CN102069824B - Positioning device and method for rail traffic vehicle - Google Patents
Positioning device and method for rail traffic vehicle Download PDFInfo
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- CN102069824B CN102069824B CN 201010616363 CN201010616363A CN102069824B CN 102069824 B CN102069824 B CN 102069824B CN 201010616363 CN201010616363 CN 201010616363 CN 201010616363 A CN201010616363 A CN 201010616363A CN 102069824 B CN102069824 B CN 102069824B
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Abstract
The invention relates to a positioning device and a positioning method for a rail traffic vehicle. The positioning device comprises a laser displacement sensor, a rail vehicle traveling distance detection unit and a synchronous acquisition and data processing unit, wherein the laser displacement sensor and the rail vehicle traveling distance detection unit are respectively connected with the synchronous acquisition and data processing unit. In the method, the distance between the vehicle and a rail is detected by using an on-vehicle laser displacement sensor; the traveling distance of the vehicle is obtained by the output of a wheel shaft pulse sensor or two on-vehicle laser displacement sensors; and finally, rail characteristic data is acquired by using an on-vehicle data acquisition processing module. The acquired rail characteristic data is matched with the historical data of rail characteristics to realize high-precision absolute or relative positioning.
Description
Technical field
The train operation control and the infrastructure that the present invention relates to track traffic detect, and relate in particular to a kind of registration device and method of rail traffic vehicles.
Background technology
Train Positioning Technology is one of gordian technique of rail transit train operation control, is the basis of guaranteeing traffic safety, shortening operation interval between the train.Existing train Positioning Technology mainly adopts the miles counter based on the wheel shaft counting, be equipped with other supplementary means, such as the technology such as induction loop, wireless frequency expansion location, global position system, line map coupling, circuit image coupling, switch location coupling, contact net limit device location matches between inquiry response device, Doppler radar, track circuit, rail, automatically revise because wheel slipping, skid, miles counter accumulated error that the factor such as snakelike, abrasion causes.Based on these prior aries, the train Real-Time Positioning in theory can reach meter level at present, can satisfy the demand of present train operation control.
On the other hand, owing to be subject to the factor affecting such as train impact, geological deformation, environmental activity, the track traffic Infrastructure such as circuit, bridge, tunnel, side slope, contact system, the signal of communication under arms state in the process often change, and threaten traffic safety.Therefore, must be often the state of Infrastructure be detected, and detect Data Comparison, the variation tendency of analyzing and testing parameter, the safe condition of Scientific evaluation Infrastructure with history.At present, usually adopt in-vehicle detection of dynamic and artificial ground to patrol and examine dual mode for the detection of Infrastructure state.No matter which kind of takes move detection mode, because the historical data that needs the mobile detection mode of contrast to obtain detects data and must can carry out accurate absolute fix based on the channel kilometer mark, perhaps the homogeneous take off data is not carried out accurately relative contraposition.Use for this class, such as the analysis of Tunnel body deformability, slope Deformation Analysis, the deformation analysis of trackside equipment etc., the accuracy of positioning of meter level can't satisfy the demands.
Summary of the invention
For satisfying the demand of accuracy of positioning, the invention provides a kind of registration device and method of rail traffic vehicles.
On the one hand, the invention discloses a kind of registration device of rail traffic vehicles, comprising: laser displacement sensor, the distance travelled detecting unit of guideway vehicle and synchronous acquisition and data processing unit; Described laser displacement sensor is connected with data processing unit with described synchronous acquisition respectively with the distance travelled detecting unit of described guideway vehicle; Wherein, described laser displacement sensor is for detection of the installation site of this laser displacement sensor and the distance between the raceway surface unique point; Described raceway surface unique point is positioned at the rail inboard, and with the distance of track centerline be that rail fastening is to the distance of track centerline; The distance travelled detecting unit of described guideway vehicle for detection of guideway vehicle along the location variation on the circuit direction; Described synchronous acquisition and data processing unit are used for the output of the described laser displacement sensor of synchronous acquisition and the distance travelled detecting unit of described guideway vehicle, with the actual distance between the adjacent displacement sampling point of determining described laser displacement sensor output, and then obtain guideway vehicle through the track characteristic curve of circuit, and position by the characteristic curve coupling.
Above-mentioned registration device, the distance travelled detecting unit of preferred described guideway vehicle comprises the wheel shaft pulse transducer.
Above-mentioned registration device, the preferred described distance travelled detecting unit of guideway vehicle of stating comprises the second laser displacement sensor, described the second laser displacement sensor is arranged on the guideway vehicle; And, remain with preset space length with described laser displacement sensor at the direct of travel of guideway vehicle.
Above-mentioned registration device also comprises in preferred described synchronous acquisition and the data processing unit: be used for the in advance first memory of the track characteristic curve of demarcation of storage, the track characteristic curve of described prior demarcation is used for the location.
Above-mentioned registration device, also comprise in preferred described synchronous acquisition and the data processing unit: be used for the historical second memory that detects the track characteristic curve of data of stored record, described historical data is used for the detection data that will newly gather and compares and carry out trend analysis with the historical data that detect.
On the other hand, the invention also discloses a kind of described method in location side of rail traffic vehicles based on the registration device of rail traffic vehicles, described device comprises: laser displacement sensor, the distance travelled detecting unit of guideway vehicle and synchronous acquisition and data processing unit; Described laser displacement sensor is connected with data processing unit with described synchronous acquisition respectively with the distance travelled detecting unit of described guideway vehicle; Described method comprises the steps: lower in working order, with the fastener setting of described laser displacement sensor corresponding to the track inboard; Detect the installation site of this laser displacement sensor and the distance between the raceway surface unique point; Described raceway surface unique point is positioned at the rail inboard, and with the distance of track centerline be that rail fastening is to the distance of track centerline; Simultaneously, detect guideway vehicle along the location variation on the circuit direction based on the distance travelled detecting unit of guideway vehicle; The output of described synchronous acquisition and the described laser displacement sensor of data processing unit synchronous acquisition and the distance travelled detecting unit of described guideway vehicle, with the actual distance between the adjacent displacement sampling point of determining described laser displacement sensor output, and then obtain guideway vehicle through the track characteristic curve of circuit, and position by the characteristic curve coupling.
Above-mentioned localization method, preferred describedly detect guideway vehicle based on the distance travelled detecting unit of guideway vehicle and along the location variation on the circuit direction be: based on the wheel shaft pulse transducer, the wheel shaft pulse transducer whenever rotates a circle at wheel and exports a plurality of pulses, under the wheel diameter known conditions, calculate pulse count and obtain distance travelled.
Above-mentioned localization method, preferred describedly detect guideway vehicle based on the distance travelled detecting unit of guideway vehicle and along the location variation on the circuit direction be: second laser displacement sensor is set in the distance travelled detecting unit of described guideway vehicle, described laser displacement sensor and described the second laser displacement sensor are installed on the guideway vehicle with preset space length on the guideway vehicle direct of travel, by mating the waveform of these two sensor outputs, obtain both by the time difference of same position, and then obtain vehicle gait of march and distance travelled.
Above-mentioned localization method, preferred described registration device also is included in described synchronous acquisition and data processing unit also comprises for the first memory of storing the track characteristic curve of demarcating in advance, before described laser displacement sensor and described synchronous acquisition and data processing unit work, also comprise the step of the track characteristic curve that storage is demarcated in advance.
Above-mentioned localization method, preferred described registration device comprise also that for the historical second memory that detects the track characteristic curve of data of stored record described method comprises that also the detection data that will gather detect the step that data compared and carried out trend analysis with history; And described detection data of carrying out trend analysis are with described track characteristic synchronous data sampling.
In terms of existing technologies, the present invention is by the distance between vehicle-mounted laser displacement pickup detection vehicle and the track, output by wheel shaft pulse transducer or two vehicle-mounted laser displacement pickups obtains distance travelled by vehicle, finally obtains the track characteristic data by the vehicle carried data collecting processing module.The track characteristic data that collect and the historical data of track characteristic are mated, realize the absolute or relative positioning of high precision.
Furtherly, the present invention adopts the vehicle-mounted laser displacement pickup, with near the inboard fastener of rail as the feature extraction point, topmost advantage is: (1) raceway surface characteristic curve can produce more variation at the rail fastening annex, the accuracy of positioning when being conducive to improve Curve Matching.(2) track characteristic extracts point and is chosen at the rail inboard, can guarantee to obtain track switch information, is conducive to the coupling location.(3) sampling frequency of laser displacement sensor is high, and uncorrelated between the sampling point, the track characteristic details is kept, and is to realize high precision definitely or the key factor of relative positioning.Therefore, technology more of the prior art can't be compared with accuracy of positioning of the present invention such as technology such as line map coupling, circuit image coupling, switch location coupling, contact net limit device location matches and based on the accuracy of positioning of the noncontacting proximity sensors such as eddy current sensor, microwave remote sensor.Adopt localization method of the present invention, even under 400 kilometers/hour conditions of the speed of a motor vehicle, also can reach the accuracy of positioning of Centimeter Level.
Description of drawings
Fig. 1 is the structural representation of the registration device embodiment of rail traffic vehicles of the present invention;
Fig. 2 be the registration device of rail traffic vehicles of the present invention when in running order, the installation site scheme drawing of laser displacement sensor;
Fig. 3 is laser displacement sensor detection band scheme drawing in orbit, and this detects band and is the raceway surface unique point set that laser displacement sensor extracts;
Fig. 4 is the conspectus with track switch;
Fig. 5 is twice typical non-fragment orbit line track characteristic curve scheme drawing that gathers during by Fig. 4 circuit, and two curves represent with solid line and dotted line respectively;
Fig. 6 is the detailed construction scheme drawing of the registration device embodiment of rail traffic vehicles of the present invention.
The specific embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Among the present invention, by the distance between vehicle-mounted laser displacement pickup detection vehicle and the track, output by wheel shaft pulse transducer or two vehicle-mounted laser displacement pickups obtains distance travelled by vehicle, finally obtains the track characteristic data by the vehicle carried data collecting processing module.The track characteristic data that collect and the historical data of track characteristic are mated, realize the absolute or relative positioning of high precision.
Registration device embodiment
Embodiment one
With reference to Fig. 1, Fig. 1 is the structural representation of the registration device embodiment of rail traffic vehicles of the present invention, comprising: laser displacement sensor 1, the distance travelled detecting unit 2 of guideway vehicle and synchronous acquisition and data processing unit 3.
Wherein, with reference to Fig. 2 and shown in Figure 3, near the inboard fastener of laser displacement sensor 1 alignment rail, laser displacement sensor is output as its installation site to the distance between the raceway surface.
The distance travelled detecting unit 2 output track vehicles of train are along the location variation on the circuit direction.The distance travelled detecting unit 2 of train can be made of the wheel shaft pulse transducer, and the wheel shaft pulse transducer under the known condition of wheel diameter, can obtain distance travelled in the wheel some pulses of output that whenever rotate a circle by calculating pulse count.The distance travelled detecting unit of train also can be made of two laser displacement sensors (namely increasing second laser displacement sensor) again, these two sensors are installed on the guideway vehicle with a determining deviation on the guideway vehicle direct of travel, by mating the waveform of these two sensor outputs, can obtain both by the time difference of same position, and then obtain vehicle gait of march and distance travelled.
Synchronous acquisition and data processing unit 3 can synchronous acquisition laser displacement sensors 1, the distance travelled detecting unit 2 of train (and other check implement, such as the tunnel contour check implement) output, therefore can determine the actual distance between the adjacent displacement sampling point of laser displacement sensor 1 output, and then obtain the track characteristic curve of guideway vehicle process.Actual distance between the adjacent displacement sampling point of laser displacement sensor 1 output is different under different vehicle speed, therefore needs to detect real-time distance travelled.
If need to obtain the absolute location of guideway vehicle, it is the channel kilometer mark, synchronous acquisition and data processing unit 3 need to have such memory cell, and this cell stores has the good track characteristic curve of prior demarcation, and namely the kilometer post of each point on the track characteristic curve of storage is known.By the track characteristic curve data of relevant matches Real-time Collection and the track characteristic curve of storage, calculate the current location of guideway vehicle.
If the data and its historical data that gather that need current other check implement of contrast (such as the tunnel cross-section check implement) to gather, then can directly mate current track characteristic curve and the track characteristic curve of historical image data, both distances or sampling point deviation are exactly the deviation of image data.With reference to Fig. 4 and Fig. 5.Fig. 4 is the conspectus with track switch.As shown in Figure 5, wherein represent the track characteristic curve that twice different measuring process collects through two curves of overmatching, represent with solid line and dotted line respectively.Notice that the starting point of two curves is different, this is because the starting point of twice measurement is different, can calculate position deviation between starting point by relevant matches, realizes relative positioning.Among Fig. 5, the cyclical variation that the track characteristic curve has 600mm is to be caused by the rail fastening that 600mm equidistantly installs, in addition, guideway vehicle is when turnout passing, laser displacement sensor will pass through in the surface of point tongue, so the track characteristic curve produces a pulse that exceeds rail fastening.These are based on the basis of the high fix of relevant matches by the track characteristic curvilinear motion that rail fastening and track switch produce.In the application of Tunnel body deformability trend analysis, need the repeatedly tunnel cross-section measurement data in the comparative analysis regular period, because the situations such as the starting point of guideway vehicle, speed are different during each the measurement, the position of tunnel cross-section data in the image data file in same place is not identical yet.Therefore need to calculate the starting point deviation of any twice measurement, if the tunnel cross-section data acquisition cycle is timing, non-set a distance, then also need calculate because the cumulative departure that the real-time speed difference causes.Notice that in this type of was used, a track characteristic curve of having demarcated in advance kilometer post not necessarily.
Affect the present embodiment accuracy of positioning mainly by following several factors, the output frequency of (1) laser displacement sensor, this frequency is higher, accuracy of positioning is higher.For example, when the point type laser rangefinder of the 200KHz that chooses present maturation based on light interval travel time principle, be under 400 kilometers/hour conditions in Vehicle Speed, distance between two sampling points of laser range sensor is about 0.56 millimeter, under advantage in theory even can reach millimetre-sized accuracy of positioning.Laser displacement sensor can also be selected the non-contact displacement transducer based on the structure optical principle as required.Synchronization accuracy when (2) synchronous data collection module gathers.(3) the rock situation of guideway vehicle in operational process.Because rocking at random will make the track characteristic data of not homogeneous measurement produce subtle change.Certainly, the Waveform Matching algorithm can be eliminated its most impact.(4) variation of tiny characteristics on the track, such as the accumulated change of other foreign matters such as stone, this also can eliminate its most impact by the parameter that matching algorithm suitably is set.(5) version of track.Because non-fragment orbit has the characteristics such as deformation is little, railway roadbed cleaning, its track characteristic variations in detail is little, for reach centimetre in addition millimetre-sized accuracy of positioning advantageous particularly.Ballast track is comparatively speaking comparatively unfavorable.Therefore, the present invention is particularly suitable for the scene that non-fragment orbit is adopted in high speed railway and urban track traffic etc.(6) impact of sleet.Little sleet since guideway vehicle by the time wind tunnel effect, particularly near the accumulation the fastener is very little in orbit, can ignore location precision.But when large continuous sleet be arranged, and draining of rail freely or for a long time do not pass through without train, and then this moment is larger on the impact of accuracy of positioning.This shows that the more subway of underground line is best applications scene of the present invention.
Embodiment two
With reference to Fig. 6, present embodiment carries out Tunnel body deformability checking system for using registration device described in the invention.This system comprises laser displacement sensor, wheel shaft pulse transducer, synchronous data sampling circuit, data processing module and data processing software.Also comprise some other check implement, such as other sensor, comprise GPS receiver, tunnel cross-section measurement sensor, car body attitude-measuring sensor and pick up camera.System is installed on guideway vehicle or the artificial small rail car of carrying out, and obtains the initial alignment of system by gps signal.In testing process, then the output of each sensor of synchronous data sampling circuit synchronous acquisition send data processing module to and carry out real-time storage.The judgement of Tunnel body deformability can be in real time or off-line carry out.(1) at first, data processing module carries out contraposition with the data of different times collection: calculate the track characteristic data and curves by the laser displacement sensor output that collects and the output of wheel shaft speed transducer at every turn, calculate the not position deviation between the homogeneous take off data with matching algorithm, the GPS locating data can be accelerated the process of mating greatly.(2) then, data processing module is analyzed the Tunnel body deformability situation of a certain same position: compensate with the output of the car body attitude-measuring sensor output to the tunnel cross-section measurement sensor, the impact of body oscillating when eliminate measuring, will through overcompensation, the tunnel cross-section data measured of homogeneous are not placed under the system of axes and compare.The video image of circuit can help operating personal finally to confirm.
Localization method embodiment
On the other hand, the invention also discloses a kind of embodiment of localization method of rail traffic vehicles.The method is based on the registration device of rail traffic vehicles, and device comprises: laser displacement sensor, the distance travelled detecting unit of guideway vehicle and synchronous acquisition and data processing unit; Described laser displacement sensor is connected with data processing unit with described synchronous acquisition respectively with the distance travelled detecting unit of described guideway vehicle; The method must be implemented to comprise the steps:
Lower in working order, with the fastener setting of laser displacement sensor corresponding to the track inboard; Detect the installation site of this laser displacement sensor and the distance between the raceway surface; Simultaneously, detect guideway vehicle along the location variation on the circuit direction based on the distance travelled detecting unit of train; The output of synchronous acquisition and data processing unit synchronous acquisition laser displacement sensor and the distance travelled detecting unit of train, determine the actual distance between the adjacent displacement sampling point of laser displacement sensor output, and then the track characteristic curve that obtains the guideway vehicle process is to position.
Need to prove, the localization method of above-mentioned rail traffic vehicles with registration device the time based on similar principle.Each other mutually with reference to getting final product.In the embodiment of the method part, repeat no more.
To sum up, in the present invention, adopt laser displacement sensor, with near the inboard fastener of rail as the feature extraction point, sampling density improves greatly, and accuracy of positioning is the technology such as line map coupling, circuit image coupling, switch location coupling, contact net limit device location matches and can't compares based on noncontacting proximity sensors such as eddy current sensor, microwave remote sensors.
More than registration device and the method for a kind of rail traffic vehicles provided by the present invention described in detail, used specific embodiment herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications.In sum, this description should not be construed as limitation of the present invention.
Claims (8)
1. the registration device of a rail traffic vehicles is characterized in that, comprising:
Laser displacement sensor, the distance travelled detecting unit of guideway vehicle and synchronous acquisition and data processing unit; Described laser displacement sensor is connected with data processing unit with described synchronous acquisition respectively with the distance travelled detecting unit of described guideway vehicle; Wherein,
Described laser displacement sensor is for detection of the installation site of this laser displacement sensor and the distance between the raceway surface unique point; Described raceway surface unique point is positioned at the rail inboard, and with the distance of track centerline be that rail fastening is to the distance of track centerline;
The distance travelled detecting unit of described guideway vehicle for detection of guideway vehicle along the location variation on the circuit direction;
Described synchronous acquisition and data processing unit are used for the output of the described laser displacement sensor of synchronous acquisition and the distance travelled detecting unit of described guideway vehicle, with the actual distance between the adjacent displacement sampling point of determining described laser displacement sensor output, and then obtain guideway vehicle through the track characteristic curve of circuit, and position by the coupling of described track characteristic curve.
2. described registration device according to claim 1 is characterized in that the distance travelled detecting unit of described guideway vehicle comprises the wheel shaft pulse transducer.
3. described registration device according to claim 1 is characterized in that,
The described distance travelled detecting unit of guideway vehicle of stating comprises the second laser displacement sensor, and described the second laser displacement sensor is arranged on the guideway vehicle; And, remain with preset space length with described laser displacement sensor at the direct of travel of guideway vehicle.
4. according to claim 2 or 3 described registration devices, it is characterized in that,
Also comprise in described synchronous acquisition and the data processing unit: be used for the in advance first memory of the track characteristic curve of demarcation of storage, the track characteristic curve of described prior demarcation is used for the location.
5. the localization method of a rail traffic vehicles is characterized in that, described method is based on the registration device of rail traffic vehicles, and described device comprises:
Laser displacement sensor, the distance travelled detecting unit of guideway vehicle and synchronous acquisition and data processing unit; Described laser displacement sensor is connected with data processing unit with described synchronous acquisition respectively with the distance travelled detecting unit of described guideway vehicle;
Described method comprises the steps:
Lower in working order, with the rail fastening setting of described laser displacement sensor corresponding to the track inboard; Detect the installation site of this laser displacement sensor and the distance between the raceway surface unique point; Described raceway surface unique point is positioned at the rail inboard, and with the distance of track centerline be that rail fastening is to the distance of track centerline;
Simultaneously, detect guideway vehicle along the location variation on the circuit direction based on the distance travelled detecting unit of guideway vehicle;
The output of described synchronous acquisition and the described laser displacement sensor of data processing unit synchronous acquisition and the distance travelled detecting unit of described guideway vehicle, with the actual distance between the adjacent displacement sampling point of determining described laser displacement sensor output, and then obtain guideway vehicle through the track characteristic curve of circuit, and position by the coupling of described track characteristic curve.
6. localization method according to claim 5 is characterized in that, describedly detects guideway vehicle based on the distance travelled detecting unit of guideway vehicle and along distance travelled on the circuit direction is:
Based on the wheel shaft pulse transducer, the wheel shaft pulse transducer whenever rotates a circle at the guideway vehicle wheel and exports a plurality of pulses, under the wheel diameter known conditions, calculates pulse count and obtains distance travelled.
7. localization method according to claim 5 is characterized in that, describedly detects guideway vehicle based on the distance travelled detecting unit of guideway vehicle and along distance travelled on the circuit direction is:
Second laser displacement sensor is set in the distance travelled detecting unit of described guideway vehicle, described laser displacement sensor and described the second laser displacement sensor are installed on the guideway vehicle with preset space length on the guideway vehicle direct of travel, by mating the waveform of these two sensor outputs, obtain both by the time difference of same position, and then obtain guideway vehicle gait of march and distance travelled.
8. according to claim 6 or 7 described localization methods, it is characterized in that,
Described registration device also comprises the first memory of the track characteristic curve of demarcating in advance for storage, described first memory is included in described synchronous acquisition and the data processing unit, before described laser displacement sensor and described synchronous acquisition and data processing unit work, also comprise the step of the track characteristic curve that storage is demarcated in advance.
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