CN1843823A - Automatic positioning control system for station-arrival of subway train - Google Patents
Automatic positioning control system for station-arrival of subway train Download PDFInfo
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- CN1843823A CN1843823A CNA200610074565XA CN200610074565A CN1843823A CN 1843823 A CN1843823 A CN 1843823A CN A200610074565X A CNA200610074565X A CN A200610074565XA CN 200610074565 A CN200610074565 A CN 200610074565A CN 1843823 A CN1843823 A CN 1843823A
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Abstract
The invention discloses an automatic positioning control system which is used at the time that the train arrives station, and used to on-line detect the real-time position of train to realize automatic station report, positioning, and automatic gate opening and closing. The invention is formed by a ground cycle code emitter, a cable coder, an antenna part, a train decoder, a single-chip software address calculator, a PLC controller, and an external controller. The invention can improve the detecting speed of system address, and real-time detect the address, while the train driver can know its address directly, and it can improve the accuracy of automatic station report, automatic driving and automatic positioning.
Description
Technical field
The present invention relates to a kind of automatic positioning control system for station-arrival of subway train, be particularly suitable for the online detection of train real-time address in subway or the light rail operational process, realize that train automatic broadcasting, location reach the control system of functions such as opening the door automatically, close the door.
Background technology
In subway or light rail operational process, the entering the station of train, departures or train are during by interval a certain position, need to detect train whether by this position and in the absolute address of this position, be used for the electric parameter that train automatic broadcasting or train are measured electric power system in real time.When train passed through the cable area of ground row train laying, this system can recognize station address automatically, and can send useful signal and use for other system.The detection that puts in place of traditional train, the sensor that electromagnetic type or infrared type are arranged, its weak point is that sensor is installed cumbersome, generally can only provide contact signal, do not have the computing machine communication function, can not receive the order of other system, signal is subjected to the influence of on-the-spot factor bigger, the automatic guidance function that realizes is limited, and to be subjected to limitation be not very flexible so use.
Summary of the invention
The objective of the invention is provides a kind of dependable performance at the shortcoming and defect in the background technology, rapidly automatic positioning control system for station-arrival of subway train accurately.
Technical scheme of the present invention is: construct a kind of induction cable that is provided with by train, solve running train and can detect the address immediately, realize automatic broadcasting according to immediate address, functions such as self-orientation and control interlocking; Can directly know the position fixing system of the address of oneself on the train.The present invention is by ground loop coding radiating portion, the cable coded portion, antenna part, decoded portion on the car, scm software calculated address part, the PLC control part, external control part is formed, the loop coding radiating portion produces the 49KHz carrier signal on the ground, the output of carrier signal is connected with the input of cable coded portion, the cable coded portion produces address Gray code signal by line is intersected, antenna part is sensed address Gray code signal and to spatial emission, be connected with the input of decoded portion on the car, decoded portion is with the address Gray code signal converting digital symbol signal of antenna part emission on the car, the numeric code signal is sent to the input end of micro controller system calculated address part, micro controller system calculated address part converts numeric code signal series to address signal by algorithm, the output signal of micro controller system calculated address part is sent to the PLC control part, the PLC control part address signal that calculated address partly produces according to micro controller system is controlled external control part, and the signal that external control part sends by PLC is controlled the drive apparatus of external device.
The method of the loop coding radiating portion in the automatic positioning control system for station-arrival of subway train, this method comprises the following steps:
A) press the coding rule of flat cable, self-defined a string data flow sends carrier signal according to the sequential loop of data flow.
A) micro controller system timed sending carrier signal, and in the output of carrier signal with anti-phase terminal, carrier frequency is 49KHz;
B) input interface of high speed switch and cable joins, the output of cycle control carrier signal.
Another program of the present invention provides the method for thick address and smart address decoder on the car in a kind of automatic positioning control system for station-arrival of subway train, and this method comprises the following steps:
A, thick address decoder
A) output signal of displacement control module is sent to the read signal values module, moves to left into 18 bit registers;
B) judge that low 9 is " 00000001G ", call the accurate address of test subroutine module; If low 9 is not " 00000001G ", then program enters and judges that whether most-significant byte is: " 00000001 " module;
C) if most-significant byte is " 00000001 ", program enters into the module of getting register value, with the value of this 18 bit register and " 000000001111111111 " mutually " with ", take out low 10 data again; If most-significant byte is not " 00000001 ", then program is returned;
D) to be sent to this Gray code conversion be the module of binary code to the output signal of getting the module of register value, is thick address.Program was returned after preserved thick address.
B, smart address decoder
A) be sent to from the output signal that calls test accurate address subroutine entry and get antenna T1 rectified value, after the A/D conversion, send into A1 variable module, its output signal is sent to gets antenna T2 rectified value, after the A/D conversion, sends into A2 variable module;
B) be sent to the ratio module of A1/A2 from the output signal of A2 variable module, the value of this A1/A2 table look-up value=seqnum, its output signal is sent to judges whether thick address lowest order is the module of ' 0 ';
C) judge: if main address lowest order is: " 0 ", then absolute address=thick address+seqnum; If main address lowest order is: " 1 ", then absolute address=thick address+1-seqnum; Fail and all return after rolling.
Advantage of the present invention is: the scheme that provides a kind of serial address reliable and that be easy to carry out to detect, can improve the detection speed of system address, on induction cable, can detect the address simultaneously immediately during operational vehicle, can directly know the address of oneself on the car, and can improve the train automatic broadcasting, the particularity and the accuracy of automatic operation and self-orientation.
Description of drawings
Fig. 1 is an overall system block scheme of the present invention
Fig. 2 is the schematic circuit diagram of ground segment of the present invention
Fig. 3 is cable proofreader figure of the present invention
Fig. 4 is a thick address decoder block scheme of the present invention
Fig. 5 is an accurate address of the present invention antenna structure
Fig. 6 is the double antenna of the present invention reception schematic diagram of reporting to the leadship after accomplishing a task
Fig. 7 is the schematic circuit diagram on car of the present invention top
Fig. 8 is a thick address detected software flow pattern of the present invention
Fig. 9 is an accurate address detected software flow pattern of the present invention
Figure 10 is PLC control part of the present invention and external control part wiring block diagram
The specific embodiment
As shown in Figure 1, the present invention is by ground loop coding radiating portion (1), cable coded portion (2), antenna part (3), decoded portion on the car (4), scm software calculated address part (5), PLC control part (6), external control part (7) is formed, loop coding radiating portion (1) produces the 49KHz carrier signal on the ground, the output of carrier signal is connected with the input of cable coded portion (2), cable coded portion (2) produces address Gray code signal by line is intersected, antenna part (3) is sensed address Gray code signal and to spatial emission, be connected with the input of decoded portion on the car (4), decoded portion on the car (4) is with the address Gray code signal converting digital symbol signal of antenna part (3) emission, the numeric code signal is sent to the input end of micro controller system calculated address part (5), micro controller system calculated address part (5) converts numeric code signal series to address signal by algorithm, the output signal of micro controller system calculated address part (5) is sent to PLC control part (6), PLC control part (6) is controlled external control part (7) according to the address signal that micro controller system calculated address part (5) produces, and the signal that external control part (7) sends by PLC is controlled the drive apparatus of external device.
As shown in Figure 2, the square-wave signal of micro controller system IC5 time clock triggering for generating is through R1, be converted to the sine wave signal of certain 49KHz behind the integrating circuit LPF that C1 forms, sine wave signal is through amplifier IC 6, the IC7 two-stage outputs to power amplifier IC8 after amplifying, one road signal output of power discharging IC 8 is sent to high-speed power switch I C1, IC2, the signal input part of IC3, another road signal output of power discharging IC 8 is connected with the end input of the same name of voltage transformer T1 in proportion, and the different name end output of voltage transformer T1 is sent to high-speed power switch I C1 as base address to the inversion signal of line R, IC2, the signal input part of IC3.4 road address gating signals that micro controller system IC5 produces send decoder IC4 to, decoder IC4 by decoding respectively gating control address to the signal output of line G0-G9 with substantially to the output of positive and the inversion signal of line R.
As shown in Figure 3, the structure of cable section is made up of line the address, and 2 above addresses can be connected in series mutually to the element length of line during use.
As shown in Figure 4, thick address decoder is made up of antenna part (3), zero-crossing comparator, shift register, NOR gate circuit, antenna part is sent the input end that outputs to NOR gate circuit through the sine wave signal one tunnel after the amplification filtering, another road outputs to another input end of Exclusive-OR gate (XOR gate) after one-period T displacement, the numeric code signal of relatively exporting through XOR is input to the input end of micro controller system address again.
As shown in Figure 5, antenna part of the present invention is made up of double antenna coil T1, T2, coil width is that G0 intersects to the minimum of line, the center of coil T1 and T2 differs to G0 adds 0.1 meter of minimum unit length to little intersection (0.2 meter) of line, T1 and T2 in the signal amplitude size variation of train induction shown in Fig. 5 (b).This antenna structure is fit to accurate address decoding process.
As shown in Figure 6, the double antenna reception schematic diagram of reporting to the leadship after accomplishing a task.Cable sends the carrier signal of 49KHz, by by line chart L, resistance R 2, the frequency-selecting resonant tank induction that capacitor C 2 is formed receives, and the signal that receives is by homophase input coupling capacitor C 3, and homophase input resistance R3 is sent to op amp IC1, a part was through the input of feedback resistance R6 feedback after signal amplified, another part process is by C5, and coupling transformer T1 is given in the integrating circuit filtering that R7 forms, and coupling transformer T1 is with signal coupling output.R8 wherein, the circuit that R9 forms provides the DC level of 12V for the frequency-selecting resonant tank, capacitor C 6, C7, C8, the C9 protection offers the DC level of frequency-selecting resonant tank.
Micro controller system calculated address part (5) sends the real-time address that calculates to PLC control part (6) by serial ports, and PLC control part (6) is realized the automatic broadcasting of train, effective control of self-orientation by the real-time address with from the signal of miscellaneous equipment collection.PLC control part (6) transmits the serial port that calculates by serial ports with signal, realizes computer management and animation function for monitoring.
As shown in Figure 7, the circuit of address decoder is realized on the car.The signal that antenna part is accepted to come is through preposition amplification, filtering, secondary amplifies the effective sinusoidal signal U1 that produces, U1 crosses zero balancing through voltage comparator circuit IC5, produce square-wave signal, send shift register IC2 to, shift register IC2 produces two paths of signals Ui1 and Ui2, Ui2 is the signal that Ui1 delays time and produces after 208 microseconds, two paths of signals is connected with the input end of NOR gate circuit IC4A, the signal that produces is connected with the input end of NOR gate circuit IC4B through the signal behind R17 and the R18 LPF, another input end of NOR gate circuit IC4B joins with ground, the signal of output becomes regular numeric code signal and is sent to IC1, IC1 accepts this serial numeric code signal by software, be converted to binary code, this class binary code is exactly our required thick address.Signal U2 is the signal that signal U1 rectification obtains later on, and signal U3 is that another receiving wire T1 accepts the signal come through preposition amplification, filtering, secondary amplifies, rectification obtains later on signal.Signal U2 and signal U3 are converted to address coding signal through A/D converter IC3, address coding signal sends the address input end mouth of IC1 to, IC1 calculates accurate address by software, then accurate address and thick address addition is obtained our required absolute address.
The method of work of system of the present invention:
The concrete work of ground radiating portion is: the gating address sends carrier wave to line G0-G9 and base address to line R successively, and one time span is that a code element is long, is the inverse of baud rate, sends into the inversion signal of base address to line; Baud rate is 4800bps, and carrier frequency is 49KHz; A carrier signal generation circuit that has power gain, and with anti-phase output; Have a high speed controlled switch before each cable proofreader interface; The step of transmitting of each yard is: the time clock triggering by micro controller system earlier enters interruption, the time of each code element of time clock decision emission, by micro controller system gating code at that time is sent to decoder for decoding, by the mouth of decoder control signal is sent to the control end of each high speed switch, only high speed switch of gating and a pair of cable send.
The flat cable compiling method is: the unified construction of cable is: 102.4 meters of length, and 1024 of base address unit, individually element length is 0.1 meter; Be provided with the address to 10 pairs on line, be G0-G9, base address is to a pair of R of line, and communication is L0, L1 to 2 pairs on line; The gray encoding rule is adopted to line in the address.
Address decoder comprises thick address decoder and accurate address decoder two parts on the car, and the concrete work of thick address decoder is:
Hardware components adopts: sine wave signal is converted into the zero-crossing comparator of square-wave signal, and the shift register of time-delay one-period, XOR is gate circuit relatively;
As shown in Figure 8, the software flow pattern of thick address decoder on the car.Its concrete implementation method is: the output signal of step 100 displacement control module is sent to the read signal values module, and step 102 moves to left into 18 bit registers.Step 104 judges whether low 9 be " 00000001G ", calls the accurate address of test subroutine module if enter step 106; If low 9 is not " 00000001G ", then program enters step 108 and judges that whether most-significant byte is: " 00000001 " module.If most-significant byte is " 00000001 ", program enters into the module that step 110 is got register value, with the value of this 18 bit register and " 000000001111111111 " mutually " with ", take out low 10 data again; If most-significant byte is not " 00000001 ", then program is returned.It is the module of binary code with this Gray code conversion that the output signal of getting the module of register value is sent to step 112, is thick address.Program was returned after preserved thick address.
Concrete algorithm is: the symbol signal that the signal that antenna T0 receives is converted to level through zero balancing is delivered to an input end of NOR gate circuit; The signal that antenna T0 receives is converted to the shift register of the symbol signal of level by time-delay n doubling time through zero balancing; Deliver to another input port of NOR gate circuit behind the signal lag of shift register; Two paths of signals becomes required symbol level signal through behind the NOR gate circuit; This serial code is read in control through scm software, obtains the serial address yardage.
The concrete work of accurate address decoder is on the car: adopt the double antenna receiving method, a day line width is two address location length, and two antennas are installed to differ to G0 the little intersection of line is added 0.1 meter; After surface launching G0 in ground is stable, the micro controller system on the car by the A/D conversion after, read in the DC level after the detection.
As shown in Figure 9, the software flow pattern of accurate address decoder on the car.Its concrete implementation method is: be sent to step 202 from the output signal of the accurate address of invocation step 200 test subroutine entry and get antenna T1 rectified value, after the A/D conversion, send into A1 variable module, its output signal is sent to step 204 and gets antenna T2 rectified value, after the A/D conversion, send into A2 variable module.Be sent to the ratio module of step 206A1/A2 from the output signal of A2 variable module, the value of this A1/A2 table look-up value=seqnum, its output signal is sent to whether determining step 208 thick address lowest orders are the modules of " 0 ".Judge: if thick address lowest order is: " 0 ", then step 210 absolute address=thick address+seqnum; If thick address lowest order is: " 1 ", then step 212 absolute address=thick address+1-seqnum; Fail and all return after rolling.
The concrete method of work of PLC control part is: the PLC control part comprises that signal accepts module, signal processing module, signal transmitting module.
Signal is accepted module: micro controller system is converted to the signal that binary-coded decimal sends to PLC with the binary signal of handling and accepts module.PLC accepts module will collect the on-the-spot signal location that needs collection.Communication is to the useful signal on line L0, the L1, and the numeric code signal that comes out by the MODEM demodulation sends the signal of PLC to and accepts module.
Signal processing module: in each station, set a different reference address.Train is according to the absolute address of online detection and the distance distance of reference address, the gait of march of coming the automatic compensation train.The absolute address of the online detection of train equates with reference address, produces the train positioning signal location.
Signal transmitting module: the needed positioning signal of control cabin, address signal etc. send by signal transmitting module.The useful signal that upper computer will be gathered transmits by signal transmitting module.External electrical equipment on the train transmits useful signal, positioning signal by signal transmitting module and realizes closing the door automatically, open the door, advancing.
As shown in Figure 9, listed automatic positioning control system for station-arrival of subway train among the figure in order to realize the automatic guidance function, the interconnecting wiring diagram of PLC control part and external control part.When the absolute address that the PLC control part collects equated with reference address, PLC sent the signal that puts in place to the sound broadcast system by (RS232/RS485) serial port, realizes the function of automatic broadcasting.The PLC control part passes through the comparison to absolute address and reference address, the function that realizes automatic off-position, opens the door automatically, walks automatically.The comparison of PLC self-clocking and train berthing time in the station realizes the function of closing the door automatically automatically.Output point Q1.0, the Q1.1 of signal, Q1.2, Q1.3 are connected with relay R ELAY1, RELAY2, RELAY3, RELAY4 line bag respectively, the switching value that realizes corresponding function on the normal battle (NO) of relay and the car is in parallel, and the switching value of realization corresponding function is connected on the normally closed point (NC) of relay and the car.When PLC has signal to send out, can realize the function that switching value can realize on the car.
In the method for the invention, about 4ms locomotive can be examined once the address of oneself, and the big quickening of speed of the own address of this method train detection can improve the particularity and the accuracy of automatic train operation and location.
Claims (7)
1, a kind of automatic positioning control system for station-arrival of subway train, it is characterized in that by ground loop coding radiating portion (1), cable coded portion (2), antenna part (3), decoded portion on the car (4), scm software calculated address part (5), PLC control part (6), external control part (7) is formed, loop coding radiating portion (1) produces the 49KHz carrier signal on the ground, the output of carrier signal is connected with the input of cable coded portion (2), cable coded portion (2) produces address Gray code signal by line is intersected, antenna part (3) is sensed address Gray code signal and to spatial emission, be connected with the input of decoded portion on the car (4), decoded portion on the car (4) is with the address Gray code signal converting digital symbol signal of antenna part (3) emission, the numeric code signal is sent to the input end of micro controller system calculated address part (5), micro controller system calculated address part (5) converts numeric code signal series to address signal by algorithm, the output signal of micro controller system calculated address part (5) is sent to PLC control part (6), PLC control part (6) is controlled external control part (7) according to the address signal that micro controller system calculated address part (5) produces, and the signal that external control part (7) sends by PLC is controlled the drive apparatus of external device.
2, automatic positioning control system for station-arrival of subway train according to claim 1, it is characterized in that described ground loop coding radiating portion (1) is made up of carrier wave generation circuit, micro controller system, decoder and high speed switch that 49KHz has power gain, 49KHz has the carrier wave generation circuit output positive carrier signal of power gain and the input end that anti-phase carrier signal is sent to the high-speed power switch respectively, the output of micro controller system is connected with the input of decoder, and decoder is connected with the control end of high speed switch respectively after decoding.
3, automatic positioning control system for station-arrival of subway train according to claim 1, the construction of cable that it is characterized in that described cable coded portion (2) are 102.4 meters of length, and 1024 of base address unit, individual address element length are 0.1 meter; Be provided with 10 pairs of A wires, be G0-G9, base address is to a pair of R of line, and communication is L0, L1 to 2 pairs on line; The gray encoding rule is adopted to line in the address.
4, automatic positioning control system for station-arrival of subway train according to claim 1, it is characterized in that described antenna part (3) adopts the double antenna receive mode of reporting to the leadship after accomplishing a task, the coil width of two antennas is that the minimum of G0 is intersected, and the minimum intersection (0.2 meter) that mounting distance equals G0 adds an address location length (0.1 meter).
5, automatic positioning control system for station-arrival of subway train according to claim 1 is characterized in that decoded portion on the described car (4) is made up of thick address decoder and accurate address decoder two parts.Thick address decoder is made up of antenna part (3), zero-crossing comparator, shift register, NOR gate circuit; Accurate address decoder is made up of double antenna coil T1, T2 and A/D converter.
6, the method for the loop coding radiating portion in a kind of automatic positioning control system for station-arrival of subway train, this method comprises the following steps:
A) press the coding rule of flat cable, self-defined a string data flow sends carrier signal according to the sequential loop of data flow.
B) micro controller system timed sending carrier signal, and in the output of carrier signal with anti-phase terminal, carrier frequency is 49KHz;
C) input interface of high speed switch and cable joins, the output of cycle control carrier signal.
7, the method for thick address and smart address decoder on the car in a kind of automatic positioning control system for station-arrival of subway train, this method comprises the following steps:
A, thick address decoder
A) output signal of displacement control module is sent to the read signal values module, moves to left into 18 bit registers;
B) judge that low 9 is " 00000001G ", call the accurate address of test subroutine module; If low 9 is not " 00000001G ", then program enters and judges that whether most-significant byte is: " 00000001 " module;
C) if most-significant byte is " 00000001 ", program enters into the module of getting register value, with the value of this 18 bit register and " 000000001111111111 " mutually " with ", take out low 10 data again; If most-significant byte is not " 00000001 ", then program is returned;
D) to be sent to this Gray code conversion be the module of binary code to the output signal of getting the module of register value, is thick address.Program was returned after preserved thick address.
B, smart address decoder
A) be sent to from the output signal that calls test accurate address subroutine entry and get antenna T1 rectified value, after the A/D conversion, send into A1 variable module, its output signal is sent to gets antenna T2 rectified value, after the A/D conversion, sends into A2 variable module;
B) be sent to the ratio module of A1/A2 from the output signal of A2 variable module, the value of this A1/A2 table look-up value=seqnum, its output signal is sent to judges whether thick address lowest order is the module of ' 0 ';
C) judge: if main address lowest order is: " 0 ", then absolute address=thick address+seqnum; If main address lowest order is: " 1 ", then absolute address=thick address+1-seqnum; Fail and all return after rolling.
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| CNA200610074565XA CN1843823A (en) | 2006-04-19 | 2006-04-19 | Automatic positioning control system for station-arrival of subway train |
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| CNA200610074565XA CN1843823A (en) | 2006-04-19 | 2006-04-19 | Automatic positioning control system for station-arrival of subway train |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101844564A (en) * | 2010-06-24 | 2010-09-29 | 南车长江车辆有限公司 | Automatic positioning, loading and unloading control device for wagon |
| CN102007032A (en) * | 2008-04-21 | 2011-04-06 | 三菱电机株式会社 | Vehicle crew supporting apparatus |
| CN101452265B (en) * | 2007-12-04 | 2011-12-21 | 丁晓跃 | Real time on-line auto-calibration method and device |
| CN103257643A (en) * | 2013-05-06 | 2013-08-21 | 长沙思强自动化科技有限公司 | Automatic positioning control method of belt pulley trolley for coal blending in coking plant |
| CN103426302A (en) * | 2012-05-18 | 2013-12-04 | 李志恒 | Transfer station bus rapid transit compartment transfer information release system and release method |
| CN108628268A (en) * | 2018-04-27 | 2018-10-09 | 湖南理工学院 | Mechanically moving precision address detection system |
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2006
- 2006-04-19 CN CNA200610074565XA patent/CN1843823A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101452265B (en) * | 2007-12-04 | 2011-12-21 | 丁晓跃 | Real time on-line auto-calibration method and device |
| CN102007032A (en) * | 2008-04-21 | 2011-04-06 | 三菱电机株式会社 | Vehicle crew supporting apparatus |
| US8818583B2 (en) | 2008-04-21 | 2014-08-26 | Mitsubishi Electric Corporation | Train crew support device including a door opening-closing device |
| CN101844564A (en) * | 2010-06-24 | 2010-09-29 | 南车长江车辆有限公司 | Automatic positioning, loading and unloading control device for wagon |
| CN101844564B (en) * | 2010-06-24 | 2013-02-20 | 南车长江车辆有限公司 | Automatic positioning, loading and unloading control device for wagon |
| CN103426302A (en) * | 2012-05-18 | 2013-12-04 | 李志恒 | Transfer station bus rapid transit compartment transfer information release system and release method |
| CN103257643A (en) * | 2013-05-06 | 2013-08-21 | 长沙思强自动化科技有限公司 | Automatic positioning control method of belt pulley trolley for coal blending in coking plant |
| CN108628268A (en) * | 2018-04-27 | 2018-10-09 | 湖南理工学院 | Mechanically moving precision address detection system |
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