CN108229628A - Train positioning identification method based on three-dimensional magnetic code - Google Patents
Train positioning identification method based on three-dimensional magnetic code Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06187—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with magnetically detectable marking
- G06K19/06196—Constructional details
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K2019/06215—Aspects not covered by other subgroups
- G06K2019/06253—Aspects not covered by other subgroups for a specific application
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Abstract
The invention discloses a kind of trains based on three-dimensional magnetic code to position identification method.This method represents numerical value 2,1 and 0 respectively using permanent magnet magnetism ' N ' pole, ' S ' pole and ' 0 ' vacancy, combination forms train location information three-dimensional magnetic code, then the three-dimensional magnetic code is pasted along track at regular intervals according to required precision, it is read and decoded into row information by the induction reading device installed ON TRAINS, so as to obtain the speed of coordinate setting and train and acceleration.Train predeterminated position is carried out coded combination by this method by three kinds of symbols according to matrix sequence mode, and different symbol predetermined sequences represent different location information, and this method is related to the technologies such as coding principle, induction type identification and quick decoding identification.The most significant feature of the patent is exactly that environmental suitability is strong, good reliability, can normal use in the various adverse circumstances such as dust is big, light is poor, low temperature, sleety weather.
Description
Technical field
The present invention relates to technologies such as electromagnetic induction, assembly codings, more particularly to a kind of Three-Dimensional Magnetic coding method and
Its application in train positioning mark, field of testing the speed.
Background technology
At present, magnetic suspension train is the new traffic tool that state key develops after high ferro, it has, and low energy consumption, speed
Many advantages, such as degree is fast, climbing capacity is strong, safety, intelligence, ride comfort, meets to modern means of communication green, safety, intelligence
The development trend of change.Therefore, preferred standard of the magnetic suspension train as future development a new generation ground traffic tools, to the social people
Life, economic development, city layout etc. have great strategic significance.
Domestic and international magnetic suspension train speed-position detection technical method has very much, such as：Intersect loop line speed-position detection, Doppler radar
Speed-position detection, Microwave Velocity positioning, based on rail cable speed-position detection, " collecting away from detection+beacon " speed-position detection etc..At home,
Middle low speed magnetic suspension train is mostly using intersection loop line speed-position detection method.However, suspension system is equipped on magnetic suspension train, is oriented to
The high-intensity magnetic fields subsystem such as system, propulsion system, there are a degree of electromagnetic interferences between each other.Intersect loop line speed-position detection method
Train position identification is carried out based on the magnetic field that is generated to loop line, suspension system, guidance system, propulsion system electromagnetic field and
The factors such as installation error, train operation vibration can all influence the positioning accuracy to inductive line intersected speed-position detection system.
With, steady propulsion of the country to technology of track traffic innovation and key technology equipment industrialization, green, safety,
The developing goal of intelligent railway equipment is more and more clear, and it will be following important development to greatly develop magnetic suspension train the relevant technologies
One of direction.Speed 200 km/h/hour and 400 have been subsidized in the special successively project verification of the advanced rail traffic of state key research and development plan
Kilometer/hour high speed magnetic suspension train project, 600 kilometers/hour of high-speed maglev train projects of speed per hour of new generation are also
It is activated.These systems such as suspend, promote to existing train, being oriented to have higher precision and intelligentized control method requirement, to this
Field the relevant technologies are both a kind of severe challenge and a rare opportunity to develop.Meanwhile magnetic suspension train is complicated, control
Difficulty processed is big, intelligence degree is high, data volume is more, and existing train positioning, velocity measuring technique are difficult to win for high-speed maglev train
Appoint.
Train positioning, velocity measuring technique are also the important foundation for realizing magnetic suspension train operation control and vehicle scheduling.Especially
It is the magnetic suspension train for being driven using long stator linear synchronous motor, the excitation con-trol of armature winding and train
Positioning is close association, is just controlled without accurate location technology without reliable long stator linear synchronous motor.
On the other hand, current energy-saving train operation needs the train overspeeding protection of perfect in shape and function with intelligent control technology
(ATP), the systems such as train automatic Pilot (ATO) and train automatic monitoring (ATS).These systems are required for accurate, efficient, reliable
Train positioning, based on velocity measuring technique.There is no accurate train positioning, velocity measuring technique, then advanced optimization algorithm can not yet
It achieves the desired results.
In conclusion to give full play to the advantage of magnetic levitation technology, the competitiveness of magnetic suspension train is improved, while is also to be
Further realization energy-saving train operation and intelligent control, accurate, efficient, reliable train positioning, velocity measuring technique have important
Meaning.
Invention content
The technical problems to be solved by the invention are：Using trackside beacon positioning method to magnetic suspension train carry out positioning and
It tests the speed, improves train positioning and the accuracy to test the speed, realize effective monitoring of train operating conditions.
In order to realize above-mentioned technical goal, the present invention provides that a kind of size is small, reliability using trackside beacon positioning method
High, the simple Three-Dimensional Magnetic coding type train positioning identification method of coding, three-dimensional magnetic code is pasted along track, passes through vehicle-mounted spy
Head carries out respective scanned, decoding, monitoring, more simple in structure than existing train locating method, at low cost, and precision is high, is easy to
Installation maintenance.
In order to realize above-mentioned technical goal, the present invention specifically employs following technical solution：
Three-dimensional magnetic code uses three-decker：Including pedestal, information encoding layer and protective layer；It wraps on described information coding layer top
Position sensing area and information cog region are included, the position sensing area is used for the calibration of magnetic code zone position, and described information cog region is used
In storage information, described information coding layer lower part uses n × j matrix sequence；This method comprises the following steps：
(1) data analysis：It determines the character types of coding and three-dimensional magnetic code specification, data word is converted by character set
Symbol；
(2) data encoding：Data character is converted into bit stream, decimal system landmark data is directly converted to ternary data
Sequence forms a data codeword sequence and carries out matrix form coding, and Three-Dimensional Magnetic code data code word sequence is read in then decoder identification
Row obtain the data content of three-dimensional magnetic code；
(3) Error Correction of Coding：By the code word data sequence partition arrangement, error correction code word adds in code word data sequence, forms
One new sequence information, and added in new sequence information end addition and sew remaining sequence information；
(4) structural matrix：Detection information, location information, additional information and code word module in the sequence that step (3) is generated
It is put into matrix sequence；
(5) form and version information：Form and version information are put into information cog region in the sequence that step (3) is generated,
The final three-dimensional magnetic code of generation；
(6) when train is by three-dimensional magnetic code, three-dimensional magnetic code magnetic pole information is distinguished, and the information distinguished is sent
To vehicular control unit, vehicular control unit is decoded information the real time status information so as to obtain train.
Preferably, three-dimensional magnetic code magnetic pole information reading method is in step (6):When train is by three-dimensional magnetic code, pass through
The matrix sequence of the vehicle-mounted three-dimensional magnetic code of induction coil scanning, the sense that onboard sensor detection induction coil generates in scanning process
Electromagnetic impulse is answered, and detection information is transmitted into vehicular control unit；Vehicular control unit according to impulse wave walking direction magnetic
Pole polarity is decoded operation, and decoded sequence is converted into binary automatic computer language, then from the information data of foundation
The mark information of response is called in library, and train displacement is obtained finally by adjacent monitoring point, and operation speed is obtained to train displacement derivation
Degree, train acceleration is obtained to speed of service derivation.
Preferably, mark information is passed through into permanent magnetism magnetic pole ' N ', ' S ' and without three kinds of ' 0 ' vacancy of magnetic according to the matrix sequence
Symbol carries out matrix assembly coding.
Preferably, the protective layer is made of non-magnetic material, is covered in information coding layer surface.
Preferably, the position sensing area is formed using larger square pole ring and a square magnet nesting.
Preferably, pedestal is pasted face and is handled using frosted.
Preferably, pedestal and information encoding layer are fixed by rivet or groove, and magnetic code edge carries out mellow and fullization processing.
Preferably, protective layer is equipped at information calibration, can identification number, installation position information.
The present invention has the advantages that：
The present invention realizes magnetic suspension train being accurately positioned based on trackside form of beacons, is arranged by three kinds of the different of symbol
Row sequence realizes the storage to track location information, has coding simply, the advantages such as quick recognition, adaptable.Pass through contraposition
Train running speed can be obtained by moving derivation, and train acceleration can be obtained to speed of service derivation.Train position, adds speed
The accurate monitoring of speed provides the foundation foundation for energy-saving train operation and intelligent control.
Description of the drawings
Fig. 1 is three-dimensional magnetic code magnetic-levitation train positioning mark structure top view of the invention.
Fig. 2 is three-dimensional magnetic code magnetic-levitation train positioning identification code layer cross section figure of the invention.
Fig. 3 is three-dimensional magnetic code magnetic-levitation train positioning mark the structure left view of the invention.
In figure：(1) magnetic code edge, (2) and (9) represent that magnetic code protective layer, (3) represent that magnetic code information calibration area, (4) represent
At information calibration, (5) represent pedestal, (6) and (10) expression position sensing area, (7) information cog region, (8) information encoding region
(11) permanent magnetism symbol is represented.
Specific embodiment
Three-Dimensional Magnetic coding method and its magnetic suspension train positioning, field of testing the speed application technology be related to magnetic suspension row
One key technique of vehicle stator winding excitation, tractive force matching, energy-saving run etc..As Rail Transit System is towards green
The fast development of color, safety, intelligent direction proposes train Positioning Technology higher requirement, such as information collection speed, letter
Cease precision etc..It uses Three-Dimensional Magnetic code identification method to magnetic suspension train position the present invention is based on information standardization, speed, add
The status informations such as speed are monitored, and the accurate control for magnetic-levitation train provides basic basis.
The three-dimensional magnetic code identification method of the present invention, in information encoding region using ' N ' of permanent magnet, ' S ' polarity and without magnetic ' 0 '
Vacancy forms basic symbol, and information coding storage is carried out according to default matrix coder mode.
The core of three-dimensional magnetic code is the coding mode information of its coding layer and the recognition strategy of three-dimensional magnetic code.
Three-dimensional magnetic code magnetic pole cataloged procedure：
(1) data analysis：It determines the character types of coding and three-dimensional magnetic code specification, is converted into according with by corresponding character set
Sign character；Under conditions of specification is certain, its higher truthful data capacity of error-correction level is smaller.
(2) data encoding：Data character is converted into bit stream, decimal system landmark data is directly converted to ternary data
Sequence forms a data codeword sequence and carries out matrix form coding, and efficiently to be decoded, then decoder identification is read
Three-Dimensional Magnetic code data codeword sequence can obtain the data content of Quick Response Code.
(3) Error Correction of Coding：On demand by codeword sequence partition arrangement above, in order to realize the higher serious forgiveness of magnetic code,
It needs to add error correction code word, and be added to inside code word data sequence error correction code word in code area, becomes a new sequence
Information sews remaining sequence information in addition, being added in the addition of sequence end.
(4) final data information is constructed：Under conditions of specification determines, the sequence in order generated above is put into piecemeal
In.
(5) structural matrix：Detection information, location information, additional information and code word module are put into corresponding matrix.
(6) form and version information：Generation form and version information are put into corresponding information cog region, generate final Three-Dimensional Magnetic
Extremely three-dimensional magnetic code.
Modern train itself carries all fronts road conditions information database, the gradient, bend and speed limit including section etc., the present invention
Effect be to provide train operation accurately position (with respect to originating point) for train, train control system can obtain train fortune
Capable relevant information, to realize that following train intelligent driving provides basic fundamental.
In order to more legibly illustrate the present invention, below according to the track routes overall length of Beijing South Station to Shanghai Hongqiao Airport about
1320 kilometers are foundation, establish information database of the decimal value range at [0-1320000], and the present invention uses magnetic pole
' S ', ' N ' and ' 0 ' represent that numerical value ' 2 ', ' 1 ' and ' 0 ' is encoded with ternary numerical approach respectively
The coding modes such as letter, character, Chinese character, basic skills and figure pattern one can also be used in the coding mode of the present invention
It causes, herein no longer excessive narration.
Its indicator is encoded using digital form to be set as:0001, to data in [0-1320000] information database
For 1234 567 codings.
1st, data analysis：Normal 1320 kilometers to Shanghai rail transit line of Beijing is positioned according to spacing for one meter of setting train
Test point completely needs 1320001 identification information sequences, with ternary numerical value in 15 × 10 matrix of code area size altogether
It meets the requirements, in addition, repeating sequencing means using three-dimensional magnetic code realizes error correction higher level, it is ensured that the accurate nothing of three-dimensional magnetic code
Accidentally.
2nd, numerical value conversion ternary：1234 567→2022 2011 1120 1
4 bit pattern indicators (0001) are added before above-mentioned actual value sequence convenient for storage coding mode and additional information
Deng in addition finally adding eight bit character in sequence of values and be set as sewing remaining information sequence (0,000 0001).
3rd, symbol sebolic addressing is added in：0001 2022 2011 1120 1000 0000 1
In order to improve the serious forgiveness of three-dimensional magnetic code, decoding error is avoided, error correction sequence is added in coded sequence, is done herein
The processing of Three-Dimensional Magnetic symbol repeated arrangement, forms new sequence.
Correction process：According to one group of ternary sequence of above-mentioned composition 5 × 10, then correction process, i.e.,：Repeated encoding 5
× 10 ternary sequences, are added to coded sequence, are combined into 15 × 10 final coded sequence.Wherein, one group of ternary sequence
It is expressed as：
0000 0011 2200 2222 2200 1111 1111 2200 1100 0000 0000 0000 11
Supplement preamble bit：It adds information identification module and magnetic code position sensing module obtains, as schemed (one) institute
Show.
Three-dimensional magnetic code magnetic pole information distinguishes process：
Information sequence obtains：Train decoder recognition Three-Dimensional Magnetic code data codeword sequence obtains mark information sequence.
Using vertical setting of types (perpendicular to the ground) and the induction coil of three-dimensional magnetic code magnetic code one-to-one relationship, when train is by three-dimensional
During magnetic code, vertical setting of types induction coil scans successively according to single rectangular array, and induction coil generates inductive electromagnetic waveform in scanning process
Carrying out magnetic code recognition storage information sequence by sensor detection induction coil electromagnetic pulse and transmission control system (can set magnetic pole
The electromagnetic wave that ' S ' is generated is direct impulse, and the electromagnetic pulse that magnetic pole ' N ' is generated is reverse impulse, and no electromagnetic waveforms are empty for ' 0 '
Position)；In addition, position sensing area uses the pulse signal that nested straight-flanked ring makes its generation differ markedly from code area, convenient for decoding
Identification is identified to three-dimensional magnetic code in device, avoids the interference of extraneous magnetic bodies and misreads, since information cog region area is smaller
Using size magnetic code less than normal so that meet the capacity to code area coding mode and format information storage.
Three-dimensional magnetic code recognition：Control system restores information sequence three-dimensional magnetic code matrix sequence.
By above-mentioned policy controlling system default is sequentially completed according to the walking direction pole polarity record of impulse wave
Control sequence, the decoding process according to default are decoded operation, binary automatic computer language are then converted into, by system
The traffic information of response is directly called from the information database of foundation, train control system is then embodied as and provides accurately
Location information obtains train operation displacement additionally by adjacent monitoring point, and operation speed then can be obtained to train displacement derivation
Degree can obtain train acceleration to speed of service derivation.Then reach the accurate prison for realizing train position, speed, acceleration
The target of survey provides technical foundation for energy-saving train operation and intelligent control.
It indicates：Enumerate such specific reading method herein, it is only more specific, explain the present invention in detail, do not have
Specific recognition mode.
According to description of the drawings, the present invention includes three parts：Pedestal, information encoding layer 8, magnetic code protective layer 2/9.Wherein magnetic code
Protective layer 2/9 directly overlies information encoding layer 8 and forms an entirety, and 8 magnetic code of information encoding layer is protected, prevents it
It comes off, be damaged or demagnetize；In information encoding layer 8, mark information is passed through into permanent magnetism magnetic pole ' N ', ' S ' and without three kinds of ' 0 ' vacancy of magnetic
Symbol is encoded, so as to be stored into the default magnetic code sequence being made of magnetic code.Position sensing area 6/9 is used for magnetic code zone position
Calibration, convenient for the decoding of vehicle-mounted probe barcode scanning information, it is ensured that accurate recognition.Information cog region 7 is used to store three-dimensional magnetic code
The information such as form, version, zero point.
Square magnetic is respectively adopted in information encoding region installation position detecting area 6/10 and information cog region 7 in three-dimensional magnetic code
Polar ring is nested with square magnet form and different from code area symbol size magnetic sheet according to default particular matrix Format Series Lines
It arranges.Position sensing area 6/10 distinguishes magnetic code area for identifying, determines decoder scan position, improves antijamming capability,
Ensure that decoder is accurately distinguished；Information cog region 7 is used to store the information such as the form, version, zero point of three-dimensional magnetic code.
Appearance described above selects pedestal 5 and information encoding layer 8 to have rivet or groove to fix, and can justify at magnetic code edge 1
Profitization processing.
The magnetic code protective layer 2/9 of the patent is equipped with 4 at information calibration, can the information such as identification number, installation position, convenient for work
Journey installation and maintenance etc..
Three-Dimensional Magnetic encodes the coding information and fault tolerance information for containing position.The position is absolute position, not mutually
It influences, is not in cumulative errors.
Magnetic code layer symbol includes magnetic pole ' N ', magnetic pole ' S ' and without three kinds of magnetic vacancy.Magnetic pole is real by the circle magnetic sheet of axial charging
Existing (circle magnetic sheet can be sliced by cylindrical magnet and is made, and thickness, excitation etc. can be specifically adjusted according to actual requirement).
Using the magnetic symbol of rare earth permanent-magnetic material, with magnetic strong, positioning accuracy height, recognition property height, and it is not easy to demagnetize,
The advantages that Three-Dimensional Magnetic yardstick cun is smaller.
Three-dimensional magnetic code encodes layer surface covering non-magnetic material at it, and protection magnetic code comes off and is damaged, and with preventing magnetic code
Member leads to the effect of magnetic property decline because of oxidation, burn into shock etc., improves service life.
Three-dimensional magnetic code can normal use in the various adverse circumstances such as, light is poor, low temperature, sleety weather big in dust, and
With certain safeguard function.
Mark is handled in pedestal design using frosted, it is ensured that three-dimensional magnetic code is securely pasted, and improves reliability.
Three-dimensional magnetic code is provided in protective layer at message identification, can the information such as identification number, installation position, convenient for engineering
Installation and maintenance etc..
It is sayed as above-mentioned, the present invention positions magnetic suspension train, tested the speed using trackside beacon localization method, in magnetcisuspension
Pasted in an orderly manner according to the default check bit of setting spacing (specific spacing determines according to actual conditions) along floating train rail,
It is fixed.
According to above description, respective scanned, decoding, prison are carried out in the vehicle-mounted probe of corresponding position installation of magnetic suspension train
It surveys.Train, which often scans a three-dimensional magnetic code, can distinguish prestored information, obtain train operation location information immediately.By to displacement
Derivation obtains train running speed, and train acceleration is obtained to speed of service derivation.Train position, speed, acceleration it is accurate
It monitors and provides basic basis for energy-saving train operation and intelligent control.
Claims (8)
1. a kind of train positioning identification method based on three-dimensional magnetic code, the three-dimensional magnetic code use three-decker：Including pedestal, letter
Cease coding layer and protective layer；It is characterized in that,
Described information coding layer top includes position sensing area and information cog region, and the position sensing area is used for magnetic code zone position
Calibration, for described information cog region for storing information, described information coding layer lower part uses n × j matrix sequence；
This method comprises the following steps：
(1) data analysis：It determines the character types of coding and three-dimensional magnetic code specification, data character is converted by character set；
(2) data encoding：Data character is converted into bit stream, decimal system landmark data is directly converted to ternary data sequence
Row form a data codeword sequence and carry out matrix form coding, and Three-Dimensional Magnetic code data codeword sequence is read in then decoder identification
Obtain the data content of three-dimensional magnetic code；
(3) Error Correction of Coding：By the code word data sequence partition arrangement, error correction code word adds in code word data sequence, forms one
New sequence information, and added in new sequence information end addition and sew remaining sequence information；
(4) structural matrix：Detection information, location information, additional information and code word module are put into the sequence that step (3) is generated
In matrix sequence；
(5) form and version information：Form and version information are put into information cog region in the sequence that step (3) is generated, and generate
Final three-dimensional magnetic code；
(6) when train is by three-dimensional magnetic code, three-dimensional magnetic code magnetic pole information is distinguished, and the information distinguished is sent to vehicle
Control unit is carried, vehicular control unit is decoded information the real time status information so as to obtain train.
A kind of 2. train positioning identification method based on three-dimensional magnetic code as described in claim 1, which is characterized in that step (6)
It is middle three-dimensional magnetic code magnetic pole information reading method be：
When train is by three-dimensional magnetic code, the matrix sequence of three-dimensional magnetic code, onboard sensor inspection are scanned by vehicle-mounted induction coil
The inductive electromagnetic wave impulse that induction coil generates in scanning process is surveyed, and detection information is transmitted into vehicular control unit；
Vehicular control unit is decoded operation, decoded sequence is converted according to the walking direction pole polarity of impulse wave
Into binary automatic computer language, the mark information of response is then called from the information database of foundation, finally by adjacent monitoring
Point acquisition train displacement, obtains train displacement derivation the speed of service, train acceleration is obtained to speed of service derivation.
3. a kind of train positioning identification method based on three-dimensional magnetic code as claimed in claim 3, which is characterized in that according to described
Mark information is passed through permanent magnetism magnetic pole ' N ', ' S ' and without the three kinds of symbols in ' 0 ' vacancy of magnetic carries out matrix assembly coding by matrix sequence.
A kind of 4. train positioning identification method based on three-dimensional magnetic code as described in claim 1, which is characterized in that the protection
Layer is made of non-magnetic material, is covered in information coding layer surface.
A kind of 5. train positioning identification method based on three-dimensional magnetic code as described in claim 1, which is characterized in that the position
Detecting area is formed using larger square pole ring and a square magnet nesting.
6. a kind of train positioning identification method based on three-dimensional magnetic code as described in claim 1, which is characterized in that pedestal is pasted
Face is handled using frosted.
7. a kind of train positioning identification method based on three-dimensional magnetic code as described in claim 1, which is characterized in that pedestal and letter
Breath coding layer is fixed by rivet or groove, and magnetic code edge carries out mellow and fullization processing.
8. a kind of train positioning identification method based on three-dimensional magnetic code as described in claim 1, which is characterized in that protective layer is set
Have at information calibration, it can identification number, installation position information.
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| CN201810003379.XA CN108229628B (en) | 2018-01-03 | 2018-01-03 | Train positioning identification method based on three-dimensional magnetic code |
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| CN110696878A (en) * | 2019-09-19 | 2020-01-17 | 江西理工大学 | Magnetic code information identification system and method application |
| WO2021261570A1 (en) * | 2020-06-26 | 2021-12-30 | 愛知製鋼株式会社 | Vehicle-oriented system, and information reading method |
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| CN108229628B (en) | 2020-09-01 |
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