Motor train unit speed measuring system

Abstract

The utility model provides a motor train unit speed measurement system. The system comprises an inertial navigation sensor, a Beidou satellite module, a trigger controller, an upper computer and a data acquisition system, the Beidou satellite module comprises a plurality of Beidou antennas, the Beidou antennas are arranged on the outer side of the roof of the motor train unit, the center connecting lines of the Beidou antennas are parallel to the center line of the roof, and the center distance between the Beidou antennas is larger than or equal to the preset distance; the inertial navigation sensor is mounted in the motor train unit, the Y-axis measurement direction of the inertial navigation sensor is parallel to the center line in the motor train unit, and the positive direction of the Y axis needs to be consistent with the advancing direction of the motor train unit; the trigger controller is connected with the inertial navigation sensor and is used for controlling the inertial navigation sensor to run or stop according to a received trigger signal; the upper computer and the data acquisition system are used for acquiring parameters of the inertial navigation sensor in real time and pushing the acquired data to preset external calling equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rail transit equipment, in particular to a motor train set speed measurement system widely used in various vehicle speed measurement requirements. BACKGROUND

[0002] The joint debugging and testing of newly built high-speed rail lines, type testing of new models of trains, etc. all require the installation of a speed sensor on the train to measure the real-time speed of the train during the experiment. In the past, the speed sensor used to measure the real-time speed of the train generally used pulse encoders, GPS sensors, etc. In actual experiments, both of these speed sensors have certain drawbacks, and their relevant technical features and shortcomings are described as follows:

[0003] The method of using a pulse encoder to measure the speed of a motor train set is mainly based on the number of pulses output by the encoder when it rotates. By measuring the number of pulses output by the encoder in a fixed time T, the rotational speed of the motor can be calculated. The biggest problem with the pulse encoder speed measurement method is that a pulse encoder needs to be installed on the running shaft of the train, so the end cover of the running shaft of the train needs to be disassembled. For non-professionals, the installation is very difficult, and there is a risk of the pulse encoder falling off in the high-speed running environment of the train during the experiment, which may cause a major safety production accident of the train derailing.

[0004] The method of using a GPS sensor to measure the speed of a motor train set is mainly based on using GPS to measure the real-time position of the train, and then calculating the real-time position difference of the train through the time difference, thereby calculating the real-time speed value of the train in a fixed time difference. The biggest problem with the GPS sensor speed measurement method is that when the train passes through a tunnel, the GPS signal is lost, resulting in the loss of real-time speed values.

[0005] In addition, the real-time speed of the motor train set is required by different test systems on the vehicle during operation. In the past, the real-time speed of different systems may come from different sensor measurements, which cannot achieve the problem of sharing the speed of the entire vehicle, so that the speed curve, real-time kilometer mark, etc. of each system cannot be effectively unified. CONTENT OF THE UTILITY MODEL

[0006] The present application aims to provide a motor train set speed measurement system to solve the installation technical risk of the existing pulse encoder speed measurement system sensor and the problem of speed data loss caused by signal loss of the GPS sensor when passing through a tunnel; only one set of speed sensor needs to be installed to achieve the problem of speed sharing among multiple application programs.

[0007] In order to achieve the above purpose, the motor train unit speed measurement system provided by the application specifically comprises: an inertial navigation sensor, a Beidou satellite module, a trigger controller, an upper computer and a data acquisition system; the Beidou satellite module comprises a plurality of Beidou antennas, the Beidou antennas are arranged on the outside of the roof of the motor train unit, the center connecting line of the Beidou antennas is parallel to the center line of the roof, and the center distance of the Beidou antennas is greater than or equal to a preset distance; the inertial navigation sensor is installed in the motor train unit, the Y-axis measurement direction of the inertial navigation sensor is parallel to the center line in the motor train unit, and the positive direction of the Y-axis needs to be consistent with the forward direction of the motor train unit; the trigger controller is connected with the inertial navigation sensor, and is used for controlling the inertial navigation sensor to run or stop according to the received trigger signal; the upper computer and the data acquisition system are used for collecting inertial navigation sensor parameters in real time, and pushing the collected data to a preset external calling device.

[0008] In the motor train unit speed measurement system, optionally, the installation position of the Beidou antenna comprises the left side of the roof center line, the right side of the roof center line or the coincidence with the roof center line on the outside of the roof of the motor train unit.

[0009] In the motor train unit speed measurement system, optionally, the installation position of the inertial navigation sensor comprises the left side of the in-vehicle center line, the right side of the in-vehicle center line or the coincidence with the in-vehicle center line on the in-vehicle center line of the motor train unit.

[0010] In the motor train unit speed measurement system, optionally, the communication interface of the upper computer and the data acquisition system is connected with the inertial navigation sensor through one or more combinations of RS485 serial ports, RJ45 network ports, near-field wireless communication mode interfaces.

[0011] In the motor train unit speed measurement system, optionally, the communication interface of the upper computer and the data acquisition system is connected with the inertial navigation sensor through one or more combinations of industrial Modbus communication protocol interfaces, TCP / UDP free port protocol interfaces and MQTT Internet of Things protocol interfaces.

[0012] In the motor train unit speed measurement system, optionally, the Beidou satellite module and the inertial navigation sensor are connected through a preset wire hole on the outside of the vehicle body or the roof.

[0013] In the motor train unit speed measurement system, optionally, the upper computer and the data acquisition system comprise a clock circuit, a filter circuit and an output circuit; the filter circuit is used for generating a data source by digitally filtering the collected inertial navigation sensor parameters; the clock circuit is used for generating a clock signal; and the output circuit is connected with the clock circuit and the filter circuit respectively, and is used for pushing the data source and the clock signal to a preset external calling device.

[0014] In the motor train unit speed measurement system, optionally, the preset distance is 2000mm.

[0015] In the motor train unit speed measurement system, optionally, the system further comprises a fixing assembly for fixing the Beidou antenna and the inertial navigation sensor at a preset position.

[0016] In the motor train unit speed measurement system, optionally, the system further comprises a near field communication tag and a power supply module; the near field communication tag is arranged in a preset area where the motor train unit travels, and is used for broadcasting a preset trigger signal at a preset frequency; the power supply module is connected with the near field communication tag, and is used for converting solar energy into electric energy and providing the electric energy to the near field communication tag.

[0017] The beneficial technical effects of the present application are that the traditional method of installing a pulse encoder at the shaft end of the motor train unit is abandoned, so that the installation technical risk of the sensor of the motor train unit is solved. Meanwhile, the speed loss problem of the traditional GPS speed measurement system in a signal-free state is also solved. The real-time speed of the motor train unit collected by the present application can also be used as a data source to provide real-time data to the outside, so as to be used by other systems that need the real-time speed of the motor train unit. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, and do not constitute a limitation to the present application. In the drawings:

[0019] Figure 1 The top Beidou antenna installation schematic diagram of the motor train unit speed measurement system based on the combination of inertial navigation and Beidou provided by an embodiment of the present application;

[0020] Figure 2 The inertial navigation sensor installation schematic diagram in the motor train unit of the motor train unit speed measurement system based on the combination of inertial navigation and Beidou provided by an embodiment of the present application;

[0021] Figure 3 The wiring installation schematic diagram of the Beidou antenna and the inertial navigation sensor of the motor train unit speed measurement system based on the combination of inertial navigation and Beidou provided by an embodiment of the present application.

[0022] DRAWINGS:

[0023] 11-Beidou antenna 1#; 12-Beidou antenna 2#; 13-motor train unit roof; 14-Beidou antenna center connecting line; 15-motor train unit roof center line; 21-inertial navigation sensor; 22-in-vehicle floor; 23-in-vehicle center line; 31-inertial navigation sensor; 32-in-vehicle; 33-top Beidou antenna; 34-signal transmission line. DETAILED DESCRIPTION

[0024] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and embodiments, so that how the present application applies technical means to solve technical problems and achieves technical effects can be fully understood and implemented. It should be noted that, unless there is a conflict, each embodiment in the present application and each feature in each embodiment can be combined with each other, and the formed technical solutions are all within the protection scope of the present application.

[0025] In addition, the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in a different order.

[0026] The motor train unit speed measurement system provided by the present application specifically comprises: an inertial navigation sensor, a Beidou satellite module, a trigger controller, an upper computer and a data acquisition system; the Beidou satellite module comprises a plurality of Beidou antennas, the Beidou antennas are arranged on the outside of the roof of the motor train unit, the center connecting line of the Beidou antennas is parallel to the center line of the roof, and the center distance of the Beidou antennas is greater than or equal to a preset distance; the inertial navigation sensor is installed in the motor train unit, the Y-axis measurement direction of the inertial navigation sensor is parallel to the center line in the motor train unit, and the positive direction of the Y-axis needs to be consistent with the forward direction of the motor train unit; the trigger controller is connected with the inertial navigation sensor, and is used for controlling the inertial navigation sensor to run or stop according to the received trigger signal; the upper computer and the data acquisition system are used for collecting inertial navigation sensor parameters in real time, and pushing the collected data to a preset external calling device.

[0027] In the above embodiment, the system further comprises a fixing assembly for arranging the Beidou antennas and the inertial navigation sensor at a preset position, wherein the structure of the fixing assembly can adopt an existing seat body or other cladding structure, which is not limited further herein; the preset distance is 2000 mm, and the installation position of the Beidou antennas comprises the left side of the roof center line, the right side of the roof center line or coincides with the roof center line on the outside of the roof of the motor train unit; for details, please refer to Figure 1 The motor train unit speed measurement system based on the combination of inertial navigation and Beidou comprises Beidou antennas 1#11 and 2#12, wherein the Beidou antennas 1#11 and 2#12 are installed on the roof 13 of the motor train unit, the center connecting line 14 of the two antennas is parallel to the center line 15 of the roof of the motor train unit, and the distance from the center connecting line 14 of the two antennas to the center line 15 of the roof of the motor train unit is not required, and at the same time, in order to ensure the measurement accuracy, it is required that the center distance between the Beidou antennas 1#11 and 2#12 is greater than or equal to 2000 mm. The installation position of the Beidou antennas 1#11 and 2#12 can be the left side or the right side of the center line 15 of the roof of the motor train unit or coincides with the center line 15 of the roof of the motor train unit.

[0028] In the above embodiment, the communication interface of the host computer and the data acquisition system is connected with the inertial navigation sensor through one or a combination of RS485 serial port, RJ45 network port, and near-field wireless communication mode interface. Further, the communication interface of the host computer and the data acquisition system is connected with the inertial navigation sensor for data interaction through one or a combination of industrial Modbus communication protocol interface, TCP / UDP free port protocol interface, and MQTT Internet of Things protocol interface. Of course, in actual work, those skilled in the art can also select a suitable interface according to actual needs, and the present application does not make any further limitation here.

[0029] In the installation process of the inertial navigation sensor, the structure thereof is shown in Figure 2 The inertial navigation sensor 21 is installed on the floor 22 of the EMU through a designed fixing tool plate. The Y-axis positive measurement direction of the inertial navigation sensor 21 needs to be consistent with the forward direction of the EMU, and the Y-axis direction needs to be parallel to the center line 23 of the EMU. The specific installation position of the inertial navigation sensor 21 can be on the left side or the right side of the center line 23 of the EMU or coincide with the center line.

[0030] In an embodiment of the present application, the Beidou satellite module is connected with the inertial navigation sensor through a pre-set wire hole on the outside of the vehicle body or the roof of the vehicle. For details, please refer to Figure 3 The EMU speed measurement system based on the combination of inertial navigation and Beidou mainly includes a Beidou antenna 1# 33, a Beidou antenna 2# 33, and an inertial navigation sensor 21. The Beidou antenna 1# 33 and the Beidou antenna 2# 33 are installed on the roof of the outside of the EMU, and the inertial navigation sensor 21 is installed in the vehicle 32 of the EMU. The signal transmission line 34 of the Beidou antenna 1# 33 and the Beidou antenna 2# 33 can be routed into the vehicle through the outside of the vehicle body to be connected with the inertial navigation sensor 31, or can be connected with the inertial navigation sensor 31 through a special wire hole on the roof of the vehicle. Both ways do not affect the signal transmission.

[0031] In order to more clearly understand the above-mentioned EMU speed measurement system provided by the present application, the following will take an actual work as an example to make a whole description of the above-mentioned embodiment. Those skilled in the art can know that this example is only one embodiment of the present application, and does not make any limitation thereto.

[0032] The EMU speed measurement system provided by the present application can include a Beidou antenna 1#, a Beidou antenna 2#, an inertial navigation sensor, a host computer, and a data acquisition system, wherein:

[0033] The two Beidou antennas are installed on the outside roof of the EMU, and the center connecting lines of the two Beidou antennas are parallel to the center line of the roof, the center distance between the Beidou antenna 1 and the Beidou antenna 2 is greater than or equal to 2000mm, and the installation positions of the Beidou antenna 1 and the Beidou antenna 2 can be on the left side or the right side of the center line of the roof or coincide with the center line of the roof.

[0034] The inertial navigation sensor is installed in the EMU, the Y-axis measurement direction of the inertial navigation sensor needs to be parallel to the center line of the EMU, and the positive direction of the Y-axis needs to be consistent with the forward direction of the EMU, and the installation position of the inertial navigation sensor can be on the left side or the right side of the center line of the EMU or coincide with the center line of the EMU.

[0035] The upper computer and the data acquisition system comprise an industrial IPC and data acquisition software, mainly realize real-time acquisition of inertial navigation sensor parameters, and realize smooth filtering processing of sensor data through a digital filtering algorithm. The communication hardware interface of the upper computer and the data acquisition system covers RS485 serial port, RJ45 network port and near-field wireless communication mode, and the communication software protocol covers commonly used industrial Modbus communication protocol, TCP / UDP free port protocol and MQTT Internet of Things protocol.

[0036] The upper computer and the data acquisition system can be used as a data source to push the collected speed data to other systems for use, thereby realizing the speed sharing of the whole vehicle.

[0037] In an embodiment of the present application, the upper computer and the data acquisition system can comprise a clock circuit, a filtering circuit and an output circuit; the filtering circuit is used to generate a data source by digitally filtering the collected inertial navigation sensor parameters; the clock circuit is used to generate a clock signal; and the output circuit is connected to the clock circuit and the filtering circuit respectively, and is used to push the data source and the clock signal to a preset external calling device.

[0038] Specifically, in actual work, the clock circuit, the filtering circuit and the output circuit can all use existing circuit structures, which will not be described one by one in the present application; through the above embodiment, the collected data is provided to the external device with the clock signal, so that the external device can determine the corresponding relationship between the data collected by the Beidou satellite module and the inertial navigation sensor according to the clock signal, so as to supplement the data collected by the inertial navigation sensor when the Beidou satellite module fails to collect accurate position data, thereby solving the speed loss problem when the Beidou satellite module has no signal.

[0039] In an embodiment of the present application, the system can further comprise a near field communication tag and a power supply module; the near field communication tag is arranged in a preset area where the motor train unit travels, and is configured to broadcast a preset trigger signal at a preset frequency; the power supply module is connected to the near field communication tag, and is configured to convert solar energy into electric energy and provide the electric energy to the near field communication tag.

[0040] In the above embodiment, the trigger controller is mainly triggered by the near field communication tag installed in a tunnel or other poor signal area, to control the operation of the inertial navigation sensor, so as to compensate for the signal deficiency of the Beidou satellite module; at the same time, the inertial navigation sensor can be turned off in a good signal area to achieve the purpose of energy saving; wherein the trigger controller can select a receiver corresponding to the near field communication tag, which controls the operation or stop of the inertial navigation sensor when receiving the signal broadcast by the near field communication tag; since the receiver has a relatively simple structure, it will not be described here.

[0041] The beneficial technical effects of the present application are that the traditional method of installing a pulse encoder at the shaft end of the motor train unit is abandoned, thereby solving the installation technical risk of the motor train unit sensor. At the same time, the speed loss problem of the traditional GPS speed measurement system in the absence of signal is also compensated. The real-time speed of the motor train unit collected by the present application can also be used as a data source to provide real-time data to other systems that need the real-time speed of the motor train unit.

[0042] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only for specific embodiments of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A train speed measurement system, characterized in that, The system comprises an inertial navigation sensor, a Beidou satellite module, a trigger controller, a host computer and a data acquisition system. The Beidou satellite module comprises a plurality of Beidou antennas, which are arranged on the outside of the roof of the EMU, and the center connecting line of the Beidou antenna is parallel to the center line of the roof, and the center distance of the Beidou antenna is greater than or equal to a preset distance. The inertial navigation sensor is installed in the EMU, and the Y-axis measurement direction of the inertial navigation sensor is parallel to the center line of the EMU, and the positive direction of the Y-axis is consistent with the forward direction of the EMU. The trigger controller is connected with the inertial navigation sensor, and is used for controlling the inertial navigation sensor to run or stop according to the received trigger signal. The host computer and the data acquisition system are used for collecting inertial navigation sensor parameters in real time, and pushing the collected data to a preset external calling device.

2. The EMU speed measurement system according to claim 1, wherein, The installation position of the Beidou antenna comprises the left side of the center line of the roof outside the roof of the EMU, the right side of the center line of the roof or coincides with the center line of the roof.

3. The EMU speed measurement system according to claim 1, wherein, The installation position of the inertial navigation sensor comprises the left side of the center line of the EMU, the right side of the center line of the EMU or coincides with the center line of the EMU.

4. The EMU speed measurement system according to claim 1, wherein, The communication interface of the host computer and the data acquisition system is connected with the inertial navigation sensor through one or more combinations of RS485 serial port, RJ45 network port, near field wireless communication mode interface.

5. The EMU speed measurement system according to claim 1, wherein, The communication interface of the host computer and the data acquisition system is connected with the inertial navigation sensor through one or more combinations of industrial Modbus communication protocol interface, TCP / UDP free port protocol interface and MQTT Internet of Things protocol interface.

6. The EMU speed measurement system according to claim 1, wherein, The Beidou satellite module and the inertial navigation sensor are connected through a preset wire hole on the outside of the vehicle body or the roof.

7. The EMU speed measurement system according to claim 1, wherein The host computer and the data acquisition system comprise a clock circuit, a filter circuit and an output circuit. The filter circuit is used to generate a data source by digitally filtering the collected inertial navigation sensor parameters; The clock circuit is used to generate a clock signal; The output circuit is connected with the clock circuit and the filter circuit respectively, and is used to push the data source and the clock signal to a preset external calling device.

8. The train speed measurement system according to any one of claims 1 to 7, characterized in that, The preset distance is 2000mm.

9. The train speed measurement system according to any one of claims 1 to 7, characterized in that, The system further comprises a fixing assembly for arranging the Beidou antenna and the inertial navigation sensor at a preset position.

10. The train speed measurement system according to any one of claims 1 to 7, characterized in that, The system further comprises a near field communication tag and a power supply module; The near field communication tag is arranged in a preset area of the EMU, and is used to broadcast a preset trigger signal at a preset frequency; The power supply module is connected with the near field communication tag, and is used to convert solar energy into electric energy and provide it to the near field communication tag.

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