CN105905134A - Rail transit vehicle accurate speed measuring system and method - Google Patents

Abstract

The invention provides an accurate speed measurement system for rail transit vehicles, which includes a laser distance measuring sensor that scans the cross-sectional profile of the sleeper laid under the rail, and calculates the running speed of the train according to the time difference when the train passes through two sleepers and the laying distance between the sleepers. Data processing host and speed display terminal for speed indication and overspeed alarm. The invention also provides a method for accurately measuring the speed of rail transit vehicles. The beneficial effects of the present invention are: the laser ranging sensor continuously scans the track surface and measures the distance to the track surface when the train is running, and extracts the characteristic signal of the sleeper from the periodically changing data through the data processing host, and the data processing host recognizes Get the characteristic signal of the sleeper and calculate the time of the characteristic signal of two adjacent sleepers, and divide the laying distance of the sleeper by this time to accurately calculate the train speed, with high speed measurement accuracy, especially suitable for wheelless tracks such as maglev transportation.

Description

System and method for accurate speed measurement of rail transit vehicles

technical field

The invention relates to a rail speed measuring system, in particular to a precise speed measuring system and method for a rail transit vehicle.

Background technique

During the running of rail transit vehicles, it is necessary to accurately measure the speed of the train, so that the train driver can control the speed measurement and the master control dispatching center to monitor the running status of the line, and reduce the driving speed in curves or complex road conditions to avoid derailment accidents. At present, the speed measurement technology of rail transit vehicles generally has the following types:

1) Install sensors on the wheels to calculate the speed of the vehicle by measuring the number of rotations of the wheels. This technology will cause deviations in the speed measurement data due to the wheels slipping on the rail surface in rainy and snowy environments;

2) The speed measurement is realized by the principle of Doppler radar. This technology is mature, but the measurement accuracy is poor and will be affected by rain and snow, and the effect is poor when the train speed is less than 40 kilometers;

3) The speed is calculated by GPS positioning technology. This technology is widely used, but it cannot be used in subways or tunnels and the error of speed measurement at shorter distances is relatively large;

4) Calculate the speed by measuring the time when the train passes through a specific measurement point by RFID technology. The defect of this technology is that it can only be measured at a specific location.

In order to ensure the accuracy and reliability of train speed measurement data, rail transit vehicles generally use a combination of multiple technologies to measure train speed.

In the management of train running, there are many places that need to use the precise speed of the train. For example, due to wear and tear of the brake parts of the train, the braking capacity will be reduced. The engineering department needs to grasp the braking capacity data in time to evaluate whether to improve the braking system overhaul. In addition, weather factors such as rain and snow will also seriously affect the braking ability of the train. The driver needs to control the vehicle speed according to the braking ability of the train in the current environment.

Contents of the invention

In order to solve the problems in the prior art, the invention provides a precise speed measurement system and method for rail transit vehicles.

The invention provides an accurate speed measurement system for rail transit vehicles, which includes a laser ranging sensor that scans the cross-sectional profile of the sleeper laid under the rail, and calculates the running speed of the train according to the time difference between the train passing through the two sleepers and the laying distance of the sleepers Data processing host and speed display terminal.

As a further improvement of the present invention, the data processing host includes a processor, a data output interface and a GPS receiving module, wherein the output end of the laser ranging sensor is connected to the processor, and the output end of the GPS receiving module It is connected with the processor, and the output terminal of the processor is respectively connected with the data output interface and the speed display terminal.

As a further improvement of the present invention, the rail transit vehicle precise speed measurement system includes a carriage, the data processing host and the speed display terminal are respectively arranged on the carriage, and the laser ranging sensor is arranged below the carriage.

The present invention also provides a method for accurately measuring the speed of a rail transit vehicle. The laser ranging sensor scans the cross-sectional profile of the sleeper laid under the rail and identifies its characteristic signal. to calculate the speed of the train.

As a further improvement of the present invention, when the train is moving, the laser ranging sensor continuously emits ranging laser signals and receives reflected signals to measure the distance to the railroad surface. Due to the sleepers laid under the rails, the ranging data periodically changes.

As a further improvement of the present invention, the processing and identification of the ranging signal of the laser ranging sensor is realized through the data processing host, the ranging data is filtered and processed to form a ranging curve, and the characteristic signal of the sleeper is identified from the ranging curve , get the time for the train to pass through two adjacent sleepers, and then calculate the train speed.

As a further improvement of the present invention, the speed measurement data is transmitted to the speed display terminal installed in the driver's cab through the data line, which is used to display the real-time speed of the train and provide sound and light warnings when overspeeding.

As a further improvement of the present invention, the data processing host computer includes a data output interface through which the data is output to the train control system or operation dispatching center for evaluating the braking capacity of the train and train operation dispatching.

As a further improvement of the present invention, the data processing host includes a GPS receiving module, through which the current position is acquired, and speed calibration and sleeper spacing matching are performed.

The beneficial effects of the present invention are: by installing the laser ranging sensor on the rail transit vehicle, the laser ranging sensor continuously scans the track surface and measures its distance to the track surface when the train is running, because the laid sleeper is obviously higher than the track surface, Therefore, the ranging data will change periodically. The data processing host extracts the characteristic signal of the sleeper from the periodically changing data. The data processing host recognizes the characteristic signal and calculates the time of the characteristic signal of two adjacent sleepers. The laying interval of the train can be divided by this time to accurately calculate the train speed.

Description of drawings

Fig. 1 is a schematic diagram of an accurate speed measuring system for a rail transit vehicle according to the present invention.

Fig. 2 is a functional block diagram of a precise speed measurement system for rail transit vehicles according to the present invention.

Fig. 3 is a schematic diagram of a speed measurement process of a method for precise speed measurement of a rail transit vehicle according to the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

The reference numerals in Fig. 1 to Fig. 3 are: sleeper 1; laser ranging sensor 2; data processing host 3; processor 31; data output interface 32; GPS receiving module 33; speed display terminal 4; compartment 5.

As shown in Fig. 1, the present invention provides a kind of accurate speed measuring system of rail transit vehicle, comprises the laser ranging sensor 2 that scans the cross-sectional profile of the sleeper 1 laid under the rail, according to the time difference of the train passing through two adjacent sleepers 1 and The data processing host 3 and the speed display terminal 4 for calculating the traveling speed of the train are calculated from the laying distance of adjacent sleepers 1 .

As shown in Figure 2, the data processing host 3 includes a processor 31, a data output interface 32, and a GPS receiving module 33, wherein the output end of the laser distance measuring sensor 2 is connected to the processor 31, and the The output end of the GPS receiving module 33 is connected to the processor 31 , and the output end of the processor 31 is respectively connected to the data output interface 32 and the speed display terminal 4 .

As shown in Figure 2, the laser ranging sensor 2 is installed below the rail transit vehicle, the laser ranging sensor 2 is connected with the processor 31 by data and power cables, and the laser ranging sensor 2 continuously performs ranging and The ranging data is transmitted to the processor 31 .

As shown in Figure 2, due to objects such as ballast laid on the track and fastening bolts on the sleeper 1, the scanning curve formed by the ranging data is not a smooth curve, as shown in Figure 3, there are a large number of interference signals, and the processor 31 to filter out interference through filtering, clipping and other algorithms, and finally extract the characteristic signal of sleeper 1.

As shown in FIG. 2 , the speed display terminal 4 displays the train speed value in real time, and gives an audible and visual signal alarm when the speed limit value of the current track section is exceeded.

As shown in FIG. 2 , the GPS receiving module 33 is connected to the processor 31 through the data bus, and transmits the coordinate information of the current position of the train, which is used to match the speed limit value of the current track section and match the laying distance data of the current track sleepers 1 .

As shown in Figure 2, the data output interface 32 is used to provide real-time speed measurement data for other systems or equipment in the train, so as to realize train running control or parameter monitoring functions, such as being connected with the braking system, which can evaluate the braking capacity of the train in real time and provide The control system provides braking distance feedback. The data output interface 32 can also transmit the train speed monitoring data to the operation dispatching center through the wireless network.

As shown in Figure 1, the rail transit vehicle precision speed measurement system includes a compartment 5, the data processing host 3 and the speed display terminal 4 are respectively arranged on the compartment 5, and the laser ranging sensor 2 is arranged on the compartment 5 below.

As shown in Figures 1 to 3, a method for precise speed measurement of a rail transit vehicle uses a laser ranging sensor 2 to scan the cross-sectional profile of a sleeper 1 laid under the rail to identify its signal, and according to the distance between the train passing through two adjacent sleepers 1 The time difference and the laying distance of the sleeper 1 are used to calculate the traveling speed of the train.

As shown in Figures 1 to 3, when the train is moving, the laser ranging sensor 2 continuously emits ranging laser signals and receives reflected signals to measure the distance to the railroad surface. Due to the sleeper 1 laid under the rails, the ranging data appears periodically Sexual changes.

As shown in Figures 1 to 3, the processing and identification of the ranging signal of the laser ranging sensor 2 is realized through the data processing host 3, the ranging data is filtered and processed to form a ranging curve, and the derailment is identified from the ranging curve The characteristic signal of sleeper 1 is used to obtain the time when the train passes through two adjacent sleepers 1, and then the train speed is calculated.

As shown in Figures 1 to 3, the speed measurement data is transmitted to the speed display terminal 4 installed in the driver's cab through the data line, which is used to display the real-time speed of the train and provide sound and light warnings when overspeeding.

As shown in Figures 1 to 3, the data processing host 3 includes an acceleration sensor, which can be used to judge whether the train is at rest or at a constant speed, and close the laser ranging sensor 2 when it is at rest or at a constant speed to extend the range of the laser. Sensor 2 service life.

As shown in FIGS. 1 to 3 , the data processing host 3 includes a data output interface 32 through which data is output to a train control system or an operation dispatching center for evaluating braking capacity and train operation dispatching.

As shown in FIG. 1 to FIG. 3 , the data processing host 3 includes a GPS receiving module 33 , through which the current position is obtained, and the speed verification and the matching of the distance between the sleepers 1 are performed. The speed limit requirements of trains in different driving sections are different. For example, when turning, the speed limit value will be set according to different turning radii. Therefore, the GPS receiving module 33 receives the position coordinates to change the warning speed limit value. In addition, in some track sections, the interval between sleepers or sleepers 1 will change according to different geological conditions. According to the position information received by GPS, the measurement results will be corrected based on the pre-stored laying interval data of sleepers 1 corresponding to the position.

In order to ensure the stability of the track during rail transit construction, sleepers will be laid under the rails during construction, and the rails will be installed on the sleepers. In recent years, with the application of integral pouring technology in rail transit construction, sleepers have begun to be used. Regardless of whether sleepers or sleepers are used, the laying spacing and tolerances follow the relevant national and industry standard specifications.

The present invention provides a precise speed measurement system and method for a rail transit vehicle. By installing a laser distance measuring sensor 2 on the carriage 5 of the rail transit vehicle, the rail road surface is continuously scanned and the distance to the rail road surface is measured when the train is running. Since the laid sleeper 1 is higher than the track pavement, the distance measurement data will change periodically. The characteristic signal of the sleeper 1 is extracted from the periodically changing data by digital signal processing technology, and then it is calculated that the rail transit vehicle passes through two The time t of the sleeper 1 can be used to calculate the train speed by using the pre-stored laying distance L of the sleeper 1 and using the formula V=L/t.

The present invention provides a precise speed measurement system and method for a rail transit vehicle. A laser ranging sensor 2 is installed under the compartment 5 of the rail transit vehicle. The laser ranging sensor 2 emits a laser ranging signal to measure the distance to the track, and the distance The data is sent to the data processing host 3 for processing to form a distance measurement curve, and the characteristic signal of the sleeper 1 of the track is identified in the curve, and the time of the characteristic signal of two adjacent sleepers 1 is calculated to calculate the speed of the train. It can be used in applications such as real-time measurement of train speed and evaluation of train braking performance.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deduction or replacement can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (9)

1. the accurate velocity-measuring system of rail traffic vehicles, it is characterised in that: include scanning the laser range sensor of the sleeper profiled outline being laid under rail, being calculated the data processing host of the travel speed of train by the time difference of adjacent two sleepers and the Lay interval of adjacent sleeper according to train and for speed instruction and the speed display terminal of hypervelocity alarm.

The accurate velocity-measuring system of rail traffic vehicles the most according to claim 1, it is characterized in that: described data processing host includes processor, data output interface and GPS receiver module, wherein, the outfan of described laser range sensor is connected with described processor, the outfan of described GPS receiver module is connected with described processor, and the outfan of described processor is connected with described data output interface, speed display terminal respectively.

The accurate velocity-measuring system of rail traffic vehicles the most according to claim 1, it is characterized in that: the accurate velocity-measuring system of described rail traffic vehicles includes compartment, described data processing host and speed display terminal are separately positioned on described compartment, and described laser range sensor is arranged on the lower section in described compartment.

4. the accurate speed-measuring method of rail traffic vehicles, it is characterized in that: scan, by laser range sensor, the sleeper profiled outline being laid under rail and identify its signal, being calculated the travel speed of train according to train by the time difference of adjacent two sleepers and the Lay interval of adjacent sleeper.

The accurate speed-measuring method of rail traffic vehicles the most according to claim 4, it is characterized in that: when train is advanced, laser range sensor is constantly launched range laser signal and receives reflected signal, measuring its distance to rail road surface, the sleeper owing to laying under rail causes ranging data periodically change occur.

The accurate speed-measuring method of rail traffic vehicles the most according to claim 5, it is characterized in that: realized process and the identification of the distance measuring signal to laser range sensor by data processing host, range finding curve is formed ranging data after being filtered processing, by the characteristic signal identifying sleeper in range finding curve, obtain the train time by adjacent two sleepers, and then calculate train speed.

The accurate speed-measuring method of rail traffic vehicles the most according to claim 6, it is characterised in that: measurement data is sent to be arranged on the speed display terminal of driver's cabin by data wire, is used for showing train real-time speed and providing sound flash alarm system when hypervelocity.

The accurate speed-measuring method of rail traffic vehicles the most according to claim 7, it is characterized in that: data processing host includes a data output interface, by this data output interface, data are exported to train control system or traffic control center, be used for assessing train brake Braking system ability and train operation scheduling.

The accurate speed-measuring method of rail traffic vehicles the most according to claim 7, it is characterised in that: data processing host includes a GPS receiver module, obtains current location by this GPS receiver module, carries out the coupling of speed calibration and sleeper pitch.