CN111157766A - Vehicle speed measuring device and method with self-checking function - Google Patents
Vehicle speed measuring device and method with self-checking function Download PDFInfo
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- CN111157766A CN111157766A CN202010066852.6A CN202010066852A CN111157766A CN 111157766 A CN111157766 A CN 111157766A CN 202010066852 A CN202010066852 A CN 202010066852A CN 111157766 A CN111157766 A CN 111157766A
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- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The invention discloses a vehicle speed measuring device with a self-checking function and a method thereof, wherein the vehicle speed measuring device comprises at least two speed sensors and at least two speed measuring plates, and each speed measuring plate is respectively connected with each speed sensor to form a redundant structure; the speed sensor is used for converting the speed information of the vehicle into a speed transmission signal; the speed measuring plate is used for calculating the speed of the vehicle according to the speed signal and detecting whether the speed sensor and the speed measuring plate have faults or not. The invention adopts a dual-system redundant structure to measure the speed of the train, wherein one speed sensor or one speed measuring board card has a fault, and the other speed sensor or speed measuring board card with complete functions can still ensure that the speed of the train is correctly measured. Meanwhile, the invention can accurately position whether the fault is in the speed sensor or the speed measuring plate, thereby effectively improving the fault positioning capability of the vehicle speed measuring device.
Description
Technical Field
The invention relates to the field of traffic control, in particular to a vehicle speed measuring device with a self-checking function and a method.
Background
With the rapid development of urban rail transit in China, a vehicle control system capable of ensuring high-speed and safe operation of vehicles is urgently needed. The vehicle automatic protection system (ATP) is the core of the whole vehicle control system, and the ATP is mainly used for preventing vehicles from speeding, colliding and other dangerous conditions possibly occurring when the vehicles run, and the basis for realizing the ATP is high-reliability and high-precision vehicle speed measurement. Based on the comprehensive consideration of the aspects of performance, cost and the like, the domestic vehicle mainly adopts a wheel-shaped grating speed sensor to measure the running speed of the vehicle in real time, the speed sensor is arranged on a wheel shaft of a wheel according to the speed measuring principle, when the vehicle runs, the speed sensor can generate square wave pulse signals with the frequency f being n multiplied by P (n is the rotating speed, and P is the pulse number generated by each revolution), and the vehicle-mounted speed measuring equipment can accurately calculate the running speed of the vehicle by detecting the number of revolutions of the wheel.
Currently, the following technical defects mainly exist in the real-time measurement of the running speed of a vehicle through a speed sensor: the square wave pulse signals generated by the speed sensor are not effectively detected, so that when the speed sensor fails or the square wave pulse signals are interfered, the square wave pulse signals cannot be timely found, and finally, an error speed measurement result can be caused; the working state of the vehicle-mounted speed measuring equipment is not effectively detected, whether the speed measuring equipment fails or not cannot be known, and under the condition of failure, the speed measuring equipment is likely to send wrong information to a system, so that the usability of the system is reduced, and even the driving safety is influenced; in actual use, because of the characteristics of the material, after the vehicle-mounted speed measuring equipment and the speed sensor are operated for a long time, certain probability is failed due to aging, the traditional device is poor in fault detection and fault location, and fault points cannot be located timely and accurately.
Disclosure of Invention
The invention provides a vehicle speed measuring device with a self-checking function and a method thereof.A dual-system redundant speed measuring system is adopted to measure the speed of a vehicle, when one speed measuring system fails, the other speed measuring system can still accurately measure the speed of the vehicle, and meanwhile, based on a perfect self-checking mechanism in the speed measuring system, a failure point can be quickly positioned and an alarm signal can be generated.
In order to achieve the above object, the present invention provides a speed measuring device with a self-checking function, which includes at least two speed sensors and at least two speed measuring boards, wherein each speed measuring board is connected to each speed sensor, and each speed sensor outputs a speed transmission signal to each speed measuring board to form a redundant structure;
the speed sensor is arranged on a wheel of the vehicle and used for converting speed information of the vehicle into a speed transmission signal;
the speed measuring plate is used for calculating the speed of the vehicle according to the speed signal and detecting whether the speed sensor and the speed measuring plate have faults or not.
Preferably, the speed measuring board comprises: the device comprises a CPU, a register module, a reference signal generating module, a selector switch module, a signal checking module and a signal processing module;
the register module is connected with the CPU, is an interface between the CPU and each module in the speed measuring board, and is used for storing data written by the CPU and storing processing results of each module of the speed measuring board;
the reference signal generating module is connected with the register module and is used for outputting a reference signal according to the period, the duty ratio and the phase difference of the reference signal preset by the CPU;
the selector switch module is connected with the register module, the speed sensor and the reference signal generating module and used for switching connection with the speed sensor or the reference signal generating module so as to select a speed transmission signal output by the speed sensor or a reference signal output by the reference signal generating module;
the signal checking module is connected with the register module and the change-over switch module and is used for counting the cycle time, the high level time and the phase difference time of the fast transmission signal or the reference signal output by the change-over switch module and storing the count value in the register module;
the signal processing module is connected with the register module and the change-over switch module and is used for counting the pulses of the speed transmission signals or the reference signals output by the change-over switch module and storing the count values in the register module;
the CPU is connected with the register module, controls the work of each module in the speed measuring board through the register module, judges whether the input speed transmission signal or the reference signal is effective or not according to the counting value of the signal checking module, and calculates the speed of the vehicle according to the pulse counting value of the speed transmission signal of the signal processing module.
Preferably, the number of channels of the reference signal output by the reference signal generation module is equal to the total number of channels of the speed transmission signals output by the at least two speed sensors.
Preferably, the change-over switch module comprises two change-over switches connected in series, each change-over switch is controlled by an independent change-over switch configuration register, the first change-over switch is connected with the speed sensor and the reference signal generation module, and the second change-over switch is connected with the first change-over switch and the speed sensor.
The invention also provides a method for measuring the speed of the vehicle by using the vehicle speed measuring device, which comprises the following steps,
the vehicle speed measuring device simulates the low-speed and high-speed running conditions of a vehicle, and carries out low-speed self-detection and high-speed self-detection on the module in each speed measuring plate;
each speed measuring board respectively verifies the validity of the speed transmission signal output by each speed sensor;
and each speed measuring board calculates the vehicle speed according to the speed signal output by each speed sensor.
Preferably, the self-test of the speed measuring board comprises the following steps:
the CPU sets the period, duty ratio and phase difference of a reference signal for simulating the low-speed or high-speed running of the vehicle according to the number of pulses generated by the speed sensor when the wheel axle rotates for one circle and the simulated running speed of the vehicle, and the reference signal generating module outputs the reference signal under the condition of simulating the low-speed or high-speed running of the vehicle;
two change-over switches in the change-over switch module are both connected with the reference signal generating module in a switching way;
the signal inspection module respectively checks the input reference signals, counts the cycle time, the high level time and the phase difference time of the reference signals, and respectively stores the count values in the register module;
the CPU calculates the duty ratio and the phase difference of the reference signal according to the counting value of the signal detection module, compares the duty ratio and the phase difference with the duty ratio and the phase difference of the reference signal preset by the CPU when the simulated vehicle runs at the low speed or the high speed, if the comparison result of the duty ratio and the phase difference is within an error range, the signal detection module passes the low speed or the high speed self-detection, otherwise, the signal detection module fails the low speed or the high speed self-detection, and the CPU generates alarm information;
the signal processing module respectively carries out pulse counting on the input reference signals and respectively stores the counting values in the register module;
and the CPU reads the count value of the signal processing module, the difference value between the pulse count value of the reference signal read by the CPU in the current period and the pulse count value of the reference signal read by the CPU in the previous period meets a certain condition, the low-speed or high-speed self-check of the signal processing module is passed, otherwise, the low-speed or high-speed self-check of the signal processing module fails, and the CPU generates alarm information.
Preferably, the condition that the difference between the pulse count value of the reference signal read by the CPU in the current period and the pulse count value of the reference signal read by the CPU in the previous period needs to satisfy is:
the CPU reads the cycle times the simulated vehicle running speed times the number of pulses generated by the speed sensor per revolution of the vehicle wheel shaft +/-1.
Preferably, the verification of the validity of the speed signal output by the speed sensor by the speed measuring board comprises the following steps:
two change-over switches in the change-over switch module are switched and connected with the speed sensor;
the signal inspection module respectively checks the input speed transmission signals, counts the cycle time, the high level time and the phase difference time of the speed transmission signals, and respectively stores the count values in the register module;
the CPU calculates the duty ratio and the phase difference of the speed transmission signal according to the counting value of the signal inspection module, compares the duty ratio and the phase difference with the duty ratio and the phase difference of the known technical parameters of the speed sensor, if the comparison result of the duty ratio and the phase difference is within the error range, the speed transmission signal input to the speed measurement plate is valid, otherwise, the input signal is invalid, and the CPU generates alarm information.
Preferably, the speed measuring board calculates the speed of the vehicle according to the effective speed signal, and comprises the following steps:
the signal processing module respectively carries out pulse counting on the input effective speed transmission signals and respectively stores the counting values in the register module;
the CPU reads the count value of the signal processing module and calculates the speed of the vehicle.
Preferably, the calculation formula of the duty ratio and the phase difference of the reference signal and the fast transmission signal is as follows:
preferably, the calculation formula of the vehicle speed is as follows:
in the formula, c (i), c (i-1) are the pulse count values of the speed transmission signal read in the ith reading period and the last reading period of the CPU respectively, D is the wheel diameter value of the vehicle wheel shaft, N is the number of pulses generated by the speed sensor in each circle of the vehicle wheel shaft, and T is the main period of reading the pulse count value of the speed transmission pulse signal by the CPU access register module.
The invention has the following advantages:
1. the invention adopts a dual-system redundant structure to measure the speed of the train, wherein the failure of one speed sensor or the failure of one speed measurement board card can not cause the complete failure of the speed measurement function of the train, and the other speed sensor or the speed measurement board card with complete functions can still ensure that the speed of the train is correctly measured.
2. The signal checking module of the speed measuring board can check the period and the phase difference of the speed transmission signal generated by the input speed sensor, so as to judge whether the input speed transmission signal is effective or not, and can give an alarm in time if a fault is detected, thereby preventing the generation of wrong speed measuring results.
3. The invention can not only verify the speed transmission signal generated by the input speed sensor, but also self-verify the internal module of the speed transmission plate, so that once a fault occurs, the fault can be accurately positioned in the speed sensor or the speed measurement plate, and the fault positioning capability is effectively improved.
4. The design that two change-over switches are connected in series is adopted in the change-over switch module of the speed measuring board, so that the reference signal for testing can not be mistakenly regarded as the actual speed sensor pulse signal even if one change-over switch fails, and the wrong speed measuring result is prevented from being generated.
Drawings
Fig. 1 is a structural diagram of a vehicle speed measuring device with a self-checking function according to an embodiment of the present invention;
fig. 2 is a structural diagram of a speed measuring board according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating the classification of register modules according to an embodiment of the present invention;
fig. 4 is a structural diagram of a diverter switch module according to an embodiment of the present invention;
fig. 5 is a flowchart of a speed measuring method of a vehicle speed measuring device with a self-checking function according to an embodiment of the present invention.
Detailed Description
The following describes a vehicle speed measuring device with self-checking function and a method thereof in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
As shown in fig. 1, the invention provides a vehicle speed measuring device with a self-checking function, which comprises two speed sensors 1 and two speed measuring plates 2, wherein each speed measuring plate 2 is connected with each speed sensor 1, and each speed sensor 1 outputs a speed transmission signal to each speed measuring plate 2 to form a redundant structure;
the speed sensor 1 is arranged on a wheel at the head or the tail of the vehicle, the speed sensor 1 is used for converting speed information of the vehicle into two-channel speed transmission signals, and the speed transmission signals are square wave pulse signals;
the speed measuring board 2 is used for acquiring the speed signal of the speed sensor 1 to calculate the speed of the vehicle and detecting whether the inside of the speed sensor 1 and the speed measuring board 2 breaks down or not.
As shown in fig. 2, the speed measuring board 2 includes: the system comprises a CPU201, a register module 202, a reference signal generating module 203, a selector switch module 204, a signal checking module 205 and a signal processing module 206;
the register module 202 is connected to the CPU201, is an interface between the CPU201 and each module in the speed measuring board, and as shown in fig. 3, is a type and an effect of a register included in the register module, the CPU201 controls the operation of each module of the speed measuring board by writing data into the corresponding register, and simultaneously, a processing result of each module of the speed measuring board is stored in the corresponding register for the CPU201 to read;
a reference signal generating module 203, connected to the register module 202, for outputting a four-channel reference signal according to the period, duty ratio and phase difference of the reference signal preset by the CPU 201;
the change-over switch module 204 is connected with the register module 202, the speed sensor 1 and the reference signal generating module 203, and is used for switching connection with the speed sensor 1 or the reference signal generating module 203 so as to select a speed transmission signal output by the speed sensor or a reference signal output by the reference signal generating module; as shown in fig. 4, the switch module 204 includes two switches connected in series, each switch is controlled by an independent switch configuration register, the first switch is respectively connected to the speed sensor 1 and the reference signal generating module 203, and the second switch is respectively connected to the first switch and the speed sensor 1; the serial design of the two change-over switches ensures that even if one of the change-over switches fails, the reference signal for testing can not be mistakenly used as an actual speed measurement signal, so that the wrong speed measurement result is prevented from being generated;
the signal checking module 205 is connected to the register module 202 and the change-over switch module 204, and configured to count a cycle time, a high level time, and a phase difference time of the four-way reference signal or the four-way fast transmission signal output by the change-over switch, and store a count value in a corresponding register for the CPU201 to read;
the signal processing module 206 is connected to the register module 202 and the change-over switch module 204, and is configured to count pulses of the four-way reference signal or the four-way fast transmission signal output by the change-over switch, and store the count value in a corresponding register for the CPU201 to read;
the CPU201 controls the operation of each module in the speedometer through the register module 202, determines whether the input signal is valid according to the count value of the signal checking module 205, and calculates the speed of the vehicle according to the count value of the signal processing module 206.
The speed sensor in the embodiment of the invention takes a photoelectric speed sensor DF16/1.200badk assembled and produced by shanghai DEUTA as an example, and a dual-channel square wave pulse output by the speed sensor meets the following technical parameters:
pulse duty ratio: 50% +/-10%
Pulse phase difference: 90 ° ± 45 °
The parameters of the vehicle in the example are:
the number N of pulses generated by the speed sensor in each circle of the wheel axle of the vehicle is 100;
the wheel diameter D of the vehicle is 0.8 m;
the CPU accesses the main period T of the tachometer board register module to be 50 ms;
the running speed of the vehicle was 10 m/s.
As shown in fig. 5, the method for measuring the speed of a vehicle speed measuring device with a self-test function according to the present invention includes the following steps,
s1, the vehicle speed measuring device simulates the low-speed and high-speed running conditions of the vehicle, and carries out low-speed self-inspection and high-speed self-inspection on the module in each speed measuring plate;
the initialization operation is carried out after the vehicle speed measuring device is started, and the initialization operation comprises the following steps: CPU initialization, initialization of each module of the speedometer, initialization of a local bus, interrupt initialization and the like. Each speed measuring board simulates the low-speed (1 r/s axle) running condition of the vehicle:
since the number N of pulses generated by the speed sensor 1 per one rotation of the wheel axle of the vehicle is 100, the reference signal should be 100 pulses per second, that is, the period of the reference signal should be 10ms, and the CPU201 writes 10000 in the reference signal period configuration register; meanwhile, in order to set the duty ratio of the reference signal to be 50%, the CPU writes 5000 into the high-level configuration register of the reference signal; to set the phase difference of the reference signal to 45 °, the CPU201 writes 1250 into the reference signal phase difference configuration register; the reference signal generation module 203 generates four-channel low-speed reference signals according to the preset period, duty ratio and phase difference of the reference signals under the condition of low-speed running of the vehicle;
the CPU201 writes data into the first and second switch configuration registers, and switches both the switches to connect to the reference signal generation module 203;
the signal checking module 205 respectively counts cycle time, high level time and phase difference time of the input four-channel low-speed reference signal, and respectively stores count values in a corresponding reference signal cycle count register, a corresponding reference signal high level count register and a corresponding reference signal phase difference count register; the CPU201 reads the count values of the reference signal period count register, the reference signal high level count register, and the reference signal phase difference count register at a period of T equal to 50 ms; because the reference signals are all generated inside the speedometer panel 2, and the signal processing module 206 and the signal verification module 205 are also all inside the speedometer panel 2, the duty ratio and the phase difference of the low-speed reference signals calculated by the CPU201 according to the count value of the signal verification module 205 have only one clock error with the duty ratio and the phase difference of the reference signals when the simulated vehicle runs, which are preset by the CPU201, so that the error ranges are all within ± 1; therefore, when the value of the reference signal period count register read by the CPU201 satisfies 10000 ± 1, the value of the reference signal high level count register should satisfy 5000 ± 1, and the value of the reference signal phase difference count register should satisfy 1250 ± 1, it indicates that the low-speed self-check of the signal inspection module 205 passes, and the next step is entered, otherwise, it indicates that the low-speed self-check of the signal inspection module 205 fails, and the CPU201 generates alarm information;
the signal processing module 206 respectively performs pulse counting on the input low-speed four-channel reference signals, and respectively stores the count values in corresponding reference signal pulse counting registers; the CPU201 reads the count value of the reference signal pulse count register at a cycle of T ═ 50 ms; the CPU201 needs to satisfy the condition that the difference between the pulse count value of the reference signal read in the present cycle and the pulse count value of the reference signal read in the previous cycle is: the CPU reads the cycle multiplied by the simulated vehicle running speed multiplied by the number of pulses generated by the speed sensor of each circle of the vehicle wheel shaft plus or minus 1; therefore, when the difference between the value c (i) of the reference signal pulse count register read by the CPU201 in the current cycle and the value c (i-1) of the reference signal pulse count register read in the previous cycle satisfies 5 ± 1, it indicates that the low-speed self-test of the signal processing module 206 passes, and the next step is performed, otherwise, the low-speed self-test of the signal processing module 206 fails, and the CPU generates alarm information.
Each speed measuring board simulates the high-speed (axle 100r/s) running condition of the vehicle:
since the number N of pulses generated by the speed sensor 1 per one rotation of the wheel axle of the vehicle is 100, the reference signal should be 10000 pulses per second, that is, the period of the reference signal should be 100us, and the CPU201 writes 100 in the reference signal period configuration register; meanwhile, setting the duty ratio of the reference signal to be 40%, and writing 40 into the reference signal high-level configuration register by the CPU; setting the phase difference of the reference signal to 90 degrees, and writing 25 into the reference signal phase difference configuration register by the CPU 201; the reference signal generation module 203 generates four-channel high-speed reference signals according to the preset period, duty ratio and phase difference of the reference signals under the condition of high-speed running of the vehicle;
the CPU201 writes data into the first and second switch configuration registers, and switches both the switches to connect to the reference signal generation module 203;
the signal checking module 205 respectively counts cycle time, high level time and phase difference time of the input four-channel high-speed reference signal, and respectively stores count values in a corresponding reference signal cycle count register, a corresponding reference signal high level count register and a corresponding reference signal phase difference count register; the CPU201 reads the count values of the reference signal period count register, the reference signal high level count register, and the reference signal phase difference count register at a period of T equal to 50 ms; when the value of the reference signal period counting register read by the CPU201 satisfies 100 ± 1, the value of the reference signal high level counting register should satisfy 40 ± 1, and the value of the reference signal phase difference counting register satisfies 25 ± 1, it indicates that the high-speed self-inspection of the signal inspection module 205 passes, otherwise, it indicates that the high-speed self-inspection of the signal inspection module 205 fails, and the CPU201 generates alarm information;
the signal processing module 206 respectively performs pulse counting on the input four-channel high-speed reference signals, and respectively stores the count values in corresponding reference signal pulse counting registers; the CPU201 reads the count value of the reference signal pulse count register at a cycle of T to 50 ms. When the difference between the value c (i) of the reference signal pulse count register read by the CPU201 in the current period and the value c (i-1) of the reference signal pulse count register read in the previous period satisfies 500 ± 1, it indicates that the high-speed self-check of the signal processing module 206 passes, otherwise, the high-speed self-check of the signal processing module 206 fails, and the CPU201 generates alarm information.
S2, each speed measuring board respectively verifies the validity of the speed transmission signal output by each speed sensor;
the CPU201 writes data into the first and second switch configuration registers, and switches both the switches to connect the speed sensor 1; the signal checking modules 205 of the two speed measuring boards 2 respectively count the cycle time, the high level time and the phase difference time of the input four-channel speed transmission signal, and respectively store the count values in the corresponding speed transmission signal cycle count register, speed transmission signal high level count register and speed transmission signal phase difference count register. The CPU201 reads count values of the cycle time, the high level time, and the phase difference time of the four-channel fast transmission signals, respectively, and calculates a duty ratio and a phase difference of each channel fast transmission signal. The calculation formula of the duty ratio and the phase difference of the fast transmission signal is as follows:
the duty ratio and the phase difference of the four-way quick transmission signal both meet the following requirements: the value of the duty ratio is within the range of 50% ± 10%, and the value of the phase difference is within the range of 90 ° ± 45 °, the four-way speed signals input to the signal inspection module 205 are all valid signals, otherwise, the CPU201 generates an alarm signal.
And S3, each speed measuring board calculates the vehicle speed according to the speed signal output by each speed sensor.
The signal processing module 206 counts the pulses of the input four-channel speed signal respectively, and stores the count values in the corresponding speed signal pulse counting registers respectively, and the CPU reads the calculation value of any one speed signal pulse counting register to calculate the speed of the vehicle. The calculation formula of the vehicle speed is as follows:
in the formula, c (i), c (i-1) are the pulse count values of the speed transmission signal read in the ith reading period and the last reading period of the CPU respectively, D is the wheel diameter value of the vehicle wheel shaft, N is the number of pulses generated by the speed sensor in each circle of the vehicle wheel shaft, and T is the main period of reading the pulse count value of the speed transmission pulse signal by the CPU access register module.
The assumed conditions of this embodiment are: n is 100, T is 50ms, D is 0.8m, and the train is running at 10 m/s. The difference between the value c (i) of the pulse counting register read by the CPU in the current period and the value c (i-1) of the pulse counting register read by the CPU in the previous period is 20, and the measure of the vehicle calculated by adopting the calculation formula of the vehicle speed is as follows: 10.048m/s, the error between the calculated result and the assumed value meets the requirement.
The invention adopts a dual-system redundant structure to measure the speed of the train, wherein the failure of one speed sensor or the failure of one speed measurement board card can not cause the complete failure of the speed measurement function of the train, and the other speed sensor or the speed measurement board card with complete functions can still ensure that the speed of the train is correctly measured. Meanwhile, the design that two change-over switches are connected in series is adopted in the change-over switch module of the speed measuring board, so that even if one change-over switch fails, the reference signal for testing can not be mistakenly used as the actual speed sensor pulse signal, and the wrong speed measuring result is prevented from being generated. The signal check module of the speed measuring board can check the period and the phase difference of the speed transmission signal generated by the input speed sensor, so that whether the input speed transmission signal is effective or not is judged, if a fault is detected, an alarm can be given in time, and an error speed measuring result is prevented. The invention can not only verify the speed transmission signal generated by the input speed sensor, but also self-verify the internal module of the speed transmission plate, so that once a fault occurs, the fault can be accurately positioned in the speed sensor or the speed measurement plate, and the fault positioning capability is effectively improved.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. A vehicle speed measuring device with a self-checking function is characterized by comprising at least two speed sensors and at least two speed measuring plates, wherein each speed measuring plate is connected with each speed sensor respectively, and each speed sensor outputs a speed signal to each speed measuring plate respectively to form a redundant structure;
the speed sensor is arranged on a wheel of the vehicle and used for converting speed information of the vehicle into a speed transmission signal;
the speed measuring plate is used for calculating the speed of the vehicle according to the speed signal and detecting whether the speed sensor and the speed measuring plate have faults or not.
2. The vehicle speed measuring device with self-checking function according to claim 1, wherein the speed measuring board comprises: the device comprises a CPU, a register module, a reference signal generating module, a selector switch module, a signal checking module and a signal processing module;
the register module is connected with the CPU, is an interface between the CPU and each module in the speed measuring board, and is used for storing data written by the CPU and storing processing results of each module of the speed measuring board;
the reference signal generating module is connected with the register module and is used for outputting a reference signal according to the period, the duty ratio and the phase difference of the reference signal preset by the CPU;
the selector switch module is connected with the register module, the speed sensor and the reference signal generating module and used for switching connection with the speed sensor or the reference signal generating module so as to select a speed transmission signal output by the speed sensor or a reference signal output by the reference signal generating module;
the signal checking module is connected with the register module and the change-over switch module and is used for counting the cycle time, the high level time and the phase difference time of the fast transmission signal or the reference signal output by the change-over switch module and storing the count value in the register module;
the signal processing module is connected with the register module and the change-over switch module and is used for counting the pulses of the speed transmission signals or the reference signals output by the change-over switch module and storing the count values in the register module;
the CPU is connected with the register module, controls the work of each module in the speed measuring board through the register module, judges whether the input speed transmission signal or the reference signal is effective or not according to the counting value of the signal checking module, and calculates the speed of the vehicle according to the pulse counting value of the speed transmission signal of the signal processing module.
3. The vehicle speed measuring device with self-checking function according to claim 2, wherein the switch module comprises two switches connected in series, each switch is controlled by an independent switch configuration register, the first switch is connected to the speed sensor and the reference signal generating module, and the second switch is connected to the first switch and the speed sensor.
4. The vehicle speed measuring device with the self-checking function according to claim 2, wherein the number of channels of the reference signal output by the reference signal generating module is equal to the total number of channels of the speedtransmitting signals output by the at least two speed sensors.
5. A method for measuring the speed of a vehicle by using the vehicle speed measuring device with the self-checking function as claimed in any one of claims 1 to 4, comprising the following steps,
the vehicle speed measuring device simulates the low-speed and high-speed running conditions of a vehicle, and carries out low-speed self-detection and high-speed self-detection on the module in each speed measuring plate;
each speed measuring board respectively verifies the validity of the speed transmission signal output by each speed sensor;
and each speed measuring board calculates the vehicle speed according to the speed signal output by each speed sensor.
6. The method for measuring the speed of a vehicle with a self-test function as claimed in claim 5, wherein the self-test of the speed measuring board comprises the following steps:
the CPU sets the period, duty ratio and phase difference of a reference signal for simulating the low-speed or high-speed running of the vehicle according to the number of pulses generated by the speed sensor when the wheel axle rotates for one circle and the simulated running speed of the vehicle, and the reference signal generating module outputs the reference signal under the condition of simulating the low-speed or high-speed running of the vehicle;
two change-over switches in the change-over switch module are both connected with the reference signal generating module in a switching way;
the signal inspection module respectively checks the input reference signals, counts the cycle time, the high level time and the phase difference time of the reference signals, and respectively stores the count values in the register module;
the CPU calculates the duty ratio and the phase difference of the reference signal according to the counting value of the signal detection module, compares the duty ratio and the phase difference with the duty ratio and the phase difference of the reference signal preset by the CPU when the simulated vehicle runs at the low speed or the high speed, if the comparison result of the duty ratio and the phase difference is within an error range, the signal detection module passes the low speed or the high speed self-detection, otherwise, the signal detection module fails the low speed or the high speed self-detection, and the CPU generates alarm information;
the signal processing module respectively carries out pulse counting on the input reference signals and respectively stores the counting values in the register module;
and the CPU reads the count value of the signal processing module, the difference value between the pulse count value of the reference signal read by the CPU in the current period and the pulse count value of the reference signal read by the CPU in the previous period meets a certain condition, the low-speed or high-speed self-check of the signal processing module is passed, otherwise, the low-speed or high-speed self-check of the signal processing module fails, and the CPU generates alarm information.
7. The method for measuring the speed of a vehicle with a self-test function according to claim 6, wherein the difference between the pulse count value of the reference signal read by the CPU in the current period and the pulse count value of the reference signal read by the CPU in the previous period is satisfied by the following conditions:
the CPU reads the cycle times the simulated vehicle running speed times the number of pulses generated by the speed sensor per revolution of the vehicle wheel shaft +/-1.
8. The method for measuring the speed of the vehicle with the self-checking function as claimed in claim 5, wherein the verification of the validity of the speed signal output by the speed sensor by the speedometer comprises the following steps:
two change-over switches in the change-over switch module are switched and connected with the speed sensor;
the signal inspection module respectively checks the input speed transmission signals, counts the cycle time, the high level time and the phase difference time of the speed transmission signals, and respectively stores the count values in the register module;
the CPU calculates the duty ratio and the phase difference of the speed transmission signal according to the counting value of the signal inspection module, compares the duty ratio and the phase difference with the duty ratio and the phase difference of the known technical parameters of the speed sensor, if the comparison result of the duty ratio and the phase difference is within the error range, the speed transmission signal input to the speed measurement plate is valid, otherwise, the input signal is invalid, and the CPU generates alarm information.
9. The method for measuring the speed of the vehicle with the self-checking function as claimed in claim 5, wherein the step of calculating the speed of the vehicle by the speedometer according to the effective speed signal comprises the following steps:
the signal processing module respectively carries out pulse counting on the input effective speed transmission signals and respectively stores the counting values in the register module;
the CPU reads the count value of the signal processing module and calculates the speed of the vehicle.
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| CN111856064A (en) * | 2020-07-29 | 2020-10-30 | 浙江万里学院 | Intelligent speed sensing device |
| CN111999520A (en) * | 2020-10-27 | 2020-11-27 | 北京和利时系统工程有限公司 | Signal detection device |
| CN112034197A (en) * | 2020-08-26 | 2020-12-04 | 上海德意达电子电器设备有限公司 | Measuring method based on self-adaptive algorithm |
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| CN112730874A (en) * | 2020-12-24 | 2021-04-30 | 交控科技股份有限公司 | Signal board and data processing method |
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| CN111856064A (en) * | 2020-07-29 | 2020-10-30 | 浙江万里学院 | Intelligent speed sensing device |
| CN112034197A (en) * | 2020-08-26 | 2020-12-04 | 上海德意达电子电器设备有限公司 | Measuring method based on self-adaptive algorithm |
| CN111999520A (en) * | 2020-10-27 | 2020-11-27 | 北京和利时系统工程有限公司 | Signal detection device |
| CN112550376A (en) * | 2020-12-16 | 2021-03-26 | 卡斯柯信号有限公司 | Train speed measuring system and method |
| CN112730874A (en) * | 2020-12-24 | 2021-04-30 | 交控科技股份有限公司 | Signal board and data processing method |
| CN113391196A (en) * | 2021-06-15 | 2021-09-14 | 卡斯柯信号有限公司 | Self-checking method for train-mounted speed measurement positioning board card |
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