Train derailment detection method, device and server

Abstract

The present application provides a method, device and server for detecting train derailment, obtaining the acceleration of the train currently subjected to the deviation from the track; judging whether the current train is in danger of derailment according to the acceleration of the deviation from the track; if judging that the current train is in danger of derailment, sending inquiry information to the server of each carriage; receiving feedback information of the server of each carriage for the inquiry information; the feedback information includes the first feedback information, the second feedback information and the third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage when the current carriage is separated from the previous carriage; using the feedback information of the server of each carriage, determining the carriage in danger of derailment. In order to achieve the purpose of timely warning before the train derails, and accurately obtain which carriage is about to derail.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a method, device and server for detecting train derailment. Background Art

[0002] With the increase and changes in statutory holidays, people have more time to travel. Compared with planes, more and more people choose to travel by train.

[0003] However, if a train derails, it often results in disastrous consequences. In the prior art, some sensors are added at the connection between two adjacent carriages. If two adjacent carriages derail, the sensors will not sense the existence of the adjacent carriages, and an alarm device will be used to give a prompt, thereby achieving the purpose of detection. It can be seen that the prior art can only detect whether a train has derailed, but cannot prevent the occurrence of disasters.

[0004] Therefore, there is an urgent need for a method that can provide timely warning before a train derails. Summary of the invention

[0005] In view of this, the present application provides a train derailment detection method, device and server for providing timely warning before a train derails.

[0006] The first aspect of the present application provides a method for detecting train derailment, which is applied to a server at the front of a train, comprising:

[0007] When the train is running, the acceleration information of the current train is obtained in real time; wherein the acceleration information of the train is used to indicate the acceleration of the train currently being deviated from the track;

[0008] Determining whether the current train is in danger of derailment according to the acceleration information of the train;

[0009] If it is determined that the current train is in danger of derailment, a query message is sent to the server of each carriage;

[0010] Receive feedback information from the server of each carriage in response to the inquiry information; wherein the feedback information includes first feedback information, second feedback information and third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage;

[0011] The feedback information from the server of each carriage is used to determine the carriages at risk of derailment.

[0012] Optionally, judging whether the current train is in danger of derailment according to the acceleration information includes:

[0013] Determining whether the train is currently subjected to an acceleration greater than a threshold value;

[0014] If it is determined that the train is currently experiencing an acceleration greater than a threshold value, it indicates that the train is currently in danger of derailment;

[0015] If it is determined that the derailment acceleration currently experienced by the train is less than or equal to the threshold value, it means that the train is currently not in danger of derailment.

[0016] A second aspect of the present application provides a train derailment detection method, which is applied to a server in a carriage, comprising:

[0017] Receiving inquiry information sent by the server of the train head;

[0018] Feedback information is sent to the server of the train head; wherein the feedback information includes first feedback information, second feedback information and third feedback information, wherein the first feedback information is used to indicate whether the current carriage is in danger of derailment, and is obtained by judging whether the current carriage is in danger of derailment based on the acceleration information of the current carriage acquired in real time; wherein the acceleration information of the current carriage is used to indicate the acceleration of the current carriage deviating from the track; the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and is obtained by judging whether the current carriage is separated from the previous carriage by using the sound wave module when it is judged that the current carriage is in danger of derailment; the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage, and is obtained by real-time positioning of the current carriage by using the positioning module when it is judged that the current carriage is separated from the previous carriage.

[0019] Optionally, the method of judging whether the current carriage is in danger of derailment according to the acceleration information of the current carriage is:

[0020] Determining whether the acceleration of the current carriage that is currently experiencing deviation from the track is greater than a threshold;

[0021] Among them: if it is determined that the acceleration of the current carriage deviating from the track is greater than a threshold value, it means that the current carriage is in danger of derailment; if it is determined that the acceleration of the current carriage deviating from the track is less than or equal to the threshold value, it means that the current carriage is not in danger of derailment.

[0022] Optionally, the method of using the sound wave module to determine whether the current carriage is separated from the previous carriage is:

[0023] Sending a sound wave signal to the preceding carriage;

[0024] receiving a reflected wave signal of the sound wave signal;

[0025] Determine whether the time of receiving the reflected wave signal is greater than a preset time;

[0026] Wherein: if it is determined that the time for receiving the reflected wave signal is greater than the preset time, it means that the current carriage is separated from the previous carriage.

[0027] The third aspect of the present application provides a train derailment detection device, which is applied to a server at the front of a train, comprising:

[0028] A monitoring unit, used for obtaining the acceleration information of the current train in real time when the train is running; wherein the acceleration information of the train is used to indicate the acceleration of the train currently being subjected to the deviation from the track;

[0029] A judgment unit, used to judge whether the current train is in danger of derailment according to the acceleration information of the train;

[0030] A sending unit, configured to send inquiry information to a server of each carriage if the judging unit judges that the current train is in danger of derailment;

[0031] A receiving unit, configured to receive feedback information from the server of each carriage in response to the inquiry information; wherein the feedback information is used to determine the current state of each carriage; the feedback information includes first feedback information, second feedback information and third feedback information, wherein the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage;

[0032] The determination unit is used to determine the carriage with the risk of derailment by utilizing the feedback information from the server of each carriage.

[0033] Optionally, the judging unit includes:

[0034] A judging subunit, used for judging whether the acceleration of the train currently experiencing deviation from the track is greater than a threshold;

[0035] Wherein: if the judging subunit judges that the acceleration of the train currently being subjected to derailment is greater than a threshold value, it indicates that the current train is in danger of derailment; if the judging subunit judges that the acceleration of the train currently being subjected to derailment is less than or equal to the threshold value, it indicates that the current train is not in danger of derailment.

[0036] A fourth aspect of the present application provides a train derailment detection device, which is applied to a server in a carriage, comprising:

[0037] A receiving unit, used for receiving inquiry information sent by the server at the front of the train;

[0038] A sending unit, used for sending feedback information to the server of the train head; wherein the feedback information includes first feedback information, second feedback information and third feedback information, wherein the first feedback information is used for indicating whether the current carriage is in danger of derailment, and is obtained by judging whether the current carriage is in danger of derailment according to the acceleration information of the current carriage acquired in real time; wherein the acceleration information of the current carriage is used for indicating the acceleration of the current carriage deviating from the track; the second feedback information is used for indicating whether the current carriage is separated from the previous carriage, and is obtained by judging whether the current carriage is separated from the previous carriage by using the sound wave module when it is judged that the current carriage is in danger of derailment; the third feedback information is used for indicating the real-time position information of the current carriage if the current carriage is separated from the previous carriage, and is obtained by real-time positioning of the current carriage by using the positioning module when it is judged that the current carriage is separated from the previous carriage.

[0039] A fifth aspect of the present application provides a server, which is applied to a train head, and includes:

[0040] An acceleration detection module is used to detect the acceleration information of the current train in real time when the train is running; wherein the acceleration information of the train is used to indicate the acceleration of the train currently being subjected to the deviation from the track;

[0041] A control module is used to obtain the acceleration information of the train and determine whether the current train is in danger of derailment according to the acceleration information of the train;

[0042] A wireless communication module, used for sending inquiry information to the server of each carriage if the control module determines that the current train is in danger of derailment; and for receiving feedback information from the server of each carriage in response to the inquiry information; wherein the feedback information is used to determine the current state of each carriage; the feedback information includes first feedback information, second feedback information and third feedback information, wherein the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage;

[0043] The control module is also used to determine the carriages that are in danger of derailment by utilizing the feedback information from the server of each carriage.

[0044] A sixth aspect of the present application provides a server, which is applied to each carriage, including:

[0045] A wireless communication module, used for receiving inquiry information sent by the server at the front of the train;

[0046] An acceleration detection module, used for acquiring the acceleration information of the current carriage in real time, wherein the acceleration information of the current carriage is used to indicate the acceleration of the current carriage being subjected to the deviation from the track;

[0047] A control module, configured to determine whether the current carriage is in danger of derailment according to the acceleration information of the current carriage, and obtain first feedback information using the determination result;

[0048] The sound wave module is used to determine whether the current carriage is separated from the previous carriage when the control module determines that the current carriage is in danger of derailment, and obtain second feedback information using the determination result;

[0049] A positioning module, used for real-time positioning of the current carriage when the acoustic wave module determines that the current carriage is separated from the previous carriage, and obtaining third feedback information using the positioning result;

[0050] The wireless communication module is also used to send feedback information to the server of the train head; wherein the feedback information includes first feedback information, second feedback information and third feedback information.

[0051] As can be seen from the above scheme, in a detection method, device and server for train derailment provided by the present application, when the train is running, the acceleration information of the current train is obtained in real time; wherein, the acceleration information of the train is used to indicate the acceleration of the train currently subjected to the deviation from the track; then, according to the acceleration information of the train, it is judged whether the current train is in danger of derailment; if it is judged that the current train is in danger of derailment, an inquiry information is sent to the server of each carriage; feedback information of the server of each carriage for the inquiry information is received; wherein, the feedback information includes the first feedback information, the second feedback information and the third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage when the current carriage is separated from the previous carriage; finally, the feedback information of the server of each carriage is used to determine the carriage in danger of derailment. In order to achieve the purpose of timely warning before the train derails, and accurately obtain which carriage is about to derail. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0053] Figure 1 A specific flow chart of a train derailment detection method provided in an embodiment of the present application;

[0054] Figure 2 A specific flow chart of a train derailment detection method provided in another embodiment of the present application;

[0055] Figure 3 A schematic diagram of a train derailment detection device applied to a server at the front of a train provided by another embodiment of the present application;

[0056] Figure 4 A schematic diagram of a train derailment detection device applied to a server in a carriage provided by another embodiment of the present application;

[0057] Figure 5 A schematic diagram of a second judgment unit provided in another embodiment of the present application;

[0058] Figure 6 A schematic diagram of a server applied to a train locomotive provided in another embodiment of the present application;

[0059] Figure 7 A schematic diagram of an acceleration detection module provided in another embodiment of the present application;

[0060] Figure 8 A schematic diagram of a server applied to a carriage provided in another embodiment of the present application;

[0061] Fig. 9 A schematic diagram of an acoustic wave module provided in accordance with another embodiment of the present application. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] It should be noted that the concepts of "first", "second", etc. mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units, and the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0064] The present application embodiment provides a method for detecting train derailment, such as Figure 1 As shown, including:

[0065] S101. When a train is running, the acceleration information of the current train is obtained in real time.

[0066] The train's acceleration information is used to indicate the acceleration that the train is currently experiencing due to deviation from the track.

[0067] It should be noted that when the control module (Field Programmable Gate Array, FPGA) is started, the acceleration information of the current train is obtained in real time. Wherein, the conditions for the start-up work of the control module include but are not limited to, the speed sensor in the server of the train head detects the running speed information of the train in real time, and the current running speed information is sent to the control module, when the running speed received by the control module is greater than the threshold value, the threshold value can be but is not limited to 20 kilometers per hour, then the control module is started, and the acceleration information of the current train is obtained in real time; similarly, a train derailment detection button can also be installed in the train cab, by the driver or staff, when the train starts, the control module is actively started by pressing a button, and the control module is used to detect whether the train is derailed. The startup mode of the control module is very diverse and mature, so it is not limited here.

[0068] It should also be noted that the acceleration sensor on the server at the front of the train detects the acceleration of the current train that is subjected to deviation from the track, and the obtained acceleration information of the front of the train is used as the acceleration information of the current train.

[0069] Specifically, when the train is running, the acceleration sensor on the server at the front of the train detects the acceleration of the current train that is deviating from the track, and sends the acceleration information of the current train to the control module in real time.

[0070] S102. Determine whether the current train is in danger of derailment based on the acceleration information of the train.

[0071] Specifically, the acceleration information of the train is collected in real time by the acceleration sensor and sent to the control unit. The current acceleration information of the train is compared with the preset acceleration information to determine whether the current train is in danger of derailment. If it is determined that the current train is in danger of derailment, step S103 is executed.

[0072] Optionally, in another embodiment of the present application, an implementation of step S102 includes:

[0073] Determine whether the train is currently experiencing an acceleration greater than a threshold value.

[0074] It should also be noted that the threshold value corresponding to the acceleration of the train deviating from the track is different at different speeds. For example, if the current speed of the train is 100 kilometers per hour, then the threshold value corresponding to the acceleration of the train deviating from the track is 10; if the current speed of the train is 120 kilometers per hour, then the threshold value corresponding to the acceleration of the train deviating from the track is 15; it should also be noted that the threshold value corresponding to the acceleration of the train deviating from the track at different speeds can be adjusted according to technical personnel, and is not limited to the above values. Moreover, the above values ​​are only for example illustration, and the values ​​in actual applications are not limited to the above values. Therefore, no limitation is made here.

[0075] Specifically, during the running of the train, the current running speed of the train is first determined, and the threshold value corresponding to the running speed of the current train and the acceleration off the track corresponding to the current train running speed are confirmed, and it is judged whether the acceleration off the track received by the current train is greater than the threshold value. If it is judged that the acceleration off the track received by the train is greater than the threshold value, it means that the current train is in danger of derailment, and step S103 is executed; if it is judged that the acceleration off the track received by the train is less than or equal to the threshold value, it means that the current train is not in danger of derailment.

[0076] S103, sending inquiry information to the server of each carriage.

[0077] Among them, the methods of sending inquiry information to the server of each carriage are very diverse and mature, so they are not limited here.

[0078] It can be that query information is sent to the server of each carriage in sequence, such as configuring each carriage through a dip switch. Taking an 8-bit dip switch as an example, the first bit of the dip switch is used to configure the current server as the server of the train head or the server of the carriage. The first bit of the dip switch used to represent the server of the train head can be set to 1; the first bit of the dip switch used to represent the server of the carriage can be set to 0; the remaining 7 bits are used to indicate which carriage the server of the current carriage is. For example, the server of the train head can be represented as 10001000; the server of the first carriage can be represented as 00000001, the server of the second carriage can be represented as 00000010, the server of the third carriage can be represented as 00000011, and so on. Among them, the first carriage is the carriage closest to the train head; the second carriage is the carriage second closest to the train head. When it is determined in step S102 that the current train is in danger of derailment, the server at the front of the train first sends an inquiry message to the server of the first car. After receiving the feedback message sent by the server of the first car, it sends an inquiry message to the server of the second car until the server of the last car is queried.

[0079] Alternatively, the inquiry message may be sent according to the priority of each carriage. Specifically, before the train departs, each carriage on the train may be given a priority, and the priority setting may be, but is not limited to, priority level 1, priority level 2, priority level 3, and the like. For example, dangerous goods are stored in the third car of the train. Assuming that the third car stores inflammable and explosive goods, if the third car derails, more serious accidents such as explosions will occur, and more casualties will be caused; the second car is a normal passenger car; the first car is a freight car, then the priority of the first car of the train can be set to 1; the priority of the second car is set to 2; the third car is set to a limited level of 3. When it is determined in step S102 that the current train is in danger of derailment, the server at the front of the train first sends an inquiry message to the server of the third car with the highest priority. After receiving the feedback information sent by the third car, it sends an inquiry message to the server of the second car until the server of the car with the lowest priority is inquired. In actual application scenarios, the way to set the priority of each car can also be to divide it according to the passenger level in the car, etc., which is not limited here.

[0080] Specifically, inquiry information is sent to the server of each carriage through the wireless communication module on the server at the front of the train.

[0081] S104, receiving inquiry information sent by the server at the front of the train.

[0082] Specifically, the inquiry information sent by the server at the front of the train is received through the wireless communication module on the server on the carriage.

[0083] S105: Send feedback information to the server at the front of the train.

[0084] Among them, the feedback information includes first feedback information, second feedback information and third feedback information. The first feedback information is used to indicate whether the current car is in danger of derailment, and is obtained by judging whether the current car is in danger of derailment based on the acceleration information of the current car obtained in real time; wherein, the acceleration information of the current car is used to indicate the acceleration of the current car from the track; the second feedback information is used to indicate whether the current car is separated from the previous car, and is obtained by using the sound wave module to judge whether the current car is separated from the previous car when it is judged that the current car is in danger of derailment; the third feedback information is used to indicate the real-time position information of the current car if the current car is separated from the previous car, and is obtained by using the positioning module to perform real-time positioning of the current car when it is judged that the current car is separated from the previous car.

[0085] It should be noted that the carriage server starts to determine whether the current carriage is in danger of derailment after the train starts running, and if the current carriage is in danger of derailment, it starts to determine whether the current carriage is separated from the previous carriage, and when it is determined that the current carriage is separated from the previous carriage, it starts to locate the current carriage in real time. After obtaining the first feedback information, the second feedback information and the third feedback information, when the server at the head of the train sends the query information to the current carriage, the first feedback information, the second feedback information and the third feedback information are sent to the server at the head of the train.

[0086] Specifically, the wireless communication module on the server in the carriage adds a feedback signal and sends it to the server at the front of the train.

[0087] Optionally, an implementation manner of judging whether the current carriage is in danger of derailment according to the acceleration information of the current carriage includes:

[0088] Determine whether the acceleration of the current carriage that is off the track is greater than a threshold.

[0089] It should be noted that the threshold value corresponding to the acceleration of the car deviating from the track is different at different driving speeds. For example, if the current driving speed of the car is 100 kilometers per hour, then the threshold value corresponding to the acceleration of the car deviating from the track is 10; if the current driving speed of the car is 120 kilometers per hour, then the threshold value corresponding to the acceleration of the car deviating from the track is 15; it should also be noted that the threshold value corresponding to the acceleration of the car deviating from the track at different driving speeds can be adjusted according to technical personnel and is not limited to the above values. Moreover, the above values ​​are only for example illustration, and the values ​​in actual applications are not limited to the above values. Therefore, no limitation is made here.

[0090] It should also be noted that the threshold value corresponding to the acceleration of the carriage deviating from the track at different traveling speeds and the threshold value corresponding to the acceleration of the train deviating from the track at different traveling speeds may be different, and can be adjusted by technical personnel according to actual conditions, and are not limited here.

[0091] Specifically, during the travel of the train, the travel speed of the current car is first determined, and the threshold value corresponding to the acceleration off the track corresponding to the travel speed of the current car is confirmed, and it is judged whether the acceleration off the track received by the current car is greater than the threshold value. If it is judged that the acceleration off the track received by the current car is greater than the threshold value, it means that the current car is in danger of derailment; if it is judged that the acceleration off the track received by the car is less than or equal to the threshold value, it means that the current car is not in danger of derailment.

[0092] Optionally, in another embodiment of the present application, a sound wave module is used to determine whether the current carriage is separated from the previous carriage. Figure 2 As shown, including:

[0093] S201, sending a sound wave signal to the preceding carriage.

[0094] Specifically, it can be but not limited to an oscillator composed of CD4011 to generate oscillation, and the sound wave is driven to be sent to the previous car through a step-up conversion. The start and stop of the oscillator are controlled by a control module.

[0095] S202: Receive a reflected wave signal of the sound wave signal.

[0096] It should be noted that since the received signal is a 40Khz mV level voltage signal, a post-stage signal conditioning module is required to amplify the signal; it can be, but is not limited to, an integrated circuit preamplifier CX20106. The integrated circuit preamplifier CX20106 consists of a preamplifier, a limiting amplifier, a bandpass filter, a detector, an integrator, and a shaping circuit. Among them, the preamplifier has an automatic gain control function, which can ensure that the amplifier has a higher gain when the acoustic wave sensor receives a weak voltage output from a distant reflected signal, and the amplifier will not be overloaded when the input signal is strong at a close distance.

[0097] S203: Determine whether the time for receiving the reflected wave signal is greater than a preset time.

[0098] Specifically, if it is determined that the time for receiving the reflected wave signal is greater than the preset time, step S204 is executed; if it is determined that the time for receiving the reflected wave signal is greater than the preset time, step S205 is executed.

[0099] S204, determining that the current carriage is detached from the previous carriage.

[0100] S205: Determine whether the current carriage is detached from the previous carriage.

[0101] S106, receiving feedback information from the server of each carriage in response to the query information.

[0102] Specifically, feedback information from the server in each carriage in response to the inquiry information is received through the wireless communication module on the server in the carriage.

[0103] S107, using the feedback information from the server of each carriage, determine the carriage that is in danger of derailment.

[0104] Specifically, based on the first feedback information from the server of each carriage, the carriage in danger of derailment, such as the first carriage, is determined, and the driver or crew can be prompted by means of but not limited to indicator lights, voice broadcasts, etc., that the first carriage is in danger of derailment and that the first carriage needs to be inspected or the passengers in the carriage needs to be evacuated; based on the second feedback information from each carriage, it is determined which carriage has derailed, and based on the third feedback information, the current location of the derailed carriage is determined so that personnel can be dispatched immediately for rescue.

[0105] As can be seen from the above scheme, in a detection method for train derailment provided by the present application, when the train is running, the acceleration information of the current train is obtained in real time; wherein, the acceleration information of the train is used to indicate the acceleration of the train currently subjected to the deviation from the track; then, according to the acceleration information of the train, it is judged whether the current train is in danger of derailment; if it is judged that the current train is in danger of derailment, an inquiry information is sent to the server of each carriage; feedback information of the server of each carriage for the inquiry information is received; wherein, the feedback information includes the first feedback information, the second feedback information and the third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage when the current carriage is separated from the previous carriage; finally, the feedback information of the server of each carriage is used to determine the carriage in danger of derailment. In order to achieve the purpose of timely early warning before the train derails, and accurately obtain which carriage is about to derail.

[0106] Another embodiment of the present application provides a train derailment detection device, which is applied to a server at the front of a train, such as Figure 3 As shown, including:

[0107] The monitoring unit 301 is used to obtain the acceleration information of the current train in real time when the train is running.

[0108] The acceleration information of the train is used to indicate the off-track acceleration to which the train is currently subjected.

[0109] The judging unit 302 is used to judge whether the current train is in danger of derailment according to the acceleration information of the train.

[0110] Optionally, in another embodiment of the present application, an implementation of the judging unit 302 includes:

[0111] The judging subunit is used to judge whether the acceleration of the train currently experiencing deviation from the track is greater than a threshold value.

[0112] Among them: if the judging subunit judges that the acceleration of the train currently being subjected to derailment is greater than a threshold value, it means that the current train is in danger of derailment; if the judging subunit judges that the acceleration of the train currently being subjected to derailment is less than or equal to the threshold value, it means that the current train is not in danger of derailment.

[0113] The specific working process of the units disclosed in the above embodiments of the present application can be found in the corresponding method embodiments, which will not be repeated here.

[0114] The sending unit 303 is used to send inquiry information to the server of each carriage if the judging unit 302 judges that the current train is in danger of derailment.

[0115] The receiving unit 304 is used to receive feedback information from the server of each carriage in response to the query information.

[0116] Among them, the feedback information is used to determine the current state of each carriage; the feedback information includes first feedback information, second feedback information and third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is detached from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is detached from the previous carriage.

[0117] The determination unit 305 is used to determine the carriages that are at risk of derailment by using the feedback information from the server of each carriage.

[0118] For the specific working process of the units disclosed in the above embodiments of the present application, please refer to the corresponding method embodiments, such as Figure 1 As shown, no further description is given here.

[0119] It can be seen from the above scheme that in a train derailment detection device for a server applied to a train head provided by the present application, when the train is running, the acceleration information of the current train is obtained in real time by using a monitoring unit 301; wherein the acceleration information of the train is used to indicate the acceleration of the train currently subjected to the deviation from the track; then, the judgment unit 302 judges whether the current train is in danger of derailment according to the acceleration information of the train; if it is judged that the current train is in danger of derailment, the query information is sent to the server of each carriage through the sending unit 303; the feedback information of the server of each carriage for the query information is received by the receiving unit 304; wherein the feedback information includes first feedback information, second feedback information and third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage when the current carriage is separated from the previous carriage; finally, the carriage in danger of derailment is determined by the determination unit 305 using the feedback information of the server of each carriage. In order to achieve the purpose of timely warning before the train derails, and accurately obtain which car is about to derail.

[0120] Another embodiment of the present application provides a train derailment detection device, which is applied to a server in a carriage, such as Figure 4 As shown, including:

[0121] The first receiving unit 401 is used to receive the inquiry information sent by the server at the front of the train.

[0122] The first sending unit 402 is used to send feedback information to the server at the front of the train.

[0123] Among them, the feedback information includes first feedback information, second feedback information and third feedback information. The first feedback information is used to indicate whether the current car is in danger of derailment. It is obtained by using the acceleration information of the current car obtained in real time by the monitoring unit 403, and judging whether the current car is in danger of derailment by the first judgment unit 404; wherein, the acceleration information of the current car is used to indicate the acceleration of the current car from the track; the second feedback information is used to indicate whether the current car is separated from the previous car. When the first judgment unit 404 judges that the current car is in danger of derailment, the second judgment unit 405 uses the sound wave module to judge whether the current car is separated from the previous car; the third feedback information is used to indicate the real-time position information of the current car if the current car is separated from the previous car. It is obtained by real-time positioning of the current car by the positioning unit 406 when the second judgment unit 405 judges that the current car is separated from the previous car.

[0124] For the specific working process of the units disclosed in the above embodiments of the present application, please refer to the corresponding method embodiments, such as Figure 1 As shown, no further description is given here.

[0125] Optionally, in another embodiment of the present application, an implementation of the first determination unit 404 includes:

[0126] Determine whether the acceleration of the current carriage that is off the track is greater than a threshold.

[0127] Specifically, if it is determined that the acceleration of the current carriage deviating from the track is greater than a threshold value, it means that the current carriage is in danger of derailment; if it is determined that the acceleration of the current carriage deviating from the track is less than or equal to the threshold value, it means that the current carriage is not in danger of derailment.

[0128] The specific working process of the units disclosed in the above embodiments of the present application can be found in the corresponding method embodiments, which will not be repeated here.

[0129] Optionally, in another embodiment of the present application, an implementation of the second judgment unit 404 is as follows: Figure 5 Said, including:

[0130] The second sending unit 501 is used to send a sound wave signal to the preceding carriage.

[0131] The second receiving unit 502 is used to receive the reflected wave signal of the sound wave signal.

[0132] The second judging subunit 503 is used to judge whether the time of receiving the reflected wave signal is greater than a preset time.

[0133] Specifically, if the second judgment subunit 503 determines that the time for receiving the reflected wave signal is greater than the preset time, it means that the current car is separated from the previous car; if the second judgment subunit 503 determines that the time for receiving the reflected wave signal is less than or equal to the preset time, it means that the current car is not separated from the previous car.

[0134] For the specific working process of the units disclosed in the above embodiments of the present application, please refer to the corresponding method embodiments, such as Figure 2 As shown, no further description is given here.

[0135] As can be seen from the above scheme, in a train derailment detection device for a server in a carriage provided by the present application, the acceleration information of the current carriage obtained in real time by the monitoring unit 403 is used, and the first judgment unit 404 is used to judge whether the current carriage is in danger of derailment to obtain the first feedback information; wherein, the acceleration information of the current carriage is used to indicate the acceleration of the current carriage from the track; when the first judgment unit 404 judges that the current carriage is in danger of derailment, the second judgment unit 405 uses the sound wave module to judge whether the current carriage is separated from the previous carriage to obtain the second feedback information; when the second judgment unit 405 judges that the current carriage is separated from the previous carriage, the positioning unit 406 is used to locate the current carriage in real time to obtain the third feedback information. When the server in the carriage receives the inquiry information sent by the train head through the first receiving unit 401, the first feedback information, the second feedback information and the third feedback information are sent to the server in the carriage as feedback information for the inquiry information sent by the server of the train head through the first sending unit 402. In order to achieve the purpose of timely warning before the train derails, and accurately obtain which car is about to derail.

[0136] Another embodiment of the present application provides a server, which is applied to a train head, such as Figure 6 As shown, including:

[0137] The acceleration detection module 601 is used to detect the acceleration information of the current train in real time when the train is running.

[0138] The train's acceleration information is used to indicate the acceleration that the train is currently experiencing due to deviation from the track.

[0139] Specifically, the acceleration information of the current train may be detected in real time by, but not limited to, using an acceleration sensor in the acceleration detection module.

[0140] Optionally, in another embodiment of the present application, an implementation of the acceleration detection module 601 is as follows: Figure 7 As shown, including:

[0141] The capacitive acceleration sensor 701 is used to work in real time during the operation of the train and generate a capacitance value.

[0142] The capacitance-pressure conversion module 702 is used to convert the capacitance value generated by the capacitive acceleration sensor 701 into a voltage value to generate a voltage signal.

[0143] The gain amplification module 703 is used to amplify the voltage signal generated by the capacity-voltage conversion module 702 to a voltage range that can be received by the control module 602 .

[0144] The bandpass filter 704 is used to stabilize the output voltage signal at a certain frequency and reduce interference from other signals.

[0145] The control module 602 is used to obtain the acceleration information of the train and determine whether the current train is in danger of derailment based on the acceleration information of the train.

[0146] The wireless communication module 603 is used to send inquiry information to the server of each carriage if the control module 602 determines that the current train is in danger of derailment; and is also used to receive feedback information from the server of each carriage in response to the inquiry information.

[0147] Among them, the feedback information is used to determine the current state of each carriage; the feedback information includes first feedback information, second feedback information and third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is detached from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is detached from the previous carriage.

[0148] Specifically, if the control module 602 determines that the current train is in danger of derailment, the wireless communication module sends an inquiry message to the server of each carriage, wherein the inquiry message includes location information. For example, the server of the train head requests data communication from the server of the second carriage, and the server of the train head sends a request data frame, and the ID number of the carriage included in the request data frame is 2. Although the servers of all carriages will receive the request message, only the server of the second carriage will respond to the message. After the server of the second carriage responds to the message, the server of the train head sends the inquiry message to the server of the second carriage. When the server of the train head receives the feedback information of the second carriage, it sends the request information of the third carriage. The control module 602 in the server of the train head also uses the wireless communication module 603 to send an alarm message to the driver.

[0149] The control module 602 is also used to use the feedback information from the server of each car to determine the car that is in danger of derailment.

[0150] Optionally, in another embodiment of the present application, the server applied to the train head further includes:

[0151] The sound wave module is used to determine whether the current carriage is detached from the next carriage when the control module 602 determines that the current train is in danger of derailment.

[0152] Among them, the sound wave module includes: a sound wave sending module, a sound wave receiving module and a post-stage signal conditioning module; wherein the sound wave can be but is not limited to being generated by the oscillator oscillation composed of CD4011, and the sound wave is driven to be sent to the next car through a boost conversion; wherein the start and stop of the oscillator are controlled by the control module 602; the sound wave receiving module is used to receive the signal of the sound wave emitted by the sound wave sending module after being reflected back; the post-stage signal conditioning module is used to adjust the signal received by the sound wave receiving module so that the signal received by the sound wave receiving module can be recognized.

[0153] It should be noted that the sound wave may be but is not limited to ultrasonic wave.

[0154] It should also be noted that since the received signal is a 40Khz mV-level voltage signal, a post-stage signal conditioning module is required to amplify the signal; it can be, but is not limited to, an integrated circuit preamplifier CX20106. The integrated circuit preamplifier CX20106 consists of a preamplifier, a limiting amplifier, a bandpass filter, a detector, an integrator, and a shaping circuit. Among them, the preamplifier has an automatic gain control function, which can ensure that the amplifier has a higher gain when the acoustic wave sensor receives a weak voltage output from a distant reflected signal, and the amplifier will not be overloaded when the input signal is strong at a close distance.

[0155] As can be seen from the above scheme, in a server applied to the front of a train provided by the present application, first, through the acceleration detection module 601, when the train is running, the acceleration information of the current train is detected in real time. Wherein, the acceleration information of the train is used to indicate the acceleration of the train currently subjected to the deviation from the track. Afterwards, the control module 602 is used to obtain the acceleration information of the train, and according to the acceleration information of the train, it is determined whether the current train is in danger of derailment. If the control module 602 determines that the current train is in danger of derailment, the wireless communication module 603 is used to send an inquiry information to the server of each carriage; it is also used to receive feedback information of the server of each carriage for the inquiry information. Wherein, the feedback information is used to determine the current state of each carriage; the feedback information includes the first feedback information, the second feedback information and the third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate if the current carriage is separated from the previous carriage, the real-time position information of the current carriage. Finally, the control module 602 uses the feedback information from the server of each carriage to determine the carriage that is at risk of derailment, so as to achieve the purpose of timely warning before the train derails, and accurately obtain which carriage is about to derail.

[0156] Another embodiment of the present application provides a server, which is applied to a carriage, such as Figure 8 As shown, including:

[0157] The wireless communication module 801 is used to receive the inquiry information sent by the server at the front of the train; it is also used to send feedback information to the server at the front of the train after receiving the inquiry information sent by the server at the front of the train.

[0158] Specifically, the request data frame sent by the server at the front of the train is received, and it is determined whether the ID number in the current carriage is consistent with the ID number of the carriage contained in the request data frame. If the ID number in the current carriage is consistent with the ID number of the carriage contained in the request data frame, the server in the current carriage will respond to the information. After the server in the current carriage responds to the information, the server at the front of the train will send the inquiry information to the server in the current carriage through the wireless communication module 601. After receiving the inquiry information sent by the server at the front of the train, the wireless communication module 801 is used to send the feedback information to the server at the front of the train.

[0159] The acceleration detection module 802 is used to obtain the acceleration information of the current car in real time.

[0160] The acceleration information of the current carriage is used to indicate the acceleration of the current carriage that is caused by the vehicle deviating from the track.

[0161] It should be noted that the specific working process of the acceleration detection module 802 is consistent with that of the acceleration detection module 601 , and reference may be made to the embodiment of the acceleration detection module 601 , which will not be described in detail here.

[0162] The control module 803 is used to determine whether the current carriage is in danger of derailment according to the acceleration information of the current carriage, and obtain first feedback information using the determination result.

[0163] The sound wave module 804 is used to determine whether the current car is separated from the previous car when the control module 803 determines that the current car is in danger of derailment, and obtain the second feedback information using the determination result.

[0164] Optionally, in another embodiment of the present application, an implementation of the sound wave module 804 is as follows: Fig. 9 As shown, including:

[0165] The sound wave sending module 901 is used to send the sound wave to the previous carriage.

[0166] It should be noted that the sound wave may be but is not limited to ultrasonic wave.

[0167] Specifically, the sound wave may be generated by, but not limited to, an oscillator composed of CD4011, and the sound wave is driven to be sent to the previous car through a boost conversion; wherein, the start and stop of the oscillator are controlled by the control module 803.

[0168] The sound wave receiving module 902 is used to receive the signal of the sound wave emitted by the sound wave sending module 901 after being reflected.

[0169] The post-stage signal conditioning module 903 is used to adjust the signal received by the sound wave receiving module 902 so that the signal received by the sound wave receiving module 902 can be identified.

[0170] It should be noted that since the received signal is a 40Khz mV level voltage signal, a post-stage signal conditioning module is required to amplify the signal; it can be, but is not limited to, an integrated circuit preamplifier CX20106. The integrated circuit preamplifier CX20106 consists of a preamplifier, a limiting amplifier, a bandpass filter, a detector, an integrator, and a shaping circuit. Among them, the preamplifier has an automatic gain control function, which can ensure that the amplifier has a higher gain when the acoustic wave sensor receives a weak voltage output from a distant reflected signal, and the amplifier will not be overloaded when the input signal is strong at a close distance.

[0171] The positioning module 805 is used to locate the current carriage in real time when the sound wave module 804 determines that the current carriage is separated from the previous carriage, and obtain the third feedback information using the positioning result.

[0172] The feedback information includes first feedback information, second feedback information and third feedback information.

[0173] As can be seen from the above scheme, in a server applied to a carriage provided by the present application, the acceleration information of the current carriage obtained in real time is obtained by the acceleration detection module 802. Wherein, the acceleration information of the current carriage is used to indicate the acceleration of the current carriage from the track. Then the control module 803 is used to judge whether the current carriage is in danger of derailment according to the acceleration information of the current carriage, and the first feedback information is obtained by using the judgment result. When the control module 803 judges that the current carriage is in danger of derailment, the sound wave module 804 is used to judge whether the current carriage is separated from the previous carriage, and the second feedback information is obtained by using the judgment result. When the sound wave module 804 judges that the current carriage is separated from the previous carriage, the current carriage is located in real time by the positioning module 805, and the third feedback information is obtained by using the positioning result. When the server of the carriage receives the inquiry information sent by the server of the train head through the wireless communication module 801, the first feedback information, the second feedback information and the third feedback information obtained above are sent to the server of the train head as feedback information for the inquiry information sent by the server of the train head, so as to achieve the purpose of timely warning before the train derails and accurately obtain which carriage is about to derail.

[0174] It should be noted that in the implementation process of this application, the server of the train head and the server of the carriage can use the same server to facilitate production and manufacturing. Among them, the server should include all the functions of the server of the train head and the server of the carriage. In the application process, the server of the train head and the server of the carriage can be configured by the dip switch, and the first bit of the dip switch is used to configure the current server as the server of the train head or the server of the carriage; the first bit of the dip switch used to represent the server of the train head can be set to 1; the first bit of the dip switch used to represent the server of the carriage is set to 0. If the current server is configured as the server of the train head, then the current server will implement all the functions of the server of the train head in the above embodiment. If the current server is configured as the server of the carriage, then the current server will implement all the functions of the server of the carriage in the above embodiment.

[0175] In the above embodiments disclosed in the present application, it should be understood that the disclosed apparatus and method can also be implemented in other ways. The apparatus and method embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the apparatus, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0176] In addition, each functional module in each embodiment of the present disclosure can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a live broadcast device, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0177] The present application can be implemented or used by professionals and technicians. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting train derailment, characterized in that: The servers used in train locomotives include: When the train is running, the acceleration information of the current train is obtained in real time; wherein the acceleration information of the train is used to indicate the acceleration of the train currently being deviated from the track; Determining whether the current train is in danger of derailment according to the acceleration information of the train; If it is determined that the current train is in danger of derailment, a query message is sent to the server of each carriage; Receive feedback information from the server of each carriage in response to the inquiry information; wherein the feedback information includes first feedback information, second feedback information and third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage; The feedback information from the server of each carriage is used to determine the carriages at risk of derailment.

2. The detection method according to claim 1, characterized in that: The step of judging whether the current train is in danger of derailment according to the acceleration information includes: Determining whether the train is currently subjected to an acceleration greater than a threshold value; If it is determined that the train is currently experiencing an acceleration greater than a threshold value, it indicates that the train is currently in danger of derailment; If it is determined that the derailment acceleration currently experienced by the train is less than or equal to the threshold value, it means that the train is currently not in danger of derailment.

3. A method for detecting train derailment, characterized in that: The servers used in the carriages include: Receiving inquiry information sent by the server of the train head; Feedback information is sent to the server of the train head; wherein the feedback information includes first feedback information, second feedback information and third feedback information, wherein the first feedback information is used to indicate whether the current carriage is in danger of derailment, and is obtained by judging whether the current carriage is in danger of derailment based on the acceleration information of the current carriage acquired in real time; wherein the acceleration information of the current carriage is used to indicate the acceleration of the current carriage deviating from the track; the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and is obtained by judging whether the current carriage is separated from the previous carriage by using the sound wave module when it is judged that the current carriage is in danger of derailment; the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage, and is obtained by real-time positioning of the current carriage by using the positioning module when it is judged that the current carriage is separated from the previous carriage.

4. The detection method according to claim 3, characterized in that: The method of judging whether the current carriage is in danger of derailment according to the acceleration information of the current carriage is: Determining whether the acceleration of the current carriage that is currently experiencing deviation from the track is greater than a threshold; Among them: if it is determined that the acceleration of the current carriage deviating from the track is greater than a threshold value, it means that the current carriage is in danger of derailment; if it is determined that the acceleration of the current carriage deviating from the track is less than or equal to the threshold value, it means that the current carriage is not in danger of derailment.

5. The detection method according to claim 3, characterized in that: The method of using the sound wave module to determine whether the current carriage is separated from the previous carriage is as follows: Sending a sound wave signal to the preceding carriage; receiving a reflected wave signal of the sound wave signal; Determine whether the time of receiving the reflected wave signal is greater than a preset time; Wherein: if it is determined that the time for receiving the reflected wave signal is greater than the preset time, it means that the current carriage is separated from the previous carriage.

6. A train derailment detection device, characterized in that: The servers used in train locomotives include: A monitoring unit, used for obtaining the acceleration information of the current train in real time when the train is running; wherein the acceleration information of the train is used to indicate the acceleration of the train currently being subjected to the deviation from the track; A judgment unit, used to judge whether the current train is in danger of derailment according to the acceleration information of the train; A sending unit, configured to send inquiry information to a server of each carriage if the judging unit judges that the current train is in danger of derailment; A receiving unit, configured to receive feedback information from the server of each carriage in response to the inquiry information; wherein the feedback information is used to determine the current state of each carriage; the feedback information includes first feedback information, second feedback information and third feedback information, wherein the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage; The determination unit is used to determine the carriage with the risk of derailment by utilizing the feedback information from the server of each carriage.

7. The detection device according to claim 6, characterized in that: The judging unit comprises: A judging subunit, used for judging whether the acceleration of the train currently experiencing deviation from the track is greater than a threshold; Wherein: if the judging subunit judges that the acceleration of the train currently being subjected to derailment is greater than a threshold value, it indicates that the current train is in danger of derailment; if the judging subunit judges that the acceleration of the train currently being subjected to derailment is less than or equal to the threshold value, it indicates that the current train is not in danger of derailment.

8. A train derailment detection device, characterized in that: The servers used in the carriages include: A receiving unit, used for receiving inquiry information sent by the server at the front of the train; A sending unit, used for sending feedback information to the server of the train head; wherein the feedback information includes first feedback information, second feedback information and third feedback information, wherein the first feedback information is used for indicating whether the current carriage is in danger of derailment, and is obtained by judging whether the current carriage is in danger of derailment according to the acceleration information of the current carriage acquired in real time; wherein the acceleration information of the current carriage is used for indicating the acceleration of the current carriage deviating from the track; the second feedback information is used for indicating whether the current carriage is separated from the previous carriage, and is obtained by judging whether the current carriage is separated from the previous carriage by using the sound wave module when it is judged that the current carriage is in danger of derailment; the third feedback information is used for indicating the real-time position information of the current carriage if the current carriage is separated from the previous carriage, and is obtained by real-time positioning of the current carriage by using the positioning module when it is judged that the current carriage is separated from the previous carriage.

9. A server, characterized in that: Applied to train locomotives, including: An acceleration detection module is used to detect the acceleration information of the current train in real time when the train is running; wherein the acceleration information of the train is used to indicate the acceleration of the train currently being subjected to the deviation from the track; A control module is used to obtain the acceleration information of the train and determine whether the current train is in danger of derailment according to the acceleration information of the train; A wireless communication module, used for sending inquiry information to the server of each carriage if the control module determines that the current train is in danger of derailment; and also used for receiving feedback information from the server of each carriage in response to the inquiry information; wherein the feedback information is used to determine the current state of each carriage; the feedback information includes first feedback information, second feedback information and third feedback information, the first feedback information is used to indicate whether the current carriage is in danger of derailment, the second feedback information is used to indicate whether the current carriage is separated from the previous carriage, and the third feedback information is used to indicate the real-time position information of the current carriage if the current carriage is separated from the previous carriage; The control module is also used to determine the carriages that are in danger of derailment by utilizing the feedback information from the server of each carriage.

10. A server, characterized in that: Applied to every carriage, including: A wireless communication module, used for receiving inquiry information sent by the server at the front of the train; An acceleration detection module, used for acquiring the acceleration information of the current carriage in real time, wherein the acceleration information of the current carriage is used to indicate the acceleration of the current carriage being subjected to the deviation from the track; A control module, configured to determine whether the current carriage is in danger of derailment according to the acceleration information of the current carriage, and obtain first feedback information using the determination result; The sound wave module is used to determine whether the current carriage is separated from the previous carriage when the control module determines that the current carriage is in danger of derailment, and obtain second feedback information using the determination result; A positioning module, used for real-time positioning of the current carriage when the acoustic wave module determines that the current carriage is separated from the previous carriage, and obtaining third feedback information using the positioning result; The wireless communication module is also used to send feedback information to the server of the train head; wherein the feedback information includes first feedback information, second feedback information and third feedback information.

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