Intelligent anti-slip brake shoe with infrared distance measurement function and intelligent detection method

Abstract

The invention relates to the technical field of railway equipment, and particularly discloses an intelligent anti-slip brake shoe with an infrared distance measurement function and an intelligent detection method. The intelligent anti-slip brake shoe comprises a brake shoe body, a front wheel track probe installed at the front end of the brake shoe body, a track gauge infrared probe installed at the bottom of the brake shoe body and a core electronic assembly installed in the brake shoe, and the core electronic assembly comprises an attitude sensor, a vibration sensor, a communication module and a micro-control unit. The micro-control unit is connected with the front wheel track probe, the track gauge infrared probe, the attitude sensor, the vibration sensor and the communication module, and the micro-control unit is in signal connection with an external server through the communication module. According to the invention, a product can adapt to different wheel distance measurement in an extremely severe environment, can still work stably and acquire data accurately, can judge the state of the iron shoe remotely and accurately, and can adjust the posture of the iron shoe correspondingly in time, so that safety accidents are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of railway equipment, and in particular to an intelligent anti-slip shoe for infrared ranging and an intelligent detection method. Background Art

[0002] Anti-slip iron shoes are an important tool to prevent railway vehicles from moving and slipping. Due to the wide distribution of railway lines, the large number of stopped vehicles and the complex social security environment, the management of anti-slip iron shoes has become a problem that troubles railway operators. At present, several monitoring technologies for intelligent anti-slip iron shoes under the wheels have the following defects:

[0003] Strain gauge pressure monitoring is adopted. When the wheel presses the shoe, the strain gauge is deformed. The main control determines the shoe pressing status by collecting the deformation value. In this monitoring method, the service life of the strain gauge is very limited in this usage scenario, and the damage rate is extremely high. In addition, the misjudgment rate is also relatively high when judging the status.

[0004] Ultrasonic monitoring is used to determine the distance to obstacles through the transmission and reception of ultrasonic waves. However, it is prone to misjudgment due to on-site conditions, such as jitter and interference, and the price is relatively high.

[0005] Infrared ranging is a common ranging solution. It usually uses infrared rays with a wavelength between 760nm-10000nm as detection signals. The detection distance is between several centimeters and several meters. The principle is mainly to use the photoelectric effect. A pair of infrared tubes, the transmitting tube emits an infrared signal of a specific frequency. When the infrared signal is irradiated to the surface of an object, the irradiated object will reflect part of the infrared rays. The receiving tube can detect the reflected light, and then calculate the time and intensity of the reflected light to calculate the distance to the detected object. However, the following factors will affect the accuracy of infrared ranging:

[0006] Environmental factors: The accuracy and stability of infrared acquisition will also be affected by environmental factors, such as high temperature, humidity, etc., which will lead to a decrease in acquisition accuracy.

[0007] Light interference: Infrared is collected through the photoelectric effect, so the accuracy and reliability of the results will be affected by interference from other light sources.

[0008] Distance: Infrared ranging can only measure meters and millimeters. Too long a distance will result in weakened or complete loss of signal.

[0009] Surface characteristics of objects: For some materials with high reflectivity, such as metal, specular reflection will cause a large amount of reflection of infrared rays, thus affecting penetration and transmission distance.

[0010] In summary, there is an urgent need for an iron shoe that can ensure the stability of infrared ranging to solve the problems existing in the prior art. Summary of the invention

[0011] The purpose of the present invention is to provide an intelligent anti-skid shoe and an intelligent detection method for infrared ranging, so as to solve the technical problem that the intelligent anti-skid shoe in the prior art is prone to misjudgment during the monitoring process. The specific technical solution is as follows:

[0012] The invention provides an intelligent anti-skid iron shoe with infrared ranging, comprising an iron shoe body, a front wheel gauge probe installed at the front end of the iron shoe body, a track gauge infrared probe installed at the bottom of the iron shoe body, and a core electronic component installed inside the iron shoe, wherein a first opening is provided on the iron shoe body for the infrared ray of the front wheel gauge probe to pass through, a second opening is provided on the iron shoe body for the infrared ray of the track gauge infrared probe to pass through, the core electronic component comprises a posture sensor, a vibration sensor, a communication module, and a micro control unit, the micro control unit is connected to the front wheel gauge probe, the track gauge infrared probe, the posture sensor, the vibration sensor, and the communication module, and the micro control unit is connected to an external server through a communication module signal.

[0013] A further improvement of the infrared ranging intelligent anti-skid shoes of the present invention is that the core electronic component also includes a satellite positioning module, and the satellite positioning module is connected to the micro control unit.

[0014] A further improvement of the infrared ranging intelligent anti-skid shoes of the present invention is that the core electronic component also includes a power management module, and the power management module is connected to the micro control unit.

[0015] A further improvement of the infrared ranging intelligent anti-skid shoe of the present invention is that the power management module includes a battery, a real-time power monitoring submodule for monitoring the battery power, and a charging management submodule for protecting the battery charging and discharging.

[0016] The present invention also provides an intelligent detection method for an intelligent anti-skid iron shoe using the infrared ranging as described above, comprising the following steps: measuring and collecting the distance between the train wheel and the iron shoe body by a front wheel gauge probe, measuring and collecting the distance between the iron shoe body and the track by a track gauge infrared probe, measuring and collecting the posture of the iron shoe body by a posture sensor, and measuring and collecting the vibration of the iron shoe body by a vibration sensor; receiving the measurement data of the front wheel gauge probe, the track gauge infrared probe, the posture sensor and the vibration sensor by a micro control unit, filtering and calculating the received measurement data of the front wheel gauge probe and the track gauge infrared probe to obtain calculated infrared data, and judging whether the iron shoe body is in a normal state according to the calculated infrared data and the received posture and vibration data; if so, continue to receive the measurement data; if not, transmit the information to an external server through a communication module to issue an alarm; the micro control unit transmits all the measurement data to an external server through the communication module to remotely monitor the iron shoe body.

[0017] A further improvement of the intelligent detection method of infrared ranging of the present invention is that the filtering calculation includes the following steps:

[0018] First, the measured data is smoothed by a sliding average filter to obtain smoothed data;

[0019] Then the smoothed data is predicted and updated through the Kalman filter to obtain predicted and updated data;

[0020] Then, the predicted updated data is calculated by a comprehensive filtering algorithm to obtain comprehensive filtered data, wherein the comprehensive filtering algorithm combines two algorithms, a sliding average filter and a Kalman filter;

[0021] Finally, the comprehensive filtering data is calculated through the test code to obtain the final filtering data.

[0022] A further improvement of the intelligent detection method of infrared ranging of the present invention is that when the comprehensive filtering data is calculated by the test code to obtain the final filtering data, a sample data set is created in the main function, the data buffer size, the calculation process noise variance, the measurement noise variance and the estimation variance are set, and the calculated data is comprehensively filtered, and finally the final filtered data after filtering is output.

[0023] A further improvement of the intelligent detection method of infrared ranging of the present invention is that the normal state of the iron shoe body is defined as the normal defense state, and the abnormal state of the iron shoe body is defined as the pressed shoe state, the loose state or the abnormal posture state.

[0024] A further improvement of the intelligent detection method of infrared ranging of the present invention is that the position information of the iron shoe body is measured and collected by a satellite positioning module, and then the micro control unit receives the position information and transmits the position information to an external server through a communication module.

[0025] A further improvement of the intelligent detection method of infrared ranging of the present invention is that the power information is monitored and collected by the power management module, the micro control unit receives the power information, and transmits the power information to the external server through the communication module.

[0026] The application of the technical solution of the present invention has the following beneficial effects:

[0027] The infrared ranging intelligent anti-skid iron shoe of the present invention obtains accurate measurement data of infrared ranging and judges the state of the iron shoe through calculation of core electronic components, which solves the technical problem that the intelligent anti-skid iron shoe in the prior art is prone to misjudgment during the monitoring process. The present invention has stable hardware and accurate algorithms, is less affected by environmental factors, and can enable the product to adaptively measure the distance of different wheels in extremely harsh environments, and can still work stably and collect data accurately, so as to remotely and accurately judge the state of the iron shoe, and make corresponding adjustments to the posture of the iron shoe in time, thereby avoiding safety accidents.

[0028] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 It is a schematic diagram of the internal structure of the intelligent anti-skid shoes of the infrared ranging of the present invention in a normal defense state;

[0031] Figure 2 It is a schematic diagram of the composition of the core electronic components of the intelligent anti-skid shoes with infrared ranging of the present invention;

[0032] Figure 3 This is a state diagram of the effective anti-slipping of the intelligent anti-slip iron shoes of the infrared ranging of the present invention;

[0033] Figure 4 This is a state diagram of the intelligent anti-skid shoe of the infrared ranging of the present invention when the wheel presses the shoe;

[0034] Figure 5 It is a state diagram of the anti-slip failure (loosening) of the intelligent anti-slip iron shoe for infrared ranging of the present invention;

[0035] Figure 6 It is a state diagram of the ineffective anti-slip (abnormal posture) of the intelligent anti-slip iron shoes of the infrared ranging of the present invention;

[0036] Figure 7 It is a schematic diagram of the deviation angle between the intelligent anti-skid shoe of the infrared ranging of the present invention and the wheel when the wheel gauge is 1250mm;

[0037] Figure 8 It is a schematic diagram of the deviation angle between the intelligent anti-skid shoe of the infrared ranging of the present invention and the wheel when the wheel width is 840mm.

[0038] Among them, 1. Iron shoe body; 2. Front wheel gauge probe; 3. Track gauge infrared probe; 4. Core electronic components; 5. Wheels; 6. Satellite positioning module; 7. Communication module; 8. Debug port; 9. Vibration sensor; 10. Indicator light; 11. Posture sensor; 12. Real-time power monitoring submodule; 13. Charging management submodule. DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] In real applications, there are many types of trains, and the corresponding wheelbases of trains are also very different, including 1250mm, 840mm, etc. Different wheelbases will cause the problem of diffuse reflection caused by infrared emission hitting the wheelbase, which will affect the accuracy of ranging. The angles of different wheelbases are as follows Figure 7 and Figure 8 As shown, in order to cope with different wheels 5, the hardware must first ensure the stability of the signal to prevent the intervention of some noise, and the software needs a powerful algorithm support to self-correct the distance.

[0041] See also Figures 1 to 8 As shown, therefore, the present invention provides an intelligent anti-skid iron shoe with infrared ranging, comprising an iron shoe body 1, a front wheel gauge probe 2 installed at the front end of the iron shoe body 1, a track gauge infrared probe 3 installed at the bottom of the iron shoe body 1, and a core electronic component 4 installed inside the iron shoe, the iron shoe body 1 is provided with a first opening for the infrared light of the front wheel gauge probe 2 to pass through, the iron shoe body 1 is provided with a second opening for the infrared light of the track gauge infrared probe 3 to pass through, the core electronic component 4 comprises a posture sensor 11, a vibration sensor 9, a communication module 7 and a micro control unit, the micro control unit is connected to the front wheel gauge probe 2, the track gauge infrared probe 3, the posture sensor 11, the vibration sensor 9 and the communication module 7, and the micro control unit is connected to an external server through a signal of the communication module 7.

[0042] Specifically, the front wheel gauge probe 2 is used to measure the distance between the train wheel 5 and the iron shoe, and the track gauge infrared probe 3 is used to measure the distance between the iron shoe and the track. The two probes send signals of specific frequencies through infrared rays. When the signal is irradiated to the surface of an object, the irradiated object will reflect part of the infrared rays, and the receiving tube can detect the reflected light to measure the distance. The attitude sensor 11 is used to detect the attitude of the iron shoe, such as the tilt angle, etc., in conjunction with infrared to judge the state of the shoe body. When the state of the iron shoe changes, such as being pressed or loose, the vibration sensor 9 will trigger the wake-up function to save energy. The micro control unit reports the status information of the iron shoe to an external server through 4G or NB (Narrow Band Internet of Things, NB-IoT) for further analysis and processing.

[0043] The microcontroller unit (MCU) is responsible for receiving the data from the front wheel gauge probe 2, the gauge infrared probe 3 and the attitude sensor 11, and processing and judging them. It is also responsible for judging the state of the iron shoe, and judging whether the iron shoe is normally fortified, pressed, loose or in an abnormal posture according to the detected data.

[0044] The four states are as follows Figures 3 to 6 As shown, the judgment criteria of the four states are as follows: In normal defense: posture detection is level, the front infrared ranging distance is between 30-130mm, and the track gauge is less than 5mm. In shoe pressing state: posture detection is level, the front infrared ranging distance is between 0-30mm, and the track gauge is less than 5mm. In loose state: posture detection is level, the front infrared ranging distance is greater than 130mm, and the track gauge is less than 5mm. In incorrect posture state: posture detection has angle feedback.

[0045] If shoe compression, anti-slip failure, or ineffective anti-slip occurs, an abnormal alarm will be triggered and sent to the external server. If the posture is incorrect, the iron shoe will not be able to enter the defense stage and trigger a defense timeout abnormal alarm. No matter which abnormal alarm occurs, the abnormal event will be reported to the external server through the 4G or NB in ​​the core electronic component 4, so that the worker can adjust the posture of the iron shoe in time.

[0046] like Figure 2As shown in the figure, the microcontroller unit (MCU) is connected to a satellite positioning module 6, a communication module 7, a debugging port 8, a vibration sensor 9, an indicator light 10, a posture sensor 11, a track gauge infrared probe 3, a front wheel gauge probe 2, a real-time power monitoring submodule 12, and a charging management submodule 13. Letter annotations in the figure: GPIO (General-purpose input / output, general input / output port); ADC (Analog-to-Digital Converter, analog / digital converter or analog-to-digital converter); I2C (I-squared-C, internal integrated circuit); GPIO_EXTI (General-purpose input / output, general input / output port, External Interrupt, external interrupt); UART (Universal Asynchronous Receiver / Transmitter, universal asynchronous receiver / transmitter); NB (Narrow Band Internet of Things, NB-IoT, narrowband Internet of Things). In this embodiment, the posture sensor 11 uses a six-axis gyroscope.

[0047] Preferably, the core electronic component further comprises a satellite positioning module 6, which is connected to the micro control unit. The satellite positioning module 6 can adopt the Beidou positioning system. The satellite positioning module 6 is used to monitor the position information of the iron shoe in real time to prevent the iron shoe body 1 from being stolen and causing major safety accidents.

[0048] Preferably, the core electronic component 4 further includes a power management module, which is connected to the micro control unit.

[0049] Preferably, the power management module includes a battery, a real-time power monitoring submodule 12 for monitoring the battery power, and a charging management submodule 13 for protecting the battery charging and discharging. The battery power submodule can monitor the battery power in real time and accurately, and the charging management submodule 13 has charging protection measures, such as overcharging, overdischarging, balancing, etc., which can protect the battery charging and discharging in real time and can reach a charging current of 1A.

[0050] Infrared distance sensors are widely used in distance measurement and object detection. These sensors use the time difference of infrared light reflection to calculate the distance of the target object. However, in actual applications, infrared distance sensors are affected by various factors such as ambient light changes, temperature fluctuations, and electronic noise, resulting in drift and noise in the measurement data. These unstable factors seriously affect the accuracy and reliability of the measurement, so a detection method with an effective filtering algorithm is needed to process the infrared distance measurement data to make it more stable and accurate.

[0051] Therefore, the present invention also provides an intelligent detection method for an intelligent anti-skid iron shoe using the infrared ranging as described above, comprising the following steps: measuring and collecting the distance between the train wheel 5 and the iron shoe body 1 through the front wheel gauge probe 2, measuring and collecting the distance between the iron shoe body 1 and the track through the track gauge infrared probe 3, measuring and collecting the posture of the iron shoe body 1 through the attitude sensor 11, and measuring and collecting the vibration of the iron shoe body 1 through the vibration sensor 9; receiving the measurement data of the front wheel gauge probe 2, the track gauge infrared probe 3, the attitude sensor 11 and the vibration sensor 9 through the micro control unit, filtering and calculating the received measurement data of the front wheel gauge probe 2 and the track gauge infrared probe 3 to obtain calculated infrared data, and judging whether the iron shoe body 1 is in a normal state according to the calculated infrared data and the received attitude and vibration data, if so, continue to receive the measurement data, if not, transmit the information to the external server through the communication module 7 to issue an alarm; the micro control unit transmits all measurement data to the external server through the communication module 7 to remotely monitor the iron shoe body 1.

[0052] The detailed steps of the intelligent detection method of the present invention are as follows:

[0053] (1) Initialization and boundary checking:

[0054] The function receives three parameters: MaxTry (maximum number of attempts), CallBack (callback function pointer), and TimeOut (timeout).

[0055] Initialize local variables: Range (the distance finally returned), RangeVec (the array storing the measurement results), RangeSum (the sum of valid measurement values), and four byte counters Sucs (the number of successful measurements), Fail (the number of failed measurements), Ges1 (the number of very close distance measurements), and GesX (the number of very far distance measurements).

[0056] Check if MaxTry exceeds 12. If so, set it to 12, because the size of RangeVec is 12 to avoid array out of bounds.

[0057] (2) Measurement and classification:

[0058] The loop is repeated MaxTry times, and each time the ReadRange_Orig function (a function used to read data within a specific range) is called to perform distance measurement.

[0059] Classification according to the return value of ReadRange_Orig:

[0060] If it returns 0, it means the measurement fails and the Fail count is increased.

[0061] If it returns 1, it means the distance is very close (close to the face), and the Ges1 count is increased.

[0062] If 65535 is returned, it means the distance is extremely far (out of range), and the GesX count is increased.

[0063] For other valid values, increase the Sucs count and add the value to RangeSum.

[0064] Call the callback function CallBack, if defined.

[0065] When the count of any situation (success, failure, very close, very far) reaches 3 times, the loop ends early.

[0066] (3) Result evaluation and selection:

[0067] Compare the values ​​of Sucs, Ges1, and GesX to determine the final result:

[0068] If Sucs is the largest, calculate the average value of valid measurements, Range = RangeSum / Sucs.

[0069] If Ges1 is the largest, return the minimum value 1.

[0070] If GesX is the largest, the maximum value 65535 is returned.

[0071] If there is no clear majority, an invalid value of 0 is returned.

[0072] (4) Result correction and return:

[0073] Apply a zero offset m_ZeroOffset to Range.

[0074] Make sure Range is within the valid range: minimum value is 1 and maximum value is 65535.

[0075] Returns the final corrected Range value.

[0076] Preferably, the filtering calculation comprises the following steps:

[0077] First, the measured data is smoothed by a sliding average filter to obtain smoothed data;

[0078] Then the smoothed data is predicted and updated through the Kalman filter to obtain predicted and updated data;

[0079] Then, the predicted updated data is calculated by a comprehensive filtering algorithm to obtain comprehensive filtered data, wherein the comprehensive filtering algorithm combines two algorithms, a sliding average filter and a Kalman filter;

[0080] Finally, the comprehensive filtering data is calculated through the test code to obtain the final filtering data.

[0081] Sliding average filtering: After each measurement, the new value is added to the sliding window queue. The window size is fixed. When the queue is full, the oldest value is removed and the latest N measured values ​​are kept. The average of all values ​​in the window is calculated as the smoothed measurement result.

[0082] Kalman filter: Based on the last filtering result and the current measurement value, the next infrared value is predicted, and the difference between the predicted value and the actual measurement value is used to update the infrared value state to obtain a more accurate estimate. Output the corrected distance estimate. Specifically, the sliding average filter is also called the moving average filter. The Kalman filter is a recursive filter proposed by Kalman for time-varying linear systems. It can be described by a differential equation model containing orthogonal state variables. This filter merges the past measurement estimation error into the new measurement error to estimate the future error. The comprehensive filtering algorithm is a new algorithm that combines the sliding average filter and the Kalman filter to achieve more stable and accurate data.

[0083] Comprehensive filtering integration: Combine the stability of the sliding average filter and the adaptability of the Kalman filter. Dynamically adjust the filtering strategy according to the measurement environment, judge the environmental factors through the MPU6050 attitude sensor, give priority to the sliding average in static environments, and rely on the Kalman filter in dynamic environments.

[0084] Preferably, when the comprehensive filtering data is calculated through the test code to obtain the final filtering data, a sample data set is created in the main function (main function, also known as the main function, which is the starting point of program execution), the data buffer size, calculation process noise variance, measurement noise variance and estimation variance are set, and the calculated data is comprehensively filtered, and finally the final filtered data after filtering is output.

[0085] Setting the data buffer size means first establishing a data buffer in RAM (Random Access Memory) to store N sampled data in order. Each time a new data is sampled, the earliest data collected is discarded, and then the arithmetic mean or weighted mean of the N data including the new data is calculated. In this way, a new average value can be calculated for each sampling. Each time a sample is taken, the data block is moved once, and then the sum of a new set of data is calculated, and then the average value is calculated, and then subsequent calculations are performed to obtain accurate and reliable infrared measurement data.

[0086] Preferably, Figure 3 As shown, the normal state of the iron shoe body 1 is defined as the normal defense state, and the abnormal state of the iron shoe body 1 is defined as the pressed shoe state (such as Figure 4 As shown), loose state (as shown Figure 5 as shown) or incorrect posture (as shown Figure 6 shown).

[0087] Preferably, the position information of the iron shoe body 1 is measured and collected by the satellite positioning module 6 , and then the micro control unit receives the position information and transmits the position information to an external server through the communication module 7 .

[0088] Preferably, the power management module monitors and collects the power information, and the micro control unit receives the power information and transmits the power information to the external server through the communication module 7.

[0089] The state monitoring and control of the intelligent detection method of the infrared ranging intelligent anti-skid shoes of the present invention are described as follows:

[0090] ① Homecoming judgment: Check whether the previous status is "homecoming". If so, update the status to "on the way" and report it; if not, keep the "on the way" status unchanged.

[0091] ②RFID (Radio Frequency Identification) reading: Detect whether there is an RFID signal reading. If not, continue to perform subsequent operations; if yes, further process according to the current status.

[0092] ③ Track status evaluation: Check whether it is in a horizontal position. If so, set the global status to "on the way" and start the timer (evaluate the status every 2 seconds).

[0093] ④ Defense timeout judgment: Does the current time exceed the specified time? If not, wait for the next self-inference; if yes, clear the defense timeout record time and status word query.

[0094] a) Is the person touching the track + taking off shoes or pressing shoes + abnormal posture? If so, "Self-inference-suspected defense timeout" can be reported once; record the defense timeout timestamp as the current time, and check whether there is a defense timeout record time? If so, wait for the next self-inference; if not, save the current timestamp, clear the defense timeout flag, and clear the defense timeout record time.

[0095] If the current time - defense timeout recording time > 5s, "self-inference - defense timeout" can be reported once; otherwise, "self-inference - defense in time" can be reported once.

[0096] Finally switch to "armed state".

[0097] b) Did the journey exceed the specified time? If not, clear the anti-timeout record time and status word query; if so, "self-inference-suspected defense timeout" can be reported once, record the defense timeout timestamp as the current time, and check whether there is a defense timeout record time? If yes, wait for the next self-inference; if not, save the current timestamp, clear the anti-timeout flag, and clear the defense timeout record time.

[0098] If the current time - the defense timeout recording time is > 5s, then "self-inference - set defense timeout" can be reported once; otherwise, "self-inference - defense remediation" can be reported once.

[0099] Finally switch to "armed state".

[0100] ⑤ Abnormal state judgment: Is it "self-inferred normal"? If yes, clear the starting time of looseness, shoe pressing, and derailment. If no, handle the following according to different abnormal states:

[0101] Derailment: "Self-inferred suspected" records the derailment start timestamp to check if there is a derailment start record time? If yes, wait for the next self-inference; if not, set the derailment warning bit. Current time - derailment start record time>10s and the derailment warning bit is not set? Then "Self-inferred confirmed derailment" can be reported once.

[0102] Looseness: "Self-inference suspected" records the start timestamp of looseness, and checks whether there is a looseness start record time? If yes, wait for the next self-inference; if not, set the looseness warning bit. Current time - looseness start record time> 30s and the looseness warning bit is not set? Then "Self-inference confirmed looseness" can be reported once.

[0103] Shoe pressing: "Self-inference suspected" records the start timestamp of shoe pressing, and checks whether there is a shoe pressing start record time? If yes, wait for the next self-inference; if not, set the shoe pressing warning bit. Current time - shoe pressing start record time>10s and the shoe pressing warning bit is not set? Then "self-inference confirmed shoe pressing" can be reported once.

[0104] ⑥Charging judgment: Is it charging? If not, wait for the next self-inference; if yes, clear the anti-timeout mark; Is it charging? If not, clear the anti-timeout alarm; if yes, clear the anti-timeout alarm. Is the anti-timeout alarm set? If not, "self-inference-return in time" can be reported once. Clear the anti-timeout alarm; if yes, "self-inference-return to remedy" can be reported once. Clear the anti-timeout recording time.

[0105] Is the status word query: track-attached + shoes off or shoes pressed + normal posture? If yes, set the defense overtime start recording time to the current time; is there a defense timeout recording time? If yes, wait for the next self-inference; if not, "self-inference-suspected re-defense" can be reported once. Current time-defense timeout recording time>9s? If not, wait for the next self-inference;

[0106] If yes, save the current timestamp, clear the protection timeout flag, clear the defense timeout record time, and clear the defense timeout alarm. "Self-inference-confirmation to reset defense" can be reported once. Finally, switch to "armed state".

[0107] The infrared ranging intelligent anti-skid iron shoe of the present invention obtains accurate measurement data of infrared ranging and judges the state of the iron shoe through the core electronic component 4, which solves the technical problem that the intelligent anti-skid iron shoe in the prior art is prone to misjudgment during the monitoring process. The present invention has stable hardware and accurate algorithms, is less affected by environmental factors, and can enable the product to adaptively measure the distance of different wheels 5 in extremely harsh environments, and can still work stably and accurately collect data, so as to remotely and accurately judge the state of the iron shoe, and timely adjust the posture of the iron shoe accordingly, thereby avoiding safety accidents.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent anti-skid shoe with infrared ranging, characterized in that: It includes an iron shoe body, a front wheel gauge probe installed at the front end of the iron shoe body, a track gauge infrared probe installed at the bottom of the iron shoe body, and a core electronic component installed inside the iron shoe. The iron shoe body is provided with a first opening for the infrared light of the front wheel gauge probe to pass through, and the iron shoe body is provided with a second opening for the infrared light of the track gauge infrared probe to pass through. The core electronic component includes a posture sensor, a vibration sensor, a communication module, and a micro control unit. The micro control unit is connected to the front wheel gauge probe, the track gauge infrared probe, the posture sensor, the vibration sensor, and the communication module, and the micro control unit is connected to an external server through a communication module signal.

2. The intelligent anti-skid shoes for infrared ranging according to claim 1 are characterized in that: The core electronic component also includes a satellite positioning module, and the satellite positioning module is connected to the micro control unit.

3. The intelligent anti-skid shoes for infrared ranging according to claim 2 are characterized in that: The core electronic component also includes a power management module, and the power management module is connected to the micro control unit.

4. The intelligent anti-skid shoes for infrared ranging according to claim 3 are characterized in that: The power management module includes a battery, a real-time power monitoring submodule for monitoring the battery power, and a charging management submodule for protecting the battery from charging and discharging.

5. An intelligent detection method for anti-skid shoes using the infrared ranging intelligent anti-skid shoes according to claim 1, characterized in that: The steps include: The distance between the train wheel and the iron shoe body is measured and collected through the front wheel gauge probe, the distance between the iron shoe body and the track is measured and collected through the track gauge infrared probe, the posture of the iron shoe body is measured and collected through the posture sensor, and the vibration of the iron shoe body is measured and collected through the vibration sensor; The measurement data of the front wheel gauge probe, the track gauge infrared probe, the attitude sensor and the vibration sensor are received by the micro control unit, the received measurement data of the front wheel gauge probe and the track gauge infrared probe are filtered and calculated to obtain calculated infrared data, and whether the iron shoe body is in a normal state is determined according to the calculated infrared data and the received attitude and vibration data. If so, the measurement data is continued to be received; if not, the information is transmitted to the external server through the communication module to issue an alarm; The micro control unit transmits all measurement data to an external server through the communication module to remotely monitor the iron shoe body.

6. The intelligent detection method of infrared ranging according to claim 5, characterized in that: The filtering calculation comprises the following steps: First, the measured data is smoothed by a sliding average filter to obtain smoothed data; Then predicting and updating the smoothed data through a Kalman filter to obtain predicted and updated data; Then, the predicted updated data is calculated by a comprehensive filtering algorithm to obtain comprehensive filtered data, wherein the comprehensive filtering algorithm combines two algorithms, a sliding average filter and a Kalman filter; Finally, the comprehensive filtering data is calculated through the test code to obtain the final filtering data.

7. The intelligent detection method of infrared ranging according to claim 6 is characterized in that: When the comprehensive filtering data is calculated through the test code to obtain the final filtering data, a sample data set is created in the main function, the data buffer size, the calculation process noise variance, the measurement noise variance and the estimated variance are set, and the calculated data is comprehensively filtered, and finally the final filtered data after filtering is output.

8. The intelligent detection method of infrared ranging according to claim 5, characterized in that: The normal state of the iron shoe body is defined as a normal defense state, and the abnormal state of the iron shoe body is defined as a pressed shoe state, a loose state or an abnormal posture state.

9. The intelligent detection method of infrared ranging according to claim 5, characterized in that: The position information of the iron shoe body is measured and collected by a satellite positioning module, and then the micro control unit receives the position information and transmits the position information to an external server through a communication module.

10. The intelligent detection method of infrared ranging according to claim 5, characterized in that: The power management module monitors and collects power information, which is then received by the micro control unit and transmitted to an external server through the communication module.

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