CN112485462B - Train speed measuring system - Google Patents
Train speed measuring system Download PDFInfo
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- CN112485462B CN112485462B CN202011301258.7A CN202011301258A CN112485462B CN 112485462 B CN112485462 B CN 112485462B CN 202011301258 A CN202011301258 A CN 202011301258A CN 112485462 B CN112485462 B CN 112485462B
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- 238000005070 sampling Methods 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 description 4
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- 238000012938 design process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
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Abstract
The invention discloses a train speed measuring system.A speed measuring device is arranged beside a track and comprises two pulse type laser ranging modules which are marked as a ranging module A, a ranging module B, a ranging module A and a ranging module B to acquire distance information in real time and respectively control the distance informationThe system module transmits data, and the data is marked as a data packet A and a data packet B; the control module records the distance data in the preset distance range in the data packet A as L i The distance data in the data packet B within the preset distance range is S i Calculating the speed of the train in real time by combining the two groups of distance data with the installation deviation angle of the ranging module, and judging whether the train normally runs; the method adopts non-contact measurement and is used for accurately calculating the speed of the train according to the difference value of the sampling signals and the distance information between the two groups of data.
Description
Technical Field
The invention relates to the field of rail speed measurement, in particular to a train speed measuring system.
Background
The rail transit is one of important transportation, transportation mode, plays indispensable effect in the life, and train safety guarantee system is the important link in whole rail transit system, and wherein the driving speed of train accords with the requirement always, always receives great attention to, and current method of testing the speed includes: 1. rotation measurement, which utilizes the rotation of a train rotating wheel to obtain the current speed, is a contact measurement mode and is easy to cause measurement errors due to the idling and slipping of a train rotating shaft; 2. the GPS navigation speed measurement tracks the position of a train in real time through satellite positioning, but is easily influenced by weather and terrain, so that satellite signal distortion is caused, and the GPS navigation speed measurement is difficult to use in a large scale; 3. the radar speed measurement is used for measuring the Doppler frequency difference to obtain the running speed, but the running speed is supported by higher cost and is supported by more manpower and material resources depending on a complex signal processing algorithm; meanwhile, for a high-speed train such as a high-speed rail, the speed of the train can reach 360km/h, and under the high-speed running condition, the existing speed measurement method cannot meet the requirement of high-speed measurement.
Disclosure of Invention
In order to solve the problems, the invention provides a train speed measuring system, which utilizes two pulse type laser ranging modules to synchronously measure distance data of the whole train, carries out non-contact measurement, and can accurately calculate the train speed of the train according to the difference value of sampling signals and the distance information (combined with actual deviation calculation) between two groups of data.
The specific technical scheme is as follows:
a train speed measuring system is characterized in that a train runs along a track, a speed measuring device is arranged beside the track and comprises two pulse type laser ranging modules, namely a ranging module A and a ranging module B, wherein the ranging module A and the ranging module B are arranged in the front and back direction of the extending direction of the track and keep the relative positions unchanged through a mechanical structure, the heights between the ranging module A and the ranging module B and the ground are the same, and the sampling frequencies are consistent;
the distance measurement module A and the distance measurement module B acquire distance information in real time and respectively transmit data to the control module, and the data are marked as a data packet A and a data packet B;
the control module records distance data in a preset distance range in the data packet A as L i The distance data in the data packet B within the preset distance range is S i Wherein i is 1,2,3 … … N, and N represents the total number of distance data sampled by a single pulse laser ranging module; (values outside the preset distance range can be filtered by the processor to avoid occupying computing resources such as an industrial personal computer)
The control module calculates the speed of the current train by adopting a first mode or a second mode;
the first method is as follows:
the second method comprises the following steps:
wherein, beta 1 Represents the counterclockwise deviation angle of rotation, beta, of the installation position of the ranging module A in the first direction 2 The clockwise deviation rotation angle of the installation position of the ranging module B in a first direction is represented, and the first direction is as follows: a direction perpendicular to the track extension direction;
theta represents the deviation angle of the installation position of the speed measuring device in the extending direction of the track, the central points of the distance measuring module A and the distance measuring module B are taken as reference points, when the installation position of the speed measuring device rotates clockwise around the reference points, the value of theta is positive, otherwise, the value of theta is negative;
d represents the setting distance between the installation positions of the two pulse type laser ranging modules;
lambda represents the sampling error of the pulsed laser ranging module;
at represents the data sampling time difference between the two pulsed laser ranging modules.
Wherein, the data sampling time difference Δ T is n · T: n can be determined by comparing L 1 And S 1 Is obtained, T is the sampling period, T is 1/f, and f is the sampling frequency.
Further, the preset distance range takes values as follows: 0.3 m-2 m.
Two range finding modules are located range unit, and in order to guarantee that both can be fixed through same structure, the distance limit between two range finding modules is: d is more than 10cm and less than 80 cm.
In order to prevent the two pulse laser ranging modules from interfering with each other, the two pulse laser ranging modules are respectively inclined outwards, and the angle is more than 0 DEG and less than beta 1 ＜10°，0°＜β 2 ＜10°。
Furthermore, the sampling frequency f of the two pulse type laser ranging modules is not less than 1000HZ and not more than 4000 HZ;
sampling error: λ 1000V/3.6 f; wherein, V represents the rated running speed of the train when the train enters the track section where the speed measuring device is positioned, and V is more than 80km/h and less than 360 km/h.
The technical scheme adopted by the invention has the following advantages:
the two pulse type laser ranging modules are used for synchronously measuring the distance data of the whole train, non-contact measurement is carried out, and the train speed of the train can be accurately calculated according to the difference value of the sampling signals and the distance information between the two groups of data; the two laser ranging modules are positioned in the same ranging device and fixed through the same structural part, and assembly errors and error deflection angles of the two laser ranging modules can be obtained through design errors or actual measurement and calculation; accurately calculating the distance between the two emergent lasers through the deviation angle; in order to ensure that the two emergent lasers do not interfere with each other, in the design process, the two emergent lasers are provided with deviation angles with the first direction.
Drawings
Fig. 1 is a schematic structural diagram of a measurement system.
Detailed Description
A train speed measuring system runs along a track, as shown in figure 1, a speed measuring device is arranged beside the track and comprises two pulse type laser ranging modules which are marked as a ranging module A and a ranging module B, the ranging module A and the ranging module B are arranged in the front and back direction of the extending direction of the track and keep the relative positions unchanged through a mechanical structure, the heights between the ranging module A and the ranging module B and the ground are the same, and the sampling frequencies are consistent;
during specific implementation, two ranging modules are fixed through same structure, and the distance limit between two ranging modules is: d is less than 80cm and is more than 10cm, and in the embodiment, D is 20 cm;
the distance measurement module A and the distance measurement module B acquire distance information in real time and respectively transmit data to the control module, and the data are marked as a data packet A and a data packet B;
the recording control module records the distance data in the preset distance range in the data packet A as L i The distance data in the data packet B within a predetermined distance range (e.g. set between 0.3m and 2 m) is S i Wherein i is 1,2,3 … … N, and N represents the total number of distance data sampled by a single pulse laser ranging module; (values outside the preset distance range can be filtered by the processor to avoid occupying computing resources such as an industrial personal computer)
The preset distance range value is set according to the vertical distance between the laser ranging module and the train which is calibrated in advance, and if the vertical distance is 1m, the preset distance range can be set to be 0.8-1.2 m.
The control module calculates the current train speed by adopting a first mode or a second mode;
the first method is as follows:
the second method comprises the following steps:
wherein, beta 1 Shows the counter-clockwise deviation of the installation position of the distance measuring module A in the first directionAngle, beta 2 The clockwise deviation rotation angle of the installation position of the ranging module B in a first direction is represented, and the first direction is as follows: a direction perpendicular to the track extension direction;
theta represents the deviation angle of the installation position of the speed measuring device in the extending direction of the track, the central points of the distance measuring module A and the distance measuring module B are taken as reference points, when the installation position of the speed measuring device rotates clockwise around the reference points, the value of theta is positive, otherwise, the value of theta is negative;
generally, theta belongs to an error angle caused in assembly, generally, theta is less than or equal to 3 degrees, and when in calculation, 3 degrees can be substituted into the calculation of the first mode, and the value of theta can also be obtained through the following modes:
after the speed measuring device is installed and fixed, arranging a three-dimensional surface parallel to the track, respectively projecting laser to the three-dimensional surface by using a distance measuring module A and a distance measuring module B in the speed measuring device to obtain respective distances between the three-dimensional surface and the distance measuring module A, and obtaining an included angle theta between a connecting line between actual installation positions of the distance measuring module A and the distance measuring module B and the extending direction of the track by using two distance values;
d represents the setting distance between the installation positions of the two pulse type laser ranging modules;
lambda represents the sampling error of the pulsed laser ranging module;
at represents the data sampling time difference between the two pulsed laser ranging modules.
In the specific implementation process, the vehicle speed V can be compared i The current running state can be judged whether to be normal or not according to the rated speed; the vehicle speed V can be adjusted i Taking a mean value or observing the distribution condition of the mean value or observing the distribution condition, and analyzing the running condition of the vehicle;
wherein, the data sampling time difference Δ T is n · T: n can be compared with L 1 And S 1 Is obtained, T is the sampling period, T is 1/f, and f is the sampling frequency.
In order to prevent two pulsed laser rangefinder module mutual interference, when the design, each laser rangefinder module all leans out, promptly: beta is less than 0 DEG 1 ＜10°，0°＜β 2 < 10 deg. In this embodiment, the design: beta is a 1 ＝6°，β 2 ＝6°。
The sampling frequency f of the two pulse type laser ranging modules is more than or equal to 1000HZ and less than or equal to 4000 HZ;
sampling error: λ 1000V/3.6 f; wherein, V represents the rated running speed of the train when the train enters the track section where the speed measuring device is positioned, and V is more than 80km/h and less than 360 km/h.
When the train enters a track section where the speed measuring device is located, the train runs at a constant speed along a rated running speed V of 100km/h, a sampling frequency f of a pulse type laser ranging module is selected to be 1000HZ, and lambda is calculated to be 27.78 mm/ms.
When the train enters a track section where the speed measuring device is located, the train runs at a constant speed along a rated running speed V which is 360km/h, a sampling frequency f of a pulse type laser ranging module is 3000HZ, and lambda is calculated to be 33.33 mm/ms.
Claims (5)
1. A train speed measuring system is characterized in that a train runs along a track, a speed measuring device is arranged beside the track and comprises two pulse type laser ranging modules which are marked as a ranging module A and a ranging module B, the ranging module A and the ranging module B are arranged in the front and back direction of the extending direction of the track and keep the relative positions unchanged through a mechanical structure, the heights between the ranging module A and the ranging module B and the ground are the same, and the sampling frequencies are consistent;
the distance measurement module A and the distance measurement module B acquire distance information in real time and respectively transmit data to the control module, and the data are marked as a data packet A and a data packet B;
the control module records distance data in a preset distance range in the data packet A as L i The distance data in the data packet B within the preset distance range is S i Wherein i is 1,2,3 … … N, and N represents the total number of distance data sampled by a single pulse laser ranging module;
the control module calculates the speed of the current train by adopting a first mode or a second mode;
the first method is as follows:
the second method comprises the following steps:
wherein, beta 1 Represents the counterclockwise deviation angle of rotation, beta, of the installation position of the ranging module A in the first direction 2 The clockwise deviation rotation angle of the installation position of the ranging module B in a first direction is represented, and the first direction is as follows: a direction perpendicular to the track extension direction;
theta represents the deviation angle of the installation position of the speed measuring device in the extending direction of the track, the central points of the distance measuring module A and the distance measuring module B are taken as reference points, when the installation position of the speed measuring device rotates clockwise around the reference points, the value of theta is positive, otherwise, the value of theta is negative;
d represents the setting distance between the installation positions of the two pulse type laser ranging modules;
lambda represents the sampling error of the pulsed laser ranging module;
at represents the data sampling time difference between the two pulsed laser ranging modules.
2. The system for measuring the speed of a train according to claim 1, wherein: the preset distance range takes values as follows: 0.3 m-2 m.
3. The system for measuring the speed of a train according to claim 1, wherein: d is more than 10cm and less than 80 cm.
4. The system for measuring the speed of a train according to claim 1, wherein: in order to prevent the two pulse laser ranging modules from interfering with each other, the two pulse laser ranging modules are respectively inclined outwards, and the angle is more than 0 DEG and less than beta 1 ＜10°，0°＜β 2 ＜10°。
5. The system for measuring the speed of a train according to claim 1, wherein:
the sampling frequency f of the two pulse type laser ranging modules is more than or equal to 1000HZ and less than or equal to 4000 HZ;
sampling error: λ 1000V/3.6 f; wherein, V represents the rated running speed of the train when the train enters the track section where the speed measuring device is positioned, and V is more than 80km/h and less than 360 km/h.
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| CN202011301258.7A CN112485462B (en) | 2020-11-19 | 2020-11-19 | Train speed measuring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102622890B (en) * | 2012-04-16 | 2015-02-25 | 公安部第三研究所 | Laser ranging-based road vehicle information acquisition node device |
| CN105806320B (en) * | 2014-12-29 | 2020-04-21 | 同方威视技术股份有限公司 | Imaging measurement system and imaging measurement method |
| CN104751643B (en) * | 2015-03-16 | 2017-05-03 | 深圳市砝石激光雷达有限公司 | Accurate speed measurement method and system of large laser spot |
| CN105445745A (en) * | 2015-12-04 | 2016-03-30 | 同方威视技术股份有限公司 | Mobile target state monitoring method and apparatus, and vehicle rapid inspection system thereof |
| CN106370884B (en) * | 2016-09-09 | 2019-12-24 | 成都通甲优博科技有限责任公司 | Vehicle speed measuring method based on binocular camera computer vision technology |
| CN108089024B (en) * | 2016-11-22 | 2020-07-14 | 武汉万集信息技术有限公司 | Vehicle speed detection system and method |
| CN206804682U (en) * | 2017-02-17 | 2017-12-26 | 长沙普德利生科技有限公司 | A kind of standard speed measuring device |
| CN207817005U (en) * | 2017-10-25 | 2018-09-04 | 同方威视技术股份有限公司 | Vehicle speed measurement device |
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Address after: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee after: Yi Si Si (Hangzhou) Technology Co.,Ltd. Address before: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee before: ISVISION (HANGZHOU) TECHNOLOGY Co.,Ltd. |
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