CN103569164B - A kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location - Google Patents
A kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location Download PDFInfo
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- CN103569164B CN103569164B CN201210262437.3A CN201210262437A CN103569164B CN 103569164 B CN103569164 B CN 103569164B CN 201210262437 A CN201210262437 A CN 201210262437A CN 103569164 B CN103569164 B CN 103569164B
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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 present invention relates to a kind of track traffic method of inspection, especially relate to a kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location.
Background technology
Urban track traffic arranges have plant maintenance along the line and service work during train stoppage in transit in the late into the night, normally carries on the back by artificial pad it and manpower the instrument of carrying at present and arrives a destination.The track inspection trolley of designing and making hand-held design can solve this demand, but also need to consider especially under embody rule environment: dolly may the calculation error brought when may skid and occur the generation of the situation such as idle running of optionally forward and backward walking and car wheel, and these needs are solved by suitable digital information processing.
Existing patent application patent " a kind of urban track traffic inspection trolley position fixing system " proposes the Location System Design scheme can knowing current vehicle location information, and its basic thought utilizes the output pulse of vehicle photoelectric encoder mileage beacon to be detected to the calculating of correcting travel distance to calculate travel distance and to apply photoelectricity proximity transducer.Another patent application patent " a kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location " gives detailed description to the real time information Processing Algorithm of this position fixing system.Be engaged in the urban track traffic work described by these two patent application patents detecting in the position fixing system of dolly, to the detection of mileage beacon be by vehicle-mounted two photoelectricity proximity transducers simultaneously pair cross-section be that the infrared light emission of two angular plane surfaces of triangle beacon and reflected light accept to realize.On-the-spot at Practical Project, because mileage beacon two angular plane surfaces meet the fore-and-aft direction of advancing to train respectively, when track as being arranged on unidirectional walking is all the time middle, only have beacon meet the easy reflective infrared light of the angular plane surface of the train that comes and be detected, the angular plane surface of another train that comes dorsad of beacon is not easy reflective infrared light because the dirt that becomes rusty for a long time stains and is detected by actual.What specify in these two patent application patents is relations of "AND" to the check processing of beacon two angular plane surfaces, and namely only having and all detect two angular plane surfaces of beacon, is just that beacon detects.Although make the reliability of check processing increase like this, also make there is undetected possibility to the detection of beacon in some specific occasion.
Summary of the invention
Object of the present invention is exactly provide a kind of detecting reliability strong to overcome defect that above-mentioned prior art exists, not easily undetected to the beacon fault-tolerance detection method for urban track traffic work business inspection vehicle location.
Object of the present invention can be achieved through the following technical solutions:
For a fault-tolerance detection method for urban track traffic work business inspection vehicle location, the method comprises the following steps:
1), when 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.
Described step 1) in treater according to the photoelectric encoder that receives send pulse number and phase output calculate travel distance and the direction of inspection trolley, specifically comprise the following steps:
11) treater waits for that the pulse of photoelectric encoder exports, and judges whether wheel moves, and then carry out step 12 if the judgment is Yes), otherwise again wait for that the pulse of photoelectric encoder exports;
12) adopting K=1 and K=-1 to represent respectively, current photoelectric encoder exports the pulse carriage walking direction of specifying is forward direction or backward, then apply the actual travel distance that cumulative way calculates inspection trolley, calculate the travel distance numerical value after existing travel distance being corrected after each beacon detects simultaneously.
The computing formula that the way that described application adds up calculates the actual travel distance of inspection trolley is: X
1=X
2+ (2 π/1024) RK, X
1for absolute travel distance during inspection trolley photoelectric encoder current output pulse, X
2for absolute travel distance when pulsatile once before inspection trolley exports, R is wheel radius, and K is current PRF state, and π is circular constant.
Step 2) in the treater detailed process carrying out correcting according to the impulse singla that forward direction photoelectricity proximity transducer exports be:
21a) treater judges the upper and lower edge identifying respective pulses after whether forward direction photoelectricity proximity transducer detects beacon successively, then carries out next step if the judgment is Yes, otherwise again waits for that forward direction photoelectricity proximity transducer exports;
22a) treater judges whether it is symmetrical edge up and down, if the judgment is Yes, then calculates pulsewidth T1, and the moment X (u of record through upper and lower edge
p) and X (d
p), otherwise again wait for that forward direction photoelectricity proximity transducer exports;
23a) obtain the regulated quantity Δ Y=-Δ Y1 of forward direction, the distance at forward sense device and beacon center when Δ Y1 is falling edge output in formula;
24a) treater judges up and down along position u
p: d
pvalue, if this value is less than 1, then illustrate that inspection trolley is forward travel through this beacon, if this value is greater than 1, then illustrate that inspection trolley is that backward going is through this beacon;
25a) count the beacon of inspection trolley process, forward is designated as 1 through beacon, is designated as-1 reverses through beacon, records the distance walked through first beacon position in the position from task simultaneously;
26a) when inspection trolley forward is through other beacon time, adopt updating formula to step 1) in the travel distance of calculated inspection trolley correct;
Step 2) in the treater detailed process carrying out correcting according to the impulse singla that backward photoelectricity proximity transducer exports be:
21b) treater judges the upper and lower edge identifying respective pulses after whether backward photoelectricity proximity transducer detects beacon successively, then carries out step 22b if the judgment is Yes), otherwise again wait for that backward photoelectricity proximity transducer exports;
22b) treater judges whether it is symmetrical edge up and down, if the judgment is Yes, then calculates pulsewidth T2, and the moment X (u of record through upper and lower edge
q) and X (d
q), otherwise again wait for that backward photoelectricity proximity transducer exports;
23b) obtain the regulated quantity Δ Y=Δ Y2+T2 of forward direction, in formula Δ Y2 be positive rise when exporting after to the distance at sensor and beacon center;
24b) treater judges up and down along position u
q: d
qvalue, if this value is less than 1, then illustrate that inspection trolley is forward travel through this beacon, if this value is greater than 1, then illustrate that inspection trolley is that backward going is through this beacon;
25b) count the beacon of inspection trolley process, forward is designated as 1 through beacon, is designated as-1 reverses through beacon, records the distance walked through first beacon position in the position from task simultaneously;
26b) when inspection trolley forward is through other beacon time, adopt updating formula to step 1) in the travel distance of calculated inspection trolley correct.
Δ Y1 and Δ Y2 can be obtained by test of many times.
When one of them photoelectricity proximity transducer first output pulse signal time, treater will suppress the output of another photoelectricity proximity transducer.
Updating formula in described step 26a and step 26b comprises: B (m)=︱ (X-B (1)-△ Y)+0.5C) ︱+B (1) and X=B (m)+△ Y, in formula, B (m) calculates the gauged distance that this beacon leaves task initial point position through beacon for the m time, X continues to calculate the absolute travel distance arrived before next beacon for correcting basic point with this position, B (1) is the distance between task initial point position and first beacon, because dolly just completes information processing after by beacon therefore has △ Y to be beacon center adjustment amount, C is the predetermined distance of neighbor beacon, " || " is mathematics rounding operation.
Compared with prior art, the present invention has the following advantages:
1, the travel distance (wherein R is wheel radius, π=3.14) that dolly precision is 2R π/1024 can be measured; Dolly direction of travel at any time can be measured, and COMPREHENSIVE CALCULATING can go out actual miles of relative movement; Because any reason cannot detect that beacon makes to lose the execution of range data correction, also can not affect or interrupt to estimate the continuation of current distance information; Once beacon be detected, system will rise with this beacon position for reference in this moment, automatic inspection and correction distance data.
As long as photoelectricity proximity transducer detects arbitrary beacon angular plane surface or also can be detect two angular plane surfaces simultaneously, all think to detect beacon, detecting judgement to two angular plane surfaces reflective is like this relation based on "or", just greatly can reduce the undetected possibility of former "AND" detection relation in some specific occasion.
Accompanying drawing explanation
Fig. 1 is treater calculates the travel distance of inspection trolley diagram of circuit according to the information that photoelectric encoder sends;
Fig. 2 is the diagram of circuit that treater corrects according to the travel distance of beacon signal to inspection trolley that forward and backward sensor detects;
Fig. 3 is the compensated distance analysis chart after beacon detects.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
For a fault-tolerance detection method for urban track traffic work business inspection vehicle location, our ratio juris is: first, and in photoelectric encoder, axle often rotates a circle and exports 1024 impulse singlas, by paired pulses enumerate estimation travel distance.The phase output of recycling photoelectric encoder judges direction of travel, and the actual travel distance of COMPREHENSIVE CALCULATING.Then, export the identification (comprising width and upper and lower edge) of pulse after beacon is detected to photoelectricity proximity transducer, and again to the estimation to beacon center after photoelectricity proximity transducer pulse recognition.Finally, beacon center is determined to carry out Data correction to the forward travel distance that current time rises afterwards.
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 phase output calculate the travel distance of inspection trolley.As shown in Figure 1, be the detection algorithm of photoelectric encoder, wherein gordian technique be adopt K=1 and K=-1 to represent respectively the pulse that receives specifies carriage walking direction to be forward direction or backward, then apply cumulative way and calculate actual travel distance.Wherein X is omnidistance travel distance all along, and dolly often all can be corrected once through a beacon X, and U is the travel distance restarted after each beacon detects.Photoelectric encoder is asynchronous working, only just has pulse exporting change when wheel shaft rotates and the counting triggered K and renewal; Pulse output signals when wheel shaft does not rotate retains preceding state.Specifically comprise following two step by step:
Step 11) treater wait for photoelectric encoder pulse export, and judge whether wheel moves, and then carry out step 12 if the judgment is Yes), otherwise again wait for photoelectric encoder pulse export;
Step 12) pulse that receives specifies carriage walking direction to be forward direction or backward to adopt K=1 and K=-1 to represent respectively, then apply the actual travel distance that cumulative way calculates inspection trolley, calculate the travel distance value restarted after each beacon detects simultaneously.Cumulative way is specially: X
1=X
2+ (2 π/1024) RK, X
1for absolute travel distance during inspection trolley photoelectric encoder current output pulse, X
2for absolute travel distance when pulsatile once before inspection trolley exports, R is wheel radius, and K is current PRF state, and π is circular constant.
Second step: the travel distance of impulse singla to work business inspection vehicle that inspection trolley forward often exports according at least one sensor in forward direction photoelectricity proximity transducer and backward photoelectricity proximity transducer through a beacon treater corrects, interference is exported in order to prevent sensor, in the present embodiment when one of them photoelectricity proximity transducer first output pulse signal time, treater will suppress the output of another photoelectricity proximity transducer.Wherein,
According to the detailed process that the impulse singla of forward direction photoelectricity proximity transducer output carries out correcting be:
21a) treater judges the upper and lower edge identifying respective pulses after whether forward direction photoelectricity proximity transducer detects beacon successively, then carries out next step if the judgment is Yes, otherwise again waits for that forward direction photoelectricity proximity transducer exports;
22a) treater judges whether it is symmetrical edge up and down, if the judgment is Yes, then calculates pulsewidth T1, and the moment X (u of record through upper and lower edge
p) and X (d
p), otherwise again wait for that forward direction photoelectricity proximity transducer exports;
23a) obtain the regulated quantity Δ Y=-Δ Y1 of forward direction, the distance at forward sense device and beacon center when Δ Y1 is falling edge output in formula;
24a) treater judges up and down along position u
p: d
pvalue, if this value is less than 1, then illustrate that inspection trolley is forward travel through this beacon, if this value is greater than 1, then illustrate that inspection trolley is that backward going is through this beacon;
25a) count the beacon of inspection trolley process, forward is designated as 1 through beacon, is designated as-1 reverses through beacon, records the distance walked through first beacon position in the position from task simultaneously;
26a) when inspection trolley forward is through other beacon time, adopt updating formula to step 1) in the travel distance of calculated inspection trolley correct;
According to the detailed process that the impulse singla of backward photoelectricity proximity transducer output carries out correcting be:
21b) treater judges the upper and lower edge identifying respective pulses after whether backward photoelectricity proximity transducer detects beacon successively, then carries out step 22b if the judgment is Yes), otherwise again wait for that backward photoelectricity proximity transducer exports;
22b) treater judges whether it is symmetrical edge up and down, if the judgment is Yes, then calculates pulsewidth T2, and the moment X (u of record through upper and lower edge
q) and X (d
q), otherwise again wait for that backward photoelectricity proximity transducer exports;
23b) obtain the regulated quantity Δ Y=Δ Y2+T2 of forward direction, in formula Δ Y2 be positive rise when exporting after to the distance at sensor and beacon center;
24b) treater judges up and down along position u
q: d
qvalue, if this value is less than 1, then illustrate that inspection trolley is forward travel through this beacon, if this value is greater than 1, then illustrate that inspection trolley is that backward going is through this beacon;
25b) count the beacon of inspection trolley process, forward is designated as 1 through beacon, is designated as-1 reverses through beacon, records the distance walked through first beacon position in the position from task simultaneously;
26b) when inspection trolley forward is through other beacon time, adopt updating formula to step 1) in the travel distance of calculated inspection trolley correct.
Updating formula in step 26a and step 26b comprises: B (m)=︱ (X-B (1)-△ Y)+0.5C) ︱+B (1) and X=B (m)+△ Y, in formula, B (m) calculates the gauged distance that this beacon leaves task initial point position through beacon for the m time, X continues to calculate the absolute travel distance arrived before next beacon for correcting basic point with this position, B (1) is the distance between task initial point position and first beacon, because dolly just completes information processing after by beacon therefore has △ Y to be beacon center adjustment amount, C is the predetermined distance of neighbor beacon, " || " is mathematics rounding operation.
Fig. 3 is the compensated distance analysis chart after beacon detects, and wherein p1, p2, p3 are forward sensor shift position; Q1, q2, q3 are reverse sensor shift position; H is the height of photoelectricity proximity transducer overhead sleeper; H is the height of photoelectricity proximity transducer from beacon; W is beacon cross section base 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 sensor stagger angle; T1 and T2 is impulse-equivalent distance width; Δ Y1 and Δ Y2 is that pulse detection post-compensation value is determined by experiment; L1:p2 is vertical line from distance in the middle part of beacon reflecting surface; Δ Y/2 is the average of tune amount and rear tune amount before 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 flow process of information process is as shown in Figure 2, wherein as follows with further illustrating of digital circul annotate portions:
2 dotted box of 1. specifying are the detection algorithm of 2 photoelectricity proximity transducers, key accurately to detect that complete beacon exports pulse, corresponding way have employed first determine in pulse along, again determine under pulse along, finally confirm this lower (being that correct lower edge instead of midway change the former upper edge run into when direction retreats) along being " legal ".After complete pulse measures, calculate this pulse up and down along moment, pulsewidth and the compensation value from beacon center position.
2. obtain forward direction or backward adjustment amount, because the detection of two photoelectricity proximity transducers is based on "or" relation, as long as the output signal of one of them photoelectricity proximity transducer, be namely judged to beacon to be detected, the serious forgiveness that beacon is detected improves greatly.
3. Water demand carriage walking direction: if rising edge of a pulse detects the end time early than falling edge detection time, then illustrate that dolly is forward direction, otherwise be backward.
4. the center of beacon position is estimated according to the pulsewidth of forward direction or backward regulated quantity and output.
5. the beacon number of process is recorded.
6. the distance through first beacon position is remembered.Dolly can be started working at any point of track, but first beacon does not correct for the data X that adjusts the distance as canonical reference point.
7. when forward passes through other beacon position moment to the correction calculating range data X, correction is the absolute distance for being exported pulse calculating by photoelectric encoder, it considers present beacon centering control amount, but do not consider the number range of travel distance before first beacon.
8. by correcting current time optional position after nearest beacon.
If 9. run into the reverse retrogressing in forward walking way, then do not do the adjustment of any compensated distance and correct, only (subtraction) being carried out to the beacon number of process and calculate.
Claims (5)
1., for a fault-tolerance detection method for urban track traffic work business inspection vehicle location, it is characterized in that, the method comprises the following steps:
1), when 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;
Step 2) in the treater detailed process carrying out correcting according to the impulse singla that forward direction photoelectricity proximity transducer exports be:
21a) treater judges the upper and lower edge identifying respective pulses after whether forward direction photoelectricity proximity transducer detects beacon successively, then carries out next step if the judgment is Yes, otherwise again waits for that forward direction photoelectricity proximity transducer exports;
22a) treater judges whether it is symmetrical edge up and down, if the judgment is Yes, then calculates pulsewidth T1, and the moment X (u of record through upper and lower edge
p) and X (d
p), otherwise again wait for that forward direction photoelectricity proximity transducer exports;
23a) obtain the regulated quantity △ Y=-△ Y1 of forward direction, the distance at forward sense device and beacon center when △ Y1 is falling edge output in formula;
24a) treater judges up and down along position u
p: d
pvalue, if this value is less than 1, then illustrate that inspection trolley is forward travel through this beacon, if this value is greater than 1, then illustrate that inspection trolley is that backward going is through this beacon;
25a) count the beacon of inspection trolley process, forward is designated as 1 through beacon, is designated as-1 reverses through beacon, and position when simultaneously recording from task is through the travel distance of first beacon position;
26a) when inspection trolley forward is through other beacon time, adopt updating formula to step 1) in the travel distance of calculated inspection trolley correct;
Step 2) in the treater detailed process carrying out correcting according to the impulse singla that backward photoelectricity proximity transducer exports be:
21b) treater judges the upper and lower edge identifying respective pulses after whether backward photoelectricity proximity transducer detects beacon successively, then carries out step 22b if the judgment is Yes), otherwise again wait for that backward photoelectricity proximity transducer exports;
22b) treater judges whether it is symmetrical edge up and down, if the judgment is Yes, then calculates pulsewidth T2, and the moment X (u of record through upper and lower edge
q) and X (d
q), otherwise again wait for that backward photoelectricity proximity transducer exports;
23b) obtain the regulated quantity △ Y=△ Y2+T2 of forward direction, in formula, the distance to sensor and beacon center after when edge exports falls in △ Y2 on being;
24b) treater judges up and down along position u
q: d
qvalue, if this value is less than 1, then illustrate that inspection trolley is forward travel through this beacon, if this value is greater than 1, then illustrate that inspection trolley is that backward going is through this beacon;
25b) count the beacon of inspection trolley process, forward is designated as 1 through beacon, is designated as-1 reverses through beacon, and position when simultaneously recording from task is through the travel distance of first beacon position;
26b) when inspection trolley forward is through other beacon time, adopt updating formula to step 1) in the travel distance of calculated inspection trolley correct.
2. a kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location according to claim 1, it is characterized in that, described step 1) in treater according to the photoelectric encoder that receives send pulse number and phase output calculate travel distance and the direction of inspection trolley, specifically comprise the following steps:
11) treater waits for that the pulse of photoelectric encoder exports, and judges whether wheel moves, and then carry out step 12 if the judgment is Yes), otherwise again wait for that the pulse of photoelectric encoder exports;
12) adopting K=1 and K=-1 to represent respectively, current photoelectric encoder exports the pulse carriage walking direction of specifying is forward direction or backward, then apply the actual travel distance that cumulative way calculates inspection trolley, calculate the travel distance numerical value after existing travel distance being corrected after each beacon detects simultaneously.
3. a kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location according to claim 2, it is characterized in that, the computing formula that the way that described application adds up calculates the actual travel distance of inspection trolley is: X
1=X
2+ (2 π/1024) RK, X
1for absolute travel distance during inspection trolley photoelectric encoder current output pulse, X
2for absolute travel distance when pulsatile once before inspection trolley exports, R is wheel radius, and K is current PRF state, and π is circular constant.
4. a kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location according to claim 1, it is characterized in that, when one of them photoelectricity proximity transducer first output pulse signal time, treater will suppress the output of another photoelectricity proximity transducer.
5. a kind of fault-tolerance detection method for urban track traffic work business inspection vehicle location according to claim 1, it is characterized in that, updating formula in described step 26a and step 26b comprises: B (m)=︱ (X-B (1)-△ Y)+0.5C) ︱+B (1) and X=B (m)+△ Y, in formula, B (m) calculates the gauged distance that this beacon leaves task initial point position through beacon for the m time, X continues to calculate the absolute travel distance arrived before next beacon for correcting basic point with this position, B (1) is the distance between task initial point position and first beacon, because dolly just completes information processing after by beacon therefore has △ Y to be beacon center adjustment amount, C is the predetermined distance of neighbor beacon, " || " is mathematics rounding operation.
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