Redundant speed measurement method and device, computer readable storage medium and train

Abstract

The application discloses a kind of redundancy speed measurement method and device, computer readable storage medium and train, wherein, redundancy speed measurement method is applied to the local ATP system of train head, the tail of train is provided with the opposite end ATP system being connected with local ATP system communication, local ATP system and opposite end ATP system all include accelerometer and speed sensor, redundancy speed measurement method includes: obtaining the local acceleration information and local speed information that accelerometer and speed sensor in local ATP system are collected;Receive the opposite end acceleration information and opposite end speed information that accelerometer and speed sensor in opposite end ATP system send;According to local acceleration information, local speed information, opposite end acceleration information and opposite end speed information, the speed of train is redundantly detected.By double authentication and complementation of local information and opposite end information, the reliability of train speed measurement is significantly enhanced, and the accuracy of speed information is improved, and then the safety of train operation is improved.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a redundant speed measurement method, a computer-readable storage medium, a redundant speed measurement device, and a train. Background Technology

[0002] In existing train speed measurement schemes in the urban rail transit industry, a hardware architecture combining speed sensors and monitoring equipment is generally relied upon. Although different manufacturers vary in the number of speed sensors and monitoring devices configured, the software-level speed measurement processing mechanisms are mostly limited to directly calculating speed using data from a single local speed sensor, and relying on additional monitoring equipment (such as accelerometers) to verify the validity and rationality of the speed. Specifically, when the monitoring equipment is an accelerometer, the acceleration data from the accelerometer is used to verify the acceleration calculation results of the speed sensor. However, these methods have significant limitations and shortcomings. For example, they are highly dependent on the local speed sensor; once the local speed sensor malfunctions, it will directly affect the measurement and availability of train speed, increasing the safety hazards of train operation. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose a redundant speed measurement method that, through dual verification and complementarity of local and remote information, significantly enhances the reliability of train speed measurement and improves the accuracy of speed information, thereby improving the safety of train operation.

[0004] A second objective of this invention is to provide a computer-readable storage medium.

[0005] The third objective of this invention is to provide a redundant speed measuring device.

[0006] The fourth objective of this invention is to provide a train.

[0007] To achieve the above objectives, a first aspect of the present invention proposes a redundant speed measurement method, wherein the method is applied to a local ATP system at the front of a train, and a remote ATP system communicatively connected to the local ATP system is located at the rear of the train. Both the local ATP system and the remote ATP system include accelerometers and speed sensors. The method includes: acquiring local acceleration information and local speed information collected by the accelerometers and speed sensors in the local ATP system; receiving remote acceleration information and remote speed information sent by the accelerometers and speed sensors in the remote ATP system; and performing redundant speed detection on the train based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information.

[0008] According to the redundant speed measurement method of the present invention, the local acceleration information and local speed information collected by the accelerometer and speed sensor in the local ATP system are acquired; the remote acceleration information and remote speed information sent by the accelerometer and speed sensor in the remote ATP system are received; and the train speed is redundantly detected based on the local acceleration information, local speed information, remote acceleration information, and remote speed information. Thus, through the dual verification and complementarity of local and remote information, the reliability of train speed measurement is significantly enhanced, the accuracy of speed information is improved, and the safety of train operation is improved.

[0009] In addition, the redundant speed measurement method according to the above embodiments of the present invention may further include the following additional technical features:

[0010] According to one embodiment of the present invention, before performing redundancy detection on the speed of the train based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information, the redundancy speed measurement method further includes: performing availability detection on the local acceleration information and the local speed information, and performing compensation processing on the remote acceleration information and the remote speed information.

[0011] According to one embodiment of the present invention, the method further includes: performing a validity detection on the local acceleration information, the local velocity information, the remote acceleration information, and the remote velocity information.

[0012] According to an embodiment of the present invention, the method further includes: when the local acceleration information and / or the remote acceleration information are available, and when the local speed information and / or the remote speed information are available, determining a first acceleration of the train based on the local acceleration information and / or the remote acceleration information, and determining a second acceleration of the train based on the local speed information and / or the remote speed information; when the difference between the first acceleration and the second acceleration lasts for a first preset duration greater than or equal to a slip-on threshold, determining that the train is in a slip-on state, and determining that the local speed information and the remote speed information are invalid; in the slip-on state, if the difference between the first acceleration and the second acceleration lasts for a second preset duration less than the slip-on threshold, determining that the train has recovered from the slip-on state, and determining that the local speed information and the remote speed information are valid.

[0013] According to an embodiment of the present invention, the method further includes: when the local acceleration information and the remote acceleration information are unavailable, and when the local speed information and / or the remote speed information are available, determining the impact rate of the train speed based on the local speed information and / or the remote speed information; when the impact rate persists for a third preset duration greater than or equal to an impact rate slip-skid threshold, determining that the train is in a slip-skid state, and determining that the local speed information and the remote speed information are invalid; in the slip-skid state, if the impact rate persists for a fourth preset duration less than the impact rate slip-skid threshold, determining that the train recovers from the slip-skid state, and determining that the local speed information and the remote speed information are valid.

[0014] According to one embodiment of the present invention, the method further includes: when the speed sensor experiences a disconnection fault, determining that the local speed information and the remote speed information are invalid.

[0015] According to one embodiment of the present invention, redundancy detection of the train speed based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information includes: when the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information are all valid, calculating a fused travel speed of the train based on the local speed information and / or the remote speed information, and calculating a supervised travel speed of the train based on the local acceleration information and / or the remote speed information; and completing the redundancy detection of the train speed when the difference between the fused travel speed and the supervised travel speed is within a preset speed range.

[0016] According to one embodiment of the present invention, redundancy detection of the train speed based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information includes: calculating the combined travel speed of the train based on the local acceleration information and / or the remote acceleration information when both the local speed information and the remote speed information are invalid, and the local acceleration information and / or the remote acceleration information are valid; obtaining the duration for which the combined travel speed is continuously calculated based on the local acceleration information and / or the remote acceleration information; completing the redundancy detection of the train speed when the duration is less than or equal to a fifth preset duration; and invalidating the calculation of the combined travel speed of the train when the duration is greater than the fifth preset duration.

[0017] According to one embodiment of the present invention, redundancy detection of the train speed based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information includes: when both the local acceleration information and the remote acceleration information are invalid, and the local speed information and / or the remote speed information are valid, calculating the fused travel speed and the supervised travel speed of the train based on the local speed information and / or the remote speed information; and completing the redundancy detection of the train speed when the difference between the fused travel speed and the supervised travel speed is within a preset speed range.

[0018] According to one embodiment of the present invention, the local ATP system includes a first local velocity sensor, a second local velocity sensor, and a local accelerometer, and the remote ATP system includes a first remote velocity sensor, a second remote velocity sensor, and a remote accelerometer.

[0019] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium storing a redundant speed measurement program thereon, which, when executed by a processor, implements the redundant speed measurement method of the aforementioned embodiments of the present invention.

[0020] According to embodiments of the present invention, a computer-readable storage medium, by executing a redundant speed measurement program through a processor, can significantly enhance the reliability of train speed measurement and improve the accuracy of speed information through dual verification and complementarity of local and remote information, thereby improving the safety of train operation.

[0021] To achieve the above objectives, a third aspect of the present invention provides a redundant speed measurement device, wherein the device is applied to the local ATP system at the front of a train, and a remote ATP system communicatively connected to the local ATP system is provided at the rear of the train. Both the local ATP system and the remote ATP system include accelerometers and speed sensors. The device includes: an acquisition module for acquiring local acceleration information and local speed information collected by the accelerometers and speed sensors in the local ATP system; a receiving module for receiving remote acceleration information and remote speed information sent by the accelerometers and speed sensors in the remote ATP system; and a detection module for performing redundant speed detection on the train based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information.

[0022] According to the redundant speed measurement device of the present invention, the acquisition module acquires the local acceleration information and local speed information collected by the accelerometer and speed sensor in the local ATP system, and the receiving module receives the remote acceleration information and remote speed information sent by the accelerometer and speed sensor in the remote ATP system. Then, the detection module performs redundant detection on the train speed based on the local acceleration information, local speed information, remote acceleration information, and remote speed information. Thus, through the dual verification and complementarity of local and remote information, the reliability of train speed measurement is significantly enhanced, and the accuracy of speed information is improved, thereby improving the safety of train operation.

[0023] To achieve the above objectives, a fourth aspect of the present invention provides a train including the redundant speed measuring device described in the foregoing embodiments of the present invention.

[0024] According to the embodiments of the present invention, by employing the redundant speed measuring device of the above embodiments of the present invention, the reliability of train speed measurement is significantly enhanced and the accuracy of speed information is improved through dual verification and complementarity of local and remote information, thereby improving the safety of train operation.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating a redundant speed measurement method according to an embodiment of the present invention;

[0027] Figure 2 This is a flowchart illustrating a redundant speed measurement method according to another embodiment of the present invention;

[0028] Figure 3 This is a flowchart illustrating a redundant speed measurement method according to another embodiment of the present invention;

[0029] Figure 4 This is a flowchart illustrating a redundant speed measurement method according to another embodiment of the present invention;

[0030] Figure 5 This is a flowchart illustrating a redundant speed measurement method according to another embodiment of the present invention;

[0031] Figure 6 This is a flowchart illustrating a redundant speed measurement method according to another embodiment of the present invention;

[0032] Figure 7 This is a flowchart illustrating a redundant speed measurement method according to another embodiment of the present invention;

[0033] Figure 8This is a schematic diagram of the framework of the redundant speed measurement method according to an embodiment of the present invention;

[0034] Figure 9 This is a block diagram of a redundant speed measuring device according to an embodiment of the present invention;

[0035] Figure 10 This is a block diagram of a train according to an embodiment of the present invention. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0037] The following description, with reference to the accompanying drawings, describes a redundant speed measurement method, a computer-readable storage medium, a redundant speed measurement device, and a train according to embodiments of the present invention.

[0038] Figure 1 This is a flowchart illustrating a redundant speed measurement method according to an embodiment of the present invention.

[0039] Specifically, in some embodiments of the present invention, the redundant speed measurement method is applied to the local ATP system at the front of the train, and a remote ATP system connected to the local ATP system is installed at the rear of the train. Both the local and remote ATP systems include accelerometers and speed sensors, such as... Figure 1 As shown, redundant speed measurement methods include:

[0040] S101, acquire local acceleration information and local velocity information collected by the accelerometer and velocity sensor in the local ATP system.

[0041] Specifically, in this embodiment, after the accelerometer collects the local acceleration information, it sends the local acceleration information to the speed measuring board, and then the speed measuring board sends the local acceleration information to the local ATP system. After the speed sensor collects the local speed information, it sends the local speed information to the speed measuring board, and then the speed measuring board sends the local speed information to the local ATP system. Thus, the train's control unit can directly obtain the local acceleration information and local speed information from the local ATP system.

[0042] S102 receives acceleration and velocity information from the accelerometer and velocity sensor in the ATP system at the other end.

[0043] Specifically, in this embodiment, after the accelerometer collects the acceleration information of the other end, it sends the acceleration information to the velocity measuring board, and then the velocity measuring board sends the acceleration information to the other end ATP system. After the velocity sensor collects the velocity information of the other end, it sends the velocity information to the velocity measuring board, and then the velocity measuring board sends the velocity information to the other end ATP system. The local ATP system is communicatively connected to the other end ATP system, so the local ATP system can receive the acceleration information and velocity information of the other end ATP system through the communicative connection with the other end ATP system.

[0044] It should be noted that the local ATP system will also send its local acceleration and velocity information to the remote ATP system.

[0045] S103 performs redundancy detection on the train's speed based on the local acceleration information, local speed information, remote acceleration information, and remote speed information.

[0046] Specifically, in this embodiment, the fused travel speed and supervised travel speed of the train are calculated based on the local acceleration information, local speed information, remote acceleration information, and remote speed information. When the difference between the fused travel speed and the supervised travel speed is within a preset speed range, the redundancy detection of the train speed is completed.

[0047] Furthermore, in some embodiments of the present invention, such as Figure 2 As shown, before performing redundancy detection on the train's speed based on the local acceleration information, local speed information, remote acceleration information, and remote speed information, the redundancy speed measurement method also includes:

[0048] S201, perform availability detection on the local acceleration information and local velocity information, and perform compensation processing on the remote acceleration information and remote velocity information.

[0049] Specifically, in this embodiment, when the local acceleration information is within a first preset acceleration range, the local acceleration information is considered usable; when the local acceleration information is not within the first preset acceleration range, the local acceleration information is considered unusable; when the local speed information is within a second preset range, the local speed information is considered usable; when the local speed information is not within the second preset range, the local speed information is considered unusable.

[0050] Due to the time difference in signal transmission, the local ATP system may receive acceleration and velocity information from the remote ATP system via a communication connection, resulting in errors. Therefore, compensation is needed for the received acceleration and velocity information. This can be achieved by using a timer to capture the time difference between the transmission of the acceleration and velocity information from the remote ATP system to the local ATP system. Compensation can then be performed on the received acceleration and velocity information based on this time difference, for example, through linear interpolation, polynomial interpolation, or time series analysis. Furthermore, this invention does not impose specific limitations on the compensation method.

[0051] S202, redundancy detection is performed on the train speed based on the local acceleration and speed information after availability detection, and the remote acceleration and speed information after compensation processing.

[0052] Specifically, in this embodiment, the fused travel speed and supervised travel speed of the train are calculated based on the local acceleration information and local speed information after availability detection, and the remote acceleration information and remote speed information after compensation processing. When the difference between the fused travel speed and the supervised travel speed is within a preset speed range, the redundancy detection of the train speed is completed.

[0053] Furthermore, in some embodiments of the present invention, the redundant velocity measurement method further includes: performing validity detection on the local acceleration information, local velocity information, remote acceleration information, and remote velocity information.

[0054] Specifically, in this embodiment, before performing redundancy detection on the train speed based on the local acceleration information, local speed information, remote acceleration information, and remote speed information, a validity detection is performed on the local acceleration information, local speed information, remote acceleration information, and remote speed information. When the train's control unit can directly obtain the local acceleration information from the local ATP system, and the local ATP system can receive the remote acceleration information from the remote ATP system through a communication connection with the remote ATP system, the local acceleration information and the remote acceleration information are determined to be valid.

[0055] When a speed sensor experiences a disconnection fault, both the local and remote speed information are determined to be invalid. Similarly, when an accelerometer experiences a disconnection fault, both the local and remote acceleration information are determined to be invalid.

[0056] When local acceleration information and / or remote acceleration information are available, and local speed information and / or remote speed information are available, a first acceleration of the train is determined based on the local acceleration information and / or remote acceleration information, and a second acceleration of the train is determined based on the local speed information and / or remote speed information; when the difference between the first acceleration and the second acceleration lasts for a first preset duration greater than or equal to a slip-in threshold, the train is determined to be in a slip-in state, and the local speed information and remote speed information are determined to be invalid; in the slip-in state, if the difference between the first acceleration and the second acceleration lasts for a second preset duration less than the slip-in threshold, the train is determined to have recovered from the slip-in state, and the local speed information and remote speed information are determined to be valid.

[0057] When local acceleration information and remote acceleration information are unavailable, or when local speed information and / or remote speed information are available, the impact rate of the train speed is determined based on the local speed information and / or remote speed information. When the impact rate lasts for a third preset duration greater than or equal to the impact rate slip-in threshold, the train is determined to be in slip-in state, and the local speed information and remote speed information are determined to be invalid. In slip-in state, if the impact rate lasts for a fourth preset duration less than the impact rate slip-in threshold, the train is determined to recover from slip-in state, and the local speed information and remote speed information are determined to be valid.

[0058] Furthermore, in some embodiments of the present invention, such as Figure 3 As shown, the redundant speed measurement method also includes:

[0059] S301, when local acceleration information and / or remote acceleration information are available, and local speed information and / or remote speed information are available, determine the first acceleration of the train based on the local acceleration information and / or remote acceleration information, and determine the second acceleration of the train based on the local speed information and / or remote speed information.

[0060] Specifically, in this embodiment, the local acceleration information includes the acceleration collected by the local accelerometer, and the local speed information includes the speed collected by the first local speed sensor and the speed collected by the second local speed sensor. When the local acceleration information is available, if the local speed information is available, the acceleration collected by the local accelerometer is used as the first acceleration of the train, and the speed collected by the first local speed sensor and the speed collected by the second local speed sensor are used to calculate the second acceleration of the train.

[0061] Optionally, in this embodiment, the acceleration information at the other end includes the acceleration collected by the accelerometer at the other end, and the speed information at the other end includes the speed collected by the first speed sensor at the other end and the speed collected by the second speed sensor at the other end. When the acceleration information at the other end is available, if the speed information at the other end is available, the acceleration collected by the accelerometer at the other end is used as the first acceleration of the train, and the speed collected by the first speed sensor at the other end and the speed collected by the second speed sensor at the other end are used to calculate the second acceleration of the train.

[0062] S302, when the difference between the first acceleration and the second acceleration lasts for a first preset duration greater than or equal to the empty sliding threshold, it is determined that the train is in an empty sliding state, and the local speed information and the remote speed information are invalid.

[0063] Specifically, in this embodiment, the first preset duration can be one minute, three minutes, or five minutes, etc., and is not specifically limited here. Then, the acceleration collected by the local accelerometer is used as the train's first acceleration, and the train's second acceleration is calculated from the speed collected by the first local speed sensor and the speed collected by the second local speed sensor. If the difference between the first acceleration and the second acceleration remains greater than or equal to the idle sliding threshold for a first preset duration, it is determined that the train is in an idle sliding state, and the local speed information and the remote speed information are deemed invalid. The idle sliding threshold can be configured and is not specifically limited.

[0064] Optionally, in this embodiment, the first preset duration can be one minute, three minutes, or five minutes, etc., and is not specifically limited thereto. Then, after using the acceleration collected by the accelerometer at the other end as the train's first acceleration, and calculating the train's second acceleration using the speeds collected by the first and second speed sensors at the other end, if the difference between the first and second accelerations remains greater than or equal to the idle sliding threshold for a first preset duration, it is determined that the train is in an idle sliding state, and the other end speed information and the other end speed information are deemed invalid. The idle sliding threshold can be configured and is not specifically limited thereto.

[0065] S303, in the no-slip state, if the difference between the first acceleration and the second acceleration is less than the no-slip threshold for a second preset duration, it is determined that the train has resumed from the no-slip state, and the speed information at this end and the speed information at the other end are valid.

[0066] Specifically, in this embodiment, the first preset duration can be one minute, three minutes, or five minutes, etc., and is not specifically limited here. Then, the acceleration collected by the local accelerometer is used as the train's first acceleration, and the speed collected by the first local speed sensor and the speed collected by the second local speed sensor are used to calculate the train's second acceleration. In the slippery state, if the difference between the first acceleration and the second acceleration remains less than the slippery threshold for a second preset duration, it is determined that the train has recovered from the slippery state, and the local speed information and the remote speed information are valid. The slippery threshold can be configured and is not specifically limited. This allows for the determination of train slippage, improving the reliability of train speed measurement in slippery situations, thereby enhancing the safety of train operation.

[0067] Optionally, in this embodiment, the first preset duration can be one minute, three minutes, or five minutes, etc., and is not specifically limited thereto. Then, the acceleration collected by the accelerometer at the other end is used as the train's first acceleration, and the speed collected by the first and second speed sensors at the other end is used to calculate the train's second acceleration. In the slippery state, if the difference between the first and second accelerations remains less than the slippery threshold for a second preset duration, it is determined that the train has recovered from the slippery state, and the speed information at the other end is confirmed to be valid. This completes the train's slippery judgment, improving the reliability of train speed measurement in slippery situations, thereby enhancing the safety of train operation.

[0068] Furthermore, in some embodiments of the present invention, such as Figure 4 As shown, the redundant speed measurement method also includes:

[0069] S401, when local acceleration information and remote acceleration information are unavailable, and local speed information and / or remote speed information are available, determine the impact rate of train speed based on local speed information and / or remote speed information.

[0070] Specifically, in this embodiment, the local acceleration information includes the acceleration collected by the local accelerometer, and the local speed information includes the speed collected by the first local speed sensor and the speed collected by the second local speed sensor. The remote acceleration information includes the acceleration collected by the remote accelerometer, and the remote speed information includes the speed collected by the first remote speed sensor and the speed collected by the second remote speed sensor. When the local acceleration information and the remote acceleration information are unavailable, if the local speed information is available, the impact rate of the train speed is calculated based on the speed collected by the first local speed sensor and the speed collected by the second local speed sensor. If the remote speed information is available, the impact rate of the train speed is calculated based on the speed collected by the first remote speed sensor and the speed collected by the second remote speed sensor. The rate of change of acceleration can be calculated based on five consecutive speed acquisition cycles, and the rate of change can be used as the impact rate of the train.

[0071] S402, when the impact rate continues for a third preset duration greater than or equal to the impact rate slip-in threshold, determine that the train is in slip-in state and determine that the speed information at this end and the speed information at the other end are invalid.

[0072] Specifically, in this embodiment, the third preset duration can be one minute, three minutes, or five minutes, etc., and is not specifically limited here. Then, after determining the train speed impact rate based on the local speed information and / or the remote speed information, if the impact rate continues for a third preset duration greater than or equal to the impact rate slip-in threshold, it is determined that the train is in a slip-in state, and the local speed information and the remote speed information are determined to be invalid. The slip-in threshold value can be configured and is not specifically limited.

[0073] S403, in the no-slip condition, if the impact rate is less than the impact rate no-slip threshold for a fourth preset duration, the train is determined to have resumed the no-slip condition, and the speed information at this end and the speed information at the other end are determined to be valid.

[0074] Specifically, in this embodiment, the fourth preset duration can be one minute, three minutes, or five minutes, etc., and is not specifically limited here. After determining the train speed impact rate based on the local speed information and / or the remote speed information, in the slip-out state, if the impact rate remains less than the impact rate slip-out threshold for the fourth preset duration, it is determined that the train has resumed the slip-out state, and the local and remote speed information are confirmed to be valid. The slip-out threshold can be configured and is not specifically limited. This allows for train slippage determination, improving the reliability of train speed measurement in slippery conditions and thus enhancing train operation safety.

[0075] Furthermore, in some embodiments of the present invention, the redundant speed measurement method further includes: determining that the local speed information and the remote speed information are invalid when a speed sensor experiences a disconnection fault.

[0076] Specifically, in this embodiment, before performing redundancy detection on the train's speed based on the local acceleration information, local speed information, remote acceleration information, and remote speed information, a validity check is also performed on the local and remote speed information. If a speed sensor experiences a disconnection fault, the local and remote speed information are determined to be invalid. A speed sensor disconnection fault is determined when the duration for which the collected information from the speed sensor indicates that the train's speed is continuously zero reaches a sixth preset duration. The sixth preset duration can be two minutes, five minutes, or ten minutes; furthermore, the present invention does not specifically limit the value of the sixth preset duration.

[0077] When the information collected by the speed sensor indicates that the train's speed drops to zero within a seventh preset time period, a disconnection fault in the speed sensor is determined. The seventh preset time period is preferably 50 milliseconds. However, this invention does not specifically limit the value of the seventh preset time period; for example, the second preset time period can also be 45 milliseconds, 58 milliseconds, or 65 milliseconds.

[0078] If the train's speed is less than a preset speed, at least one sensor among multiple sensors collects at least one piece of information indicating that the train's speed is continuously zero for a duration equal to a third preset duration, and other sensors still collect information indicating that the train's speed is non-zero, then it is determined that at least one sensor has experienced a disconnection fault. The third preset duration can be two minutes, four minutes, or five minutes, and the preset speed is preferably 10 km / h. Furthermore, this invention does not specifically limit the values ​​of the second preset duration and the preset speed; for example, the preset speed can also be 8 km / h, 15 km / h, or 20 km / h. Therefore, when a speed sensor experiences a disconnection fault, both the local and remote speed information are determined to be invalid.

[0079] Furthermore, in some embodiments of the present invention, such as Figure 5 As shown, redundancy detection of train speed is performed based on local acceleration information, local speed information, remote acceleration information, and remote speed information, including:

[0080] S501, when the local acceleration information, local speed information, remote acceleration information, and remote speed information are all valid, calculate the train's combined running speed based on the local speed information and / or remote speed information, and calculate the train's supervised running speed based on the local acceleration information and / or remote speed information.

[0081] Specifically, in this embodiment, the local acceleration information includes the acceleration collected by the local accelerometer, and the local speed information includes the speed collected by the first local speed sensor and the second local speed sensor. The remote acceleration information includes the acceleration collected by the remote accelerometer, and the remote speed information includes the speed collected by the first remote speed sensor and the second remote speed sensor. When all three types of information are valid, the average value of the speed collected by the first and second local speed sensors is calculated, and this average value is used as the fused train speed. Furthermore, the supervised train speed is obtained by integrating the acceleration collected by the local accelerometer. Alternatively, if the local acceleration information is invalid, the supervised train speed can be obtained by integrating the acceleration collected by the remote accelerometer.

[0082] Optionally, in this embodiment, the average of the speeds collected by the first and second end speed sensors is calculated, and this average is used as the fused train speed. The supervised train speed is obtained by integrating the acceleration collected by the end accelerometer. Furthermore, if the end acceleration information is invalid, the supervised train speed can be obtained by integrating the acceleration collected by the local accelerometer.

[0083] S502 completes redundant detection of train speed when the difference between the fused travel speed and the supervised travel speed is within a preset speed range.

[0084] Specifically, in this embodiment, the average value of the speed collected by the first local speed sensor and the speed collected by the second local speed sensor is calculated and used as the fused travel speed of the train. After integrating the acceleration collected by the local accelerometer to obtain the supervised travel speed of the train, the redundancy detection of the train speed is completed when the difference between the fused travel speed and the supervised travel speed is within a preset speed range.

[0085] Optionally, in this embodiment, the average value of the speed collected by the first end speed sensor and the speed collected by the second end speed sensor is calculated and used as the fused travel speed of the train. After the acceleration collected by the end accelerometer is integrated to obtain the supervised travel speed of the train, the redundancy detection of the train speed is completed when the difference between the fused travel speed and the supervised travel speed is within a preset speed range.

[0086] Furthermore, in some embodiments of the present invention, such as Figure 6 As shown, redundancy detection of train speed is performed based on local acceleration information, local speed information, remote acceleration information, and remote speed information, including:

[0087] S601, when both the local speed information and the remote speed information are invalid, but the local acceleration information and / or the remote acceleration information are valid, calculate the combined train speed based on the local acceleration information and / or the remote acceleration information.

[0088] Specifically, in this embodiment, the local acceleration information includes the acceleration collected by the local accelerometer, and the remote acceleration information includes the acceleration collected by the remote accelerometer. When both the local and remote speed information are invalid, and the local acceleration information is valid, the train's fused travel speed is obtained by integrating the acceleration collected by the local accelerometer.

[0089] Optionally, in this embodiment, the local acceleration information includes the acceleration collected by the local accelerometer, and the remote acceleration information includes the acceleration collected by the remote accelerometer. When both the local and remote speed information are invalid, but the remote acceleration information is valid, the train's fused speed is obtained by integrating the acceleration collected by the remote accelerometer.

[0090] S602, the duration for which local acceleration information and / or remote acceleration information are continuously obtained to calculate the fused driving speed.

[0091] Specifically, in this embodiment, the acceleration collected by the local accelerometer is integrated to obtain the combined travel speed of the train, and a timer is used to continuously acquire the duration of the calculation of the combined travel speed.

[0092] Optionally, in this embodiment, the acceleration collected by the accelerometer at the other end is integrated to obtain the combined travel speed of the train, and the duration of calculating the combined travel speed is continuously obtained through a timer.

[0093] S6031, when the duration is less than or equal to the fifth preset duration, complete the redundancy detection of train speed.

[0094] Specifically, in this embodiment, the fifth preset duration can be two minutes, five minutes, or seven minutes, and there is no specific limitation on it. After continuously calculating the fused travel speed using the local acceleration information and / or the remote acceleration information, if the duration of continuously calculating the fused travel speed is less than or equal to the fifth preset duration, then the redundancy detection of the train speed is completed.

[0095] S6032, if the duration exceeds the fifth preset duration, the calculation of the train's combined travel speed will be invalid.

[0096] Specifically, in this embodiment, the fifth preset duration can be two minutes, five minutes, or seven minutes, and there is no specific limitation on it. After continuously calculating the fused travel speed by obtaining the local acceleration information and / or the remote acceleration information, if the duration of continuously calculating the fused travel speed is longer than the fifth preset duration, the calculation of the fused travel speed of the train is invalid.

[0097] Furthermore, in some embodiments of the present invention, such as Figure 7 As shown, redundancy detection of train speed is performed based on local acceleration information, local speed information, remote acceleration information, and remote speed information, including:

[0098] S701, when both the local acceleration information and the remote acceleration information are invalid, but the local speed information and / or the remote speed information are valid, calculate the train's combined travel speed and supervised travel speed based on the local speed information and / or the remote speed information.

[0099] Specifically, in this embodiment, the local acceleration information includes the acceleration collected by the local accelerometer, and the local speed information includes the speed collected by the first local speed sensor and the speed collected by the second local speed sensor. The remote acceleration information includes the acceleration collected by the remote accelerometer, and the remote speed information includes the speed collected by the first remote speed sensor and the speed collected by the second remote speed sensor. When both the local acceleration information and the remote acceleration information are invalid, if the local speed information and the remote speed information are valid, the average speed of the speed collected by the first local speed sensor and the speed collected by the second local speed sensor is taken as the fused travel speed of the train, and the average speed of the speed collected by the first remote speed sensor and the speed collected by the second remote speed sensor is taken as the supervised travel speed of the train.

[0100] If the local speed information and the remote speed information are valid, and the remote speed information and the remote speed information are invalid, then the average speed of the speed collected by the first local speed sensor and the speed collected by the second local speed sensor will be used as the fused speed of the train. Alternatively, the speed collected by the first local speed sensor will be used as the supervised speed, or the speed collected by the second local speed sensor will be used as the supervised speed.

[0101] If the local speed information and the remote speed information are invalid, but the remote speed information and the remote speed information are valid, then the average speed of the speed collected by the first remote speed sensor and the speed collected by the second remote speed sensor will be used as the fused speed of the train. Alternatively, the speed collected by the first remote speed sensor will be used as the supervised speed, or the speed collected by the second remote speed sensor will be used as the supervised speed.

[0102] S702 completes redundant detection of train speed when the difference between the fused travel speed and the supervised travel speed is within a preset speed range.

[0103] Specifically, in this embodiment, the preset speed range can be configured, and its value is not specifically limited here. After obtaining the fused driving speed and the supervised driving speed, the difference between the fused driving speed and the supervised driving speed is calculated. If the difference is within the preset speed range, the redundancy detection of the train speed is completed. If the difference is not within the preset speed range, the train speed measurement is invalid.

[0104] Furthermore, in some embodiments of the present invention, the local ATP system includes a first local velocity sensor, a second local velocity sensor, and a local accelerometer, while the remote ATP system includes a first remote velocity sensor, a second remote velocity sensor, and a remote accelerometer.

[0105] Specifically, in this embodiment, such as Figure 8 As shown, the local ATP system supplies power, performs fault detection, and collects information from the first local speed sensor, the second local speed sensor, and the local accelerometer through the local speed measuring board. The remote ATP system supplies power, performs fault detection, and collects information from the first remote speed sensor, the second remote speed sensor, and the remote accelerometer through the remote speed measuring board.

[0106] In summary, the redundant speed measurement method according to embodiments of the present invention acquires local acceleration information and local speed information collected by the accelerometer and speed sensor in the local ATP system; receives remote acceleration information and remote speed information sent by the accelerometer and speed sensor in the remote ATP system; and performs redundant detection of the train speed based on the local acceleration information, local speed information, remote acceleration information, and remote speed information. Thus, through dual verification and complementarity of local and remote information, the reliability of train speed measurement is significantly enhanced, and the accuracy of speed information is improved, thereby improving the safety of train operation.

[0107] Based on the redundant speed measurement method proposed in the foregoing embodiments of the present invention, the present invention also proposes a computer-readable storage medium storing a redundant speed measurement program thereon. When the redundant speed measurement program is executed by a processor, it implements the redundant speed measurement method of the above embodiments of the present invention.

[0108] According to embodiments of the present invention, a computer-readable storage medium, by executing a redundant speed measurement program through a processor, can significantly enhance the reliability of train speed measurement and improve the accuracy of speed information through dual verification and complementarity of local and remote information, thereby improving the safety of train operation.

[0109] Figure 9This is a block diagram of a redundant speed measuring device according to an embodiment of the present invention.

[0110] Specifically, the device is applied to the local ATP system at the front of the train, and a remote ATP system connected to the local ATP system is installed at the rear of the train. Both the local and remote ATP systems include accelerometers and speed sensors, such as... Figure 9 As shown, the redundant speed measuring device 100 includes an acquisition module 10, a receiving module 20, and a detection module 30.

[0111] The acquisition module 10 is used to acquire local acceleration information and local speed information collected by the accelerometer and speed sensor in the local ATP system; the receiving module 20 is used to receive remote acceleration information and remote speed information sent by the accelerometer and speed sensor in the remote ATP system; and the detection module 30 is used to perform redundancy detection on the train speed based on the local acceleration information, local speed information, remote acceleration information, and remote speed information.

[0112] In some embodiments of the present invention, availability detection is performed on the local acceleration information and local speed information, and compensation processing is performed on the remote acceleration information and remote speed information; redundancy detection is performed on the train speed based on the local acceleration information and local speed information after availability detection, and the remote acceleration information and remote speed information after compensation processing.

[0113] In some embodiments of the present invention, validity detection is performed on the local acceleration information, local velocity information, remote acceleration information, and remote velocity information.

[0114] In some embodiments of the present invention, when local acceleration information and / or remote acceleration information are available, and local speed information and / or remote speed information are available, a first acceleration of the train is determined based on the local acceleration information and / or remote acceleration information, and a second acceleration of the train is determined based on the local speed information and / or remote speed information; when the difference between the first acceleration and the second acceleration lasts for a first preset duration greater than or equal to a slip-in threshold, it is determined that the train is in a slip-in state, and the local speed information and remote speed information are invalid; in the slip-in state, if the difference between the first acceleration and the second acceleration lasts for a second preset duration less than the slip-in threshold, it is determined that the train has recovered from the slip-in state, and the local speed information and remote speed information are valid.

[0115] In some embodiments of the present invention, when the local acceleration information and the remote acceleration information are unavailable, and when the local speed information and / or the remote speed information are available, the impact rate of the train speed is determined based on the local speed information and / or the remote speed information; when the impact rate lasts for a third preset duration greater than or equal to the impact rate slip-in threshold, it is determined that the train is in a slip-in state, and the local speed information and the remote speed information are invalid; in the slip-in state, if the impact rate lasts for a fourth preset duration less than the impact rate slip-in threshold, it is determined that the train has recovered from the slip-in state, and the local speed information and the remote speed information are valid.

[0116] In some embodiments of the present invention, when a speed sensor experiences a disconnection fault, the speed information at the local end and the speed information at the remote end are determined to be invalid.

[0117] In some embodiments of the present invention, the detection module 30 is specifically used to calculate the fused travel speed of the train based on the local speed information and / or the remote speed information when the local acceleration information, local speed information, remote acceleration information, and remote speed information are all valid, and to calculate the supervised travel speed of the train based on the local acceleration information and / or the remote speed information; and to complete the redundancy detection of the train speed when the difference between the fused travel speed and the supervised travel speed is within a preset speed range.

[0118] In some embodiments of the present invention, the detection module 30 is specifically used to calculate the fused travel speed of the train based on the local acceleration information and / or the remote acceleration information when both local and remote speed information are invalid, and local acceleration information and / or remote acceleration information are valid; obtain the duration for which the fused travel speed is continuously calculated based on the local acceleration information and / or remote acceleration information; complete the redundancy detection of the train speed when the duration is less than or equal to a fifth preset duration; and invalidate the fused travel speed calculation when the duration is greater than the fifth preset duration.

[0119] In some embodiments of the present invention, when both the local acceleration information and the remote acceleration information are invalid, and the local speed information and / or the remote speed information are valid, the detection module 30 calculates the fused travel speed and the supervised travel speed of the train based on the local speed information and / or the remote speed information; when the difference between the fused travel speed and the supervised travel speed is within a preset speed range, the redundancy detection of the train speed is completed.

[0120] In some embodiments of the present invention, the local ATP system includes a first local velocity sensor, a second local velocity sensor, and a local accelerometer, while the remote ATP system includes a first remote velocity sensor, a second remote velocity sensor, and a remote accelerometer.

[0121] It should be noted that other specific implementations of the redundant speed measuring device proposed in the embodiments of the present invention can be found in the specific implementations of the redundant speed measuring method in the foregoing embodiments of the present invention. To reduce redundancy, they will not be described again here.

[0122] In summary, the redundant speed measurement device according to the embodiments of the present invention acquires local acceleration and speed information collected by the accelerometer and speed sensor in the local ATP system through the acquisition module, and receives remote acceleration and speed information sent by the accelerometer and speed sensor in the remote ATP system through the receiving module. Then, the detection module performs redundant detection on the train speed based on the local acceleration and speed information, the remote acceleration and speed information, and the remote speed information. Thus, through the dual verification and complementarity of local and remote information, the reliability of train speed measurement is significantly enhanced, the accuracy of speed information is improved, and the safety of train operation is improved.

[0123] Figure 10 This is a block diagram of a train according to an embodiment of the present invention.

[0124] like Figure 10 As shown, the train 1000 includes the redundant speed measuring device 100 described in the above embodiment of the present invention.

[0125] According to the embodiments of the present invention, by employing the redundant speed measuring device of the above embodiments of the present invention, the reliability of train speed measurement is significantly enhanced and the accuracy of speed information is improved through dual verification and complementarity of local and remote information, thereby improving the safety of train operation.

[0126] Furthermore, other components and functions of the train in the embodiments of the present invention are known to those skilled in the art, and will not be described in detail here to reduce redundancy.

[0127] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0128] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0129] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0130] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0131] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0132] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0133] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0134] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A redundant speed measurement method, characterized in that, The method is applied to the local ATP system at the front of the train, and a remote ATP system connected to the local ATP system is installed at the rear of the train. Both the local ATP system and the remote ATP system include accelerometers and speed sensors. The method includes: Acquire local acceleration and local velocity information collected by the accelerometer and velocity sensor in the local ATP system; Receive the acceleration and velocity information transmitted from the accelerometer and velocity sensor in the peer ATP system; Availability detection is performed on the local acceleration information and the local velocity information, and compensation processing is performed on the remote acceleration information and the remote velocity information; The validity of the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information is checked; wherein, when the speed sensor experiences a disconnection fault, the corresponding speed information is determined to be invalid. The determination of the disconnection fault includes: when the duration for which the collected information from the speed sensor indicates that the train's speed has been continuously zero reaches a sixth preset duration, the speed sensor is determined to have experienced a disconnection fault. Redundancy detection of the train's speed is performed based on the local acceleration and speed information after availability testing, and the remote acceleration and speed information after compensation processing. The redundancy detection includes: calculating a merged train speed based on the local speed information and / or the remote speed information when all three are valid; and calculating a supervised train speed based on the local acceleration and / or the remote acceleration information. Redundancy detection of the train's speed is completed when the difference between the merged speed and the supervised speed is within a preset speed range.

2. The redundant speed measurement method according to claim 1, characterized in that, The method further includes: When the local acceleration information and / or the remote acceleration information are available, and when the local speed information and / or the remote speed information are available, a first acceleration of the train is determined based on the local acceleration information and / or the remote acceleration information, and a second acceleration of the train is determined based on the local speed information and / or the remote speed information. If the difference between the first acceleration and the second acceleration is greater than or equal to the empty-running threshold for a first preset duration, it is determined that the train is in an empty-running state, and the local speed information and the remote speed information are determined to be invalid. In the no-ride state, if the difference between the first acceleration and the second acceleration remains less than the no-ride threshold for a second preset duration, it is determined that the train has resumed from the no-ride state, and the local speed information and the remote speed information are confirmed to be valid.

3. The redundant speed measurement method according to claim 1, characterized in that, The method further includes: When the local acceleration information and the remote acceleration information are unavailable, and when the local speed information and / or the remote speed information are available, the impact rate of the train speed is determined based on the local speed information and / or the remote speed information. When the impact rate continues for a third preset duration greater than or equal to the impact rate slip-in threshold, it is determined that the train is in slip-in state, and the local speed information and the remote speed information are determined to be invalid. In the no-slip state, if the impact rate is less than the impact rate no-slip threshold for a fourth preset duration, it is determined that the train has recovered from the no-slip state, and the local speed information and the remote speed information are determined to be valid.

4. The redundant speed measurement method according to claim 1, characterized in that, The method further includes: When the speed sensor experiences a disconnection fault, the local speed information and the remote speed information are determined to be invalid.

5. The redundant speed measurement method according to claim 1, characterized in that, Redundancy detection of the train's speed is performed based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information, including: When both the local speed information and the remote speed information are invalid, and the local acceleration information and / or the remote acceleration information are valid, the combined travel speed of the train is calculated based on the local acceleration information and / or the remote acceleration information. The duration for which the fused driving speed is continuously calculated after acquiring the local acceleration information and / or the remote acceleration information; When the duration is less than or equal to the fifth preset duration, redundant detection of the train speed is completed; If the duration exceeds the fifth preset duration, the calculation of the train's combined travel speed is invalid.

6. The redundant speed measurement method according to claim 1, characterized in that, Redundancy detection of the train's speed is performed based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information, including: When both the local acceleration information and the remote acceleration information are invalid, and the local speed information and / or the remote speed information are valid, the combined travel speed and the supervised travel speed of the train are calculated based on the local speed information and / or the remote speed information. When the difference between the fused travel speed and the supervised travel speed is within a preset speed range, redundant detection of the train speed is completed.

7. The redundant speed measurement method according to any one of claims 1-6, characterized in that, The local ATP system includes a first local velocity sensor, a second local velocity sensor, and a local accelerometer, while the remote ATP system includes a first remote velocity sensor, a second remote velocity sensor, and a remote accelerometer.

8. A computer-readable storage medium, characterized in that, It stores a redundant speed measurement program, which, when executed by the processor, implements the redundant speed measurement method according to any one of claims 1-6.

9. A redundant speed measuring device for implementing the redundant speed measuring method as described in any one of claims 1-6, characterized in that, The device is applied to the local ATP system at the front of the train, and a remote ATP system connected to the local ATP system is installed at the rear of the train. Both the local ATP system and the remote ATP system include accelerometers and speed sensors. The device includes: The acquisition module is used to acquire local acceleration information and local velocity information collected by the accelerometer and velocity sensor in the local ATP system. The receiving module is used to receive the acceleration information and velocity information transmitted by the accelerometer and velocity sensor in the ATP system at the other end. The detection module is used to perform redundancy detection on the speed of the train based on the local acceleration information, the local speed information, the remote acceleration information, and the remote speed information.

10. A train, characterized in that, Includes the redundant speed measuring device as described in claim 9.

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