CN103569164B - A kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location - Google Patents
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Abstract
The present invention relates to a kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location, comprise the following steps: when 1) work business inspection vehicle moves, treater calculates travel distance and the direction of business inspection vehicle of going to work according to the pulse number of the photoelectric encoder transmission received and phase output; 2) work business inspection vehicle is often through a beacon, and the travel distance of impulse singla to work business inspection vehicle that treater exports according at least one sensor in forward direction photoelectricity proximity transducer and backward photoelectricity proximity transducer corrects.Compared with prior art, it is strong that the present invention has detecting reliability, not easily to advantages such as beacon are undetected.
Description
Technical Field
The invention relates to a rail transit detection method, in particular to a fault-tolerant detection method for positioning an urban rail transit engineering detection vehicle.
Background
In urban rail transit, equipment maintenance and overhaul work along the line is arranged during the late-night train stop, and the urban rail transit usually reaches a destination by manually walking and manually carrying tools. This need can be addressed by designing and manufacturing a portable rail maintenance trolley, but in a specific application environment, special considerations are also required: the calculation errors caused by the fact that the trolley can freely walk forwards and backwards, the wheels of the trolley can slip and spin and the like can occur need to be solved through proper digital information processing.
The invention provides a positioning system design scheme capable of acquiring current vehicle position information in the prior patent of 'a positioning system for an urban rail transit maintenance trolley', and the basic idea is to calculate the walking distance by utilizing the output pulse of a vehicle-mounted photoelectric encoder and correct the calculation of the walking distance by detecting a mileage beacon by using a photoelectric proximity sensor. The invention also provides a fault-tolerant detection method for positioning the urban rail transit work detection vehicle, which gives detailed description to the real-time information processing algorithm of the positioning system. In the positioning system of the urban rail transit work detection trolley described in the two patent applications, the detection of the mileage beacon is realized by simultaneously emitting infrared light and receiving reflected light of two inclined planes with triangular cross sections by two vehicle-mounted photoelectric proximity sensors. In the actual engineering field, because the two inclined planes of the mile beacon are respectively arranged in the front and back directions of the advancing train, if the mile beacon is arranged in the middle of a track which always runs in a single direction, only the inclined plane of the beacon which is arranged in the opposite direction to the coming train easily reflects infrared light to be detected, and the other inclined plane of the beacon which is arranged in the opposite direction to the coming train is actually detected because long-term rust dust contamination is not easy to reflect infrared light. The detection processing for the two slanted planes of the beacon specified in the two patent applications is in an and relationship, that is, only if both the two slanted planes of the beacon are detected, the beacon is detected. This increases the reliability of the detection process, but may also result in missed detection of beacons in certain specific situations.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the fault-tolerant detection method which has strong detection reliability and is not easy to miss detection of beacons and is used for positioning the urban rail transit service detection vehicle.
The purpose of the invention can be realized by the following technical scheme:
a fault-tolerant detection method for positioning an urban rail transit engineering detection vehicle comprises the following steps:
1) when the work detection vehicle moves, the processor outputs and calculates the walking distance and direction of the work detection vehicle according to the received pulse number and phase sent by the photoelectric encoder;
2) when the work detection vehicle passes through each beacon, the processor corrects the walking distance of the work detection vehicle according to the pulse signal output by at least one sensor in the forward photoelectric proximity sensor and the backward photoelectric proximity sensor.
The processor in the step 1) calculates the walking distance and direction of the maintenance trolley according to the received pulse number and phase output sent by the photoelectric encoder, and the method specifically comprises the following steps:
11) the processor waits for the pulse output of the photoelectric encoder and judges whether the wheel moves, if so, the step 12) is carried out, and if not, the processor waits for the pulse output of the photoelectric encoder again;
12) and respectively indicating whether the walking direction of the trolley appointed by the current photoelectric encoder output pulse is forward or backward by adopting K-1 and K-1, calculating the actual walking distance of the maintenance trolley by applying an accumulation method, and calculating the walking distance value after correcting the existing walking distance after each beacon is detected.
The practical method for calculating the maintenance trolley by using the accumulation methodThe calculation formula of the walking distance is as follows: x1＝X2+(2π/1024)RK，X1For maintaining the absolute walking distance, X, of the trolley photoelectric encoder when outputting pulse currently2In order to examine and repair the absolute walking distance of the trolley during the previous pulse output, R is the radius of the wheel, K is the current pulse state, and pi is the circumferential rate.
The specific process of correcting by the processor according to the pulse signal output by the forward photoelectric proximity sensor in the step 2) is as follows:
21a) the processor judges whether the forward photoelectric proximity sensor detects the beacon and then sequentially identifies the upper edge and the lower edge of the corresponding pulse, if so, the next step is carried out, otherwise, the output of the forward photoelectric proximity sensor is waited again;
22a) the processor determines whether the edges are symmetrical, and if so, calculates the pulse width T1 and records the time X (u) passing the upper and lower edgesp) And X (d)p) Otherwise, the output of the forward photoelectric proximity sensor is waited again;
23a) acquiring a forward adjustment quantity delta Y-delta Y1, wherein delta Y1 is the distance between the forward sensor and the center of the beacon when the falling edge is output;
24a) the processor judges the position u of the upper edge and the lower edgep：dpIf the value is less than 1, the maintenance trolley is indicated to run in the forward direction through the beacon, and if the value is more than 1, the maintenance trolley is indicated to run in the reverse direction through the beacon;
25a) counting the passing beacons of the maintenance trolley, recording the passing beacons in the forward direction as 1, recording the passing beacons in the reverse direction as-1, and simultaneously recording the walking distance when the passing beacons pass the first beacon position from the position where the task starts;
26a) when the maintenance trolley passes through other beacons in the forward direction, correcting the walking distance of the maintenance trolley calculated in the step 1) by adopting a correction formula;
the specific process of correcting the processor according to the pulse signal output to the photoelectric proximity sensor in the step 2) is as follows:
21b) the processor judges whether the backward photoelectric proximity sensor detects the beacon and then sequentially identifies the upper edge and the lower edge of the corresponding pulse, if so, the step 22b is carried out, otherwise, the processor waits for the backward photoelectric proximity sensor to output;
22b) the processor determines whether the edges are symmetrical, and if so, calculates the pulse width T2 and records the time X (u) passing the upper and lower edgesq) And X (d)q) Otherwise, the signal is output to the photoelectric proximity sensor after waiting again;
23b) acquiring a forward adjustment quantity delta Y which is delta Y2+ T2, wherein delta Y2 is the distance between the backward sensor and the center of the beacon when the rising edge is output;
24b) the processor judges the position u of the upper edge and the lower edgeq：dqIf the value is less than 1, the maintenance trolley is indicated to run in the forward direction through the beacon, and if the value is more than 1, the maintenance trolley is indicated to run in the reverse direction through the beacon;
25b) counting the passing beacons of the maintenance trolley, recording the passing beacons in the forward direction as 1, recording the passing beacons in the reverse direction as-1, and simultaneously recording the walking distance when the passing beacons pass the first beacon position from the position where the task starts;
26b) and when the maintenance trolley passes through other beacons in the forward direction, correcting the walking distance of the maintenance trolley calculated in the step 1) by adopting a correction formula.
Δ Y1 and Δ Y2 can be obtained by a plurality of experiments.
When one of the photoelectric proximity sensors first outputs a pulse signal, the processor will suppress the output of the other photoelectric proximity sensor.
The correction formulas in step 26a and step 26b include: b (m) ═ agent (X-B (1) -. DELTA.Y) +0.5C) | + B (1) and X ═ B (m) +. DELTA.Y, where B (m) is a standard distance calculation for the position of the beacon from the task starting point at the mth time of passing through the beacon, X continues to calculate the absolute travel distance until the next beacon is reached with this position as a calibration base point, B (1) is a distance between the task starting point position and the first beacon, since the vehicle completes information processing after passing through the beacon, Δ Y is a beacon center adjustment amount, C is a prescribed distance of adjacent beacons, and | is a mathematical rounding operation.
Compared with the prior art, the invention has the following advantages:
1. the walking distance of the trolley with the precision of 2R pi/1024 can be measured (wherein R is the radius of the wheel, and pi is 3.14); the walking direction of the trolley at any moment can be measured, and the actual moving distance can be comprehensively calculated; the beacon cannot be detected for any reason, so that the distance data correction is lost, and the continuous estimation of the current distance information cannot be influenced or interrupted; once a beacon is detected, the system will automatically check and correct the distance data from that time with reference to the beacon location.
As long as the photoelectric proximity sensor detects any beacon inclined plane or can detect two inclined planes simultaneously, the beacon is considered to be detected, so that the reflected light detection judgment of the two inclined planes is based on the OR relationship, and the missing possibility of the original AND detection relationship can be greatly reduced in certain specific occasions.
Drawings
FIG. 1 is a flow chart of the processor calculating the travel distance of the maintenance trolley according to the information sent by the photoelectric encoder;
FIG. 2 is a flow chart of the processor correcting the travelling distance of the maintenance trolley according to the beacon signals detected by the front and rear sensors;
fig. 3 is a diagram of distance compensation analysis after beacon detection.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
A fault-tolerant detection method for positioning an urban rail transit engineering detection vehicle comprises the following steps: firstly, 1024 pulse signals are output every time the inner shaft of the photoelectric encoder rotates one circle, and the walking distance is estimated by counting the number of pulses. And judging the walking direction by utilizing the phase output of the photoelectric encoder, and comprehensively calculating the actual walking distance. Then, the photoelectric proximity sensor outputs the identification (including the width and the upper and lower edges) of the pulse after detecting the beacon, and then estimates the center position of the beacon after identifying the photoelectric proximity sensor pulse. And finally, after the central position of the beacon is determined, carrying out data correction on the forward walking distance from the current moment.
The method comprises the following two steps:
the first step is as follows: when the maintenance trolley moves, the processor outputs and calculates the walking distance of the maintenance trolley according to the received pulse number and phase position sent by the photoelectric encoder. As shown in fig. 1, the detection algorithm of the photoelectric encoder is that K-1 and K-1 are used to respectively indicate whether the traveling direction of the received pulse is forward or backward, and then the actual traveling distance is calculated by applying an accumulation method. Wherein X is the distance traveled throughout, X is calibrated once each beacon is passed by the cart, and U is the distance traveled to resume after each beacon is detected. The photoelectric encoder works asynchronously, and only when the wheel shaft rotates, the pulse output changes and triggers the counting and updating of K; the pulsed output signal when the axle is not rotating remains in the previous state. The method specifically comprises the following two sub-steps:
step 11) the processor waits for the pulse output of the photoelectric encoder and judges whether the wheel moves, if so, the step 12) is carried out, otherwise, the processor waits for the pulse output of the photoelectric encoder again;
and step 12) respectively indicating whether the travelling direction of the received pulse appointed trolley is forward or backward by adopting K-1 and K-1, then calculating the actual travelling distance of the maintenance trolley by applying an accumulation method, and simultaneously calculating the travelling distance value restarted after each beacon is detected. The accumulation method specifically comprises the following steps: x1＝X2+(2π/1024)RK，X1For maintaining the absolute walking distance, X, of the trolley photoelectric encoder when outputting pulse currently2In order to examine and repair the absolute walking distance of the trolley during the previous pulse output, R is the radius of the wheel, K is the current pulse state, and pi is the circumferential rate.
The second step is that: when the maintenance trolley passes through a beacon in the forward direction, the processor corrects the walking distance of the work detection vehicle according to the pulse signal output by at least one of the forward photoelectric proximity sensor and the backward photoelectric proximity sensor. Wherein,
the specific process of correcting according to the pulse signal output by the forward photoelectric proximity sensor is as follows:
21a) the processor judges whether the forward photoelectric proximity sensor detects the beacon and then sequentially identifies the upper edge and the lower edge of the corresponding pulse, if so, the next step is carried out, otherwise, the output of the forward photoelectric proximity sensor is waited again;
22a) the processor determines whether the edges are symmetrical, and if so, calculates the pulse width T1 and records the time X (u) passing the upper and lower edgesp) And X (d)p) Otherwise, the output of the forward photoelectric proximity sensor is waited again;
23a) acquiring a forward adjustment quantity delta Y-delta Y1, wherein delta Y1 is the distance between the forward sensor and the center of the beacon when the falling edge is output;
24a) the processor judges the position u of the upper edge and the lower edgep：dpIf the value of (A) is less than 1, the inspection is indicatedIf the value is larger than 1, the maintenance trolley runs in the reverse direction and passes through the beacon;
25a) counting the passing beacons of the maintenance trolley, recording the passing beacons in the forward direction as 1, recording the passing beacons in the reverse direction as-1, and simultaneously recording the walking distance when the passing beacons pass the first beacon position from the position where the task starts;
26a) when the maintenance trolley passes through other beacons in the forward direction, correcting the walking distance of the maintenance trolley calculated in the step 1) by adopting a correction formula;
the specific process of correcting according to the pulse signal output to the photoelectric proximity sensor comprises the following steps:
21b) the processor judges whether the backward photoelectric proximity sensor detects the beacon and then sequentially identifies the upper edge and the lower edge of the corresponding pulse, if so, the step 22b is carried out, otherwise, the processor waits for the backward photoelectric proximity sensor to output;
22b) the processor determines whether the edges are symmetrical, and if so, calculates the pulse width T2 and records the time X (u) passing the upper and lower edgesq) And X (d)q) Otherwise, the signal is output to the photoelectric proximity sensor after waiting again;
23b) acquiring a forward adjustment quantity delta Y which is delta Y2+ T2, wherein delta Y2 is the distance between the backward sensor and the center of the beacon when the rising edge is output;
24b) the processor judges the position u of the upper edge and the lower edgeq：dqIf the value is less than 1, the maintenance trolley is indicated to run in the forward direction through the beacon, and if the value is more than 1, the maintenance trolley is indicated to run in the reverse direction through the beacon;
25b) counting the passing beacons of the maintenance trolley, recording the passing beacons in the forward direction as 1, recording the passing beacons in the reverse direction as-1, and simultaneously recording the walking distance when the passing beacons pass the first beacon position from the position where the task starts;
26b) and when the maintenance trolley passes through other beacons in the forward direction, correcting the walking distance of the maintenance trolley calculated in the step 1) by adopting a correction formula.
The correction formulas in step 26a and step 26b include: b (m) ═ agent (X-B (1) -. DELTA.Y) +0.5C) | + B (1) and X ═ B (m) +. DELTA.Y, where B (m) is a standard distance calculation for the position of the beacon from the task starting point at the mth time of passing through the beacon, X continues to calculate the absolute travel distance until the next beacon is reached with this position as a calibration base point, B (1) is a distance between the task starting point position and the first beacon, since the vehicle completes information processing after passing through the beacon, Δ Y is a beacon center adjustment amount, C is a prescribed distance of adjacent beacons, and | is a mathematical rounding operation.
FIG. 3 is a diagram of distance compensation analysis after beacon detection, where p1, p2, p3 are forward sensor movement positions; q1, q2, q3 are reverse sensor movement positions; h is the height of the photoelectric proximity sensor from the ground sleeper; h is the height of the photoelectric proximity sensor from the beacon; w is the width of the bottom edge of the cross section of the beacon; b is the edge length of the reflecting surface of the cross section of the beacon; alpha is the angle of the top angle of the cross section of the beacon; beta is alpha/2 is a sensor mounting angle; t1 and T2 are pulse equivalent distance widths; the compensation values of delta Y1 and delta Y2 after pulse detection are determined by experiments; l1: p2 is the distance from the vertical line to the middle of the beacon reflecting surface; delta Y/2 is the average value of the front adjustment quantity and the rear adjustment quantity of the central position of the beacon; l2: p2 is the distance of the ray point on the beacon from the center of the beacon; 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); y 1-y 2-H/tg (α/2);
the flow of the information processing procedure is shown in fig. 2, wherein the parts marked with the numerical circles are further explained as follows:
firstly, 2 dotted line blocks are appointed to be a detection algorithm of 2 photoelectric proximity sensors, the key point is to accurately detect a complete beacon output pulse, and a corresponding method adopts the steps of firstly determining the upper edge of the pulse, then determining the lower edge of the pulse, and finally confirming that the lower edge is legal (the correct lower edge is not the original upper edge encountered when the direction is changed in the midway and the direction is backed). After the complete pulse is detected, the compensation values of the upper and lower edge time, the pulse width and the distance from the central position of the beacon are calculated.
Acquiring the adjustment amount in the forward direction or the backward direction, and determining that the beacon is detected as long as the output signal of one of the two photoelectric proximity sensors is based on the OR relation, so that the fault tolerance of beacon detection is greatly improved.
And thirdly, analyzing the walking direction of the trolley: if the detection end time of the rising edge of the pulse is earlier than the detection time of the falling edge, the trolley is indicated to be forward, otherwise, the trolley is indicated to be backward.
And estimating the center of the beacon position according to the adjustment quantity in the forward direction or the backward direction and the output pulse width.
Recording the number of passing beacons.
Sixthly, the distance passing through the first beacon position is memorized. The car can start working at any point on the track, but the first beacon is not used as a standard reference point for correcting the distance data X.
And correcting the calculated distance data X at the moment when other beacon positions are passed in the forward direction, the correction being to the absolute distance calculated by the output pulse of the photoelectric encoder, taking into account the current beacon center adjustment amount, but not taking into account the numerical range of the distance traveled before passing the first beacon.
And (b) correcting any position at the current moment after passing through the nearest beacon.
Ninthly, if the backward movement in the forward walking way is met, no distance compensation adjustment and correction is carried out, and only the number of passing beacons is calculated (subtracted).
Claims (5)
1. A fault-tolerant detection method for positioning of an urban rail transit engineering detection vehicle is characterized by comprising the following steps:
1) when the work detection vehicle moves, the processor outputs and calculates the walking distance and direction of the work detection vehicle according to the received pulse number and phase sent by the photoelectric encoder;
2) when the work detection vehicle passes through each beacon, the processor corrects the walking distance of the work detection vehicle according to the pulse signal output by at least one sensor of the forward photoelectric proximity sensor and the backward photoelectric proximity sensor;
the specific process of correcting by the processor according to the pulse signal output by the forward photoelectric proximity sensor in the step 2) is as follows:
21a) the processor judges whether the forward photoelectric proximity sensor detects the beacon and then sequentially identifies the upper edge and the lower edge of the corresponding pulse, if so, the next step is carried out, otherwise, the output of the forward photoelectric proximity sensor is waited again;
22a) the processor determines whether the edges are symmetrical, and if so, calculates the pulse width T1 and records the time X (u) passing the upper and lower edgesp) And X (d)p) Otherwise, the output of the forward photoelectric proximity sensor is waited again;
23a) acquiring a forward adjustment quantity delta Y-delta Y1, wherein delta Y1 is the distance between the forward sensor and the center of the beacon when the falling edge is output;
24a) the processor judges the position u of the upper edge and the lower edgep：dpIf the value is less than 1, the maintenance trolley is indicated to run in the forward direction through the beacon, and if the value is more than 1, the maintenance trolley is indicated to run in the reverse direction through the beacon;
25a) counting the passing beacons of the maintenance trolley, recording the passing beacons in the forward direction as 1, recording the passing beacons in the reverse direction as-1, and simultaneously recording the walking distance when the passing beacons pass through the first position from the position when the task starts;
26a) when the maintenance trolley passes through other beacons in the forward direction, correcting the walking distance of the maintenance trolley calculated in the step 1) by adopting a correction formula;
the specific process of correcting the processor according to the pulse signal output to the photoelectric proximity sensor in the step 2) is as follows:
21b) the processor judges whether the backward photoelectric proximity sensor detects the beacon and then sequentially identifies the upper edge and the lower edge of the corresponding pulse, if so, the step 22b is carried out, otherwise, the processor waits for the backward photoelectric proximity sensor to output;
22b) the processor determines whether the edges are symmetrical, and if so, calculates the pulse width T2 and records the time X (u) passing the upper and lower edgesq) And X (d)q) Otherwise, wait again for backward photoelectric approach transmissionA sensor output;
23b) acquiring a forward adjustment quantity delta Y which is delta Y2+ T2, wherein delta Y2 is the distance between the backward sensor and the center of the beacon when the upward edge outputs;
24b) the processor judges the position u of the upper edge and the lower edgeq：dqIf the value is less than 1, the maintenance trolley is indicated to run in the forward direction through the beacon, and if the value is more than 1, the maintenance trolley is indicated to run in the reverse direction through the beacon;
25b) counting the passing beacons of the maintenance trolley, recording the passing beacons in the forward direction as 1, recording the passing beacons in the reverse direction as-1, and simultaneously recording the walking distance when the passing beacons pass through the first position from the position when the task starts;
26b) and when the maintenance trolley passes through other beacons in the forward direction, correcting the walking distance of the maintenance trolley calculated in the step 1) by adopting a correction formula.
2. The fault-tolerant detection method for positioning of the urban rail transit service inspection vehicle according to claim 1, wherein the processor in the step 1) calculates the traveling distance and direction of the inspection vehicle according to the received pulse number and phase output sent by the photoelectric encoder, and specifically comprises the following steps:
11) the processor waits for the pulse output of the photoelectric encoder and judges whether the wheel moves, if so, the step 12) is carried out, and if not, the processor waits for the pulse output of the photoelectric encoder again;
12) and respectively indicating whether the walking direction of the trolley specified by the current output pulse of the photoelectric encoder is forward or backward by adopting K-1 and K-1, calculating the actual walking distance of the maintenance trolley by applying an accumulation method, and calculating the walking distance value after correcting the existing walking distance after each beacon is detected.
3. The fault-tolerant detection method for positioning of urban rail transit inspection vehicles according to claim 2, wherein the calculation of the actual travel distance of the inspection vehicle is calculated by using an accumulation methodThe formula is as follows: x1＝X2+(2π/1024)RK，X1For maintaining the absolute walking distance, X, of the trolley photoelectric encoder when outputting pulse currently2In order to examine and repair the absolute walking distance of the trolley during the previous pulse output, R is the radius of the wheel, K is the current pulse state, and pi is the circumferential rate.
4. The fault-tolerant detection method for positioning of the urban rail transit service detection vehicle according to claim 1, wherein when one of the photoelectric proximity sensors outputs a pulse signal first, the processor suppresses the output of the other photoelectric proximity sensor.
5. The fault-tolerant detection method for the positioning of the urban rail transit service detection vehicle according to claim 1, wherein the correction formulas in the step 26a and the step 26b comprise: b (m) ═ agent (X-B (1) -. DELTA.Y) +0.5C) | + B (1) and X ═ B (m) +. DELTA.Y, where B (m) is a standard distance calculation for the position of the beacon from the task starting point at the mth time of passing through the beacon, X continues to calculate the absolute travel distance until the next beacon is reached with this position as a calibration base point, B (1) is a distance between the task starting point position and the first beacon, since the vehicle completes information processing after passing through the beacon, Δ Y is a beacon center adjustment amount, C is a prescribed distance of adjacent beacons, and | is a mathematical rounding operation.
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