CN1769845A - Method for detecting position and speed of object moving along orbit - Google Patents
Method for detecting position and speed of object moving along orbit Download PDFInfo
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- CN1769845A CN1769845A CN 200510031783 CN200510031783A CN1769845A CN 1769845 A CN1769845 A CN 1769845A CN 200510031783 CN200510031783 CN 200510031783 CN 200510031783 A CN200510031783 A CN 200510031783A CN 1769845 A CN1769845 A CN 1769845A
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Abstract
The invention discloses a method for detecting position and velocity of objects moving along track. The inventive method comprises: designing a positioning rate measurement system which comprises a gullet board, a plurality of partition detectors and a processor. The positioning rate measurement system can also comprises a gullet board and partition detectors. When the gullet board, a passive light blocking device, moves relatively to the partition detector, the partition detector calculates vehicle relative movement according to the changing times of positioning status and judges the moving direction of objects according to the shift sequence of positioning status in circular table. The processor combines all the signals detected by partition detectors and calculates the position and velocity of moving objects.
Description
Technical field
The present invention relates to a kind of position of mobile object and method of speed of detecting, particularly a kind of in ground detection along the position of track mobile object such as vehicle and the method for speed.
Background technology
Positioning speed-measuring system is the important component part of rail vehicle operation control system, has all carried out big quantity research both at home and abroad.Positioning-speed-measuring equipment commonly used has mileometer, radar and GPS etc.Mileometer is the mechanical positioning measuring equipment of traditional wheeled vehicle, utilizes the principle accumulative total vehicle movement of similar mechanical clock, and this method has cumulative errors, is subjected to weather, the influence of topography big, the location that only is applicable to the ground wheel track vehicle with test the speed.Radar is mainly used in early warning, navigation, location and detection, and the military radar investigative range reaches hundreds of even thousands of kilometer, can follow the tracks of hundreds of targets simultaneously, but equipment is huge, technical sophistication, cost are higher; Civilian velocity radar is mainly used in traffic administration, can test the speed to intended target, but this instrument effective range is little, and less than is hundred meters usually.GPS is the global position system that provides accurate location to set up for US military, and military GPS bearing accuracy can reach 1 meter, is mainly used to determine and follows the tracks of the soldier in advancing and the coordinate of equipment in the open air, for military aircraft, warship provide position and navigation information etc.; About 10 meters of civilian GPS bearing accuracy mainly is used in the exploration drawing, aviation, marine navigation, vehicle tracing system, aspects such as mobile computer and cell phone platform; The GPS network coverage whole world, condition of work are subjected to weather, the influence of topography little, and the positioning-speed-measuring that is fit to traffic above-ground under the various open-air conditions is used; GPS requires anchor point to be covered by the signal of 4 satellites at least, thereby can't work at environment such as underground and tunnels.Common rail vehicle positioning-speed-measuring method has: (1) microwave positioning is tested the speed; (2) proximity transducer positioning-speed-measuring; (3) cross-inductive loop line positioning-speed-measuring.Wherein, microwave positioning is tested the speed similar with radar velocity measurement; Proximity transducer positioning-speed-measuring method utilizes sensor that the counting of the special marking thing on the track is realized locating and testing the speed, location that obtains and rate signal generally are sent to the control center on ground with wireless mode, for example, in the positioning speed-measuring system of magnetic-levitation train, just adopt number sleeper and number teeth groove method.The cross-inductive line reversal method is utilized the loop cable that is connected with alternating current on the track magnetic field that changes, and cyclical variation just can be judged vehicle movement to the induced potential when vehicle moves on the vehicle-mounted coil in view of the above with the position difference.The present invention proposes a kind of be used to the to detect object space that moves along track and the method for speed, its principal feature be checkout equipment on ground, therefore directly obtain the position and the speed of object on ground.This method has higher measuring accuracy and antijamming capability, and cost is low and be convenient to realize, is applicable to the location of mobile object on specific rail vehicle or the production line and tests the speed.
Summary of the invention
The technical problem to be solved in the present invention is to propose a kind of be used to the to detect object space that moves along track and the method for speed.This method has higher measuring accuracy and antijamming capability, and cost is low and be convenient to realize.
Technical solution of the present invention is based on the baffle-type printing opacity principle judgment object that is in the light and relatively moves, to the object enforcing location and the velocity survey of moving along track.Concrete grammar is positioning speed-measuring system of design, by positioning speed-measuring system the object that moves along track is positioned and velocity survey.The design proposal of positioning speed-measuring system has two kinds, a kind ofly form by teeth groove plate, a plurality of partition detector and Upper Processor three parts, the teeth groove plate is installed on the mobile object, partition detector is installed in orbit, and the spacing of adjacent two partition detector is less than the length of teeth groove plate, the Upper Processor fixed installation links to each other by cable with a plurality of partition detector; Another kind is made up of teeth groove plate and partition detector, and the teeth groove plate is installed in orbit, and partition detector is installed on the mobile object.
The position and the velocity information that directly obtain testee if desired on ground are then selected design proposal one for use; If need on mobile object, obtain self-position and speed then can be selected design proposal two for use, requirement this moment mounting teeth frid on the whole rail circuit.
The teeth groove plate is in the light and printing opacity to light path, and it is an inactive component, is made by dark opaque material, and the teeth groove of teeth groove plate is a rectangle, and all facewidth equate that all groove widths equate that also the facewidth and groove width can equate, also can not wait.Facewidth and groove width have constituted the Cycle Length L of a teeth groove.
Partition detector is made up of infrared emission plate, infrared dash receiver and logical process plate.Infrared emission plate and infrared dash receiver are installed on the two sides madial wall of partition detector over against ground face-to-face, the logical process plate is installed at the bottom of the partition detector box, the infrared emission plate links to each other with power supply on the logical process plate, and infrared dash receiver links to each other with signal deteching circuit interface on the logical process plate.On infrared emission plate and the infrared dash receiver over against ground, equally spacedly a plurality of infrared transmitters and infrared remote receiver be installed, on the space over against an infrared transmitter and an infrared remote receiver constitute a cover infrared tube.For moving of correct detection teeth groove plate, requiring the distances of adjacent two cover infrared tubes is not the integral multiple of the teeth groove plate facewidth or groove width.Infrared transmitter emission infrared light, infrared remote receiver detects the infrared light that its opposite infrared transmitter sends, if be not in the light object between infrared transmitter and the infrared remote receiver, infrared remote receiver just can detect the infrared light that infrared transmitter sends, on the contrary then detect less than.When the teeth groove plate when partition detector moves, the conductive characteristic of infrared remote receiver because of teeth groove be in the light and the printing opacity effect change repeatedly.The logical process plate is by signal deteching circuit, microprocessor and output interface circuit are formed, signal deteching circuit links to each other with infrared dash receiver, conducting or cut-off state according to infrared receiving tube produce logic high respectively, low level, high level counterlogic " 1 ", low level counterlogic " 0 ", and this signal is inputed to the I/O mouth of microprocessor, displacement and direction that calculate microprocessor teeth groove plate or partition detector move, and export 1 road displacement pulse signals and 2 road direction signals to interface circuit, go back the output speed signal in case of necessity, direction 1 and direction 2 signals have " 01 ", " 10 ", " 11 " and " 00 " are totally 4 kinds of combinations of states, respectively expression " forward ", " oppositely ", " STOP " and " no car ".
Location and the ultimate principle that tests the speed are: when teeth groove plate and partition detector generation relative motion, because be in the light and the printing opacity effect of teeth groove cause the infrared remote receiver photoelectric characteristic to change, the signal deteching circuit in the logical process plate is according to the different logic level of this characteristic variations output of infrared remote receiver; Teeth groove plate or partition detector are continuous when mobile, the logic level of signal deteching circuit output has formed square wave---be called position pulse, if the many covers of configuration infrared tube in partition detector, signal deteching circuit is just exported the multichannel position pulse, and the combination of the logic level of each road position pulse signal is called one group " positioning states " under the synchronization.The every Moving Unit distance of the relative partition detector of teeth groove plate, positioning states just changes once, therefore, just can calculate the rate of travel of object according to the change frequency of detected positioning states.Simultaneously, can judge teeth groove plate moving direction according to the phase relation of any two-way position pulse; In addition, along with teeth groove plate constantly moving relative to partition detector, positioning states is a circulation change, the positioning states that might occur form " cycle of states table ", also can judge according to the order that positioning states shifts in circular list along the moving direction of track mobile object.In addition, can also calculate the speed of movement of objects according to the displacement of unit interval internal tooth frid.In second kind of scheme, a partition detector is with regard to the teeth groove plate on the energy continuous detecting track, so it can utilize said method to calculate the displacement and the speed of object; And in first kind of scheme, the length of teeth groove plate is restricted, many partition detector need be installed in orbit to guarantee that vehicle all has at least a partition detector to detect the teeth groove plate at an arbitrary position, after merging, many detected signal demands of partition detector just can produce effective positioning signal, therefore displacement and direction signal that Upper Processor receives all partition detector outputs need be set, and these signals are carried out fusion treatment, calculate the position coordinates of object.
The method that microprocessor in the partition detector calculates the movement of objects distance is: judge moving of teeth groove plate according to the variation of positioning states, the every variation of positioning states 1 time has been moved unit distance with regard to the corresponding teeth frid, and with the displacement pulse signals upset once.Microprocessor judges that the movement of objects direction has 2 kinds of methods: (1) judges the movement of objects direction based on the phase relation of any two-way position pulse.When the teeth groove plate with different directions when partition detector moves, the phase-lead of two-way position pulse relation is just the opposite, by detecting the positive and negative moving direction that can determine object of two-way position pulse phase differential.(2) based on the cycle of states list deciding movement of objects direction of positioning states.When the teeth groove plate with different directions when partition detector moves, positioning states changes one by one according to the cycle of states table, and the state transitions direction is corresponding with the movement of objects direction, by judging current time and historical juncture two groups of positions of positioning states in circular list, i.e. moving directions of decidable object.
In scheme 1, the microprocessor in the partition detector just produces corresponding displacement and direction signal according to the position pulse signal, does not calculate the displacement and the speed of object, and its processing procedure is:
(1) reads the state of current all infrared remote receivers, be combined as current state;
(2) compare the historic state of preserving in current state and the historic state storer, if identical, then the writ attitude keeps counter SK to increase by 1, and output " no car " or " STOP " signal changes (5) after judging; Otherwise it is 0 that the writ attitude keeps counter SK, continues to carry out;
(3) seek the position P of current state in state transition diagram,, judge that then the movement of objects direction is " forward " if historic state is identical with the state in position P left side; If historic state is identical with the state on P right side, position, judge that then the movement of objects direction is " oppositely "; If all different, then put error flag, declare to failure;
(4) upset of the dfisplacement pulse of output is 1 time, and Upper Processor calculates the displacement of object with this; And current state is updated to the historic state storer, change then (1);
(5) fault processing.
In scheme 1, Upper Processor just can produce effective positioning signal with after many detected signal fused of partition detector.Upper Processor receives the displacement and the direction signal of all partition detector, at first therefrom chooses current time and detects the partition detector of teeth groove plate as efficient zoned detecting device; When detecting many partition detector when effective, be chosen in partition detector the most forward on the current direct of travel as the efficient zoned detecting device of reality; Then, according to the dfisplacement pulse of actual efficient zoned detecting device and the displacement that direction signal calculates the teeth groove plate, method is: the positive dirction of definition movement of objects and in the other direction, and when object moved along positive dirction, the every variation of dfisplacement pulse 1 time was with regard to the positive displacement of corresponding unit; When in the other direction mobile, the every variation of dfisplacement pulse 1 time is with regard to corresponding unit negative displacement.Like this,, then can calculate the position of object, realize the location by the displacement meter that adds up if certain fixed position is a reference point on the selected track.Similarly, just calculated movement of objects speed according to the displacement in the unit interval.
In scheme 2, partition detector directly calculates ohject displacement and speed, and its processing procedure is:
(1) reads the state of current all infrared remote receivers, be combined as current state;
(2) compare the historic state of preserving in current state and the historic state storer, if identical, then the writ attitude keeps counter SK to increase by 1, and output " no car " or " STOP " signal changes (6) after judging; Otherwise it is 0 that the writ attitude keeps counter SK, continues to carry out;
(3) seek the position P of current state in state transition diagram,, judge that then the movement of objects direction is " forward " if historic state is identical with the state in position P left side; If historic state is identical with the state on P right side, position, judge that then the movement of objects direction is " oppositely "; If all different, then put error flag, declare to failure;
(4) if object moves along positive dirction, then displacement increases unit value; If object is along moving in the other direction, then displacement reduces unit value; And utilize the time interval of unit displacement amount divided by double state variation, calculate the translational speed of object;
(5) current state is updated to the historic state storer, changes then (1);
(6) fault processing.
The bearing accuracy of positioning speed-measuring system is by the change frequency decision of infrared remote receiver combinations of states in the teeth groove Cycle Length.When adopting 1 cover infrared tube, the teeth groove plate teeth groove Cycle Length L that whenever relatively moves, position pulse changes 2 times, can detected full accuracy be L/2.In order to improve accuracy of detection, the present invention is provided with N cover infrared tube in partition detector, when teeth groove plate and partition detector relatively move a teeth groove Cycle Length L, every road position pulse all changes 2 times, there is certain phase difference between these pulses, positioning states will change 2N time, so accuracy of detection is increased to: L/ (2N).
Adopt the present invention can reach following beneficial effect:
1. employing the present invention can obtain position and the speed along the track mobile object;
2. bearing accuracy=L/ (tricks of 2 * infrared tube), by the tricks decision of L and infrared tube, bearing accuracy can be accomplished to design as required with the accuracy requirement setting and the adjustment of track moving object position and speed, and precision is very high, can reach the cms magnitude.
3. adopt position and the speed of the infrared sensitization mechanism detection of raster pattern, measure contactless, nothing machinery wearing and tearing, be subjected to the weather and the influence of topography little, and anti-electromagnetic interference capability is strong along the track mobile object;
4. the present invention is easy to realize, detects reliable, is applicable to the location of mobile object on rail vehicle or the production line and tests the speed.
Description of drawings
Fig. 1 is the structural representation of positioning speed-measuring system of the present invention;
Fig. 2 is the teeth groove plate outside drawing of positioning speed-measuring system of the present invention;
Fig. 3 is the contour structures synoptic diagram of partition detector of the present invention;
Fig. 4 is the logical process of the partition detector of the present invention composition that hardens;
Fig. 5 is that the relative partition detector of teeth groove plate of the present invention is moved to the left synoptic diagram;
Fig. 6 is the relative partition detector of teeth groove plate of the present invention infrared remote receiver timing chart when being moved to the left;
Fig. 7 is the relative partition detector of the teeth groove plate of the present invention synoptic diagram that moves right;
Fig. 8 is the relative partition detector of teeth groove plate of the present invention infrared remote receiver timing chart when moving right;
Fig. 9 is the relative partition detector of teeth groove plate of the present invention infrared remote receiver state transition diagram when being moved to the left;
Figure 10 is that teeth groove plate of the present invention moves synoptic diagram relative to two partition detector;
Figure 11 be in the partition detector of the present invention microprocessor to position pulse signal processing flow figure;
Figure 12 is displacement and the direction signal processing flow chart of Upper Processor of the present invention to partition detector output.
Embodiment
Fig. 1 is the structural representation of the present invention's positioning speed-measuring system when adopting embodiment 1.Positioning speed-measuring system is made up of teeth groove plate 3, partition detector 1 and Upper Processor 2 three parts.Teeth groove plate 3 is the passive equipment that is in the light that dark opaque material is made, and the teeth groove of teeth groove plate is a rectangle, and all facewidth equate that all groove widths equate that also the facewidth and groove width can be taken as equal, also can not be taken as and wait.Teeth groove plate 3 is installed on the object 4 that moves along track, and partition detector 1 is installed in orbit.Upper Processor 2 generally is installed in ground.All partition detector 1 link to each other with Upper Processor 2 by cable.
Fig. 2 is a teeth groove plate profile of the present invention, and facewidth m and groove width n constitute teeth groove Cycle Length L, i.e. a L=m+n.
Fig. 3 is the contour structures synoptic diagram of partition detector of the present invention.Partition detector 1 is made up of infrared emission plate 5, infrared dash receiver 6 and logical process plate 7, and infrared emission plate 5 links to each other with power supply on the logical process plate 7, and infrared dash receiver 6 links to each other with signal deteching circuit interface on the logical process plate 7.A plurality of infrared transmitters 8 are installed on the infrared emission plate 5, a plurality of infrared remote receivers 9 are installed on the infrared dash receiver 6.Infrared transmitter 8 and infrared remote receiver 9 are correspondingly over against installation, if be not in the light object between infrared transmitter 8 and the infrared remote receiver 9, infrared remote receiver 9 just can detect the signal that infrared transmitter 8 sends, on the contrary then detect less than.
Fig. 4 is the present invention's logical process of partition detector composition that hardens when adopting scheme 1.The logical process plate is made up of signal deteching circuit, microprocessor and output interface circuit.Signal deteching circuit links to each other with infrared dash receiver, conducting or cut-off state according to infrared receiving tube produce logic high, low level respectively, high level counterlogic " 1 ", low level counterlogic " 0 ", and this signal is inputed to the I/O mouth of microprocessor, through after the microprocessor processes, carry-out bit shifting signal and direction 1 and direction 2 signals are gone back the output speed signal in case of necessity to interface circuit.Direction 1 and direction 2 signals have " 01 ", " 10 ", " 11 " and " 00 " totally 4 kinds of combinations of states, respectively expression " forward ", " oppositely ", " STOP " and " no car ".These signals are sent to Upper Processor after amplifying through the isolation of output interface circuit.Partition detector directly calculates ohject displacement and speed during employing scheme 2, and signal is directly exported, and does not connect bit processor.
Fig. 5 is that the relative partition detector of teeth groove plate is moved to the left synoptic diagram among the embodiment, and wherein, A, B, C, D represent 4 cover infrared tubes respectively.Fig. 6 is the relative partition detector of teeth groove plate four position pulse oscillograms that infrared receiving tube A, B, C, D produce when being moved to the left.The logic level of synchronization four road position pulses is formed one group " positioning states "; Along with moving of teeth groove plate, positioning states is followed successively by " 1010 ", " 0010 ", " 0110 ", " 0100 ", " 0101 ", " 1101 ", " 1001 " reach " 1011 ", and with this varying cyclically.Wherein A moves to left than the leading expression of C.
Fig. 7 is the relative partition detector of the teeth groove plate synoptic diagram that moves right, and wherein, A, B, C, D represent 4 cover infrared tubes respectively.Fig. 8 is the relative partition detector of teeth groove plate four position pulse oscillograms that infrared receiving tube A, B, C, D produce when moving right.Along with moving of teeth groove plate, positioning states is followed successively by " 1010 ", " 1011 ", " 1001 ", " 1101 ", " 0101 ", " 0100 ", " 0110 " reaches " 0010 ", and with this varying cyclically.Wherein C moves to right than the leading expression of A.
For Fig. 5, the positioning states transition diagram that is produced is represented by Fig. 9, and for Fig. 7, corresponding positioning states transition diagram is just in time whole opposite with the direction of arrow among Fig. 9.As seen the positioning states that forms of four road position pulse signal combination has only 8 kinds, and circulation change successively.The direction that positioning states shifts in circular chart is corresponding with the movement of objects direction.The logic level of 4 road position pulses has 16 kinds of combinations of states, except that above-mentioned 8 kinds of positioning states, remaining 8 kinds of state is to occur when the teeth groove plate has just entered or has been about to leave partition detector a bit, other are that it is invalid that these 8 kinds of states all are considered as in the normal error condition that can not occur when mobile of teeth groove plate.
Partition detector is judged displacement of teeth groove plate and moving direction based on the positioning states loop jump figure of Fig. 9.Wherein, the every variation of positioning states 1 time has been moved unit distance with regard to the corresponding teeth frid; And just can judge the movement of objects direction according to the relative position of positioning states in loop jump figure of current time and historical juncture.
As Figure 11, the microprocessor of partition detector to position pulse Signal Processing process is:
(1) reads the state of current all infrared remote receivers, be combined as current state;
(2) compare the historic state of preserving in current state and the historic state storer, if identical, then the writ attitude keeps counter SK to increase by 1, and output " no car " or " STOP " signal changes (5) after judging; Otherwise it is 0 that the writ attitude keeps counter SK, continues to carry out;
(3) seek the position P of current state in state transition diagram,, judge that then the movement of objects direction is " forward " if historic state is identical with the state in position P left side; If historic state is identical with the state on P right side, position, judge that then the movement of objects direction is " oppositely "; If all different, then put error flag, declare to failure;
(4) upset of the dfisplacement pulse of output is 1 time, and current state is updated to the historic state storer;
(5) fault processing:
The function of Upper Processor is the displacement and the direction signal of comprehensive all partition detector, calculates the relative position of vehicle.The workflow of Upper Processor is seen Figure 12.Detailed process is as follows:
(1) judges actual efficient zoned detecting device.Upper Processor reads the direction 1 and direction 2 signals of each partition detector, and " STOP ", " forward " or " oppositely " signal are considered as useful signal, and the partition detector of output useful signal is in effective status.When detecting a plurality of partition detector and be in effective status, be chosen in partition detector the most forward on the current direct of travel as the efficient zoned detecting device of reality; For example among Figure 10, current time has 2 partition detector output useful signals, if object travels left, then Upper Processor selection partition detector J1 is actual efficient zoned detecting device; If object is to right travel, then selecting partition detector J2 is actual efficient zoned detecting device.
(2) relative displacement and the speed of calculating mobile object according to the displacement and the direction signal of the efficient zoned detecting device of reality output;
(3) output dfisplacement pulse and direction signal etc. are given other application system, or show;
(4) fault processing;
University of Science and Technology for National Defence adopts the present invention successfully to design a cover positioning speed-measuring system, and the facewidth of its teeth groove plate is 4cm, and groove width is 4cm, and 4 cover infrared tubes are set in the partition detector, and spacing distance is 5cm.Like this, bearing accuracy can reach 1cm ((4+4)/(2 * 4)=1).Microprocessor in the logical process plate adopts the PIC16C54 single-chip microcomputer.Wherein A is than C leading 90 °, and expression moves to left.In the present embodiment, the teeth groove plate is installed on the moving vehicle, and 8 partition detector are installed on the track, and 1 Upper Processor is installed on the ground.8 partition detector all are connected with Upper Processor.Vehicle all has at least 1 partition detector to detect it at an arbitrary position, has 2 partition detector simultaneously it to be detected sometimes, and these 2 partition detector can both be measured useful signal.
Claims (7)
1. detection method along track moving object position and speed, it is characterized in that relatively moving based on the baffle-type printing opacity principle judgment object that is in the light, design a positioning speed-measuring system object that moves along track is carried out relative positioning and velocity survey, positioning speed-measuring system comprises teeth groove plate and partition detector:
1.1 the teeth groove plate is the passive equipment that is in the light, and is made by dark opaque material, the teeth groove of teeth groove plate is a rectangle, all facewidth equate that all groove widths equate that also the facewidth and groove width can equate, also can not wait, facewidth and groove width have constituted the Cycle Length L of a teeth groove;
1.2 partition detector is made up of infrared emission plate, infrared dash receiver and logical process plate; Infrared emission plate and infrared dash receiver are installed on the two sides madial wall of partition detector over against ground face-to-face, the logical process plate is installed at the bottom of the partition detector box, the infrared emission plate links to each other with power supply on the logical process plate, and infrared dash receiver links to each other with signal deteching circuit interface on the logical process plate; On infrared emission plate and the infrared dash receiver over against ground, equally spacedly a plurality of infrared transmitters and infrared remote receiver be installed, on the space over against an infrared transmitter and an infrared remote receiver constitute a cover infrared tube; The distance of adjacent two cover infrared tubes is not the integral multiple of the teeth groove plate facewidth or groove width; Infrared transmitter emission infrared light, infrared remote receiver detects the infrared light that its opposite infrared transmitting tube sends, if be not in the light object between infrared transmitter and the infrared remote receiver, infrared remote receiver just can detect the infrared light that infrared transmitter sends, on the contrary then detect less than; When the teeth groove plate when partition detector moves, the conductive characteristic of infrared remote receiver because of teeth groove be in the light and the printing opacity effect change repeatedly; The logical process plate is made up of signal deteching circuit, microprocessor and output interface circuit, signal deteching circuit links to each other with infrared dash receiver, conducting or cut-off state according to infrared receiving tube produce logic high, low level respectively, high level counterlogic " 1 ", low level counterlogic " 0 ", and this signal is inputed to the I/O mouth of microprocessor, displacement and direction that calculate microprocessor teeth groove plate or partition detector move, and output displacement pulse signals and direction signal be to interface circuit, in case of necessity output speed signal also.
1.3 location and the ultimate principle that tests the speed are: when teeth groove plate and partition detector generation relative motion, because be in the light and the printing opacity effect of teeth groove cause the infrared remote receiver photoelectric characteristic to change, the signal deteching circuit in the logical process plate is according to the different logic level of this characteristic variations output of infrared remote receiver; Teeth groove plate or partition detector move continuously, the logic level of signal deteching circuit output has constituted square wave---be called position pulse, if configuration many covers infrared transmitter and infrared remote receiver in partition detector, signal deteching circuit is just exported the multichannel position pulse, and the combination of the logic level of each road position pulse signal is called one group " positioning states " under the synchronization; The every Moving Unit distance of teeth groove plate or partition detector, positioning states just changes once, just can calculate the rate of travel of vehicle according to the change frequency of detected positioning states; Simultaneously, can judge teeth groove plate moving direction according to the phase relation of any two-way position pulse; In addition, along with teeth groove plate constantly moving relative to partition detector, positioning states is a circulation change, the positioning states that might occur form " cycle of states table ", the order that shifts in circular list according to detected positioning states also can be judged the moving direction of teeth groove plate; In addition, can also calculate the speed of movement of objects according to the displacement of unit interval internal tooth frid.
2. a kind of detection method as claimed in claim 1 along track moving object position and speed, a kind of design proposal that it is characterized in that described positioning speed-measuring system is made up of teeth groove plate, a plurality of partition detector and Upper Processor three parts, the teeth groove plate is installed on the mobile object, partition detector is installed in orbit, and the spacing of adjacent two partition detector is less than the length of teeth groove plate, and Upper Processor fixedly mounts; At this moment, the length of teeth groove plate is restricted, many partition detector need be installed in orbit to guarantee that vehicle all has at least a partition detector to detect the teeth groove plate at an arbitrary position, after merging, many detected signal demands of partition detector just can produce effective positioning signal, therefore displacement and direction signal that Upper Processor receives all partition detector outputs need be set, and these signals are carried out fusion treatment, produce the relative locating signal of object.
3. a kind of detection method as claimed in claim 1 along track moving object position and speed, the another kind of design proposal that it is characterized in that described positioning speed-measuring system is made up of teeth groove plate and partition detector, the teeth groove plate is installed in orbit, and partition detector is installed on the mobile object; This moment, a partition detector just can detect the displacement and the speed of object.
4. a kind of detection method along track moving object position and speed as claimed in claim 1 is characterized in that:
4.1 microprocessor calculates the method for movement of objects distance: relatively moving of teeth groove plate judged in the variation according to positioning states, and the every variation of positioning states 1 time has been moved unit distance with regard to the corresponding teeth frid, and with the displacement pulse signals upset once;
4.2 microprocessor judges that the method for movement of objects direction has 2 kinds:
4.2.1 judge the movement of objects direction based on the phase relation of any two-way position pulse: when the teeth groove plate with different directions when partition detector moves, the phase-lead relation of two-way position pulse is just the opposite, by detecting the positive and negative moving direction that can determine object of two-way position pulse phase differential;
4.2.2 cycle of states list deciding movement of objects direction based on positioning states: when the teeth groove plate with different directions when partition detector moves, positioning states changes one by one according to the cycle of states table, and the state transitions direction is corresponding with the movement of objects direction, by judging current time and historical juncture two groups of positions of positioning states in circular list, i.e. moving directions of decidable object.
5. a kind of detection method as claimed in claim 1 or 2 along track moving object position and speed, the microprocessor that it is characterized in that described partition detector just produces corresponding displacement and direction signal according to the position pulse signal, do not calculate the displacement and the speed of object, its processing procedure is:
(1) reads the state of current all infrared remote receivers, be combined as current state;
(2) compare the historic state of preserving in current state and the historic state storer, if identical, then the writ attitude keeps counter SK to increase by 1, and output " no car " or " STOP " signal changes (5) after judging; Otherwise it is 0 that the writ attitude keeps counter SK, continues to carry out;
(3) seek the position P of current state in state transition diagram,, judge that then the movement of objects direction is " forward " if historic state is identical with the state in position P left side; If historic state is identical with the state on P right side, position, judge that then the movement of objects direction is " oppositely "; If all different, then put error flag, declare to failure;
(4) upset of the dfisplacement pulse of output is 1 time, and current state is updated to the historic state storer;
(5) fault processing.
6. a kind of detection method as claimed in claim 1 or 2 along track moving object position and speed, it is characterized in that described Upper Processor receives the displacement and the direction signal of all partition detector, at first therefrom choose current time and detect the partition detector of teeth groove plate as efficient zoned detecting device; When detecting many partition detector when effective, be chosen in partition detector the most forward on the current direct of travel as the efficient zoned detecting device of reality; Then, according to the dfisplacement pulse of actual efficient zoned detecting device and the displacement that direction signal calculates the teeth groove plate, method is: the positive dirction of definition movement of objects and in the other direction, and when object moved along positive dirction, the every variation of dfisplacement pulse 1 time was with regard to the positive displacement of corresponding unit; When the edge was mobile in the other direction, the every variation of dfisplacement pulse was once with regard to corresponding unit negative displacement; Like this,, then can calculate the position of object, realize the location by the displacement meter that adds up if certain fixed position is a reference point on the selected track; Similarly, just calculated movement of objects speed according to the displacement in the unit interval.
7. as claim 1 or 3 described a kind of detection methods along track moving object position and speed, it is characterized in that described partition detector directly calculates object space and speed, its processing procedure is:
(1) reads the state of current all infrared remote receivers, be combined as current state;
(2) compare the historic state of preserving in current state and the historic state storer, if identical, then the writ attitude keeps counter SK to increase by 1, and output " no car " or " STOP " signal changes (6) after judging; Otherwise it is 0 that the writ attitude keeps counter SK, continues to carry out;
(3) seek the position P of current state in state transition diagram,, judge that then the movement of objects direction is " forward " if historic state is identical with the state in position P left side; If historic state is identical with the state on P right side, position, judge that then the movement of objects direction is " oppositely "; If all different, then put error flag, declare to failure;
(4) if object moves along positive dirction, then displacement increases unit value; If object is along moving in the other direction, then displacement reduces unit value; And utilize the time interval of unit displacement amount divided by double state variation, calculate the translational speed of object;
(5) current state is updated to the historic state storer, changes then (1);
(6) fault processing.
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