阅读说明：本技术 一种轨道参数实时检测系统及方法 (Real-time detection system and method for track parameters ) 是由 王晓初 周思杰 王�义 张胜辉 任庆磊 刘强 于 2020-12-10 设计创作，主要内容包括：本申请公开了一种轨道参数实时检测系统及方法,其中系统通过在双处理器中的主处理器搭载Linux操作系统来代替传统的裸机开发,相较于现有的静态检测装置,本申请的提供的系统更便于多人协同开发；同时利用多串口通道以及多线程的方式来提高系统数据吞吐量和可靠性,从而提高系统的作业效率；为了解决Linux操作系统实时采集性差的问题,通过双处理器中的从处理器采集高频轨道参数,保证了系统的实时性；并且由于本系统为双处理器的架构,因此能够提供丰富的外部接口,增强了系统的扩展能力；从而解决了现有的轨道参数检测系统无法同时兼顾作业效率高、易扩展且成本低的技术问题。(The application discloses a track parameter real-time detection system and a method, wherein a Linux operating system is carried by a main processor in a dual processor to replace the traditional bare computer development, and compared with the existing static detection device, the system provided by the application is more convenient for multi-person collaborative development; meanwhile, the data throughput and reliability of the system are improved by using a multi-serial port channel and a multi-thread mode, so that the operating efficiency of the system is improved; in order to solve the problem of poor real-time acquisition of the Linux operating system, the high-frequency track parameters are acquired by the slave processor in the dual processors, so that the real-time performance of the system is ensured; the system is a dual-processor architecture, so that rich external interfaces can be provided, and the expansion capability of the system is enhanced; therefore, the technical problems that the existing track parameter detection system cannot simultaneously consider high operation efficiency, easy expansion and low cost are solved.)

1. A real-time rail parameter detection system, comprising: the system comprises a master processor, a slave processor, a high-frequency sampling module, a low-frequency sampling module and a power management module;

the slave processor is connected with the high-frequency sampling module through an interface and is connected with the master processor through a multi-serial port channel, the master processor is connected with the low-frequency sampling module through an interface, the master processor is loaded with a Linux operating system, and the Linux operating system is used for running a multi-thread Qt console program;

the power management module: the power supply is used for supplying power to the slave processor and the master processor after multi-stage direct current voltage stabilization is carried out on the power supply;

the slave processor is configured to: receiving the high-frequency track parameters collected by the high-frequency sampling module, and sending the high-frequency track parameters to the main processor through a multi-serial port channel;

the main processor is configured to: and receiving the low-frequency track parameters acquired by the low-frequency sampling module, synchronizing the high-frequency track parameters and the low-frequency track parameters in a pulse counting mode to obtain synchronous data, and calculating and processing the synchronous data through the multithreading Qt console program.

2. The system of claim 1, wherein the main processor is further configured to: and backing up the synchronous data to an eMMC memory, wherein the eMMC memory is arranged on the main processor.

3. The system of claim 1, wherein the main processor is further configured to:

and after the synchronous data is calculated and processed through the multithreading Qt console program, the processed synchronous data is sent to a server according to a TCP/IP protocol.

4. The system according to any one of claims 1 to 3, wherein the master processor is iMX6 series processors, and the slave processors are STM32F4 series processors.

5. The real-time rail parameter detection system according to claim 1, wherein the Linux operating system is: the Linux operating system is used for cutting the Uboot, kernel and root files.

6. The real-time orbit parameter detection system of claim 1, further comprising: +29.6V lithium battery pack; the +29.6V lithium battery pack is connected with the power management module; for transmitting power to the power management module.

7. The real-time orbit parameter detection system of claim 1, wherein the high frequency sampling module and the low frequency sampling module each comprise: a GPS receiver and an IMU;

the GPS receiver and the IMU are respectively used for acquiring a three-dimensional coordinate parameter and an orbit attitude parameter of the orbit and fusing the three-dimensional coordinate parameter and the orbit attitude parameter through Kalman filtering.

8. A real-time detection method for orbit parameters, which is applied to the real-time detection system for orbit parameters of any one of claims 1-7, and comprises the following steps:

after the power supply is subjected to multi-stage direct current voltage stabilization through the power supply management module, the slave processor and the master processor are supplied with power;

receiving the high-frequency track parameters acquired by the high-frequency sampling module through the slave processor, and sending the high-frequency track parameters to the master processor through a multi-serial port channel;

and receiving the low-frequency track parameters acquired by the low-frequency sampling module through the main processor, synchronizing the high-frequency track parameters and the low-frequency track parameters in a pulse counting mode to obtain synchronous data, and calculating and processing the synchronous data through a multithreading Qt console program.

9. The real-time orbit parameter detection method according to claim 8, further comprising: and backing up the synchronous data to an eMMC memory, wherein the eMMC memory is arranged on the main processor.

10. The method according to claim 8, wherein the performing of the calculation processing on the synchronization data by the multi-thread Qt console program further comprises:

and sending the calculated synchronous data to a server according to a TCP/IP protocol.

Technical Field

The application relates to the technical field of detection, in particular to a real-time track parameter detection system and method.

Background

The track is the foundation of railway transportation, and the safety of train operation mainly depends on the smoothness of the railway, so in order to maintain the safety, comfort and stability of the railway transportation process, the basic smoothness of the track needs to be maintained. The detection of orbit parameters is the main basis for obtaining the state of the orbit, the change of the orbit and analyzing the ill-condition of the orbit.

At present, the detection of track parameters has two modes, namely static detection and dynamic detection. The static detection device is a light rail detector, a single-chip microcomputer framework is sampled by the rail detector system for bare machine development, although the cost is low, the defects of low operation efficiency, difficult expansion, high hardware fault rate and the like exist, and the single-task processing mode of the rail detector system is more dangerous of downtime in the high-concurrency data processing process; the dynamic detection device is a dynamic rail inspection vehicle, and although the rail inspection system is high in operating efficiency, large in data processing capacity and easy to expand, the rail inspection system cannot be put into all rail inspection works in batches due to the fact that a certain load exists in the detection process, the cost is high, the operation is complex, and the rail inspection system is not suitable for being used in rail inspection works.

Therefore, the rail parameter real-time detection system which has high operation efficiency, easy expansion and low cost has important research significance.

Disclosure of Invention

The embodiment of the application provides a real-time track parameter detection system and a real-time track parameter detection method, which are used for solving the technical problems that the existing track parameter detection system cannot simultaneously give consideration to high operation efficiency, easy expansion and low cost.

In view of the above, a first aspect of the present application provides a real-time track parameter detection system, which includes:

the method comprises the following steps: the system comprises a master processor, a slave processor, a high-frequency sampling module, a low-frequency sampling module and a power management module;

the slave processor is connected with the high-frequency sampling module through an interface and is connected with the master processor through a multi-serial port channel, the master processor is connected with the low-frequency sampling module through an interface, the master processor is loaded with a Linux operating system, and the Linux operating system is used for running a multi-thread Qt console program;

the power management module: the power supply is used for supplying power to the slave processor and the master processor after multi-stage direct current voltage stabilization is carried out on the power supply;

the slave processor is configured to: receiving the high-frequency track parameters collected by the high-frequency sampling module, and sending the high-frequency track parameters to the main processor through a multi-serial port channel;

the main processor is configured to: and receiving the low-frequency track parameters acquired by the low-frequency sampling module, synchronizing the high-frequency track parameters and the low-frequency track parameters in a pulse counting mode to obtain synchronous data, and calculating and processing the synchronous data through the multithreading Qt console program.

Optionally, the main processor is further configured to: and backing up the synchronous data to an eMMC memory, wherein the eMMC memory is arranged on the main processor.

Optionally, the main processor is further configured to:

and after the synchronous data is calculated and processed through the multithreading Qt console program, the processed synchronous data is sent to a server according to a TCP/IP protocol.

Optionally, the master processor is an iMX6 series processor and the slave processors are an STM32F4 series processor.

Optionally, the Linux operating system is: the Linux operating system is used for cutting the Uboot, kernel and root files.

Optionally, the method further comprises: +29.6V lithium battery pack; the +29.6V lithium battery pack is connected with the power management module; for transmitting power to the power management module.

Optionally, the high frequency sampling module and the low frequency sampling module each comprise: a GPS receiver and an IMU;

the GPS receiver and the IMU are respectively used for acquiring a three-dimensional coordinate parameter and an orbit attitude parameter of the orbit and fusing the three-dimensional coordinate parameter and the orbit attitude parameter through Kalman filtering.

A second aspect of the present application provides a real-time detection method for track parameters, which applies the real-time detection system for track parameters provided in the first aspect, and the method includes:

after the power supply is subjected to multi-stage direct current voltage stabilization through the power supply management module, the slave processor and the master processor are supplied with power;

receiving the high-frequency track parameters acquired by the high-frequency sampling module through the slave processor, and sending the high-frequency track parameters to the master processor through a multi-serial port channel;

and receiving the low-frequency track parameters acquired by the low-frequency sampling module through the main processor, synchronizing the high-frequency track parameters and the low-frequency track parameters in a pulse counting mode to obtain synchronous data, and calculating and processing the synchronous data through a multithreading Qt console program.

Optionally, the method further comprises: and backing up the synchronous data to an eMMC memory, wherein the eMMC memory is arranged on the main processor.

Optionally, the performing, by the multithreaded Qt console program, a calculation process on the synchronization data further includes:

and sending the calculated synchronous data to a server according to a TCP/IP protocol.

According to the technical scheme, the method has the following advantages:

the application provides a track parameter real-time detection system, includes: the system comprises a master processor, a slave processor, a high-frequency sampling module, a low-frequency sampling module and a power management module; the slave processor is connected with the high-frequency sampling module through an interface and is connected with the master processor through a multi-serial port channel, the master processor is connected with the low-frequency sampling module through the interface, and the master processor is loaded with a Linux operating system which is used for running a multi-thread Qt console program; a power management module: the power supply is used for supplying power to the slave processor and the master processor after multi-stage direct current voltage stabilization is carried out on the power supply; the slave processor is used for: receiving high-frequency track parameters collected by a high-frequency sampling module, and sending the high-frequency track parameters to a main processor through a multi-serial port channel; the main processor is used for: and receiving the low-frequency track parameters acquired by the low-frequency sampling module, synchronizing the high-frequency track parameters and the low-frequency track parameters in a pulse counting mode to obtain synchronous data, and calculating and processing the synchronous data through a multithreading Qt console program.

According to the track parameter real-time detection system, a Linux operating system is carried by a main processor in a dual processor to replace the traditional bare computer development, and compared with the existing static detection device, the system provided by the application is more convenient for multi-person collaborative development, and a Linux operating platform which better meets the production requirements is customized; meanwhile, the data throughput and reliability of the system are improved by using a multi-serial port channel and a multi-thread mode, so that the operating efficiency of the system is improved; in order to solve the problem of poor real-time acquisition of the Linux operating system, the high-frequency track parameters are acquired by the slave processor in the dual processors, so that the real-time performance of the system is ensured; the system is a dual-processor architecture, so that rich external interfaces can be provided, and the expansion capability of the system is enhanced; therefore, the technical problems that the existing track parameter detection system cannot simultaneously consider high operation efficiency, easy expansion and low cost are solved.

Drawings

Fig. 1 is a schematic structural diagram of a real-time track parameter detection system provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of a real-time track parameter detection method provided in an embodiment of the present application;

FIG. 3 is an interface block diagram of the STM32F4 family slave processors provided in an embodiment of the present application;

FIG. 4 is a flowchart illustrating a connection between a service end and a client end in a Qt environment according to an embodiment of the present application;

fig. 5 is a power module of a real-time track parameter detection system provided in an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, an embodiment of the present disclosure provides a real-time track parameter detection system, including: the device comprises a master processor, a slave processor, a high-frequency sampling module, a low-frequency sampling module and a power management module.

It should be noted that, various sensors may be disposed in both the high frequency sampling module and the low frequency sampling module, for example: the sensor comprises a proximity sensor, an inclination sensor, a linear displacement sensor, a temperature and humidity sensor and the like, and can be set by a person skilled in the art according to actual needs without limitation.

The slave processor is connected with the high-frequency sampling module through an interface and is connected with the master processor through a multi-serial port channel, the master processor is connected with the low-frequency sampling module through the interface, the master processor is provided with a Linux operating system, and the Linux operating system is used for running a multi-thread Qt console program.

It can be understood that the detection system of this embodiment is designed as a dual-processing system architecture, the slave processor does not include an operating system, and is only responsible for sending real-time high-frequency track parameters acquired by the high-frequency sampling module to the master processor through the multi-serial port channel, the throughput of the system is improved by using the parallel transmission characteristic of data of the multi-serial port channel, and the processing capability of the system on data is improved by using the multi-thread Qt console program of the Linux operating system, and meanwhile, because the Linux operating system is carried by the master processor, the detection system of this embodiment can perform peripheral drive transplanting, cutting and optimization, and shorten the development cycle and start time of the system.

A power management module: the power supply is used for supplying power to the slave processor and the master processor after the power supply is subjected to multi-stage direct current voltage stabilization.

It should be noted that, in order to ensure the reliability and stability of the detection system of this embodiment, the power management module is configured to supply power to the slave processor and the master processor after performing multi-stage dc voltage stabilization on the power supply.

The slave processor is used for: and receiving the high-frequency track parameters collected by the high-frequency sampling module, and sending the high-frequency track parameters to the main processor through the multi-serial port channel.

It should be noted that, in this embodiment, the slave processor is connected to the high-frequency sampling module through a common peripheral interface, receives the high-frequency track parameters acquired by the high-frequency sampling module, and sends the high-frequency track parameters to the master processor through the multi-serial port channel, and parallel transmission of data of the multi-serial port channel improves throughput of data of the processor.

The main processor is used for: and receiving the low-frequency track parameters acquired by the low-frequency sampling module, synchronizing the high-frequency track parameters and the low-frequency track parameters in a pulse counting mode to obtain synchronous data, and calculating and processing the synchronous data through a multithreading Qt console program.

It should be noted that in this embodiment, the PWM of the master processor sends the synchronization pulse to the slave processor, so that the high-frequency orbit parameter of the slave processor and the low-frequency orbit parameter of the master processor are synchronized, thereby improving the fusion accuracy of the multiple sensors in the detection system.

According to the track parameter real-time detection system, a Linux operating system is carried by a main processor in a dual processor to replace the traditional bare computer development, and compared with the existing static detection device, the system provided by the application is more convenient for multi-person collaborative development; meanwhile, the system data throughput and reliability are improved by utilizing a multi-task and multi-thread mode, so that the operating efficiency of the system is improved; in order to solve the problem of poor real-time acquisition of the Linux operating system, the high-frequency track parameters are acquired by the slave processor in the dual processors, so that the real-time performance of the system is ensured; the system is a dual-processor architecture, so that rich external interfaces can be provided, and the expansion capability of the system is enhanced; therefore, the technical problems that the existing track parameter detection system cannot simultaneously consider high operation efficiency, easy expansion and low cost are solved.

Further, in a specific embodiment, the main processor is further configured to: the synchronization data is backed up to an eMMC memory, which is provided on the main processor.

It should be noted that, in order to ensure data reliability and prevent data loss, the embodiment also backs up the synchronization data in the eMMC memory, and certainly, the data acquired by the low-frequency acquisition module may also be stored in the eMMC memory; the eMMC memory is disposed within an integrated backplane of the main processor.

Further, in a specific embodiment, the main processor is further configured to: after the calculation processing is carried out on the synchronous data through the multithread Qt console program, the processed synchronous data is sent to the server according to the TCP/IP protocol.

It should be noted that, in this embodiment, the synchronization data calculated and processed by the main processor may also be sent to the server in a wired or wireless manner according to a TCP/IP protocol, in this embodiment, the synchronization data is sent in a wireless manner of an SDIO, and may also be sent in a WIFI manner, a bluetooth manner, and the like, and a person skilled in the art may select a sending manner according to an actual situation, which is not limited herein; of course, those skilled in the art may also set a display end at the main processor for checking the running state of the track in real time, which is not described herein.

Further, in one particular embodiment, the master processor is an iMX6 family processor and the slave processors are an STM32F4 family processor.

It should be noted that, in the present embodiment, the main processor is configured as iMX6 series processors, and iMX6 main processor controls the integrated backplane: the detection system has higher main frequency and memory space, and the special dynamic voltage frequency adjustment DVFS and overheating and frequency reduction protection functions can effectively prevent the damage of high temperature to the detection system device; meanwhile, the slave processor is an STM32F4 serial processor, the STM32F4 serial processor is provided with abundant peripheral interfaces and can be connected with most of sensors, the precision of the ADC sampling module in the slave processor meets the measurement requirement of data in a rail inspection system, and simultaneously, due to the existence of the FPU, the processing performance of a program on floating point numbers is improved.

As shown in fig. 3, fig. 3 is an interface block diagram of an STM32F4 series slave processors, which is mainly used for acquiring data with high real-time requirement in the geometric parameters of the track to improve the real-time performance of the system.

As shown in fig. 4, fig. 4 is a flowchart illustrating how to program the server and the client in the Qt environment.

Further, in a specific embodiment, the Linux operating system is: the Linux operating system is used for cutting the Uboot, kernel and root files.

It should be noted that the Linux operating system in this embodiment is a Linux operating system that cuts Uboot, kernel, and root files, and because the Linux operating system cuts Uboot, kernel, and root files, the real-time track parameter detection system in this embodiment is more simplified and has a faster start speed; that is to say, the user can customize the Linux operating platform which better meets the production requirements according to the actual needs, so that the embedded system is more simplified.

Further, in a specific embodiment, the real-time track parameter detection system of the present application further includes: +29.6V lithium battery pack; the +29.6V lithium battery pack is connected with the power management module; for transmitting power to the power management module.

It should be noted that, in this embodiment, the power supply is configured as a +29.6V lithium battery pack and connected to the power management module, and the first stage and the second stage of the power management module are also configured as a switch-type dc regulated power supply, and the power conversion efficiency of the power supply is higher than 80%, while the third stage is a linear dc regulated power supply, so that the output voltage ripple can be reduced.

Referring to fig. 5, fig. 5 shows a power module of the detection system of the present application, which is formed by connecting a +29.6V lithium battery pack and a power management module, and is used for supplying power to each unit in the detection system of the present application.

Further, in a specific embodiment, the high frequency sampling module and the low frequency sampling module each include: a GPS receiver and an IMU; the GPS receiver and the IMU are respectively used for acquiring the three-dimensional coordinate parameters and the track attitude parameters of the track and fusing the three-dimensional coordinate parameters and the track attitude parameters of the track through Kalman filtering.

It should be noted that in this embodiment, the high-frequency sampling module and the low-frequency sampling module are mainly set as a GPS receiver and an IMU, and the parameters such as the travel mileage, the track height, the track gauge width, the spatial position, and the like are accurately measured, so as to meet the requirement of high reliability of data; meanwhile, the GPS receiver and IMU data can be fused through Kalman filtering to obtain the attitude and the three-dimensional coordinate of any point on the rail detection system, so that the dynamic detection performance of the system is improved.

The above embodiments of the system for detecting track parameters in real time provided by the embodiments of the present application are the above embodiments of the method for detecting track parameters in real time provided by the embodiments of the present application.

Referring to fig. 2, a method for real-time detecting an orbit parameter provided in an embodiment of the present application includes:

step 201, after the power supply is subjected to multi-stage direct current voltage stabilization through the power supply management module, power is supplied to the slave processor and the master processor.

And 202, receiving the high-frequency track parameters collected by the high-frequency sampling module through the slave processor, and sending the high-frequency track parameters to the master processor through the multi-serial port channel.

And 203, receiving the low-frequency track parameters acquired by the low-frequency sampling module through the main processor, synchronizing the high-frequency track parameters and the low-frequency track parameters in a pulse counting mode to obtain synchronous data, and calculating and processing the synchronous data through a multithreading Qt console program.

According to the track parameter real-time detection method, a Linux operating system is carried by a main processor in a dual processor to replace the traditional bare computer development, and compared with the existing static detection device, the system provided by the application is more convenient for multi-person collaborative development; meanwhile, the system data throughput and reliability are improved by utilizing a multi-task and multi-thread mode, so that the operating efficiency of the system is improved; in order to solve the problem of poor real-time acquisition of the Linux operating system, the high-frequency track parameters are acquired by the slave processor in the dual processors, so that the real-time performance of the system is ensured; the system is a dual-processor architecture, so that rich external interfaces can be provided, and the expansion capability of the system is enhanced; therefore, the technical problems that the existing track parameter detection system cannot simultaneously consider high operation efficiency, easy expansion and low cost are solved.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the method described above may refer to the corresponding process in the foregoing system embodiment, and is not described herein again.

The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.