CN103569164B - A kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location - Google Patents
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Abstract
本发明涉及一种用于城市轨道交通工务检测车定位的容错检测方法，包括以下步骤：1)工务检测车移动时，处理器根据接收到的光电编码器发送的脉冲数目及相位输出计算出工务检测车的行走距离与方向；2)工务检测车每经过一个信标时，处理器根据前向光电接近传感器和后向光电接近传感器中至少一个传感器输出的脉冲信号对工务检测车的行走距离进行校正。与现有技术相比，本发明具有检测可靠性强，不易对信标漏检等优点。
The invention relates to a fault-tolerant detection method for the positioning of an urban rail transit public inspection vehicle, comprising the following steps: 1) When the public inspection vehicle is moving, a processor calculates the public inspection according to the received pulse number and phase output from a photoelectric encoder. Detect the walking distance and direction of the vehicle; 2) When the public work detection vehicle passes through a beacon, the processor checks the walking distance of the public 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. Correction. Compared with the prior art, the present invention has the advantages of strong detection reliability, difficulty in missing detection of beacons, and the like.
Description
技术领域technical field
本发明涉及一种轨道交通检测方法，尤其是涉及一种用于城市轨道交通工务检测车定位的容错检测方法。The invention relates to a rail transit detection method, in particular to a fault-tolerant detection method for the positioning of an urban rail transit public work inspection vehicle.
背景技术Background technique
城市轨道交通在列车深夜停运期间安排有沿线设备维护和检修工作，目前通常是由人工徒步行走和人力背载工具到达目的地。设计和制作轻便型的轨道检修小车可以解决此需求，但是在具体应用环境下还需要特别考虑到：小车可能会随意地前向和后向行走、以及小车车轮可能会打滑和发生空转等情况发生时带来的计算误差，这需要通过适当的数字信息处理来解决。Urban rail transit arranges equipment maintenance and overhaul work along the line during the late-night outage of trains. At present, it usually uses manual walking and human-carrying tools to reach the destination. Designing and making a portable track maintenance trolley can solve this requirement, but in specific application environments, special considerations need to be taken into account: the trolley may walk forward and backward at will, and the wheels of the trolley may slip and idling, etc. The calculation error brought by the time, which needs to be solved by appropriate digital information processing.
已有发明申请专利《一种城市轨道交通检修小车定位系统》提出了可以获知当前车辆位置信息的定位系统设计方案，其基本思想是利用车载光电编码器的输出脉冲来计算行走距离、并应用光电接近传感器对里程信标检测来矫正行走距离的计算。另一发明申请专利《一种用于城市轨道交通工务检测车定位的容错检测方法》对这个定位系统的实时信息处理算法给予了详细描述。在由这二个发明申请专利描述的城市轨道交通工务检测小车的定位系统中，对里程信标的检测是通过车载二个光电接近传感器同时对截面为三角形信标的二个斜平面的红外光发射与反射光接受来实现的。在实际工程现场，由于里程信标二个斜平面分别迎对列车行进的前后方向，如安装在始终单向行走的轨道中间时，只有信标迎对开来列车的斜平面容易反射红外光线而被检测到，信标另一个背向开来列车的斜平面由于长期锈尘沾污不容易反射红外光线而被实际检测到。在这二个发明申请专利中规定的对信标二个斜平面的检测处理是“与”的关系，也就是只有对信标的二个斜平面都检测到了，才算是信标检测到了。这样虽然使得检测处理的可靠性增加，但是在某些特定场合也使得对信标的检测有漏检的可能。The existing invention patent application "A Positioning System for Maintenance Vehicles in Urban Rail Transit" proposes a positioning system design scheme that can obtain the current vehicle position information. Proximity sensors detect mileage beacons to correct distance traveled calculations. Another invention patent application "A Fault-Tolerant Detection Method for Urban Rail Transit Public Works Inspection Vehicle Positioning" gives a detailed description of the real-time information processing algorithm of this positioning system. In the positioning system of the urban rail transit public works detection trolley described by these two invention patent applications, the detection of the mileage beacon is through the two photoelectric proximity sensors on the vehicle and the infrared light emission of the two oblique planes whose cross-section is a triangle beacon. Reflected light is accepted to achieve. In the actual project site, since the two inclined planes of the mileage beacon face the front and rear directions of the train, if it is installed in the middle of the track that always travels in one direction, only the inclined plane of the beacon facing the oncoming train is easy to reflect infrared light. It was detected, and the other inclined plane of the beacon facing away from the oncoming train was actually detected because it was not easy to reflect infrared light due to long-term rust and dust contamination. The detection process of the two inclined planes of the beacon stipulated in the two patent applications is an "AND" relationship, that is, only when the two inclined planes of the beacon are detected, the beacon is detected. Although this increases the reliability of the detection process, it also makes it possible for the detection of the beacon to be missed in some specific occasions.
发明内容Contents of the invention
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种检测可靠性强，不易对信标漏检的用于城市轨道交通工务检测车定位的容错检测方法。The object of the present invention is to provide a fault-tolerant detection method for the positioning of urban rail transit public works inspection vehicles, which has strong detection reliability and is not easy to miss detection of beacons in order to overcome the above-mentioned defects in the prior art.
本发明的目的可以通过以下技术方案来实现：The purpose of the present invention can be achieved through the following technical solutions:
一种用于城市轨道交通工务检测车定位的容错检测方法，该方法包括以下步骤：A fault-tolerant detection method for the positioning of an urban rail transit public work inspection vehicle, the method includes the following steps:
1)工务检测车移动时，处理器根据接收到的光电编码器发送的脉冲数目及相位输出计算出工务检测车的行走距离与方向；1) When the public inspection vehicle is moving, the processor calculates the walking distance and direction of the public inspection vehicle according to the received pulse number and phase output from the photoelectric encoder;
2)工务检测车每经过一个信标时，处理器根据前向光电接近传感器和后向光电接近传感器中至少一个传感器输出的脉冲信号对工务检测车的行走距离进行校正。2) Every time the public inspection vehicle passes a beacon, the processor corrects the traveling distance of the public inspection vehicle according to the pulse signal output by at least one of the forward photoelectric proximity sensor and the rear photoelectric proximity sensor.
所述的步骤1)中的处理器根据接收到的光电编码器发送的的脉冲数目及相位输出计算出检修小车的行走距离与方向，具体包括以下步骤：The processor in the described step 1) calculates the walking distance and direction of the maintenance car according to the number of pulses and the phase output sent by the photoelectric encoder received, specifically comprising the following steps:
11)处理器等待光电编码器的脉冲输出，并判断轮子是否移动，如果判断为是则进行步骤12)，否则重新等待光电编码器的脉冲输出；11) The processor waits for the pulse output of the photoelectric encoder, and judges whether the wheel moves, and if it is judged to be yes, proceed to step 12), otherwise wait for the pulse output of the photoelectric encoder again;
12)采用K＝1和K＝-1来分别表示当前光电编码器输出脉冲指定的小车行走方向是前向还是后向，然后应用累加的办法计算检修小车的实际行走距离，同时计算出在每个信标检测到以后对已有行走距离校正后的行走距离数值。12) Use K=1 and K=-1 to respectively indicate whether the traveling direction of the trolley specified by the output pulse of the current photoelectric encoder is forward or backward, and then calculate the actual traveling distance of the maintenance trolley by using the method of accumulation, and calculate at the same time After a beacon is detected, it is the corrected walking distance value for the existing walking distance.
所述的应用累加的办法计算检修小车的实际行走距离的计算公式为：X1＝X2+(2π/1024)RK，X1为检修小车光电编码器当前输出脉冲时的绝对行走距离，X2为检修小车前一次脉冲输出时的绝对行走距离，R为轮子半径，K为当前脉冲状态，π为圆周率。The formula for calculating the actual walking distance of the maintenance trolley by the method of applying accumulation is: X 1 =X 2 +(2π/1024) RK, X 1 is the absolute walking distance when the current output pulse of the maintenance trolley photoelectric encoder, X 2 is the absolute travel distance of the maintenance trolley at the previous pulse output, R is the wheel radius, K is the current pulse state, and π is the pi.
步骤2)中处理器根据前向光电接近传感器输出的脉冲信号进行校正的具体过程为：In step 2), the specific process for the processor to correct according to the pulse signal output by the forward photoelectric proximity sensor is:
21a)处理器判断前向光电接近传感器是否检测到信标后依次识别出对应脉冲的上、下沿，如果判断为是则进行下一步，否则重新等待前向光电接近传感器输出；21a) The processor judges whether the forward photoelectric proximity sensor detects the beacon and sequentially recognizes the upper and lower edges of the corresponding pulses. If it is judged to be yes, proceed to the next step, otherwise wait for the output of the forward photoelectric proximity sensor again;
22a)处理器判断是否是对称上下沿，如果判断为是，则计算脉宽T1，并记录经过上、下沿的时刻X(up)和X(dp)，否则重新等待前向光电接近传感器输出；22a) The processor judges whether it is a symmetrical upper and lower edges. If it is judged to be yes, calculate the pulse width T1, and record the time X(up) and X( d p ) when the upper and lower edges pass through, otherwise wait for the forward photoelectric approach again sensor output;
23a)获取前向的调节量ΔY＝-ΔY1，式中ΔY1为下降沿输出时前向传感器与信标中心的距离；23a) Obtain the forward adjustment value ΔY=-ΔY1, where ΔY1 is the distance between the forward sensor and the center of the beacon when the falling edge is output;
24a)处理器判断上下沿位置up：dp的值，若该值小于1，则说明检修小车是正向行驶经过该信标，若该值大于1，则说明检修小车是反向行驶经过该信标；24a) The processor judges the upper and lower edge positions u p : the value of d p . If the value is less than 1, it means that the maintenance car is passing the beacon in the forward direction. If the value is greater than 1, it means that the maintenance car is driving in the reverse direction. beacon;
25a)对检修小车经过的信标进行计数，正向经过信标记为1，反向经过信标记为-1，同时记录从任务开始的位置经过第一个信标位置时所行走的距离；25a) Count the beacons passed by the maintenance car, mark the forward passing signal as 1, and the reverse passing signal as -1, and record the distance traveled when passing the first beacon position from the position where the task starts;
26a)当检修小车正向经过其它信标时刻，采用校正公式对步骤1)中已计算的检修小车的行走距离进行校正；26a) When the maintenance trolley passes through other beacons in the forward direction, use the correction formula to correct the travel distance of the maintenance trolley calculated in step 1);
步骤2)中处理器根据后向光电接近传感器输出的脉冲信号进行校正的具体过程为：In step 2), the specific process for the processor to correct according to the pulse signal output by the photoelectric proximity sensor is as follows:
21b)处理器判断后向光电接近传感器是否检测到信标后依次识别出对应脉冲的上、下沿，如果判断为是则进行步骤22b)，否则重新等待后向光电接近传感器输出；21b) The processor judges whether the backward photoelectric proximity sensor detects the beacon and then sequentially recognizes the upper and lower edges of the corresponding pulses, if it is judged to be yes, proceed to step 22b), otherwise it waits again and outputs to the photoelectric proximity sensor;
22b)处理器判断是否是对称上下沿，如果判断为是，则计算脉宽T2，并记录经过上、下沿的时刻X(uq)和X(dq)，否则重新等待后向光电接近传感器输出；22b) The processor judges whether the upper and lower edges are symmetrical. If it is judged to be yes, calculate the pulse width T2, and record the time X(u q ) and X(d q ) when the upper and lower edges pass through, otherwise wait for the photoelectric approach again sensor output;
23b)获取前向的调节量ΔY＝ΔY2+T2，式中ΔY2为上升沿输出时后向传感器与信标中心的距离；23b) Obtain the forward adjustment amount ΔY=ΔY2+T2, where ΔY2 is the distance between the backward sensor and the center of the beacon when the rising edge is output;
24b)处理器判断上下沿位置uq：dq的值，若该值小于1，则说明检修小车是正向行驶经过该信标，若该值大于1，则说明检修小车是反向行驶经过该信标；24b) The processor judges the upper and lower edge positions u q : the value of d q , if the value is less than 1, it means that the maintenance car is passing the beacon in the forward direction, if the value is greater than 1, it means that the maintenance car is driving in the reverse direction and passing the beacon beacon;
25b)对检修小车经过的信标进行计数，正向经过信标记为1，反向经过信标记为-1，同时记录从任务开始的位置经过第一个信标位置时所行走的距离；25b) Count the beacons passed by the maintenance car, mark the forward passing signal as 1, and the reverse passing signal as -1, and record the distance traveled when passing the first beacon position from the position where the task starts;
26b)当检修小车正向经过其它信标时刻，采用校正公式对步骤1)中已计算的检修小车的行走距离进行校正。26b) When the maintenance trolley passes through other beacons in the forward direction, use the correction formula to correct the travel distance of the maintenance trolley calculated in step 1).
ΔY1和ΔY2可以通过多次试验获得。ΔY1 and ΔY2 can be obtained through multiple experiments.
当其中一个光电接近传感器首先输出脉冲信号时，处理器将抑制另一个光电接近传感器的输出。When one of the photoelectric proximity sensors outputs a pulse signal first, the processor will suppress the output of the other photoelectric proximity sensor.
所述的步骤26a和步骤26b中的校正公式包括：B(m)＝︱(X-B(1)-△Y)+0.5C)︱+B(1)和X＝B(m)+△Y，式中B(m)为第m次经过信标时对该信标离开任务起始点位置的标准距离计算，X以这个位置为校正基点继续计算到达下一个信标之前的绝对行走距离，B(1)为任务起始点位置与第一个信标之间的距离，由于小车是在通过信标之后才完成信息处理故有△Y为信标中心调整量，C为相邻信标的规定距离，“||”为数学取整运算。The correction formulas in step 26a and step 26b include: B(m)=︱(X-B(1)-ΔY)+0.5C)︱+B(1) and X=B(m)+ΔY, In the formula, B(m) is the calculation of the standard distance from the beacon to the starting point of the task when passing the beacon for the mth time, and X uses this position as the correction base point to continue to calculate the absolute walking distance before reaching the next beacon, B( 1) is the distance between the starting point of the task and the first beacon. Since the car completes the information processing after passing the beacon, △Y is the center adjustment of the beacon, and C is the specified distance between adjacent beacons. "||" is a mathematical rounding operation.
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
1、能够测出小车精度为2Rπ/1024的行走距离(其中R为轮子半径，π＝3.14)；能够测出小车在任意时刻的行走方向，并可综合计算出实际移动距离；因任何原因无法检测到信标使得失去距离数据校正的执行，也不会影响或中断对当前距离信息的继续估算；一旦检测到信标，系统将在该时刻起以该信标位置为参考，自动检查和校正距离数据。1. It can measure the walking distance of the trolley with an accuracy of 2Rπ/1024 (where R is the radius of the wheel, π=3.14); it can measure the walking direction of the trolley at any time, and can comprehensively calculate the actual moving distance; The detection of the beacon makes the execution of the distance data correction lost, and it will not affect or interrupt the continuous estimation of the current distance information; once the beacon is detected, the system will automatically check and correct it based on the position of the beacon at that moment. distance data.
只要光电接近传感器检测到了任一信标斜平面、或者也可以是同时检测到了二个斜平面，都认为是检测到了信标，这样对二个斜平面的反光检测判决是基于“或”的关系，在某些特定场合就可以大大减小原“与”检测关系的漏检可能性。As long as the photoelectric proximity sensor detects any beacon slant plane, or detects two slant planes at the same time, it is considered to have detected the beacon, so the reflection detection judgment of the two slant planes is based on the relationship of "or" , in some specific occasions, the possibility of missed detection of the original "AND" detection relationship can be greatly reduced.
附图说明Description of drawings
图1为处理器根据光电编码器发送的信息计算出检修小车的行走距离的流程图；Fig. 1 is a flow chart of the processor calculating the traveling distance of the maintenance trolley according to the information sent by the photoelectric encoder;
图2为处理器根据前、后向传感器检测到的信标信号对检修小车的行走距离进行校正的流程图；Fig. 2 is the flow chart that the processor corrects the traveling distance of the maintenance trolley according to the beacon signals detected by the front and rear sensors;
图3为信标检测后的距离补偿分析图。Figure 3 is an analysis diagram of distance compensation after beacon detection.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
实施例Example
一种用于城市轨道交通工务检测车定位的容错检测方法，本方法的原理为：首先，光电编码器内轴每转动一圈输出1024个脉冲信号，通过对脉冲数目计数估算行走距离。再利用光电编码器的相位输出来判断行走方向，并综合计算实际行走距离。然后，对光电接近传感器检测到信标后输出脉冲的识别(包括宽度和上下沿)，并再对光电接近传感器脉冲识别后对信标中心位置的估算。最后，信标中心位置确定后对当前时刻起的正向行走距离进行数据校正。A fault-tolerant detection method for the positioning of urban rail transit public works inspection vehicles. The principle of the method is as follows: firstly, the inner shaft of the photoelectric encoder outputs 1024 pulse signals every time it rotates, and the walking distance is estimated by counting the number of pulses. Then use the phase output of the photoelectric encoder to judge the walking direction, and comprehensively calculate the actual walking distance. Then, identify the output pulse (including width and upper and lower edges) after the photoelectric proximity sensor detects the beacon, and then estimate the center position of the beacon after identifying the photoelectric proximity sensor pulse. Finally, after the center position of the beacon is determined, data correction is performed on the forward walking distance from the current moment.
该方法包括以下两个步骤：The method consists of the following two steps:
第一步：检修小车移动时，处理器根据接收到的光电编码器发送的的脉冲数目及相位输出计算出检修小车的行走距离。如图1所示，为光电编码器的检测算法，其中关键技术是采用K＝1和K＝-1来分别表示收到的脉冲指定小车行走方向是前向还是后向，然后应用累加的办法计算实际行走距离。其中X是自始自终的全程行走距离，小车每经过一个信标时X都会被校正一次，U是在每个信标检测到以后重新开始的行走距离。光电编码器是异步工作，只有在轮轴转动时才会有脉冲输出变化并触发对K的计数和更新；当轮轴不转动时的脉冲输出信号保留前一个状态。具体包括以下两个分步骤：Step 1: When the maintenance trolley moves, the processor calculates the traveling distance of the maintenance trolley according to the received pulse number and phase output from the photoelectric encoder. As shown in Figure 1, it is the detection algorithm of the photoelectric encoder, in which the key technology is to use K=1 and K=-1 to indicate whether the received pulse specifies whether the traveling direction of the trolley is forward or backward, and then apply the accumulation method Calculate the actual distance traveled. Among them, X is the whole travel distance from beginning to end, X will be corrected every time the car passes a beacon, and U is the travel distance restarted after each beacon is detected. The photoelectric encoder works asynchronously, and only when the wheel shaft rotates, there will be a pulse output change and trigger the counting and update of K; when the wheel shaft does not rotate, the pulse output signal retains the previous state. Specifically, it includes the following two sub-steps:
步骤11)处理器等待光电编码器的脉冲输出，并判断轮子是否移动，如果判断为是则进行步骤12)，否则重新等待光电编码器的脉冲输出；Step 11) the processor waits for the pulse output of the photoelectric encoder, and judges whether the wheel moves, if it is judged to be, then proceed to step 12), otherwise wait for the pulse output of the photoelectric encoder again;
步骤12)采用K＝1和K＝-1来分别表示收到的脉冲指定小车行走方向是前向还是后向，然后应用累加的办法计算检修小车的实际行走距离，同时计算出在每个信标检测到以后重新开始的行走距离值。累加的办法具体为：X1＝X2+(2π/1024)RK，X1为检修小车光电编码器当前输出脉冲时的绝对行走距离，X2为检修小车前一次脉冲输出时的绝对行走距离，R为轮子半径，K为当前脉冲状态，π为圆周率。Step 12) Use K=1 and K=-1 to indicate whether the received pulse specifies whether the traveling direction of the trolley is forward or backward, and then apply the cumulative method to calculate the actual traveling distance of the overhauling trolley, and calculate at the same time in each signal The value of the walking distance to restart after the marker is detected. The method of accumulation is specifically: X 1 = X 2 + (2π/1024) RK, X 1 is the absolute travel distance when the photoelectric encoder of the inspection trolley outputs the current pulse, and X 2 is the absolute travel distance when the inspection trolley outputs the previous pulse , R is the radius of the wheel, K is the current pulse state, and π is the circumference ratio.
第二步：检修小车正向每经过一个信标时处理器根据前向光电接近传感器和后向光电接近传感器中至少一个传感器输出的脉冲信号对工务检测车的行走距离进行校正，为了防止传感器输出干扰，本实施例中当其中一个光电接近传感器首先输出脉冲信号时，处理器将抑制另一个光电接近传感器的输出。其中，Step 2: Every time the maintenance car passes a beacon in the forward direction, the processor corrects the walking distance of the public inspection vehicle according to the pulse signal output by at least one of the forward photoelectric proximity sensor and the rear photoelectric proximity sensor. In order to prevent the sensor from outputting Interference, in this embodiment, when one of the photoelectric proximity sensors outputs a pulse signal first, the processor will suppress the output of the other photoelectric proximity sensor. in,
根据前向光电接近传感器输出的脉冲信号进行校正的具体过程为：The specific process of correcting according to the pulse signal output by the forward photoelectric proximity sensor is as follows:
21a)处理器判断前向光电接近传感器是否检测到信标后依次识别出对应脉冲的上、下沿，如果判断为是则进行下一步，否则重新等待前向光电接近传感器输出；21a) The processor judges whether the forward photoelectric proximity sensor detects the beacon and sequentially recognizes the upper and lower edges of the corresponding pulses. If it is judged to be yes, proceed to the next step, otherwise wait for the output of the forward photoelectric proximity sensor again;
22a)处理器判断是否是对称上下沿，如果判断为是，则计算脉宽T1，并记录经过上、下沿的时刻X(up)和X(dp)，否则重新等待前向光电接近传感器输出；22a) The processor judges whether it is a symmetrical upper and lower edges. If it is judged to be yes, calculate the pulse width T1, and record the time X(up) and X( d p ) when the upper and lower edges pass through, otherwise wait for the forward photoelectric approach again sensor output;
23a)获取前向的调节量ΔY＝-ΔY1，式中ΔY1为下降沿输出时前向传感器与信标中心的距离；23a) Obtain the forward adjustment value ΔY=-ΔY1, where ΔY1 is the distance between the forward sensor and the center of the beacon when the falling edge is output;
24a)处理器判断上下沿位置up：dp的值，若该值小于1，则说明检修小车是正向行驶经过该信标，若该值大于1，则说明检修小车是反向行驶经过该信标；24a) The processor judges the upper and lower edge positions u p : the value of d p . If the value is less than 1, it means that the maintenance car is passing the beacon in the forward direction. If the value is greater than 1, it means that the maintenance car is driving in the reverse direction. beacon;
25a)对检修小车经过的信标进行计数，正向经过信标记为1，反向经过信标记为-1，同时记录从任务开始的位置经过第一个信标位置时所行走的距离；25a) Count the beacons passed by the maintenance car, mark the forward passing signal as 1, and the reverse passing signal as -1, and record the distance traveled when passing the first beacon position from the position where the task starts;
26a)当检修小车正向经过其它信标时刻，采用校正公式对步骤1)中已计算的检修小车的行走距离进行校正；26a) When the maintenance trolley passes through other beacons in the forward direction, use the correction formula to correct the travel distance of the maintenance trolley calculated in step 1);
根据后向光电接近传感器输出的脉冲信号进行校正的具体过程为：The specific process of correcting according to the pulse signal output by the backward photoelectric proximity sensor is as follows:
21b)处理器判断后向光电接近传感器是否检测到信标后依次识别出对应脉冲的上、下沿，如果判断为是则进行步骤22b)，否则重新等待后向光电接近传感器输出；21b) The processor judges whether the backward photoelectric proximity sensor detects the beacon and then sequentially recognizes the upper and lower edges of the corresponding pulses, if it is judged to be yes, proceed to step 22b), otherwise it waits again and outputs to the photoelectric proximity sensor;
22b)处理器判断是否是对称上下沿，如果判断为是，则计算脉宽T2，并记录经过上、下沿的时刻X(uq)和X(dq)，否则重新等待后向光电接近传感器输出；22b) The processor judges whether the upper and lower edges are symmetrical. If it is judged to be yes, calculate the pulse width T2, and record the time X(u q ) and X(d q ) when the upper and lower edges pass through, otherwise wait for the photoelectric approach again sensor output;
23b)获取前向的调节量ΔY＝ΔY2+T2，式中ΔY2为上升沿输出时后向传感器与信标中心的距离；23b) Obtain the forward adjustment amount ΔY=ΔY2+T2, where ΔY2 is the distance between the backward sensor and the center of the beacon when the rising edge is output;
24b)处理器判断上下沿位置uq：dq的值，若该值小于1，则说明检修小车是正向行驶经过该信标，若该值大于1，则说明检修小车是反向行驶经过该信标；24b) The processor judges the upper and lower edge positions u q : the value of d q , if the value is less than 1, it means that the maintenance car is passing the beacon in the forward direction, if the value is greater than 1, it means that the maintenance car is driving in the reverse direction and passing the beacon beacon;
25b)对检修小车经过的信标进行计数，正向经过信标记为1，反向经过信标记为-1，同时记录从任务开始的位置经过第一个信标位置时所行走的距离；25b) Count the beacons passed by the maintenance car, mark the forward passing signal as 1, and the reverse passing signal as -1, and record the distance traveled when passing the first beacon position from the position where the task starts;
26b)当检修小车正向经过其它信标时刻，采用校正公式对步骤1)中已计算的检修小车的行走距离进行校正。26b) When the maintenance trolley passes through other beacons in the forward direction, use the correction formula to correct the travel distance of the maintenance trolley calculated in step 1).
步骤26a和步骤26b中的校正公式包括：B(m)＝︱(X-B(1)-△Y)+0.5C)︱+B(1)和X＝B(m)+△Y，式中B(m)为第m次经过信标时对该信标离开任务起始点位置的标准距离计算，X以这个位置为校正基点继续计算到达下一个信标之前的绝对行走距离，B(1)为任务起始点位置与第一个信标之间的距离，由于小车是在通过信标之后才完成信息处理故有△Y为信标中心调整量，C为相邻信标的规定距离，“||”为数学取整运算。The correction formula in step 26a and step 26b includes: B(m)=︱(X-B(1)-△Y)+0.5C)︱+B(1) and X=B(m)+△Y, where B (m) is the calculation of the standard distance from the beacon to the starting point of the task when passing the beacon for the mth time. X uses this position as the correction base point to continue to calculate the absolute walking distance before reaching the next beacon. B(1) is The distance between the starting point of the task and the first beacon, because the car completes the information processing after passing the beacon, △Y is the adjustment amount of the center of the beacon, and C is the specified distance of the adjacent beacon, "|| "is a mathematical rounding operation.
图3为信标检测后的距离补偿分析图，其中p1、p2、p3为正向传感器移动位置；q1、q2、q3为反向传感器移动位置；H为光电接近传感器离地面枕木的高度；h为光电接近传感器离信标的高度；w为信标截面底边宽度；b为信标截面反光面棱长；α为信标截面顶角的角度；β＝α/2为传感器安装角；T1和T2为脉冲等效距离宽度；ΔY1和ΔY2为脉冲检测后补偿值由实验确定；L1：p2为垂线离信标反射面中部距离；ΔY/2为信标中心位置前调量与后调量的均值；L2：p2为在信标上射线点离信标中心距离；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)；Figure 3 is the analysis diagram of distance compensation after beacon detection, where p1, p2, p3 are the moving positions of the forward sensor; q1, q2, q3 are the moving positions of the reverse sensor; 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 beacon section; b is the length of the reflective surface of the beacon section; α is the angle of the top angle of the beacon section; β=α/2 is the installation angle of the sensor; T1 and T2 is the pulse equivalent distance width; ΔY1 and ΔY2 are the compensation values after pulse detection determined by experiments; L1:p2 is the distance from the vertical line to the middle of the beacon reflective surface; ΔY/2 is the front adjustment amount and the back adjustment amount of the center position of the beacon L2: p2 is the distance between the ray point on the beacon and 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); y1=y2=H/tg(α/2);
信息处理过程的流程如图2所示，其中用数字圆圈标注部分的进一步说明如下：The flow of the information processing process is shown in Figure 2, and the further description of the part marked with a number circle is as follows:
①指定的2个虚线框图为2个光电接近传感器的检测算法，关键是要准确检测到完整的信标输出脉冲，相应办法采用了先确定脉冲上沿、再确定脉冲下沿、最后确认这个下沿是“合法”的(是正确的下沿而不是中途改变方向后退时遇到的原上沿)。在完整脉冲测到后，计算出该脉冲的上下沿时刻、脉宽和离信标中心位置距离的补偿值。① The two dotted-line block diagrams specified are the detection algorithms of two photoelectric proximity sensors. The key is to accurately detect the complete beacon output pulse. The edge is "legal" (it is the correct lower edge and not the original upper edge encountered when changing direction halfway back). After the complete pulse is detected, the compensation value of the pulse's upper and lower edge times, pulse width and distance from the center of the beacon is calculated.
②获取前向或者后向的调整量，由于两个光电接近传感器的检测基于“或”关系，只要其中一个光电接近传感器的输出信号，即判定为检测到信标，使得信标检测的容错率大大提高。② Obtain the forward or backward adjustment amount. Since the detection of two photoelectric proximity sensors is based on the "or" relationship, as long as one of the photoelectric proximity sensors outputs a signal, it is determined that the beacon is detected, making the error tolerance rate of beacon detection Greatly improve.
③需要分析小车行走方向：如果脉冲上升沿检测结束时间早于下降沿检测时间，则说明小车是前向的，否则是后向。③ It is necessary to analyze the traveling direction of the trolley: if the pulse rising edge detection end time is earlier than the falling edge detection time, it means that the trolley is forward, otherwise it is backward.
④根据前向或者后向的调节量以及输出的脉宽来估算信标位置的中心。④ Estimate the center of the beacon position according to the forward or backward adjustment amount and the output pulse width.
⑤记录经过的信标个数。⑤Record the number of passing beacons.
⑥记忆经过第一个信标位置时的距离。小车可以在轨道的任一点开始工作，但是第一个信标不作为标准参考点来用于对距离数据X进行校正。⑥Memorize the distance when passing the first beacon position. The trolley can start working at any point on the track, but the first beacon is not used as a standard reference point to correct the distance data X.
⑦当正向经过其它信标位置时刻对已计算距离数据X的校正，校正是针对由光电编码器输出脉冲计算的绝对距离，其中考虑了当前信标中心调节量，但是不考虑经过第一个信标前行走距离的数值范围。⑦ Correction of the calculated distance data X when passing through other beacon positions in the forward direction, the correction is for the absolute distance calculated by the output pulse of the photoelectric encoder, which takes into account the adjustment amount of the current beacon center, but does not consider the distance after the first The range of values for the walking distance before the beacon.
⑧通过最近信标后对当前时刻任意位置进行校正。⑧ Correct any position at the current moment after passing the nearest beacon.
⑨如果遇到正向行走途中的反向后退，则不作任何距离补偿调整和校正，仅仅对经过的信标数进行(减法)计算。⑨If there is a reverse retreat on the way forward, no distance compensation adjustment and correction will be made, and only the (subtraction) calculation will be performed on the number of passing beacons.
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