CN114537481B - Mobile closed train operation control method based on grating array - Google Patents
Mobile closed train operation control method based on grating array Download PDFInfo
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- CN114537481B CN114537481B CN202210258919.5A CN202210258919A CN114537481B CN 114537481 B CN114537481 B CN 114537481B CN 202210258919 A CN202210258919 A CN 202210258919A CN 114537481 B CN114537481 B CN 114537481B
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- 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 vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
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- 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 vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The application discloses a grating array-based mobile closed train operation control method, which comprises the following steps: acquiring a train vibration signal; obtaining position information and speed information of the train according to the train vibration signal; and obtaining the train driving authorization information of the train according to the position information and the speed information of the train. The method of the invention realizes the accurate positioning of the train, acquires the position and the speed of the train in real time according to the sensing signal, completes the movement blocking control and improves the accuracy and the high efficiency of the movement blocking type train operation control method; meanwhile, the method has the advantages of strong anti-interference capability, low maintenance cost, long monitoring distance and long service life, has good practicability and is suitable for large-scale popularization.
Description
Technical Field
The invention relates to the technical field of urban rail transit, in particular to a grating array-based mobile closed train operation control method.
Background
No matter high-speed railways, main railways or urban rail transit, the railway vehicle is an important tool for people to go out conveniently and quickly due to the fact that the railway vehicle is small in land occupation, large in transportation amount, safe, comfortable, energy-saving and environment-friendly. The improvement of the transportation capacity of the rail transit is the direction of the forward development of the rail transit. In recent years, research on occlusion techniques has been rapidly advancing. The blocking technology is one of the technologies for improving the transportation capacity of rail transit, and the main technical key points of the blocking technology are that a railway is divided into a plurality of sections (intervals or blocking sections), and only one train is permitted to run in each section at the same time, so that the interval of a safe distance is kept between a front train and a tracking train. The traditional blocking technology adopts a fixed blocking mode, namely, a fixed safe interval is kept between trains for running, but a system cannot know the specific position of the train in a subarea, and a protection zone must be added between two trains, so that the safe interval between the trains is larger, and the use efficiency of a line is influenced.
At present, the method mainly adopted by a mobile block data acquisition module is as follows: orbital circuits, interrogation transponders, inductive loops, satellite positioning, and the like. Faults such as 'red light band' and 'dead pressing' easily occur on a track circuit, and driving safety is seriously affected; the query transponder is easy to generate accumulated errors, and the train positioning precision is seriously influenced; the interference of the induction signals acquired by the induction loop is very large, so that positioning errors are easily caused; the application field of the satellite positioning technology is limited, for example, when the satellite positioning technology passes through a tunnel and a forest, signals cannot be received at all, and when the satellite positioning technology passes through a city erected in a high-rise forest, the signals cannot be received due to the fact that the field of view is not wide.
In the process of controlling the safe running of the vehicle by moving the block, the position and the speed of the vehicle need to be tracked in real time. Therefore, accurate measurement accuracy and excellent real-time performance are particularly important in the moving occlusion technique. The traditional data acquisition mode is very easy to be influenced by the outside, such as electromagnetic interference, weak corrosion resistance, influence on real-time performance due to long-distance transmission and the like, so that the error in the measurement of the mobile block is large, the driving safety is seriously influenced, and the requirement of the mobile block on the precision cannot be met. Therefore, it is necessary to improve the prior art and provide a method and a system for controlling the operation of a mobile closed train, which have high control accuracy, low failure rate and good real-time performance.
Disclosure of Invention
In view of this, it is necessary to provide a method, an apparatus, an electronic device and a computer readable storage device for controlling train operation based on a grating array, so as to solve the problems of low positioning accuracy, high failure rate and high development cost in the existing mobile blocking technology.
In order to solve the above problems, the present invention provides a method for controlling the operation of a mobile closed train based on a grating array, comprising:
acquiring a train vibration signal;
obtaining position information and speed information of the train according to the train vibration signal;
and obtaining the train driving authorization information according to the position information and the speed information of the train.
Further, obtaining a train vibration signal, comprising:
dividing an optical cable laid under a train track into a plurality of measuring areas along the track direction, and acquiring vibration sensing signals of the measuring areas through a grating sensor;
acquiring a vibration sensing signal of each measuring area in a preset sampling period at a preset sampling frequency;
and preprocessing the vibration sensing signals to obtain train vibration signals of each measuring area.
Further, according to the train vibration signal, obtaining the position information of the train, including:
summing the train vibration signal values of each measuring area in a preset sampling period to obtain a signal summation value of each measuring area;
and detecting the signal summation value by utilizing a first preset algorithm to obtain the position information of the train.
Further, detecting the signal summation value by using a first preset algorithm to obtain the position information of the train, including:
creating a sliding window with the window size being the length of the train;
counting the sum of the signal summation values of the measurement areas in the sliding window from the first measurement area to obtain a cross-area signal summation value;
judging whether the cross-region signal summation value is larger than a preset vehicle judgment threshold value or not; if the current cross-region signal value is greater than the vehicle judgment threshold value, determining that the measuring region in the sliding window is a train occupation measuring region, and recording the cross-region signal value at the moment as a vehicle signal value;
traversing all the measurement areas to obtain a vehicle signal value array;
and obtaining the position information of the train according to the vehicle signal value array.
Further, obtaining the position information of the train according to the vehicle signal value array, including:
determining a first maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the first maximum value as a length midpoint of a front vehicle, and obtaining a head position and a tail position of the front vehicle according to a preset train length;
determining a second maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the second maximum value as the length midpoint of a rear vehicle, and obtaining the head position and the tail position of the rear vehicle according to the preset train length;
performing cyclic sampling for preset times according to the preset sampling frequency and the preset sampling period to obtain a front vehicle head position array, a front vehicle tail position array, a rear vehicle head position array and a rear vehicle tail position array; taking the median of the array of the tail positions of the preceding vehicle as the actual position of the tail of the preceding vehicle; and taking the middle position of the rear vehicle head position array as the actual position of the rear vehicle tail.
Further, according to the train vibration signal, obtaining speed information of the train includes:
calculating the head speed of the front vehicle according to the head position array of the front vehicle and a preset sampling period;
calculating the tail speed of the front vehicle according to the tail position array of the front vehicle and a preset sampling period;
correcting the head speed of the front vehicle and the tail speed of the front vehicle by using a second preset algorithm to obtain the driving speed of the front vehicle;
and obtaining the driving speed of the rear vehicle according to the rear vehicle head position array, the rear vehicle tail position array and the preset sampling period.
Further, obtaining the train movement authorization information according to the position information and the speed information of the train, including:
obtaining a vehicle spacing distance according to the tail position of the front vehicle and the head position of the rear vehicle;
obtaining a vehicle deceleration distance according to the driving speed of the front vehicle and the driving speed of the rear vehicle;
calculating the sum of the vehicle spacing distance and the vehicle deceleration distance to obtain a total vehicle distance;
judging whether the total distance of the vehicles exceeds a preset safety distance or not;
when the total distance of the vehicles exceeds a preset safety distance, the vehicles are confirmed to have driving authorization permission; and when the total distance of the vehicles is smaller than the preset safe distance, confirming that the rear vehicle does not have the driving authorization permission, and sending a speed adjusting instruction to the rear vehicle.
The invention also provides a grating array-based mobile closed train operation control device, which comprises:
the signal acquisition module is used for acquiring a train vibration signal;
the train information extraction module is used for obtaining position information and speed information of the train according to the train vibration signal;
and the authorization module is used for obtaining the train driving authorization information of the train according to the position information and the speed information of the train.
The invention further provides an electronic device, which comprises a processor and a memory, wherein the memory is stored with a computer program, and when the computer program is executed by the processor, the method for controlling the operation of the mobile closed train based on the grating array is realized.
The invention also provides a computer readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling the operation of the mobile closed train based on the grating array is realized.
Compared with the prior art, the invention has the beneficial effects that: firstly, acquiring a train vibration signal; secondly, obtaining position information and speed information of the train according to the train vibration signal; and finally, obtaining the train driving authorization information according to the position information and the speed information of the train. The method of the invention realizes the accurate positioning of the train, acquires the position and the speed of the train in real time according to the sensing signal, completes the movement blocking control and improves the accuracy and the high efficiency of the movement blocking type train operation control method; meanwhile, the system has the advantages of strong anti-interference capability, low maintenance cost, long monitoring distance and long service life, has good practicability, and is suitable for large-scale popularization.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of a mobile closed train operation control method based on a grating array according to the present invention;
fig. 2 is a schematic diagram of obtaining a vibration induction signal according to an embodiment of a grating array-based mobile closed train operation control method provided by the invention;
fig. 3 is a time domain waveform diagram of a vibration signal of a measurement area where a vehicle is located according to an embodiment of a grating array-based mobile closed train operation control method provided by the invention;
fig. 4 is a flowchart of a method for real-time positioning and speed measurement of a vehicle according to an embodiment of a method for controlling operation of a mobile closed train based on a grating array provided by the invention;
fig. 5 is a schematic structural diagram of an embodiment of a mobile closed train operation control device based on a grating array according to the present invention;
fig. 6 is a block diagram of an embodiment of an electronic device provided in the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The invention provides a grating array-based mobile closed train operation control method, a grating array-based mobile closed train operation control device, electronic equipment and a computer-readable storage medium, which are respectively described in detail below.
The embodiment of the invention provides a grating array-based mobile closed train operation control method, a flow schematic diagram of which is shown in figure 1, and the method specifically comprises the following steps:
s101, obtaining a train vibration signal;
step S102, obtaining position information and speed information of the train according to the train vibration signal;
and S103, obtaining the train driving authorization information according to the position information and the speed information of the train.
Compared with the prior art, the moving closed train operation control method based on the grating array provided by the embodiment comprises the following steps of firstly, obtaining a train vibration signal; secondly, obtaining position information and speed information of the train according to the train vibration signal; and finally, obtaining the train driving authorization information according to the position information and the speed information of the train. The method of the invention realizes the accurate positioning of the train, acquires the position and the speed of the train in real time according to the sensing signal, completes the movement block control, and improves the accuracy and the high efficiency of the movement block type train operation control method; meanwhile, the method has the advantages of strong anti-interference capability, low maintenance cost, long monitoring distance and long service life, has good practicability and is suitable for large-scale popularization.
As a preferred embodiment, in step S101, the acquiring a train vibration signal includes:
dividing an optical cable laid under a train track into a plurality of measuring areas along the track direction, and acquiring vibration sensing signals of the measuring areas through a grating sensor;
acquiring a vibration sensing signal of each measuring area in a preset sampling period at a preset sampling frequency;
and preprocessing the vibration sensing signals to obtain train vibration signals of each measuring area.
As a specific embodiment, as shown in fig. 2, an optical cable buried under a whole subway track is divided into N measurement areas, each measurement area is 5 meters in length, a grating array is used to obtain a vibration signal of a vehicle after driving, each measurement area is sampled by a grating sensor, a single sampling time is set as T, and a sampling frequency is set as f; in a single sampling period, the grating sensors in each measuring area can acquire T x f vibration sensing signals, and the vibration sensing signals acquired by the grating array in the whole optical cable are N x T x f. And filtering and denoising the acquired vibration sensing signals, removing the bottom noise of the vibration sensing signals to obtain train vibration signals S, and encoding the signal values of the S according to a preset conversion rule.
As a preferred embodiment, in step S102, obtaining the position information of the train according to the train vibration signal includes:
summing the train vibration signal values of each measuring area in a preset sampling period to obtain a signal summation value of each measuring area;
and detecting the signal summation value by utilizing a first preset algorithm to obtain the position information of the train.
As shown in fig. 3, fig. 3 is a time domain waveform diagram of a train vibration signal when a vehicle is in a survey area.
As a preferred embodiment, detecting the signal summation value by using a first preset algorithm to obtain the position information of the train includes:
establishing a sliding window with the window size being the length of the train;
counting the sum of the signal summation values of the measurement areas in the sliding window from the first measurement area to obtain a cross-area signal summation value;
judging whether the cross-region signal summation value is larger than a preset vehicle judgment threshold value or not; if the current cross-region signal value is larger than the vehicle judgment threshold value, determining that the measuring region in the sliding window is a train occupation measuring region, and recording the cross-region signal value at the moment as a vehicle signal value;
traversing all the measurement areas to obtain a vehicle signal value array;
and obtaining the position information of the train according to the vehicle signal value array.
As a specific embodiment, the method for detecting the signal summation value by using the first preset algorithm to obtain the position information of the train specifically comprises the following steps:
step S401, presetting the sampling period of each measuring area grating sensor to be 100ms, the sampling frequency to be 1000Hz, sampling each measuring area once to obtain 100 signals, marking the signals of each measuring area as si, and calculating the sum of 100 signal values of si in each measuring area to obtain the signal sum value of each measuring area;
step S402: judging the summation value of the signals of each measuring area to be largeIf the sum value of the signals of the measuring area is larger than the first threshold value, recording the sum value of the signals of the measuring area as 1; if the sum value is less than or equal to the first threshold value, recording the signal sum value of the measuring area as 0; obtaining a signal summation value array X = { X) of the grating sensing array 1 ,X 2 ,X 3 ,…X N (N is the total number of test areas);
step S403: and (3) taking a window with the size of 30 measurement areas as a sliding window, and counting the sum of the signal summation values of the 30 measurement areas falling into the sliding window from the 1 st measurement area to obtain a cross-area signal summation value Wi of the 1 st-30 th measurement area.
Step S404: judging whether the cross-region signal summation value in the sliding window is larger than a preset vehicle judgment threshold value, if so, determining that the measuring region in the sliding window is a train occupation measuring region, recording the cross-region signal value at the moment as a vehicle signal value, and sliding the sliding window to the next measuring region (the 2 nd to 31 th measuring regions fall into the sliding window); and if the vehicle judgment threshold value is less than or equal to the vehicle judgment threshold value, determining that the measuring area in the sliding window is not occupied by the train at the moment, and sliding the sliding window to the next measuring area.
Step S405: traversing all the measurement areas to obtain a vehicle signal value array;
step S406: and obtaining the position information of the train according to the vehicle signal value array.
Fig. 4 is a flow chart of a train positioning method.
As a preferred embodiment, obtaining the position information of the train according to the vehicle signal value array includes:
determining a first maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the first maximum value as a length midpoint of a front vehicle, and obtaining a head position and a tail position of the front vehicle according to a preset train length;
determining a second maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the second maximum value as a length midpoint of a rear vehicle, and obtaining a head position and a tail position of the rear vehicle according to a preset train length;
performing cyclic sampling for preset times according to the preset sampling frequency and the preset sampling period to obtain a front vehicle head position array, a front vehicle tail position array, a rear vehicle head position array and a rear vehicle tail position array; taking the median of the array of the tail positions of the preceding vehicle as the actual position of the tail of the preceding vehicle; and taking the middle position of the rear vehicle head position array as the actual position of the rear vehicle tail.
As a specific embodiment, the data of the vehicle signal value array is counted, the first maximum value in the statistics is determined, and the midpoint of the measurement area corresponding to the sliding window center value is taken as the midpoint of the train. Because the length of the train is fixed, the positions of the head and the tail of the train can be determined according to the known length of the rail train. The location of a plurality of trains on the track can be found in the same way from the remaining maximum values in the array.
In order to reduce the measurement error, the position of each train is accurately positioned. After signal acquisition and data processing through 10 sampling periods, can obtain the locomotive and the rear of a vehicle position array of train, get the median to each array, regard the median of array as the actual position of train, eliminated the error that probably exists when detecting, if: when a certain sampling period is needed, the train is positioned between two measuring areas, and only one period of sampling is needed, so that the situation of inaccurate positioning can exist.
As a preferred embodiment, obtaining the speed information of the train according to the train vibration signal includes:
calculating the head speed of the front vehicle according to the head position array of the front vehicle and a preset sampling period;
calculating the tail speed of the front vehicle according to the tail position array of the front vehicle and a preset sampling period;
correcting the head speed of the front vehicle and the tail speed of the front vehicle by using a second preset algorithm to obtain the driving speed of the front vehicle;
and obtaining the driving speed of the rear vehicle according to the rear vehicle head position array, the rear vehicle tail position array and the preset sampling period.
As a specific example, the front speed of the preceding vehicle and the rear speed of the preceding vehicle are calculated by using a second preset algorithmCorrecting to obtain the running speed of the train specifically comprises the following steps: after two continuous sampling periods, the position information of the head and the tail of the same train is obtained, and two speed values V of the head and the tail of the train can be obtained by combining the sampling time T 0 And V 0 ', will V 0 And V 0 The average value of' is taken as the train running speed. After 10 periods of sampling, the train running speed array V can be obtained according to two adjacent sampling periods X And fitting a position and speed straight line by adopting a least square method (xi, vi) (wherein xi is the vehicle position and vi is the train running speed), and taking the speed midpoint of the position and speed straight line as the train running speed after correction.
As a preferred embodiment, in step S103, obtaining the train operation authorization information according to the position information and the speed information of the train includes:
obtaining a vehicle spacing distance according to the tail position of the front vehicle and the head position of the rear vehicle;
obtaining a vehicle deceleration distance according to the driving speed of the front vehicle and the driving speed of the rear vehicle;
calculating the sum of the vehicle spacing distance and the vehicle deceleration distance to obtain a total vehicle distance;
judging whether the total distance of the vehicles exceeds a preset safety distance or not;
when the total distance of the vehicles exceeds a preset safety distance, the vehicles are confirmed to have driving authorization permission; and when the total distance of the vehicles is smaller than the preset safe distance, confirming that the rear vehicle does not have the driving authorization permission, and sending a speed adjusting instruction to the rear vehicle.
As a specific example, in order to avoid an accidental collision with a preceding vehicle, the following vehicle needs to maintain a necessary safety distance from the preceding vehicle while traveling in response to a situation where the preceding vehicle suddenly decelerates or stops unexpectedly. The safety distance is determined by integrating two specifications: the first standard is urban rail transit facility equipment operation technical requirements and operation management technical requirements specified in urban rail transit operation technical standard; the second specification is: the distance required by the subway maximum speed deceleration stop plus the length of two vehicle bodies and the collision avoidance distance. When the front train and the rear train are larger than the safe distance, the train can normally pass.
According to the speed and distance curve of the rear train, the information such as the position, the speed and the route condition of the front train is combined, and whether the distance between the front train and the rear train meets the requirement of speed safety distance or not is judged; if the requirement is met, the rear train is subjected to movement authorization and the integrity check of the train is completed, and if the requirement is not met, the speed of the rear train and the rear train is regulated and controlled in real time and judged again until the requirement of the speed distance curve is met, so that the safe operation of the train is ensured.
As a specific embodiment, the integrity check of the vehicle specifically includes: judging whether the difference value of the S2 and the S1 is consistent with the train length or not according to the positions S1 and S2 of the train head and the train tail; and if the difference value is consistent with the length of the vehicle body, finishing the integrity check of the vehicle, otherwise, the vehicle does not meet the integrity requirement, and further eliminating whether the vehicle has an unexpected condition. The integrity of the vehicle is checked to ensure that dangerous conditions such as derailment and unhooking do not occur in the running process of the vehicle.
An embodiment of the present invention provides a mobile closed train operation control system based on a grating array, and a structural block diagram thereof is shown in fig. 5, where the mobile closed train operation control device 500 based on the grating array includes:
the signal acquisition module 501 is used for acquiring train vibration signals;
a train information extraction module 502, configured to obtain position information and speed information of the train according to the train vibration signal;
and the authorization module 503 is configured to obtain the train driving authorization information according to the position information and the speed information of the train.
As shown in fig. 6, the present invention further provides an electronic device 600, which may be a mobile terminal, a desktop computer, a notebook, a palm computer, a server, or other computing devices. The electronic device comprises a processor 601, a memory 602 and a display 603.
The memory 602 may be, in some embodiments, an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. The memory 602 may also be an external storage device of the computer device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the computer device. Further, the memory 602 may also include both internal and external storage units of the computer device. The memory 602 is used for storing application software installed on the computer device and various data, such as program codes for installing the computer device. The memory 602 may also be used to temporarily store data that has been output or is to be output. In an embodiment, a program 604 of a moving closed train operation control method based on a grating array is stored in the memory 602, and the program 604 of the moving closed train operation control method based on the grating array can be executed by the processor 601, thereby implementing a moving closed train operation control method based on the grating array according to various embodiments of the present invention.
The processor 601, which in some embodiments may be a Central Processing Unit (CPU), microprocessor or other data Processing chip, is used to execute program codes stored in the memory 602 or process data, such as executing a raster array based mobile closed train operation control program.
The display 603 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch panel, or the like in some embodiments. The display 603 is used for displaying information at the computer device and for displaying a visualized user interface. The components 601-603 of the computer device communicate with each other via a system bus.
The embodiment also provides a computer readable storage medium, on which a program of a grating array based mobile closed train operation control method is stored, and when the processor executes the program, the grating array based mobile closed train operation control method is implemented as described above.
According to the computer readable storage medium and the computing device provided by the above embodiment of the present invention, the implementation can be realized by referring to the content specifically described for implementing the above moving closed train operation control method based on a grating array according to the present invention, and the beneficial effects similar to the above moving closed train operation control method based on a grating array are provided, and are not repeated herein.
The invention discloses a grating array-based mobile closed train operation control method, a grating array-based mobile closed train operation control device, electronic equipment and a computer readable storage medium, wherein firstly, a train vibration signal is obtained; secondly, obtaining position information and speed information of the train according to the train vibration signal; and finally, obtaining the train driving authorization information according to the position information and the speed information of the train. The method of the invention realizes the accurate positioning of the train, acquires the position and the speed of the train in real time according to the sensing signal, completes the movement blocking control and improves the accuracy and the high efficiency of the movement blocking type train operation control method; meanwhile, the method has the advantages of strong anti-interference capability, low maintenance cost, long monitoring distance and long service life, has good practicability and is suitable for large-scale popularization. By using the grating array technology, the number of the multiplexed gratings on one optical fiber can reach tens of thousands to hundreds of thousands, so that the train positioning detection in a long-distance, large-range and blind-area-free track section can be realized. Meanwhile, the optical cable is buried underground, so that contact with the outside is reduced, the failure rate is low, and the maintenance cost is reduced. In addition, in the monitoring and control process, active equipment does not need to be configured on the vehicle, so that the cost is further reduced, and the monitoring and control efficiency is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (6)
1. A mobile closed train operation control method based on a grating array is characterized by comprising the following steps:
acquiring a train vibration signal; the method specifically comprises the following steps: dividing an optical cable laid under a train track into a plurality of measuring areas along the track direction, and acquiring vibration sensing signals of the measuring areas through a grating sensor; acquiring a vibration sensing signal of each measuring area in a preset sampling period at a preset sampling frequency; preprocessing the vibration sensing signals to obtain train vibration signals of each measuring area;
obtaining position information and speed information of the train according to the train vibration signal; the method comprises the following steps: summing the train vibration signal values of each measuring area in a preset sampling period to obtain a signal summation value of each measuring area; detecting the signal summation value by using a first preset algorithm to obtain the position information of the train, wherein the method specifically comprises the following steps: creating a sliding window with the window size being the length of the train; counting the sum of the signal summation values of the measurement areas in the sliding window from the first measurement area to obtain a cross-area signal summation value; judging whether the cross-region signal summation value is larger than a preset vehicle judgment threshold value or not; if the current cross-region signal value is greater than the vehicle judgment threshold value, determining that the measuring region in the sliding window is a train occupation measuring region, and recording the cross-region signal value at the moment as a vehicle signal value; traversing all the measurement areas to obtain a vehicle signal value array; obtaining the position information of the train according to the vehicle signal value array, wherein the position information comprises the following steps:
determining a first maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the first maximum value as a length midpoint of a front vehicle, and obtaining a head position and a tail position of the front vehicle according to a preset train length;
determining a second maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the second maximum value as the length midpoint of a rear vehicle, and obtaining the head position and the tail position of the rear vehicle according to the preset train length;
performing cyclic sampling for preset times according to the preset sampling frequency and the preset sampling period to obtain a front vehicle head position array, a front vehicle tail position array, a rear vehicle head position array and a rear vehicle tail position array; taking the median of the array of the tail positions of the preceding vehicle as the actual position of the tail of the preceding vehicle; taking the middle position of the rear vehicle head position array as the actual position of the rear vehicle tail;
and obtaining the train driving authorization information according to the position information and the speed information of the train.
2. The method for controlling the operation of the mobile closed train based on the grating array according to claim 1, wherein obtaining the speed information of the train according to the train vibration signal comprises:
calculating the head speed of the front vehicle according to the head position array of the front vehicle and a preset sampling period;
calculating the tail speed of the front vehicle according to the tail position array of the front vehicle and a preset sampling period;
correcting the head speed of the front vehicle and the tail speed of the front vehicle by using a second preset algorithm to obtain the driving speed of the front vehicle;
and obtaining the driving speed of the rear vehicle according to the rear vehicle head position array, the rear vehicle tail position array and the preset sampling period.
3. The method for controlling the operation of the mobile closed train based on the grating array as claimed in claim 2, wherein obtaining the train authorization information according to the position information and the speed information of the train comprises:
obtaining a vehicle spacing distance according to the tail position of the front vehicle and the head position of the rear vehicle;
obtaining a vehicle deceleration distance according to the driving speed of the front vehicle and the driving speed of the rear vehicle;
calculating the sum of the vehicle spacing distance and the vehicle deceleration distance to obtain a total vehicle distance;
judging whether the total distance of the vehicles exceeds a preset safety distance or not;
when the total distance of the vehicles exceeds a preset safe distance, the vehicles are confirmed to have driving authorization permission; and when the total distance of the vehicles is smaller than the preset safe distance, confirming that the rear vehicle does not have the driving authorization permission, and sending a speed adjusting instruction to the rear vehicle.
4. A moving closed train operation control device based on a grating array is characterized by comprising:
the signal acquisition module is used for acquiring a train vibration signal; the method specifically comprises the following steps: dividing an optical cable laid under a train track into a plurality of measuring areas along the track direction, and acquiring vibration sensing signals of the measuring areas through a grating sensor; acquiring a vibration sensing signal of each measuring area in a preset sampling period at a preset sampling frequency; preprocessing the vibration sensing signals to obtain train vibration signals of each measuring area;
the train information extraction module is used for obtaining position information and speed information of the train according to the train vibration signal; the method comprises the following steps: summing the train vibration signal values of each measuring area in a preset sampling period to obtain a signal summation value of each measuring area; detecting the signal summation value by using a first preset algorithm to obtain the position information of the train, wherein the method specifically comprises the following steps: establishing a sliding window with the window size being the length of the train; counting the sum of the signal summation values of the measurement areas in the sliding window from the first measurement area to obtain a cross-area signal summation value; judging whether the cross-region signal summation value is larger than a preset vehicle judgment threshold value or not; if the current cross-region signal value is larger than the vehicle judgment threshold value, determining that the measuring region in the sliding window is a train occupation measuring region, and recording the cross-region signal value at the moment as a vehicle signal value; traversing all the measurement areas to obtain a vehicle signal value array; obtaining the position information of the train according to the vehicle signal value array, wherein the position information comprises the following steps:
determining a first maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the first maximum value as a length midpoint of a front vehicle, and obtaining a head position and a tail position of the front vehicle according to a preset train length;
determining a second maximum value of the vehicle signal value array, taking a measuring area of the center of a sliding window of the second maximum value as a length midpoint of a rear vehicle, and obtaining a head position and a tail position of the rear vehicle according to a preset train length;
performing cyclic sampling for preset times at the preset sampling frequency and the preset sampling period to obtain a front vehicle head position array, a front vehicle tail position array, a rear vehicle head position array and a rear vehicle tail position array; taking the median of the array of the tail positions of the preceding vehicle as the actual position of the tail of the preceding vehicle; taking the middle position of the rear vehicle head position array as the actual position of the rear vehicle tail;
and the authorization module is used for obtaining the train driving authorization information of the train according to the position information and the speed information of the train.
5. An electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method for controlling the operation of a moving closed train based on a grating array according to any one of claims 1 to 3 is implemented.
6. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements a grating array based mobile closed train operation control method according to any one of claims 1 to 3.
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