CN205879196U - Monitoring system is equipped in railway transportation - Google Patents
Monitoring system is equipped in railway transportation Download PDFInfo
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- CN205879196U CN205879196U CN201620765575.7U CN201620765575U CN205879196U CN 205879196 U CN205879196 U CN 205879196U CN 201620765575 U CN201620765575 U CN 201620765575U CN 205879196 U CN205879196 U CN 205879196U
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Abstract
The utility model discloses a monitoring system is equipped in railway transportation, including attitude information monitoring node AMU, attitude reference node ARU and train monitoring terminal, attitude reference node ARU and attitude information monitoring node AMU wireless connection, train monitoring terminal and attitude reference node ARU wireless connection. The utility model discloses a monitoring system is equipped in railway transportation, its gesture that can automatically carry out around -the -clock monitoring, intelligent judgment railway transportation equipment to the gesture of railway transportation equipment to in time send the early warning, the human cost of transporting is practiced thrift to the promptness and the accuracy of assurance control, guarantees the transportation safety of railway transportation equipment.
Description
Technical field
This utility model relates to railway traffic safety technical field of transportation, particularly relates to a kind of railway transportation equipment monitoring
System.
Background technology
At present, railway transportation, as a kind of important means of transportation, compares with other means of transportation, has transporting power
Greatly, the effect of natural conditions such as with low cost, climate is little, regular and persistence is secure and is easy to implement safely and reliably
The advantages such as mass transit, are widely used in production and the life of people, welcomed by the people.
Special means of transportation this for railway transportation, train is in running, and the equipment that it is placed is owing to being subject to
Power form complexity is various, even if in the case of binding is reinforced, it is also difficult to ensure to be equipped in the most not offset.Once
Railway transportation equipment offsets, and easily operation on railway is brought great impact, brings great economic loss simultaneously.
Therefore, it is necessary to take technological means that the attitude of railway transportation equipment is carried out round-the-clock monitoring, it is ensured that the transportation safety of equipment.
At present, in order to the attitude of railway transportation equipment is carried out round-the-clock monitoring, especially escort the railway fortune of high value
During defeated equipment, generally using the mode of video monitoring, this mode relies on escorts workman and carries out equipping the artificial cognition of attitude, night
Between and IFR conditions it is limited relatively big, and the physiological condition of Yi Shouren limits, as objective reality personnel's attention is divided
, there is certain potential safety hazard in situation about dissipating, especially longer at transportation route, in the case of the time is relatively long, to railway transportation
The attitude of equipment carries out round-the-clock monitoring and more seems difficult, is more difficult to ensure that promptness and the accuracy of monitoring.Meanwhile, existing
Video monitoring equipment there is also transmission bandwidth requirement compared with the problem such as high, power consumption is big, train power supply is difficult.
Therefore, at present in the urgent need to developing a kind of technology, the attitude of railway transportation equipment can automatically be carried out by it
Round-the-clock monitoring, the attitude of intelligent decision railway transportation equipment, and send early warning in time, it is ensured that the promptness of monitoring is with accurate
Property, save the human cost of transport, it is ensured that the transportation safety of railway transportation equipment, be obviously improved the informationization of railway transport administration
Level.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of railway transportation equipment monitoring system, and it can be automatically
The attitude of railway transportation equipment is carried out round-the-clock monitoring, the attitude of intelligent decision railway transportation equipment, and sends early warning in time,
Ensure promptness and the accuracy of monitoring, save the human cost of transport, it is ensured that the transportation safety of railway transportation equipment, significantly carry
Rise the widespread production application of the level of IT application of railway transport administration, beneficially railway transportation equipment monitoring system, have great
Production practices meaning.
To this end, this utility model provides a kind of railway transportation equipment monitoring system, including:
Attitude information monitoring node AMU, is installed on the default of described railway transportation equipment and need to detect position, be used for detecting this
Preset and need to detect nine axle movable informations on position, it is thus achieved that described attitude information monitoring node AMU is in railway transportation equipment reference
The relative position information that coordinate system and geo-referenced coordinates are fastened, and using this relative position information as attitude information monitoring node
AMU, at the described default attitude information that need to detect on position, then radios to attitude reference node ARU；
Attitude reference node ARU, with attitude information monitoring node AMU wireless connections, described attitude reference node ARU installs
In the preset reference position of train flatcar, for detecting nine axle movable informations on preset reference position, it is thus achieved that described attitude base
The relative position information that quasi-node ARU fastens with geo-referenced coordinates at train flatcar reference frame, and by this relative position
Attitude reference node ARU, as the attitude reference node ARU attitude information in preset reference position, is then put down by information at train
Coordinate information in car reference frame needs test section with received described attitude information monitoring node AMU described presetting
Coordinate information on position contrasts, and calculates and obtains the current rail transportation equipment real-time attitudes vibration information on train flatcar
And it is wirelessly sent to train supervision terminal；
Train supervision terminal, with attitude reference node ARU wireless connections, is used for judging that current rail transportation equipment is at train
Whether the real-time attitudes vibration information on flatcar exceedes default max-thresholds, if it does, then correspondence issues the user with default
Safe early warning information；
Wherein, described railway transportation equipment reference frame includes railway transportation equipment level X-axis to the right, horizontal forward
Y-axis and be perpendicular to horizontal plane Z axis upwards；Described train flatcar reference frame include train flatcar level X-axis to the right,
Horizontal forward Y-axis and be perpendicular to horizontal plane Z axis upwards；Described geo-referenced coordinates system is on the basis of horizontal plane, by vertically
X-axis composition in horizontal plane Z axis, the Y-axis in magnetic north pole direction and level direction eastwards upwards.
Wherein, the described attitude reference node ARU attitude information in preset reference position and described attitude information monitoring joint
Point AMU contrasts at the described default attitude information that need to detect on position, and concrete contrast operation is:
X-axis that the described attitude reference node ARU attitude information in preset reference position is included, Y-axis, Z axis position
And these six spatial degrees of freedom information of the angle of pitch, deflection angle and roll angle, and described attitude information monitoring node AMU is described pre-
If the X-axis that the attitude information that need to detect on position includes, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle these six
Spatial degrees of freedom information, correspondence carries out additive operation respectively, thus obtains current rail transportation equipment reality on train flatcar
Time attitudes vibration information.
Wherein, the default position of need to detecting of described railway transportation equipment is specially the position of centre of gravity of described railway transportation equipment
Or easy moving part；
Described attitude reference node ARU is installed on and is positioned on described train flatcar base plate.
Wherein, by ZigBee protocol or family's thing between described attitude information monitoring node AMU and attitude reference node ARU
Combined network communication agreement technical protocol communicates wirelessly；
Radio communication is carried out by Sub-GHz agreement between described attitude reference node ARU and train supervision terminal.
Wherein, described attitude information monitoring node AMU includes:
One or nine axis movement sensor, presets, at this, nine axles that need to detect on position for detecting described railway transportation equipment
Movable information, is then transferred to the first data processing unit；
First electricity collection sensor, for gathering the energy of default kind, and is converted into electric energy and there is energy storage
In first power module；
First power module, is connected with the first electricity collection sensor, is used for storing described first electricity collection sensing
The electric energy that device converts, and provide work electricity consumption for described attitude information monitoring node AMU；
First data processing unit, is connected with the one or nine axis movement sensor, the first power module, respectively for basis
The nine axle movable informations that described one or nine axis movement sensor is sent, it is thus achieved that described attitude information monitoring node AMU transports at railway
The relative position information that defeated equipment reference frame is fastened with geo-referenced coordinates, and this relative position information is believed as attitude
Breath monitoring node AMU, at the described default attitude information that need to detect on position, then radios to attitude reference node ARU.
Wherein, described attitude reference node ARU includes:
Two or nine axis movement sensor, presets, at this, nine axles that need to detect on position for detecting described railway transportation equipment
Movable information, then radios to train supervision terminal；
Second electricity collection sensor, for gathering the energy of default kind, and is converted into electric energy and there is energy storage
In second source module；
Second source module, is connected with the second electricity collection sensor, is used for storing described second electricity collection sensing
The electric energy that device converts, and provide work electricity consumption for described attitude reference node ARU；
Second data processing unit, is connected with the two or nine axis movement sensor, second source module, respectively for basis
The nine axle movable informations that described two or nine axis movement sensor is sent, it is thus achieved that described attitude reference node ARU joins at train flatcar
Examine the relative position information that coordinate system is fastened with geo-referenced coordinates, and using this relative position information as attitude reference node
ARU, at the attitude information of preset reference position, then presets described with received described attitude information monitoring node AMU
The attitude information on position need to be detected and carry out contrast operation, it is thus achieved that the current rail transportation equipment real-time attitude on train flatcar
Change information, and it is wirelessly sent to train supervision terminal.
Wherein, described train supervision terminal includes:
Embedded type terminal equipment, is connected with attitude information datum node ARU, for judging current rail transport dress respectively
Standby relative position on train flatcar, i.e. comprises in the current rail transportation equipment real-time attitude information on train flatcar
Whether X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle information exceed default max-thresholds, if it does, then sentence
There is potential safety hazard in disconnected railway transportation equipment, threshold value is corresponding sends the safe early warning information preset to display device；
Display device, is connected with embedded type terminal equipment, is used for showing that current rail transportation equipment is at train flatcar
Real-time attitude information, and by embedded type terminal equipment send preset safe early warning information be shown to user；
Telecommunication equipment, is connected with embedded type terminal equipment, is used for current rail transportation equipment at train flatcar
On real-time attitude information be uploaded to Cloud Server and carry out data storage.
Wherein, described embedded type terminal equipment and display device are respectively arranged with HDMI, described built-in terminal
Equipment is connected by HDMI connecting line with display device.
The technical scheme provided from above this utility model, compared with prior art, the utility model proposes
A kind of railway transportation equipment monitoring system, it passes through embedded system and technology of Internet of things, by acquisition process at the equipment transported
Attitude information, carries out data fusion, intelligent decision, early warning, can automatically carry out round-the-clock to the attitude of railway transportation equipment
Monitoring, the attitude of intelligent decision railway transportation equipment, and send early warning in time, it is ensured that and the promptness of monitoring and accuracy, save
The human cost of transport, it is ensured that the transportation safety of railway transportation equipment, is obviously improved the level of IT application of railway transport administration, has
It is beneficial to the widespread production application of railway transportation equipment monitoring system, is of great practical significance.
Additionally, this utility model provide railway transportation equipment monitoring system also have transmission bandwidth require low, electricity consumption is few
With the advantage of low-power consumption, the objective condition on train can be conformed better to, be obviously improved the practice of system further
Ability, it is possible to obtain good practical application effect.
Accompanying drawing explanation
The structured flowchart of a kind of railway transportation equipment monitoring system that Fig. 1 provides for this utility model；
The structured flowchart of a kind of railway transportation equipment monitoring system specific embodiment that Fig. 2 provides for this utility model；
The concrete application scenarios schematic diagram of a kind of railway transportation equipment monitoring system that Fig. 3 provides for this utility model.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that this utility model scheme, below in conjunction with the accompanying drawings and embodiment
The utility model is described in further detail.
This utility model provides a kind of railway transportation equipment monitoring system, for carrying out the attitude of railway transportation equipment
Round-the-clock monitoring.It should be noted that the attitude of railway transportation equipment refers to the relative attitude between equipment and train, Liang Zhezi
State all determines with the relative position of geo-referenced coordinates system with carrier reference frame.Carrier reference frame include equipment or
Person's train flatcar level X-axis, horizontal forward Y-axis to the right, it is perpendicular to horizontal plane Z axis upwards.Geo-referenced coordinates system, with
On the basis of horizontal plane, it is made up of the X-axis being perpendicular to horizontal plane Z axis, the Y-axis in magnetic north pole direction and level direction eastwards upwards.
Generally, geo-referenced coordinates system is invariable.In this utility model, the attitude of statement equipment commonly uses six, space certainly
Stated by degree, specifically represented, specifically by X-axis, Y-axis, Z axis position and one group of attitude angle (angle of pitch, deflection angle and roll angle)
In realization, the acceleration of three axles, the three-axis attitude angular speeds and three such as X-axis, Y-axis, Z axis can be obtained by nine axis movement sensors
Direction of principal axis angle, altogether nine exercise parameters, then by nine operation parameters are carried out data fusion, it is thus achieved that six freedom in space
Degree.This utility model can be by the change of attitude data, it is judged that whether current equipment motion conditions exists potential safety hazard.
Wherein, the data anastomosing algorithm side that described nine exercise parameters are estimated by assembled gesture based on Kalman filtering
Case is calculated, and is specifically as follows: uses quaternary number attitude algorithm algorithm known to existing technical staff, utilizes 3-axis acceleration
The measured value of meter calculates the angle of pitch and roll angle, utilizes gaussmeter (such as three axle magnetic induction sensors) measured value to calculate deflection angle,
Gaussmeter and accelerometer, as the predictive value of Kalman filter, are calculated by the attitude angle according to three-axis gyroscope calculating
Attitude angle, as measured value, realizes the information fusion of multisensor by Kalman filtering, it is ensured that the accuracy of pose estimation
(being specifically shown in hereafter).
See Fig. 1, Fig. 3, a kind of railway transportation equipment monitoring system that this utility model provides, specifically include attitude information
Monitoring node (Attitude Reference Unit, AMU) 100, attitude reference node (Attitude Monitor Unit,
ARU) 200 and train supervision terminal 300, wherein:
Attitude information monitoring node AMU 100, is installed on the default need of described railway transportation equipment 400 (such as an automobile)
Detection position, presets, for detecting this, the nine axle movable informations that need to detect on position, it is thus achieved that described attitude information monitoring node
AMU 100 is at the relative position information of railway transportation equipment reference frame Yu geo-referenced coordinates system, i.e. this attitude information is supervised
Node AMU 100 is at the described default attitude information that need to detect on position in survey, then radios to attitude reference node
ARU200；
Wherein, described attitude information monitoring node AMU 100 is preset the attitude information that need to detect on position is i.e. this portion
The relative position that the reference frame of position is fastened with geo-referenced coordinates, including X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle
With these six spatial degrees of freedom information of roll angle.By to acceleration measuring value integration, obtain the displacement of X, Y, Z axis, utilize
Accelerometer determines the angle of pitch and roll angle,Represent the weight component on each direction of principal axis of accelerometer, then bow
The elevation angleRoll angle Represent three axle magnetic
The strong component counting each axle, then deflection angleObtain what accelerometer signal and gaussmeter signal calculated
Attitude angle；The attitude angle (including the angle of pitch, deflection angle and roll angle) that recycling three-axis gyroscope signal measurement obtains is used as
The predictive value of Kalman filter, estimation procedure state-noise covariance, the attitude angle that magnetometer and accelerometer are calculated
As measured value, estimate to measure noise covariance matrix in conjunction with gyro error, it is achieved the fusion of multi-sensor information, improve number
According to accuracy.
It should be noted that Kalman filter algorithm be according to previous system optimal value calculate current estimated value and
Covariance, calculates Kalman gain according to covariance size, finally calculates optimal value and association according to current estimated value and measured value
Variance:
The computing formula of the optimal value of quantity of state pre-estimation is:
Wherein,Represent based on k-1 the pre-estimation to k time,Represent the optimal value of k-1 time,
A represents the state-transition matrix of k-1 time to k time, B (k) be input dominant vector gain matrix, U (k) be input control to
Amount.
The computing formula of pre-estimation optimal value covariance P (k | k-1) is:
P (k | k-1)=AP (k-1 | k-1) AT+Q(k)；Wherein, Q (k) represents the covariance of input noise.
The gain matrix computing formula of Kalman is:
K (k)=P (k | k-1) HT[HP(k|k-1)HT+R(k)]-1；Wherein, R (k) is the covariance of observation noise.
The formula of more new estimation is:
Attitude reference node ARU200, with attitude information monitoring node AMU 100 wireless connections, described attitude reference node
ARU200 is installed on the preset reference position of train flatcar 500, for detecting nine axle movable informations on preset reference position, obtains
Obtain the relative position information that described attitude reference node ARU200 fastens with geo-referenced coordinates at train flatcar reference frame,
And using this relative position information as the attitude reference node ARU200 attitude information in preset reference position, then with received
To described attitude information monitoring node AMU 100 contrast at the described default attitude information that need to detect on position, calculate
Obtain the current rail transportation equipment 400 real-time attitudes vibration information on train flatcar 500 and (i.e. obtain current rail transport dress
The standby 400 relative change in location information on train flatcar 500), and it is wirelessly sent to train supervision terminal 300；
Wherein, described railway transportation equipment reference frame include railway transportation equipment level X axle to the right, level to
Before Y-axis and be perpendicular to horizontal plane Z axis upwards；Described train flatcar reference frame includes train flatcar level X to the right
Axle, horizontal forward Y-axis and be perpendicular to horizontal plane Z axis upwards；Described geo-referenced coordinates system is on the basis of horizontal plane, by hanging down
Directly in the X-axis composition in horizontal plane Z axis, the Y-axis in magnetic north pole direction and level direction eastwards upwards.
In this utility model, the described attitude reference node ARU200 attitude information in preset reference position and described appearance
State information monitoring node AMU 100 contrasts at the described default attitude information that need to detect on position, and concrete contrast operation is:
X-axis that the described attitude reference node ARU200 attitude information in preset reference position is included, Y-axis, Z axis position
Put and these six spatial degrees of freedom information of the angle of pitch, deflection angle and roll angle, and described attitude information monitoring node AMU 100 exists
X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle that the described default attitude information that need to detect on position includes
These six spatial degrees of freedom information, correspondence carries out additive operation respectively, thus obtains current rail transportation equipment at train flatcar
On real-time attitudes vibration information.When the difference that six-freedom degree correspondence is subtracted each other changes, both i.e. on this degree of freedom
Between relatively position there occurs change.
Train supervision terminal 300, with attitude reference node ARU200 wireless connections, is used for judging current rail transportation equipment
Whether the real-time attitudes vibration information (i.e. relative to change in location information) on train flatcar exceedes (being i.e. more than) default maximum threshold
Value, thus judge whether railway transportation equipment exists potential safety hazard, if it exceeds (specially X-axis, Y-axis, Z axis position and pitching
In these six spatial degrees of freedom of angle, deflection angle and roll angle, any one spatial degrees of freedom exceedes default max-thresholds), then sentence
There is potential safety hazard in disconnected railway transportation equipment, correspondence issues the user with default safe early warning information (such as early warning such as deceleration, parkings
Information), for user's references such as escort personnels.
It should be noted that the real-time attitudes vibration information that described current rail transportation equipment is on train flatcar, specifically
For these six spaces of railway transportation equipment X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle on train flatcar
The change information of degree of freedom information, i.e. changing value.
Implementing, described default max-thresholds refers to the railway transportation equipment preset X-axis on train flatcar, Y
Axle, Z axis position and the change maximum of these six spatial degrees of freedom information of the angle of pitch, deflection angle and roll angle, these six spaces
Degree of freedom information is respectively provided with the default max-thresholds of correspondence.Described default max-thresholds can be according to this utility model railway
The needs of computing equipment attitude monitoring system user are configured, it is also possible to be that the service conditions such as pavement quality according to railway are pre-
First arrange.
Implementing, described train supervision terminal 300 can be put down with corresponding train by comparison railway transportation equipment
Whether the position of car bottom plate and the moving part of equipment are subjected to displacement, and compare with safety of railway traffic standard, determine
Whether this equipment exists potential safety hazard, if there is potential safety hazard, then carries out the early warning information of appropriate level (as stopped, slowing down
Deng).Particularly as follows: peak excursion (i.e. displacement) must not exceed system user preset vehicle gauge of the locomotive and particular section load
Limit.Peak excursion not can exceed that the gauge of each section, and there is normal range of vibration, (this scope bundlees for reinforcing equipment
Reserved scope during reinforcing) beyond skew time, should report to the police, remind escort personnel equipment binding to go wrong.)
It should be noted that the gauge of goods transport is simply specified by safety of railway traffic standard, concrete threshold value
Set, system user of the present utility model need to be configured according to practical situation.
In this utility model, described attitude information monitoring node AMU 100 is installed on presetting of railway transportation equipment 400
Position need to be detected, the most described railway transportation equipment has the position of relative motion, such as, can be described railway transportation
The top center of equipment, as shown in Figure 3.
In this utility model, described attitude reference node ARU 200 is installed on the preset reference position of train flatcar, example
Can be installed on be positioned at as described in immediately below railway transportation equipment 400 as described in train flatcar 500 base plate center, such as figure
Shown in 3.
In this utility model, logical between described attitude information monitoring node AMU 100 and attitude reference node ARU200
Cross ZigBee protocol or family's Internet of Things communications protocol technical protocol (Zigbee/Thread) communicates wirelessly, Zigbee/
Thread communicates as close range wireless communication modes, has the advantages that transmission bandwidth requirement is low, low in energy consumption.
In this utility model, between described attitude reference node ARU200 and train supervision terminal 300, pass through Sub-GHz
(1GHz) agreement carries out radio communication, implements, and described attitude reference node ARU200 and train supervision terminal 300 divide
Sub-GHz chip is not installed, for carrying out Sub-GHz communication each other.Described Sub-GHz chip, implements,
Can be such as the Si4467 and the CC1120 etc. of TI company of Texas Instrument of Silicon Labs company.
In this utility model, see Fig. 2, described attitude information monitoring node AMU 100 and include that the one or nine axle motion passes
Sensor the 101, first electricity collection sensor the 102, first power module 103 and the first data processing unit 104, wherein:
One or nine axis movement sensor 101, for detect described railway transportation equipment this preset need to detect on position
Nine axle movable informations (specifically include 3-axis acceleration, three-axis attitude angular speed, three direction of principal axis angle-datas), are then transferred to
One data processing unit 104；
First electricity collection sensor 102, for gathering the energy of default kind, and is converted into electric energy and there is energy storage
The first power module 103 in, thus improve the continued power ability of whole monitoring system, to obtain good actual application effect
Really, overcoming goods train cannot power, and conventional video monitoring device power consumption is high, cannot the limitation of actual application；
First power module 103, is connected with the first electricity collection sensor 102, is used for storing described first electric energy and receives
The electric energy that collection sensor 102 converts, and provide work electricity consumption for described attitude information monitoring node AMU100；
First data processing unit 104, is connected with the one or nine axis movement sensor the 101, first power module 103 respectively
Connect, for the nine axle movable informations sent according to described one or nine axis movement sensor 101, it is thus achieved that described attitude information monitoring joint
The relative position information that some AMU 100 fastens at railway transportation equipment reference frame and geo-referenced coordinates, and this is relative
Positional information as attitude information monitoring node AMU 100, at the described default attitude information that need to detect on position, (believe by this attitude
Breath specifically includes attitude information monitoring node AMU 100 and is positioned at and presets when need to detect position, at railway transportation equipment reference coordinate
These six spatial degrees of freedom information of X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle under Xi), the most wireless biography
It is defeated by attitude reference node ARU200；
Implement, described one or nine axis movement sensor 101 include three axle acceleration sensors, three-axis gyroscope, three
Axle magnetic induction sensor, can be such as: the LSM9DS1 sensor of ST Microelectronics, InvenSense company
MPU9X50 series sensor etc..For the one or nine axis movement sensor 101, it records the angle of pitch by three axis accelerometer
And roll angle, record deflection angle by gaussmeter, the attitude angle calculated according to three-axis gyroscope, realized many by Kalman filtering
The information fusion of sensor, it is ensured that the accuracy of pose estimation.
Implement, described first electricity collection sensor 102 can by silicon plate etc., by solar energy, vibration dynamic
The collectable default kind energy such as energy are converted into electric energy, such as, can be: the LTC3588 energy acquisition core of Linear Techn Inc.
Sheet etc..
In this utility model, see Fig. 2, described attitude reference node ARU 200 and include the two or nine axis movement sensor
201, the second electricity collection sensor 202, second source module 203 and the second data processing unit 204, wherein:
Two or nine axis movement sensor 201, for detect described railway transportation equipment this preset need to detect on position
Nine axle movable informations (specifically include 3-axis acceleration, three-axis attitude angular speed, three direction of principal axis angle-datas), are then wirelessly transferred
To train supervision terminal 300；
Second electricity collection sensor 202, for gathering the energy of default kind, and is converted into electric energy and there is energy storage
Second source module 203 in, thus improve the continued power ability of whole monitoring system, to obtain good actual application effect
Really, overcoming goods train cannot power, and conventional video monitoring device power consumption is high, cannot the limitation of actual application；
Second source module 203, is connected with the second electricity collection sensor 202, is used for storing described second electric energy and receives
The electric energy that collection sensor 202 converts, and provide work electricity consumption for described attitude reference node ARU 200；
Second data processing unit 204, is connected with the two or nine axis movement sensor 201, second source module 203 respectively
Connect, for the nine axle movable informations sent according to described two or nine axis movement sensor 201, it is thus achieved that described attitude reference node
The relative position information that ARU200 fastens with geo-referenced coordinates at train flatcar reference frame, and by this relative position information
As the attitude reference node ARU200 attitude information in preset reference position, (this attitude information specifically includes attitude reference node
When ARU200 is positioned at preset reference position, at the relative position letter that train flatcar reference frame is fastened with geo-referenced coordinates
Breath, specifically include these six spatial degrees of freedom information of X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle), then with
Received described attitude information monitoring node AMU100 at the described default attitude information that need to detect on position, (believe by this attitude
Breath includes these six spatial degrees of freedom information of X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and roll angle) carry out contrast behaviour
Make, calculate the acquisition current rail transportation equipment 400 real-time attitudes vibration information on train flatcar 500 and (i.e. obtain current ferrum
The road transportation equipment 400 relative change in location information on train flatcar 500), and it is wirelessly sent to train supervision terminal 300.
The described railway transportation equipment real-time attitudes vibration information on train flatcar, specially railway transportation equipment is on train flatcar
X-axis, Y-axis, Z axis position and the change information of these six spatial degrees of freedom information of the angle of pitch, deflection angle and roll angle, i.e. change
Value.
As it was noted above, for the second data processing unit 204, its by described attitude reference node ARU200 in default ginseng
Examine the attitude information of position with described attitude information monitoring node AMU 100 at the described default attitude information that need to detect on position
Contrasting, concrete contrast operation is:
X-axis that the described attitude reference node ARU200 attitude information in preset reference position is included, Y-axis, Z axis position
Put and these six spatial degrees of freedom information of the angle of pitch, deflection angle and roll angle, and described attitude information monitoring node AMU 100 exists
X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle that the described default attitude information that need to detect on position includes
These six spatial degrees of freedom information, correspondence carries out additive operation respectively, thus obtains current rail transportation equipment at train flatcar
On real-time attitudes vibration information.When the difference that six-freedom degree correspondence is subtracted each other changes, both i.e. on this degree of freedom
Between relatively position there occurs change.
Implement, described two or nine axis movement sensor 201 include three axle acceleration sensors, three-axis gyroscope, three
Axle magnetic induction sensor, can be such as: the LSM9DS1 sensor of ST Microelectronics, InvenSense company
MPU9X50 series sensor etc..For the two or nine axis movement sensor 201, it records the angle of pitch by three axis accelerometer
And roll angle, record deflection angle by gaussmeter, utilize three-axis gyroscope signal measurement to obtain attitude angle and (include the angle of pitch, partially
Corner and roll angle).Implementing, equally, described second electricity collection sensor 202 can be by silicon plate etc., by the sun
The collectable default kind energy such as the kinetic energy that can, vibrate are converted into electric energy, such as, can be: Linear Techn Inc.
LTC3588 energy acquisition chip etc..
It should be noted that for this utility model, in order to give full play to the monitoring wireless senser of railway transportation equipment
The feature of network low-power consumption, the network between described attitude reference node ARU 200 and attitude information monitoring node AMU 100 is even
Access node structure is sub-clustering type network structure, and wherein attitude reference node ARU 200 is cluster head node, attitude reference node ARU 200
With the time synchronized that attitude information monitoring node AMU 100 is transferred to train supervision terminal 300.So design, concrete multiple excellent
Good effect, it is possible, firstly, to guarantee to merge the data that different nodes are collected chronologically, improves monitoring information matter
Amount；Secondly, the information of redundancy can be rejected by the temporal correlation of data, reduce the traffic, and as the joint of sleep awakening
Energy mechanism, the cooperation transmission of node and the basis of security protocol, optimize network performance or make up sensor node hardware capability
The deficiency of aspect；Finally, the data anastomosing algorithm estimated by assembled gesture based on Kalman filtering obtains the real-time of flatcar
Attitude, and carry out the flatcar reference frame of acquisition equipping referential contrast, it is relative that the current equipment of calculating is on flatcar
Position, the final equipment attitude obtaining necessary for monitoring.
In this utility model, implementing, described train supervision terminal 300 includes that high performance built-in terminal sets
For 301, display device 302 and telecommunication equipment 303, described train supervision terminal 300 has big-dipper satellite location, the Big Dipper is defended
Star communication communicates with mobile network's telecommunication, 1GHz/ZigBee protocol/family's Internet of Things communications protocol technology/bluetooth/wireless guarantor
The very function such as (Sub-GHz/Zigbee/Thread/Bluetooth/WiFi) wireless near field communication, can complete to equip attitude
The transmission of information, process, locally displayed and high in the clouds transfer function.
Wherein, embedded type terminal equipment 301, it is connected with attitude information monitoring node AMU 100, works as judgement respectively
X-axis, Y-axis, Z axis position and the angle of pitch, the deflection that front railway transportation equipment comprises in the real-time attitude information on train flatcar
Whether angle and these six spatial degrees of freedom information of roll angle exceed (being more than) default max-thresholds, thus judge railway transportation equipment
Whether there is potential safety hazard, if it does, then judge that railway transportation equipment exists potential safety hazard, corresponding to display device 302
Send default safe early warning information (such as early warning information such as deceleration, parkings).
Display device 302, is connected with embedded type terminal equipment 301, is used for showing that current rail transportation equipment is at train
Real-time attitude information on flatcar, and embedded type terminal equipment 301 is sent preset safe early warning information (as slow down,
The early warning information such as parking) it is shown to user, for user's references such as escort personnels.
Telecommunication equipment 303, is connected with embedded type terminal equipment 301, for being arranged by current rail transportation equipment
Real-time attitude information on car flatcar is uploaded to Cloud Server and carries out data storage.
Implementing, embedded type terminal equipment 301 specifically can include multiple central processor CPU, has been used for institute
State train supervision terminal 300 to various merits such as the transmission of railway transportation equipment attitude information, process, locally displayed and high in the clouds transmission
Energy.
Implement, described embedded type terminal equipment and display device are respectively arranged with HDMI, described embedding
Formula terminal unit is connected by HDMI connecting line with display device.
Implementing, described train supervision terminal 300 can also be fixed by the Big Dipper installed on embedded type terminal equipment
Position chip, in conjunction with Beidou satellite communication, shows train operation track on the display device by electronic chart.Additionally, railway fortune
The attitude of defeated equipment and early warning information, it is possible to carried out the attitude of solid show equipment by three dimensional constitution, stereomodel will be equipped
Data and flatcar stereomodel data show under GIS platform；It addition, the train supervision terminal 300 that this utility model provides
Can also save historical data, cloud service can be sent data to by Beidou satellite communication and mobile telecommunication mode
Device, for further processing, analyzing.
In sum, compared with prior art, a kind of railway transportation equipment monitoring system that this utility model provides, its
Automatically attitude to railway transportation equipment can carry out round-the-clock monitoring, the attitude of intelligent decision railway transportation equipment, and and
Time send early warning, it is ensured that the promptness of monitoring and accuracy, save transport human cost, it is ensured that the transport of railway transportation equipment
Safety, is obviously improved the level of IT application of railway transport administration, and beneficially the widespread production of railway transportation equipment monitoring system should
With, it is of great practical significance.
Additionally, this utility model provide railway transportation equipment monitoring system also have transmission bandwidth require low, electricity consumption is few
With the advantage of low-power consumption, the objective condition on train can be conformed better to, be obviously improved the practice of system further
Ability, it is possible to obtain good practical application effect.
The above is only preferred implementation of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvements and modifications, these improve and
Retouching also should be regarded as protection domain of the present utility model.
Claims (7)
1. a railway transportation equipment monitoring system, it is characterised in that including:
Attitude information monitoring node AMU, is installed on the default of described railway transportation equipment and need to detect position, is used for detecting this and presets
Nine axle movable informations on position need to be detected, it is thus achieved that described attitude information monitoring node AMU is at railway transportation equipment reference coordinate
The relative position information fastened with geo-referenced coordinates of system, and using this relative position information as attitude information monitoring node AMU
At the described default attitude information that need to detect on position, then radio to attitude reference node ARU；
Attitude reference node ARU, with attitude information monitoring node AMU wireless connections, described attitude reference node ARU is installed on row
The preset reference position of car flatcar, for detecting nine axle movable informations on preset reference position, it is thus achieved that described attitude reference saves
The relative position information that some ARU fastens with geo-referenced coordinates at train flatcar reference frame, and by this relative position information
As the attitude reference node ARU attitude information in preset reference position, then attitude reference node ARU is joined at train flatcar
Examine coordinate information in coordinate system and received described attitude information monitoring node AMU default need to detect on position described
Coordinate information contrast, calculate obtain the current rail transportation equipment real-time attitudes vibration information on train flatcar there is no
Line is sent to train supervision terminal；
Train supervision terminal, with attitude reference node ARU wireless connections, is used for judging that current rail transportation equipment is at train flatcar
On real-time attitudes vibration information whether exceed default max-thresholds, issue the user with default safety if it does, then corresponding
Early warning information；
Wherein, described railway transportation equipment reference frame includes railway transportation equipment level X-axis to the right, horizontal forward Y
Axle and be perpendicular to horizontal plane Z axis upwards；Described train flatcar reference frame includes train flatcar level X-axis to the right, water
Equal Y-axis forward and be perpendicular to horizontal plane Z axis upwards；Described geo-referenced coordinates system is on the basis of horizontal plane, by being perpendicular to
The X-axis composition in horizontal plane Z axis, the Y-axis in magnetic north pole direction and level direction eastwards upwards.
2. railway transportation equipment monitoring system as claimed in claim 1, it is characterised in that presetting of described railway transportation equipment
Position need to be detected and be specially the position of centre of gravity of described railway transportation equipment or easy moving part；
Described attitude reference node ARU is installed on and is positioned on described train flatcar base plate.
3. railway transportation equipment monitoring system as claimed in claim 1, it is characterised in that described attitude information monitoring node
Communicated wirelessly by ZigBee protocol or family's Internet of Things communications protocol technical protocol between AMU and attitude reference node ARU；
Radio communication is carried out by Sub-GHz agreement between described attitude reference node ARU and train supervision terminal.
4. railway transportation equipment monitors system as claimed any one in claims 1 to 3, it is characterised in that described attitude is believed
Breath monitoring node AMU includes:
One or nine axis movement sensor, presets, at this, the nine axle motions that need to detect on position for detecting described railway transportation equipment
Information, is then transferred to the first data processing unit；
First electricity collection sensor, for gathering the energy of default kind, and is converted into electric energy and has the first of energy storage
In power module；
First power module, is connected with the first electricity collection sensor, is used for storing described first electricity collection sensor and turns
The electric energy changed, and provide work electricity consumption for described attitude information monitoring node AMU；
First data processing unit, is connected with the one or nine axis movement sensor, the first power module respectively, for according to described
The nine axle movable informations that one or nine axis movement sensor is sent, it is thus achieved that described attitude information monitoring node AMU fills in railway transportation
The relative position information that standby reference frame is fastened with geo-referenced coordinates, and this relative position information is supervised as attitude information
Node AMU is at the described default attitude information that need to detect on position in survey, then radios to attitude reference node ARU.
5. railway transportation equipment monitoring system as claimed in claim 4, it is characterised in that described attitude reference node ARU bag
Include:
Two or nine axis movement sensor, presets, at this, the nine axle motions that need to detect on position for detecting described railway transportation equipment
Information, then radios to train supervision terminal；
Second electricity collection sensor, for gathering the energy of default kind, and is converted into electric energy and has the second of energy storage
In power module；
Second source module, is connected with the second electricity collection sensor, is used for storing described second electricity collection sensor and turns
The electric energy changed, and provide work electricity consumption for described attitude reference node ARU；
Second data processing unit, is connected with the two or nine axis movement sensor, second source module respectively, for according to institute
State the nine axle movable informations that the two or nine axis movement sensor is sent, it is thus achieved that described attitude reference node ARU is in train flatcar reference
The relative position information that coordinate system and geo-referenced coordinates are fastened, and using this relative position information as attitude reference node ARU
At the attitude information of preset reference position, then with received described attitude information monitoring node AMU at described default need
Attitude information on detection position carries out contrast operation, it is thus achieved that the current rail transportation equipment real-time attitude on train flatcar becomes
Change information, and it is wirelessly sent to train supervision terminal.
6. the railway transportation equipment monitoring system as described in claim 1 or 5, it is characterised in that described train supervision terminal bag
Include:
Embedded type terminal equipment, is connected with attitude information datum node ARU, for judging that current rail transportation equipment exists respectively
X-axis, Y-axis, Z axis position and the angle of pitch, deflection angle and the roll angle information that comprise in real-time attitude information on train flatcar are
No exceed default max-thresholds, if it does, then judge that railway transportation equipment exists potential safety hazard, corresponding send to display device
The safe early warning information preset；
Display device, is connected with embedded type terminal equipment, for showing current rail transportation equipment reality on train flatcar
Time attitude information, and by embedded type terminal equipment send preset safe early warning information be shown to user；
Telecommunication equipment, is connected with embedded type terminal equipment, is used for current rail transportation equipment on train flatcar
Real-time attitude information is uploaded to Cloud Server and carries out data storage.
7. railway transportation equipment monitoring system as claimed in claim 6, it is characterised in that described embedded type terminal equipment is with aobvious
Showing and be respectively arranged with HDMI on equipment, described embedded type terminal equipment is connected by HDMI connecting line with display device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620765575.7U CN205879196U (en) | 2016-07-19 | 2016-07-19 | Monitoring system is equipped in railway transportation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620765575.7U CN205879196U (en) | 2016-07-19 | 2016-07-19 | Monitoring system is equipped in railway transportation |
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| Publication Number | Publication Date |
|---|---|
| CN205879196U true CN205879196U (en) | 2017-01-11 |
Family
ID=57697418
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620765575.7U Expired - Fee Related CN205879196U (en) | 2016-07-19 | 2016-07-19 | Monitoring system is equipped in railway transportation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107607034A (en) * | 2017-10-26 | 2018-01-19 | 湖南天羿领航科技有限公司 | A kind of light pole intelligent deformation monitoring terminal |
| CN107631725A (en) * | 2016-07-19 | 2018-01-26 | 中国人民解放军军事交通学院 | A kind of railway transportation equipment attitude monitoring system |
| CN109506674A (en) * | 2017-09-15 | 2019-03-22 | 高德信息技术有限公司 | A kind of bearing calibration of acceleration and device |
| CN112880630A (en) * | 2021-01-18 | 2021-06-01 | 无锡物联网创新中心有限公司 | Subway tunnel box posture monitoring system |
| CN114493966A (en) * | 2022-02-11 | 2022-05-13 | 中国核动力研究设计院 | Intelligent monitoring, early warning and analyzing method, system and terminal for nuclear material transportation state |
-
2016
- 2016-07-19 CN CN201620765575.7U patent/CN205879196U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107631725A (en) * | 2016-07-19 | 2018-01-26 | 中国人民解放军军事交通学院 | A kind of railway transportation equipment attitude monitoring system |
| CN109506674A (en) * | 2017-09-15 | 2019-03-22 | 高德信息技术有限公司 | A kind of bearing calibration of acceleration and device |
| CN109506674B (en) * | 2017-09-15 | 2021-05-25 | 阿里巴巴（中国）有限公司 | Acceleration correction method and device |
| CN107607034A (en) * | 2017-10-26 | 2018-01-19 | 湖南天羿领航科技有限公司 | A kind of light pole intelligent deformation monitoring terminal |
| CN112880630A (en) * | 2021-01-18 | 2021-06-01 | 无锡物联网创新中心有限公司 | Subway tunnel box posture monitoring system |
| CN114493966A (en) * | 2022-02-11 | 2022-05-13 | 中国核动力研究设计院 | Intelligent monitoring, early warning and analyzing method, system and terminal for nuclear material transportation state |
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