CN115946734A - Derailment detection method and device - Google Patents
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Abstract
The application provides a derailment detection method and a device, wherein the method comprises the following steps: detecting the current body inclination of the target locomotive; judging whether the current vehicle body inclination is larger than a preset inclination threshold value or not; if yes, acquiring the total target times that the inclination of the body of the target locomotive is greater than a preset inclination threshold value within a preset time period; and when the target total times is greater than a preset time threshold value, determining that the target locomotive is derailed. Therefore, the method and the device can detect the locomotive derailment in time, reduce the engineering installation amount and the system complexity, so that the whole unmanned system can stably run for a long time and the driving safety is improved.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a derailment detection method and a device 5.
Background
In recent years, with the rapid advancement of intellectualization in the steel industry in China, the safety of automatic driving of a rail locomotive cannot be ignored. During the operation of rail locomotives in the year, derailment accidents can occur due to sleeper settlement, train self-0 failure and the like. The existing locomotive derailment detection method usually needs a transmitter on each wheel set to detect the derailment, at least one receiver is arranged on at least one wheel set, the engineering installation amount is too large, and the system complexity is high.
Disclosure of Invention
5 an object of the embodiments of the present application is to provide a derailment detection method and apparatus, which can detect derailment in time
The locomotive derailment is detected, the engineering installation amount is smaller, and the system complexity is lower, so that the whole unmanned system can stably run for a long time, and the driving safety is improved.
A first aspect of an embodiment of the present application provides a derailment detection method, including:
detecting the current body inclination of the target locomotive;
0, judging whether the current vehicle body inclination is greater than a preset inclination threshold value;
if yes, acquiring the total target times that the inclination of the body of the target locomotive is detected to be greater than the preset inclination threshold value within a preset time period;
and when the target total times are larger than a preset time threshold value, determining that the target locomotive is derailed.
In the implementation process, the method can preferentially detect the current body inclination of the target locomotive; 5, judging whether the current vehicle body inclination is larger than a preset inclination threshold value; when the current vehicle body inclination is larger than a preset inclination threshold, acquiring the total target times that the vehicle body inclination of the target locomotive is larger than the preset inclination threshold in a preset time period; and finally, determining that the target locomotive is derailed when the total target times are larger than a preset time threshold value. Therefore, the method can detect the locomotive derailment in time, and enables the engineering installation amount to be smaller and the system complexity to be lower, so that the whole unmanned system can stably operate for a long time, and the driving safety is improved.
Further, the detecting a current body inclination of the target locomotive includes:
acquiring a horizontal inclination signal through a horizontal sensor arranged on the target locomotive;
determining a current body inclination of the target locomotive from the horizontal inclination signal.
Further, the obtaining a target total number of times that the inclination of the body of the target locomotive is detected to be greater than the preset inclination threshold value within a preset time period includes:
detecting the vehicle body inclination of the target locomotive according to a preset detection frequency in a preset time period;
comparing the vehicle body inclination with the preset inclination threshold to obtain a comparison result;
and according to the comparison result, counting the total target times that the vehicle body inclination is greater than the preset inclination threshold.
Further, after the obtaining of the target total number of times that the inclination of the body of the target locomotive is detected to be greater than the preset inclination threshold value within the preset time period, the method further includes:
judging whether the target total times is greater than a preset time threshold value or not;
if so, performing said determining that the target locomotive is derailed;
and if not, executing the current body inclination of the detection target locomotive.
Further, after the determining that the target locomotive is derailed, the method further comprises:
sending an emergency braking instruction to the target locomotive so that the target locomotive carries out emergency braking operation according to the emergency braking instruction;
and sending alarm information for prompting the derailment of the target locomotive to a master control platform of the target locomotive.
A second aspect of an embodiment of the present application provides a derailment detection apparatus for a target locomotive, including:
the detection unit is used for detecting the current body inclination of the target locomotive;
the judging unit is used for judging whether the current vehicle body inclination is larger than a preset inclination threshold value or not;
the obtaining unit is used for obtaining the total target times that the inclination of the vehicle body of the target locomotive is greater than the preset inclination threshold value within a preset time period when the current inclination of the vehicle body is judged to be greater than the preset inclination threshold value;
and the determining unit is used for determining that the target locomotive is derailed when the target total times is greater than a preset time threshold value.
In the implementation process, the device can detect the current body inclination of the target locomotive through the detection unit; judging whether the current vehicle body inclination is larger than a preset inclination threshold value or not through a judging unit; then, when the current vehicle body inclination is judged to be larger than the preset inclination threshold value through the obtaining unit, the total target times that the vehicle body inclination of the target locomotive is detected to be larger than the preset inclination threshold value within the preset time period are obtained; and finally, determining that the target locomotive is derailed when the target total times is greater than a preset time threshold value through a determining unit. Therefore, the device can detect the locomotive derailment in time, the engineering installation amount is smaller, the system complexity is lower, the whole unmanned system can stably operate for a long time, and the driving safety is improved.
Further, the detection unit includes:
the acquisition subunit is used for acquiring a horizontal inclination signal through a horizontal sensor arranged on the target locomotive;
a determining subunit, configured to determine a current body inclination of the target locomotive according to the horizontal inclination signal.
Further, the acquisition unit includes:
the detection subunit is used for detecting the vehicle body inclination of the target locomotive according to a preset detection frequency in a preset time period;
the comparison subunit is used for comparing the vehicle body inclination with the preset inclination threshold value to obtain a comparison result;
and the counting subunit is used for counting the total target times that the vehicle body inclination is greater than the preset inclination threshold according to the comparison result.
Further, the judging unit is further configured to judge whether the target total number of times is greater than a preset number threshold after the target total number of times that the inclination of the body of the target locomotive is detected to be greater than the preset inclination threshold within a preset time period is obtained;
the determining unit is specifically used for determining that the target locomotive is derailed when the target total times is greater than a preset times threshold value;
the detection unit is specifically configured to detect a current body inclination of the target locomotive when the target total number of times is not greater than a preset number threshold.
Further, the derailment detection apparatus further comprises:
a sending unit, configured to send an emergency braking instruction to the target locomotive after determining that the target locomotive is derailed, so that the target locomotive performs an emergency braking operation according to the emergency braking instruction;
the sending unit is further used for sending warning information for prompting the derailment of the target locomotive to a master control platform of the target locomotive.
A third aspect of embodiments of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the derailment detection method according to any one of the first aspect of embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, the computer program instructions perform the derailment detection method according to any one of the first aspect of the embodiments of the present application.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a derailment detection method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an derailment detection apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a derailment detection method according to the present embodiment. Wherein, this derailment detection method includes:
s101, acquiring a horizontal inclination signal through a horizontal sensor arranged on the target locomotive.
And S102, determining the current body inclination of the target locomotive according to the horizontal inclination signal.
In this embodiment, the method may use a level sensor. Filtering means that can suppress and prevent signal interference can be generally integrated within the level sensor.
In this embodiment, the theoretical basis for the level sensor is Newton's second law: according to basic physical principles, inside a system, velocity cannot be measured accurately, but acceleration can also be measured accurately. If the initial velocity is known, the linear velocity and hence the linear displacement can be calculated from the integral, so it is in fact a type of acceleration sensor that uses the basic principle of inertia. When the tilt sensor is at rest, i.e. no acceleration is acting in the lateral and vertical directions, only the gravitational acceleration is acting on it as such. The included angle between the vertical gravity axis and the sensitive axis of the acceleration sensor is the inclined angle. The tilt sensor in general sense is static accurate measurement or quasi-static accurate measurement, if there is external acceleration, the acceleration measured by the acceleration chip contains the external acceleration, so the calculated angle is not accurate, therefore, the common practice is to add a mems gyro chip and apply a preferential kalman filtering algorithm to increase the accuracy. When the horizontal sensor is installed, the horizontal sensor is ensured to be completely close to a tested surface, the tested surface is required to be as horizontal as possible, and the central axis of the sensor is parallel to the central axis of a locomotive as possible. The output interface of the level sensor is RS-485, and the level sensor can communicate with other components based on a Modbus protocol.
S103, judging whether the current vehicle body inclination is larger than a preset inclination threshold value, if so, executing the steps S104-S107; if not, step S101 is executed.
And S104, detecting the vehicle body inclination of the target locomotive according to a preset detection frequency in a preset time period.
And S105, comparing the vehicle body inclination with a preset inclination threshold to obtain a comparison result.
And S106, counting the total target times of the vehicle body inclination greater than the preset inclination threshold according to the comparison result.
S107, judging whether the target total times are larger than a preset time threshold, if so, executing steps S108-S110; if not, step S101 is executed.
And S108, determining the derailment of the target locomotive.
In this embodiment, when the instantaneous inclination signal is greater than the threshold and lasts for a short period of time, the rail locomotive is in the derailment state, and at this time, an emergency braking command needs to be sent to the rail locomotive and an alarm needs to be sent to the central control station.
In this embodiment, the method presets a threshold inclination value a, and if the transmitted inclination is greater than a, it is determined that the rail vehicle is over-inclined at the time, and the over-inclination represents derailment. However, when the received inclination is larger than a, it is not immediately determined that the rail is derailed, and the rail locomotive may shake or the error may be excessively large, and therefore, it is necessary to determine the inclination change in the next short period of time. The logic of the method for judging derailment is that in a period of time B, the number of times that the received periodic gradient signal is greater than A exceeds C times, and then the derailment is judged. The three quantities A, B and C are all required to be obtained through actual measurement.
And S109, sending an emergency braking instruction to the target locomotive so that the target locomotive carries out emergency braking operation according to the emergency braking instruction.
And S110, sending warning information for prompting the derailment of the target locomotive to a master control platform of the target locomotive.
For example, when a rail locomotive is derailed, two sides of the locomotive body are not necessarily on the same horizontal line, and the locomotive is greatly inclined instantly. The method can detect the horizontal state through a horizontal detection module, and the horizontal detection module periodically sends an inclination signal to a data processing module of the rail locomotive. The locomotive data processing module receives the inclination signal and then carries out logic judgment, if the instantaneous inclination is larger than a threshold value and lasts for a short time (the threshold value and the duration can be obtained through actual measurement), the locomotive data processing module judges that the locomotive is derailed and sends an emergency stop instruction to the locomotive; and sends a warning signal to inform the staff to overtake the treatment. This completes the recognition of a derailment of the rail vehicle in automatic driving.
In this embodiment, the method considers the derailment condition when the horizontal inclination of the rail locomotive is greater than the threshold value at a moment and lasts for a short period of time. Specifically, the method can measure the horizontal inclination of the rail locomotive by using a level meter and a gyroscope so as to judge the derailment of the rail locomotive.
In this embodiment, the method may detect whether the rail locomotive is derailed during autonomous driving.
In this embodiment, the execution subject of the method may be a computing device such as a computer and a server, and is not limited in this embodiment.
In this embodiment, an execution subject of the method may also be an intelligent device such as a smart phone and a tablet computer, which is not limited in this embodiment.
It can be seen that, by implementing the derailment detection method described in this embodiment, the installation position can not be excessively required, as long as the installation on the central axis of the front of the locomotive is ensured. Meanwhile, the method can be used as a replacement and supplement means for derailment detection, so that the method can be quickly and effectively used for detecting whether derailment occurs under the condition that other detection means fail.
Example 2
Referring to fig. 2, fig. 2 is a schematic structural diagram of a derailment detection apparatus provided in this embodiment. As shown in fig. 2, the derailment detection apparatus includes:
a detection unit 210 for detecting a current body inclination of the target locomotive;
the judging unit 220 is configured to judge whether a current vehicle body inclination is greater than a preset inclination threshold;
the obtaining unit 230 is configured to obtain a total target number of times that the inclination of the vehicle body of the target locomotive is detected to be greater than a preset inclination threshold within a preset time period when it is determined that the current inclination of the vehicle body is greater than the preset inclination threshold;
and a determining unit 240, configured to determine that the target locomotive is derailed when the target total number is greater than a preset number threshold.
As an alternative embodiment, the detection unit 210 includes:
an acquiring subunit 211, configured to acquire a horizontal inclination signal through a horizontal sensor provided on the target locomotive;
a determining subunit 212 for determining a current body inclination of the target locomotive from the horizontal inclination signal.
As an alternative embodiment, the obtaining unit 230 includes:
a detecting subunit 231, configured to detect a body inclination of the target locomotive at a preset detection frequency within a preset time period;
the comparison subunit 232 is configured to compare the vehicle body inclination with a preset inclination threshold to obtain a comparison result;
and a counting subunit 233, configured to count, according to the comparison result, the total number of times that the vehicle body inclination is greater than the preset inclination threshold.
As an optional implementation manner, the determining unit 220 is further configured to determine whether the target total number is greater than a preset number threshold after acquiring the target total number of times that the body inclination of the target locomotive is detected to be greater than the preset inclination threshold within a preset time period;
the determining unit 240 is specifically configured to determine that the target locomotive is derailed when the target total number of times is greater than a preset number threshold;
the detecting unit 210 is specifically configured to detect a current body inclination of the target locomotive when the target total number of times is not greater than a preset number threshold.
As an alternative embodiment, the derailment detection apparatus further comprises:
a sending unit 250, configured to send an emergency braking instruction to the target locomotive after determining that the target locomotive is derailed, so that the target locomotive performs an emergency braking operation according to the emergency braking instruction;
the sending unit 250 is further configured to send warning information for prompting the derailment of the target locomotive to a master control platform of the target locomotive.
In the embodiment of the present application, for the explanation of the derailment detection apparatus, reference may be made to the description in embodiment 1, and details are not repeated in this embodiment.
It can be seen that, implementing the derailment detection device described in this embodiment, it is no longer necessary to have an excessive installation position, as long as it is ensured to be installed on the central axis of the front of the locomotive. Meanwhile, the method can be used as a replacement and supplement means for derailment detection, so that the method can be quickly and effectively used for detecting whether derailment occurs under the condition that other detection means fail.
An embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the derailment detection method in embodiment 1 of the present application.
An embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions, where the computer program instructions, when read and executed by a processor, perform the derailment detection method in embodiment 1 of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including 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 application. 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 other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A derailment detection method, comprising:
detecting the current body inclination of the target locomotive;
judging whether the current vehicle body inclination is larger than a preset inclination threshold value or not;
if yes, acquiring the total target times that the inclination of the body of the target locomotive is detected to be greater than the preset inclination threshold value within a preset time period;
and when the target total times are larger than a preset time threshold value, determining that the target locomotive is derailed.
2. The derailment detection method according to claim 1, wherein the detecting a current body inclination of the target locomotive includes:
acquiring a horizontal inclination signal through a horizontal sensor arranged on the target locomotive;
determining a current body inclination of the target locomotive from the horizontal inclination signal.
3. The derailment detection method according to claim 1, wherein the obtaining a target total number of times that the body inclination of the target locomotive is detected to be greater than the preset inclination threshold value within a preset time period comprises:
detecting the vehicle body inclination of the target locomotive according to a preset detection frequency in a preset time period;
comparing the vehicle body inclination with the preset inclination threshold value to obtain a comparison result;
and according to the comparison result, counting the total target times that the vehicle body inclination is greater than the preset inclination threshold.
4. The derailment detection method according to claim 1, wherein after the obtaining a target total number of times that the body inclination of the target locomotive is detected to be greater than the preset inclination threshold value within a preset time period, the method further comprises:
judging whether the target total times is greater than a preset time threshold value or not;
if so, performing said determining said target locomotive is derailed;
and if not, executing the current body inclination of the detection target locomotive.
5. The derailment detection method of claim 1, wherein after the determining that the target locomotive is derailed, the method further comprises:
sending an emergency braking instruction to the target locomotive so that the target locomotive carries out emergency braking operation according to the emergency braking instruction;
and sending alarm information for prompting the derailment of the target locomotive to a master control platform of the target locomotive.
6. A derailment detection device, comprising:
the detection unit is used for detecting the current body inclination of the target locomotive;
the judging unit is used for judging whether the current vehicle body inclination is larger than a preset inclination threshold value or not;
the obtaining unit is used for obtaining the total target times that the inclination of the vehicle body of the target locomotive is greater than the preset inclination threshold value within a preset time period when the current inclination of the vehicle body is judged to be greater than the preset inclination threshold value;
and the determining unit is used for determining that the target locomotive is derailed when the target total times is greater than a preset time threshold value.
7. The derailment detection device of claim 6, wherein the detection unit comprises:
the acquisition subunit is used for acquiring a horizontal inclination signal through a horizontal sensor arranged on the target locomotive;
a determining subunit, configured to determine a current body inclination of the target locomotive according to the horizontal inclination signal.
8. The derailment detection device according to claim 6, wherein the acquisition unit includes:
the detection subunit is used for detecting the vehicle body inclination of the target locomotive according to a preset detection frequency in a preset time period;
the comparison subunit is used for comparing the vehicle body inclination with the preset inclination threshold value to obtain a comparison result;
and the counting subunit is used for counting the total target times that the vehicle body inclination is greater than the preset inclination threshold according to the comparison result.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the derailment detection method of any of claims 1 to 5.
10. A readable storage medium having stored thereon computer program instructions which, when read and executed by a processor, perform the derailment detection method according to any of claims 1 to 5.
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