CN115402376A - Train integrity detection method and device - Google Patents
Train integrity detection method and device Download PDFInfo
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- CN115402376A CN115402376A CN202211049166.3A CN202211049166A CN115402376A CN 115402376 A CN115402376 A CN 115402376A CN 202211049166 A CN202211049166 A CN 202211049166A CN 115402376 A CN115402376 A CN 115402376A
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- 238000005259 measurement Methods 0.000 claims description 15
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
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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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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Abstract
The invention provides a method and a device for detecting the integrity of a train, wherein the method comprises the following steps: determining the final operation information of the head end according to the operation information of the head end measured by various speed measuring sensors on the head end of the train in the current operation period; determining the final operation information of the tail end of the train according to the operation information of the tail end measured by various speed measuring sensors on the tail end of the train in the current operation period; and comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period. The invention improves the accuracy and the real-time performance of the integrity detection of the train, is convenient for the dynamic marshalling of the train, and can quickly and effectively identify the train off-carriage condition under any working condition running state.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a method and a device for detecting the integrity of a train.
Background
The train carriages are connected with each other through the hooks, and the inspection performed for ensuring the integrity of the train without derailing or derailing is called train integrity detection. The integrity of the train is related to the running safety and the running organization efficiency of the train. In a CBTC (Communication Based Train Control System) mode, train integrity detection is a key link related to System safety. If the integrity of the train is lost, vehicles left on the section or track will become obstacles to subsequent trains, directly compromising driving safety. Contact coupler connectors and coupler jumpers are currently used in subway operations to detect train integrity.
The contact type coupler connector is a sensor which is installed at a coupler part by a metro vehicle supplier and is used for detecting the connection state between carriages, and signals between the carriages can be connected in series and transmitted to a vehicle-mounted signal system through a train line. It has been found that train vibrations significantly affect the reliability of the connector, which can cause the connector to jiggle and fail.
The jumper adopts a direct connection line to directly cross over the car couplers of two carriages, and then the integrity signal is sent to a vehicle-mounted signal system through a train line, once a carriage is lost, the jumper is broken by brute force, and the integrity signal is naturally lost, so that the emergency braking of the train is triggered. However, the method needs to wait for the jumper to be broken to trigger the safety reaction, and a signal system cannot detect the integrity of the train in real time. At present, in order to improve the transport capacity and reduce the energy consumption, the dynamic train marshalling application is more and more popular. The use of jumpers to test train integrity limits the use of dynamic marshalling of trains.
In addition, there is a method for detecting integrity based on the train motion state. Because the train is a complete connected whole, the linear speed and the acceleration of the train head and the train tail along the running direction of the train have strong correlation no matter turning or straight running, and the train can finish the train inspection by measuring the acceleration of the train. However, the sensitive mass block of the accelerometer is influenced by gravity, and when the gradient of the train operation line is not zero, the gradient component of the gravity can influence the real operation acceleration of the train measured by the accelerometer, so that the integrity detection is inaccurate. In addition, the cars of the train are connected by using the car couplers, and a certain gap is formed between the car couplers in order to form a buffer space between the cars and prevent direct collision between the cars during braking. The gap can lead to inconsistent motion states among the carriages, and certain difficulty is brought to an acceleration detection method.
Disclosure of Invention
The invention provides a method and a device for detecting the integrity of a train, which are used for solving the defect that the integrity of the train is not accurately detected by using the acceleration of the head and the tail of the train in the prior art and realizing the improvement of the accuracy of the integrity detection of the train.
The invention provides a train integrity detection method, which comprises the following steps:
determining the final operation information of the head end according to the operation information of the head end measured by various speed measuring sensors on the head end of the train in the current operation period;
determining final operation information of the tail end according to operation information of the tail end, measured in the current operation period, of various speed measuring sensors on the tail end of the train;
and comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period.
According to the train integrity detection method provided by the invention, the step of determining the final operation information of the head end according to the operation information of the head end measured by various speed measuring sensors on the head end in the current operation period comprises the following steps:
multiplying the running information of the head end measured by each speed measuring sensor in the current running period on the head end of the train by the corresponding weight of each speed measuring sensor, and adding to obtain the final running information of the head end;
the step of determining the final operation information of the tail end according to the operation information of the tail end measured by various speed measuring sensors at the tail end of the train in the current operation period comprises the following steps:
and multiplying the running information of the tail end, measured by each speed measuring sensor in the current running period, of the tail end of the train by the weight corresponding to each speed measuring sensor, and adding to obtain the final running information of the tail end.
According to the train integrity detection method provided by the present invention, before the step of multiplying the operation information of the head end measured by each speed sensor in the current operation period at the head end of the train by the weight corresponding to each speed sensor and then adding the multiplied operation information to obtain the final operation information of the head end, the method further comprises:
determining the weight of each speed measuring sensor under the operation scene according to the operation scene of the train; wherein the operation scenario is pre-associated with a weight of the speed measurement sensor.
According to the train integrity detection method provided by the invention, the various speed measuring sensors on the head end comprise a photoelectric speed measuring sensor, a radar and an accelerometer;
the multiple speed measuring sensors on the tail end comprise photoelectric speed measuring sensors, radars and accelerometers;
the operation scene comprises one or more of whether the train slips in an idle mode, whether the gradient exists in the operation line of the train, whether the speed of the train is smaller than a first preset threshold value and whether the environment where the train is located is rainy or snowy weather.
According to the train integrity detection method provided by the invention, the step of comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period comprises the following steps:
acquiring a difference value between the final operation information of the head end and the final operation information of the tail end;
determining that the train does not have integrity in the current operation period under the condition that the difference value is larger than a second preset threshold value;
and determining that the train has integrity in the current operation cycle under the condition that the difference value is smaller than or equal to the second preset threshold value.
According to the train integrity detection method provided by the present invention, after the step of obtaining the difference between the final operation information of the head end and the final operation information of the tail end, the method further includes:
adding 1 to the number of continuous running cycles without integrity of the train under the condition that the difference value is larger than a second preset threshold value;
controlling the train to output emergency braking under the condition that the continuous operation period is greater than a third preset threshold value after 1 is added;
outputting prompt information that the train does not have integrity under the condition that the continuous operation period is less than or equal to the third preset threshold after adding 1;
and resetting the number of continuous running cycles of which the train has no integrity to 0 when the difference value is less than or equal to the second preset threshold value.
The invention also provides a train integrity detection device, which comprises a vehicle-mounted control unit, a first speed measurement system and a second speed measurement system;
the first speed measuring system is positioned at the head end of the train and comprises a first speed measuring sensor, a first data acquisition unit and a first data processing unit, wherein the first speed measuring sensor is of various types;
the second measuring system is positioned at the tail end of the train and comprises a second speed measuring sensor, a second data acquisition unit and a second data processing unit, and the second speed measuring sensors are various;
the first speed measuring sensor is used for measuring sensor data of the head end and sending the sensor data to the first data acquisition unit;
the first data acquisition unit is used for sending the sensor data of the head end to the first data processing unit;
the first data processing unit is used for calculating the operation information of the head end in the current operation period according to the sensor data of the head end and sending the operation information of the head end to the vehicle-mounted control unit;
the second speed measuring sensor is used for measuring the sensor data of the tail end and sending the sensor data to the second data acquisition unit;
the second data acquisition unit is used for sending the sensor data of the tail end to the second data processing unit;
the second data processing unit is used for calculating the operation information of the tail end in the current operation period according to the sensor data of the tail end and sending the operation information of the tail end to the vehicle-mounted control unit;
the vehicle-mounted control unit is used for determining the final operation information of the head end according to the operation information of the head end, determining the final operation information of the tail end according to the operation information of the tail end, comparing the final operation information of the head end with the final operation information of the tail end, and determining whether the train has integrity in the current operation period.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the train integrity detection method is realized according to any one of the above methods.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a train integrity detection method as described in any of the above.
The present invention also provides a computer program product comprising a computer program, wherein the computer program is executed by a processor to implement the method for detecting the integrity of a train as described in any one of the above.
The method and the device for detecting the integrity of the train provided by the invention have the advantages that the final running information of the head end is determined by integrating various speed sensors at the head end of the train, the final running information of the tail end is determined by integrating various speed sensors at the tail end of the train, whether the train has the integrity or not is detected according to the final running information of the head end and the tail end, the detection accuracy and the real-time performance are improved, the dynamic marshalling of the train is facilitated, and the condition that the train is separated from the train compartment can be quickly and effectively identified under any working condition running state.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for detecting the integrity of a train according to the present invention;
fig. 2 is a schematic structural diagram of a train integrity detection device provided by the present invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The train integrity detection method of the present invention is described below with reference to fig. 1, and includes:
the execution main body of the embodiment is an OBCU (On Board Control Unit) of the train, and the method does not need to additionally increase equipment, reduces the installation and wiring of the equipment, and is convenient to implement and maintain at a later stage.
The head end and the tail end of the train are respectively provided with a set of independent speed measuring system, each set of speed measuring system comprises multiple types of speed measuring sensors, data of the multiple sensors are fused, and the defect of a single sensor is overcome.
And calculating to obtain the running information of the head end of the train, such as speed and acceleration, through the measured data of the speed measuring sensor at the head end of the train, and sending the running information of the head end of the train to the OBCU of the train.
And the OBCU of the train fuses the running information of the head end of the train measured by the various speed measuring sensors to obtain the final running information of the head end of the train. The embodiment does not limit the method for fusing the operation information of the head end of the train.
102, determining final operation information of the tail end according to operation information of the tail end, measured in the current operation period, of various speed measuring sensors on the tail end of the train;
and calculating to obtain the running information of the tail end of the train, such as speed and acceleration, according to the measured data of the speed measuring sensor at the tail end of the train, and sending the running information of the tail end of the train to the OBCU of the train.
And the OBCU of the train fuses the running information of the train tail end measured by the various speed measuring sensors to obtain the final running information of the train tail end. The embodiment does not limit the method for fusing the train tail end operation information.
And 103, comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period.
And the OBCU of the train determines whether the train has integrity or not by comparing the final running information of the head end and the tail end of the train because the running information of the head end and the tail end of the train has strong correlation.
If the final running information of the head end and the tail end of the train is similar, the train is completely connected and has integrity.
If the final running information deviation of the tail end is large, the train is out of the box and does not have integrity.
The final running information of the head end is determined by integrating various speed measuring sensors at the head end of the train, the final running information of the tail end is determined by integrating various speed measuring sensors at the tail end of the train, whether the train has integrity or not is detected according to the final running information of the head end and the tail end, the detection accuracy and the real-time performance are improved, the dynamic train marshalling is convenient, and the train derailing condition can be quickly and effectively identified under any working condition running state.
On the basis of the foregoing embodiment, in this embodiment, the step of determining the final operation information of the head end according to the operation information of the head end measured by multiple speed sensors at the head end of the train in the current operation cycle includes:
multiplying the running information of the head end measured by each speed measuring sensor in the current running period on the head end of the train by the corresponding weight of each speed measuring sensor, and adding to obtain the final running information of the head end;
the step of determining the final operation information of the tail end according to the operation information of the tail end measured by various speed measuring sensors on the tail end of the train in the current operation period comprises the following steps:
and multiplying the running information of the tail end, measured by each speed measuring sensor in the current running period, of the tail end of the train by the weight corresponding to each speed measuring sensor, and adding to obtain the final running information of the tail end.
Alternatively, the weight corresponding to each type of tachometer sensor can be preset empirically. The operation information measured by the various speed measuring sensors at the head end and the tail end of the train is respectively fused by the weight corresponding to the speed measuring sensors, so that the advantages of the various speed measuring sensors are comprehensively utilized for measurement, and the accuracy of operation information calculation is improved.
On the basis of the foregoing embodiment, in this embodiment, before the step of multiplying the operation information of the head end measured by each speed measurement sensor in the current operation period at the head end of the train by the weight corresponding to each speed measurement sensor and then adding the multiplication result to obtain the final operation information of the head end, the method further includes:
determining the weight of each speed measuring sensor under the operation scene according to the operation scene of the train; wherein the operation scenario is pre-associated with a weight of the speed measurement sensor.
The measurement accuracy of each speed measurement sensor is different under the condition that the train runs in different scenes. For different operation scenes, different weights are configured for each speed measuring sensor, so that the accuracy of the operation information calculation of the head end and the tail end of the train is improved, and the accuracy of the integrity detection of the train is improved.
On the basis of the above embodiment, the multiple speed measuring sensors on the head end in this embodiment include a photoelectric speed measuring sensor, a radar, and an accelerometer;
the multiple speed measuring sensors on the tail end comprise photoelectric speed measuring sensors, radars and accelerometers;
the photoelectric speed measuring sensor, the radar and the accelerometer can calculate the measuring speed and the acceleration according to the measured data of the sensor. I.e., the train's operational information includes speed and acceleration. And comparing the final speeds of the head end and the tail end of the train, comparing the final accelerations, and determining that the train has integrity if the final speeds and the final accelerations are similar.
The operation scene comprises one or more of whether the train slips in an idle mode, whether the gradient exists in the operation line of the train, whether the speed of the train is smaller than a first preset threshold value and whether the environment where the train is located is rainy or snowy weather.
When the train slips, the data collected by the photoelectric speed measuring sensor is inaccurate, and the weight of the photoelectric speed measuring sensor is set to be smaller. The radar is greatly influenced by weather and train running speed, the speed measurement accuracy is lower in rainy and snowy weather and low train speed, and the weight setting of the radar is smaller. The accelerometer is influenced by the gradient of a train running line, and the weight of the accelerometer is set to be smaller under the condition that the gradient exists in the train running line; and meanwhile, the speed and the acceleration measured by the accelerometer can be corrected according to the gradient.
On the basis of the foregoing embodiments, in this embodiment, the step of comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation cycle includes:
obtaining a difference value between the final operation information of the head end and the final operation information of the tail end;
determining that the train does not have integrity in the current operation period under the condition that the difference value is larger than a second preset threshold value;
and determining that the train has integrity in the current operation cycle under the condition that the difference value is smaller than or equal to the second preset threshold value.
And under the condition that the final running information of the head end and the tail end of the train are similar, determining that the train has integrity, otherwise, determining that the train does not have integrity. In the event that the train does not have integrity, emergency braking is output.
On the basis of the foregoing embodiment, after the step of obtaining the difference between the final running information of the head end and the final running information of the tail end in this embodiment, the method further includes:
adding 1 to the number of continuous running cycles without integrity of the train under the condition that the difference value is larger than a second preset threshold value;
controlling the train to output emergency braking under the condition that the continuous operation period is greater than a third preset threshold value after 1 is added;
outputting prompt information that the train does not have integrity under the condition that the continuous operation period is less than or equal to the third preset threshold after adding 1;
and resetting the number of continuous running cycles of which the train has no integrity to 0 when the difference value is less than or equal to the second preset threshold value.
In order to further avoid the misjudgment of the integrity detection, the number of continuous running cycles of which the train does not have integrity is counted. Emergency braking is only output if the train has not been completed for a number of consecutive operating cycles. Under the condition that the train does not have integrity in a plurality of continuous operation periods, a man-machine interaction system of the train prompts a driver to notice that the integrity of the train is lost possibly and to notice careful driving.
The train integrity detection device provided by the invention is described below, and the train integrity detection device described below and the train integrity detection method described above can be referred to correspondingly.
As shown in fig. 2, the device includes a vehicle-mounted control unit, a first speed measurement system and a second speed measurement system;
the first speed measuring system is positioned at the head end of the train and comprises a first speed measuring sensor, a first data acquisition unit and a first data processing unit, wherein the first speed measuring sensor is of various types;
the second measuring system is positioned at the tail end of the train and comprises a second speed measuring sensor, a second data acquisition unit and a second data processing unit, and the second speed measuring sensors are various;
optionally, the first data acquisition unit and the second data acquisition unit adopt a structure of two-by-two-out-of-two, so that the accuracy of data acquisition is ensured; the underlying interface may also be extended for receiving different types of sensor data.
The first speed measuring sensor is used for measuring sensor data of the head end and sending the sensor data to the first data acquisition unit;
the first data acquisition unit is used for sending the sensor data of the head end to the first data processing unit;
the first data processing unit is used for calculating the operation information of the head end in the current operation period according to the sensor data of the head end and sending the operation information of the head end to the vehicle-mounted control unit;
optionally, the first data processing unit receives train operation line information sent by an on-board control unit of the train, such as information of gradient and camber, and corrects train head end operation information measured by the affected test sensor according to the information, so as to reduce the influence of outside on the train operation information.
The second speed measuring sensor is used for measuring the sensor data of the tail end and sending the sensor data to the second data acquisition unit;
the second data acquisition unit is used for sending the sensor data of the tail end to the second data processing unit;
the second data processing unit is used for calculating the operation information of the tail end in the current operation period according to the sensor data of the tail end and sending the operation information of the tail end to the vehicle-mounted control unit;
optionally, the second data processing unit receives train operation route information sent by a vehicle-mounted control unit of the train, such as information of gradient and camber, and corrects train tail end operation information measured by the affected test sensor according to the information, so as to reduce the influence of outside on the train operation information.
The vehicle-mounted control unit is used for determining the final operation information of the head end according to the operation information of the head end, determining the final operation information of the tail end according to the operation information of the tail end, comparing the final operation information of the head end with the final operation information of the tail end, and determining whether the train has integrity in the current operation period.
Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor) 310, a communication Interface (communication Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform a train integrity detection method comprising: determining the final operation information of the head end according to the operation information of the head end measured by various speed measuring sensors on the head end of the train in the current operation period; determining the final operation information of the tail end of the train according to the operation information of the tail end measured by various speed measuring sensors on the tail end of the train in the current operation period; and comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period.
In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, when the computer program is executed by a processor, a computer can execute the train integrity detection method provided by the above methods, the method includes: determining the final operation information of the head end according to the operation information of the head end measured by various speed measuring sensors on the head end of the train in the current operation period; determining final operation information of the tail end according to operation information of the tail end, measured in the current operation period, of various speed measuring sensors on the tail end of the train; and comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the train integrity detection method provided by the above methods, the method including: determining the final operation information of the head end according to the operation information of the head end measured by various speed measuring sensors on the head end of the train in the current operation period; determining final operation information of the tail end according to operation information of the tail end, measured in the current operation period, of various speed measuring sensors on the tail end of the train; and comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for detecting the integrity of a train is characterized by comprising the following steps:
determining the final operation information of the head end according to the operation information of the head end measured by various speed measuring sensors on the head end of the train in the current operation period;
determining final operation information of the tail end according to operation information of the tail end, measured in the current operation period, of various speed measuring sensors on the tail end of the train;
and comparing the final operation information of the head end with the final operation information of the tail end to determine whether the train has integrity in the current operation period.
2. The method of claim 1, wherein the step of determining the final operation information of the head end of the train according to the operation information of the head end measured by the various speed sensors at the head end in the current operation period comprises:
multiplying the running information of the head end measured by each speed measuring sensor in the current running period on the head end of the train by the weight corresponding to each speed measuring sensor, and then adding the running information to obtain the final running information of the head end;
the step of determining the final operation information of the tail end according to the operation information of the tail end measured by various speed measuring sensors on the tail end of the train in the current operation period comprises the following steps:
and multiplying the running information of the tail end, measured by each speed measuring sensor in the current running period, of the tail end of the train by the weight corresponding to each speed measuring sensor, and adding to obtain the final running information of the tail end.
3. The method for detecting the integrity of a train according to claim 2, wherein before the step of adding the operation information of the head end measured by each speed sensor at the current operation period at the head end of the train multiplied by the corresponding weight of each speed sensor to obtain the final operation information of the head end, the method further comprises:
determining the weight of each speed measuring sensor under the operation scene according to the operation scene of the train; wherein the operation scene is pre-associated with the weight of the speed measurement sensor.
4. The train integrity detection method of claim 3 wherein the plurality of speed sensors on the head end includes an optoelectronic speed sensor, a radar, and an accelerometer;
the multiple speed measuring sensors on the tail end comprise photoelectric speed measuring sensors, radars and accelerometers;
the operation scene comprises one or more of whether the train slips in an idling way, whether the gradient exists in the operation line of the train, whether the speed of the train is less than a first preset threshold value and whether the environment where the train is located is rainy or snowy weather.
5. The method of any of claims 1-4, wherein the step of comparing the final operational information of the head end with the final operational information of the tail end to determine whether the train has integrity in the current operational period comprises:
acquiring a difference value between the final operation information of the head end and the final operation information of the tail end;
determining that the train does not have integrity in the current operation period under the condition that the difference value is larger than a second preset threshold value;
and determining that the train has integrity in the current operation cycle under the condition that the difference value is smaller than or equal to the second preset threshold value.
6. The train integrity detection method of claim 5, further comprising, after the step of obtaining the difference between the final operational information of the head end and the final operational information of the tail end:
adding 1 to the number of continuous running cycles without integrity of the train under the condition that the difference value is larger than a second preset threshold value;
controlling the train to output emergency braking under the condition that the continuous operation period is greater than a third preset threshold after 1 is added;
outputting prompt information that the train does not have integrity under the condition that the continuous operation period is less than or equal to the third preset threshold after adding 1;
and resetting the number of continuous running cycles of which the train has no integrity to be 0 under the condition that the difference value is less than or equal to the second preset threshold value.
7. The train integrity detection device is characterized by comprising a vehicle-mounted control unit, a first speed measurement system and a second speed measurement system;
the first speed measuring system is positioned at the head end of the train and comprises a first speed measuring sensor, a first data acquisition unit and a first data processing unit, wherein the first speed measuring sensor is various;
the second measuring system is positioned at the tail end of the train and comprises a second speed measuring sensor, a second data acquisition unit and a second data processing unit, and the second speed measuring sensors are various;
the first speed measuring sensor is used for measuring sensor data of the head end and sending the sensor data to the first data acquisition unit;
the first data acquisition unit is used for sending the sensor data of the head end to the first data processing unit;
the first data processing unit is used for calculating the operation information of the head end in the current operation period according to the sensor data of the head end and sending the operation information of the head end to the vehicle-mounted control unit;
the second speed measuring sensor is used for measuring sensor data of the tail end and sending the sensor data to the second data acquisition unit;
the second data acquisition unit is used for sending the sensor data of the tail end to the second data processing unit;
the second data processing unit is used for calculating the operation information of the tail end in the current operation period according to the sensor data of the tail end and sending the operation information of the tail end to the vehicle-mounted control unit;
the vehicle-mounted control unit is used for determining the final operation information of the head end according to the operation information of the head end, determining the final operation information of the tail end according to the operation information of the tail end, comparing the final operation information of the head end with the final operation information of the tail end, and determining whether the train has integrity in the current operation period.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the train integrity detection method of any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the train integrity detection method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the train integrity detection method of any one of claims 1 to 6.
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