A method, device and system for detecting speed of a maglev train

Abstract

The invention discloses a speed detection method, device and system for a maglev train, which are applied to the technical field of maglev trains. To solve the problem of low speed detection efficiency and large error, the relative speed difference of each train except a main control train in the current regional formation relative to the preceding train is obtained; according to each relative speed difference, it is judged whether each train is traveling at a uniform speed; if not, a corresponding target train and each train to be speed-regulated corresponding to the target train are determined according to each relative speed difference; a speed regulation information acquisition instruction is sent to the target train, so that the target train determines acceleration speed regulation information or deceleration speed regulation information according to its own current speed and current tracking distance, and the acceleration speed regulation information or deceleration speed regulation information returned by the target train is sent to each train to be speed-regulated, so that the target train and each train to be speed-regulated perform speed regulation at corresponding speeds based on the corresponding speed regulation information; the speed detection efficiency is high and the error is small, which is conducive to improving the safety of the train.

Description

Technical Field

[0001] The present invention relates to the technical field of maglev trains, and in particular to a speed detection method, device and system for maglev trains. Background Art

[0002] A maglev train is a train that is propelled by magnetic levitation. It uses electromagnetic force to achieve contactless suspension and guidance between the train and the track, and then uses the electromagnetic force generated by a linear motor to pull the train.

[0003] In order to realize the virtual marshaling function, the existing technology of maglev trains today must obtain the speed and position of the preceding train, and then continuously adjust the speed of the current train to follow, so as to complete the virtual coupling function of vehicle tracking. In the process of vehicle tracking, the speed measurement of the train is still realized in a traditional way, that is, the preceding train calculates the speed of the current train through eddy current speed measurement, and then sends the speed of the current train to the ground equipment. The ground collects all the listed speeds and positions of the marshaling in the area and then sends them to all trains in the marshaling, so that the trains in the marshaling can determine whether they are traveling at a uniform speed with the preceding train based on the obtained data. However, this method has large detection errors and low efficiency.

[0004] In view of this, how to improve the efficiency of speed detection of maglev trains and reduce detection errors has become a problem that technical personnel in this field need to solve. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a speed detection method, device and system for a maglev train, which has high speed detection efficiency and small error, and can enable each train in the formation to better maintain a uniform speed and improve train safety.

[0006] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] In one aspect, the present invention provides a method for detecting the speed of a maglev train, comprising:

[0008] Obtaining the relative speed difference of each train except the main control train in the current regional marshaling relative to the preceding train; wherein, a millimeter wave radar arranged at the head of the train transmits multiple millimeter waves to the preceding train in a continuous time period, and a corresponding speed difference is obtained according to two adjacent transmitted millimeter waves, and a fuzzy mean algorithm is used to process each of the speed differences to obtain the relative speed difference of the train relative to the preceding train in the continuous time period;

[0009] According to each of the relative speed differences, determine whether each train in the current regional marshaling is traveling at a uniform speed; if not, determine the corresponding target train and each train to be speed-regulated corresponding to the target train according to each of the relative speed differences;

[0010] Sending a speed regulation information acquisition instruction to the target train, so that the target train acquires the current speed and the current tracking distance according to the speed regulation information acquisition instruction, and generates acceleration speed regulation information when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed, and generates deceleration speed regulation information when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed;

[0011] Acquiring the acceleration speed regulation information or the deceleration speed regulation information returned by the target train;

[0012] The acceleration speed regulation information or the deceleration speed regulation information is sent to each of the trains to be speed-regulated, so that the target train and each of the trains to be speed-regulated can adjust the speed of their own vehicles accordingly according to the acceleration speed regulation information or the deceleration speed regulation information.

[0013] In an exemplary embodiment, judging whether each train in the current regional formation is traveling at a uniform speed according to each relative speed difference includes:

[0014] comparing each of the relative speed differences with a speed difference threshold value;

[0015] When all the relative speed differences do not exceed the speed difference threshold, determining that all trains in the current regional formation are traveling at a uniform speed;

[0016] When there is a relative speed difference exceeding the speed difference threshold value among the relative speed differences, it is determined that the trains in the current regional formation are traveling at non-uniform speeds.

[0017] In an exemplary embodiment, determining the corresponding target train and each train to be speed-regulated corresponding to the target train according to each relative speed difference includes:

[0018] determining a relative speed difference exceeding the speed difference threshold value from among the relative speed differences;

[0019] The rear train of the two trains corresponding to the relative speed difference exceeding the speed difference threshold is taken as the target train;

[0020] Each train located after the target train in the current regional formation is taken as a train to be speed-regulated.

[0021] In an exemplary embodiment, the acceleration speed regulation information includes an acceleration speed regulation step; or the deceleration speed regulation information includes a deceleration speed regulation step.

[0022] In an exemplary embodiment, it also includes:

[0023] Receiving a first alarm message sent by the target train; wherein the first alarm message is generated by the target train when the current tracking distance is greater than the preset tracking distance and the current speed reaches the maximum operating speed;

[0024] Sending the first alarm information to the preceding vehicle of the target train, so that the preceding vehicle of the target train decelerates and adjusts its own vehicle speed based on the first alarm information;

[0025] or, receiving a second alarm message sent by the target train, wherein the second alarm message is generated by the target train when the current tracking distance is less than the preset tracking distance and the current speed does not exceed the minimum operating speed;

[0026] The second alarm information is sent to the preceding vehicle of the target train, so that the preceding vehicle of the target train can adjust the acceleration of its own vehicle based on the second alarm information.

[0027] In an exemplary embodiment, it also includes:

[0028] In the case where there are multiple target trains, determining the speed adjustment order of each target train according to the arrangement order of each target train in the current regional formation;

[0029] Then, after sending the acceleration speed regulation information or the deceleration speed regulation information to each of the trains to be speed regulated, the method further includes:

[0030] The next target train is determined from the speed regulation sequence, and the next target train is used as the target train, and the step of returning the instruction to obtain the speed regulation information to the target train is returned.

[0031] In an exemplary embodiment, the target train obtains the current speed and the current tracking distance according to the instruction for obtaining the speed regulation information, including:

[0032] According to the instruction to obtain the speed regulation information, a current tracking distance is obtained through a millimeter wave radar disposed at the head of the target train;

[0033] The code values ​​of the ground code marks read at two adjacent detection moments are respectively obtained by an on-board code reader arranged on the target train;

[0034] The driving distance is determined based on the code values ​​of the ground code marks read at two adjacent detection moments and the pre-established correspondence between the code values ​​and the positions;

[0035] The current speed is calculated according to the travel distance and the two adjacent detection times.

[0036] In an exemplary embodiment, a reflective device is provided at the rear of the train to reflect the millimeter waves emitted by a millimeter-wave radar provided at the front of the rear train.

[0037] Another aspect of the present invention provides a speed detection device for a maglev train, comprising:

[0038] The first acquisition module is used to obtain the relative speed difference of each train except the main control train in the current regional marshaling relative to the preceding train; wherein, a millimeter wave radar arranged at the head of the train transmits multiple millimeter waves to the preceding train in a continuous time period, and a corresponding speed difference is obtained according to two adjacent millimeter waves, and each speed difference is processed by a fuzzy mean algorithm to obtain the relative speed difference of the train relative to the preceding train in the continuous time period;

[0039] A judging module, used for judging whether each train in the current regional marshaling is traveling at a uniform speed according to each relative speed difference; if not, triggering a determining module;

[0040] The determination module is used to determine the corresponding target train and each train to be speed-regulated corresponding to the target train according to each relative speed difference;

[0041] A second acquisition module is used to send a speed regulation information acquisition instruction to the target train, so that the target train acquires the current speed and the current tracking distance according to the speed regulation information acquisition instruction, and generates acceleration speed regulation information when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed, and generates deceleration speed regulation information when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed;

[0042] A third acquisition module is used to acquire the acceleration speed regulation information or the deceleration speed regulation information returned by the target train;

[0043] The sending module is used to send the acceleration speed regulation information or the deceleration speed regulation information to each of the trains to be speed-regulated, so that the target train and each of the trains to be speed-regulated can adjust the speed of their own vehicles accordingly based on the acceleration speed regulation information or the deceleration speed regulation information.

[0044] Another aspect of the present invention provides a speed detection system for a maglev train, comprising:

[0045] Memory for storing computer programs;

[0046] A processor is used to implement the steps of the speed detection method of the maglev train as described above when executing the computer program.

[0047] It can be seen from the above technical solutions that the beneficial effects of the embodiments of the present invention are:

[0048] In an embodiment of the present invention, a speed detection method for a maglev train is provided. Trains other than a master control train in a current regional formation can obtain their relative speed differences with respect to the preceding train in a continuous time period through a millimeter-wave radar arranged at the head of the train, and judge whether the trains in the current regional formation are traveling at a uniform speed according to the relative speed differences. When it is determined that the trains in the current regional formation are not traveling at a uniform speed, the corresponding target train and the trains to be speed-regulated corresponding to the target train are further determined according to the relative speed differences, and a speed regulation information acquisition instruction is sent to the target train. The target train determines based on the speed regulation information acquisition instruction that when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed, the acceleration speed regulation information is generated when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed, and the deceleration speed regulation information is generated. The acceleration speed regulation information or the deceleration speed regulation information is sent to the trains to be speed-regulated, so as to adjust the corresponding speeds of the target train and the trains to be speed-regulated, so that the trains in the current regional formation can maintain a uniform speed. The present invention directly determines whether each train in the current regional formation maintains a uniform speed according to the relative speed difference of the trains. The detection efficiency is high and the error is small. When it is determined that the train is not traveling at a uniform speed, the target train and the corresponding trains to be speed-regulated can be determined, and the obtained acceleration speed regulation information or deceleration speed regulation information can be sent to the target train and the corresponding trains to be speed-regulated for speed adjustment, so that each train in the formation can better maintain a uniform speed and improve the safety of the train.

[0049] In addition, the present invention also provides a corresponding implementation device and system for the speed detection method of a maglev train, which further makes the method more practical, and the device, electronic device and computer-readable storage medium have corresponding advantages.

[0050] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A schematic flow chart of a method for detecting the speed of a maglev train provided by an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of communication between a train in a current regional marshaling and a ground regional control system provided by an embodiment of the present invention;

[0054] Figure 3 A schematic diagram of a method for setting ground code signs for speed limits in different intervals provided by an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of the location of a ground code mark and a vehicle-mounted code reader provided in an embodiment of the present invention;

[0056] Figure 5 A schematic structural diagram of a speed detection device for a maglev train provided by an embodiment of the present invention;

[0057] Figure 6 A schematic structural diagram of a speed detection system for a maglev train provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The embodiments of the present invention provide a speed detection method, device and system for a maglev train, which have high speed detection efficiency and small error, and can enable each train in a formation to better maintain a uniform speed, thereby improving train safety.

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Please refer to Figure 1 , Figure 1 A schematic flow chart of a method for detecting the speed of a maglev train provided in an embodiment of the present invention.

[0061] S110: Obtaining the relative speed difference of each train in the current regional marshaling except the master control train relative to the preceding train; wherein, a millimeter wave radar arranged at the head of the train transmits multiple millimeter waves to the preceding train in a continuous time period, and a corresponding speed difference is obtained according to two adjacent millimeter waves, and each speed difference is processed by a fuzzy mean algorithm to obtain the relative speed difference of the train relative to the preceding train in a continuous time period;

[0062] It should be noted that in actual applications, the entire convoy is formed by virtual connection. The head car of the entire convoy is the master train, and the master train sends its own speed to the ground and central control system (such as Figure 2As shown), other trains in the formation maintain a preset tracking distance and run in the same direction as the main control train by adjusting their speeds, and maintain a uniform speed. However, during the actual operation of the formation, the speed of the trains in the formation may change, so it is necessary to detect the speed of the trains in the formation to determine whether each train in the formation is traveling at a uniform speed. The method provided in the embodiment of the present invention can be applied to the main control train in the current regional formation. During the operation of each train in the current regional formation, each train other than the main control train in the current regional formation can detect the relative speed difference between itself and the preceding train. Specifically, a millimeter-wave radar can be installed at the head of each train, and the relative speed difference between the train and the preceding train can be calculated through the electromagnetic waves emitted by the millimeter-wave radar and the reflected frequency and other information, and sent out. The system receives the relative speed difference sent by each train.

[0063] In practical applications, a millimeter-wave radar installed at the head of the train can transmit millimeter waves to the preceding vehicle multiple times within a continuous time period, and then obtain the corresponding speed difference based on the two adjacent transmitted millimeter waves. The fuzzy mean algorithm is used to process each speed difference to obtain the relative speed difference of the train relative to the preceding vehicle within the continuous time period.

[0064] Specifically, the process of obtaining the corresponding speed difference according to two adjacent transmitted millimeter waves may include:

[0065] Take one of the trains except the master train as an example for detailed description. For example, the times of two adjacent millimeter waves are t1 and t2, that is, the train sends millimeter waves to the front car through the millimeter wave radar set at the head of the train at time t1, and the front car reflects the received millimeter waves back to the train. The train calculates the first distance S1 between the front car and the rear car according to the speed and propagation time of the millimeter waves in the air. At the next moment (that is, at moment t2), the train again transmits millimeter waves to the front car through the millimeter wave radar, and the front car reflects the received millimeter waves back to the train. The train calculates the second distance S2 between the front car and the rear car according to the speed and propagation time of the millimeter waves in the air. According to the times t1 and t2 corresponding to the two millimeter wave transmissions, the time interval Δt=t2-t1 can be obtained, and according to the second distance S2 and the first distance S1, the distance difference ΔS=|S2-S1| can be obtained to obtain the speed difference ΔV=ΔS / Δt, thereby obtaining the speed difference of the train relative to the front car at two adjacent moments.

[0066] In the embodiment of the present invention, it is considered that the reflected radar wave signal is weak due to the deviation of the train during movement or the unevenness of the anti-color surface, so a single measurement will have a certain error. In order to reduce the error and improve the detection accuracy, in the embodiment of the present invention, the millimeter wave radar set at the head of the train can transmit millimeter waves to the front car multiple times in a continuous time period, thereby obtaining multiple speed differences, and then using the fuzzy mean algorithm to filter the multiple speed differences, thereby obtaining the corresponding relative speed difference, and improving the accuracy of the result. In addition, in order to increase the strength of the reflected signal, a reflector device can be added to the tail of the front car to better improve the detection accuracy.

[0067] S120: judging whether each train in the current regional marshaling is traveling at a uniform speed according to each relative speed difference; if not, proceeding to S130;

[0068] Specifically, it can be determined whether each train in the current regional formation is traveling at a uniform speed based on the received relative speed difference values, wherein a speed difference threshold can be set in advance, and each relative speed difference can be compared with the speed difference threshold respectively. If each relative speed difference does not exceed the speed difference threshold, it means that the speeds of each train in the current regional formation are basically the same, so it can be determined that each train in the current regional formation is traveling at a uniform speed; if there is a relative speed difference among the relative speed differences that exceeds the speed difference threshold, it means that there are trains in the current regional formation that are not traveling at a uniform speed, and at this time it can be determined that each train in the current regional formation is not traveling at a uniform speed.

[0069] S130: determining the corresponding target train and the trains to be speed-regulated corresponding to the target train according to the relative speed differences;

[0070] It can be understood that in order to enable the trains in the current formation to maintain a uniform speed, when it is determined that the trains in the current regional formation are not traveling at a uniform speed, the target train traveling at a non-uniform speed and the trains to be speed-adjusted corresponding to the target train can be determined according to the received relative speed differences. Since the trains in the current regional formation are arranged in a certain order, when the target train and the preceding train travel at a non-uniform speed, the speed of the target train needs to be adjusted. However, only adjusting the speed of the target train will cause the relative speed and tracking distance between the train behind the target train and the target train to change. Since actual communication, speed measurement and speed adjustment will all be delayed, resulting in action lag, the entire formation becomes turbulent. Therefore, in order to avoid such turbulence, in the embodiment of the present invention, after determining the target train, other trains to be speed-adjusted that need to be synchronously speed-adjusted can be further determined.

[0071] Specifically, the relative speed difference exceeding the speed difference threshold can be determined from various relative speed differences first, and the rear car of the two trains corresponding to the relative speed difference exceeding the speed difference threshold can be taken as the target train. For example, if the relative speed difference between Train 2 and Train 1 exceeds the speed difference threshold, then Train 2 (i.e., the rear car) can be determined as the target train, and each train located after the target train in the current regional formation can be taken as the train to be speed adjusted. For example, the current regional formation includes trains 1, 2, 3, 4, and 5. If Train 2 is determined to be the target train, then Trains 3, 4, and 5 can all be taken as trains to be speed adjusted.

[0072] S140: sending a speed regulation information acquisition instruction to the target train, so that the target train acquires the current speed and the current tracking distance according to the speed regulation information acquisition instruction, and generates acceleration speed regulation information when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed, and generates deceleration speed regulation information when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed;

[0073] It should be noted that in order to improve data processing efficiency, the master control train can send a speed control information acquisition instruction to the target train after determining the target train and the train to be speed-controlled. After receiving the speed control information acquisition instruction, the target train can further acquire its own current speed and current tracking distance, and then determine the speed control information according to the current speed and current tracking distance in combination with the preset tracking distance, that is, determine whether the target vehicle needs to accelerate or decelerate, wherein the speed control information can also include a speed control step length △V. After obtaining the speed control information, the target train sends the speed control information to the master control train.

[0074] Specifically, the target train can compare the current tracking distance with the preset tracking distance. When the current tracking distance is greater than the preset tracking distance, it means that the target train needs to be accelerated. However, considering that if the current speed of the target train reaches the maximum operating speed, the target train cannot be accelerated, it is necessary to further compare the current speed of the target train with the maximum operating speed. If the current speed does not reach the maximum operating speed, it means that the target train can be accelerated, and the acceleration speed regulation information can be generated at this time. If it is determined that the current tracking distance is less than the preset tracking distance, it means that the target train needs to be reduced. At this time, it should also be considered whether the current speed of the target train is greater than the minimum operating speed. If the current speed is not greater than the minimum operating speed, the target train cannot be decelerated. If the current speed is greater than the minimum operating speed, it means that the target train can be decelerated, and the deceleration speed regulation information can be generated at this time.

[0075] It can be understood that in the embodiment of the present invention, the maximum operating speed and the minimum operating speed of the target train at the current moment can be determined according to the corresponding speed operating curve, and the embodiment of the present invention does not make any special limitation to this.

[0076] S150: Acquire acceleration speed regulation information or deceleration speed regulation information returned by the target train;

[0077] Specifically, after obtaining the acceleration speed regulation information or the deceleration speed regulation information, the target train can return the acceleration speed regulation information or the deceleration speed regulation information to the master control train.

[0078] S160: Send the acceleration speed regulation information or the deceleration speed regulation information to each train to be speed regulated, so that the target train and each train to be speed regulated can adjust the speed of their own vehicles accordingly based on the acceleration speed regulation information or the deceleration speed regulation information.

[0079] It should be noted that after obtaining the acceleration speed regulation information or the deceleration speed regulation information, the master control train sends the acceleration speed regulation information or the deceleration speed regulation information to other trains to be regulated, wherein the acceleration speed regulation information may include the acceleration speed regulation step length, and the deceleration speed regulation information may include the deceleration speed regulation step length. The target train and other trains to be regulated may adjust the speed of their own vehicles according to the acceleration speed regulation step length in the acceleration speed regulation information (for example, increase △V on the basis of the current speed, so that the relative speed difference between the target train and the subsequent trains to be regulated remains unchanged), or adjust the speed of their own vehicles according to the deceleration speed regulation step length in the deceleration speed regulation information (for example, reduce △V on the basis of the current speed, so that the relative speed difference between the target train and the subsequent trains to be regulated remains unchanged).

[0080] Of course, after adjusting by one step, steps S110 to S160 may be continued until the trains in the current regional formation travel at a uniform speed.

[0081] In one embodiment, the method may further include:

[0082] Receiving a first alarm message sent by a target train; wherein the first alarm message is generated when a current tracking distance of the target train is greater than a preset tracking distance and a current speed reaches a maximum operating speed;

[0083] Sending the first alarm information to the preceding vehicle of the target train, so that the preceding vehicle of the target train decelerates and adjusts its own vehicle speed based on the first alarm information;

[0084] or, receiving a second alarm message sent by the target train, wherein the second alarm message is generated when the current tracking distance of the target train is less than a preset tracking distance and the current speed does not exceed the minimum operating speed;

[0085] The second alarm information is sent to the preceding vehicle of the target train, so that the preceding vehicle of the target train adjusts the acceleration of its own vehicle based on the second alarm information.

[0086] It should be noted that if the current tracking distance of the target train is greater than the preset tracking distance, and the current speed of the target train has reached the maximum operating speed, the target train can no longer be accelerated at this time. In order to make the tracking distance between the target train and the preceding vehicle meet the preset tracking distance, the target train can generate a first alarm message at this time, and send the first alarm message to the master control train, and the master control train sends the first alarm message to the preceding vehicle of the target train, so that the preceding vehicle can decelerate and adjust the speed of its own vehicle according to the first alarm message, and can also decelerate and adjust the speed of its own vehicle according to the preset speed adjustment step. In addition, the target train determines that the current speed has reached the maximum operating speed and can no longer accelerate to shorten the tracking distance with the preceding vehicle, and the preceding vehicle needs to decelerate urgently. The target train can switch the millimeter-wave radar installed on the front of the train from the current working first band to the second band, and further warn the preceding vehicle through the second band, that is, when the preceding vehicle detects that the signal emitted by the millimeter-wave radar of the following vehicle is the second band, it indicates that an emergency alarm occurs at this time, and the vehicle speed needs to be further adjusted according to the first alarm message.

[0087] If the current tracking distance of the target train is less than the preset tracking distance, and the current speed of the target train does not exceed the minimum running speed, the target train cannot be decelerated at this time. In order to make the tracking distance between the target train and the preceding vehicle meet the preset tracking distance, the target train can generate a second alarm message at this time, and send the second alarm message to the preceding vehicle of the target train, so that the preceding vehicle of the target train can accelerate the speed of its own vehicle according to the second alarm message, and can also accelerate the speed of its own vehicle according to the preset speed adjustment step. In addition, the target train determines that the current vehicle speed has reached the minimum running speed and can no longer be decelerated to increase the tracking distance with the preceding vehicle, and the preceding vehicle needs to accelerate urgently. The target train can switch the millimeter-wave radar installed on the front of the train from the first band currently working to the second band, and further warn the preceding vehicle through the second band, that is, when the preceding vehicle detects that the signal emitted by the millimeter-wave radar of the following vehicle is the second band, it indicates that an emergency alarm occurs at this time, and the vehicle speed needs to be further adjusted according to the second alarm message, and the speed of the own vehicle can also be accelerated according to the preset speed adjustment step.

[0088] It should be noted that in actual applications, while sending the first alarm information or the second alarm information to the preceding vehicle of the target train, the first alarm information or the second alarm information can also be sent to each train preceding the preceding vehicle of the target train, so that each train preceding the target train can adjust its speed synchronously. In addition, if a train detects that the signal emitted by the millimeter-wave radar of the following vehicle is in the second band, the millimeter-wave radar installed on the train itself can also be switched to the second band, so that the millimeter-wave radars of the preceding trains can be switched to the second band, so that each associated train can adjust synchronously.

[0089] It can be understood that the millimeter-wave radar in the embodiment of the present invention works in the first band, which means that the train can normally detect the relative speed difference and the current tracking interval. The millimeter-wave radar works in the second band, which means that an emergency alarm occurs and the preceding vehicle needs to cooperate in making corresponding speed adjustments.

[0090] In one embodiment, the method may further include:

[0091] In the case of multiple target trains, the speed adjustment order of each target train is determined according to the order in which each target train is arranged in the current regional marshaling;

[0092] Then, after sending the acceleration speed regulation information or the deceleration speed regulation information to each train to be speed regulated, the method further includes:

[0093] Determine the next target train from the speed regulation sequence, take the next target train as the target train, and return to execute the step of returning the speed regulation information instruction to the target train.

[0094] It should be noted that if multiple relative speed differences among the relative speed differences exceed the speed difference threshold, the target trains corresponding to the relative speed differences exceeding the speed difference threshold can be determined, thereby determining multiple target trains. Since the trains in the current regional formation travel in sequence, the target trains also have a corresponding front and back sequence. In the actual speed regulation process, the speed of the target train in front can be regulated first, and then the speed of the target train behind can be regulated, so as to achieve speed adjustment for each target train and the corresponding train to be regulated.

[0095] For example, the current regional formation includes trains 1, 2, 3, 4, and 5. When it is determined that train 2 and train 3 are both target trains, for train 2, trains 3, 4, and 5 can be used as trains to be speed adjusted; for train 3, trains 4 and 5 can be used as trains to be speed adjusted. Specifically, Train No. 2 can be taken as the target train first, and the corresponding acceleration speed regulation information or deceleration speed regulation information can be obtained, and the acceleration speed regulation information or deceleration speed regulation information can be sent to the corresponding Trains No. 3, 4, and 5, so that Train No. 2 and the corresponding Trains No. 3, 4, and 5 can perform corresponding speed regulation according to the acceleration speed regulation information or deceleration speed regulation information. After the speed regulation is completed, Train No. 3 can be further taken as the target train, and the corresponding acceleration speed regulation information or deceleration speed regulation information can be further obtained, and then the acceleration speed regulation information or deceleration speed regulation information can be sent to the corresponding Trains No. 4 and 5 for corresponding speed regulation, until the speed regulation of the last target train and the corresponding train to be speed-regulated is completed, the speed calibration and adjustment of this round can be completed, and then the next round of speed detection and adjustment can be carried out, so as to continuously detect and adjust the speed of each train in the current regional formation, so that the trains in the entire formation can better maintain a uniform speed.

[0096] In one implementation, the target train obtains the current speed and the current tracking distance according to the instruction for obtaining the speed regulation information, including:

[0097] According to the instruction to obtain speed control information, the current tracking distance is obtained through the millimeter wave radar set at the head of the target train;

[0098] The code values ​​of the ground code marks read at two adjacent detection moments are respectively obtained by an on-board code reader arranged on the target train;

[0099] The driving distance is determined based on the code values ​​of the ground code marks read at two adjacent detection moments and the pre-established correspondence between the code values ​​and the positions;

[0100] The current speed is calculated based on the driving distance and the two adjacent detection times.

[0101] It should be noted that when measuring the speed of a maglev train during its operation, since the maglev train uses suspension operation technology, the traditional speed measurement method is to use an eddy current sensor to monitor the speed of the maglev train. However, the eddy current detection method has the following defects:

[0102] On the one hand, eddy current sensors need to detect fixed metal equipment, which means that the sleepers on the track must be laid with metal sleepers, increasing the track laying cost of the maglev train;

[0103] On the other hand, the speed measuring device needs to use the signals of four eddy current sensors at the same time to perform speed calculations. However, when the train is running at low speeds or in places where the distance between sleepers is large, there will be a large delay in calculating the speed, resulting in large errors in the distance calculated by the speed.

[0104] Therefore, in order to improve the accuracy of speed detection in the embodiment of the present invention, Figure 3 As shown, ground code markers can be set up in advance beside the track. Each code marker on the ground code marker corresponds to a different code value. An on-board code reader is set up on the train. The on-board code reader uses a current coil to sense the code value of the ground code marker. The ground code marker device can be composed of a fixed code marker and a pulse plate. The non-edge code marker uses a fixed coil arrangement to fix the code value. When the train passes by, the on-board code reader senses the fixed coil current through the on-board antenna to obtain the code value.

[0105] Please refer to Figure 4 , the ground code needs to be arranged according to the speed limit of the line data. When the train is on the platform, the spacing of the code is determined by the minimum speed at which the train can run. For example, if the minimum speed of the train on the platform is 1km / h, then s=v*t, where time t is the cycle time of the code reader reading the code value (for example, 100ms), then the spacing of the code on the platform can be 28mm.

[0106] If the train speed in the section is 80km / h, the spacing between the code marks in the section is 224cm. If the spacing of 224cm is adopted, it will still increase the cost greatly. Therefore, in practical applications, the GPS speed measurement system can be used for auxiliary speed measurement, and the cycle time t of the code reader reading the code value can be extended to 1s. The interval layout distance can be extended to 2222cm. During the code mark speed measurement update period, GPS can assist in fine-tuning the speed measurement.

[0107] In addition, in practical applications, the positions corresponding to the code values ​​of different code marks on the ground code mark can be obtained, and then the corresponding relationship between the code value and the position can be established. When it is necessary to obtain the current speed and current tracking distance of the target train, the current tracking distance can be obtained according to the data collected by the millimeter-wave radar on the target train, and the code value 1 of the ground code mark read by the on-board code reader on the train at time T1 and the code value 2 of the ground code mark read at time T2 can be used. Then, according to the code value 1 and the code value 2, the position 1 corresponding to the code value 1 and the position 2 corresponding to the code value 2 can be determined from the established corresponding relationship between the code value and the position, and then the travel distance can be obtained according to the position 1 and the position 2, and the time interval can be obtained according to T1 and T2, so as to calculate the current travel speed of the train according to the travel distance and the time interval. Through the speed acquisition method provided in the embodiment of the present invention, the corresponding speed can be obtained quickly and accurately, and the cost is low.

[0108] The other trains except the main control train in the current regional formation can obtain their relative speed difference with the preceding train in a continuous time period through the millimeter wave radar arranged at the head of the train, and judge whether the various trains in the current regional formation are traveling at a uniform speed according to each relative speed difference. When it is determined that the various trains in the current regional formation are not traveling at a uniform speed, the corresponding target train and the various trains to be speed-regulated corresponding to the target train are further determined according to each relative speed difference, and a speed regulation information acquisition instruction is sent to the target train. The target train determines based on the speed regulation information acquisition instruction that when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed according to the current tracking distance and the current tracking distance of the target train, acceleration speed regulation information is generated, and when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed, deceleration speed regulation information is generated, and the acceleration speed regulation information or the deceleration speed regulation information is sent to each train to be speed-regulated, so as to adjust the corresponding speeds of the target train and each train to be speed-regulated, so that each train in the current regional formation maintains a uniform speed. The present invention directly determines whether each train in the current regional formation maintains a uniform speed according to the relative speed difference of the trains. The detection efficiency is high and the error is small. When it is determined that the train is not traveling at a uniform speed, the target train and the corresponding trains to be speed-regulated can be determined, and the obtained acceleration speed regulation information or deceleration speed regulation information can be sent to the target train and the corresponding trains to be speed-regulated for speed adjustment, so that each train in the formation can better maintain a uniform speed and improve the safety of the train.

[0109] The present invention also provides a corresponding device for the speed detection method of a maglev train, which further makes the method more practical. Among them, the device can be described from the perspective of functional modules and hardware. The speed detection device of the maglev train provided by the present invention is introduced below. The device is used to implement the speed detection method of the maglev train provided by the present invention. In this embodiment, the speed detection device of the maglev train may include or be divided into one or more program modules, and the one or more program modules are stored in a storage medium and executed by one or more processors to complete the speed detection method of the maglev train disclosed in the above embodiment. The program module referred to in the present invention refers to a series of computer program instruction segments that can complete specific functions, which is more suitable for describing the execution process of the speed detection device of the maglev train in the storage medium than the program itself. The following description will specifically introduce the functions of each program module of this embodiment. The speed detection device of the maglev train described below and the speed detection method based on the maglev train described above can be referred to each other.

[0110] From the perspective of functional modules, see Figure 5 , Figure 5 The present invention provides a structural diagram of a speed detection device for a maglev train, which may include:

[0111] The first acquisition module 11 is used to obtain the relative speed difference of each train except the main control train in the current regional marshaling relative to the preceding train; wherein, a millimeter wave radar arranged at the head of the train transmits multiple millimeter waves to the preceding train in a continuous time period, and the corresponding speed difference is obtained according to the millimeter waves transmitted twice adjacently, and each speed difference is processed by a fuzzy mean algorithm to obtain the relative speed difference of the train relative to the preceding train in a continuous time period;

[0112] The judging module 12 is used to judge whether each train in the current regional marshaling is traveling at a uniform speed according to each relative speed difference; if not, the determining module is triggered;

[0113] A determination module 13 is used to determine the corresponding target train and each train to be speed-regulated corresponding to the target train according to each relative speed difference;

[0114] The second acquisition module 14 is used to send a speed control information acquisition instruction to the target train, so that the target train acquires the current speed and the current tracking distance according to the speed control information acquisition instruction, and generates acceleration speed control information when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed, and generates deceleration speed control information when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed;

[0115] The third acquisition module 15 is used to acquire the acceleration speed regulation information or the deceleration speed regulation information returned by the target train;

[0116] The sending module 16 is used to send the acceleration speed regulation information or the deceleration speed regulation information to each train to be speed-regulated, so that the target train and each train to be speed-regulated can adjust the speed of their own vehicles accordingly based on the acceleration speed regulation information or the deceleration speed regulation information.

[0117] It should be noted that the speed detection device of the maglev train provided in the embodiment of the present invention has the same beneficial effects as the speed detection method of the maglev train provided in the above embodiment, and for the specific introduction of the speed detection method of the maglev train provided in the embodiment of the present invention, please refer to the above embodiment, and this application will not repeat it here.

[0118] The speed detection device of the maglev train mentioned above is described from the perspective of functional modules. Furthermore, the present invention also provides an electronic device, which is described from the perspective of hardware. Figure 6 A structural diagram of a speed detection system for a maglev train provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the speed detection system of the maglev train includes: a memory 20 for storing a computer program;

[0119] The processor 21 is used to implement the steps of the method for detecting the speed of a maglev train in the above embodiment when executing a computer program.

[0120] The speed detection system for the maglev train provided in this embodiment may be an electronic device, which may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0121] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0122] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the memory 20 may be an internal storage unit of an electronic device, such as a hard disk of a server. In other embodiments, the memory 20 may also be an external storage device of an electronic device, such as a plug-in hard disk equipped on a server, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. Further, the memory 20 may also include both an internal storage unit of an electronic device and an external storage device. The memory 20 may not only be used to store application software and various types of data installed in the electronic device, such as: the code of the program in the process of executing the speed detection method of the maglev train, etc., but also be used to temporarily store data that has been output or is to be output. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, the relevant steps of the speed detection method of the maglev train disclosed in any of the aforementioned embodiments can be implemented. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to (data corresponding to the speed detection result of the maglev train) and the like.

[0123] In some embodiments, the electronic device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26. Among them, the display screen 22 and the input / output interface 23, such as a keyboard, belong to the user interface, and the optional user interface may also include a standard wired interface, a wireless interface, etc. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface. The communication interface 24 may optionally include a wired interface and / or a wireless interface, such as a WI-FI interface, a Bluetooth interface, etc., which is generally used to establish a communication connection between the electronic device and other electronic devices. The communication bus 26 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0124] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure.

[0125] It is understandable that if the speed detection method of the maglev train in the above embodiment is implemented in the form of a software functional unit 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 application is essentially or the part that contributes to the prior art or all or 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 to execute all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, magnetic disk or optical disk and other media that can store program codes.

[0126] Based on this, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the speed detection method of the maglev train as described above are implemented.

[0127] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0128] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" 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, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0129] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting the speed of a maglev train, characterized in that: include: Obtaining the relative speed difference of each train except the main control train in the current regional marshaling relative to the preceding train; wherein, a millimeter wave radar arranged at the head of the train transmits multiple millimeter waves to the preceding train in a continuous time period, and a corresponding speed difference is obtained according to two adjacent millimeter waves, and a fuzzy mean algorithm is used to process each of the speed differences to obtain the relative speed difference of the train relative to the preceding train in the continuous time period; According to each of the relative speed differences, determine whether each train in the current regional marshaling is traveling at a uniform speed; if not, determine the corresponding target train and each train to be speed-adjusted corresponding to the target train according to each of the relative speed differences; Sending a speed regulation information acquisition instruction to the target train, so that the target train acquires the current speed and the current tracking distance according to the speed regulation information acquisition instruction, and generates acceleration speed regulation information when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed, and generates deceleration speed regulation information when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed; Acquiring the acceleration speed regulation information or the deceleration speed regulation information returned by the target train; The acceleration speed regulation information or the deceleration speed regulation information is sent to each of the trains to be speed regulated, so that the target train and each of the trains to be speed regulated can adjust the speed of their own vehicles accordingly based on the acceleration speed regulation information or the deceleration speed regulation information; wherein, it also includes: Receiving a first alarm message sent by the target train; wherein the first alarm message is generated by the target train when the current tracking distance is greater than the preset tracking distance and the current speed reaches the maximum operating speed; Sending the first alarm information to the preceding vehicle of the target train, so that the preceding vehicle of the target train decelerates and adjusts its own vehicle speed based on the first alarm information; or, receiving a second alarm message sent by the target train, wherein the second alarm message is generated by the target train when the current tracking distance is less than the preset tracking distance and the current speed does not exceed the minimum operating speed; Sending the second alarm information to the preceding vehicle of the target train, so that the preceding vehicle of the target train adjusts the acceleration of its own vehicle based on the second alarm information; Among them, when the target train determines that the current vehicle speed has reached the maximum operating speed or when the current speed has reached the minimum operating speed, the millimeter-wave radar installed on the head of the train will switch from the currently working first band to the second band, so that the leading vehicle of the target train can adjust the speed of its own vehicle accordingly based on the received first alarm information or second alarm information when detecting that the millimeter-wave radar of the target train has switched from the first band to the second band.

2. The method for detecting the speed of a maglev train according to claim 1, characterized in that: The step of judging whether each train in the current regional marshaling is traveling at a uniform speed according to each relative speed difference comprises: comparing each of the relative speed differences with a speed difference threshold value; When all the relative speed differences do not exceed the speed difference threshold, determining that all trains in the current regional formation are traveling at a uniform speed; When there is a relative speed difference exceeding the speed difference threshold value among the relative speed differences, it is determined that the trains in the current regional formation are traveling at non-uniform speeds.

3. The method for detecting the speed of a maglev train according to claim 2, characterized in that: The step of determining the corresponding target train and the trains to be speed-regulated corresponding to the target train according to the relative speed differences comprises: determining a relative speed difference exceeding the speed difference threshold value from among the relative speed differences; The rear train of the two trains corresponding to the relative speed difference exceeding the speed difference threshold is taken as the target train; Each train located after the target train in the current regional formation is taken as a train to be speed-regulated.

4. The method for detecting the speed of a maglev train according to claim 1, characterized in that: The acceleration speed regulation information includes the acceleration speed regulation step; or the deceleration speed regulation information includes the deceleration speed regulation step.

5. The method for detecting the speed of a maglev train according to claim 1, characterized in that: Also includes: In the case where there are multiple target trains, determining the speed adjustment order of each target train according to the arrangement order of each target train in the current regional formation; Then, after sending the acceleration speed regulation information or the deceleration speed regulation information to each of the trains to be speed regulated, the method further includes: The next target train is determined from the speed regulation sequence, and the next target train is used as the target train, and the step of returning the instruction to obtain the speed regulation information to the target train is returned.

6. The method for detecting the speed of a maglev train according to claim 1, characterized in that: The target train obtains the current speed and the current tracking distance according to the instruction for obtaining the speed regulation information, including: According to the instruction to obtain the speed regulation information, a current tracking distance is obtained through a millimeter wave radar disposed at the head of the target train; The code values ​​of the ground code marks read at two adjacent detection moments are respectively obtained by an on-board code reader arranged on the target train; The driving distance is determined based on the code values ​​of the ground code marks read at two adjacent detection moments and the pre-established correspondence between the code values ​​and the positions; The current speed is calculated according to the travel distance and the two adjacent detection times.

7. The method for detecting the speed of a maglev train according to claim 1, characterized in that: The rear of the train is provided with a reflective device for reflecting the millimeter waves emitted by the millimeter wave radar arranged at the front of the rear train.

8. A speed detection device for a maglev train, characterized in that: include: The first acquisition module is used to obtain the relative speed difference of each train except the main control train in the current regional marshaling relative to the preceding train; wherein, a millimeter wave radar arranged at the head of the train transmits multiple millimeter waves to the preceding train in a continuous time period, and a corresponding speed difference is obtained according to two adjacent millimeter waves, and each speed difference is processed by a fuzzy mean algorithm to obtain the relative speed difference of the train relative to the preceding train in the continuous time period; A judging module, used for judging whether each train in the current regional marshaling is traveling at a uniform speed according to each relative speed difference; if not, triggering a determining module; The determination module is used to determine the corresponding target train and each train to be speed-regulated corresponding to the target train according to each relative speed difference; A second acquisition module is used to send a speed regulation information acquisition instruction to the target train, so that the target train acquires the current speed and the current tracking distance according to the speed regulation information acquisition instruction, and generates acceleration speed regulation information when the current tracking distance is greater than the preset tracking distance and the current speed does not reach the maximum operating speed, and generates deceleration speed regulation information when the current tracking distance is less than the preset tracking distance and the current speed is greater than the minimum operating speed; A third acquisition module is used to acquire the acceleration speed regulation information or the deceleration speed regulation information returned by the target train; A sending module is used to send the acceleration speed regulation information or the deceleration speed regulation information to each of the trains to be speed-regulated, so that the target train and each of the trains to be speed-regulated can adjust the speed of their own vehicles accordingly based on the acceleration speed regulation information or the deceleration speed regulation information; wherein: it also includes: Receiving a first alarm message sent by the target train; wherein the first alarm message is generated by the target train when the current tracking distance is greater than the preset tracking distance and the current speed reaches the maximum operating speed; Sending the first alarm information to the preceding vehicle of the target train, so that the preceding vehicle of the target train decelerates and adjusts its own vehicle speed based on the first alarm information; or, receiving a second alarm message sent by the target train, wherein the second alarm message is generated by the target train when the current tracking distance is less than the preset tracking distance and the current speed does not exceed the minimum operating speed; Sending the second alarm information to the preceding vehicle of the target train, so that the preceding vehicle of the target train adjusts the acceleration of its own vehicle based on the second alarm information; Among them, when the target train determines that the current vehicle speed has reached the maximum operating speed or when the current speed has reached the minimum operating speed, the millimeter-wave radar installed on the head of the train will switch from the currently working first band to the second band, so that the leading vehicle of the target train can adjust the speed of its own vehicle accordingly based on the received first alarm information or second alarm information when detecting that the millimeter-wave radar of the target train has switched from the first band to the second band.

9. A speed detection system for a maglev train, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the speed detection method of a maglev train as claimed in any one of claims 1 to 7 when executing the computer program.

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