CN210554876U

CN210554876U - Mobile positioning device based on color coding and rail transit system

Info

Publication number: CN210554876U
Application number: CN201921220016.8U
Authority: CN
Inventors: 陈锡阳; 陈俊恺
Original assignee: Dongguan Kaidao Technology Co Ltd
Current assignee: Dongguan Kaidao Technology Co Ltd
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2020-05-19
Anticipated expiration: 2029-07-30

Abstract

The utility model discloses a mobile positioning device based on color coding and a rail transit system provided with the mobile positioning device, wherein the mobile positioning device comprises a plurality of coding color band groups and a detection device; the plurality of coding color ribbon groups are arranged at intervals along the extending direction of the monitoring route, and each coding color ribbon group comprises a plurality of color ribbons which are arranged in parallel and have different color sequences; the detection device is arranged on a moving carrier to be monitored, and comprises a support plate, a plurality of groups of color band detection modules are arranged on the support plate, and each color band detection module comprises a plurality of color band detectors; the utility model discloses the concrete key element of mobile location device's detection discernment based on color coding is the colour of typewriter ribbon, has that recognition rate is fast, location coding database is big and do not receive the advantage of the influence of removal carrier vibration a little.

Description

Mobile positioning device based on color coding and rail transit system

Technical Field

The utility model relates to a mobile positioning technical field especially relates to a mobile positioning device and track traffic system based on color coding.

Background

The existing positioning technology commonly uses a satellite positioning system, and has the defects that positioning cannot be carried out in a tunnel, and positioning precision and speed can be influenced by high buildings, viaducts and severe weather.

The PRT system is also called a personal rapid transport system, and the locomotive positioning method is to arrange passive beacons (transducers) according to certain rules on a line according to the characteristics of trains running on fixed tracks. Obtaining the encoding of the beacon by a beacon antenna on the locomotive as the locomotive travels over the passive beacons; and then, relatively accurate position information is obtained according to the code number stored in the locomotive database, and the locomotive continuously updates the position of the locomotive in the running process, thereby realizing the positioning of the locomotive on the line. The limitation of the positioning method is that the positioning accuracy is limited by the distribution distance of the passive beacons, the higher accuracy is difficult to achieve, the cost of the passive beacons is higher when the passive beacons are used for dense road arrangement, and the information processing time delay is difficult to meet the positioning requirement of automatic driving.

In US patent document No. US6029104, a method of positioning by a PRT system using a barcode is disclosed. The method is characterized in that bar codes are arranged on a line guide rail according to a certain rule, codes of the bar codes are obtained on a vehicle through a laser scanner, and position information corresponding to the codes is obtained from a vehicle-mounted database, so that the position of a locomotive can be determined. The information positioning system based on the bar code or the two-dimensional code is an analysis processing system based on the pattern shape, and because the small rail car is difficult to avoid vibration when running at a high speed, the scanning analysis of the bar code or the two-dimensional code is influenced by slight vibration of a car body, the positioning speed is difficult to ensure, and certain hysteresis can often appear in application.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the present invention is to provide a mobile positioning device based on color coding, which has high positioning accuracy, fast speed and is not affected by the micro-amplitude vibration of the carrier.

Another object of the present invention is to provide a rail transit system having a mobile positioning device with high positioning accuracy, high speed and no influence of carrier micro-amplitude vibration.

In order to achieve the above object, the utility model discloses a mobile positioning device based on color coding, which comprises a plurality of coding color band groups and a detection device; the plurality of coding color ribbon groups are arranged at intervals along the extending direction of the monitoring route, and each coding color ribbon group comprises a plurality of color ribbons which are arranged in parallel and have different color sequences; detection device installs on the removal carrier that will monitor, detection device includes a backup pad, be provided with a plurality of groups typewriter ribbon in the backup pad and detect the module, each typewriter ribbon detect the module respectively with one of them of code typewriter ribbon group the typewriter ribbon is corresponding, each typewriter ribbon detects the module and includes a plurality of typewriter ribbon detectors, and is a plurality of the typewriter ribbon detector is used for detecting the colour of the light of typewriter ribbon reflection.

Compared with the prior art, the utility model discloses a moving positioning device based on color coding carries out position location through the discernment processing to the typewriter ribbon, its concrete principle is, each coding typewriter ribbon group corresponds a location section on the control route, encode the typewriter ribbon in every coding typewriter ribbon group according to the colour sequencing, obtain the location coding database including all location section positional information, each location section all corresponds the location code in a location coding database, when moving the carrier and going to a location section department, detect the colour of each typewriter ribbon in the coding typewriter ribbon group of this location section department through typewriter ribbon detection module on the detection device, when examining, detect the colour of this typewriter ribbon through a plurality of typewriter ribbon detectors in the typewriter ribbon detection module that corresponds with each typewriter ribbon, detect the colour of every typewriter ribbon of this location section department after, obtain a location code of constituteing by the typewriter ribbon colour order, then searching the positioning coding database to obtain the specific position information of the positioning section; therefore, the utility model discloses the specific key element of the detection discernment of mobile location device based on colorcode is the colour of typewriter ribbon, compares in the discernment of figure shape, has that the recognition rate is fast and do not receive the advantage of the influence of removal carrier vibration a little.

Preferably, the color-coding-based mobile positioning device further includes a processing device, and the processing device is electrically connected to the ribbon detection module, and is configured to analyze and process ribbon sequencing codes in the encoded ribbon group detected by the ribbon detection module, and determine a position of the mobile carrier.

Preferably, the color band detector is a color sensor or a photodiode.

Preferably, the color of the ribbon may be composed of a single color and/or a mixed color.

Preferably, each color band detection module is internally provided with three color band detectors which are respectively used for detecting red, green and blue monochromatic lights, and the detection device further comprises a light processing element which is used for processing the color mixing light reflected by the color bands into monochromatic lights to be received by the color band detectors.

Preferably, the light processing device includes a filter layer coated on the color band detector or a filter mask covered on the color band detector.

Preferably, the light processing element comprises a beam splitter disposed between the encoded color band set and the support plate.

Preferably, the detection device further includes a light shielding plate disposed between two adjacent ribbon detection modules, and the light shielding plate is used for dividing light receiving spaces of the two adjacent ribbon detection modules.

Preferably, the detection device further comprises a light-transmitting plate disposed between the light splitter and the encoding ribbon set, the light-transmitting plate is provided with a plurality of slits corresponding to the ribbons, and light passes through the slits to form a light band.

Preferably, a light collecting plate is further disposed between the light transmitting plate and the light splitter, and a plurality of light collecting mirrors corresponding to the slits in the light transmitting plate are disposed on the light collecting plate.

Preferably, the detection device further comprises a cover body for accommodating the detection device therein, the cover body is provided with an opening portion facing the opening of the code ribbon group, and the light-transmitting plate is installed at the opening portion.

Preferably, the detection device further comprises a light source device, and the light source device is used for providing an illumination light source for the encoding color band group.

The utility model discloses still disclose a rail transit system, it includes track roof beam and small rail car, small rail car through install in actuating mechanism in the track roof beam drives small rail car walking, rail transit system includes as above based on color coding's mobile location device, and is a plurality of the setting of code ribbon group is in on the inner wall of track roof beam, detection device sets up actuating mechanism is last.

Preferably, the inner walls of two opposite sides of the track beam are respectively provided with the encoding color band groups, and the driving mechanism is provided with two groups of detection devices respectively corresponding to the encoding color band groups on the two sides.

Drawings

Fig. 1 is a schematic perspective view of a rail transit system according to an embodiment of the present invention.

Fig. 2 is a schematic view of an installation structure of the mobile positioning device in the embodiment of the present invention.

Fig. 3 is a perspective view of fig. 2.

Fig. 4 is a schematic structural diagram of a mobile positioning device according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of the support plate in fig. 4.

Fig. 6 is a schematic view of an installation structure with a light shielding plate in an embodiment of the present invention.

Fig. 7 is a schematic perspective view of the light-transmitting plate in fig. 4.

Fig. 8 is a schematic perspective view of the light collection plate in fig. 4.

Fig. 9 is a schematic perspective view of the triple prism of fig. 4.

Fig. 10 is a schematic structural diagram of the detection device installed in the cover body according to the embodiment of the present invention.

Detailed Description

In order to explain technical contents, structural features, implementation principles, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in combination with the embodiments.

As shown in fig. 1 to 4, the utility model discloses an aerial rail transit system, it includes track roof beam 6 and hangs the small rail car on track roof beam 6, the small rail car includes automobile body 70 and the actuating mechanism 71 who is connected with automobile body 70, and actuating mechanism 71 arranges inside track roof beam 6 in, and automobile body 70 is located the outside of track roof beam 6, walks along track roof beam 6 through actuating mechanism 71, drives automobile body 70 and removes. In order to facilitate the positioning of the position of the rail car, the embodiment discloses a mobile positioning device based on color coding, which includes a plurality of coding color band groups 1 and a detection device 2. The plurality of coding color band groups 1 are arranged at intervals along the extending direction of the monitoring route, in the embodiment, the coding color band groups 1 are arranged on the inner wall of the track beam 6, each coding color band group 1 comprises a plurality of color bands 10 which are arranged in parallel and have different color sequences, for example, the color bands 10 in one coding color band group 1 are respectively a red band, a yellow band, a green band, a white band and a black band from top to bottom, and the color bands 10 in another adjacent coding color band group 1 are respectively a yellow band, a green band, a white band and a black band. The detection device 2 is installed on the driving mechanism 71 to travel along with the rail trolley, the detection device 2 comprises a supporting plate 20, a plurality of groups of ribbon detection modules 21 are arranged on the supporting plate 20, each ribbon detection module 21 corresponds to one ribbon 10 in the encoding ribbon group 1, each ribbon detection module 21 comprises a plurality of ribbon detectors, and the plurality of ribbon detectors in each ribbon detection module 21 are used for detecting the colors of different received lights to judge the color of the corresponding ribbon. For each set 1 of encoded bands, one of the bands 10 may be any one of a plurality of colors, each band reflecting the same light as its color. During detection, light reflected by each color band is projected into the corresponding color band detection module, and the color band detection module reacts with the color band detector corresponding to the light reflected by the color band so as to judge the color of the color band. For the color bar detector, a color sensor or a photodiode 210 may be preferred in the present embodiment, and the photodiode 210 is exemplified in the following embodiments.

The specific principle of the color-coding-based mobile positioning device with the structure is as follows:

as shown in fig. 3 and 4, a plurality of positioning segments a1, a2, and A3 … … An are provided at equal intervals along the monitoring path, for example, in the extending direction of the track beam 6, and five color ribbons 10 are provided in parallel in each positioning segment An, and as to the colors of the five color ribbons 10, a single color, for example, any one selected from red, orange, yellow, green, blue, indigo, and violet, or a mixed color combining three primary colors (red, green, and blue) may be selected and used. When the color ribbon 10 is selected to use a single color, the same number of photodiodes 210 as the color type of the color ribbon 10 are disposed in each color ribbon detection module 21, and each photodiode 210 is used to detect the light reflected by one color ribbon 10, for example, when the colors of the five color ribbons 10 are selected from the seven single colors (red, orange, yellow, green, blue, indigo, and violet), seven photodiodes 210 are disposed in each color ribbon detection module 21. Preferably, in this embodiment, the color ribbon 10 can selectively use a single color and a mixed color, and according to the principle of three primary colors (red, green, and blue), three photodiodes 210 are disposed in each color ribbon detection module 21, and the three photodiodes 210 are respectively used for detecting red light, green light, and blue light, and comprehensively determining the color of the detected color ribbon according to the detection results of the three photodiodes 210. For example, the color of the five color bands 10 can be any one of red, yellow (red + green), green, yellow, magenta (red + blue), cyan (green + blue), white (red + green + blue) and black (no reflection of any three primary colors), and the five color bands 10 are arranged and combined into different sequences to be arranged in the positioning segments An, so that 32768 (8) can be generated by the five color bands 10⁵) Different encoding color band groups 1 are arranged, 32768 positioning sections An can be arranged on the track beam 6, the color band 10 in each positioning section An is encoded according to the color to form a positioning encoding database comprising 32768 positioning encoding groups, and each group is fixedThe bit code corresponds to a location segment An of a known location. If the code color band groups 1 and the corresponding detection devices 2 are arranged on both side walls of the track beam 6, 1073741824(32768 × 32768) positioning segments An can be arranged on the track beam 6 with the same length. The length L of each positioning section An determines the positioning precision, and the length L of each positioning section An can be freely set as required to meet the precision requirements of different levels. When the length L is set to be 0.1 meter, unique positioning codes can be distributed on the track with the length of 10.7 kilometers, and the requirements of automatic running positioning and management of a plurality of urban rail trolleys are met. The width of the ink ribbon 10 may be set to 10 mm, and the amplitude of the vibration of the detecting device 2 within 10 mm does not affect the recognition of the ink ribbon 10.

Referring to fig. 4 and 5, five groups of color ribbon detection modules 21 are disposed on the support plate 20 at intervals from top to bottom corresponding to five color ribbons 10 on the inner wall of the track beam 6, each group of color ribbon detection modules 21 corresponds to one color ribbon 10 on the inner wall of the track beam 6, and each color ribbon detection module 21 includes three photodiodes 210 for detecting three basic light rays. In addition, since the mixed color light reflected by the color ribbon 10 needs to be processed into monochromatic light and then received by the photodiode 210, so as to analyze the color of the color ribbon 10, in this embodiment, the detection device further includes a light processing element for decomposing the mixed color light reflected by the color ribbon into monochromatic light, the light processing element may include a filter layer coated on the photodiode 210 or a filter mask disposed on the photodiode 210, or a light splitter disposed between the encoded color ribbon group 1 and the support plate 20, and the light splitter may preferably be a triangular prism 22 or a grating.

When the color of the color ribbon 10 is yellow (red + green), and the reflected yellow light includes two monochromatic lights of red and green, the photodiode 210 coated with the red filter layer and the photodiode 210 coated with the green filter layer react to output a signal "1", and the photodiode 210 coated with the blue filter layer outputs a signal "0", so that the color of the color ribbon 10 is determined to be yellow according to the light color combination "110". When the triple prism 22 is selected, taking the yellow color band 10 as an example, the yellow light reflected by the color band 10 is decomposed into two beams of light, i.e. red light and green light, by the triple prism 22, and the two beams of light are respectively projected onto the corresponding photodiodes 210, so that the outputs of the three photodiodes 210 are combined to be "110", thereby determining that the color of the color band 10 is yellow.

When the rail car moves to a certain positioning section An, the five groups of color ribbon detection modules 21 on the support plate 20 respectively read the colors of the five color ribbons 10 in the positioning section An, so as to obtain the positioning code of the positioning section An, and then the position information of the positioning section An is obtained by searching the positioning code database. Therefore, the specific element of the mobile positioning device based on color coding of the present invention for detecting and identifying is the color of the ribbon 10, and compared with the identification of the shape of the pattern, the mobile positioning device has the advantages of fast identification speed and no influence of the micro-amplitude vibration of the mobile carrier. In addition, the mobile positioning device in this embodiment may further include a processing device (not shown), which is electrically connected to the ribbon detection module 21 and is used for analyzing and processing the ribbon 10 sequencing codes in the encoded ribbon set 1 detected by the ribbon detection module 21. The processing device can be provided with a memory, positioning codes corresponding to all positioning sections An on the track beam 6 can be edited into a database to be stored in the memory of the processing device, so that the processing device can call the positioning codes, when the ribbon detection module 21 reads the positioning codes of a certain positioning section An, the positioning codes are transmitted to the processing device, and the processing device can rapidly give out the current positioning information of the rail trolley.

In addition, in order to avoid the influence of the same light on the two sets of ribbon detection modules 21 adjacent to each other in the vertical direction, the following two schemes may be adopted to solve the problem, one of which is to provide a light shielding plate 24 between the two ribbon detection modules 21 adjacent to each other, as shown in fig. 6, and the light shielding plate 24 is used to divide the light receiving space of the two ribbon detection modules 21 adjacent to each other. Secondly, as shown in fig. 4 and 7, a light-transmitting plate 25 is arranged between the prism 22 and the encoding ribbon group 1, a plurality of slits 250 corresponding to each ribbon 10 are arranged on the light-transmitting plate 25, the light passes through the slits 250 to form a light ribbon, and the light reflected by each ribbon 10 forms a converged light beam after passing through the slits 250 on the light-transmitting plate 25, so as to avoid the influence of the reflected light divergence of the ribbon 10 on the ribbon detection module 21. In this embodiment, a light collecting plate 23 may be further disposed between the light-transmitting plate 25 and the triple prism 22, a plurality of light collecting lenses 230 corresponding to each slit 250 on the light-transmitting plate 25 are disposed on the light collecting plate 23, the light collecting lenses 230 may be convex lenses, or lenses formed by combining the convex lenses and the concave lenses and having a light collecting effect, when the light beams are projected from the slits 250 on the light-transmitting plate 25, the light beams are projected onto the corresponding light collecting lenses 230, the light beams reflected by the color ribbon 10 are projected onto the corresponding light collecting lenses 230 through the slits 250 on the light-transmitting plate 25, and then are projected onto the triple prism 22 from the light collecting lenses 230, and the light beams are converged twice through the light collecting lenses 230, so that the light beams projected onto the triple prism 22 are condensed.

Since the color ribbon 10 is disposed in the track beam 6, in order to prevent insufficient light in the track beam 6, the detection device 2 further includes a light source device 4, as shown in fig. 4, the light source device 4 is used for providing an illumination light source for the encoding color ribbon group 1. The light source means 4 may be mounted with a light-transmitting plate 25 to provide illumination for the color ribbon 10, preferably the light emitted by the light source means is also a mixed color light, such as white light. In addition, in order to avoid the interference of the external light to the light reflected by the color ribbon 10, as shown in fig. 10, the detection device 2 may further be covered with a cover 5, the cover 5 is provided with an opening 50 facing the encoded color ribbon set 1, the transparent plate 25 is installed at the opening 50, the cover 5 prevents the external light from entering the cover 5 to interfere with the detection device 2, and the light reflected by the color ribbon 10 is projected onto the transparent plate 25 through the opening 50 of the cover 5.

The above disclosure is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereto, and therefore, the scope of the present invention is not limited to the above embodiments.

Claims

1. A color-coding-based mobile positioning apparatus, comprising:

the system comprises a plurality of monitoring lines, a plurality of color ribbon groups and a plurality of image processing units, wherein the monitoring lines are arranged in the same direction;

the detection device is arranged on a moving carrier to be monitored, and comprises a supporting plate, wherein a plurality of groups of ribbon detection modules are arranged on the supporting plate, each ribbon detection module is respectively corresponding to one of the ribbon in the coding ribbon group, each ribbon detection module comprises a plurality of ribbon detectors, and the ribbon detectors are used for detecting the color of light reflected by the ribbon.

2. The color-coding-based mobile positioning device of claim 1, further comprising a processing device electrically connected to the ribbon detection module for analyzing and processing the ribbon sequencing codes in the set of encoded ribbons detected by the ribbon detection module.

3. The color-coding based mobile positioning device of claim 1, wherein the color bar detector is a color sensor or a photodiode.

4. The color-coding-based mobile location device of claim 3, wherein the color of the ribbon may consist of a single color and/or a mixed color.

5. The color-coding-based mobile positioning device according to claim 4, wherein three color band detectors are provided in each color band detection module, the three color band detectors are respectively used for detecting three monochromatic lights of red, green and blue, the detection device further comprises a light processing element, and the light processing element is used for processing the color-mixed light reflected by the color bands into monochromatic lights to be received by the color band detectors.

6. The color-coding based mobile positioning device of claim 5, wherein the light processing component comprises a filter layer or a covered filter mask coated on the color band detector.

7. The color-coding based mobile positioning device of claim 5, wherein the light management elements comprise a beam splitter disposed between the set of encoded color bands and the support plate.

8. The color-coding-based mobile positioning device of claim 1, wherein the detection device further comprises a light shielding plate disposed between two adjacent color band detection modules, and the light shielding plate is used to divide the light receiving space of the two adjacent color band detection modules.

9. The color-coding-based mobile positioning device of claim 7, wherein the detection device further comprises a transparent plate disposed between the beam splitter and the coding ribbon set, the transparent plate is provided with a plurality of slits corresponding to each of the color ribbons, and light passes through the slits to form a light ribbon.

10. The color-coding-based mobile positioning device of claim 9, wherein a light-gathering plate is further disposed between the light-transmitting plate and the light splitter, and a plurality of light-gathering mirrors are disposed on the light-gathering plate and respectively correspond to each of the slits of the light-transmitting plate.

11. The color-coding-based mobile positioning device of claim 9, further comprising a cover for accommodating the detecting device therein, wherein the cover is provided with an opening facing the opening of the code ribbon set, and the transparent plate is mounted at the opening.

12. The color-coding-based mobile positioning device of claim 1, wherein the detection device further comprises a light source device for providing an illumination source for the set of encoded color bands.

13. A rail transit system, which comprises a rail beam and a rail trolley, wherein the rail trolley is driven to travel by a driving mechanism arranged in the rail beam, the rail transit system is characterized by comprising the color coding-based mobile positioning device as claimed in any one of claims 1 to 12, a plurality of coding color band groups are arranged on the inner wall of the rail beam, and the detection device is arranged on the driving mechanism.

14. The rail transit system as claimed in claim 13, wherein the inner walls of two opposite sides of the rail beam are respectively provided with the encoding color band sets, and the driving mechanism is provided with two sets of the detecting devices respectively corresponding to the encoding color band sets on the two sides.