Dynamic leveling system for straddle type monorail vehicle bogie and control method of dynamic leveling system

Abstract

The invention discloses a dynamic leveling system for a bogie of a straddle type monorail vehicle. The dynamic leveling system for the bogie comprises a trackside part and a central control part, the trackside part is provided with a vehicle detection module, a leveling detection module and a trackside control module; the central control part is provided with a system platform; all devices of the vehicle detection module and the leveling detection module are respectively connected with the trackside control module through a trackside control circuit; the trackside control module is connected with the system platform through the communication module. The invention further discloses a control method of the dynamic high-level system. By adopting the technical scheme, the levelness state of the monorail vehicle bogie in operation is monitored in real time, and the safety of vehicle operation is improved; the full-automatic detection means reduces the workload of maintenance workers, improves the efficiency and accuracy of the leveling maintenance work of the bogie, and reduces the operation and maintenance cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of straddle-type monorail transportation vehicles, and relates to the detection and control technology of the operation process thereof. More specifically, the present invention relates to a dynamic leveling system for a straddle-type monorail vehicle bogie. The present invention also relates to a control method of the dynamic leveling system. Background Art

[0002] The straddle-type monorail bogie is mainly used to support the car body and move along the track beam. It is very important to maintain balance during operation and is an important component of the monorail vehicle. Each car has two bogies. The existing leveling method is to manually measure regularly and manually record the vertical values ​​of the four corner detection points of the bogie to the track beam surface. The difference between any two points does not exceed 4mm, otherwise the bogie needs to be adjusted horizontally.

[0003] The main problems of this manual leveling detection method are:

[0004] 1. Untimely inspection: Manual leveling inspection is a periodic inspection and maintenance item. When the vehicle bogie is unbalanced during operation, the problem cannot be discovered immediately and can only be discovered during periodic maintenance inspections such as monthly inspections. The inspection results also have detection errors due to differences in personal experience, working conditions, etc.

[0005] 2. Static measurement only: Manual inspection is performed when the monorail vehicle is completely stationary, which is not completely consistent with the scene environment of dynamic train operation. There will be certain errors in using static measurement data as the basis for vehicle leveling.

[0006] The following results were obtained by searching the existing public technical literature using keywords such as "vehicle; bogie; dynamic; vertical; monitoring":

[0007] 1. Chinese patent document: "Onboard track health status dynamic monitoring and intelligent analysis system and method", patent (application) number: 201910082700.2, the technical solution recorded is:

[0008] "A method for dynamic monitoring and analysis of track health status is to install signal acquisition hardware on the bogie of an operating train; during the operation of the train, the signal acquisition hardware collects track health status information in real time; the collected track health status data is analyzed by data analysis software; the data analysis software is loaded on a computer installed in the body of the operating vehicle, or on a cloud server";

[0009] "The onboard track health status dynamic monitoring and intelligent analysis system integrates inertial navigation system components, ultrasonic flaw detection components, laser displacement sensors, laser profile sensors and linear array cameras in a modular way, and is carried on operating trains to dynamically collect multiple track health status parameters including track dynamic geometry, vehicle acceleration, rail damage, sleeper and fastener defects at high frequency during operation time";

[0010] The technical effects recorded are:

[0011] "Realize the integration of operation and maintenance, and provide precise and detailed guidance on track maintenance."

[0012] 2. Chinese patent document: "A dynamic detection system for trains running at high speed"; Patent (application) number: 201910947782.2, the technical solution and technical effects recorded are:

[0013] "The dynamic detection system for high-speed train operation adopts a data acquisition method with the characteristics of simple installation, easy networking, and convenient maintenance. It can suppress noise while also increasing the energy of the characteristic information that the observer is concerned about, such as the periodic impact caused by track joints and the periodic impact caused by gear wear. This method can transform the non-periodic impact caused by train defects into a periodic characteristic in a certain local time period, and can clearly distinguish various disturbances such as the periodic impact caused by track joints, the non-periodic impact caused by track defects, the periodic impact caused by trains, the interference impact caused by trains, and the periodic impact caused by train failures in the time-frequency spectrum."

[0014] However, the above technical solution has not been able to solve the problems and defects of the detection of the bogie of the straddle-type monorail vehicle in the prior art, namely, "the detection is not timely; only manual detection can be performed". Summary of the invention

[0015] The invention provides a straddle-type monorail vehicle bogie dynamic leveling system, which is used for detecting whether the monorail vehicle bogie is in a balanced state during operation, and aims to improve the safety of vehicle operation.

[0016] In order to achieve the above object, the technical solution adopted by the present invention is:

[0017] The invention relates to a straddle-type monorail vehicle bogie dynamic leveling system, wherein the monorail vehicle runs on a track beam; the bogie dynamic leveling system comprises a trackside part and a central control part; the trackside part is provided with a vehicle detection module, a leveling detection module and a trackside control module; the central control part is provided with a system platform; the components of the vehicle detection module and the leveling detection module are respectively connected to the trackside control module through a trackside control circuit; and the trackside control module is connected to the system platform through a communication module.

[0018] The vehicle detection module is provided with a photoelectric sensor at a position where the vehicle is about to reach the leveling detection module.

[0019] The vehicle detection module is provided with a camera at a position where the vehicle is about to reach the leveling detection module.

[0020] The leveling detection module is provided with a plurality of laser sensors beside the track beam, and the laser sensors detect the position change data of the track beam in the vertical direction.

[0021] One end of the communication module is connected to the trackside switch in the trackside control module; the other end of the communication module is connected to the central switch in the system platform.

[0022] The trackside control module is provided with a trackside processing controller, and the trackside processing controller is connected to the trackside switch via a control signal circuit.

[0023] The system platform is provided with a central server, and the central server is connected with a central switch via a control signal circuit.

[0024] The system platform is provided with a monitoring workstation; the monitoring workstation is connected with the central switch through a control signal circuit.

[0025] The trackside control module is provided with a power distributor; the input end of the power distributor is connected to the main power supply; the output end of the power distributor includes a plurality of output terminals with different voltages, and the output terminals are connected to each module of the trackside part.

[0026] In order to achieve the same invention purpose as the above technical solution, the present invention also provides a control method for the above-mentioned straddle-type monorail vehicle bogie dynamic leveling system, and its technical solution is: the process of the control method includes:

[0027] Step 1: When the system is powered on for the first time, each sensor will self-check and report its status;

[0028] Step 2: The vehicle detection module detects the train entering through the photoelectric sensor, records the current time, and outputs a high level to notify the trackside control module;

[0029] Step 3: The trackside control module notifies the camera in the vehicle detection module to capture the vehicle number pattern on the vehicle body for identification and transmits the vehicle number back;

[0030] Step 4: During the operation of the vehicle, the leveling detection module continuously collects all distance data from the bogie to the track beam within the detection range through the laser sensor and transmits it to the trackside control module;

[0031] Step 5: The trackside control module pre-processes the data through the trackside controller. According to the set rules, the data after the arrival time of the vehicle is first filtered and retained, and the data group with four detection points at the same time within the set value range (350-470mm) is retained. The remaining invalid data is eliminated and divided into corresponding bogies according to the data timestamp;

[0032] Step 6: The trackside control module transmits the pre-processed bogie detection data to the system platform, and the platform software of the system platform extracts a group of data from the valid data group and stores it in the database; at the same time, the real-time status and detection data of all vehicles and corresponding bogies are displayed through the monitoring workstation; if the data difference between any two points of the group of bogies exceeds 4mm, an audible and visual alarm is issued in time; at the same time, historical alarm data query, system management and other functions are supported;

[0033] Step 7: The vehicle detection module and the leveling detection module regularly report the working status of the equipment through the trackside control module.

[0034] The present invention adopts the above technical scheme to monitor the horizontal state of the monorail vehicle bogie in operation in real time, thereby improving the safety of vehicle operation; the fully automated detection method reduces the maintenance manual workload, improves the efficiency and accuracy of the bogie leveling and maintenance work, thereby reducing the operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The contents shown in the attached drawings and the symbols in the drawings are briefly described as follows:

[0036] Figure 1 It is a structural schematic diagram of the present invention;

[0037] Figure 2 It is a schematic diagram of the arrangement of the laser sensor beside the track beam in the present invention;

[0038] Figure 3 It is a schematic diagram of the process of the leveling method of the present invention.

[0039] The markings in the figure are:

[0040] 1. Vehicle detection module, 2. Leveling detection module, 3. Trackside control module, 4. System platform, 5. Track beam, 6. Photoelectric sensor, 7. Camera, 8. Laser sensor, 9. Trackside processing controller, 10. Trackside switch, 11. Power distributor, 12. Main power supply, 13. Central server, 14. Central switch, 15. Monitoring workstation, 16. Communication module. DETAILED DESCRIPTION

[0041] The specific implementation modes of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0042] like Figure 1 , Figure 2 The structure of the present invention and the corresponding control method flow are a straddle-type monorail vehicle bogie dynamic leveling system and a control method thereof; the monorail vehicle runs on a track beam 5.

[0043] In order to solve the problems existing in the prior art and overcome its defects, and to achieve the invention purpose of improving the safety of vehicle operation, the technical solution adopted by the present invention is:

[0044] like Figure 1 As shown, the dynamic leveling system of the bogie of a straddle-type monorail vehicle of the present invention comprises a trackside part and a central control part; the trackside part is provided with a vehicle detection module 1, a leveling detection module 2 and a trackside control module 3; the central control part is provided with a system platform 4; the components of the vehicle detection module 1 and the leveling detection module 2 are respectively connected to the trackside control module 3 through a trackside control circuit; the trackside control module 3 is connected to the system platform 4 through a communication module 16.

[0045] like Figure 1 The system shown includes two parts, trackside and center, and consists of four modules: vehicle detection module 1, leveling detection module 2, trackside control module 3, and system platform 4.

[0046] The bogie dynamic leveling system of the present invention is used to detect whether the monorail vehicle bogie is in a balanced state during operation, and improves the safety of vehicle operation by real-time monitoring of the horizontal state of the monorail vehicle bogie in operation; the fully automated detection method reduces the maintenance manual workload, improves the efficiency and accuracy of the bogie leveling maintenance work, and thus reduces the operation and maintenance costs.

[0047] The vehicle detection module 1 is provided with a photoelectric sensor 6 and a camera 7 at a position where the vehicle is about to reach the leveling detection module 2 .

[0048] That is, the vehicle detection module 1 is composed of a photoelectric sensor 6, a camera 7 and other equipment, and is installed beside the track beam 5. The specific functions are:

[0049] The vehicle's presence is identified through non-contact photoelectric sensing technology, and the vehicle number is identified through image recognition technology, thus realizing the vehicle's presence detection and vehicle number positioning functions.

[0050] The leveling detection module 2 is provided with a plurality of laser sensors 8 beside the track beam 5 , and the laser sensors 8 detect the position change data of the track beam 5 in the vertical direction.

[0051] The leveling detection module 2 is composed of a laser sensor 8, a communication module 16 and other devices, and is installed in the track beam 5; the specific functions are:

[0052] like Figure 2 As shown, the vertical displacement of the four detection points of the bogie is measured by non-contact laser sensing technology, and the bogie horizontality detection function is realized according to preset rules.

[0053] One end of the communication module 16 is connected to the trackside switch 10 in the trackside control module 3 ; the other end of the communication module 16 is connected to the central switch 14 in the system platform 4 .

[0054] The trackside control module 3 is provided with a trackside processing controller 9, and the trackside processing controller 9 is connected to the trackside switch 10 via a control signal circuit.

[0055] The trackside control module 3 is composed of trackside control cabinet, trackside switch, trackside processing controller 9, power supply and other equipment; the specific functions are:

[0056] As an intermediate module between front-end acquisition and system platform, it mainly realizes the preprocessing of data after acquisition and system data communication functions.

[0057] The power supply scheme is:

[0058] The trackside control module 3 is provided with a power distributor 11; the input end of the power distributor 11 is connected to a main power supply 12; the output end of the power distributor 11 includes a plurality of output terminals of different voltages, and the output terminals are connected to each module of the trackside part.

[0059] The system platform 4 is provided with a central server 13 and a monitoring workstation 15; the central server 13 is connected to a central switch 14 via a control signal circuit; the monitoring workstation 15 is connected to the central switch 14 via a control signal circuit.

[0060] The system platform 4 includes a central server 13 and a central switch 14; the specific functions are:

[0061] This system realizes functions such as bogie status monitoring, fault alarm, historical alarm query, and system management. It consists of platform software, servers, switches, desktop computers and other hardware and software.

[0062] In order to achieve the same invention purpose as the above technical solution, the present invention also provides a control method of the above-mentioned straddle-type monorail vehicle bogie dynamic leveling system. The present invention provides a bogie dynamic leveling method and system, and the specific implementation method is as follows:

[0063] Vehicle identification: The system identifies the vehicle arriving at the detection point and takes a picture of the vehicle number;

[0064] Data collection: During vehicle operation, the system continuously collects all data within the detection range;

[0065] Data preprocessing: The system removes invalid data outside the current time period and detection distance range according to the set rules, retains the data of the four detection points that are simultaneously within the set value range and corresponds to each bogie;

[0066] Condition monitoring: The pre-processed bogie detection data is transmitted to the platform software for real-time condition monitoring and data display, and timely sound and light alarms are issued for bogies that exceed the set rules and threshold data;

[0067] Equipment self-check: The system collects the status reported by the equipment regularly.

[0068] like Figure 3 As shown, the process of the control method includes:

[0069] Step 1: When the system is powered on for the first time, each sensor will self-check and report its status;

[0070] Step 2, the vehicle detection module 1 detects the train entering through the photoelectric sensor 6, records the current time, and outputs a high level to notify the trackside control module 3;

[0071] Step 3: The trackside control module 3 notifies the camera 7 in the vehicle detection module 1 to take a picture of the vehicle number pattern on the vehicle body for identification, and transmits the vehicle number back;

[0072] Step 4: During the operation of the vehicle, the leveling detection module 2 continuously collects all distance data from the bogie to the track beam 5 within the detection range through the laser sensor 8 and transmits it to the trackside control module 3;

[0073] Step 5: The trackside control module 3 pre-processes the data through the trackside controller 9. According to the set rules, the data after the arrival time of the vehicle is firstly selected and retained, and the data at the same time is retained; the data group of the four detection points in the set value range of 350-470mm is simultaneously removed, and the remaining invalid data is segmented to the corresponding bogie according to the data timestamp;

[0074] Step 6, the trackside control module 3 transmits the pre-processed bogie detection data to the system platform 4, and the platform software of the system platform 4 extracts a group of data from the valid data group and stores it in the database; at the same time, the real-time status and detection data of all vehicles and corresponding bogies are displayed through the monitoring workstation 15; if the data difference between any two points of the group of bogies exceeds 4mm, an audible and visual alarm is promptly issued; at the same time, historical alarm data query, system management and other functions are supported;

[0075] Step 7: The vehicle detection module 1 and the leveling detection module 2 regularly report the working status of the equipment through the trackside control module 3.

[0076] The present invention aims at the problems and defects in the prior art, and provides a method and system for dynamically leveling a straddle-type monorail bogie. A set of laser sensors for automatically detecting the values ​​of bogie measurement points is arranged in the steel beam of the vehicle entry and exit section. When the monorail vehicle passes through the set of devices, automatic distance measurement is performed, and the leveling detection points of the bogie of the running monorail vehicle are dynamically detected through non-contact photoelectric sensing and other technologies, and timely alarm is given for exceeding the set threshold value. The horizontal state of the bogie of the running vehicle is detected in real time, which solves the problems and defects of manual leveling detection in the prior art, improves the operation efficiency, the real-time and accuracy of the detection results, and thus improves the safety of the operation.

[0077] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A dynamic leveling system for a bogie of a straddle-type monorail vehicle, wherein the monorail vehicle runs on a track beam (5), characterized in that: The bogie dynamic leveling system comprises a trackside part and a central control part; the trackside part is provided with a vehicle detection module (1), a leveling detection module (2) and a trackside control module (3); the central control part is provided with a system platform (4); the components of the vehicle detection module (1) and the leveling detection module (2) are respectively connected to the trackside control module (3) through a trackside control circuit; the trackside control module (3) is connected to the system platform (4) through a communication module (16).

2. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 1, characterized in that: The vehicle detection module (1) is provided with a photoelectric sensor (6) at a position where the vehicle is about to reach the leveling detection module (2).

3. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 2, characterized in that: The vehicle detection module (1) is provided with a camera (7) at a position where the vehicle is about to reach the leveling detection module (2).

4. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 1, characterized in that: The leveling detection module (2) is provided with a plurality of laser sensors (8) beside the track beam (5), and the laser sensors (8) detect position change data of the track beam (5) in the vertical direction.

5. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 1, characterized in that: One end of the communication module (16) is connected to the trackside switch (10) in the trackside control module (3); the other end of the communication module (16) is connected to the central switch (14) in the system platform (4).

6. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 5, characterized in that: The trackside control module (3) is provided with a trackside processing controller (9), and the trackside processing controller (9) is connected to the trackside switch (10) via a control signal circuit.

7. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 5, characterized in that: The system platform (4) is provided with a central server (13), and the central server (13) is connected to a central switch (14) via a control signal circuit.

8. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 7, characterized in that: The system platform (4) is provided with a monitoring workstation (15); the monitoring workstation (15) is connected to the central switch (14) via a control signal circuit.

9. The dynamic leveling system for a straddle-type monorail vehicle bogie according to claim 1, characterized in that: The trackside control module (3) is provided with a power distributor (11); the input end of the power distributor (11) is connected to a main power supply (12); the output end of the power distributor (11) includes a plurality of output terminals with different voltages, and the output terminals are connected to each module of the trackside part.

10. The control method of the dynamic leveling system of the straddle-type monorail vehicle bogie according to any one of claims 1 to 9, characterized in that: The process of the control method includes: Step 1: When the system is powered on for the first time, each sensor will self-check and report its status; Step 2: The vehicle detection module (1) detects the train entering through the photoelectric sensor (6), records the current time, and outputs a high level to notify the trackside control module (3); Step 3: the trackside control module (3) notifies the camera (7) in the vehicle detection module (1) to take a picture of the vehicle number pattern on the vehicle body for identification, and transmits the vehicle number back; Step 4: During the operation of the vehicle, the leveling detection module (2) continuously collects all distance data from the bogie to the track beam (5) within the detection range through the laser sensor (8) and transmits the data to the trackside control module (3); Step 5: The trackside control module (3) pre-processes the data through the trackside controller (9), and first selects and retains the data after the arrival time of the vehicle according to the set rules, and retains the data group at the same time; the data group of the four detection points are simultaneously within the set value range (350-470mm), removes the remaining invalid data, and divides the data into corresponding bogies according to the data timestamp; Step 6, the trackside control module (3) transmits the pre-processed bogie detection data to the system platform (4), and the platform software of the system platform (4) extracts a group of data from the valid data group and stores it in the database; at the same time, the real-time status and detection data of all vehicles and corresponding bogies are displayed through the monitoring workstation (15); if the data difference between any two points of the group of bogies exceeds 4mm, an audible and visual alarm is promptly issued; at the same time, the functions of historical alarm data query and system management are supported; Step 7: The vehicle detection module (1) and the leveling detection module (2) regularly report the working status of the equipment via the trackside control module (3).

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