CN102897194A - Method for processing positioning information of overhauling trolley for urban rail transit - Google Patents
Method for processing positioning information of overhauling trolley for urban rail transit Download PDFInfo
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- CN102897194A CN102897194A CN2011102110869A CN201110211086A CN102897194A CN 102897194 A CN102897194 A CN 102897194A CN 2011102110869 A CN2011102110869 A CN 2011102110869A CN 201110211086 A CN201110211086 A CN 201110211086A CN 102897194 A CN102897194 A CN 102897194A
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Abstract
The invention relates to a method for processing positioning information of an overhauling trolley for urban rail transit. The method includes steps that 1), a processor computes the traveled distance and the direction of the overhauling trolley according to a received pulse number and phase output which are transmitted by a photoelectric encoder when the overhauling trolley moves; and 2), the processor judges whether the traveled distance of the overhauling trolley needs to be corrected or not according to information transmitted by a corresponding forward photoelectric proximity sensor and information transmitted by a corresponding backward photoelectric proximity sensor when the overhauling trolley passes each beacon, and actuates correction for the traveled distance if the traveled distance needs to be corrected. Compared with the prior art, the method has the advantages of wide application range, simple and flexible structure, high detection precision, a fault tolerance function and the like.
Description
Technical field
The present invention relates to track traffic inspection trolley field, especially relate to a kind of urban track traffic inspection trolley locating information processing method.
Background technology
Urban track traffic arranges to have plant maintenance along the line and service work during train stoppage in transit in the late into the night, normally carry instrument by artificial pad it and the manpower back of the body at present and arrive a destination.The track inspection trolley of designing and making hand-held design can solve this demand, but also needing to consider especially under concrete applied environment: the calculation error of bringing when optionally forward and backward walking of dolly and the car wheel situation such as may skid and dally occurs, this need to solve by suitable digital information processing.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of applied range, high, the urban track traffic inspection trolley locating information processing method that fault tolerance is arranged simple in structure of accuracy of detection for the defective that overcomes above-mentioned prior art existence.
Purpose of the present invention can be achieved through the following technical solutions: a kind of urban track traffic inspection trolley locating information processing method, it is characterized in that, the method may further comprise the steps: when 1) inspection trolley moves, treater according to the photoelectric encoder that receives send pulse number and the phase place output travel distance and the direction that calculate inspection trolley; 2) inspection trolley is every during through a beacon, and the information that treater sends according to forward and backward photoelectricity proximity transducer is carried out necessary correction to the travel distance of inspection trolley.
Described step 1) treater in according to the photoelectric encoder that receives send pulse number and the phase place output travel distance and the direction that calculate inspection trolley, specifically may further comprise the steps: 11) treater is waited for the pulse output of photoelectric encoder, and judge whether wheel moves, then carry out step 12 if the judgment is Yes), otherwise again wait for the pulse output of photoelectric encoder; 12) adopt K=1 and K=-1 to represent that respectively current output pulse is that appointment carriage walking direction is forward direction or backward, then use the actual travel distance that cumulative way is calculated inspection trolley, calculate simultaneously the travel distance that after each beacon detects, restarts.
The computing formula that the cumulative way of described application is calculated the actual travel distance of inspection trolley is: X
1=X
2+ (2 π/1024) RK, X
1Absolute travel distance during for the current output pulse of inspection trolley photoelectric encoder, X
2Be front absolute travel distance when once exporting pulse, R is the wheel radius, and K is current pulse condition, and π is circular constant.
The information that described treater sends according to forward and backward photoelectricity proximity transducer, the travel distance of inspection trolley is carried out necessary correction specifically be may further comprise the steps: 21) treater judges whether forward direction photoelectricity proximity transducer detects the upper and lower edge of identifying successively respective pulses behind the beacon, then carry out step 22 if the judgment is Yes), otherwise again wait for the output of forward direction photoelectricity proximity transducer; 22) treater judges whether it is symmetrical lower edge, if the judgment is Yes, then records pulsewidth T1, waits for the moment X (u on distance measurements Δ Y1 and the upper and lower edge of process
p) and X (d
p), otherwise again wait for the output of forward direction photoelectricity proximity transducer; 23) treater judges simultaneously whether backward photoelectricity proximity transducer detects beacon and identify successively the corresponding upper and lower edge that produces pulse, then carry out step 24 if the judgment is Yes), otherwise again wait for backward photoelectricity proximity transducer output; 24) treater judges whether it is symmetrical lower edge, if the judgment is Yes, then records pulsewidth T2, waits for the moment X (u on distance measurements Δ Y2 and the upper and lower edge of process
q) and X (d
q), otherwise again wait for backward photoelectricity proximity transducer output; 25) treater is judged X (d
p) whether greater than X (d
q), if the judgment is Yes, the inspection trolley forward travel then is described through this beacon, otherwise explanation inspection trolley backward going is through this beacon; 26) when dolly is the forward walking, corresponding pulsewidth is estimated the center of beacon position with aviation value Δ Y apart from wait amount sum when detecting beacon respectively according to forward direction photoelectricity proximity transducer and backward photoelectricity proximity transducer, and calculates accent amount behind the beacon center; 27) beacon of inspection trolley process is counted, forward is designated as 1 through beacon, oppositely is designated as-1 through beacon, the distance of passing through when the record start task location is through first beacon position simultaneously; 28) when the inspection trolley forward through other beacon constantly, utilize updating formula to step 1) in the travel distance of calculated inspection trolley carry out necessary correction.
Described step 28) updating formula in comprises: B (m)=| (X-B (1)-Δ Y)+0.5C) |+B (1) and X=B (m)+Δ Y, when B in the formula (m) is the m time process beacon this beacon is left the gauged distance estimation of task initial point position, X continues to calculate the next beacon of arrival absolute travel distance before take this position as proofreading and correct basic point, B (1) is the distance between task initial point position and first beacon, because dolly is just to finish information processing after by beacon so Δ Y is arranged is accent amount behind the beacon center, C is the predetermined distance of neighbor beacon, and " || " is the mathematics rounding operation.
Compared with prior art, the present invention has the following advantages:
1, for the urban track traffic worker inspection trolley of being engaged in has been equipped with position fixing system, the technology of the present invention can be widely used in other similar occasion;
2, can measure the travel distance that the dolly precision is 2R π/1024 (wherein R is the wheel radius, π=3.14);
3, can measure dolly direction of travel at any time, but and COMPREHENSIVE CALCULATING go out actual miles of relative movement;
4, use the dual sensor reliable recognition and go out the uniformly-spaced position of the reflective beacon of distance placement;
Even 5 for some reason beacon do not exist or because of certain beacon be installed improper causing and can't detect, so that proofread and correct and to carry out with respect to the range data of this beacon, but therefore also can not affect or interrupt has fault tolerance to the continuation of current distance information estimation (just major just once);
In a single day detect beacon when 6, the dolly forward is walked, system will rise take this beacon position as reference constantly at this, automatic inspection and correction distance data.
Description of drawings
Fig. 1 is treater goes out the travel distance of inspection trolley according to the information calculations of photoelectric encoder transmission diagram of circuit;
Fig. 2 is the diagram of circuit that beacon signal that treater detects according to the forward and backward sensor is proofreaied and correct the travel distance of inspection trolley;
Fig. 3 is the compensated distance analysis chart after target detects.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
A kind of urban track traffic inspection trolley locating information processing method, our ratio juris is: at first, 1024 impulse singlas of the every rotation one circle output of axle in the photoelectric encoder are by paired pulses number counting estimation travel distance.The phase place of recycling photoelectric encoder exports to judge direction of travel, and the actual travel distance of COMPREHENSIVE CALCULATING.Then, the photoelectricity proximity transducer is detected the identification (comprise width and up and down edge) of output pulse behind the beacon, and after to photoelectricity proximity transducer pulse recognition to the estimation of beacon center.At last, the beacon center determines that the rear forward travel distance that current time is risen carries out Data correction.
The method comprises following two steps:
The first step: when inspection trolley moves, treater according to the photoelectric encoder that receives send pulse number and the phase place output travel distance that calculates inspection trolley.As shown in Figure 1, be the detection algorithm of photoelectric encoder, wherein gordian technique is to adopt K=1 and K=-1 to represent that respectively it is forward direction or backward that the carriage walking direction is specified in the pulse of receiving, then uses cumulative way and calculates actual travel distance.Wherein X is omnidistance travel distance all along, dolly every during through a beacon X all can be corrected once, U is the travel distance that restarts after each beacon detects.Photoelectric encoder is asynchronous working, only just has pulse exporting change and triggering to counting and the renewal of K when wheel shaft rotates; Pulse output signals when wheel shaft does not rotate keeps preceding state.Specifically comprise following two step by step:
Step 11) treater is waited for the pulse output of photoelectric encoder, and judges that whether wheel moves, and then carry out step 12 if the judgment is Yes), otherwise wait for that again the pulse of photoelectric encoder exports;
Step 12) adopt K=1 and K=-1 to represent that respectively it is forward direction or backward that the carriage walking direction is specified in the pulse of receiving, then use the actual travel distance that cumulative way is calculated inspection trolley, calculate simultaneously the travel distance that after each beacon detects, restarts.Cumulative way is specially: X
1=X
2+ (2 π/1024) RK, X
1Absolute travel distance during for the current output pulse of inspection trolley photoelectric encoder, X
2Absolute travel distance when exporting for pulsatile once before the inspection trolley, R is the wheel radius, and K is current pulse condition, and π is circular constant.
Second step: the inspection trolley forward is every during through a beacon, and the information that treater sends according to forward and backward photoelectricity proximity transducer is carried out necessary correction to the travel distance of inspection trolley.Such as Fig. 2, shown in Figure 3, specifically may further comprise the steps:
A, treater judge whether forward direction photoelectricity proximity transducer detects the upper and lower edge of identifying successively respective pulses behind the beacon, then carries out if the judgment is Yes step B, otherwise again wait for the output of forward direction photoelectricity proximity transducer;
B, treater judge whether it is symmetrical lower edge, if the judgment is Yes, then record pulsewidth T1, wait for the moment X (u on distance measurements Δ Y1 and the upper and lower edge of process
p) and X (d
p), otherwise again wait for the output of forward direction photoelectricity proximity transducer;
C, treater judge whether backward photoelectricity proximity transducer detects the upper and lower edge of identifying successively respective pulses behind the beacon, then carries out if the judgment is Yes step D, otherwise again wait for backward photoelectricity proximity transducer output;
D, treater judge whether it is symmetrical lower edge, if the judgment is Yes, then record pulsewidth T2, wait for the moment X (u on distance measurements Δ Y2 and the upper and lower edge of process
q) and X (d
q), otherwise again wait for backward photoelectricity proximity transducer output;
E, treater are judged X (d
p) whether greater than X (d
q), if the judgment is Yes, the inspection trolley forward travel then is described through this beacon, otherwise explanation inspection trolley backward going is through this beacon;
F, when dolly be forward when walking, pulsewidth when detecting respectively two different reflecting surfaces of same beacon according to forward direction photoelectricity proximity transducer and backward photoelectricity proximity transducer and the aviation value of wait amount sum are estimated the center of beacon, and calculate the rear accent amount of beacon center;
G, the beacon of inspection trolley process is counted, forward is designated as 1 through beacon, oppositely is designated as-1 through beacon, the distance of exercising when record is through first beacon position simultaneously;
H, when the inspection trolley forward through other beacon constantly, utilize updating formula to step 1) in the travel distance of calculated inspection trolley proofread and correct.Updating formula comprises: B (m)=| (X-B (1)-Δ Y)+0.5C) |+B (1) and X=B (m)+Δ Y, when B in the formula (m) is the m time process beacon this beacon is left the gauged distance estimation of task initial point position, X continues to calculate the next beacon of arrival absolute travel distance before take this position as proofreading and correct basic point, B (1) is the distance between task initial point position and first beacon, because dolly is just to finish information processing after by beacon so Δ Y is arranged is accent amount behind the beacon center, C is the predetermined distance of neighbor beacon, and " || " is the mathematics rounding operation.
Among Fig. 3, p1, p2, p3 are forward sensor shift position; Q1, q2, q3 are reverse sensor shift position; H is the overhead height of sleeper of photoelectricity proximity transducer; H is that the photoelectricity proximity transducer is from the height of beacon; W is base, beacon cross section width; B is that beacon sectional reflective face rib is long; α is the angle of beacon cross section drift angle; β=α/2 are the installation of sensors angle; T1 and T2 are pulse width; Δ T1 and Δ T2 are wait time; L1:p2 is that vertical line is from beacon reflecting surface middle part distance; Δ T/2 is the half value of accent amount behind the beacon center; L2:p2 be on beacon ray point from beacon centre distance; L1=[H-(w/2)/tg (α/2)/2]/tg (α/2); L2=w/4; X1=x2=[H-(w/2)/tg (α/2)]/tg (α/2); Y1=y2=H/tg (α/2);
The messaging software flow process is as shown in Figure 1, and is wherein as follows with further specifying of digital circul mark part:
1. 2 of appointment dotted line block diagrams are the detection algorithm of 2 photoelectricity proximity transducers, key is accurately to detect complete beacon output pulse, corresponding way adopted determine first in the pulse along, again determine under the pulse along, confirm this lower (is correct lower edge rather than change the former upper edge that runs into when direction retreats midway) along being " legal " at last.After complete pulse measures, calculate this pulse up and down along constantly, pulsewidth and from the experience compensation value of beacon center position.
2. since 2 sensors to same beacon detect finish after moment of output signal different, so need the detection signal of 2 sensors of wait acknowledge all to export.Guarantee again simultaneously two pulses that receive be have lap, namely from same beacon, improve thus the reliability of detection.
3. need to analyze the carriage walking direction: if the forward sense device detects the concluding time early than backward sensor, illustrate that then dolly is forward direction, otherwise be backward.
4. after 2 sensors successively all detect same beacon, estimate the center of beacon position according to the aviation value of the corresponding pulsewidth of corresponding two reflecting surfaces and wait amount sum.
5. to the beacon count of process, and accent amount behind the memory beacon center.
Distance when 6. memory is through first beacon position.Dolly can be started working at any point of track, and first beacon is not proofreaied and correct calculating range data X with regard to as a reference point.
7. work as other beacon position of forward process constantly to calculating the correction of range data X, correction is to carry out in the number range of complementary range (correction is just carried out after being to finish the detection of 2 sensors, owing to be that therefore postpone be to subtract rather than add) of accent amount after the absolute distance that is calculated by photoelectric encoder output pulse deducts for the beacon center.
8. by behind the nearest beacon current time optional position being proofreaied and correct.
If 9. run into oppositely retreating in the forward walking way, then do not do any compensated distance and adjustment, only the beacon number of process carried out (subtraction) calculating.
The invention still further relates to some hardware, these hardware and the information that provides thereof comprise (1) 1 photoelectric encoder: pass through the electric interfaces output pulse signal when its inner-diameter portion whose is rotated with wheel shaft; (2) beacon: be installed in triangle infrared reflecting body on the track sleeper every 1 kilometer (or other specified length); (3) 2 photoelectricity proximity transducers: be installed in dolly bottom directive sending infrared light, output pulse signal in the time can detecting the infrared external reflection signal through beacon; (4) based on Embedded computer system photoelectric encoder and photoelectricity proximity transducer output signal are carried out analyzing and processing, in order to can obtain at any time from distance or the position of having walked after current task specifies reference position to begin to walk.
Claims (5)
1. urban track traffic inspection trolley locating information processing method is characterized in that the method may further comprise the steps:
When 1) inspection trolley moved, treater was exported travel distance and the direction that calculates inspection trolley according to pulse number and phase place that the photoelectric encoder that receives sends;
2) inspection trolley is every during through a beacon, and the information that treater sends according to forward and backward photoelectricity proximity transducer is carried out necessary correction to the travel distance of inspection trolley.
2. a kind of urban track traffic inspection trolley locating information processing method according to claim 1, it is characterized in that, described step 1) treater in according to the photoelectric encoder that receives send pulse number and the phase place output travel distance and the direction that calculate inspection trolley, specifically may further comprise the steps:
11) treater is waited for the pulse output of photoelectric encoder, and judges that whether wheel moves, and then carry out step 12 if the judgment is Yes), otherwise wait for that again the pulse of photoelectric encoder exports;
12) adopt K=1 and K=-1 to represent that respectively the carriage walking direction of current photoelectric encoder output pulse appointment is forward direction or backward, then use the actual travel distance that cumulative way is calculated inspection trolley, calculate simultaneously the travel distance that after each beacon detects, restarts.
3. a kind of urban track traffic inspection trolley locating information processing method according to claim 2 is characterized in that, the computing formula that the cumulative way of described application is calculated the actual travel distance of inspection trolley is: X
1=X
2+ (2 π/1024) RK, X
1Absolute travel distance during for the current output pulse of inspection trolley photoelectric encoder, X
2Absolute travel distance when exporting for pulsatile once before the inspection trolley, R is the wheel radius, and K is current pulse condition, and π is circular constant.
4. a kind of urban track traffic inspection trolley locating information processing method according to claim 1, it is characterized in that, the information that described treater sends according to forward and backward photoelectricity proximity transducer is carried out necessary correction to the travel distance of inspection trolley, specifically may further comprise the steps:
21) treater judges that whether forward direction photoelectricity proximity transducer detects the upper and lower edge of identifying successively respective pulses behind the beacon, then carry out step 22 if the judgment is Yes), otherwise again wait for the output of forward direction photoelectricity proximity transducer;
22) treater judges whether it is symmetrical lower edge, if the judgment is Yes, then calculate pulsewidth T1 and wait for distance, delta Y1, and record is through the moment X (u on upper and lower edge
p) and X (d
p), otherwise again wait for the output of forward direction photoelectricity proximity transducer;
23) treater judges that simultaneously whether backward photoelectricity proximity transducer detects the upper and lower edge of identifying successively respective pulses behind the beacon, then carry out step 24 if the judgment is Yes), otherwise again wait for backward photoelectricity proximity transducer output;
24) treater judges whether it is symmetrical lower edge, if the judgment is Yes, then calculate pulsewidth T2 and wait for distance measurements Δ Y2, and record is through the moment X (u on upper and lower edge
q) and X (d
q), otherwise again wait for backward photoelectricity proximity transducer output;
25) install before and after two photoelectricity proximity transducers, so that the forward sense device detects first the beacon reflection than backward sensor, treater is judged X (d
p) whether greater than X (d
q), if the judgment is Yes, illustrate that then inspection trolley is this beacon of forward travel process, otherwise the explanation inspection trolley is that backward going is through this beacon;
26) if dolly is forward travel, corresponding pulsewidth is estimated the center of beacon with aviation value Δ Y apart from wait amount sum when detecting respectively the different reflecting surface of same beacon according to forward direction photoelectricity proximity transducer with backward photoelectricity proximity transducer, thereby calculates the rear accent amount of beacon center.If dolly is backward travelling, then do not do the processing that the position is adjusted;
27) beacon of inspection trolley process is counted, forward is designated as 1 through beacon, oppositely is designated as-1 through beacon, when recording simultaneously from optional position that task begins through first beacon position the distance of process;
28) when the inspection trolley forward through other beacon constantly, utilize updating formula to step 1) in the travel distance of calculated inspection trolley carry out necessary correction.
5. a kind of urban track traffic inspection trolley locating information processing method according to claim 4, it is characterized in that, described step 28) updating formula in comprises: B (m)=| (X-B (1)-Δ Y)+0.5C) |+B (1) and X=B (m)+Δ Y, when B in the formula (m) is the m time process beacon this beacon is left the gauged distance calculating of task initial point position, X continues to calculate the next beacon of arrival absolute travel distance before take this position as proofreading and correct basic point, B (1) is the distance between task initial point position and first beacon, because dolly is just to finish information processing after by beacon so Δ Y is arranged is accent amount behind the beacon center, C is the predetermined distance of neighbor beacon, and " || " is the mathematics rounding operation.
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| CN201110211086.9A CN102897194B (en) | 2011-07-26 | 2011-07-26 | Method for processing positioning information of overhauling trolley for urban rail transit |
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| CN103569164A (en) * | 2012-07-26 | 2014-02-12 | 上海工程技术大学 | Fault-tolerant detection method used for positioning of urban rail traffic service detection vehicle |
| CN106468914A (en) * | 2015-08-21 | 2017-03-01 | 苏州华兴致远电子科技有限公司 | Train overhaul method and system |
| CN107228663A (en) * | 2017-07-25 | 2017-10-03 | 广州阿路比电子科技有限公司 | The alignment system and method for a kind of automatical pilot transportation vehicle |
| CN110525479A (en) * | 2018-05-25 | 2019-12-03 | 比亚迪股份有限公司 | Mobile axle-counting device, track, Rail Transit System and control system |
| CN110622083A (en) * | 2018-04-25 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Positioning method, positioning device, robot, positioning system and storage medium |
| CN111376946A (en) * | 2018-12-29 | 2020-07-07 | 深圳信通环球科技有限公司 | Automatic inspection vehicle for urban rail transit and positioning method thereof |
| CN113189994A (en) * | 2021-04-25 | 2021-07-30 | 上海德衡数据科技有限公司 | Automatic guidance method, system, equipment and storage medium based on industrial internet |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103569164A (en) * | 2012-07-26 | 2014-02-12 | 上海工程技术大学 | Fault-tolerant detection method used for positioning of urban rail traffic service detection vehicle |
| CN103569164B (en) * | 2012-07-26 | 2015-12-02 | 上海工程技术大学 | A kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location |
| CN106468914A (en) * | 2015-08-21 | 2017-03-01 | 苏州华兴致远电子科技有限公司 | Train overhaul method and system |
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| CN110622083A (en) * | 2018-04-25 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Positioning method, positioning device, robot, positioning system and storage medium |
| CN110525479A (en) * | 2018-05-25 | 2019-12-03 | 比亚迪股份有限公司 | Mobile axle-counting device, track, Rail Transit System and control system |
| CN111376946A (en) * | 2018-12-29 | 2020-07-07 | 深圳信通环球科技有限公司 | Automatic inspection vehicle for urban rail transit and positioning method thereof |
| CN111376946B (en) * | 2018-12-29 | 2021-03-23 | 深圳信通环球科技有限公司 | Automatic inspection vehicle for urban rail transit and positioning method thereof |
| CN113189994A (en) * | 2021-04-25 | 2021-07-30 | 上海德衡数据科技有限公司 | Automatic guidance method, system, equipment and storage medium based on industrial internet |
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