Railway freight car operation state monitoring system and method based on pitch angle, roll angle and yaw angle of bogie

Abstract

Disclosed in the present application are a railway freight car operation state monitoring system and method based on a pitch angle, a roll angle and a yaw angle of a bogie. The system comprises data monitoring modules, diagnosis modules and a control execution module, wherein the data monitoring modules comprise bogie pitch angle data monitoring modules used for monitoring a pitch angle of a bogie, a bogie roll angle data monitoring module used for monitoring a roll angle of the bogie, and a bogie yaw angle data monitoring module used for monitoring a yaw angle of the bogie; each diagnosis module comprises a small control and storage computer, and the diagnosis modules and the data monitoring modules are connected in a manner of corresponding to each other on a one-to-one basis; and the control execution module comprises an electromagnetic ball valve and a cab, the electromagnetic ball valve is connected to the diagnosis modules by means of a wired information transmission mode, and the cab is connected to the diagnosis modules by means of a wireless information transmission mode. The present invention facilitates installation and removal, and the derailment of a railway freight car can be predicted in advance by means of a comparison with a safety threshold value, thereby ensuring the safe operation of the railway freight car.

Description

Railway wagon running state monitoring system and method based on bogie nodding angle, roll angle and yaw angle TECHNICAL FIELD

[0001] The application discloses a railway wagon running state monitoring system and monitoring method based on bogie nodding angle, roll angle and yaw angle, and belongs to the technical field of railway wagons. BACKGROUND

[0002] The safety of rail transportation has always been the focus of attention, and derailment is a serious traffic accident that may occur during the operation of rail vehicles. Derailment accidents not only cause casualties and property losses, but also seriously affect the transportation order and bring huge safety hazards to the entire transportation system.

[0003] With the increase of domestic railway wagon load and the number of train formation, the impact faced by the train in operation is also increasing, and the difficulty of manual operation is also increasing, which further increases the risk of train derailment. Therefore, effective measures and technical means must be taken to strengthen the monitoring and prevention of possible derailment during train operation to ensure the safety and stability of rail transportation.

[0004] At present, most of the wagons in operation in China have been equipped with an automatic derailment braking system. This system responds quickly after the vehicle derails, automatically triggers emergency braking, effectively reduces the loss caused by derailment accidents, and has great significance for ensuring the safety of railway transportation. However, although the automatic derailment braking device performs outstandingly in reducing the consequences of accidents, it is essentially a post-processing mechanism and cannot effectively prevent derailment accidents before they occur.

[0005] Therefore, it is urgent to develop a forward-looking monitoring technology to solve the above technical problems. SUMMARY

[0006] The application discloses a railway wagon running state monitoring system and method based on bogie nodding angle, roll angle and yaw angle, which is convenient to install and disassemble, can compare with the safety threshold, and can predict the derailment of the railway wagon in advance to ensure the safe operation of the railway wagon.

[0007] The application discloses a railway freight car running state monitoring system based on bogie nodding angle, side roll angle and swing angle, comprising a data monitoring module, a diagnosis module and a control execution module, wherein the data monitoring module comprises a bogie nodding angle data monitoring module for monitoring bogie nodding angle, a bogie side roll angle data monitoring module for monitoring bogie side roll angle and a bogie swing angle data monitoring module for monitoring bogie swing angle; the diagnosis module comprises a small control storage computer, and the diagnosis module and the data monitoring module are connected in one-to-one correspondence; the control execution module comprises an electromagnetic ball valve and a driver's room, the electromagnetic ball valve is connected with the diagnosis module in a wired transmission information transmission mode, and the driver's room is connected with the diagnosis module in a wireless transmission information transmission mode.

[0008] In a preferred embodiment of the application, the bogie nodding angle data monitoring module comprises two MEMS tilt sensors, and the MEMS tilt sensors are arranged in the middle of the two side frames of the same bogie.

[0009] In a preferred embodiment of the application, the bogie side roll angle data monitoring module comprises one MEMS tilt sensor, and the MEMS tilt sensor is arranged in the middle region of the bogie swing bolster.

[0010] In a preferred embodiment of the application, the bogie swing angle data monitoring module comprises one MEMS tilt sensor, and the MEMS tilt sensor is arranged in the middle region of the bogie swing bolster.

[0011] In a preferred embodiment of the application, the bogie nodding angle data monitoring module, the bogie side roll angle data monitoring module and the bogie swing angle data monitoring module are all arranged on the same bogie.

[0012] The application further discloses a railway freight car running state monitoring method system based on bogie nodding angle, side roll angle and swing angle, and the steps are as follows:

[0013] S1. System initialization, and defining application variables, input and output ports and the like;

[0014] S2. Real-time monitoring of the running posture of the railway freight car, including bogie nodding angle, bogie side roll angle and bogie swing angle;

[0015] S3. Transmitting the monitoring result to the diagnosis module control storage computer for operation and judgment.

[0016] In a preferred embodiment of the present application, the bogie nodding angle is monitored by using a MEMS tilt sensor, and the monitoring result is transmitted to the diagnostic module; the bogie roll angle is monitored by using a MEMS tilt sensor, and the monitoring result is transmitted to the diagnostic module; the bogie yaw angle is monitored by using a MEMS tilt sensor, and the monitoring result is transmitted to the diagnostic module.

[0017] In a preferred embodiment of the present application, the diagnostic module is realized in the form of a core board plus an interface board, and the two are interconnected by industrial B2B connectors.

[0018] In a preferred embodiment of the present application, when one of the monitoring results exceeds the safety threshold, the diagnostic module outputs a "derailment warning" signal and sends it to the cab alarm device through wireless transmission; when two or more of the monitoring results exceed the safety threshold, the diagnostic module outputs a "derailment" signal and sends it to the electrically controlled ball valve through wired transmission, so that the vehicle braking system triggers emergency braking, and at the same time sends it to the cab alarm device through wireless transmission.

[0019] In a preferred embodiment of the present application, the monitoring module and the diagnostic module can monitor and analyze the running posture of the railway freight vehicle in real time, issue a warning signal in advance or trigger emergency braking, and effectively prevent derailment accidents.

[0020] The present application has the beneficial effects that: the monitoring system of the present application can monitor and analyze the running posture of the railway freight vehicle in real time, issue a warning in advance or take braking measures proactively, and effectively prevent derailment accidents, thereby improving the safety performance of railway transportation. Therefore, the present application proposes a comprehensive and reliable monitoring and prevention solution for the derailment of railway freight vehicles, which achieves remarkable technical effects in improving the safety of railway transportation and reducing the loss of derailment accidents.

[0021] Firstly, the present application uses the bogie nodding angle, the bogie roll angle and the bogie yaw angle to monitor the running state of the railway freight vehicle in real time and comprehensively, which can more accurately diagnose the running posture of the vehicle and timely discover abnormal conditions. Secondly, the key parameters are monitored by using MEMS tilt sensors, which have high data accuracy and can effectively reflect the actual running posture of the vehicle. In addition, the diagnostic module of the present application adopts the core board + interface board architecture, which has good scalability and is convenient for subsequent system upgrade and function expansion.

[0022] More importantly, when the monitoring data exceeds the safety threshold, the system can timely issue a derailment warning to the driver, and in serious cases, trigger emergency braking to minimize the risk and loss of derailment accidents. In addition, the entire monitoring system realizes data transmission and control execution through the combination of wired and wireless transmission, which improves the reliability and flexibility of the system. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the disclosed embodiments, the drawings of the embodiments will be briefly introduced as follows, which are merely used for the purpose of illustration and are not intended to limit the protection scope of the present application.

[0024] Fig. 1 is a structural diagram of a railway wagon running state monitoring system based on bogie nodding angle, roll angle and yaw angle according to an embodiment of the present application.

[0025] Fig. 2 is a general layout diagram of a railway wagon running state monitoring system based on bogie nodding angle, roll angle and yaw angle according to an embodiment of the present application.

[0026] Fig. 3 is a logic flow diagram of a railway wagon running state monitoring system based on bogie nodding angle, roll angle and yaw angle according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The technical solutions of the present application (including the preferred technical solutions) will be described in further detail below by means of the drawings and by listing some optional embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] As shown in Fig. 1, the present application discloses a railway wagon running state monitoring system and monitoring method based on bogie nodding angle, roll angle and yaw angle, which comprises MEMS inclination sensors, control storage computers, electrically controlled ball valves and alarm devices. The MEMS inclination sensors are data monitoring modules, and there are four of them. Two of the MEMS inclination sensors are bogie nodding angle data monitoring modules 1, which are installed in the middle of the two side frames of the same bogie. One of the four MEMS inclination sensors is a bogie roll angle data monitoring module 2, which is installed in the middle of the bogie bolster. One of the four MEMS inclination sensors is a bogie yaw angle data monitoring module 3, which is installed in the middle of the bogie bolster. The four MEMS inclination sensors are all installed on the same bogie, i.e. a railway wagon vehicle has two bogies, and each bogie is installed with four MEMS inclination sensors as data monitoring modules. The diagnostic modules are control storage computers, and there are four of them, which are placed integrally with the monitoring modules, i.e. one MEMS inclination sensor and one control storage computer are placed in the same position. The reason for designing such an installation method is that the bogie is located at the lower part of the railway wagon vehicle body, and the space is limited. In order to save space, the monitoring module and the diagnostic module are designed to be integrated and placed in the same area, which also avoids the use of wired transmission method to transmit information in the system.

[0029] Preferably, the diagnostic module is a small control storage computer, which is realized in the way of core board plus interface board, and the two are connected by industrial B2B connector to realize data storage and digital switching control function; the number of diagnostic modules is four, which are integrated with four MEMS inclination sensors respectively, and the four MEMS inclination sensors are placed on the two side frames and the bolster of the same bogie.

[0030] Preferably, the data monitoring module monitors the nodding angle, roll angle and yawing angle of the railway freight vehicle bogie in real time, and monitors the running posture of the railway freight vehicle in real time; the diagnostic module diagnoses the monitoring results output by the data monitoring module in real time, and compares them with the safety threshold value stored in the diagnostic module; if one of the monitoring results exceeds the safety threshold value, the diagnostic module determines the diagnosis result as "derailment warning", and transmits the signal to the alarm device in the driver's room through wireless transmission to remind the driver; if two or more of the monitoring results exceed the safety threshold value, the diagnostic module determines the diagnosis result as "derailment", and transmits the signal to the electrically controlled ball valve through wired transmission, the electrically controlled ball valve is opened to make the train main pipe of the railway freight vehicle braking system communicate with the atmosphere, trigger the emergency braking action, and at the same time, the "derailment" signal is transmitted to the alarm device in the driver's room through wireless transmission to remind the driver.

[0031] Preferably, the safety threshold value used by the diagnostic module to compare with the monitoring results output by the data monitoring module is obtained through a large number of theoretical calculations, simulation verification and test verification, and the safety threshold value of the nodding angle, roll angle and yawing angle of the railway freight vehicle bogie can be directly stored in the diagnostic module to diagnose the monitoring results output by the data monitoring module in real time.

[0032] Preferably, the safety threshold value used by the diagnostic module to compare with the monitoring results output by the data monitoring module is a range value, that is, the safety threshold value of the nodding angle, roll angle and yawing angle of the railway freight vehicle bogie should be greater than the maximum value of the nodding angle, roll angle and yawing angle of the railway freight vehicle bogie in the normal running process (under normal working conditions), and at the same time, it also needs to be less than the minimum value of the nodding angle, roll angle and yawing angle of the railway freight vehicle bogie when derailing (under derailment working conditions).

[0033] Preferably, the data monitoring module and the diagnostic module are integrated and installed on the bogie, which has the advantages of faster and more accurate response to the running posture of the railway freight vehicle bogie; secondly, since the device is installed on the side frame and the bolster of the railway freight vehicle bogie, there is no contact and no constraint with the axle and the car body, which is convenient for the railway freight vehicle to be lifted (lowered) during maintenance.

[0034] Preferably, the module adopts an alarm device and an electric control ball valve, respectively used for pre-warning before derailment and emergency braking when derailing; the electric control ball valve is a mature product and has been put into use in many fields.

[0035] Preferably, the working condition that the monitoring result of one data monitoring module exceeds the safety threshold is set as a derailment pre-warning, and the working condition that the monitoring result of two or more data monitoring modules exceeds the safety threshold is set as a derailment, because the running environment of the railway wagon is complex, and the running posture of the railway wagon cannot be directly judged by only one detection value, so the working condition that the monitoring result of two or more data monitoring modules exceeds the safety threshold is set as a derailment working condition, and the electric control ball valve of the execution module is opened to trigger the emergency braking of the vehicle.

[0036] The railway wagon running state monitoring system based on the bogie nodding angle, side roll angle and swing angle disclosed in the application is installed on the bogie of the railway wagon, wherein the monitoring module MEMS tilt angle sensor and the diagnosis module control storage computer are designed in an integrated manner; the monitoring module MEMS tilt angle sensor has four in total, including two bogie nodding angle data monitoring modules 1, one bogie side roll angle data monitoring module 2 and one bogie swing angle data monitoring module 3; each of the four monitoring modules is provided with one diagnosis module and is assembled together in an integrated manner.

[0037] The two bogie nodding angle data monitoring modules 1 and the diagnosis modules thereof are respectively installed at the middle part of the two bogie side frames, as shown in FIG. 2.

[0038] The bogie side roll angle data monitoring module 2 and the diagnosis module thereof are installed at the middle part of the bogie swing bolster and located near the bogie heart disc, as shown in FIG. 2.

[0039] The bogie swing angle data monitoring module 3 and the diagnosis module thereof are installed at the middle part of the bogie swing bolster and located near the bogie heart disc, as shown in FIG. 2.

[0040] The diagnosis module control storage computer performs operation and judgment on the digital signals transmitted by the data monitoring module MEMS tilt angle sensor;

[0041] The execution module starts the alarm of the train derailment state and / or the emergency braking of the railway wagon vehicle according to the judgment information output by the diagnosis module control storage computer;

[0042] The execution module includes an electric control ball valve used for executing the braking action of the railway wagon and an alarm device used for reminding the driver in the driver's room;

[0043] The electric control ball valve used for executing the braking action of the railway wagon is installed on the train brake main pipe of the braking system of the railway wagon vehicle and is connected with the four diagnosis module control storage computers on the bogie through a wired transmission mode.

[0044] The alarm device is installed in the driver's room and receives the diagnosis result of the diagnosis module through wireless transmission;

[0045] Fig. 3 is a logic flow chart of a railway wagon running state monitoring system based on bogie nodding angle, side roll angle and yaw angle according to an embodiment of the present application, and the specific implementation process includes the following steps:

[0046] S100, before the railway wagon vehicle runs, first, system initialization is performed, and application variables, input and output ports, etc. are defined;

[0047] S200, during the running of the railway wagon vehicle, the bogie nodding angle data monitoring module 1, the bogie side roll angle data monitoring module 2, the bogie yaw angle data monitoring module 3 and their diagnosis modules start to monitor the running posture of the railway wagon vehicle in real time;

[0048] S201, during the running of the railway wagon vehicle, the two bogie nodding angle data monitoring modules 1 located in the middle of the bogie side frame monitor the bogie nodding angle by using MEMS tilt sensors, and transmit the monitoring results to the corresponding diagnosis module control storage computer in real time for operation and judgment;

[0049] S202, during the running of the railway wagon vehicle, the bogie side roll angle data monitoring module 2 located in the middle of the bogie bolster monitors the bogie side roll angle by using a MEMS tilt sensor, and transmits the monitoring results to the corresponding diagnosis module control storage computer in real time for operation and judgment;

[0050] S203, during the running of the railway wagon vehicle, the bogie yaw angle data monitoring module 3 located in the middle of the bogie bolster monitors the bogie yaw angle by using a MEMS tilt sensor, and transmits the monitoring results to the corresponding diagnosis module control storage computer in real time for operation and judgment;

[0051] S204, during the running of the railway wagon vehicle, the diagnosis module control storage computer is realized in the form of a core board plus an interface board, both of which are connected and interconnected through an industrial-grade B2B connector, can calculate the monitoring results input by the monitoring module, compare them with the stored safety threshold, and obtain the diagnosis result;

[0052] S300, during the running of the railway wagon vehicle, when the monitoring result input by the monitoring module exceeds the safety threshold, the diagnosis module outputs a "derailment warning" signal, and sends the "derailment warning" signal to the alarm device in the driver's room through wireless transmission to remind the driver;

[0053] S301, when the monitoring module inputs two or more monitoring results exceeding the safety threshold value in the operation of the railway freight vehicle, the diagnosis module outputs a "derailment" signal, sends the "derailment" signal to the electric control ball valve through wired transmission, opens the electric control ball valve, connects the brake main pipe of the railway freight vehicle braking system to the atmosphere, thereby triggering emergency braking, and sends the "derailment" signal to the alarm device in the driver's room through wireless transmission to remind the driver.

[0054] It is to be understood that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, combination, replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A railway wagon running state monitoring system based on bogie nodding angle, roll angle and yaw angle, characterized in that: The system comprises a data monitoring module, a diagnosis module and a control execution module, the data monitoring module comprises a bogie nodding angle data monitoring module for monitoring the bogie nodding angle, a bogie roll angle data monitoring module for monitoring the bogie roll angle and a bogie yaw angle data monitoring module for monitoring the bogie yaw angle; the diagnosis module comprises a small control storage computer, the diagnosis module and the data monitoring module are connected one by one; the control execution module comprises an electromagnetic ball valve and a driver's room, the electromagnetic ball valve is connected with the diagnosis module through a wired transmission information transmission mode, and the driver's room is connected with the diagnosis module through a wireless transmission information transmission mode.

2. The railway wagon running state monitoring system based on bogie nodding angle, roll angle and yaw angle according to claim 1, characterized in that: The bogie nodding angle data monitoring module comprises two MEMS tilt sensors, and the MEMS tilt sensors are arranged in the middle of the two side frames of the same bogie.

3. The railway wagon running state monitoring system based on bogie nodding angle, roll angle and yaw angle according to claim 1, characterized in that: The bogie roll angle data monitoring module comprises one MEMS tilt sensor, and the MEMS tilt sensor is arranged in the middle region of the bogie bolster.

4. The railway wagon running state monitoring system based on bogie nodding angle, roll angle and yaw angle according to claim 1, characterized in that: The bogie yaw angle data monitoring module comprises one MEMS tilt sensor, and the MEMS tilt sensor is arranged in the middle region of the bogie bolster.

5. The railway wagon running condition monitoring system based on bogie nodding angle, roll angle and yaw angle according to claim 1, characterized in that: The bogie nodding angle data monitoring module, the bogie roll angle data monitoring module and the bogie yaw angle data monitoring module are located on the same bogie.

6. A railway wagon running state monitoring method based on bogie nodding angle, roll angle and yaw angle, characterized in that: The system comprises the system as claimed in any one of claims 1-5, and the steps are as follows: S1. System initialization, defining application variables, input and output ports and the like; S2. Real-time monitoring of the running posture of the railway freight vehicle, including the bogie nodding angle, the bogie roll angle and the bogie yaw angle; S3. Transmitting the monitoring results to the diagnosis module control storage computer for operation and judgment.

7. The method for monitoring the running state of a railway wagon based on the bogie nodding angle, roll angle and yaw angle according to claim 6, characterized in that: The MEMS tilt sensor is used to monitor the bogie nodding angle, and the monitoring results are transmitted to the diagnosis module; the MEMS tilt sensor is used to monitor the bogie roll angle, and the monitoring results are transmitted to the diagnosis module; the MEMS tilt sensor is used to monitor the bogie yaw angle, and the monitoring results are transmitted to the diagnosis module.

8. The method for monitoring the running state of a railway wagon based on the bogie nodding angle, roll angle and yaw angle according to claim 1, characterized in that: The diagnosis module is realized in the mode of a core board plus an interface board, and the two are connected and interconnected through an industrial B2B connector.

9. The method for monitoring the running state of a railway wagon based on the bogie nodding angle, roll angle and yaw angle according to claim 1, characterized in that: When one of the monitoring results exceeds the safety threshold, the diagnosis module outputs a "derailment warning" signal and sends it to the driver's room alarm device through wireless transmission; when two or more of the monitoring results exceed the safety threshold, the diagnosis module outputs a "derailment" signal and sends it to the electric control ball valve through wired transmission, so that the vehicle braking system triggers emergency braking, and at the same time sends it to the driver's room alarm device through wireless transmission.

10. The method of claim 1, wherein the method is based on the bogie pitch angle, roll angle and yaw angle of the railway wagon. The monitoring module and the diagnosis module can monitor and analyze the running posture of the railway freight vehicle in real time, issue an early warning signal or trigger emergency braking, and effectively prevent derailment accidents.

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