CN109448346B - Intelligent derailer state monitoring system and networking communication method thereof - Google Patents
Intelligent derailer state monitoring system and networking communication method thereof Download PDFInfo
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- CN109448346B CN109448346B CN201811197631.1A CN201811197631A CN109448346B CN 109448346 B CN109448346 B CN 109448346B CN 201811197631 A CN201811197631 A CN 201811197631A CN 109448346 B CN109448346 B CN 109448346B
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/044—Broken rails
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses an intelligent derailer state monitoring system which comprises a plurality of intelligent derailers, a wireless transmission unit and an intelligent derailer state monitoring upper computer, wherein the wireless transmission unit is composed of a plurality of relays and a network coordinator, the intelligent derailer state signal acquisition units respectively comprise acceleration sensors, gyroscopes, magnetometers, temperature sensors, central processing units and wireless transceiving modules, the signal output ends of the acceleration sensors, the gyroscopes, the magnetometers and the temperature sensors are respectively connected with the corresponding signal input ends of the central processing units, the communication signal ends of the central processing units are wirelessly connected with the downlink communication signal ends of the corresponding relays through the wireless transceiving modules, and the uplink communication signal ends of the relays are respectively wirelessly connected with the network coordinator. The intelligent derailer state signal acquisition unit designed by the invention adopts various sensors, and the derailer state acquired by fusing various information is more accurate.
Description
Technical Field
The invention relates to the technical field of locomotive yard safety, in particular to an intelligent derailer state monitoring system and a networking communication method thereof, which are suitable for realizing real-time monitoring and networking communication of the state of a railway derailer.
Background
The derailer is a protection device on a rail for protecting a person or an important rolling stock on the rail, and derails once the rolling stock or the rolling stock enters a preset position of the rail to ensure the safety of the protected person or the important equipment object. When the train is arranged in a train inspection place for inspection, derailers are required to be arranged at two ends of the train, if the locomotive slides or other locomotives intrude into the station track, the derailers can force the locomotive to be separated from the track so as to protect the life safety of people, and derailers are arranged at two ends of other important locomotives so as to protect the safety of the important locomotives and vehicles. The state of derailers is divided into two categories: one is a 'down-track' state, namely a positioning state, and the vehicle can normally pass through the positioning state; the other is the 'on-track' state, namely the reverse state, which indicates that a train is in the station track for overhauling operation and other vehicles are forbidden to pass through.
Currently, the following problems exist for the detection of the derailer's condition: the condition detection is not timely and the efficiency is low due to the adoption of manual operation or the detection of the condition of the derailer. The state of the derailer is detected by a few sensors for part of intelligent derailers, the derailer is prone to being interfered by the outside, the detection state is inaccurate, the data communication amount is large, and the communication efficiency is not high.
Disclosure of Invention
The invention aims to solve the problems and provides an intelligent derailer state monitoring system and a monitoring method thereof, which realize real-time monitoring of the derailer state and have very important significance and practical value for guaranteeing safe operation of railways.
The technical scheme of the invention is as follows:
an intelligent derailer state monitoring system comprises a plurality of intelligent derailers, a wireless transmission unit consisting of a plurality of repeaters and a network coordinator, and an intelligent derailer state monitoring upper computer,
(1) the intelligent derailer comprises a derailer and an intelligent box; the intelligent box is fixed on the vertical rod of the derailer in a hoop type,
(2) the derailer is divided into a horizontal type and a vertical type and comprises a derailer body, a rotating handle, a vertical rod and a warning board, wherein when the states of the horizontal derailer on the upper rail and the lower rail are changed, the vertical rod rotates 90 degrees in the horizontal direction, when the states of the vertical derailer on the upper rail and the lower rail are changed, the vertical rod rotates 90 degrees in the vertical direction,
(3) the intelligent box comprises a box body and an intelligent derailer state signal acquisition unit inside the box body,
(4) the intelligent derailer state signal acquisition unit comprises an acceleration sensor, a gyroscope, a magnetometer, a temperature sensor, a central processing unit and a wireless transceiver module, the signal output ends of the acceleration sensor, the gyroscope, the magnetometer and the temperature sensor are connected with the corresponding signal input end of the central processing unit, the communication signal end of the central processing unit is in wireless connection with the downlink communication signal end of the corresponding repeater through the wireless transceiver module, the uplink communication signal end of each repeater is in wireless connection with a network coordinator, and the network coordinator is connected with the derailer state monitoring upper computer through an RS485 bus or a TCP/IP mode.
The reliability of communication is improved through the relay list, the data transmission efficiency is improved and the power consumption is reduced through acquiring the superior communication state, and the method comprises the following specific steps:
1) after the intelligent derailer sends out a communication data frame, monitoring is started, and a repeater reply is received;
2) judging whether the intelligent derailer receives the reply of the repeater or not;
if the intelligent derailer receives the repeater reply, sequencing and screening the repeaters according to the received RSSI values of the repeaters, selectively recording three repeaters R1, R2 and R3 in descending order according to the RSSI values, sequentially storing the three repeaters into a cache list, sequentially storing actual receiving quantity when receiving less than three repeater replies, and then starting the nth round of command transmission, wherein the n initial value is 1;
if the repeater reply is not received, the intelligent derailer restarts broadcasting;
3) the intelligent derailer sends a command to the selected repeater R1 with the highest signal strength to acquire the communication state S1 of the R1 and the coordinator, wherein the communication state S1 is successful when the communication state S1 is 1, and the communication state S1 is failed when the communication state S1 is 0;
4) determine whether S1 equals 1;
if S1 is equal to 1, the intelligent derailer performs data check and sends service data to the repeater R1 after the data check is passed;
if S1 is 0, sending a command to the relay R2 with the second highest signal, and acquiring a communication state S2 between R2 and the coordinator, where S2 is 1 indicates that the communication is successful, and S2 is 0 indicates that the communication is failed;
5) determine whether S2 equals 1;
if S2 is equal to 1, the intelligent derailer performs data check and sends service data to the repeater R2 after the data check is passed;
if S2 is 0, sending a command to the relay R3 with the third highest signal, and acquiring a communication state S3 between R3 and the coordinator, where S3 is 1 indicates that the communication is successful, and S3 is 0 indicates that the communication is failed;
6) determine whether S3 equals 1;
if S3 is equal to 1, the intelligent derailer performs data check and sends service data to the repeater R3 after the data check is passed;
if S3 is equal to 0, n is equal to n +1, whether n exceeds 3 is judged, and if n does not exceed 3, the step 3 is returned to); and if n exceeds 3, returning to the step 1).
Specifically, the specific format of the intelligent derailer communication data frame is as follows:
2 start-end handshake characters +1 control character + intelligent derailer data frame + LRC check character +2 end-end characters; wherein, 2 starting end handshaking characters are used for carrying out synchronization with a receiving end CPU before sending the anti-slip data frame; the control character indicates whether the data transmission mode is broadcast, multicast or point-to-point transmission; the intelligent derailer data frame is: the method comprises the steps that (1) a derailer MAC address, 1 state character, 11 analog quantity characters and 5 relay node code characters are added; the LRC check character is that the intelligent derailer data frames are added according to 16-system numbers and summed, the carry is discarded and added with 1 in a reverse way, 1 check byte is generated, and 2 end characters indicate that the transmission of one data frame is completed.
Specifically, the specific process of the relay receiving the data frame is as follows:
after the repeater detects 2 initial handshake characters, the repeater starts to receive the data frame of the intelligent derailer, adds the new frame formed by the data frame of the intelligent derailer and the LRC check character and discards carry, and verifies whether the remainder is 0: if not, the intelligent derailer data is proved to be changed in the transmission process, and the repeater discards the derailer data frame; if the remainder is 0, the fact that no abnormity occurs in the data transmission process of the intelligent derailer is shown, the repeater finishes analyzing and checking the data communication data frame of the intelligent derailer, and receives the data frame of the intelligent derailer.
Specifically, after a certain relay receives a data frame, the relay code of the certain relay updates the content of the 5 relay node code characters according to the actual relay link sequence, so that the received data frame contains the link connection condition of the latest relay, the initial value of the 5 relay node code characters is 0, and finally the actual relay link is stored.
Specifically, the status character format is as follows:
wherein, M0.7: the horizontal derailer is in an upper rail state, wherein 1 represents that the horizontal derailer is in the upper rail state, and 0 represents that the horizontal derailer is in a non-upper rail state; m0.6: the horizontal derailer is in a down-track state, wherein 1 represents that the horizontal derailer is in the down-track state, and 0 represents that the horizontal derailer is in a non-down-track state; m0.5: the vertical derailer is in an upper rail state, wherein 1 represents that the vertical derailer is in the upper rail state, and 0 represents that the vertical derailer is in a non-upper rail state; m0.4: the vertical derailer is in a down-track state, wherein 1 represents that the vertical derailer is in the down-track state, and 0 represents that the vertical derailer is in a non-down-track state; m0.3: the electric quantity alarm state of the derailer, wherein 1 represents that the electric quantity of the derailer is low and the electric quantity alarm occurs, 0 represents that the electric quantity of the derailer is normal and the electric quantity alarm does not occur; m0.2, the derailer is in a stolen alarm state, wherein 1 represents a stolen alarm, and 0 represents no stolen alarm; m0.1: the derailer is in an awakening or sleeping state, wherein 1 represents that the derailer is in the awakening state, and 0 represents that the derailer is in the sleeping state; m0.0: and the switching state of the derailer is that 1 represents that the derailer is in a starting working state, and 0 represents that the derailer sends out a shutdown state signal and then automatically shuts down.
The 11 analog characters are in the following format:
wherein M1 represents the angle between the derailer and the rail, and the unit is degree; m2 represents the angle between the derailer and the ground, and the unit is degree; m3 represents the angular velocity detected by the gyroscope, in Rad/s; m4 represents the X-axis acceleration in units of gravitational acceleration g; m5 represents the Y-axis acceleration in units of gravitational acceleration g; m6 represents Z-axis acceleration in units of gravitational acceleration g; m7 represents the X-axis direction magnetic force value in units of gauss; m8 represents the Y-axis direction magnetic force value in units of gauss; m9 represents temperature in units of; m10 denotes electrical quantity, W × H; m11 represents signal strength in dBm.
Specifically, the intelligent derailer performs data check before sending data to the repeater, and only after data validity check, state logic check and key state confirmation, service data with valid data, state according logic and correct key state can be sent, wherein the specific data check process comprises the following contents:
(3-A), data validity check: whether the analog quantity data is in the range of the detection range of the sensor or not is checked, and the specific judgment formula is as follows:
(3-B), state logic check: checking whether each state accords with logic, wherein the specific judgment formula is as follows:
wherein g (X) is a logical inversion function, which means that if X is 1, the value of g (X) is 0; if X is 0, then g (X) has a function value of 1;
(3-C), Key status confirmation: according to the size of the analog quantity data, whether the state is correct is confirmed, and the specific judgment formula is as follows:
wherein f (X) is a logic function, which means that if "X" is true, the function value is 1, and if "X" is false, the function value is 0;
and (3-A), (3-B) and (3-C) are confirmed simultaneously, and the intelligent derailer sends data to the repeater when all the items meet the conditions.
The invention has the advantages of
According to the intelligent derailer state monitoring system, the designed intelligent derailer state signal acquisition unit adopts various sensors, and the derailer state obtained by fusing various information is more accurate; the method is suitable for detecting the states of the horizontal derailer and the vertical derailer simultaneously; and the service data transmission efficiency is improved and the system operation power is reduced based on various networking communication strategies such as signal intensity comparison, superior communication state acquisition, data inspection and the like. The intelligent derailer state monitoring system can clearly show the whole data flow direction of service data transferred from the intelligent derailer to each repeater and finally to the upper computer based on the obtained communication data frame. The invention is a set of monitoring system based on high efficiency, easy operation and high reliability, can realize the real-time monitoring of the derailer state, and has very important significance and practical value for guaranteeing the safe operation of the railway.
Drawings
FIG. 1 is a block diagram of the condition monitoring system of the present invention.
FIG. 2 is a flow chart of a networking communication method of the status detection system of the present invention.
FIG. 3 is an intelligent derailer communication data frame format of the present invention.
FIG. 4 is a 1 state character format of the present invention.
FIG. 5 is an 11-analog character format of the present invention.
Fig. 6 is a 5 relay node code character format of the present invention.
Detailed Description
As shown in fig. 1, the intelligent derailer state monitoring system comprises a plurality of intelligent derailers, a wireless transmission unit consisting of a plurality of repeaters and a network coordinator, and an intelligent derailer state monitoring upper computer, wherein each intelligent derailer comprises a derailer and an intelligent box. The intelligent box is fixed on the vertical rod of the derailer in a hoop type and used for detecting the rotation angle of the derailer in the horizontal direction or the vertical direction and further judging the working state of the horizontal derailer and the vertical derailer, each intelligent derailer state signal acquisition unit comprises an acceleration sensor (selected from ADXL345), a gyroscope (selected from I3G4250D), a magnetometer (selected from MAG3110), a temperature sensor, a central processing unit (CPU model STM32F103) and a wireless transceiver module (model F8L10D), the acceleration sensor is used for detecting the acceleration of the intelligent box in the x direction, the y direction and the z direction, the gyroscope is used for detecting the angular velocity of the normal of the set surface of the intelligent box in the horizontal direction or the vertical direction, the gyroscope is used for detecting the angle between the intelligent box and the geomagnetic field in the horizontal direction, and the signal output ends of the acceleration sensor, the gyroscope, the magnetometer and the temperature sensor are all connected with the corresponding signal input ends of the central processing unit, the communication signal end of the central processing unit is wirelessly connected with the downlink communication signal end of the corresponding repeater through the wireless transceiving module, the uplink communication signal end of each repeater is wirelessly connected with the network coordinator, and the network coordinator is connected with the derailer state monitoring upper computer through an RS485 bus or a TCP/IP mode. The intelligent derailer state monitoring upper computer is used for displaying the working state information of the derailer collected by each intelligent derailer state signal collecting unit.
In the specific implementation with reference to fig. 2: the invention discloses a communication networking method of an intelligent derailer state monitoring system, which comprises the following steps:
1) and after the intelligent derailer starts to send out the data frame, starting monitoring and receiving the reply of the repeater.
2) And judging whether the intelligent derailer receives the reply of the repeater or not.
If the intelligent derailer receives the repeater reply, sequencing and screening the repeaters according to the received RSSI values of the repeaters, selectively recording three repeaters R1, R2 and R3 in descending order according to the RSSI values, sequentially storing the three repeaters into a cache list, sequentially storing actual receiving quantity when receiving less than three repeater replies, and then starting the nth round of command transmission, wherein the n initial value is 1.
If no repeater reply is received, the intelligent derailer resumes broadcasting.
3) And the intelligent derailer sends a command to the selected repeater R1 with the highest signal strength to acquire the communication state S1 between the R1 and the coordinator, wherein the communication is successful when the communication state S1 is 1, and the communication is failed when the communication state S1 is 0.
4) A decision S1 is made as to whether it is equal to 1.
If S1 is equal to 1, the intelligent derailer performs data check, and transmits the traffic data to the repeater R1 after the data check.
If S1 is 0, a command is sent to the relay R2 with the second highest signal, and the communication state S2 between R2 and the coordinator is obtained, where S2 is 1, and S2 is 0, which is communication failure.
5) A decision S2 is made as to whether it is equal to 1.
If S2 is equal to 1, the intelligent derailer performs data check, and transmits the traffic data to the repeater R2 after the data check.
If S2 is 0, a command is sent to the relay R3 with the third highest signal, and the communication state S3 between R3 and the coordinator is obtained, where S3 is 1, and S3 is 0, which is communication failure.
6) A decision S3 is made as to whether it is equal to 1.
If S3 is equal to 1, the intelligent derailer performs data check, and transmits the traffic data to the repeater R3 after the data check.
If S3 is equal to 0, n is equal to n +1, whether n exceeds 3 is judged, and if n does not exceed 3, the step 3 is returned to); and if n exceeds 3, returning to the step 1).
As shown in fig. 3, a method for intelligent derailer status monitoring communication networking, the specific format of the intelligent derailer communication data frame is as follows:
2 start-end handshake characters +1 control character + intelligent derailer data frame + LRC check character +2 end-end characters; wherein, 2 starting end handshaking characters are used for carrying out synchronization with a receiving end CPU before sending the anti-slip data frame; the control character indicates that the data transmission mode is broadcast, multicast or point-to-point transmission, and the control character selects 'FFH' to designate the data transmission mode as a broadcast mode; the intelligent derailer data frame is: the derailer MAC address +1 state character +11 analog character; the LRC check character is that the derailer data frame is added according to 16-system numbers and summed, the carry is discarded and added by 1, 1 check byte is generated, and 2 end characters indicate that the transmission of one data frame is completed.
After the repeater detects 2 initial handshake characters, the repeater starts to receive the data frame of the intelligent derailer, adds the new frame formed by the data frame of the intelligent derailer and the LRC check character and discards carry, and verifies whether the remainder is 0: if not, the intelligent derailer data is proved to be changed in the transmission process, and the repeater discards the derailer data frame; if the remainder is 0, the fact that no abnormity occurs in the data transmission process of the intelligent derailer is shown, the repeater finishes analyzing and checking the data communication data frame of the intelligent derailer, and receives the data frame of the intelligent derailer.
After receiving the data frame, a certain relay updates the content of the 5 relay node code characters according to the actual relay link sequence by using the own relay code, so that the received data frame contains the link connection condition of the latest relay, the initial values of the 5 relay node code characters are 0, and finally the actual relay link is saved as shown in fig. 6.
With reference to fig. 4, the status character format is as follows:
wherein, M0.7: the horizontal derailer is in an upper rail state, wherein 1 represents that the horizontal derailer is in the upper rail state, and 0 represents that the horizontal derailer is in a non-upper rail state; m0.6: the horizontal derailer is in a down-track state, wherein 1 represents that the horizontal derailer is in the down-track state, and 0 represents that the horizontal derailer is in a non-down-track state; m0.5: the vertical derailer is in an upper rail state, wherein 1 represents that the vertical derailer is in the upper rail state, and 0 represents that the vertical derailer is in a non-upper rail state; m0.4: the vertical derailer is in a down-track state, wherein 1 represents that the vertical derailer is in the down-track state, and 0 represents that the vertical derailer is in a non-down-track state; m0.3: the electric quantity alarm state of the derailer, wherein 1 represents that the electric quantity of the derailer is low and the electric quantity alarm occurs, 0 represents that the electric quantity of the derailer is normal and the electric quantity alarm does not occur; m0.2, the derailer is in a stolen alarm state, wherein 1 represents a stolen alarm, and 0 represents no stolen alarm; m0.1: the derailer is in an awakening or sleeping state, wherein 1 represents that the derailer is in the awakening state, and 0 represents that the derailer is in the sleeping state; m0.0: and the switching state of the derailer is that 1 represents that the derailer is in a starting working state, and 0 represents that the derailer sends out a shutdown state signal and then automatically shuts down.
With reference to fig. 5, the 11 analog characters are formatted as follows:
wherein M1 represents the angle between the derailer and the rail, and the unit is degree; m2 represents the angle between the derailer and the ground, and the unit is degree; m3 represents the angular velocity detected by the gyroscope, in Rad/s; m4 represents the X-axis acceleration in units of gravitational acceleration g; m5 represents the Y-axis acceleration in units of gravitational acceleration g; m6 represents Z-axis acceleration in units of gravitational acceleration g; m7 represents the X-axis direction magnetic force value in units of gauss; m8 represents the Y-axis direction magnetic force value in units of gauss; m9 represents temperature in units of; m10 denotes electrical quantity, W × H; m11 represents signal strength in dBm.
The intelligent derailer carries out data check before sending data to the repeater, and only after data validity check, state logic check and key state confirmation, the service data with valid data, state according with logic and correct key state can be sent, wherein the specific data check process comprises the following contents:
(3-A), data validity check: whether the analog quantity data is in the range of the detection range of the sensor or not is checked, and the specific judgment formula is as follows:
mi (i ∈ {1,2 }): respectively representing the included angles between the derailer and the track and between the derailer and the ground, wherein the unit is degree and each of the derailer and the track occupies four bytes; mk (k ∈ {4,5,6 }): respectively representing the acceleration of X, Y and Z axes, wherein the unit is gravity acceleration g which respectively occupies four bytes; m9: temperature, in units of deg.C, four bytes;
(3-B), state logic check: checking whether each state accords with logic, wherein the specific judgment formula is as follows:
wherein M0.7: the horizontal derailer is in an upper rail state, wherein 1 represents that the horizontal derailer is in the upper rail state, and 0 represents that the horizontal derailer is in a non-upper rail state; m0.6: the horizontal derailer is in a down-track state, wherein 1 represents that the horizontal derailer is in the down-track state, and 0 represents that the horizontal derailer is in a non-down-track state; m0.5: the vertical derailer is in an upper rail state, wherein 1 represents that the vertical derailer is in the upper rail state, and 0 represents that the vertical derailer is in a non-upper rail state; m0.4: the vertical derailer is in a down-track state, wherein 1 represents that the vertical derailer is in the down-track state, and 0 represents that the vertical derailer is in a non-down-track state; m0.2, the derailer is in a stolen alarm state, 1 represents a stolen alarm, and 0 represents no stolen alarm. g (X) is a logical negation function, which means that if X is 1, g (X) has a function value of 0; if X is 0, the value of g (X) function is 1.
(3-C), Key status confirmation: according to the size of the analog quantity data, whether the state is correct is confirmed, and the specific judgment formula is as follows:
wherein M1 represents the angle of the derailer with the rail in degrees; m2 represents the angle between the derailer and the ground, and the unit is degree; m10 is the derailer power, the size is the percentage of the full power, and it takes four bytes; f (X) is a logic function, which means that if "X" is true, the function value is 1, and if "X" is false, the function value is 0.
And (3-A), (3-B) and (3-C) are confirmed simultaneously, and the intelligent derailer sends data to the repeater when all the items meet the conditions.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. A networking communication method of an intelligent derailer state monitoring system comprises a plurality of intelligent derailers, a wireless transmission unit consisting of a plurality of repeaters and a network coordinator, and an intelligent derailer state monitoring upper computer,
(1) the intelligent derailer comprises a derailer and an intelligent box; the intelligent box is fixed on the vertical rod of the derailer in a hoop type,
(2) the derailer is divided into a horizontal type and a vertical type and comprises a derailer body, a rotating handle, a vertical rod and a warning board, wherein when the states of the horizontal derailer on the upper rail and the lower rail are changed, the vertical rod rotates 90 degrees in the horizontal direction, when the states of the vertical derailer on the upper rail and the lower rail are changed, the vertical rod rotates 90 degrees in the vertical direction,
(3) the intelligent box comprises a box body and an intelligent derailer state signal acquisition unit inside the box body,
(4) the intelligent derailer state signal acquisition units respectively comprise an acceleration sensor, a gyroscope, a magnetometer, a temperature sensor, a central processing unit and a wireless transceiving module, the signal output ends of the acceleration sensor, the gyroscope, the magnetometer and the temperature sensor are respectively connected with the corresponding signal input end of the central processing unit, the communication signal end of the central processing unit is wirelessly connected with the downlink communication signal end of the corresponding repeater through the wireless transceiving module, the uplink communication signal end of each repeater is wirelessly connected with a network coordinator, and the network coordinator is connected with the intelligent derailer state monitoring upper computer through an RS485 bus or a TCP/IP mode; the method is characterized by comprising the following specific steps of networking communication:
1) after the intelligent derailer sends out a communication data frame, monitoring is started, and a repeater reply is received;
2) judging whether the intelligent derailer receives the reply of the repeater or not;
if the intelligent derailer receives the repeater reply, sequencing and screening the repeaters according to the received RSSI values of the repeaters, selectively recording three repeaters R1, R2 and R3 in descending order according to the RSSI values, sequentially storing the three repeaters into a cache list, sequentially storing actual receiving quantity when receiving less than three repeater replies, and then starting the nth round of command transmission, wherein the n initial value is 1;
if the repeater reply is not received, the intelligent derailer restarts broadcasting;
3) the intelligent derailer sends a command to the selected repeater R1 with the highest signal strength to acquire the communication state S1 of the R1 and the network coordinator, wherein the communication is successful when the communication is S1 ═ 1, and the communication is failed when the communication is S1 ═ 0;
4) determine whether S1 equals 1;
if S1 is equal to 1, the intelligent derailer performs data check and sends service data to the repeater R1 after the data check is passed;
if S1 is 0, sending a command to the relay R2 with the second highest signal, and acquiring a communication state S2 between R2 and the network coordinator, where S2 is 1 indicates that the communication is successful, and S2 is 0 indicates that the communication is failed;
5) determine whether S2 equals 1;
if S2 is equal to 1, the intelligent derailer performs data check and sends service data to the repeater R2 after the data check is passed;
if S2 is 0, sending a command to the relay R3 with the third highest signal, and acquiring a communication state S3 between R3 and the network coordinator, where S3 is 1 indicates that the communication is successful, and S3 is 0 indicates that the communication is failed;
6) determine whether S3 equals 1;
if S3 is equal to 1, the intelligent derailer performs data check and sends service data to the repeater R3 after the data check is passed;
if S3 is equal to 0, n is equal to n +1, whether n exceeds 3 is judged, and if n does not exceed 3, the step 3 is returned to); and if n exceeds 3, returning to the step 1).
2. The networking communication method of the intelligent derailer status monitoring system as claimed in claim 1, wherein the specific format of the communication data frame of the intelligent derailer is as follows:
2 start-end handshake characters +1 control character + intelligent derailer data frame + LRC check character +2 end-end characters; the 2 initial-end handshaking characters are used for synchronizing with a receiving-end CPU before sending the data frame of the intelligent derailer; the control character indicates whether the data transmission mode is broadcast, multicast or point-to-point transmission; the intelligent derailer data frame is: the method comprises the steps that (1) intelligent derailer MAC addresses, 1 state character, 11 analog quantity characters and 5 relay node code characters are added; the LRC check character is that the intelligent derailer data frames are added according to 16-system numbers and summed, the carry is discarded and added with 1 in a reverse way, 1 check byte is generated, and 2 end characters indicate that the transmission of one data frame is completed.
3. The networking communication method of the intelligent derailer status monitoring system as claimed in claim 2, wherein the specific process of the repeater receiving the communication data frame of the intelligent derailer is as follows:
after the repeater detects 2 initial handshake characters, the repeater starts to receive the data frame of the intelligent derailer, adds the new frame formed by the data frame of the intelligent derailer and the LRC check character and discards carry, and verifies whether the remainder is 0: if not, the intelligent derailer data frame is proved to be changed in the transmission process, and the repeater abandons the intelligent derailer data frame; if the remainder is 0, the fact that no abnormity occurs in the transmission process of the intelligent derailer data frame is shown, the repeater finishes analyzing and checking the intelligent derailer communication data frame, and receives the intelligent derailer data frame.
4. The networking communication method of an intelligent derailer status monitoring system as claimed in claim 2, wherein after receiving the data frame of the intelligent derailer, a relay code of a certain relay updates the content of the 5 relay node code characters according to the actual relay link sequence, so that the received data frame contains the connection condition of the latest relay link, the initial values of the 5 relay node code characters are 0, and finally the actual relay link is saved.
5. The networking communication method of the intelligent derailer state monitoring system according to claim 2, wherein the networking communication method comprises the following steps:
the status character format is as follows:
wherein, M0.7: the horizontal derailer is in an upper rail state, wherein 1 represents that the horizontal derailer is in the upper rail state, and 0 represents that the horizontal derailer is in a non-upper rail state; m0.6: the horizontal derailer is in a down-track state, wherein 1 represents that the horizontal derailer is in the down-track state, and 0 represents that the horizontal derailer is in a non-down-track state; m0.5: the vertical derailer is in an upper rail state, wherein 1 represents that the vertical derailer is in the upper rail state, and 0 represents that the vertical derailer is in a non-upper rail state; m0.4: the vertical derailer is in a down-track state, wherein 1 represents that the vertical derailer is in the down-track state, and 0 represents that the vertical derailer is in a non-down-track state; m0.3: the electric quantity alarm state of the derailer, wherein 1 represents that the electric quantity of the derailer is low and the electric quantity alarm occurs, 0 represents that the electric quantity of the derailer is normal and the electric quantity alarm does not occur; m0.2, the derailer is in a stolen alarm state, wherein 1 represents a stolen alarm, and 0 represents no stolen alarm; m0.1: the derailer is in an awakening or sleeping state, wherein 1 represents that the derailer is in the awakening state, and 0 represents that the derailer is in the sleeping state; m0.0: the derailer is in a switching state, wherein 1 represents that the derailer is in a starting working state, and 0 represents that the derailer sends a shutdown state signal and then automatically shuts down;
the 11 analog characters are in the following format:
wherein M1 represents the angle between the derailer and the rail, and the unit is degree; m2 represents the angle between the derailer and the ground, and the unit is degree; m3 represents the angular velocity detected by the gyroscope, in Rad/s; m4 represents the X-axis acceleration in units of gravitational acceleration g; m5 represents the Y-axis acceleration in units of gravitational acceleration g; m6 represents Z-axis acceleration in units of gravitational acceleration g; m7 represents the X-axis direction magnetic force value in units of gauss; m8 represents the Y-axis direction magnetic force value in units of gauss; m9 represents temperature in units of; m10 denotes electrical quantity, W × H; m11 represents signal strength in dBm.
6. The networking communication method for the intelligent derailer state monitoring system according to claim 5, wherein the intelligent derailer performs data inspection before sending data to the repeater, and the specific data inspection process comprises the following steps:
(3-A), data validity check: whether the analog quantity data is in the range of the detection range of the sensor or not is checked, and the specific judgment formula is as follows:
(3-B), state logic check: checking whether each state accords with logic, wherein the specific judgment formula is as follows:
wherein g (X) is a logical inversion function, which means that if X is 1, the value of g (X) is 0; if X is 0, then g (X) has a function value of 1;
(3-C), Key status confirmation: according to the size of the analog quantity data, whether the state is correct is confirmed, and the specific judgment formula is as follows:
wherein f (X) is a logic function, which means that if "X" is true, the function value is 1, and if "X" is false, the function value is 0;
and (3-A), (3-B) and (3-C) are confirmed simultaneously, and the intelligent derailer sends data to the repeater when all the items meet the conditions.
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| CN110187660A (en) * | 2019-06-25 | 2019-08-30 | 东北林业大学 | Monorail transport cart derailing prediction and Emergency treatment System |
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