CN114194254A - Positioning method and position processor for cantilever type monorail vehicle - Google Patents
Positioning method and position processor for cantilever type monorail vehicle Download PDFInfo
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- CN114194254A CN114194254A CN202111371029.7A CN202111371029A CN114194254A CN 114194254 A CN114194254 A CN 114194254A CN 202111371029 A CN202111371029 A CN 202111371029A CN 114194254 A CN114194254 A CN 114194254A
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- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
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Abstract
The invention relates to the technical field of cantilever type monorail transportation, in particular to a positioning method and a position processor of a cantilever type monorail vehicle, which are applied to a cantilever type monorail positioning system, wherein the system comprises the following components: lay the position treater that sets up of cross induction loop, cantilever type monorail vehicle on the cantilever type single track and the first induction antenna of cantilever type monorail vehicle locomotive and the second induction antenna of rear of a vehicle, connect the address generator of cross induction loop, include: the method comprises the steps that an alternating electric signal is provided for a crossed induction loop through an address generator, different coding signals are generated by the crossed induction loop at different positions, a cantilever type monorail vehicle moves along a monorail, and a first coding signal sensed by a first induction antenna to a first position on the crossed induction loop and a second coding signal sensed by a second induction antenna to a second position are obtained through a position processor; the cantilever type monorail is positioned through the position processor based on the first coding signal and/or the second coding signal, and the positioning accuracy is improved.
Description
Technical Field
The invention relates to the technical field of cantilever type monorail transportation, in particular to a positioning method and a position processor of a cantilever type monorail vehicle.
Background
In the prior art, a pose integral positioning method is adopted, speed data of a vehicle is measured by combining a speed sensor, integral calculation is carried out on the measured data, and the information of a trackside positioning label is added, so that the relative position of the vehicle in a line is calculated.
However, this positioning method has low accuracy and poor detection sensitivity, and accurate positioning information cannot be obtained.
Therefore, how to improve the positioning accuracy of the rail vehicle is a technical problem to be solved urgently at present.
Disclosure of Invention
In view of the above, the present invention has been made in order to provide a positioning method and a position processor for a cantilevered monorail vehicle that overcomes or at least partially solves the above-mentioned problems.
In a first aspect, the present invention provides a method for positioning a cantilevered monorail vehicle, for use in a cantilevered monorail positioning system, the cantilevered monorail positioning system comprising: the positioning method comprises the following steps that a crossed induction loop wire is laid on a cantilever type monorail, a position processor is arranged on the cantilever type monorail vehicle, a first induction antenna is arranged on the head of the cantilever type monorail vehicle, and a second induction antenna is arranged at the tail of the cantilever type monorail vehicle, an address generator is arranged at the head end of the crossed induction loop wire, and the positioning method comprises the following steps:
providing alternating electrical signals to the cross induction loop wires through the address generator, wherein different coding signals are generated on the cross induction loop wires at different positions;
acquiring, by the position processor, a first encoded signal sensed by the first sensing antenna to a first position on the crossed sensing loop and a second encoded signal sensed by the second sensing antenna to a second position on the crossed sensing loop as the cantilevered monorail vehicle moves along the cantilevered monorail, the first position and the second position satisfying a predetermined distance therebetween;
positioning, by the position processor, the cantilevered monorail vehicle based on the first and/or second encoded signals.
Preferably, before the positioning the cantilevered monorail vehicle based on the first encoding signal and/or the second encoding signal by the position processor, the method further comprises:
judging whether a preset difference value is met between the first coding signal and the second coding signal or not based on the first coding signal and the second coding signal, wherein the preset difference value is related to the preset distance;
if so, executing the step of positioning the cantilever type monorail vehicle.
Preferably, said positioning, by said position processor, said cantilevered monorail vehicle based on said first and/or second encoded signals comprises:
converting, by the position processor, the first encoded signal or the second encoded signal as a positioning signal for the cantilevered monorail vehicle.
Preferably, said positioning, by said position processor, said cantilevered monorail vehicle based on said first and/or second encoded signals comprises:
acquiring, by the position processor, an intermediate value of the first encoded signal and the second encoded signal based on the first encoded signal and the second encoded signal, and converting the intermediate value as a positioning signal of the cantilevered monorail vehicle.
Preferably, after said positioning, by said position processor, said cantilevered monorail vehicle based on said first and/or second encoded signals, further comprises:
acquiring, by the position processor, a time taken by the cantilevered monorail vehicle from a starting position to a target position, the target position being a position corresponding to when the cantilevered monorail vehicle is positioned;
and obtaining the speed information of the cantilever type monorail vehicle based on the time and the positioning signal corresponding to the target position.
Preferably, said crossed induction loop is laid all the way on said cantilevered monorail; or in a spaced-apart manner on said cantilevered monorail.
Preferably, said address generator of each section of crossed induction loop is re-encoded by the spacing distance as said crossed induction loops are laid down on said cantilevered monorail in a spaced pattern.
In a second aspect, the present invention also provides a position processor for a cantilevered monorail vehicle, for use in a cantilevered monorail positioning system, the cantilevered monorail positioning system comprising: lay the cross induction loop on the cantilever type monorail, the position treater that sets up on the cantilever type monorail vehicle and the first induction antenna that sets up on the locomotive of cantilever type monorail vehicle and the second induction antenna that sets up at the rear of a vehicle, the head end of cross induction loop is provided with address generator, is used for cross induction loop provides the alternating signal of telecommunication, cross induction loop produces different coded signal in the position of difference, the position treater includes:
an acquisition module, configured to acquire a first encoded signal that the first sensing antenna senses a first position of the crossed sensing loop and a second encoded signal that the second sensing antenna senses a second position of the crossed sensing loop while the cantilevered monorail vehicle moves along the cantilevered monorail, where a preset distance is satisfied between the first position and the second position;
a positioning module for positioning the cantilevered monorail vehicle based on the first and second encoded signals.
In a third aspect, the present invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above-mentioned method steps when executing the program.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the above method steps.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a positioning method of a cantilever type monorail vehicle, which is applied to a cantilever type monorail positioning system, and the cantilever type monorail positioning system comprises the following steps: the positioning method comprises the steps that an alternating electric signal is provided for the crossed induction loop through the address generator, and the crossed induction loop generates different coding signals at different positions; when the cantilever type monorail vehicle moves along the cantilever type monorail, a first coding signal which is sensed by a first sensing antenna to a first position on a cross sensing loop and a second coding signal which is sensed by a second sensing antenna to a second position on the cross sensing loop are obtained through a position processor, and a preset distance is met between the first position and the second position; the cantilever type monorail vehicle is positioned through the position processor based on the first coding signal and/or the second coding signal, and positioning accuracy of the cantilever type monorail vehicle is improved through the two induction antennas.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 shows a schematic structural view of a cantilevered monorail positioning system in an embodiment of the present invention;
FIG. 2 is a schematic illustration showing the steps of a method of positioning a cantilevered monorail vehicle in an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the relative position relationship between the cross induction loop and the induction antenna in the embodiment of the present invention;
FIG. 4 shows a schematic overall structure of the cantilevered monorail positioning system in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a position processor of the cantilevered monorail vehicle in an embodiment of the present invention;
fig. 6 shows a schematic structural diagram of a computer device for implementing the positioning method of the cantilevered monorail vehicle in the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
An embodiment of the present invention provides a positioning method for a cantilevered monorail vehicle, which is applied to a cantilevered monorail positioning system, as shown in fig. 1, the cantilevered monorail positioning system comprises: the positioning method comprises the steps of laying a crossed induction loop 101 on a cantilever type monorail, a position processor 102 arranged on the cantilever type monorail vehicle, a first induction antenna 103 arranged at the head of the cantilever type monorail vehicle and a second induction antenna 104 arranged at the tail of the cantilever type monorail vehicle, wherein an address generator 105 is arranged at the head end of the crossed induction loop 101, and as shown in fig. 2, the positioning method comprises the following steps:
s201, providing an alternating electric signal for the cross induction loop 101 through the address generator 105, wherein different coding signals are generated at different positions on the cross induction loop 101;
s202, when the cantilever type monorail vehicle moves along the cantilever type monorail, a first coding signal of a first position on a cross induction loop line sensed by a first induction antenna and a second coding signal of a second position on the cross induction loop line sensed by a second induction antenna are obtained through a position processor, and a preset distance is met between the first position and the second position.
S203, positioning the cantilevered monorail vehicle based on the first coded signal and/or the second coded signal by the position processor 102.
The specific realization principle is as follows: the positioning method mainly adopts an electromagnetic induction principle to detect the position of the cantilever type monorail vehicle, the address generator sends an alternating electric signal into a cross induction loop laid along the cantilever type monorail, so that the cross induction loop 101 generates an alternating electromagnetic field, different coding signals are generated at different positions of the cross induction loop 101, and when the cantilever type monorail vehicle runs, an induction antenna on the vehicle determines the position of the cantilever type monorail vehicle by receiving a magnetic field signal generated by the cross induction loop 101.
In S201, the address generator 105 provides a continuous alternating electrical signal to the cross-sense loop 101, and different positions on the cross-sense loop 101 generate different encoding signals.
This cross induction loop 101 specifically is flat banded structure to fixed also avoids causing the not high problem of positioning accuracy because adopt the circular structure can appear twisting the condition.
During the movement of the cantilevered monorail vehicle along the cantilevered monorail, a first induction antenna 103 arranged on the head of the cantilevered monorail vehicle and a second induction antenna 104 arranged on the tail of the cantilevered monorail vehicle can sense coded signals generated by the crossed induction loop 101 corresponding to different positions of the first induction antenna 103 and the second induction antenna 104.
The first sensing antenna 103 and the second sensing antenna 104 sense the analog signals with binary system and other types of coded signals, the first sensing antenna 103 and the second sensing antenna 104 can both sense the coded signals at corresponding positions, and the coded signals can represent different positions.
In S202, the position processor 102 can obtain a first encoding signal that the first sensing antenna 103 can sense a first position on the cross-sense loop 101, and a second encoding signal that the second sensing antenna 104 can sense a second position on the cross-sense loop 102. Wherein, the first position and the second position satisfy a preset distance.
The first inductive antenna 103 and the second inductive antenna 104 are further connected to a processing circuit, and the processing circuit includes: the device comprises a filtering amplifying circuit, a shaping circuit, a comparison circuit and a single chip microcomputer circuit, and is used for processing the coded signals of the corresponding positions respectively sensed by the first sensing antenna and the second sensing antenna.
Next, the position processor 102 determines the first encoded signal and the second encoded signal after the processing, that is, determines whether a preset difference value is satisfied between the first encoded signal and the second encoded signal based on the first encoded signal and the second encoded signal, where the preset difference value is related to a preset distance.
For example, the first encoded signal is 1 after analog-to-digital conversion, and the second encoded signal is 13 after analog-to-digital conversion, so that the difference between the first encoded signal and the second encoded signal is 12, and since the preset difference is 12, which is related to the distance from the vehicle head to the vehicle tail, the preset difference is satisfied between the first encoded signal and the second encoded signal. Of course, if the preset difference is not satisfied, the acquired signal is considered to be incorrect.
And when the preset difference value is met, executing the step of positioning the cantilever type monorail vehicle.
I.e. when the preset difference is satisfied between the first coded signal and the second coded signal, S203 is executed to locate the cantilevered monorail vehicle based on the first coded signal and/or the second coded signal by the position processor 102.
As shown in fig. 3, the cross induction loop 101 and the induction antenna are arranged in a relative position relationship, and a cross induction loop insulating support is provided on the track beam upper support plate, and the cross induction loop 101 is formed on the insulating support. A first inductive antenna 103 or a second inductive antenna 104 on a corresponding cantilevered monorail vehicle bogie.
As shown in fig. 4, the cantilever-type monorail vehicle is further provided with two address detection function modules 106, which are respectively used for receiving the processed first coded signal and the processed second coded signal, and obtaining first positioning information of a head of the corresponding cantilever-type monorail vehicle and second positioning information of a tail of the corresponding cantilever-type monorail vehicle based on the first coded signal.
Specifically, there are two positioning methods:
first, the first encoded signal or the second encoded signal is converted by the position processor 102 to be the positioning signal of the cantilevered monorail vehicle.
That is, the head positioning code of the cantilevered monorail vehicle can be used as the positioning signal of the entire cantilevered monorail vehicle, and the tail positioning code of the cantilevered monorail vehicle can also be used as the positioning signal of the entire cantilevered monorail vehicle.
Secondly, an intermediate value of the first encoding signal and the second encoding signal is obtained by the position processor 102 based on the first encoding signal and the second encoding signal, and the intermediate value is converted to be used as a positioning signal of the cantilever type monorail vehicle.
For example, when the first encoded signal is 1 and the second encoded signal is 13, the intermediate value is 7. Therefore, this intermediate value 7 is taken as a positioning signal for the cantilevered monorail vehicle.
In the present invention, the crossed induction loops 101 are laid all the way on the cantilevered monorail or in a spaced pattern.
The address generator 105 at the head end is encoded in a manner as the cross-sense loop 101 is laid all the way down on the cantilevered monorail. Thus, a first coded signal sensed by the first sensing antenna 103 on the cantilevered monorail car at a first position on the cross-over sensing loop 101 and a second coded signal sensed by the second sensing antenna 104 at a second position on the cross-over sensing loop 101 are coded according to the same rule.
When the cross induction loop 101 is laid on the cantilever type monorail in a spaced form, the encoder can encode according to different modes, for example, the address generator 105 at the head end of the first section of the cross induction loop starts encoding from 0, the second section of the cross induction loop is spaced from the first section of the cross induction loop by a preset distance, the address generator at the head end of the second section of the cross induction loop is spaced from the tail end of the first section of the cross induction loop by a preset distance, and the address generator at the head end of the second section of the cross induction loop needs to encode again according to the preset distance, namely encoding is not started from 0, but encoding is performed according to the length of the preset distance. Of course, the third cross-induction loop is similar, and will not be described in detail herein.
The length of each cross-induction loop is about 100m, but it is also possible to extend the length of each cross-induction loop according to specific situations, and this is not limited in particular.
The cantilever type monorail trolley is paved on a cantilever type monorail in an interval mode, cost can be reduced, and the crossed induction loop line is paved in a position area with high precision requirement, so that the position with low precision requirement is free, and the utilization rate of materials can be improved.
Therefore, after S203, the method further includes: acquiring time spent by the cantilever type monorail vehicle from a starting position to a target position through a position processor 102, wherein the target position is a position corresponding to the positioning of the cantilever type monorail vehicle; and obtaining the speed information of the cantilever type monorail vehicle based on the time and the positioning signal corresponding to the target position.
And obtaining the speed information of the cantilever type monorail vehicle through the positioning information and the time information. The speed information and the positioning information facilitate operations such as scheduling of the cantilevered monorail system.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a positioning method of a cantilever type monorail vehicle, which is applied to a cantilever type monorail positioning system, wherein the cantilever type monorail positioning system comprises the following steps: the positioning method comprises the following steps of laying a crossed induction loop line on a cantilever type monorail, a position processor arranged on the cantilever type monorail vehicle, a first induction antenna arranged on the head of the cantilever type monorail vehicle and a second induction antenna arranged at the tail of the cantilever type monorail vehicle, wherein an address generator is arranged at the head end of the crossed induction loop line, and the positioning method comprises the following steps: providing alternating electric signals for the cross induction loop through an address generator, and generating different coding signals at different positions on the cross induction loop; when the cantilever type monorail vehicle moves along the cantilever type monorail, a first coding signal which is sensed by a first sensing antenna to a first position on a cross sensing loop and a second coding signal which is sensed by a second sensing antenna to a second position on the cross sensing loop are obtained through a position processor, and a preset distance is met between the first position and the second position; the cantilever type monorail vehicle is positioned through the position processor based on the first coding signal and/or the second coding signal, and then the coding information used for positioning is obtained through a magnetic induction mode, so that the positioning information is obtained, and the positioning accuracy is improved.
Example two
Based on the same inventive concept, the invention also provides a position processor of the cantilever type monorail vehicle, which is applied to a cantilever type monorail positioning system, wherein the cantilever type monorail positioning system comprises: lay the cross induction loop on the cantilever type monorail, the position treater that sets up on the cantilever type monorail vehicle and the first induction antenna that sets up on the locomotive of cantilever type monorail vehicle and the second induction antenna that sets up at the rear of a vehicle, the head end of cross induction loop is provided with address generator, is used for cross induction loop provides the alternating signal of telecommunication, produces different coded signal in the position of difference on the cross induction loop, as shown in fig. 5, the position treater includes:
an obtaining module 501, configured to obtain a first coded signal that the first sensing antenna senses a first position on the crossed sensing loop and a second coded signal that the second sensing antenna senses a second position on the crossed sensing loop when the cantilevered monorail vehicle moves along the cantilevered monorail, where a preset distance is satisfied between the first position and the second position;
a positioning module 502 for positioning the cantilevered monorail vehicle based on the first and/or second encoded signals.
In an optional embodiment, the method further comprises: a determination module configured to:
judging whether a preset difference value is met between the first coding signal and the second coding signal or not based on the first coding signal and the second coding signal, wherein the preset difference value is related to the preset distance; if so, executing the step of positioning the cantilever type monorail vehicle.
In an alternative embodiment, the positioning module 502 is configured to:
and converting the first coding signal or the second coding signal to be used as a positioning signal of the cantilever type monorail vehicle.
In an alternative embodiment, the positioning module 502 is configured to:
acquiring an intermediate value of the first encoding signal and the second encoding signal based on the first encoding signal and the second encoding signal, and converting the intermediate value to be used as a positioning signal of the cantilever type monorail vehicle.
In an optional embodiment, the method further comprises: a speed acquisition module to:
acquiring time taken by the cantilevered monorail vehicle from a starting position to a target position, wherein the target position is a position corresponding to the cantilevered monorail vehicle when the cantilevered monorail vehicle is positioned; and obtaining the speed information of the cantilever type monorail vehicle based on the time and the positioning signal corresponding to the target position.
In an alternative embodiment, the crossed induction loop is laid all the way on the cantilevered monorail; or in a spaced-apart manner on said cantilevered monorail.
In an alternative embodiment, the address generator of each segment of the crossed induction loop is re-encoded by the spacing distance as the crossed induction loop is laid down on the cantilevered monorail in a spaced-apart fashion.
EXAMPLE III
Based on the same inventive concept, an embodiment of the present invention provides a computer apparatus, as shown in fig. 6, including a memory 604, a processor 602, and a computer program stored on the memory 604 and executable on the processor 602, wherein the processor 602, when executing the program, implements the steps of the positioning method of the cantilevered monorail vehicle described above.
Where in fig. 6 a bus architecture (represented by bus 600) is shown, bus 600 may include any number of interconnected buses and bridges, and bus 600 links together various circuits including one or more processors, represented by processor 602, and memory, represented by memory 604. The bus 600 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 606 provides an interface between the bus 600 and the receiver 601 and transmitter 603. The receiver 601 and the transmitter 603 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 602 is responsible for managing the bus 600 and general processing, and the memory 604 may be used for storing data used by the processor 602 in performing operations.
Example four
Based on the same inventive concept, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, performs the steps of the above-described method for positioning a cantilevered monorail vehicle.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the position processor, computer device, or the cantilevered monorail vehicle in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A positioning method of a cantilevered monorail vehicle is applied to a cantilevered monorail positioning system, and the cantilevered monorail positioning system comprises the following steps: the positioning method comprises the following steps of laying a crossed induction loop line on a cantilever type monorail, a position processor arranged on the cantilever type monorail vehicle, a first induction antenna arranged on the head of the cantilever type monorail vehicle and a second induction antenna arranged at the tail of the cantilever type monorail vehicle, wherein an address generator is arranged at the head end of the crossed induction loop line, and the positioning method comprises the following steps:
providing alternating electrical signals to the cross induction loop wires through the address generator, wherein different coding signals are generated on the cross induction loop wires at different positions;
acquiring, by the position processor, a first encoded signal sensed by the first sensing antenna to a first position on the crossed sensing loop and a second encoded signal sensed by the second sensing antenna to a second position on the crossed sensing loop as the cantilevered monorail vehicle moves along the cantilevered monorail, the first position and the second position satisfying a predetermined distance therebetween;
positioning, by the position processor, the cantilevered monorail vehicle based on the first and/or second encoded signals.
2. The method for locating according to claim 1, wherein before locating the cantilevered monorail vehicle based on the first and second encoded signals by the position processor, further comprising:
determining, by the position processor, whether a preset difference is satisfied between the first encoded signal and the second encoded signal based on the first encoded signal and the second encoded signal, the preset difference being associated with the preset distance;
if so, executing the step of positioning the cantilever type monorail vehicle.
3. The method for locating according to claim 1, wherein said locating, by said position processor, said cantilevered monorail vehicle based on said first and/or second encoded signals comprises:
converting, by the position processor, the first encoded signal or the second encoded signal as a positioning signal for the cantilevered monorail vehicle.
4. The method for locating according to claim 1, wherein said locating, by said position processor, said cantilevered monorail vehicle based on said first and/or second encoded signals comprises:
acquiring, by the position processor, an intermediate value of the first encoded signal and the second encoded signal based on the first encoded signal and the second encoded signal, and converting the intermediate value as a positioning signal of the cantilevered monorail vehicle.
5. The positioning method as set forth in claim 3 or 4, further comprising, after positioning the cantilevered monorail vehicle based on the first and second encoded signals by the position processor:
acquiring, by the position processor, a time taken by the cantilevered monorail vehicle from a starting position to a target position, the target position being a position corresponding to when the cantilevered monorail vehicle is positioned;
and obtaining the speed information of the cantilever type monorail vehicle based on the time and the positioning signal corresponding to the target position.
6. The positioning method according to claim 1, characterized in that said crossed induction loop is laid all the way on said cantilevered monorail; or in a spaced-apart manner on said cantilevered monorail.
7. The method for locating as in claim 6, wherein said address generator of each section of crossed inductive loops is re-encoded by a spacing distance as said crossed inductive loops are laid down on said cantilevered monorail in a spaced-apart fashion.
8. A position processor for a cantilevered monorail vehicle for use in a cantilevered monorail positioning system, the cantilevered monorail positioning system comprising: lay the cross induction loop on the cantilever type single track, the position treater that sets up on the cantilever type single track vehicle and the first induction antenna that sets up on the locomotive of cantilever type single track vehicle and the second induction antenna that sets up at the rear of a vehicle, the head end of cross induction loop is provided with address generator, is used for doing cross induction loop provides the alternating signal of telecommunication, different positions on the cross induction loop produce different coded signal, its characterized in that, the position treater includes:
an acquisition module, configured to acquire a first encoded signal that the first sensing antenna senses a first position of the crossed sensing loop and a second encoded signal that the second sensing antenna senses a second position of the crossed sensing loop while the cantilevered monorail vehicle moves along the cantilevered monorail, where a preset distance is satisfied between the first position and the second position;
a positioning module for positioning the cantilevered monorail vehicle based on the first and second encoded signals.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method steps of any of claims 1-7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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