CN112810666B - Train positioning and speed measuring method, equipment, system, computer equipment and storage medium - Google Patents
Train positioning and speed measuring method, equipment, system, computer equipment and storage medium Download PDFInfo
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- CN112810666B CN112810666B CN201911120452.2A CN201911120452A CN112810666B CN 112810666 B CN112810666 B CN 112810666B CN 201911120452 A CN201911120452 A CN 201911120452A CN 112810666 B CN112810666 B CN 112810666B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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Abstract
The invention discloses a method, equipment and a system for positioning and measuring speed of a train, computer equipment and a storage medium, wherein the method for positioning and measuring speed of the train comprises the steps of periodically collecting positioning voltage running on a running track; determining the positioning position of the train according to the positioning voltage; and calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions. The train positioning and speed measuring method is good in real-time performance, can automatically position and measure the speed of the train, and can effectively improve the accuracy of train positioning and speed measurement.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train positioning and speed measuring method, device and system, computer equipment and a storage medium.
Background
At present, a magnetic head is generally arranged on an axle of a train for positioning and speed measurement, the running speed of the train is calculated through pulse counting of the magnetic head within a certain time, and then the running distance of the train within the certain time is calculated through calculating the integral of the speed of the train to the time. However, the method needs to correct under the condition of wheel idling and wheel slipping, has certain accumulated errors, causes inaccurate positioning and speed measurement, and also needs to correct the wheel diameter before the train enters formal operation, so that the requirement of a full-automatic operation signal system cannot be met.
Disclosure of Invention
The embodiment of the invention provides a method, equipment, a system, computer equipment and a storage medium for positioning and speed measuring of a train, and aims to solve the problems of inaccurate positioning and speed measuring and poor real-time performance of the existing train.
In a first aspect, a method for positioning and measuring speed of a train includes:
periodically collecting the positioning voltage of a train running on a running track;
determining the positioning position of the train according to the positioning voltage;
and calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions.
In a second aspect, a train positioning and speed measuring device is arranged on a train running on a running track, and comprises: the positioning voltage acquisition device is connected with the vehicle-mounted controller;
the positioning voltage acquisition device is used for acquiring the positioning voltage of the train running on the running track;
the vehicle-mounted controller is used for determining the positioning position of the train according to the positioning voltage; and calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions.
In a third aspect, a train positioning and speed measuring system comprises the train positioning and speed measuring device of the second aspect arranged on a train;
the train positioning and speed measuring equipment is used for periodically collecting the positioning voltage of the train running on the running track; determining the positioning position of the train according to the positioning voltage; calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions;
the train positioning the system that tests the speed still includes: the train positioning speed measuring device comprises a linear resistance rail and a positioning grounding rail which are arranged on a train track, and the train positioning speed measuring device is in contact conduction with the linear resistance rail and the positioning grounding rail when the voltage is detected.
In a fourth aspect, a computer device includes a memory, a processor, and a computer program stored in the memory and operable on the processor, where the processor implements the steps of the train positioning and speed measuring method in the first aspect when executing the computer program.
In a fifth aspect, a computer readable storage medium stores a computer program, and the computer program when executed by a processor implements the steps of the train positioning and speed measuring method in the first aspect.
In the method, the device, the system, the computer device and the storage medium for positioning and speed measuring of the train, the positioning voltage of the train running on the running track is periodically acquired, and the positioning voltage is determined according to the position of the train on the running track, namely the train runs on different positions of the running track, the acquired positioning voltage is different, so that the positioning position of the train is determined according to the acquired positioning voltage, and the speed of the train is calculated according to any two positioning positions and the interval time between the two positioning positions. The train positioning and ranging device has the advantages that the train positioning and ranging can be carried out according to the collected positioning voltage no matter where the train runs on the running track, so that the limitation of train positioning and speed measurement at present is solved, namely the problems of inaccurate train positioning and speed measurement and poor real-time performance are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a specific flowchart of a train positioning and speed measuring method according to an embodiment of the present invention;
FIG. 2 is a detailed flowchart of step S20 in FIG. 1;
FIG. 3 is a schematic structural diagram of a train positioning and speed measuring device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a train positioning and speed measuring system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a positioning voltage acquisition circuit according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a train positioning and speed measuring system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a computer device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The train positioning and speed measuring method provided by the embodiment of the invention can be applied to train positioning and speed measuring equipment, is used for determining the positioning position of a train based on the positioning voltage, and then calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions, and effectively solves the problems of inaccurate train positioning and speed measuring and poor real-time performance.
In an embodiment, as shown in fig. 1, a method for positioning and measuring speed of a train is provided, which specifically includes the following steps:
s10: the positioning voltage of a train running on a running track is periodically collected.
In an embodiment, in step S10, acquiring a positioning voltage of the train specifically includes: the method comprises the steps of collecting positioning voltage of a train running on a running track provided with a linear resistance track and a positioning grounding track.
Further, gather the location voltage of traveling at the orbital train of driving that is equipped with linear resistance rail and location ground rail, specifically include: and controlling the positioning voltage acquisition device to be in contact conduction with the linear resistance rail and the positioning grounding rail on the driving track, and acquiring the positioning voltage of the train running on the driving track.
Specifically, the linear resistance rail and the positioning ground rail that are disposed on the driving rail may be disposed on the same side of the driving rail, or disposed on both sides of the driving rail, which is not limited herein.
In this embodiment, a description will be given taking as an example that linear resistance rails and positioning ground rails are provided on both sides of a running rail. Specifically, the linear resistance rail and the positioning ground rail are respectively installed on two sides of the driving rail, so that the positioning voltage detection probe on the train is in contact conduction with the linear resistance rail and the positioning ground rail, that is, a conduction circuit is formed between the positioning voltage acquisition assembly and the linear resistance rail and between the positioning voltage acquisition assembly and the positioning ground rail as shown in fig. 5, so as to acquire the positioning voltage of the train running on the driving rail. As shown in fig. 5, the positioning voltage is specifically a voltage between the conducting contact point a and the start end of the linear resistance rail when the positioning voltage detects that the positive electrode probe is in contact conduction with the linear resistance rail, and the positioning voltage is related to the distance between the conducting contact point a and the start end of the linear resistance rail, and therefore is related to the position of the train running on the train track, so as to perform train positioning and speed measurement according to the collected positioning voltage.
In an embodiment, before step S10, that is, before the positioning voltage of the train is collected, the train positioning and speed measuring method further includes: and (3) electrifying and initializing the train, controlling a positioning voltage detection positive electrode probe in the positioning voltage acquisition device to be in contact conduction with a linear resistance rail on the driving rail, and controlling a positioning voltage detection negative electrode probe in the positioning voltage acquisition device to be in contact conduction with a positioning grounding rail on the driving rail. In this embodiment, the positioning voltage detection positive electrode probe and the positioning voltage detection negative electrode probe are both telescopic rod type positioning voltage detection positive electrode probe and positioning voltage detection negative electrode probe, and when voltage detection is required, the on-board controller controls the positioning voltage detection positive electrode probe and the positioning voltage detection negative electrode probe to be respectively in contact conduction with the linear resistance rail and the positioning grounding rail so as to form a conduction circuit, so that train positioning is performed by using the positioning voltage determined by the conduction circuit.
Specifically, the train is powered on and initialized, namely after the train is automatically or manually powered on, the vehicle-mounted equipment in the train is awakened and self-checked. After the self-checking is completed, the vehicle-mounted controller controls the telescopic positioning voltage detection probe in the train to automatically contact and conduct with the linear resistance rail and the positioning grounding rail on the driving track, namely, the positioning voltage detection positive electrode probe is controlled to contact and conduct with the linear resistance rail on the driving track, and the positioning voltage detection negative electrode probe is controlled to contact and conduct with the positioning grounding rail on the driving track, so that a conductive path is formed, the positioning voltage is collected, and the static positioning recovery after the train is electrified is further realized.
In another embodiment, the embodiment of acquiring the positioning voltage of the train in step S10 further includes connecting an external equivalent resistor between every two contact points by providing a plurality of contact points with equal intervals on the train track, so that the positioning voltage detection probe on the train is in contact conduction with the contact points, i.e. a conduction circuit is formed between the positioning voltage acquisition assembly and the contact points and the positioning ground rail, so as to acquire the positioning voltage of the train running on the train track. Exemplarily, as shown in fig. 6, a plurality of contact points 215 with equal intervals are arranged beside a track on one side of a running track 211 in the figure, an external equivalent resistor 216 is connected between every two contact points, a positioning grounding rail 212 is arranged on the running track, and a positioning voltage detection positive electrode probe 213 is in contact conduction with the contact points on the running track during voltage detection; the positioning voltage detection negative probe 214 is in contact conduction with the positioning ground rail 212 on the travelling crane rail during voltage detection. It should be noted that the installation positions of the contact points 216 and the positioning ground rail 113 on the running rail in fig. 6 are only for illustration and are not limited herein.
Further, in order to guarantee that the train is in the in-process of traveling, guarantee that the detection probe on the train can switch on with the contact point contact on the driving track, in order to gather positioning voltage, in this embodiment, can be greater than the interval between per two contact points with the effective contact width of positioning voltage detection probe on the train and contact point contact, in order to guarantee that the train can effectively contact the contact point on the driving track when traveling on the driving track, when avoiding appearing the train and traveling on the driving track, if when traveling between two contact points, positioning voltage detection probe on the train can't contact with the contact point, lead to the unable circumstances of gathering positioning voltage.
Furthermore, the interval between the contact points on the track can be set to be smaller, so that the contact points are denser, and the positioning voltage detection probe on the train can be in contact conduction with the contact points to acquire the positioning voltage.
S20: and positioning according to the positioning voltage to determine the positioning position of the train.
In one embodiment, the travelling crane rail is provided with a plurality of physical sections, and each physical section is provided with a linear resistance rail and a positioning grounding rail. As shown in fig. 2, a train positioning and speed measuring method is provided, in step S20, positioning is performed according to a positioning voltage, and a positioning position of a train is determined, specifically including the following steps:
s21: using train positioning operation formula
And processing the positioning voltage to obtain the relative distance between the train and the start end of the linear resistance track of the current physical section, wherein L represents the length of the resistance track corresponding to the linear resistance track, L represents the relative distance between the train and the start end of the linear resistance track, vs represents the positioning voltage of the train, and V represents the reference voltage (i.e. the voltage V shown in fig. 2) at the two ends of the linear resistance track.
Specifically, the length of the travelling crane track is the same as the length of the linear resistance track and the length of the positioning grounding track, so that the conduction of the voltage acquisition circuit is ensured, and the accuracy of train positioning is ensured. Furthermore, a corresponding trackside power supply system is arranged beside the driving track to provide a precise and stable reference voltage (Vs) for two ends of the linear resistance track. The reference voltage is a voltage which is irrelevant to load, power supply, temperature drift, time and the like and can be always constant in a circuit, and the precision and stability of the reference voltage are eliminated by providing precise and stable reference voltages for two ends of a linear resistance rail, so that the positioning accuracy of the train is ensured.
Specifically, by using a linear resistance rail, the relative distance of the train from the beginning of the linear resistance rail is determined by the linear relationship of the linear resistance to current and voltage. Understandably, because the resistance track is linear, the resistance value from the contact conducting point of the positioning voltage detection positive pole probe and the linear resistance track to the initial end of the linear resistance track is in direct proportion to the distance, the reference voltage Vs of the positioning voltage detection positive pole probe relative to the positioning grounding track is in direct proportion to the distance from the contact point of the positioning voltage detection positive pole probe and the linear resistance track to the initial end of the linear resistance track, and then the train positioning operation formula is obtained
WhereinL and V are constant values.
It can be understood that the length of the resistive track corresponding to the linear resistive track is equal to the length of the train track, and therefore, the obtained relative distance between the train and the start end of the linear resistive track is the relative distance between the train and the start end of the train track.
In the embodiment, the relative distance between the train and the initial end of the linear resistance rail in the current physical section is obtained by adopting the train positioning operation formula to position the voltage, the calculation is simple, and the train positioning efficiency is improved. And the relative distance is obtained through the relation among all parameters in the same conduction circuit, so that the train positioning is more accurate.
S30: and calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions.
In one example, the speed of the train can be calculated according to the physical section of any two positioning positions, the direction of the linear resistance track of the physical section, the traveling direction of the train and the interval time. The direction of the linear resistance track is the direction in which the resistance increases from zero point.
Specifically, after the train positioning position l1 calculated before the time T is calculated, after the train positioning position l2 is calculated, if l1 and l2 are in the same physical zone, the speed v of the train is calculated by using the following formula:
if l1 and l2 are not in the same physical zone and the train is running in the forward direction relative to the resistive track, the train speed v is calculated by using the following formula:
wherein, L1 is the length of the physical segment where L1 is located.
If l1 and l2 are not in the same physical zone and the train runs in reverse relative to the resistive track, the train speed v is calculated using the following formula:
wherein, L2 is the length of the physical section where L2 is located.
Illustratively, a certain straddle type monorail line adopts a full-automatic operation system, and the line is assumed to have 4 stations, station 1, station 2, station 3 and station 4, station 1 and station 4 are mutually starting/terminal stations, the ascending direction is from station 1 to station 4, the ascending direction track from station 1 to station 2 is divided into physical sections T0101, T0103 and T0105 in sequence, the length of the physical section T0101 is 10000 cm, the length of the physical section T0103 is 20000 cm, and the length of the physical section T0105 is 18000 cm.
The method comprises the steps that resistance rails and grounding rails are installed on two sides of all physical sections of a line, the resistance rails and the grounding rails are equal in length to the corresponding physical sections, meanwhile, corresponding trackside power supply systems are equipped to provide precise and stable reference voltages for two ends of the resistance rails, it is assumed that the reference voltages of the resistance rails installed in the physical sections T0101, T0103 and T0105 are 35VDC, and the negative poles of the reference voltages are communicated with the grounding rails.
A positioning voltage acquisition device is added to a safety computer platform adopted by a vehicle-mounted controller of each train and used for acquiring positioning voltage, a conductive wheel and a grounding wheel are installed on the train and used as a positioning voltage detection positive probe and a positioning voltage negative probe, a group of analog quantity acquisition input ports of the positioning voltage acquisition device are connected to positive and negative terminals of a group of analog quantity acquisition input ports of the positioning voltage acquisition device through hard wires respectively, and the positioning voltage acquisition device can acquire the voltage of the conductive wheel once every 200 milliseconds. The conductive wheels and the grounding wheels slide on the resistance rails and the grounding rails respectively along with the movement of the train and are conducted with the resistance rails and the grounding rails respectively at contact points.
Scene one: the train running direction is the same as the direction of the resistance rail of the current physical section, and the train runs in the same physical section at the moment of collecting and positioning voltage twice.
Suppose that at time 1530VDC, the distance between the train position calculated by the vehicle-mounted controller and the starting end of the physical section T0101 is
Assuming the train continues to travel up the track, the positioning voltage acquisition module is at 15: the voltage of the vehicle conducting wheel collected at the 200 th moment is 31.22VDC, then the train at the current collecting and positioning voltage moment and the last collecting and positioning voltage moment is in the T0101 physical section, and the distance between the train position calculated by the positioning calculation module in the VOBC system and the starting end of the physical section T0101 is
Calculating the speed of the train as
Scene two: the train running direction is the same as the direction of the resistance track of the physical section, the train running in the first physical section is collected and positioned for the first time, and the train running in the next physical section of the first physical section is collected for the second time.
Assuming that 15; then the speed of the train is calculated as
Scene three: the train running direction is opposite to the direction of the resistance rail of the physical section, and the train runs in the same physical section at the moment of collecting and positioning voltage twice.
Assuming that a certain train runs on the T0101 at the time of 15
Assuming that the train continues to run in the reverse direction, the positioning voltage acquisition device acquires the voltage of the conductive wheel of the train to be 30VDC at the time of 15
Calculating the speed of the train as
Scene four: the train running direction is opposite to the resistance track direction of the physical section, the train for collecting and positioning the voltage for the first time runs in the first physical section, and the second-time voltage acquisition train operates in the next physical section of the first physical section.
Assuming that a certain train runs in a physical section T0101 at the moment of 15;
the train runs in the reverse direction, 15;
the velocity measurement calculation module calculates the velocity of the train as
In one example, there may be some offset between the location of the electronically located train (i.e., the relative distance of the train from the beginning of the linear resistive track) and the location of the train located by the train location and speed measurement system during normal operation. Therefore, data conversion needs to be performed on the relative distance between the train and the initial end of the linear resistance track, and the positioning data, namely the positioning data, positioned by the train positioning and speed measuring system in normal operation is obtained.
Specifically, the offset between the position of the Train (namely the relative distance between the Train and the start end of the linear resistor track) is located through the electronic positioning, and the Train position located by the Train positioning and speed measuring system in normal operation is calculated, so that the positioning data (namely the Train position located by the Train positioning and speed measuring system in normal operation) can be obtained, the operation mode of full-function ATP (Automatic Train Protection) Protection is established, and the requirement of rapidly and accurately recovering the positioning of the Train in the full-Automatic operation system after awakening is met.
For example, the method for performing data conversion on the relative distance between the train and the start end of the linear resistive track is as follows, assuming that the position of the electronic positioning train (for example, the relative distance between the train and the start end of the linear resistive track is 4000 centimeters) is 200 centimeters smaller than the position of the train positioned by the train positioning and speed measuring system in normal operation, the position of the electronic positioning train is converted into the position of the train positioned by the train positioning and speed measuring system in normal operation, and the position of the train positioned by the train positioning and speed measuring system in normal operation is 4200 centimeters away from the start end of the train track.
In this embodiment, the distance between the start end of the train track and the positioning voltage has a relative relationship, and the positioning voltage is determined according to the position of the train on the train track, that is, the train has different positions on the train track, and the acquired positioning voltages are different, so that the positioning voltage of the train running on the train track is acquired, and then the positioning voltage of the train is directly calculated according to a train positioning operation formula, so that the positioning position of the train is determined, and the positioning efficiency is high. And finally, calculating the speed of the train according to the positioning positions of any two trains and the interval time between the positioning positions, so that the train running on the running track can be accurately positioned and tested no matter which position the train runs on, the positioning and testing process of the train is not limited by the limitation of the running position, and the problems of inaccurate positioning and testing of the train and poor real-time performance are effectively solved.
The embodiment of the invention provides train positioning and speed measuring equipment which can be applied to a train positioning and speed measuring system and is used for carrying out static positioning recovery on a train.
In an embodiment, as shown in fig. 3, a train positioning and speed measuring device is provided, which is disposed on a train running on a running track, and includes an onboard controller and a positioning voltage collecting device connected to the onboard controller;
the positioning voltage acquisition device is used for periodically acquiring the positioning voltage of the train running on the running track;
the vehicle-mounted controller is used for positioning according to the positioning voltage and determining the positioning position of the train; and calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions.
In this embodiment, the on-board controller is configured to perform positioning according to a positioning voltage and determine a positioning position of a Train; and calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions.
The positioning voltage acquisition device is a device for acquiring train positioning voltage. The positioning voltage is a parameter that needs to be acquired for train positioning. In this embodiment, the positioning voltage is related to the position of the train on the driving track, the position may be compared with the start end of the driving track, the positioning voltage of the train is determined according to the distance between the positioning voltage and the start end of the driving track, and since the position of the train on the driving track is fixed, the distance between the train and the start end of the driving track is also determined.
The train positioning operation formula is formed by utilizing the relative relationship between the positioning voltage of the train running on the running track and the position of the train running on the running track (specifically, the distance between the train running on the running track and the start end or the tail end of the running track) so as to calculate the positioning voltage acquired by the positioning voltage acquisition device, so that the train positioning is realized, and the train positioning process is not limited by the running position.
Specifically, the positioning voltage of a train running on a running track is acquired through a positioning voltage acquisition device, the positioning voltage is sent to a vehicle-mounted controller for positioning processing, so that the vehicle-mounted controller determines the positioning position of the train according to the positioning voltage, and the speed of the train is calculated according to any two positioning positions and the interval time between the two positioning positions.
In this embodiment, the on-board controller controls the positioning voltage acquisition device to acquire the positioning voltage of the train running on the running track, and since the positioning voltage is determined according to the position of the train on the running track, that is, the train runs on different positions of the running track, the positioning voltages acquired by the positioning voltage acquisition device are different, so as to determine the positioning position of the train according to the acquired positioning voltage, and calculate the speed of the train according to any two positioning positions and the interval time between the two positioning positions. The train positioning and speed measuring device has the advantages that the train positioning and speed measuring device can position and measure the speed of the train according to the positioning voltage acquired by the positioning voltage acquisition device no matter where the train runs on the running track, and accordingly the problems that the positioning and speed measuring are inaccurate and the real-time performance is poor are solved.
In one embodiment, the positioning voltage acquisition device comprises a positioning voltage acquisition assembly, a positioning voltage detection positive probe and a positioning voltage detection negative probe which are connected with the positioning voltage acquisition assembly; the positioning voltage detection positive electrode probe is in contact conduction with a linear resistance rail on a travelling crane rail during voltage detection; and the positioning voltage detection negative electrode probe is in contact conduction with a positioning grounding rail on the travelling crane rail during voltage detection.
Wherein, the track of driving a vehicle refers to the track that the train travels when normally operating. A linear resistive trace refers to a resistive trace whose resistance increases linearly with length. The positioning ground rail refers to a metal conductor rail with zero resistance. Specifically, the linear resistance rail and the positioning ground rail that are disposed on the driving rail may be disposed on the same side of the driving rail, or disposed on both sides of the driving rail, which is not limited herein.
In this embodiment, a description will be given taking as an example that linear resistance rails and positioning ground rails are provided on both sides of a running rail. Specifically, as shown in fig. 4, a linear resistance rail and a positioning ground rail are respectively disposed on two sides of the driving rail, and when positioning detection is required, a positioning voltage detection positive electrode probe and a positioning voltage detection negative electrode probe in the positioning voltage acquisition device are controlled to be in contact conduction with the linear resistance rail and the positioning ground rail respectively, so that a conduction circuit is formed between the positioning voltage acquisition assembly and the linear resistance rail and between the positioning voltage acquisition assembly and the positioning ground rail as shown in fig. 5, and the conduction circuit is used for acquiring the positioning voltage of the train running on the driving rail. Furthermore, the lengths of the linear resistance rail and the positioning grounding rail are equal to the length of the train track, so that the train positioning is convenient to carry out subsequently.
In the conducting circuit shown in fig. 5, the positioning voltage detects a conducting contact point a when the positive probe is in contact conduction with a linear resistance rail on a driving rail, the positioning voltage detects a conducting contact point B when the negative probe is in contact conduction with a positioning grounding rail (the resistance is zero, and the resistance can be abstracted as a wire) on the driving rail, and the positioning voltage acquisition assembly acquires the voltage between the conducting contact point a and the conducting contact point B as the positioning voltage. In this embodiment, the positioning voltage detection positive electrode probe is disposed on the train, when the train runs on the driving track and performs voltage detection, because the train runs on the driving track at different positions, so that the position of the conducting contact point a when the train is in contact conduction with the linear resistance track on the driving track is different, the position of the conducting contact point a is different relative to the start end of the linear resistance track, and the positioning voltage is the voltage between the collected conducting contact point a and the start end of the linear resistance track, so that the positioning voltage is related to the distance between the conducting contact point a and the start end of the linear resistance track, that is, the collected positioning voltage is related to the position of the train on the driving track, and train positioning and speed measurement can be performed based on the positioning voltage.
In this embodiment, the positioning voltage collecting assembly may be a voltage collecting board card, which is not limited herein. The vehicle-mounted controller adds a positioning voltage acquisition board card in an adopted safety computer platform so as to acquire positioning voltage. When the train is positioned and tested, a telescopic positioning voltage detection positive probe and a telescopic positioning voltage detection negative probe which are arranged on the train are respectively connected into a group of analog input ports of a voltage acquisition board card by hard wires so as to acquire positive and negative terminals of the input ports, so that the positioning voltage acquisition assembly is connected with the positioning voltage detection positive probe and the positioning voltage detection negative probe.
For example, assuming that a certain train is awakened in a train section and self-checking is completed before operation starts on a certain day, two telescopic positioning voltage detection probes on the train are automatically in contact conduction with a linear resistance rail and a positioning grounding rail.
In one embodiment, the positive probe for positioning voltage detection is in contact conduction with the linear resistance rail by adopting any one of a brush, a conductive wheel, a telescopic rod, a sliding bow, a pulley and a sliding blade during voltage detection.
Specifically, when detecting voltage, the positive probe for positioning voltage detection is in contact conduction with the linear resistance rail by adopting any one of the contact modes of an electric brush, a conductive wheel, a telescopic rod, a sliding bow, a pulley and a sliding blade; when detecting voltage, the positioning voltage detection negative electrode probe is in contact conduction with the positioning grounding rail by adopting any one of the contact modes of an electric brush, a conductive wheel, a telescopic rod, a sliding bow, a pulley and a sliding blade.
Specifically, when the positioning voltage detection is performed, the vehicle-mounted controller controls two telescopic positioning voltage detection probes (namely, a positioning voltage detection positive probe and a positioning voltage detection negative probe) on the train to automatically contact and conduct with the linear resistance rail and the positioning grounding rail, so that the positioning voltage acquisition assembly acquires the positioning voltage of the train.
The embodiment provides a train positioning and speed measuring system, which comprises train positioning and speed measuring equipment arranged on a train, wherein the train positioning and speed measuring equipment is used for periodically collecting positioning voltage of the train running on a running track; positioning according to the positioning voltage, and determining the positioning position of the train; and calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions.
Furthermore, the train positioning and speed measuring system further comprises a linear resistance rail and a positioning grounding rail which are arranged on the running track, and the train positioning and speed measuring equipment is in contact conduction with the linear resistance rail and the positioning grounding rail during voltage detection so as to acquire the positioning voltage of the train.
In this embodiment, through set up linear resistance rail and location ground rail on the driving track to when making the train travel on this driving track, if when needs carry out the train location, train location velocimetry equipment switches on with linear resistance rail and location ground rail contact when voltage detection, gathers the location voltage of train, fixes a position according to this location voltage, acquires the location data, so that according to the location data, confirms the position location of train, in order to guarantee the normal operation of train.
Specifically, as shown in the schematic structural diagram of the train positioning and speed measuring system shown in fig. 4, a linear resistance rail 112 is installed on one side of a travelling rail 111, a positioning grounding rail 113 is installed on the other side of the travelling rail, and a positioning voltage detection positive electrode probe 114 is in contact conduction with the linear resistance rail on the travelling rail during voltage detection; the positioning voltage detection negative electrode probe 115 is in contact conduction with the positioning grounding rail 113 on the travelling crane rail during voltage detection. It should be noted that the linear resistance rail 112 and the positioning ground rail 113 may be disposed on the same side of the track, or may be disposed on both sides of the track, and fig. 4 is only an example, and is not limited herein.
Furthermore, the train positioning speed measuring system further comprises at least one contact point and a positioning grounding rail which are arranged on the train track, an equivalent resistor is connected between every two contact points, and the train positioning speed measuring equipment is in contact conduction with the contact point and the positioning grounding rail during voltage detection so as to collect positioning voltage of the train.
As shown in fig. 6, a plurality of contact points 215 with equal intervals are arranged beside a track on one side of a travelling crane track 211, an external equivalent resistor 216 is connected between every two contact points, a positioning grounding track 212 is arranged on the other side of the travelling crane track, and a positioning voltage detection positive probe 213 is in contact conduction with the contact points 215 on the travelling crane track during voltage detection; the positioning voltage detection negative electrode probe 214 is in contact conduction with the positioning ground rail 212 on the travelling crane rail during voltage detection. It should be noted that the positioning ground rail 113 may be disposed on one side of the contact point 215 or on the other side of the contact point 215, and fig. 6 is only an example, and is not limited herein.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a computer readable storage medium, an internal memory. The computer readable storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the computer-readable storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a train positioning and speed measuring method.
In an embodiment, a computer-readable storage medium is provided, where a computer program is stored on the computer-readable storage medium, and the computer program, when executed by a processor, implements the steps of the train positioning and speed measuring method in the foregoing embodiments.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A train positioning and speed measuring method is characterized by comprising the following steps:
periodically collecting the positioning voltage of a train running on a running track;
determining the positioning position of the train according to the positioning voltage;
calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions;
the collecting of the positioning voltage of the train running on the running track includes:
collecting the positioning voltage of a train running on a running track provided with a linear resistance track and a positioning grounding track;
gather the location voltage of traveling at the orbital train of driving that is equipped with linear resistance rail and location ground rail, include:
and controlling the positioning voltage acquisition device to be in contact conduction with the linear resistance rail and the positioning grounding rail on the running track, and acquiring the positioning voltage of the train running on the running track.
2. The train positioning and speed measuring method according to claim 1, wherein the train track is provided with a plurality of physical sections, each physical section is provided with a linear resistance rail and a positioning grounding rail, and the positioning according to the positioning voltage to determine the positioning position of the train comprises:
using train positioning operation formula
Processing the positioning voltage to obtain the relative distance between the train and the initial end of the linear resistance track of the current physical section, wherein L represents the length of the resistance track corresponding to the linear resistance track, L represents the relative distance between the train and the initial end of the linear resistance track, vs represents the positioning voltage, and V represents the reference voltage at two ends of the linear resistance track.
3. The train positioning and speed measuring method according to claim 2, wherein calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions comprises:
and calculating the speed of the train according to the physical section of any two positioning positions, the direction of the linear resistance track of the physical section, the running direction of the train and the interval time.
4. The train positioning and speed measuring method according to claim 1, wherein before the step of collecting the positioning voltage of the train, the train positioning and speed measuring method further comprises the steps of:
and (3) electrifying and initializing the train, controlling the positioning voltage detection positive electrode probe in the positioning voltage acquisition device to be in contact conduction with the linear resistance rail on the running rail, and enabling the positioning voltage detection negative electrode probe in the positioning voltage acquisition device to be in contact conduction with the positioning grounding rail on the running rail.
5. The utility model provides a train location speed measuring equipment which characterized in that sets up and runs on the orbital train of driving, includes: the device comprises a vehicle-mounted controller and a positioning voltage acquisition device connected with the vehicle-mounted controller;
the positioning voltage acquisition device is used for acquiring the positioning voltage of the train running on the running track;
the vehicle-mounted controller is used for determining the positioning position of the train according to the positioning voltage; calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions;
the collecting the positioning voltage of the train running on the running track comprises:
collecting the positioning voltage of the train running on a running track provided with a linear resistance track and a positioning grounding track;
gather and travel at the orbit of driving that is equipped with linear resistance rail and location ground rail the location voltage of train includes:
and controlling the positioning voltage acquisition device to be in contact conduction with the linear resistance rail and the positioning grounding rail on the driving track, and acquiring the positioning voltage of the train running on the driving track.
6. The train positioning and speed measuring device according to claim 5, wherein the positioning voltage acquisition device comprises a positioning voltage acquisition component, a positioning voltage detection positive probe and a positioning voltage detection negative probe which are connected with the positioning voltage acquisition component;
the positioning voltage detection positive electrode probe is in contact conduction with a linear resistance rail on a travelling crane rail during voltage detection; and the positioning voltage detection negative electrode probe is in contact conduction with a positioning grounding rail on the travelling crane rail during voltage detection.
7. The train positioning and speed measuring device according to claim 6, wherein the positive positioning voltage detecting probe is in contact conduction with the linear resistance rail by using any one of a brush, a conductive wheel, a telescopic rod, a sliding bow, a pulley and a sliding blade during voltage detection.
8. A train positioning and speed measuring system is characterized by comprising train positioning and speed measuring equipment;
the train positioning and speed measuring equipment is used for periodically collecting the positioning voltage of the train running on the running track; determining the positioning position of the train according to the positioning voltage; calculating the speed of the train according to any two positioning positions and the interval time between the two positioning positions;
the train positioning and speed measuring system further comprises: the train positioning speed measuring device comprises a linear resistance rail and a positioning grounding rail which are arranged on a train track, and the train positioning speed measuring device is in contact conduction with the linear resistance rail and the positioning grounding rail when the voltage is detected.
9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the train location and speed measurement method according to any one of claims 1 to 4.
10. A computer-readable storage medium, in which a computer program is stored, and the computer program, when being executed by a processor, implements the steps of the train location and speed measurement method according to any one of claims 1 to 4.
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| CN113799849B (en) * | 2021-11-16 | 2022-03-18 | 比亚迪股份有限公司 | Train wheel diameter calibration method, vehicle-mounted controller, train and storage medium |
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