CN111376946A - Automatic inspection vehicle for urban rail transit and positioning method thereof - Google Patents
Automatic inspection vehicle for urban rail transit and positioning method thereof Download PDFInfo
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- 230000006698 induction Effects 0.000 abstract description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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Abstract
An automatic inspection vehicle for urban rail transit and a positioning method thereof. The automatic patrol vehicle comprises wheels, a driving motor with an encoder and a sensor for sensing a sleeper. According to the positioning method, on one hand, the number of rotation turns of the driving motor is counted through the encoder so as to calculate the moving distance of the automatic inspection vehicle, on the other hand, the number of sleepers passed by the automatic inspection vehicle is recorded through the sensor so as to calculate the moving distance of the automatic inspection vehicle, accurate moving distance is finally obtained through double positioning by comparing double positioning results, and then the current accurate position of the automatic inspection vehicle is obtained by combining the initial position of the automatic inspection vehicle. The positioning method overcomes the difficulty that the automatic inspection vehicle cannot receive GPS satellite signals in the underground tunnel and cannot position. Meanwhile, the positioning method utilizes the induction target (i.e. the sleeper) which exists in the tunnel and is not easy to damage, and has low cost and stable and reliable result.
Description
Technical Field
The invention relates to the field of urban rail transit detection, in particular to a positioning method of an automatic inspection vehicle for urban rail transit.
Background
Urban rail transit is mainly constructed for solving the congested ground traffic and the fast-paced working and living demands of metropolis, so most of rails are located underground. Because the track equipment is tested under natural conditions such as various weathers, climates and the like all the year round and is also repeatedly used under random loads of trains, the geometric dimension of the track is continuously changed, the track bed and other basic structures are continuously deformed, and furthermore, steel rails, sleepers, connecting parts and other equipment are continuously damaged, so that the equipment and the structural state of the track line are deteriorated. Therefore, in order to ensure public traffic safety, the rail needs to be regularly inspected and maintained, the traditional urban underground rail inspection work is mainly completed by workers, and the labor intensity of the workers can be increased for the urban underground rail which is inspected at night. The inspection work is very difficult work, and particularly for urban underground tracks with long lines and severe environments, a large amount of manpower and time are consumed; meanwhile, for the underground rail which is inspected by no people or few people, the emergency command and dispatching difficulty is very high when the electrical equipment fails. Therefore, the intelligent inspection robot (or the intelligent inspection vehicle) is adopted to replace manual work to automatically inspect the underground rail at present.
For example, in the invention patent with patent number CN201810809504.6, an automatic inspection system for urban rail transit is provided. The system comprises: the device comprises a support frame, a temperature detection device, a track detection device, a position marking device, a tunnel deformation detection device, a positioning device, a foreign matter cleaning device and a control device. This system is through measuring multiple parameter including tunnel equipment facility and cable temperature, tunnel deformation volume, track damage, has overcome the not enough of single detection mode, but also can be to foreign matter automatic identification and clearance in the track, the cost of using manpower sparingly greatly, effectively improves the accuracy and the efficiency that the track was patrolled and examined. The positioning device of the system consists of two positioning cameras which are respectively positioned at the left side and the right side of the supporting frame, automatically identifies hectometer marks on the tunnel wall, and sends position signals to the automatic inspection system, so that the positioning of the automatic inspection system is realized.
The automatic inspection system for urban rail transit has the advantages that the positioning of the inspection system is realized by means of two positioning cameras for recognizing the hectometer on the tunnel wall, and the hectometer on the tunnel wall usually drops and deforms after being used for a long time, so that the positioning cameras cannot accurately recognize the hectometer on the tunnel wall, and positioning failure is caused. In addition, the distance between two adjacent hectometer marks is one hectometer, that is to say, the positioning accuracy that can be reached through the mode that the hundred meters mark on the location camera discernment tunnel wall carries out the location is very limited.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a positioning method which has simple and clear implementation steps, does not need to use GPS satellite signals and can obtain the accurate position of the automatic inspection vehicle in the tunnel aiming at the defects of the prior art. Meanwhile, the invention also provides an automatic inspection vehicle for realizing the positioning method.
In order to solve the technical problems, the invention provides a positioning method of an automatic inspection vehicle for urban rail transit, wherein the automatic inspection vehicle comprises wheels and a driving motor with an encoder for driving the wheels, the automatic inspection vehicle runs by rolling of the wheels on a rail, and the automatic inspection vehicle further comprises a sensor for sensing a sleeper; the positioning method comprises the following steps:
step S1, marking the initial position of the automatic inspection vehicle;
step S2, counting the rotation turns of the driving motor through the encoder;
step S3, according to the formula
To calculate a first setpoint value S for the travel distance of the motor vehicle1Wherein R is the radius of the wheel, N is the number of turns of the driving motor, and L is a reduction ratio;
step S4, recording the number of sleepers passed by the automatic patrol vehicle through the sensor;
step S5, according to formula S2Calculating a second pending value S for the distance traveled by the autonomous vehicle2Wherein x is the standard interval of two adjacent sleepers, and n is the number of the sleepers passed by the automatic inspection vehicle;
step S6, calculating S1And S2If P is less than or equal to the preset threshold, the first to-be-determined value S is taken1Determining a value S for the travel distance of the automatic inspection vehicle, otherwise, taking a first value S to be determined1And a second pending value S2Is the determined value S of the travel distance of the automatic polling car.
In the positioning method of the automatic inspection vehicle for the urban rail transit, the automatic inspection vehicle comprises a vehicle body, the wheels are in rolling connection with the vehicle body, and the driving motor with the encoder is connected with the wheels through a belt.
In the positioning method of the automatic inspection vehicle for the urban rail transit, the automatic inspection vehicle comprises a vehicle body, and the sensor is a laser ranging sensor, is arranged on the vehicle body and emits laser pulses downwards.
In the positioning method of the automatic patrol vehicle for the urban rail transit, the automatic patrol vehicle comprises a power supply and a controller, the power supply supplies power to the controller, the encoder, the driving motor and the sensor, the controller is electrically connected with the encoder, the driving motor and the sensor, and the controller is used for executing the step S3, the step S5 and the step S6.
The invention also provides an automatic inspection vehicle for urban rail transit, which comprises wheels, a driving motor with an encoder, a sensor and a controller, wherein the controller is electrically connected with the encoder, the driving motor and the sensor; the driving motor is used for driving the wheels to roll; the automatic inspection vehicle runs by rolling of the wheels on the track; the sensor is used for sensing the sleepers and recording the number of the sleepers passed by the automatic inspection vehicle; the controller is used for controlling the operation of the motor according to a formula
To calculate a first setpoint value S for the travel distance of the motor vehicle1Wherein R is the radius of the wheel, N is the number of turns of the driving motor, and L is a reduction ratio; the controller is further configured to calculate a value according to formula S2Calculating the distance traveled by the automated inspection vehicleSecond pending value S2Wherein x is the standard interval of two adjacent sleepers, and n is the number of the sleepers passed by the automatic inspection vehicle; the controller is also used for calculating S1And S2If P is less than or equal to the preset threshold, the first to-be-determined value S is taken1Determining a value S for the travel distance of the automatic inspection vehicle, otherwise, taking a first value S to be determined1And a second pending value S2Is the determined value S of the travel distance of the automatic polling car.
In the automatic inspection vehicle for the urban rail transit, the automatic inspection vehicle comprises a vehicle body, wheels are in rolling connection with the vehicle body, and a driving motor with an encoder is connected with the wheels through a belt.
In the automatic inspection vehicle for the urban rail transit, the automatic inspection vehicle comprises a vehicle body, wherein the sensor is a laser ranging sensor, is arranged on the vehicle body and emits laser pulses downwards.
In the automatic inspection vehicle for urban rail transit, the automatic inspection vehicle comprises a power supply, and the power supply supplies power to the controller, the encoder, the driving motor and the sensor.
Compared with the prior art, the positioning method of the automatic inspection vehicle for the urban rail transit, provided by the invention, has the following beneficial effects: the positioning method comprises the following steps: marking the initial position of the automatic inspection vehicle; counting the number of turns of the driving motor through the encoder; according to the formula
To calculate a first setpoint value S for the travel distance of the motor vehicle1Wherein R is the radius of the wheel, N is the number of turns of the driving motor, and L is a reduction ratio; recording the number of sleepers passed by the automatic inspection vehicle through the sensor; according to the formula S2Calculating a second pending value S for the distance traveled by the autonomous vehicle2Wherein x is the standard interval between two adjacent sleepers, and n is that the automatic inspection vehicle passesThe number of sleepers; calculating S1And S2If P is less than or equal to the preset threshold, the first to-be-determined value S is taken1Determining a value S for the travel distance of the automatic inspection vehicle, otherwise, taking a first value S to be determined1And a second pending value S2Is the determined value S of the travel distance of the automatic polling car. So, on the one hand, pass through the encoder count driving motor's rotation number of turns and then calculate the moving distance of automatic inspection car, the other party passes through the sensor record the quantity of the sleeper that automatic inspection car passed through and then calculate the moving distance of automatic inspection car is through dual location to compare the final accurate moving distance that reachs with the dual location result, combine again the initial position of automatic inspection car obtains the current accurate position of automatic inspection car. The positioning method overcomes the difficulty that the automatic inspection vehicle cannot receive GPS satellite signals in the underground tunnel and cannot position. Meanwhile, the positioning method utilizes the induction target (i.e. the sleeper) which exists in the tunnel and is not easy to damage, and has low cost and stable and reliable result.
Drawings
FIG. 1 is a flow chart of the steps of the positioning method of the automatic inspection vehicle for urban rail transit provided by the invention;
fig. 2 is a reference diagram of the use state of the automatic inspection vehicle for urban rail transit provided by the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment provides a positioning method of an automatic inspection vehicle for urban rail transit. The implementation of the positioning method requires the use of an automatic inspection vehicle which meets certain structural conditions, and specifically, the automatic inspection vehicle comprises a vehicle body, wheels, a driving motor with an encoder, and a sensor (see fig. 2). The wheel rotates install in the automobile body, the driving motor who has the encoder passes through belt drive the wheel, the rotation of wheel drives automatic tour inspection car traveles along the track. The encoder counts the number of rotations of the drive motor. The sensor is used for sensing a sleeper in the track. As shown in fig. 1, the positioning method includes the following steps:
step S1, marking the initial position of the automatic inspection vehicle;
step S2, counting the rotation turns of the driving motor through the encoder;
step S3, according to the formula
To calculate a first setpoint value S for the travel distance of the motor vehicle1Wherein R is the radius of the wheel, N is the number of turns of the driving motor, and L is a reduction ratio;
step S4, recording the number of sleepers passed by the automatic patrol vehicle through the sensor;
step S5, according to formula S2Calculating a second pending value S for the distance traveled by the autonomous vehicle2Wherein x is the standard interval of two adjacent sleepers, and n is the number of the sleepers passed by the automatic inspection vehicle;
step S6, calculating S1And S2If P is less than or equal to the preset threshold, the first to-be-determined value S is taken1Determining a value S for the travel distance of the automatic inspection vehicle, otherwise, taking a first value S to be determined1And a second pending value S2Is the determined value S of the travel distance of the automatic polling car.
So, on the one hand, pass through the encoder count driving motor's rotation number of turns and then calculate the moving distance of automatic inspection car, the other party passes through the sensor record the quantity of the sleeper that automatic inspection car passed through and then calculate the moving distance of automatic inspection car is through dual location to compare the final accurate moving distance that reachs with the dual location result, combine again the initial position of automatic inspection car obtains the current accurate position of automatic inspection car. The positioning method overcomes the difficulty that the automatic inspection vehicle cannot receive GPS satellite signals in the underground tunnel and cannot position. Meanwhile, the positioning method utilizes the induction target (i.e. the sleeper) which exists in the tunnel and is not easy to damage, and has low cost and stable and reliable result.
Further, the automatic patrol vehicle comprises a power source and a controller, wherein the power source is the controller, the encoder, the driving motor and the sensor supply power, the controller is electrically connected with the encoder, the driving motor and the sensor, and the controller is used for executing the step S3, the step S5 and the step S6. The controller can adopt a PLC programmable logic controller. Of course, in other embodiments, the system can also be an industrial PC, a single chip microcomputer, an ARM, and the like.
In step S1, the start position information of the automatic inspection vehicle may be imported to the controller. The start position information may be a site name or absolute coordinates.
In the step S2, the encoder may be an absolute encoder, and is connected to the driving motor to collect the number of rotations of the driving motor.
In step S3, R is the radius of the outer peripheral profile of the wheel, and the reduction ratio is the transmission ratio of the reduction gear, which is one of the transmission ratios and is the ratio of the instantaneous input speed to the output speed in the reduction gear mechanism. Since the drive motor drives the wheel by a belt, the number of revolutions of the drive motor divided by the reduction ratio is the number of revolutions of the wheel.
In the step S4, the sensor is a laser ranging sensor, is disposed on the vehicle body, and emits a laser pulse downward, the laser ranging sensor: the laser diode first emits laser pulses directed at the target. Since the height of the crosstie is significantly different relative to the rest of the track, it is possible to identify whether the crosstie has been passed by measuring the distance between the target object and the laser vehicle distance sensor.
In step S5, since the sleepers in the track are laid according to a certain distance standard and are not easily corroded and deformed after long-term use, the distance between two adjacent sleepers is a fixed value, and the number of sleepers passed by the automatic inspection vehicle can be recorded according to formula S2Calculating the driving distance of the automatic patrol vehicle according to the xn.
In step S6, considering that the encoder has accumulated errors, the errors become larger and larger as the walking distance increases, which is not favorable for accurate positioning. Therefore, the number of the sleepers and the distance calculated by the sleeper interval are checked, so that the moving distance of the robot is determined, and the real-time position of the robot is obtained by combining the initial position of the robot.
Example two
The embodiment provides an automatic inspection vehicle for urban rail transit. Referring to fig. 2, the automatic polling car includes wheels, a driving motor with an encoder, a sensor, and a controller, wherein the controller is electrically connected to the encoder, the driving motor, and the sensor; the driving motor is used for driving the wheels to roll; the automatic inspection vehicle runs by rolling of the wheels on the track; the sensor is used for sensing the sleepers and recording the number of the sleepers passed by the automatic inspection vehicle; the controller is used for controlling the operation of the motor according to a formula
To calculate a first setpoint value S for the travel distance of the motor vehicle1Wherein R is the radius of the wheel, N is the number of turns of the driving motor, and L is a reduction ratio; the controller is further configured to calculate a value according to formula S2Calculating a second pending value S for the distance traveled by the autonomous vehicle2Wherein x is the standard interval of two adjacent sleepers, and n is the number of the sleepers passed by the automatic inspection vehicle; the controller is also used for calculating S1And S2If P is less than or equal to the preset threshold, the first to-be-determined value S is taken1Determining a value S for the travel distance of the automatic inspection vehicle, otherwise, taking a first value S to be determined1And a second pending value S2Is the determined value S of the travel distance of the automatic polling car. The automatic patrol vehicle comprises a vehicle body, wheels are in rolling connection with the vehicle body, and a driving motor with an encoder is connected with the wheels through a belt. The automatic patrol vehicle comprises a vehicle body, wherein the sensor is a laser ranging sensor, is arranged on the vehicle body and emits laser pulses downwards. The automatic patrol car further comprises a power supply, the power supply is the controller, the encoder, the driving motor and the sensor supply power, and the power supply can adopt a rechargeable lithium ion battery.
The positioning method for the automatic rail inspection vehicle for urban rail transit provided by the embodiment during rail inspection can be referred to the positioning method provided in the first embodiment, and details are not repeated here.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. The positioning method of the automatic inspection vehicle for the urban rail transit is characterized in that the automatic inspection vehicle comprises wheels and a driving motor with an encoder for driving the wheels, the automatic inspection vehicle runs by rolling of the wheels on a rail, and the automatic inspection vehicle further comprises a sensor for sensing a sleeper; the positioning method comprises the following steps:
step S1, marking the initial position of the automatic inspection vehicle;
step S2, counting the rotation turns of the driving motor through the encoder;
step S3, according to the formula
To calculate a first setpoint value S for the travel distance of the motor vehicle1Wherein R is the radius of the wheel, N is the number of turns of the driving motor, and L is a reduction ratio;
step S4, recording the number of sleepers passed by the automatic patrol vehicle through the sensor;
step S5, according to formula S2Calculating a second pending value S for the distance traveled by the autonomous vehicle2Wherein x is the standard interval of two adjacent sleepers, and n is the number of the sleepers passed by the automatic inspection vehicle;
step S6, calculating S1And S2If P is less than or equal to the preset threshold, the first to-be-determined value S is taken1Determining a value S for the travel distance of the automatic inspection vehicle, otherwise, taking a first value S to be determined1And a second pending value S2Is the determined value S of the travel distance of the automatic polling car.
2. The positioning method of the automatic inspection vehicle for the urban rail transit according to claim 1, wherein the automatic inspection vehicle comprises a vehicle body, the wheels are in rolling connection with the vehicle body, and the driving motor with the encoder is connected with the wheels through a belt.
3. The positioning method of the automatic inspection vehicle for the urban rail transit according to claim 1, wherein the automatic inspection vehicle comprises a vehicle body, and the sensor is a laser ranging sensor, is arranged on the vehicle body, and emits laser pulses downwards.
4. The method as claimed in claim 1, wherein the automatic inspecting vehicle includes a power source and a controller, the power source supplies power to the controller, the encoder, the driving motor and the sensor, the controller is electrically connected to the encoder, the driving motor and the sensor, and the controller is configured to execute the steps S3, S5 and S6.
5. The automatic inspection vehicle for the urban rail transit is characterized by comprising wheels, a driving motor with an encoder, a sensor and a controller, wherein the controller is electrically connected with the encoder, the driving motor and the sensor; the driving motor is used for driving the wheels to roll; the automatic inspection vehicle runs by rolling of the wheels on the track; the sensor is used for sensing the sleepers and recording the number of the sleepers passed by the automatic inspection vehicle; the controller is used for controlling the operation of the motor according to a formula
To calculate a first setpoint value S for the travel distance of the motor vehicle1Wherein R is the radius of the wheel, N is the number of turns of the driving motor, and L is a reduction ratio; the controller is further configured to calculate a value according to formula S2Calculating a second pending value S for the distance traveled by the autonomous vehicle2Wherein x is the standard interval of two adjacent sleepers, and n is the number of the sleepers passed by the automatic inspection vehicle; the controller is also used for calculating S1And S2If P is less than or equal to the preset threshold, the first to-be-determined value S is taken1Determining a value S for the travel distance of the automatic inspection vehicle, otherwise, taking a first value S to be determined1And a second pending value S2Is the determined value S of the travel distance of the automatic polling car.
6. The automatic urban rail transit patrol vehicle according to claim 5, wherein the automatic patrol vehicle comprises a vehicle body, the wheels are in rolling connection with the vehicle body, and the driving motor with the encoder is connected with the wheels through a belt.
7. The automatic urban rail transit patrol vehicle according to claim 5, comprising a vehicle body, wherein the sensor is a laser ranging sensor, is arranged on the vehicle body, and emits laser pulses downwards.
8. The automatic vehicle of claim 5, wherein the automatic vehicle comprises a power source, and the power source supplies power to the controller, the encoder, the drive motor, and the sensor.
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| CN111959283A (en) * | 2020-08-20 | 2020-11-20 | 临沂会宝岭铁矿有限公司 | Automatic pantograph lifting device of electric locomotive |
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| CN114019961A (en) * | 2021-10-25 | 2022-02-08 | 河南牧原智能科技有限公司 | Method and device for positioning trolley and readable storage medium |
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