whole monitoring system, imitated with obtaining good practical application
Fruit, overcoming goods train can not power, conventional video monitoring device power consumption is high, can not practical application limitation；
First power module 103, it is connected with the first electricity collection sensor 102, is received for storing first electric energy
Collect the electric energy that sensor 102 converts, and work electricity consumption is provided for the attitude information monitoring node AMU100；
First data processing unit 104, is connected with the one or nine axis movement sensor 101, the first power module 103 respectively
Connect, for the nine axle movable informations sent according to the one or nine axis movement sensor 101, obtain the attitude information monitoring section
The relative position information that point AMU 100 fastens in railway transportation equipment reference frame and geo-referenced coordinates, and this is relative
Positional information as attitude information monitoring node AMU 100, in the default attitude information needed in detection position, (believe by the posture
Breath specifically include attitude information monitoring node AMU 100 positioned at it is default need detection position when, in railway transportation equipment reference coordinate
The lower X-axis of system, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle this six spatial degrees of freedom information), then wireless biography
It is defeated by attitude reference node ARU200；
In specific implementation, the one or nine axis movement sensor 101 includes three axle acceleration sensors, three-axis gyroscope, three
Axle magnetic induction sensor, such as can be：The LSM9DS1 sensors of ST Microelectronics, InvenSense companies
MPU9X50 series sensors etc..For the one or nine axis movement sensor 101, it measures the angle of pitch by three axis accelerometer
And roll angle, deflection angle is measured by magnetometer, the attitude angle calculated according to three-axis gyroscope, realized by Kalman filtering more
The information fusion of sensor, it is ensured that the accuracy of pose estimation.
In specific implementation, the first electricity collection sensor 102 can by silicon plate etc., by solar energy, vibration it is dynamic
The collectable default species energy such as energy are converted into electric energy, such as can be：The LTC3588 energy acquisition cores of Linear Techn Inc.
Piece etc..
In the present invention, referring to Fig. 2, the attitude reference node ARU 200 include the two or nine axis movement sensor 201,
Second electricity collection sensor 202, the data processing unit 204 of second source module 203 and second, wherein：
Two or nine axis movement sensor 201, default needed for detecting the railway transportation equipment at this in detection position
Nine axle movable informations (specifically include 3-axis acceleration, three-axis attitude angular speed, three direction of principal axis angle-datas), are then wirelessly transferred
To train supervision terminal 300；
Second electricity collection sensor 202, for gathering the energy of default species, and it is converted into electric energy and exists to energy storage
Second source module 203 in, so as to improve the continued power ability of whole monitoring system, imitated with obtaining good practical application
Fruit, overcoming goods train can not power, conventional video monitoring device power consumption is high, can not practical application limitation；
Second source module 203, it is connected with the second electricity collection sensor 202, is received for storing second electric energy
Collect the electric energy that sensor 202 converts, and work electricity consumption is provided for the attitude reference node ARU 200；
Second data processing unit 204, is connected with the two or nine axis movement sensor 201, second source module 203 respectively
Connect, for the nine axle movable informations sent according to the two or nine axis movement sensor 201, obtain the attitude reference node
The relative position information that ARU200 fastens in train flatcar reference frame and geo-referenced coordinates, and by the relative position information
As attitude informations of the attitude reference node ARU200 in preset reference position, (attitude information specifically includes attitude reference node
When ARU200 is located at preset reference position, believe in the relative position that train flatcar reference frame and geo-referenced coordinates are fastened
Breath, specifically include X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle this six spatial degrees of freedom information), Ran Houyu
The received attitude information monitoring node AMU100 in the default attitude information needed in detection position, (believe by the posture
Breath includes X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle this six spatial degrees of freedom information) carry out contrast behaviour
Make, calculate real-time attitude change information of the acquisition current rail transportation equipment 400 on train flatcar 500 and (obtain current iron
Relative position change information of the road transportation equipment 400 on train flatcar 500), and it is wirelessly sent to train supervision terminal 300.
Real-time attitude change information of the railway transportation equipment on train flatcar, specially railway transportation equipment is on train flatcar
X-axis, Y-axis, the change information of this six spatial degrees of freedom information of Z axis position and the angle of pitch, deflection angle and roll angle, that is, change
Value.
As it was noted above, for the second data processing unit 204, it is by the attitude reference node ARU200 in default ginseng
The attitude information for examining position presets the attitude information needed in detection position with the attitude information monitoring node AMU 100 described
Contrasted, specific contrast operation is：
X-axis that attitude informations of the attitude reference node ARU200 in preset reference position is included, Y-axis, Z axis position
Put and the angle of pitch, deflection angle and roll angle this six spatial degrees of freedom information, and the attitude information monitoring node AMU 100 exists
Default X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle for needing the attitude information in detection position to include
This six spatial degrees of freedom information, correspond to carry out additive operation respectively, so as to obtain current rail transportation equipment in train flatcar
On real-time attitude change information.Both when the difference that six-freedom degree correspondingly subtracts each other changes, i.e., in the free degree
Between relative position changed.
In specific implementation, the two or nine axis movement sensor 201 includes three axle acceleration sensors, three-axis gyroscope, three
Axle magnetic induction sensor, such as can be：The LSM9DS1 sensors of ST Microelectronics, InvenSense companies
MPU9X50 series sensors etc..For the two or nine axis movement sensor 201, it measures the angle of pitch by three axis accelerometer
And roll angle, deflection angle is measured by magnetometer, using three-axis gyroscope signal measurement obtain attitude angle (including the angle of pitch, partially
Corner and roll angle).In specific implementation, equally, the second electricity collection sensor 202 can be by silicon plate etc., by the sun
The collectable default species energy such as the kinetic energy that can, vibrate are converted into electric energy, such as can be：Linear Techn Inc.
LTC3588 energy acquisition chips etc..
It should be noted that for the present invention, in order to give full play to the monitoring wireless sensor network of railway transportation equipment
The characteristics of low-power consumption, the network connection knot between the attitude reference node ARU 200 and attitude information monitoring node AMU 100
Structure is sub-clustering type network structure, and wherein attitude reference node ARU 200 is cluster head node, attitude reference node ARU 200 and appearance
State information monitoring node AMU 100 is transferred to the time synchronized of train supervision terminal 300.So design, it is specific a variety of excellent
Effect, it is possible, firstly, to which the data for guaranteeing to collect different nodes are chronologically merged, improve monitoring information quality；Its
It is secondary, the information of redundancy can be rejected by the temporal correlation of data, reduces the traffic, and as the energy-saving machine of sleep awakening
The basis of system, the cooperation transmission of node and security protocol, in terms of optimizing network performance or making up sensor node hardware capability
Deficiency；Finally, the data anastomosing algorithm estimated by the assembled gesture based on Kalman filtering obtains the real-time attitude of flatcar,
And carry out the flatcar reference frame of acquisition to equip referential contrast, relative position of the current equipment on flatcar is calculated,
The final equipment posture for obtaining necessary for monitoring.
In the present invention, in specific implementation, the train supervision terminal 300 includes high performance embedded type terminal equipment
301st, display device 302 and telecommunication equipment 303, the train supervision terminal 300 have big-dipper satellite positioning, big-dipper satellite
Communication and mobile network's telecommunication, 1GHz communications/ZigBee protocol/family's Internet of Things communications protocol technology/bluetooth/Wireless Fidelity
(Sub-GHz/Zigbee/Thread/Bluetooth/WiFi) function such as wireless near field communication, can complete to equip posture letter
The transmission of breath, handle, be locally displayed and high in the clouds transfer function.
Wherein, embedded type terminal equipment 301, it is connected with attitude information monitoring node AMU 100, for judging to work as respectively
X-axis, Y-axis, Z axis position and the angle of pitch, the deflection that preceding railway transportation equipment includes in the real-time attitude information on train flatcar
Whether angle and roll angle this six spatial degrees of freedom information, which exceed (being more than), is preset max-thresholds, so as to judge railway transportation equipment
With the presence or absence of potential safety hazard, if it does, then judge that railway transportation equipment has potential safety hazard, it is corresponding to be sent out to display device 302
Send default safe early warning information (such as slowing down, warning information of stopping).
Display device 302, it is connected with embedded type terminal equipment 301, for showing current rail transportation equipment in train
Real-time attitude information on flatcar, and embedded type terminal equipment 301 is sent default safe early warning information (as slow down,
The warning information such as parking) user is shown to, so that the users such as escort personnel refer to.
Telecommunication equipment 303, it is connected with embedded type terminal equipment 301, for current rail transportation equipment to be arranged
Real-time attitude information on car flatcar is uploaded to Cloud Server and carries out data storage.
In specific implementation, embedded type terminal equipment 301 can specifically include multiple central processor CPUs, for completing
Transmission of the train supervision terminal 300 to railway transportation equipment attitude information is stated, handles, be locally displayed and the various work(such as high in the clouds transmission
Energy.
In specific implementation, HDMI, the insertion are respectively arranged with the embedded type terminal equipment and display device
Formula terminal device is connected with display device by HDMI connecting lines.
In specific implementation, the train supervision terminal 300 can also be determined by the Big Dipper installed on embedded type terminal equipment
Position chip, with reference to Beidou satellite communication, train operation track is shown by electronic map on the display device.In addition, railway is transported
The posture and warning information of defeated equipment, the posture that can be also equipped by three dimensional constitution come solid show, will equip three-dimensional model
Data and flatcar three-dimensional model data are shown under GIS platform；In addition, train supervision terminal 300 provided by the invention can also
Enough save historical data, Cloud Server can be sent data to by Beidou satellite communication and mobile telecommunication mode, supply
Further processing, analysis.
In summary, compared with prior art, a kind of railway transportation equipment attitude monitoring system provided by the invention, its
It can automatically carry out round-the-clock monitoring to the posture of railway transportation equipment, the posture of intelligent decision railway transportation equipment, and and
When send early warning, ensure monitoring promptness and accuracy, save the human cost of transport, ensure the transport of railway transportation equipment
Safety, is obviously improved the level of IT application of railway transport administration, is advantageous to the extensive life of railway transportation equipment attitude monitoring system
Production application, is of great practical significance.
In addition, railway transportation equipment attitude monitoring system provided by the invention also has, transmission bandwidth requires low, electricity consumption is few
And the advantages of low-power consumption, the objective condition on train can be conformed better to, has further been obviously improved the practice of system
Ability, good practical application effect can be obtained.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (8)
- A kind of 1. railway transportation equipment attitude monitoring system, it is characterised in that including：Attitude information monitoring node AMU, being installed on the default of the railway transportation equipment needs detection position, default for detecting this Nine axle movable informations in detection position are needed, obtain the attitude information monitoring node AMU in railway transportation equipment reference coordinate The relative position information that system fastens with geo-referenced coordinates, and using the relative position information as attitude information monitoring node AMU In the default attitude information needed in detection position, attitude reference node ARU is then radioed to；Attitude reference node ARU, with attitude information monitoring node AMU wireless connections, the attitude reference node ARU is installed on row The preset reference position of car flatcar, for detecting nine axle movable informations on preset reference position, obtain the attitude reference section The relative position information that point ARU fastens in train flatcar reference frame and geo-referenced coordinates, and by the relative position information As attitude informations of the attitude reference node ARU in preset reference position, then attitude reference node ARU is joined in train flatcar The coordinate information examined in coordinate system is needed in detection position with the received attitude information monitoring node AMU in described preset Coordinate information contrasted, calculate and obtain real-time attitude change information of the current rail transportation equipment on train flatcar and have no Line is sent to train supervision terminal；Train supervision terminal, and attitude reference node ARU wireless connections, for judging current rail transportation equipment in train flatcar On real-time attitude change information whether exceed default max-thresholds, issue the user with default safety if it does, then corresponding to Warning information；Wherein, the railway transportation equipment reference frame includes the X-axis of railway transportation equipment level to the right, horizontal forward Y Axle and the Z axis perpendicular to level upwardly；The train flatcar reference frame includes train flatcar level X-axis to the right, water Flat Y-axis forward and the Z axis perpendicular to level upwardly；The geo-referenced coordinates system on the basis of horizontal plane, by perpendicular to Horizontal Z axis, the Y-axis of magnetic north extreme direction and the X-axis composition in horizontal direction eastwards upwardly.
- 2. railway transportation equipment attitude monitoring system as claimed in claim 1, it is characterised in that the attitude reference node Attitude informations of the ARU in preset reference position is needed in detection position with the attitude information monitoring node AMU in described preset Attitude information is contrasted, and specific contrast operation is：By X-axis that attitude informations of the attitude reference node ARU in preset reference position includes, Y-axis, Z axis position and bow This six spatial degrees of freedom information of the elevation angle, deflection angle and roll angle, and the attitude information monitoring node AMU is in the default need This six spaces of X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle that attitude information in detection position includes Free degree information, correspond to carry out additive operation respectively, so as to obtain real-time appearance of the current rail transportation equipment on train flatcar State change information.
- 3. railway transportation equipment attitude monitoring system as claimed in claim 1, it is characterised in that the railway transportation equipment It is specially the position of centre of gravity of the railway transportation equipment or easy moving part to preset and need detection position；The attitude reference node ARU is installed on the train flatcar bottom plate.
- 4. railway transportation equipment attitude monitoring system as claimed in claim 1, it is characterised in that the attitude information monitoring section Channel radio is carried out by ZigBee protocol or family's Internet of Things communications protocol technical protocol between point AMU and attitude reference node ARU News；Radio communication is carried out by Sub-GHz agreements between the attitude reference node ARU and train supervision terminal.
- 5. the railway transportation equipment attitude monitoring system as any one of Claims 1-4, it is characterised in that the appearance State information monitoring node AMU includes：One or nine axis movement sensor, default nine axles in detection position are needed to move at this for detecting the railway transportation equipment Information, it is then transferred to the first data processing unit；First electricity collection sensor, for gathering the energy of default species, and it is converted into electric energy and has first to energy storage In power module；First power module, it is connected with the first electricity collection sensor, turns for storing the first electricity collection sensor The electric energy of change, and provide work electricity consumption for the attitude information monitoring node AMU；First data processing unit, it is connected respectively with the one or nine axis movement sensor, the first power module, for according to The nine axle movable informations that one or nine axis movement sensor is sent, obtain the attitude information monitoring node AMU and filled in railway transportation The relative position information that standby reference frame is fastened with geo-referenced coordinates, and supervised the relative position information as attitude information Node AMU is surveyed in the default attitude information needed in detection position, then radios to attitude reference node ARU.
- 6. railway transportation equipment attitude monitoring system as claimed in claim 5, it is characterised in that the attitude reference node ARU includes：Two or nine axis movement sensor, default nine axles in detection position are needed to move at this for detecting the railroad transport flat car Information, then radio to train supervision terminal；Second electricity collection sensor, for gathering the energy of default species, and it is converted into electric energy and has second to energy storage In power module；Second source module, it is connected with the second electricity collection sensor, turns for storing the second electricity collection sensor The electric energy of change, and provide work electricity consumption for the attitude reference node ARU；Second data processing unit, it is connected respectively with the two or nine axis movement sensor, second source module, for according to The nine axle movable informations that two or nine axis movement sensor is sent, the attitude reference node ARU is obtained in train flatcar with reference to seat The relative position information that mark system fastens with geo-referenced coordinates, and exist the relative position information as attitude reference node ARU The attitude information of preset reference position, then need to examine in described preset with the received attitude information monitoring node AMU The attitude information surveyed on position carries out contrast operation, obtains real-time attitude change of the current rail transportation equipment on train flatcar Information, and it is wirelessly sent to train supervision terminal.
- 7. the railway transportation equipment attitude monitoring system as described in claim 1 or 6, it is characterised in that the train supervision is whole End includes：Embedded type terminal equipment, it is connected with attitude information datum node ARU, for judging that current rail transportation equipment exists respectively X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle information included in real-time attitude information on train flatcar be It is no to exceed default max-thresholds, if it does, then judge that railway transportation equipment has potential safety hazard, it is corresponding to be sent to display device Default safe early warning information；Display device, it is connected with embedded type terminal equipment, for showing reality of the current rail transportation equipment on train flatcar When attitude information, and by embedded type terminal equipment send default safe early warning presentation of information to user；Telecommunication equipment, be connected with embedded type terminal equipment, for by current rail transportation equipment on train flatcar Real-time attitude information is uploaded to Cloud Server and carries out data storage.
- 8. railway transportation equipment attitude monitoring system as claimed in claim 7, it is characterised in that the embedded type terminal equipment With HDMI is respectively arranged with display device, the embedded type terminal equipment is connected with display device by HDMI connecting lines Connect.
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| CN201610572824.5A CN107631725A (en) | 2016-07-19 | 2016-07-19 | A kind of railway transportation equipment attitude monitoring system |
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