CN109532951A - A kind of track train head and the tail redundancy tests the speed range-measurement system and method - Google Patents
A kind of track train head and the tail redundancy tests the speed range-measurement system and method Download PDFInfo
- Publication number
- CN109532951A CN109532951A CN201811220437.0A CN201811220437A CN109532951A CN 109532951 A CN109532951 A CN 109532951A CN 201811220437 A CN201811220437 A CN 201811220437A CN 109532951 A CN109532951 A CN 109532951A
- Authority
- CN
- China
- Prior art keywords
- speed
- range
- measurement system
- tests
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 321
- 238000005259 measurement Methods 0.000 title claims abstract description 319
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000012545 processing Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 35
- 230000003137 locomotive effect Effects 0.000 claims description 13
- 238000004088 simulation Methods 0.000 claims description 11
- 230000004927 fusion Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000000155 melt Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention provides a kind of track train head and the tail redundancy and tests the speed range-measurement system and method, the system comprises: respectively there is a set of independent range-measurement system that tests the speed at train head and the tail both ends；Every set range-measurement system that tests the speed includes M master reference, N number of aiding sensors for ranging of testing the speed, wherein M >=1, N >=0 and M+N >=2；Every set range-measurement system that tests the speed further includes the ranging processing unit that tests the speed, and for handling sensor measurement data, output is tested the speed distance measurement result information；Train head and the tail both ends sensor measurement information is shared between two range-measurement systems that test the speed by communication device；The ranging processing unit that tests the speed test the speed from both ends range-measurement system sensor at least select the X sensor operated normally to be handled as measurement data source, it is master reference that at least Y is a in X sensor.The system realizes the positioning of train head and the tail Safety Redundancy, improves the reliability of automatic train operation.
Description
Technical field
It tests the speed range-measurement system and side the invention belongs to field of track traffic more particularly to a kind of track train head and the tail redundancy
Method.
Background technique
Along with the development of track transportation industry, the mainstream that train automatic Pilot is tied to form as track transportation industry, train peace
Full control is the key that train automatic Pilot, and train security control is surveyed dependent on the locomotive velocity measuring of sound and stable operation, precise positioning
Away from system.
In the prior art, precise positioning generally is realized by the way of multiple types Data Fusion of Sensor.Existing skill
It proposes head and the tail redundancy in art to test the speed the Safety Redundancy positioning strategy of range-measurement system, processing mode is respectively installed at the both ends of train
A set of range-measurement system that tests the speed, when train operation, head end is used only the local terminal range-measurement system that tests the speed and is positioned, and tail end tests the speed ranging system
In a dormant state, if head end tests the speed, distance measuring sensor fails system, is switched to tail end and carries out ranging of testing the speed, if tail end passes
Sensor also fails, then ranging of testing the speed failure.The range-measurement system that tests the speed of this head and the tail independent redundancy cannot make full use of both ends to sense
The information of device is easy to lead to disabler because of two end sensor Single Point of Faliures, affects locomotive velocity measuring ranging system to a certain extent
The availability of system and control system.
Summary of the invention
It is an object of the invention to overcome above-mentioned defect existing in the prior art, one kind is provided and is melted based on multiple sensors
It closes, the head and the tail redundancy that head and the tail sensor is shared tests the speed range-measurement system and method.
In order to achieve the above-mentioned object of the invention, the invention provides the following technical scheme:
A kind of track train head and the tail redundancy tests the speed range-measurement system, specifically:
Respectively there is a set of independent range-measurement system that tests the speed at train head and the tail both ends；
Every set range-measurement system that tests the speed includes M master reference, N number of aiding sensors for ranging of testing the speed, wherein M >=1,
N >=0 and M+N >=2；
Every set range-measurement system that tests the speed further includes the ranging processing unit that tests the speed, defeated for handling sensor measurement data
Test the speed distance measurement result information out；
The both ends range-measurement system that tests the speed is connected by communication device, and train head and the tail both ends sensor measurement information passes through
The communication device is shared between two range-measurement systems that test the speed；
Redundancy switching control module according to following pre-defined rule for being controlled: the ranging processing unit that tests the speed is from two
Holding in the sensor for the range-measurement system that tests the speed at least selects the X sensor operated normally to be handled as measurement data source, X
At least Y are master references in a sensor, wherein Y≤X≤M+N；It is also used to select both ends to test the speed one of range-measurement system work
For the range-measurement system that tests the speed of Train Detection and Identification.
Further, the Y >=1, X >=2.
Further,
The master reference is wheel shaft speed transducer；
The aiding sensors are doppler radar sensor, acceierometer sensor, one in satellite positioning sensor
Kind is a variety of.
Further,
The ranging processing unit that tests the speed exports the distance measurement result information that tests the speed, specifically for handling sensor measurement data
Are as follows:
The ranging processing unit that tests the speed carries out data calculating, fusion according to sensor agreement and records sensor states, defeated
Fused speed, acceleration, position and sensor status information out.
The pre-defined rule is further are as follows:
At least described X normal operation of sensor of range-measurement system if headstock tests the speed, and wherein at least Y are main sensings
Device, then:
By headstock test the speed range-measurement system selection all or part of sensor informations effectively run of headstock handled, export
Test the speed distance measurement result；
Range-measurement system is tested the speed as the range-measurement system that tests the speed used in Train Detection and Identification as headstock；
The tailstock tests the speed range-measurement system in idle redundant state；
After launch train, the default priority selection headstock range-measurement system that tests the speed controls train.
The pre-defined rule is further are as follows:
The range-measurement system failure if headstock tests the speed, the tailstock test the speed at least described X normal operation of sensor of range-measurement system,
And wherein at least Y are master references, then:
By the tailstock test the speed range-measurement system selection all or part of sensor informations effectively run of the tailstock handled, export
Test the speed distance measurement result；
It is switched to the tailstock and tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification.
The pre-defined rule is further are as follows:
The equal failure of range-measurement system if train both ends are tested the speed, but be able to satisfy at least after the sensor combinations of both ends and there is the X
A sensor effectively run and wherein at least Y be master reference condition, then:
By headstock test the speed range-measurement system selection both ends test the speed in ranging all or part of sensor informations effectively run into
Row processing, exports the distance measurement result that tests the speed；
Train tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification as headstock.
Further, the pre-defined rule further include:
If the range-measurement system that tests the speed at train both ends breaks down, and is unable to satisfy and at least has two and effectively run
Sensor and one of them be master reference condition, then:
Determine locomotive velocity measuring ranging failure.
Further, the system also includes redundancy detection modules, right before the redundancy check module is used for train outbound
The head and the tail redundancy feature for the range-measurement system that tests the speed detects.
Further, the head and the tail redundancy feature detection of the described pair of range-measurement system that tests the speed includes one of following checking step
Or it is a variety of:
Detect whether the test the speed ranging processing unit that tests the speed of range-measurement system of the both ends can work normally；
Whether each sensor for the range-measurement system that tests the speed described in detection can work normally；
It detects the communication device and whether can effectively connect both ends and test the speed range-measurement system；
Repeatedly simulate the both ends test the speed range-measurement system sensor in operative sensor failure, detect redundant control module
Whether according to pre-defined rule execution redundancy handoff functionality；The multiple simulation selects different sensors as simulation event every time
Hinder sensor；The multiple simulation, by selecting the sensor of various combination to cover every time or part coverage test Redundant Control
The redundancy control capability of module.
Further, described that both ends one of the range-measurement system that tests the speed is selected to abide by as the range-measurement system that tests the speed of Train Detection and Identification
Follow following rule:
In train travelling process, when slipping occurs for master reference, the range-measurement system that tests the speed is without ranging of testing the speed from beginning to end
Systematic selection switching.
Further, it when the failure of locomotive velocity measuring range-measurement system, but remains to be controlled by the redundancy switching control module
When realizing headstock or tailstock control train, train is allowed to run according to this head and the tail redundant state to Hui Ku.
Further, the tailstock that is switched to tests the speed range-measurement system as the control train range-measurement system that tests the speed, further includes:
In operational process, the range-measurement system fault recovery if the headstock tests the speed, Train Control end does not need to switch back into described
Headstock tests the speed range-measurement system.
Further, both ends one of the range-measurement system that tests the speed is selected also to wrap as the range-measurement system that tests the speed of Train Detection and Identification
It includes:
The selection is tested the speed during range-measurement system, if Train Control end is tested the speed, range-measurement system switches, and allows
The measurement result of the range-measurement system that tests the speed jumps in the given time.
A kind of track train head and the tail redundancy tests the speed distance measuring method, comprising:
Range-measurement system is tested the speed by communication device connection, to realize train head and the tail both ends sensor measurement in train both ends
Information is shared between two range-measurement systems that test the speed；
Selected from the range-measurement system that tests the speed at both ends according to pre-defined rule train operate normally at least X sensor as
Measurement data source is handled, and at least Y are master references in X sensor；
The sensor measurement data of selection is handled, the distance measurement result information that tests the speed is exported；
Both ends are selected to test the speed test the speed ranging system of one of the range-measurement system as Train Detection and Identification according to the pre-defined rule
System.
Further, the Y >=1, X >=2.
Further,
The master reference is wheel shaft speed transducer；
The aiding sensors are doppler radar sensor, acceierometer sensor, one in satellite positioning sensor
Kind is a variety of.
Further,
The sensor measurement data for handling selection exports the distance measurement result information that tests the speed, specifically:
Data calculating, fusion and record sensor states are carried out according to sensor agreement, fused speed is exported, adds
Speed, position and sensor status information.
The pre-defined rule is further are as follows:
At least described X normal operation of sensor of range-measurement system if headstock tests the speed, and wherein at least Y are main sensings
Device, then:
By headstock test the speed range-measurement system selection all or part of sensor informations effectively run of headstock handled, export
Test the speed distance measurement result；
Range-measurement system is tested the speed as the range-measurement system that tests the speed used in Train Detection and Identification as headstock；
The tailstock tests the speed range-measurement system in idle redundant state；
After launch train, the default priority selection headstock range-measurement system that tests the speed controls train.
The pre-defined rule is further are as follows:
The range-measurement system failure if headstock tests the speed, the tailstock test the speed at least described X normal operation of sensor of range-measurement system,
And wherein at least Y are master references, then:
By the tailstock test the speed range-measurement system selection all or part of sensor informations effectively run of the tailstock handled, export
Test the speed distance measurement result；
It is switched to the tailstock and tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification.
The pre-defined rule is further are as follows:
The equal failure of range-measurement system if train both ends are tested the speed, but be able to satisfy at least after the sensor combinations of both ends and there is the X
A sensor effectively run and wherein at least Y be master reference condition, then:
By headstock test the speed range-measurement system selection both ends test the speed in ranging all or part of sensor informations effectively run into
Row processing, exports the distance measurement result that tests the speed；
Train tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification as headstock.
Further, the pre-defined rule further include:
If the range-measurement system that tests the speed at train both ends breaks down, and is unable to satisfy and at least has two and effectively run
Sensor and one of them be master reference condition, then:
Determine locomotive velocity measuring ranging failure.
Further, the method also includes detecting to the affiliated range-measurement system that tests the speed, the detection includes following step
It is one or more of rapid:
Whether each sensor for the range-measurement system that tests the speed described in detection can work normally；
Can the both ends range-measurement system that tests the speed be detected carry out efficient communication；
Can the range-measurement system that tests the speed described in detection carry out calculation processing to the selected sensing data, and output calculates knot
Fruit；
Repeatedly simulate the both ends test the speed range-measurement system sensor in operative sensor failure, test the speed range-measurement system
Whether according to pre-defined rule execution redundancy handoff functionality；The multiple simulation selects different sensors as simulation event every time
Hinder sensor；The multiple simulation, by select every time the sensor of various combination test the speed range-measurement system operation whether
Meet the pre-defined rule.
Further, described that both ends one of the range-measurement system that tests the speed is selected to abide by as the range-measurement system that tests the speed of Train Detection and Identification
Follow following rule:
In train travelling process, when slipping occurs for master reference, the range-measurement system that tests the speed is without ranging of testing the speed from beginning to end
Systematic selection switching.
Further, it when the failure of locomotive velocity measuring range-measurement system, but remains to be controlled by the redundancy switching control module
When realizing headstock or tailstock control train, train is allowed to run according to this head and the tail redundant state to Hui Ku.
Further, the tailstock that is switched to tests the speed range-measurement system as the control train range-measurement system that tests the speed, further includes:
In operational process, the range-measurement system fault recovery if the headstock tests the speed, Train Control end does not need to switch back into described
Headstock tests the speed range-measurement system.
Further, both ends one of the range-measurement system that tests the speed is selected also to wrap as the range-measurement system that tests the speed of Train Detection and Identification
It includes:
The selection is tested the speed during range-measurement system, if Train Control end is tested the speed, range-measurement system switches, and allows
The measurement result of the range-measurement system that tests the speed jumps in the given time.
It should be understood that foregoing general description and following detailed description are all exemplary, and it is intended to mention
For the further explanation of claimed technology.
Detailed description of the invention
The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention,
Feature and advantage will be apparent.Attached drawing is used to provide to further understand the embodiment of the present invention, and constitutes explanation
A part of book, is used to explain the present invention together with the embodiment of the present invention, is not construed as limiting the invention.Except non-clearly referring to
Out, otherwise attached drawing is not considered as drawn to scale.In the accompanying drawings, identical reference label typically represents same components or step.
In the accompanying drawings:
Fig. 1 shows track train head and the tail redundancy and tests the speed range-measurement system configuration diagram；
Fig. 2 shows the distance measurement function logical schematics that tests the speed；
Fig. 3 shows the ranging Redundant Control flow chart that tests the speed in a kind of train travelling process.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on reality described herein
Example is applied, those skilled in the art's obtained all other embodiment in the case where not making the creative labor should all be fallen into
Within protection scope of the present invention.
Fig. 1 is that track train head and the tail redundancy tests the speed range-measurement system configuration diagram.Train head and the tail redundancy described in the disclosure
The range-measurement system that tests the speed is that a set of range-measurement system that tests the speed respectively is arranged at train head and the tail both ends, and two sets of range-measurement systems that test the speed are total by communication
Line is connected with digital signal；Every set tests the speed range-measurement system with identical structure and function, can respective independent operating, realize and survey
Fast ranging, and information exchange can be realized by communication bus, to realize that collaborative work and switching head and the tail system carry out train
Control.
The structure and working principle of a set of range-measurement system that tests the speed are described in detail below:
The range-measurement system that tests the speed includes several sensors, the ranging processing unit that tests the speed, redundancy switching control module；It is described several
A sensor includes M master reference, N number of aiding sensors, wherein M >=1, N >=0 and M+N >=2；
Every set range-measurement system that tests the speed further includes the ranging processing unit that tests the speed, defeated for handling sensor measurement data
Test the speed distance measurement result information out；Master reference is wheel shaft speed transducer；Aiding sensors are doppler radar sensors, accelerate
Spend one of flowmeter sensor, satellite positioning sensor or a variety of.Master reference precision is high, but is easy the shadow by slipping
Ring, aiding sensors precision is slightly lower, but unrelated with wheel, not will receive the influence of slipping, thus using master reference with
What aiding sensors combined test the speed distance measuring method, can be improved measuring accuracy and stability.
In the present embodiment, the range-measurement system that each tests the speed uses 2 wheel shaft speed transducers and 2 doppler radar sensors
It tests the speed distance measuring sensor as fusion, the operation of the range-measurement system that tests the speed Safety Redundancy requires to include: at least there are two effectively fortune
Capable sensor, and contain at least one master reference.In practical application, according to train operation environment, the stabilization for ranging of testing the speed
Property the factors such as requirement, economic condition, reasonably select multiple sensors combination.
The ranging processing unit that tests the speed exports the distance measurement result information that tests the speed for handling sensor measurement data.Such as figure
Shown in 2, the data measured are passed to the ranging processing unit that tests the speed by interface layer by multiple sensors, and the interface layer is column
For realizing the unit of data receiver and conversion in vehicle automatic control system, interface layer is mainly used for receiving sensing in the present embodiment
Device initial data, and sensing data is calculated into agreement by the range-measurement system that tests the speed and is output to the distance measuring unit that tests the speed.It tests the speed at ranging
Reason unit carries out data calculating, fusion according to sensor agreement and records sensor states, exports fused speed, acceleration
Degree, position and sensor status information.
It as shown in Fig. 2, the above-mentioned two sets range-measurement systems that test the speed are connected by communication bus with digital signal, including is two
The ranging processing unit that tests the speed provides information interaction passage, and the ranging processing unit that tests the speed of each system is by the ranging knot that tests the speed of output
Fruit and sensor states are sent to the ranging processing unit that tests the speed of opposite end, realize that sensing data is shared.
The redundancy switching control module for the range-measurement system that tests the speed guarantees train in hardware for being controlled according to pre-defined rule
Environment meets under predetermined condition (i.e. Safety Redundancy state) normal operation.The control includes:
Control test the speed ranging processing unit test the speed from both ends range-measurement system sensor at least select the X operated normally
Sensor is handled as measurement data source, and at least Y are master references in X sensor, wherein Y≤X≤M+N,
Wherein M >=1, N >=0 and M+N >=2；, it is specified that at least selecting two sensors, i.e. X >=2, and wherein at least one in the present embodiment
It is master reference as test the speed distance sensor, i.e. Y >=1, specific master reference is wheel shaft speed transducer, auxiliary sensing
Device is doppler radar sensor；
Both ends are selected to test the speed one of range-measurement system as Train Control train system.
The test the speed selection rule of range-measurement system of above-mentioned selection source sensor and certain one end specifically includes:
(1) if, headstock test the speed range-measurement system at least there are two normal operation of sensor, and at least one main sensing
Device, then by the range-measurement system control train that tests the speed of headstock；
(2) if, headstock test the speed range-measurement system failure, the tailstock tests the speed, and at least there are two the normal works of sensor for range-measurement system
Make, and at least one master reference, then by the range-measurement system control train that tests the speed of the tailstock；
(3) if, train both ends test the speed the equal failure of range-measurement system, but meet the range-measurement system that tests the speed after the sensor combinations of both ends
Both ends are then tested the speed range-measurement system data fusion, still control train by headstock by normal running (operation) conditions；
(4) if, the range-measurement system that tests the speed at train both ends above 3 switching laws, locomotive velocity measuring failure is not satisfied.
In order to more specifically intuitively illustrate above-mentioned redundancy switching method, above-mentioned Rules expanding is embodied in following table
In:
1 head and the tail redundancy switching law of table
Wherein, T represents master reference, and R represents aiding sensors, wherein 1 < m≤M, 0 < n≤N, M be the present embodiment on
The master reference number for the range-measurement system that tests the speed is stated, N is the aiding sensors number of the above-mentioned range-measurement system that tests the speed in the present embodiment.
Illustratively table content is explained below:
As shown in table, the 2nd row 2 column: head end=mT0R indicates that train head end tests the speed what range-measurement system presence was effectively run
M master reference, 0 aiding sensors；Tail end=mT0R, the m master reference that expression train tail end presence is effectively run, 0
A aiding sensors.Due to m > 1, then under such state, meet head end be capable of providing the present embodiment requirement " regulation at least select
Two sensors and wherein at least one are master reference as the distance sensor that tests the speed ", therefore meet head end control train
Condition, therefore 2 column unit case marker of the 2nd row of table is denoted as " head end (1) " indicates under this state, train according to above-mentioned regular (1),
Range-measurement system is tested the speed as the control train range-measurement system that tests the speed using head end, tail end is in stand-by state, whether full to tail end
Foot control train condition is not considered.
Redundancy switching control module in the whole cycle of train operation, including from train outbound to operation to Hui Ku or into
Enter failure emergency rating, according to above-mentioned redundancy switching law, in real time according to the range-measurement system all parts operating condition that tests the speed, adjustment
The working condition for the range-measurement system that tests the speed 3 is described in detail with reference to the accompanying drawing.
The head and the tail redundancy feature of the range-measurement system that tests the speed is detected before train outbound, including one of following detecting step or
It is a variety of:
Detect whether the test the speed ranging processing unit that tests the speed of range-measurement system of the both ends can work normally；
Whether each sensor for the range-measurement system that tests the speed described in detection can work normally；
It detects the communication device and whether can effectively connect both ends and test the speed range-measurement system；
Simulate the both ends test the speed range-measurement system sensor in operative sensor failure, detection redundant control module whether
Redundancy handoff functionality is executed according to pre-defined rule, it is specific: according to the arrangement of system sensor, to design multiple groups test scene, often
Kind test scene setting section or all sensors failure；The design of multiple groups test scene can cover above-mentioned a plurality of redundancy and cut
Change control rule；Multiple groups test scene is executed, whether test macro according to scheduled rule selection sensor source and can cut
It changes the range-measurement system that tests the speed and carries out ranging of testing the speed.The multiple analog sensor failure can by software systems simulation test, or
Person is realized by modes such as the signal pickup assembly failures of the control scheduled sensor of test scene.
Detect that the range-measurement system that tests the speed is not able to satisfy redundancy switching when requiring, then it is assumed that system is unqualified, carries out to system
It repairs；When inspection is met the requirements, train outbound, the range-measurement system that tests the speed operation.In the present embodiment, when train outbound, default setting
Vehicle head end test the speed range-measurement system control train.
In train travelling process, to testing the speed, range-measurement system checks in real time.Check whether control train head end meets control column
Spoke part.
If headstock tests the speed, at least there are two normal operation of sensor for range-measurement system, and wherein at least one is main sensing
Device, in the present embodiment, if only 1 wheel shaft speed transducer of vehicle head end and thering are 2 doppler radar sensors normally to transport
Row, then:
It is handled by the headstock range-measurement system selection all sensor informations effectively run of vehicle head end that test the speed, and exports survey
Fast distance measurement result；In the present embodiment, the 1 wheel shaft speed transducer and 2 Doppler radars for selecting vehicle head end effectively to run are passed
Sensor is as ranging source of testing the speed；
Range-measurement system is tested the speed as the control train range-measurement system that tests the speed by headstock；
The tailstock tests the speed range-measurement system in idle redundant state.
Similarly, when 2 wheel shaft speed transducers of vehicle head end are all effectively run but 2 doppler radar sensors all lose
When effect, still select 2 wheel shaft speed transducers of vehicle head end as data source by the headstock range-measurement system that tests the speed, by testing the speed
Ranging processing unit fusion calculation exports the distance measurement result that tests the speed.
If detecting that the headstock range-measurement system that tests the speed is unsatisfactory at least 2 normal operation of sensor, and wherein at least 1
It is the condition of master reference, if 2 wheel shaft speed transducers of vehicle head end in the present embodiment all fail, then tests the speed ranging to the tailstock
System checked, whether the confirmation tailstock range-measurement system that tests the speed meets this condition.
If vehicle tail end tests the speed, range-measurement system meets at least 2 normal operation of sensor, and wherein at least 1 is main biography
The condition of sensor, in the present embodiment, if 1 wheel shaft speed transducer of vehicle tail end and 1 doppler radar sensor are all just
Often operation, then:
It is handled by the tailstock range-measurement system selection all sensor informations effectively run of the tailstock that test the speed, output is tested the speed survey
Away from result；
It is switched to the tailstock and tests the speed range-measurement system as the control train range-measurement system that tests the speed.Switching control train end may draw
The jump for the distance measurement result that tests the speed is acted, the appearance short time data jump allowed in handoff procedure should be arranged in the range-measurement system that tests the speed,
In the present embodiment, switch the speed of caused 100ms and apart from jump not as the range-measurement system failure that tests the speed.When the survey of vehicle head end
It is when being caused by master reference slipping, to be temporarily switched to without headstock that fast range-measurement system, which is not able to satisfy ranging requirement of testing the speed,
The operation of the control train of the tailstock.It is subsequent to test the speed range-measurement system operating status to the tailstock in real time after being switched to tailstock control train
Monitoring is tested the speed range-measurement system without continuing checking vehicle head end, even if vehicle head end tests the speed, range-measurement system has restored independent control
Train functionality, also without the switching of control train end, system switching burden can be reduced by doing so, and reduce the switching of control train end
Brought distance measurement result jump of testing the speed.
If detecting that the tailstock range-measurement system that tests the speed can not individually control train, all sensings in comprehensive detection both ends
Device, considers whether the combination of all effective operation sensors in both ends is able to satisfy at least 2 normal operation of sensor, and wherein extremely
Few 1 be master reference Safety Redundancy control train condition.In the present embodiment, when only 1 wheel shaft revolving speed of vehicle head end
Sensor is effectively but 2 doppler radar sensors all fail, and only 1 doppler radar sensor of vehicle tail end is effectively and 2
When a wheel shaft speed transducer all fails, vehicle head end and tailstock section are all unsatisfactory for individually controlling spoke part, but integrated car head end and
The sensor that tail end is effectively run meets above-mentioned Safety Redundancy control train condition.At this time:
By headstock test the speed range-measurement system selection both ends test the speed in ranging all or part of sensor informations effectively run into
Row processing, exports the distance measurement result that tests the speed；In the present embodiment, the ranging processing unit that tests the speed merges 1 wheel that vehicle head end is effectively run
1 doppler radar sensor data that shaft speed transducer and vehicle tail end are effectively run, Lai Shixian locomotive velocity measuring ranging.
Train is tested the speed range-measurement system by the headstock range-measurement system that tests the speed as the control train range-measurement system that tests the speed, and to headstock
Operation check in real time.
If both ends are tested the speed, the combination of range-measurement system all the sensors can not meet Safety Redundancy control train condition, sentence
Determine locomotive velocity measuring ranging failure, train enters failure emergency rating.In the present embodiment, when 2 wheel shaft speed transducers of vehicle head end
When all failing with 2 wheel shaft speed transducers of vehicle tail end, train is unsatisfactory for Safety Redundancy control train condition.
Train is run always according to above-mentioned inspection rule and switching method, is gone out again to system after Hui Ku, train Hui Ku
Existing single-point or multipoint fault carries out maintenance investigation.
The ranging Safety Redundancy that tests the speed in above-mentioned train travelling process controls the explanation of merely exemplary property, this field skill
Art personnel can feel that the method disclosed in the present and principle are adjusted.As train both ends are all unsatisfactory for independent control train
Ranging of testing the speed may be implemented by combining two end sensors, at this time if head end tests the speed at the ranging of testing the speed of range-measurement system in condition
Unit is managed to break down, then the ranging processing unit that can be tested the speed by the tail end sensing data source that effectively runs of fusion both ends into
Row control train.For another example, in the present embodiment, in order to reduce the jump of systems inspection burden and the switching of switching control train end,
The train tailstock control train when, if vehicle head end tests the speed range-measurement system operation in restore and can independent control train, be also not required to
Train Control end is switched into carriage return head end.But those skilled in the art can switch in the case according to the actual application
Carriage return head end controls train.When train can not carry out testing the speed by Safety Redundancy mode ranging entrance failure emergency rating,
Train can remain the inspection to the range-measurement system that tests the speed in real time, continuation when to meet safe operating conditions before train Hui Ku
Operation, train reach safe train operation described in the present embodiment test the speed ranging the case where when can directly switching control as required
End, continues to run train.
Based on identical inventive concept, test the speed distance measuring method the present invention also provides a kind of track train head and the tail redundancy, comprising:
Range-measurement system is tested the speed by communication device connection, to realize train head and the tail both ends sensor measurement in train both ends
Information is shared between two range-measurement systems that test the speed；
Selected from the range-measurement system that tests the speed at both ends according to pre-defined rule train operate normally at least X sensor as
Measurement data source is handled, and at least Y are master references in X sensor；Wherein, Y >=1, X >=2.
The sensor measurement data of selection is handled, the distance measurement result information that tests the speed is exported；Wherein master reference is wheel shaft revolving speed
Sensor, aiding sensors can choose doppler radar sensor, acceierometer sensor, one in satellite positioning sensor
Kind is a variety of.
Both ends are selected to test the speed test the speed range-measurement system of one of the range-measurement system as Train Detection and Identification according to pre-defined rule.
Track train head and the tail redundancy of the present invention test the speed distance measuring method specific embodiment and above-mentioned track train head and the tail it is superfluous
The working principle of remaining each modular unit of the range-measurement system that tests the speed is consistent, repeats no more.
It is set specifically, those skilled in the art can carry out selectivity to the specific component with principle according to the present invention
It sets, as long as can be realized the principle of control method of the invention.
Those skilled in the art should understand that: the above embodiments are only used to illustrate the technical solution of the present invention., and
It is non-that it is limited；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can
To modify the technical solutions described in the foregoing embodiments, or some or all of the technical features are carried out etc.
With replacement；And these are modified or replaceed, the range of it does not separate the essence of the corresponding technical solution claims of the present invention.
Claims (27)
- The range-measurement system 1. a kind of track train head and the tail redundancy tests the speed, which is characterized in thatRespectively there is a set of independent range-measurement system that tests the speed at train head and the tail both ends；Every set range-measurement system that tests the speed includes M master reference, N number of aiding sensors for ranging of testing the speed, wherein M >=1, N >=0 And M+N >=2；Every set range-measurement system that tests the speed further includes the ranging processing unit that tests the speed, and for handling sensor measurement data, output is surveyed Fast distance measurement result information；The both ends range-measurement system that tests the speed is connected by communication device, and train head and the tail both ends sensor measurement information passes through described Communication device is shared between two range-measurement systems that test the speed；Redundancy switching control module according to following pre-defined rule for being controlled: the ranging processing unit that tests the speed is surveyed from both ends At least the X sensor operated normally is selected to be handled as measurement data source in the sensor of fast range-measurement system, X biography At least Y are master references in sensor, wherein Y≤X≤M+N；It is also used to that both ends is selected to test the speed one of range-measurement system as column The range-measurement system that tests the speed of vehicle operation control.
- 2. system according to claim 1, which is characterized in that wherein, Y >=1, X >=2.
- 3. system according to claim 1, which is characterized in thatThe master reference is wheel shaft speed transducer；The aiding sensors be one of doppler radar sensor, acceierometer sensor, satellite positioning sensor or It is a variety of.
- 4. system according to claim 1, which is characterized in thatThe ranging processing unit that tests the speed, for handling sensor measurement data, output is tested the speed distance measurement result information, specifically:The ranging processing unit that tests the speed carries out data calculating, fusion and record sensor states, output according to sensor agreement and melts Speed, acceleration, position and sensor status information after conjunction.
- 5. system according to claim 1, which is characterized in that wherein the pre-defined rule is further are as follows:At least described X normal operation of sensor of range-measurement system if headstock tests the speed, and wherein at least Y are master references, Then:By headstock test the speed range-measurement system selection all or part of sensor informations effectively run of headstock handled, output is tested the speed Distance measurement result；Range-measurement system is tested the speed as the range-measurement system that tests the speed used in Train Detection and Identification as headstock；The tailstock tests the speed range-measurement system in idle redundant state；After launch train, the default priority selection headstock range-measurement system that tests the speed controls train.
- 6. system according to claim 1, which is characterized in that wherein the pre-defined rule is further are as follows:The range-measurement system failure if headstock tests the speed, the tailstock test the speed at least described X normal operation of sensor of range-measurement system, and its In at least Y be master reference, then:By the tailstock test the speed range-measurement system selection all or part of sensor informations effectively run of the tailstock handled, output is tested the speed Distance measurement result；It is switched to the tailstock and tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification.
- 7. system according to claim 1, which is characterized in that wherein the pre-defined rule is further are as follows:The equal failure of range-measurement system if train both ends are tested the speed, but be able to satisfy at least after the sensor combinations of both ends and there is the X and have Sensor and wherein at least Y that effect is run are the conditions of master reference, then:It is carried out by the headstock range-measurement system selection both ends all or part of sensor informations effectively run in ranging that test the speed that test the speed Reason exports the distance measurement result that tests the speed；Train tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification as headstock.
- 8. system according to claim 1, which is characterized in that the wherein pre-defined rule further include:If the range-measurement system that tests the speed at train both ends breaks down, and is unable to satisfy and at least there are two sensings effectively run Device and one of them be master reference condition, then:Determine locomotive velocity measuring ranging failure.
- 9. system according to claim 1, which is characterized in that it further include redundancy detection module, the redundancy check module Before train outbound, the head and the tail redundancy feature for the range-measurement system that tests the speed is detected.
- 10. system according to claim 9, which is characterized in that the head and the tail redundancy feature inspection of the described pair of range-measurement system that tests the speed Survey includes one of following checking step or a variety of:Detect whether the test the speed ranging processing unit that tests the speed of range-measurement system of the both ends can work normally；Whether each sensor for the range-measurement system that tests the speed described in detection can work normally；It detects the communication device and whether can effectively connect both ends and test the speed range-measurement system；Repeatedly simulate the both ends test the speed range-measurement system sensor in operative sensor failure, detection redundant control module whether Redundancy handoff functionality is executed according to pre-defined rule；The multiple simulation selects different sensors to pass as simulated failure every time Sensor；The multiple simulation, by selecting the sensor of various combination to cover every time or part coverage test redundant control module Redundancy control capability.
- 11. system according to claim 1, which is characterized in that described that both ends is selected to test the speed one of range-measurement system as column The range-measurement system that tests the speed of vehicle operation control follows following rule:In train travelling process, when slipping occurs for master reference, the range-measurement system that tests the speed is without the range-measurement system that tests the speed from beginning to end Selection switching.
- 12. system according to claim 6 or 7, which is characterized in that when the failure of locomotive velocity measuring range-measurement system, but still When can realize that headstock or the tailstock control train by redundancy switching control module control, allow train according to this head and the tail redundancy shape State is run to Hui Ku.
- 13. system according to claim 6, which is characterized in that the tailstock that is switched to tests the speed range-measurement system as control The train range-measurement system that tests the speed, further includes:In operational process, the range-measurement system fault recovery if the headstock tests the speed, Train Control end does not need to switch back into the headstock Test the speed range-measurement system.
- 14. system according to claim 1, which is characterized in that both ends is selected to test the speed one of range-measurement system as train fortune The range-measurement system that tests the speed of row control further include:The selection is tested the speed during range-measurement system, if Train Control end is tested the speed, range-measurement system switches, described in permission The measurement result for the range-measurement system that tests the speed jumps in the given time.
- The distance measuring method 15. a kind of track train head and the tail redundancy tests the speed, it is characterised in that:Range-measurement system is tested the speed by communication device connection, to realize train head and the tail both ends sensor measurement information in train both ends It is shared between two range-measurement systems that test the speed；Select at least X sensor operated normally as measurement from the range-measurement system that tests the speed at both ends according to pre-defined rule train Data source is handled, and at least Y are master references in X sensor；The sensor measurement data of selection is handled, the distance measurement result information that tests the speed is exported；Both ends are selected to test the speed test the speed range-measurement system of one of the range-measurement system as Train Detection and Identification according to the pre-defined rule.
- 16. according to the method for claim 15, which is characterized in that wherein, Y >=1, X >=2.
- 17. according to the method for claim 15, which is characterized in thatThe master reference is wheel shaft speed transducer；The aiding sensors be one of doppler radar sensor, acceierometer sensor, satellite positioning sensor or It is a variety of.
- 18. according to the method for claim 15, which is characterized in thatThe sensor measurement data for handling selection exports the distance measurement result information that tests the speed, specifically:Data calculating, fusion and record sensor states are carried out according to sensor agreement, export fused speed, acceleration Degree, position and sensor status information.
- 19. according to the method for claim 15, which is characterized in that the pre-defined rule is further are as follows:At least described X normal operation of sensor of range-measurement system if headstock tests the speed, and wherein at least Y are master references, Then:By headstock test the speed range-measurement system selection all or part of sensor informations effectively run of headstock handled, output is tested the speed Distance measurement result；Range-measurement system is tested the speed as the range-measurement system that tests the speed used in Train Detection and Identification as headstock；The tailstock tests the speed range-measurement system in idle redundant state；After launch train, the default priority selection headstock range-measurement system that tests the speed controls train.
- 20. according to the method for claim 15, which is characterized in that the pre-defined rule is further are as follows:The range-measurement system failure if headstock tests the speed, the tailstock test the speed at least described X normal operation of sensor of range-measurement system, and its In at least Y be master reference, then:By the tailstock test the speed range-measurement system selection all or part of sensor informations effectively run of the tailstock handled, output is tested the speed Distance measurement result；It is switched to the tailstock and tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification.
- 21. according to the method for claim 15, which is characterized in that the pre-defined rule is further are as follows:The equal failure of range-measurement system if train both ends are tested the speed, but be able to satisfy at least after the sensor combinations of both ends and there is the X and have Sensor and wherein at least Y that effect is run are the conditions of master reference, then:It is carried out by the headstock range-measurement system selection both ends all or part of sensor informations effectively run in ranging that test the speed that test the speed Reason exports the distance measurement result that tests the speed；Train tests the speed range-measurement system as the range-measurement system that tests the speed used in Train Detection and Identification as headstock.
- 22. according to the method for claim 15, it is characterised in that the wherein pre-defined rule further include:If the range-measurement system that tests the speed at train both ends breaks down, and is unable to satisfy and at least there are two sensings effectively run Device and one of them be master reference condition, then:Determine locomotive velocity measuring ranging failure.
- 23. method described in any one of 5-22 according to claim 1, which is characterized in that further include to the affiliated ranging system that tests the speed One or more of system is detected, and the detection includes the following steps:Whether each sensor for the range-measurement system that tests the speed described in detection can work normally；Can the both ends range-measurement system that tests the speed be detected carry out efficient communication；Can the range-measurement system that tests the speed described in detection carry out calculation processing to the selected sensing data, export calculated result；Repeatedly simulate the both ends test the speed range-measurement system sensor in operative sensor failure, whether the range-measurement system that tests the speed Redundancy handoff functionality is executed according to pre-defined rule；The multiple simulation selects different sensors to pass as simulated failure every time Sensor；The multiple simulation, by selecting whether the test the speed operation of range-measurement system of the sensor of various combination meets every time The pre-defined rule.
- 24. according to the method for claim 15, which is characterized in that described that both ends is selected to test the speed one of range-measurement system as column The range-measurement system that tests the speed of vehicle operation control follows following rule:In train travelling process, when slipping occurs for master reference, the range-measurement system that tests the speed is without the range-measurement system that tests the speed from beginning to end Selection switching.
- 25. the method according to claim 20 or 21, which is characterized in that when the failure of locomotive velocity measuring range-measurement system, but When remaining to realize that headstock or the tailstock control train by redundancy switching control module control, allow train according to this head and the tail redundancy State is run to Hui Ku.
- 26. according to the method for claim 20, which is characterized in that the tailstock that is switched to tests the speed range-measurement system as control The train range-measurement system that tests the speed, further includes:In operational process, the range-measurement system fault recovery if the headstock tests the speed, Train Control end does not need to switch back into the headstock Test the speed range-measurement system.
- 27. according to the method for claim 15, which is characterized in that both ends is selected to test the speed one of range-measurement system as train fortune The range-measurement system that tests the speed of row control further include:The selection is tested the speed during range-measurement system, if Train Control end is tested the speed, range-measurement system switches, described in permission The measurement result for the range-measurement system that tests the speed jumps in the given time.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220437.0A CN109532951B (en) | 2018-10-19 | 2018-10-19 | Rail train head-to-tail redundant speed and distance measuring system and method |
| PCT/CN2019/105213 WO2020078146A1 (en) | 2018-10-19 | 2019-09-10 | Front-rear redundant speed and distance measurement system and method for rail train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220437.0A CN109532951B (en) | 2018-10-19 | 2018-10-19 | Rail train head-to-tail redundant speed and distance measuring system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109532951A true CN109532951A (en) | 2019-03-29 |
| CN109532951B CN109532951B (en) | 2021-01-05 |
Family
ID=65844197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811220437.0A Active CN109532951B (en) | 2018-10-19 | 2018-10-19 | Rail train head-to-tail redundant speed and distance measuring system and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109532951B (en) |
| WO (1) | WO2020078146A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110688732A (en) * | 2019-08-29 | 2020-01-14 | 北京全路通信信号研究设计院集团有限公司 | Simulation test platform and method for speed and distance measuring system |
| WO2020078146A1 (en) * | 2018-10-19 | 2020-04-23 | 北京全路通信信号研究设计院集团有限公司 | Front-rear redundant speed and distance measurement system and method for rail train |
| CN111547105A (en) * | 2020-04-09 | 2020-08-18 | 同济大学 | Non-contact speed measurement positioning method for medium-low speed maglev train |
| CN112660203A (en) * | 2021-03-18 | 2021-04-16 | 北京全路通信信号研究设计院集团有限公司 | Head-tail redundancy system of vehicle-mounted signal equipment and execution method thereof |
| WO2021135764A1 (en) * | 2020-01-02 | 2021-07-08 | 中车株洲电力机车有限公司 | Rail transit vehicle and speed measurement method and system thereof |
| CN113093177A (en) * | 2021-03-11 | 2021-07-09 | 南京康尼电气技术有限公司 | Method for robot to recognize obstacle |
| CN113682350A (en) * | 2021-08-11 | 2021-11-23 | 交控科技股份有限公司 | Double-end ATP speed measurement system and method for guaranteeing speed measurement availability |
| CN114104037A (en) * | 2022-01-28 | 2022-03-01 | 新誉轨道交通科技有限公司 | Vehicle-mounted signal equipment redundancy equipment, method, device and medium |
| CN115230772A (en) * | 2022-08-22 | 2022-10-25 | 南京恩瑞特实业有限公司 | Redundant protection method for speed and distance measurement of urban rail train |
| EP4140852A4 (en) * | 2020-04-20 | 2024-05-15 | Hitachi Ltd | Train speed control system and train speed control method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896241B (en) * | 2021-04-01 | 2022-11-04 | 四川硕享科技有限公司 | High-reliability positioning system special for railway |
| CN115675580A (en) * | 2021-07-30 | 2023-02-03 | 比亚迪股份有限公司 | Full-redundancy speed measurement method and system for rail train |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149484A (en) * | 2013-03-01 | 2013-06-12 | 南京南瑞继保电气有限公司 | Detection method for current converter trigger control device function |
| CN103192853A (en) * | 2013-03-21 | 2013-07-10 | 中国铁道科学研究院 | Train speed measurement and location method and system based on network distributed redundancy framework |
| CN104401366A (en) * | 2014-10-21 | 2015-03-11 | 中国铁道科学研究院 | ATO (automatic train operation) velocity-measuring ranging system |
| CN104608803A (en) * | 2014-12-09 | 2015-05-13 | 北京交控科技有限公司 | Method for measuring speed of train |
| JP2017003309A (en) * | 2015-06-05 | 2017-01-05 | 株式会社日立製作所 | On-vehicle protective device and on-vehicle security system |
| CN106394617A (en) * | 2016-09-08 | 2017-02-15 | 交控科技股份有限公司 | Train head and end location redundancy system and train head and end location redundancy method |
| CN106740999A (en) * | 2016-12-26 | 2017-05-31 | 合肥工大高科信息科技股份有限公司 | All-electronin computer interlock system based on performing module redundancy |
| US20180050711A1 (en) * | 2016-08-18 | 2018-02-22 | Westinghouse Air Brake Technologies Corporation | Redundant Method of Confirming an ECP Penalty |
| CN107933618A (en) * | 2017-11-22 | 2018-04-20 | 交控科技股份有限公司 | It is a kind of to strengthen train redundancy tests the speed the method for availability end to end |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101949955B (en) * | 2010-08-11 | 2012-05-16 | 北京交大资产经营有限公司 | State self-checking method of combined speed measuring and positioning system for train |
| CN109532951B (en) * | 2018-10-19 | 2021-01-05 | 北京全路通信信号研究设计院集团有限公司 | Rail train head-to-tail redundant speed and distance measuring system and method |
-
2018
- 2018-10-19 CN CN201811220437.0A patent/CN109532951B/en active Active
-
2019
- 2019-09-10 WO PCT/CN2019/105213 patent/WO2020078146A1/en active Application Filing
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149484A (en) * | 2013-03-01 | 2013-06-12 | 南京南瑞继保电气有限公司 | Detection method for current converter trigger control device function |
| CN103192853A (en) * | 2013-03-21 | 2013-07-10 | 中国铁道科学研究院 | Train speed measurement and location method and system based on network distributed redundancy framework |
| CN104401366A (en) * | 2014-10-21 | 2015-03-11 | 中国铁道科学研究院 | ATO (automatic train operation) velocity-measuring ranging system |
| CN104608803A (en) * | 2014-12-09 | 2015-05-13 | 北京交控科技有限公司 | Method for measuring speed of train |
| JP2017003309A (en) * | 2015-06-05 | 2017-01-05 | 株式会社日立製作所 | On-vehicle protective device and on-vehicle security system |
| US20180050711A1 (en) * | 2016-08-18 | 2018-02-22 | Westinghouse Air Brake Technologies Corporation | Redundant Method of Confirming an ECP Penalty |
| CN106394617A (en) * | 2016-09-08 | 2017-02-15 | 交控科技股份有限公司 | Train head and end location redundancy system and train head and end location redundancy method |
| CN106740999A (en) * | 2016-12-26 | 2017-05-31 | 合肥工大高科信息科技股份有限公司 | All-electronin computer interlock system based on performing module redundancy |
| CN107933618A (en) * | 2017-11-22 | 2018-04-20 | 交控科技股份有限公司 | It is a kind of to strengthen train redundancy tests the speed the method for availability end to end |
Non-Patent Citations (1)
| Title |
|---|
| 陈光武等: "基于二乘二取二的全电子计算机联锁系统", 《中国铁道科学》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020078146A1 (en) * | 2018-10-19 | 2020-04-23 | 北京全路通信信号研究设计院集团有限公司 | Front-rear redundant speed and distance measurement system and method for rail train |
| CN110688732B (en) * | 2019-08-29 | 2023-10-13 | 北京全路通信信号研究设计院集团有限公司 | Simulation test platform and method for speed and distance measuring system |
| CN110688732A (en) * | 2019-08-29 | 2020-01-14 | 北京全路通信信号研究设计院集团有限公司 | Simulation test platform and method for speed and distance measuring system |
| WO2021135764A1 (en) * | 2020-01-02 | 2021-07-08 | 中车株洲电力机车有限公司 | Rail transit vehicle and speed measurement method and system thereof |
| CN111547105A (en) * | 2020-04-09 | 2020-08-18 | 同济大学 | Non-contact speed measurement positioning method for medium-low speed maglev train |
| CN111547105B (en) * | 2020-04-09 | 2021-05-11 | 同济大学 | Non-contact speed measurement positioning method for medium-low speed maglev train |
| EP4140852A4 (en) * | 2020-04-20 | 2024-05-15 | Hitachi Ltd | Train speed control system and train speed control method |
| CN113093177A (en) * | 2021-03-11 | 2021-07-09 | 南京康尼电气技术有限公司 | Method for robot to recognize obstacle |
| CN112660203A (en) * | 2021-03-18 | 2021-04-16 | 北京全路通信信号研究设计院集团有限公司 | Head-tail redundancy system of vehicle-mounted signal equipment and execution method thereof |
| CN113682350A (en) * | 2021-08-11 | 2021-11-23 | 交控科技股份有限公司 | Double-end ATP speed measurement system and method for guaranteeing speed measurement availability |
| CN114104037A (en) * | 2022-01-28 | 2022-03-01 | 新誉轨道交通科技有限公司 | Vehicle-mounted signal equipment redundancy equipment, method, device and medium |
| CN115230772A (en) * | 2022-08-22 | 2022-10-25 | 南京恩瑞特实业有限公司 | Redundant protection method for speed and distance measurement of urban rail train |
| CN115230772B (en) * | 2022-08-22 | 2023-07-28 | 南京恩瑞特实业有限公司 | Urban rail train speed and distance measurement redundancy protection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109532951B (en) | 2021-01-05 |
| WO2020078146A1 (en) | 2020-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109532951A (en) | A kind of track train head and the tail redundancy tests the speed range-measurement system and method | |
| US5550736A (en) | Fail-operational fault tolerant flight critical computer architecture and monitoring method | |
| CN105151085B (en) | Axle counter fault detection method for train | |
| US8204635B2 (en) | Systems and methods of redundancy for aircraft inertial signal data | |
| US4305556A (en) | Railway control signal dynamic output interlocking systems | |
| CA2336045C (en) | Controller or engine controller, engine and method for adjusting a control or drive system or an engine | |
| CN109976141A (en) | UAV sensor signal remaining voting system | |
| CN108259265B (en) | Military 1394B bus network channel integrity detection method | |
| CN116108702B (en) | Test method and device for receiving temporary speed limit in complete mode of train control system | |
| US4270715A (en) | Railway control signal interlocking systems | |
| CN109318937A (en) | Train control system | |
| CN111157766A (en) | Vehicle speed measuring device and method with self-checking function | |
| US9354632B2 (en) | Systems and methods for signal selection and fault detection | |
| CN110758489A (en) | Automatic protection system of train | |
| US9043044B2 (en) | System and method for communicating data in a consist | |
| CN111016978A (en) | Method for realizing regional controller equipment test based on GoogleTest test framework | |
| US7209811B1 (en) | System and method for controlling a safety-critical railroad operating process | |
| US4266273A (en) | System for controlling track-bound vehicles forming a train | |
| CN111766845B (en) | Test method, test system and test device for train control system signal equipment | |
| US4284256A (en) | Sequential checking of railway control signals | |
| US8005585B2 (en) | Method for determining the occupancy status of a track section in particular following a restart of an axle counting system, as well as an evaluation device and counting point for this | |
| JP4102306B2 (en) | Method for controlling railway operation process requiring safety and apparatus for carrying out this method | |
| CN115180004B (en) | Method and device for testing radio block system | |
| CN114407979B (en) | Train integrity monitoring method, device, equipment and medium | |
| CN115657505B (en) | Simulation test system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |