CN112356878A - High-precision detection system for coming and going - Google Patents
High-precision detection system for coming and going Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or train
- B61L1/02—Electric devices associated with track, e.g. rail contacts
- B61L1/10—Electric devices associated with track, e.g. rail contacts actuated by electromagnetic radiation; actuated by particle radiation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a high-precision detection system for coming and going trains, which comprises two laser range finders, a data receiving module, a front-end processing module and a state conversion module, wherein the two laser range finders are arranged along the advancing direction of a train; the data receiving module is respectively connected with the two laser range finders, associates the received distance data with the ID and the real-time timestamp of the laser range finders respectively, and stores qualified data as an original data packet through data verification; the front-end processing module carries out data filtering on the received original data packet; judging whether the corresponding laser range finder is shielded or not according to the distance data, and adding records to form a data packet I; and the state conversion module converts the current system state among idle, pre-trigger, trigger and post-trigger according to the data in the data packet I by combining the current system state. The high-precision incoming and outgoing vehicle detection system can effectively eliminate situations of backing, parking and the like, accurately and efficiently finishes the acquisition of incoming and outgoing vehicle signals, and can provide accurate incoming and outgoing vehicle signals for the test system.
Description
Technical Field
The invention relates to the field of rail travelling detection, in particular to a high-precision detection system for incoming and outgoing vehicles.
Background
The vehicle state monitoring is an important link in a vehicle safety guarantee system in the whole rail transit system, in a modern vehicle detection system, such as in the field of rail transit, wear of a pantograph can occur in the operation process, and the real-time parameters of the pantograph are generally obtained by using intelligent detection equipment, such as visual detection, so as to judge whether the wear is abnormal; at present this kind of detection module is in standby operating condition for a long time, during waiting for the car, has caused very big wasting of resources, consequently needs a triggering signal that can trigger vehicle detection module in advance, avoids pantograph module/vehicle detection module's long-time meaningless standby, improves the durability of system, reduces the power consumption, current trigger mode: one is to use a detector, such as a photoelectric detector or a laser range finder, in the existing scheme, a single detector is used for acquiring a vehicle coming signal to trigger, but the mode is easily interfered by the outside world, and if an animal in the outside environment passes through the detector, the detector can generate an electric signal to mistakenly consider that a vehicle comes to cause false triggering; the other scheme for detecting the coming vehicle in the rail transit is as follows: the magnetic steel is matched with the magnetic steel processing plate to complete the operation, the scheme needs to be installed on line, the processing plate is high in price, and meanwhile, the fact that the high-speed railway train is extremely high in running speed is considered, and the trigger device is installed on the rail to cause great potential safety hazards.
Disclosure of Invention
In order to solve the technical problems, the invention provides a high-precision incoming and outgoing vehicle detection system which can effectively eliminate situations of backing up, stopping and the like, accurately and efficiently complete the acquisition of incoming and outgoing vehicle signals, and can provide accurate incoming and outgoing vehicle signals for a test system.
Therefore, the technical scheme of the invention is as follows:
a high-precision detection system for coming and going trains comprises two laser range finders arranged along the advancing direction of a train, a data receiving module, a front-end processing module and a state conversion module;
the data receiving module is respectively connected with the two laser range finders, the received distance data transmitted by the two laser range finders are respectively associated with the ID of the laser range finder and the real-time timestamp, and qualified data is stored as an original data packet through data verification;
the front-end processing module performs data filtering on the received original data packet to replace the unqualified distance data with the distance data in the adjacent data packet; judging whether the distance data in each original data packet is within a preset threshold range, if so, considering that the state of the corresponding laser range finder is shielded, otherwise, considering that the distance data is not shielded, and adding the state of the laser range finder to the original data packet to form a data packet I;
the state conversion module combines the current system state and respectively carries out the following operations according to the data in the data packet I:
1) if the current system state is idle, firstly judging whether the state of the laser range finder is shielded, if not, directly returning to a data receiving module to obtain a new original data packet; if yes, the system records the ID of the corresponding laser range finder, judges whether a timestamp T0 is recorded, and refreshes a parking timer and updates the current system state to be pre-trigger if the timestamp T0 is recorded; if the timestamp T0 is not recorded, recording the real-time timestamp in the current data packet I as the timestamp T0, refreshing the parking timer, updating the current system state as a pre-trigger, and returning to the data receiving module to acquire a new original data packet;
2) if the current system state is pre-triggered, firstly judging whether the laser range finder ID in the data packet I is the same as the laser range finder ID recorded by the system;
when the IDs of the two laser range finders are the same, entering a data receiving module to obtain a new original data packet; when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if not, returning to a data receiving module to obtain a new original data packet; if yes, refreshing the parking timer, judging whether the coming vehicle is recorded or not, and if the coming vehicle is recorded, returning to the data receiving module to obtain a new original data packet; if the incoming vehicle is not recorded, recording the real-time timestamp in the current data packet I as a timestamp T1, recording the incoming vehicle, sending an incoming vehicle signal, updating the current system state as a trigger, and returning to the data receiving module to acquire a new original data packet; further, the recorded timestamps T0, T1 and the two laser rangefinder installation intervals may be used to calculate vehicle speed;
3) if the current system state is triggered, firstly judging whether the ID of the laser range finder in the data packet I is the same as the ID of the laser range finder recorded by the system;
when the IDs of the two laser range finders are the same, firstly judging whether the states of the laser range finders are shielded, if so, directly returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the parking timer, then recording the real-time timestamp in the current data packet I as a timestamp T2, then updating the current system state as a post-trigger, and then returning to the data receiving module to acquire a new original data packet;
when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if so, returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the parking timer, then recording the reversing error, then updating the current system state to be pre-triggered, and then returning to the data receiving module to obtain a new original data packet;
or, 4) if the current system state is post-trigger, firstly judging whether the laser range finder ID in the data packet I is the same as the laser range finder ID recorded by the system;
when the IDs of the two laser range finders are the same, firstly judging whether the states of the laser range finders are shielded, if not, returning to a data receiving module to obtain a new original data packet; if yes, refreshing a parking timer, recording a reversing error, updating the current system state as a trigger, and returning to a data receiving module to obtain a new original data packet;
when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if so, returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the carriage timer, then recording the real-time timestamp in the current data packet I as a timestamp T3, then updating the current system state to be idle, and then returning to the data receiving module to acquire a new original data packet.
Further, when the current system state is pre-triggered, when the laser range finder ID in the current data packet I is the same as the laser range finder ID recorded by the system, the following operations are performed before returning to the data receiving module to obtain a new original data packet:
firstly, judging whether the state of the laser range finder is shielded or not, if so, directly returning to a data receiving module to obtain a new original data packet; if not, judging whether the coming vehicle is recorded or not; if the coming vehicle is recorded, refreshing a traveling timer and recording a reverse error; if the vehicle is not recorded, directly recording a reversing error; and then updating the current system state to be idle, and returning to the data receiving module to acquire a new original data packet.
Further, in different system states, the timer module performs the following operations when the parking timer is refreshed: stopping all timers, reconfiguring the overtime time of the timers, starting the timers, then waiting for the overtime of the timers, recording a parking error if the timers are overtime, and judging whether an incoming vehicle is recorded or not; if the record is recorded, refreshing the carriage timer; if the record is not recorded, the system returns to wait for the next refreshing of the parking timer, and the operation is repeated.
Further, in different system states, the timer module performs the following operations when the carriage timer is refreshed: stopping all timers, reconfiguring the timeout time of the timers, starting the timers, waiting for the timeout of the timers, calculating the speed of the vehicle (specifically, the speed of the vehicle can be calculated according to the recorded timestamps T2 and T3 and the installation interval of the two laser range finders) if the timers are overtime, sending a carriage signal, clearing the direction of the coming vehicle and the recorded timestamp T0, uploading an error log, continuing to wait for the next refresh of the carriage timer, and repeating the operations.
Further, the front-end processing module performs data filtering on the received original data packet by adopting a burr filtering or median filtering mode.
Further, the two laser range finders are pulse type laser range finders.
The high-precision detection system for the coming vehicle and the moving vehicle provided by the invention has the advantages that the two laser ranging modules are utilized to synchronously acquire the coming vehicle signals, various states of the vehicle are cooperatively judged, non-contact measurement is carried out, the current trigger signal can be effectively locked as the coming vehicle signal, other interference situations or interferents (such as backing, parking and animal entering) are avoided, accurate trigger signals are provided for other detection equipment, the detection equipment/module is started or closed, the resource waste is effectively avoided, and the stability and the service life of the detection system are improved.
Drawings
FIG. 1 is an overall frame diagram of a high-precision incoming and outgoing vehicle detection system provided by the present invention;
FIG. 2 is a schematic diagram of the operation of the data receiving module;
FIG. 3 is a schematic diagram of the operation of the front-end processing module;
fig. 4 is a schematic diagram of the operation of the state transition module.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and the detailed description.
A high-precision detection system for coming and going trains comprises two laser range finders arranged along the advancing direction of a train, a data receiving module, a front-end processing module and a state conversion module;
the data receiving module is respectively connected with the two laser range finders, the received distance data transmitted by the two laser range finders are respectively associated with the ID of the laser range finder and the real-time timestamp, and qualified data is stored as an original data packet through data verification; the two laser range finders can be pulse type laser range finders or other laser range finders suitable for use;
the front-end processing module performs data filtering (preferably, burr filtering or median filtering) on the received original data packet, and replaces the unqualified distance data with the distance data in the adjacent data packet; judging whether the distance data in each original data packet is within a preset threshold range, if so, considering that the state of the corresponding laser range finder is shielded, otherwise, considering that the distance data is not shielded, and adding the state of the laser range finder to the original data packet to form a data packet I;
the state conversion module performs the following operations according to the data in the data packet I in combination with the current system state:
1) if the current system state is idle, firstly judging whether the state of the laser range finder is shielded, if not, directly returning to a data receiving module to obtain a new original data packet; if yes, the system records the ID of the corresponding laser range finder, judges whether a timestamp T0 is recorded, and refreshes a parking timer and updates the current system state to be pre-trigger if the timestamp T0 is recorded; if the timestamp T0 is not recorded, recording the real-time timestamp in the current data packet I as the timestamp T0, refreshing the parking timer, updating the current system state as a pre-trigger, and returning to the data receiving module to acquire a new original data packet;
2) if the current system state is pre-triggered, firstly judging whether the laser range finder ID in the data packet I is the same as the laser range finder ID recorded by the system;
when the IDs of the two laser range finders are the same, entering a data receiving module to obtain a new original data packet; when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if not, returning to a data receiving module to obtain a new original data packet; if yes, refreshing the parking timer, judging whether the coming vehicle is recorded or not, and if the coming vehicle is recorded, returning to the data receiving module to obtain a new original data packet; if the incoming vehicle is not recorded, recording the real-time timestamp in the current data packet I as a timestamp T1, recording the incoming vehicle, sending an incoming vehicle signal, updating the current system state as a trigger, and returning to the data receiving module to acquire a new original data packet; specifically, the method comprises the following steps: the recorded timestamps T0, T1 and the two laser rangefinder installation intervals may be used to calculate vehicle speed;
3) if the current system state is triggered, firstly judging whether the ID of the laser range finder in the data packet I is the same as the ID of the laser range finder recorded by the system;
when the IDs of the two laser range finders are the same, firstly judging whether the states of the laser range finders are shielded, if so, directly returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the parking timer, then recording the real-time timestamp in the current data packet I as a timestamp T2, then updating the current system state as a post-trigger, and then returning to the data receiving module to acquire a new original data packet;
when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if so, returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the parking timer, then recording the reversing error, then updating the current system state to be pre-triggered, and then returning to the data receiving module to obtain a new original data packet;
or, 4) if the current system state is post-trigger, firstly judging whether the laser range finder ID in the data packet I is the same as the laser range finder ID recorded by the system;
when the IDs of the two laser range finders are the same, firstly judging whether the states of the laser range finders are shielded, if not, returning to a data receiving module to obtain a new original data packet; if yes, refreshing a parking timer, recording a reversing error, updating the current system state as a trigger, and returning to a data receiving module to obtain a new original data packet;
when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if so, returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the carriage timer, then recording the real-time timestamp in the current data packet I as a timestamp T3, then updating the current system state to be idle, and then returning to the data receiving module to acquire a new original data packet.
Preferably, when the current system state is pre-triggered, if the laser range finder ID in the current data packet I is the same as the laser range finder ID recorded by the system, the following operations are performed before returning to the data receiving module to obtain a new original data packet: firstly, judging whether the state of the laser range finder is shielded or not, if so, directly returning to a data receiving module to obtain a new original data packet; if not, judging whether the coming vehicle is recorded or not; if the coming vehicle is recorded, refreshing a traveling timer and recording a reverse error; if the vehicle is not recorded, directly recording a reversing error; and then updating the current system state to be idle, and returning to the data receiving module to acquire a new original data packet.
The following provides an implementation flow for the operation of the timer module when the parking timer is refreshed in different system states: stopping all timers, reconfiguring the overtime time of the timers, starting the timers, then waiting for the overtime of the timers, recording a parking error if the timers are overtime, and judging whether an incoming vehicle is recorded or not; if the record is recorded, refreshing the carriage timer; if the record is not recorded, the system returns to wait for the next refreshing of the parking timer, and the operation is repeated.
The following provides an implementation flow for the operation of the timer module when the carriage timer is refreshed in different system states: stopping all timers, reconfiguring the timeout time of the timers, starting the timers, waiting for the timeout of the timers, calculating the speed of the vehicle (specifically, the speed of the vehicle can be calculated according to the recorded timestamps T2 and T3 and the installation interval of the two laser range finders) if the timers are overtime, sending a carriage signal, clearing the direction of the coming vehicle and the recorded timestamp T0, uploading an error log, continuing to wait for the next refresh of the carriage timer, and repeating the operations. (Note: T0 represents the timestamp data of the first occluded rangefinder at the moment of occlusion; T1 represents the timestamp data of the second occluded rangefinder at the moment of occlusion; T2 represents the timestamp data of the first occluded rangefinder at the moment of occlusion; T3 represents the timestamp data of the second occluded rangefinder at the moment of occlusion)
The work flow of the parking meter module and the walking meter module can be set by a person skilled in the art according to the needs according to the existing method, and only a directive description is provided here, which is not only limited.
The system can eliminate the situations of backing and parking when a vehicle comes or goes, completes measurement in a non-contact mode, obtains accurate data, can effectively eliminate interference, provides accurate trigger signals for other detection equipment, and turns on or off the detection equipment/module, thereby effectively avoiding resource waste, and improving the stability and the service life of the detection system. In addition, it can also correctly feed back the vehicle running condition, carries out unusual warning, has the function that tests the speed concurrently, surveys the car length, helps the host computer in time to analyze the vehicle running condition.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (8)
1. The utility model provides a high accuracy detecting system that comes, walks to car which characterized in that: the system comprises two laser range finders arranged along the advancing direction of a train, a data receiving module, a front-end processing module and a state conversion module;
the data receiving module is respectively connected with the two laser range finders, the received distance data transmitted by the two laser range finders are respectively associated with the ID of the laser range finder and the real-time timestamp, and qualified data is stored as an original data packet through data verification;
the front-end processing module performs data filtering on the received original data packet to replace the unqualified distance data with the distance data in the adjacent data packet; judging whether the distance data in each original data packet is within a preset threshold range, if so, considering that the state of the corresponding laser range finder is shielded, otherwise, considering that the distance data is not shielded, and adding the state of the laser range finder to the original data packet to form a data packet I;
the state conversion module combines the current system state and respectively carries out the following operations according to the data in the data packet I:
1) if the current system state is idle, firstly judging whether the state of the laser range finder is shielded, if not, directly returning to a data receiving module to obtain a new original data packet; if yes, the system records the ID of the corresponding laser range finder, judges whether a timestamp T0 is recorded, and refreshes a parking timer and updates the current system state to be pre-trigger if the timestamp T0 is recorded; if the timestamp T0 is not recorded, recording the real-time timestamp in the current data packet I as the timestamp T0, refreshing the parking timer, updating the current system state as a pre-trigger, and returning to the data receiving module to acquire a new original data packet;
2) if the current system state is pre-triggered, firstly judging whether the laser range finder ID in the data packet I is the same as the laser range finder ID recorded by the system;
when the IDs of the two laser range finders are the same, entering a data receiving module to obtain a new original data packet; when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if not, returning to a data receiving module to obtain a new original data packet; if yes, refreshing the parking timer, judging whether the coming vehicle is recorded or not, and if the coming vehicle is recorded, returning to the data receiving module to obtain a new original data packet; if the incoming vehicle is not recorded, recording the real-time timestamp in the current data packet I as a timestamp T1, recording the incoming vehicle, sending an incoming vehicle signal, updating the current system state as a trigger, and returning to the data receiving module to acquire a new original data packet;
3) if the current system state is triggered, firstly judging whether the ID of the laser range finder in the data packet I is the same as the ID of the laser range finder recorded by the system;
when the IDs of the two laser range finders are the same, firstly judging whether the states of the laser range finders are shielded, if so, directly returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the parking timer, then recording the real-time timestamp in the current data packet I as a timestamp T2, then updating the current system state as a post-trigger, and then returning to the data receiving module to acquire a new original data packet;
when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if so, returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the parking timer, then recording the reversing error, then updating the current system state to be pre-triggered, and then returning to the data receiving module to obtain a new original data packet;
or, 4) if the current system state is post-trigger, firstly judging whether the laser range finder ID in the data packet I is the same as the laser range finder ID recorded by the system;
when the IDs of the two laser range finders are the same, firstly judging whether the states of the laser range finders are shielded, if not, returning to a data receiving module to obtain a new original data packet; if yes, refreshing a parking timer, recording a reversing error, updating the current system state as a trigger, and returning to a data receiving module to obtain a new original data packet;
when the IDs of the two laser range finders are different, firstly judging whether the states of the laser range finders are shielded, if so, returning to a data receiving module to obtain a new original data packet; if not, firstly refreshing the carriage timer, then recording the real-time timestamp in the current data packet I as a timestamp T3, then updating the current system state to be idle, and then returning to the data receiving module to acquire a new original data packet.
2. The high-precision incoming and outgoing vehicle detection system of claim 1, wherein: when the current system state is pre-triggered, when the laser range finder ID in the current data packet I is the same as the laser range finder ID recorded by the system, the following operations are performed before returning to the data receiving module to acquire a new original data packet:
firstly, judging whether the state of the laser range finder is shielded or not, if so, directly returning to a data receiving module to obtain a new original data packet; if not, judging whether the coming vehicle is recorded or not; if the coming vehicle is recorded, refreshing a traveling timer and recording a reverse error; if the vehicle is not recorded, directly recording a reversing error; and then updating the current system state to be idle, and returning to the data receiving module to acquire a new original data packet.
3. The high-precision incoming and outgoing vehicle detection system as claimed in claim 1, wherein the timer module performs the following operations when the parking timer is refreshed under different system states: stopping all timers, reconfiguring the overtime time of the timers, starting the timers, then waiting for the overtime of the timers, recording a parking error if the timers are overtime, and judging whether an incoming vehicle is recorded or not; if the record is recorded, refreshing the carriage timer; if the record is not recorded, the system returns to wait for the next refreshing of the parking timer, and the operation is repeated.
4. The high-precision incoming and outgoing vehicle detection system of claim 1, wherein: and step 2) calculating the vehicle speed according to the recorded time stamps T0 and T1 and the installation interval of the two laser range finders.
5. The system according to any one of claims 1 to 3, wherein the timer module performs the following operations when refreshing the moving timer in different system states: stopping all timers, reconfiguring the overtime time of the timers, starting the timers, then waiting for the overtime of the timers, calculating the speed of the vehicle if the timers are overtime, sending a vehicle-moving signal, clearing a timestamp T0 of the direction and the record of the vehicle-moving, uploading an error log, then continuing waiting for the refreshing of the next vehicle-moving timer, and repeating the operations.
6. The high-precision incoming and outgoing vehicle detection system of claim 5, wherein: the vehicle speed is calculated from the recorded time stamps T2, T3 and the two laser rangefinder installation interval.
7. The high-precision incoming and outgoing vehicle detection system as claimed in any one of claims 1 to 3, wherein: and the front-end processing module performs data filtering on the received original data packet by adopting a burr filtering or median filtering mode.
8. The high-precision incoming and outgoing vehicle detection system as claimed in any one of claims 1 to 3, wherein: the two laser range finders are pulse type laser range finders.
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