KR20170110988A - System and method for measuring position of trail - Google Patents

Abstract

The present invention relates to a system and a method for measuring a position of a railway vehicle, the railway vehicle position measurement system comprising: an absolute position transmitter for providing absolute position information of the history by installing a beacon on a platform of a history in which a railway vehicle enters; A rotation signal detector for sensing the rotation of the wheel axle of the railway car and providing rotation information; And calculating relative position information of the railway car by calculating the travel distance of the railway vehicle from the history platform using the rotation information from the rotation signal detector, receiving the absolute position information from the absolute position transmitter, And a vehicle position detection device for generating position information of the railway vehicle using information and relative position information.
According to the present invention, it is possible to precisely measure the position of a moving railway vehicle by introducing the concept of absolute position and relative position, measuring the position of the platform using the beacon signal strength, and measuring the relative position based on the platform.

Description

[0001] SYSTEM AND METHOD FOR MEASURING POSITION OF TRAIL [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to vehicle position measurement, and more particularly, to a railway vehicle position measurement system and method for measuring the position of a railway vehicle by calculating an absolute position and a relative position of the vehicle,

The track circuit used in the conventional railway system is classified into an absolute position that detects the position of a railway vehicle in a specific orbit by detecting whether the railway vehicle is occupied or not, and a wheel sensor such as an odometer, a tachometer, The relative speed of the vehicle, and the relative speed of the vehicle. However, in the case of the track circuit, it is impossible to accurately grasp the position of a railway vehicle within a few meters because it is possible to grasp only a specific track circuit occupied by the railroad vehicle, and the relative position through the wheel sensor is also affected by wear, There is a problem that the position error increases as the moving distance increases.

Therefore, in order to improve the accuracy of railway vehicle location information, it is necessary to secure accurate absolute position and to secure relative position measurement and error reduction techniques.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a system and method for measuring the position of a railway car and a method for measuring a relative position and an error of the railway car, in order to increase the accuracy of railway vehicle position information.

According to another aspect of the present invention, there is provided an apparatus for measuring a position of a railway vehicle, the system comprising: an absolute position transmitter for providing absolute position information of a history by installing a beacon on a platform of a history of entering a railway vehicle; A rotation signal detector for sensing the rotation of the wheel axle of the railway car and providing rotation information; And calculating relative position information of the railway car by calculating the travel distance of the railway vehicle from the history platform using the rotation information from the rotation signal detector, receiving the absolute position information from the absolute position transmitter, And a vehicle position detection device for generating position information of the railway vehicle using information and relative position information.

The vehicle position detecting apparatus comprising: an absolute position receiver for receiving absolute position information from the absolute position transmitter; A platform position information calculation unit for calculating a position of the platform; A rotation signal receiver for receiving a rotation signal of a wheel axis of the railway vehicle from the rotation signal detector; And a relative position generator for generating relative position information of the railway vehicle by calculating a travel distance of the railway vehicle from the platform of the history using the rotation signal.

Wherein the absolute position transmitter is a beacon slave for generating a beacon signal and the platform position information calculator calculates a receive strength calculation for calculating a received signal strength indicator (RSSI) of the beacon signal by receiving the beacon signal at predetermined time intervals part; And repeating the process of acquiring the relative position information of the railway car using the rotation information of the tachometer installed at the time of receiving the beacon signal to determine the reception intensity of the plurality of beacon signals and the relative position information A position information determination data generation unit for generating the position information; And a platform position determination unit for determining an inflection point at which the size of the RSSI increases and decreasing using the plurality of beacon signal reception intensities and the relative position information of the railway vehicle to determine the railway vehicle relative position at the inflection point as the position information of the platform Wherein the relative position generator generates a relative position of the railway vehicle based on the position of the platform determined by the platform positioning unit.

Wherein the vehicle position detecting device comprises: a traveling direction receiving unit for receiving traveling direction information on the forward or backward traveling of the railway vehicle; And a communication interface unit for transmitting and receiving information between the control server and the vehicle terminal.

A railway vehicle position measurement system according to the present invention includes: a vehicle terminal for receiving and displaying position information of a railway vehicle from the vehicle position detection device; And a control server for receiving and storing the position information of the railway vehicle from the vehicle position detecting device, managing the position of the railway cars, and displaying the position of the railway vehicle through the display device.

According to another aspect of the present invention, there is provided a method for measuring a location of a railway vehicle, the method comprising: receiving a beacon signal generated at a beacon slave installed on a platform of a history of a railway vehicle entering at a predetermined time interval, step; Calculating a Received Signal Strength Indicator (RSSI) of the beacon signal; The relative position information of the railway vehicle is repeatedly obtained at the predetermined time intervals by using the rotation information of the tachometer installed at the time of receiving the beacon signal so that the reception intensity of the plurality of beacon signals and the relative position information of the railway car ≪ / RTI > Determining an inflection point at which the size of the RSSI increases and then decreasing using the plurality of beacon signal reception strengths and the relative position information of the railway vehicle to determine a railway vehicle relative position at the inflection point as position information of the platform; Generating a relative position of the railway vehicle based on the determined platform position; And measuring the position of the railway vehicle using the relative position of the railway vehicle and the absolute position information of the history received through the beacon installed on the platform.

According to the railway vehicle position measurement system and method of the present invention, the concept of absolute position and relative position is introduced, the position of the platform is determined using the beacon signal strength, and the relative position is measured based on the platform, The position can be accurately measured.

1 is a block diagram of an embodiment of a railway vehicle position measuring system according to the present invention.
2 is a block diagram of an example of a more detailed configuration of the vehicle position detecting device 120 of the vehicle position information measuring system of FIG.
FIG. 3 is a block diagram showing an example of a more detailed configuration of the platform position information calculation unit 210 of FIG.
FIG. 4 is a flowchart illustrating an embodiment of a method for measuring the position of a railway vehicle according to the present invention.
5 shows an example of a configuration for explaining the platform position measurement in the history of entry of a railway vehicle.
FIG. 6 is a view for explaining the platform position measurement of the history of the arrival of a railway vehicle. When the railway vehicle is entering the platform of history, the RSSI size of the beacon signal generated in the beacon slave according to distance and time, Which is a rotation sensor for detecting a signal in accordance with the number of revolutions of the wheel shaft of the tachometer.
FIG. 7 shows an example for measuring the number of revolutions of a railway vehicle wheel in a position information system of a railway vehicle.
FIG. 8 shows an example of the position measurement of a railway vehicle using absolute position information and relative position information of a railway vehicle.
FIG. 9 shows an embodiment of the construction of a railway vehicle position measuring system according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory only and are not restrictive of the invention, It should be understood that various equivalents and modifications may be present.

1 is a block diagram of an embodiment of a railway vehicle position measuring system according to the present invention.

Referring to FIG. 1, a railway vehicle position measurement system according to an embodiment of the present invention includes an absolute position transmitter 100, a rotation information detector 110, and a vehicle position detector 120, 130) and a control server (140).

The absolute position transmitter 100 provides a beacon to the platform of the history in which the railway vehicle enters and provides the absolute position information of the history. The absolute location of history can be distanced from the reference history. For example, in the case of Seoul Subway Line 2, the location of each history can be set as an absolute location with the city station as the reference history.

According to the present invention, when an absolute position transmitter 100 installed on a platform generates a signal when a railway vehicle enters a history by securing an absolute position and securing an absolute position in order to improve the accuracy of the position information of the railway vehicle, The vehicle position detecting device 120 installed in the vehicle can analyze the corresponding signal and interpret the platform information.

The rotation signal detector 110 senses the rotation of the wheel axle of the railway vehicle and provides rotation information. The rotation signal detection unit 110 detects the rotation of the wheel shaft by providing a rotation sensor, for example, a tachometer, on the wheel to generate a signal corresponding to the rotation number and transmits the signal to the vehicle position detection device 120.

The vehicle position detection device 120 calculates relative distance information of the railway vehicle by calculating the moving distance of the railway vehicle from the history platform using the rotation information detected by the rotation signal detection unit 110, And generates the position information of the railway vehicle using the absolute position information and the relative position information.

The vehicle terminal 130 receives the position information of the railway vehicle from the vehicle position detecting device 120 and displays it to the user.

The control server 140 receives and stores the position information of the railway vehicle from the vehicle position detecting device 120, manages the positions of the railway cars, and displays the information on the display device.

2 is a block diagram of an example of a more detailed configuration of the vehicle position detecting device 120 of the vehicle position information measuring system of FIG.

2, the vehicle position detecting apparatus 120 includes a rotation signal receiving unit 200, a platform position information calculating unit 210, a relative position generating unit 220, and an absolute position receiving unit 230, A forward direction receiving unit 240 and a communication interface unit 250. [

The rotation signal receiving unit 200 receives a signal corresponding to the number of revolutions of the wheel axis of the railway car from the rotation signal detecting unit 110. [

The platform position information calculation unit 210 calculates the position of the platform. In order to obtain the relative position of the moving railway vehicle, a reference absolute position is required, and the absolute position can be set to the position of the platform of the history for convenience. (The absolute position of the history can be made to other points of history in addition to the platform, and the present invention is not limited thereto.) Therefore, it is necessary for an oncoming railroad vehicle to accurately measure an absolute position. 5 shows an example of a configuration for explaining the platform position measurement in the history of entry of a railway vehicle. A beacon master 525 is installed in the railway car 520 entering the historical platform 510, In history, a beacon slave 500 transmits a beacon signal.

FIG. 3 is a block diagram showing an example of a more detailed configuration of the platform position information calculation unit 210 of FIG. 3, the platform position information calculation unit 210 includes a reception strength calculation unit 300, a position information determination data generation unit 310, and a platform position determination unit 320.

When the absolute position transmitter 100 operates as a beacon slave 500 generating a beacon signal, the reception strength calculator 300 receives the beacon signal at a predetermined time interval and calculates a reception intensity (RSSI, Received) of the beacon signal Signal Strength Indicator).

The position information determination data generation unit 310 repeats the process of acquiring the relative position information of the railway car using the rotation information of the tachometer installed in the railway car at the time of receiving the beacon signal, And relative position information of the corresponding railway vehicle.

The platform position determination unit 320 obtains an inflection point at which the size of the RSSI increases and decreases by using the plurality of beacon signal reception strengths and relative position information of the railway vehicle, .

On the other hand, the relative position generator 220 generates relative position information of the railway vehicle based on the platform position determined by the platform position determiner 320. The relative position generating unit 220 calculates the moving distance of the railway vehicle from the history platform using the rotation signal to generate the relative position information of the railway vehicle. The relative position information of the railway vehicle is obtained by detecting the rotation of the wheel axle of the railway car in the rotation sensor inside the vehicle, and when the rotation signal receiving unit 200 receives a signal corresponding to the generated rotation number, The position can be measured. At this time, the necessary information is the number of revolutions, the rotation ratio, and the circumference of the wheel (circumference). The turn ratio is the ratio of the signal that actually occurs while the wheel is about one turn. If the formula for obtaining the travel distance of the railway vehicle is established by using the information on the number of revolutions, the rotation ratio and the wheel circumference (circumference) necessary for calculating the relative position, the following expression is derived.

[Equation]

Travel distance = wheel circumference x (revolutions / revolutions)

Here, the rotation ratio = signal generation / wheel rotation, and the rotation ratio is calculated at a predetermined ratio according to the specification of the rotation detection sensor of the rotation signal detection unit 110. And the moving distance is a formula for the moving amount including the forward / backward of the vehicle. For example, if the circumference (circumference) of the wheel is 84 cm, the number of revolutions is 30, and the rate of rotation is calculated on the condition that four signals are generated per one rotation of the wheel, the moving distance becomes 84 x (30/4) = 630 cm. That is, the moving distance is 630 cm.

The absolute position receiving unit 230 receives the absolute position information from the absolute position transmitting unit 100. The traveling direction receiving unit 240 receives traveling direction information on the forward or backward direction of the railway vehicle. The communication interface unit 250 transmits / receives information between the control server 140 and the vehicle terminal 130.

FIG. 4 is a flowchart illustrating an embodiment of a method for measuring the position of a railway vehicle according to the present invention. The present invention improves the accuracy of positional information of a railway vehicle by dividing the position information of a railway car into absolute positions and relative positions to obtain absolute positions and relative positions based on absolute positions.

In order to obtain the relative position of the moving railway vehicle, a reference absolute position is required, and the absolute position can be set to the position of the platform of the history for convenience. Therefore, it is important to accurately measure the position of the platform when the railway vehicle is moving.

FIG. 5 shows an example of a configuration for explaining the platform position measurement in the history of entry of a railway vehicle. A beacon is installed on a platform 510 of a history when a railway vehicle enters the beacon, And transmits a beacon signal. The railroad car 520 is provided with a beacon master 525 functioning as a beacon reader for receiving the beacon signal of the beacon slave and reading the information.

6 is a view for explaining the platform position measurement of the history of the entry of the railway vehicle. When the railway vehicle is entering the platform of history, the RSSI size of the beacon signal generated in the beacon slave according to distance and time, And a pulse signal of a tachometer which is a rotation sensor for detecting a signal corresponding to the number of revolutions of the wheel shaft of the amount of the wheel.

1 to 6, a method for measuring the position of a railway vehicle according to an embodiment of the present invention will be described.

First, a beacon master 525 installed in a railway vehicle receives a beacon signal generated at a predetermined time interval through a beacon slave 500 installed in a platform 510 of a history when a railway vehicle enters a train (step S400)

When the beacon signal is received, the reception strength calculator 300 calculates a received signal strength indicator (RSSI) of the beacon signal (step S410)

When the RSSIs of the beacon signals received at predetermined time intervals are calculated, repeating the process of acquiring the relative position information of the railway vehicle using the rotation information of the tachometer installed at the time of receiving the beacon signal, The reception intensity of the beacon signal and the corresponding relative position information and absolute position information of the railway vehicle are generated. (Step S420)

Table 1 shows the relationship between the relative position information of the railway vehicle and the history of entering the beacon using the RSSI size of the received beacon signal and the rotation information of the tachometer installed at the time of receiving the beacon signal, An example of the absolute position information of the platform of FIG.

Reception time order RSSI size Relative position Absolute position One 3.0 3.12 5.0 2 3.1 3.13 5.0 3 3.2 3.14 5.0 4 3.2 3.15 5.0 5 3.3 3.16 5.0 6 3.4 3.17 5.0 7 3.5 3.18 5.0 8 3.4 3.19 5.0 9 3.3 3.20 5.0 10 3.3 3.21 5.0 11 3.2 3.22 5.0 12 3.1 3.23 5.0

As shown in Table 1, when the plurality of beacon signal reception strengths and the relative position information of the railway vehicle are generated, the size of the RSSI increases and then decreases using the plurality of beacon signal reception strengths and the relative position information of the railway vehicle An inflection point is determined and the relative position of the railway vehicle at the inflection point is determined as the position information of the platform (step S430)

The relative position of the railway vehicle is generated based on the determined platform position (step S440)

Referring to Table 1, it can be seen that the RSSI value at the seventh reception time has the largest value of 3.5, and since the RSSI increases and decreases around the seventh, the seventh reception time is determined as the inflection point. If the largest value is two, the intermediate time can be determined as the inflection point. When the inflection point is determined, the relative position of the railway vehicle is reset at 3.18, which is the relative position value corresponding to the inflection point, and the relative position is obtained again with the reset relative position as the absolute position.

Meanwhile, the position of the railway vehicle is measured using the relative position of the railway vehicle and the absolute position information of the history received through the beacon installed on the platform (S450)

FIG. 7 shows an example for measuring the number of revolutions of a railway vehicle wheel in a position information system of a railway vehicle. Referring to FIG. 7, the relative position information of the railway car senses the rotation of the wheel axle in the rotation signal detection unit corresponding to the rotation sensor in the vehicle, and generates a signal according to the rotation number. The generated signal is transmitted to the vehicle position detecting device to calculate the relative position from the current position. The calculated relative position is transmitted to the control server or information necessary for the vehicle terminal. That is, in order to know the precise position of the railway vehicle, the absolute position of the vehicle (position update at the arrival of the specific position) and the relative position (the distance at which the vehicle travels) are measured and transmitted to the control apparatus including the railway vehicle position information. The current position of the railway car stored in the control unit can be used for various services.

FIG. 8 shows an example of the position measurement of a railway vehicle using absolute position information and relative position information of a railway vehicle. When the railway vehicle arrives at the platform, the vehicle position detecting device 200 receives the information of the absolute position transmitter 100 and transmits the information of the history to the control server 140, and the relative distance traveled by the absolute position transmitter 100 is The moving distance of the relative position calculated by the vehicle position detecting device 120 can be used to display on the screen of the vehicle terminal 130 as shown in FIG. 8 and transmitted to the control server 140, System (control center). In addition, when the vehicle is adjacent to the vehicle, the system can also be applied to a system for preventing collision with the manager of the vehicle through the vehicle terminal 130.

9 is a diagram illustrating an example of a configuration of a railway vehicle position measuring system according to the present invention. The relative position is calculated using the rotation number information output from the rotation signal detector, and the absolute position Receives the information, calculates the position information of the railroad vehicle from the vehicle position detecting device using the relative position and the absolute position, and transmits the position information to the relation server and the vehicle terminal.

10 shows an example of a communication interface between the vehicle position detecting device, the absolute position transmitting device, the vehicle terminal and the control server in the railway car position measuring system according to the present invention.

The vehicle terminal may receive vehicle position information from the vehicle position detecting device using serial communication as a display device and receive pollution degree information from the control server through wireless Ethernet. The control device of the vehicle position detecting device receives relative position information from the vehicle speed sensor as a signal and receives the absolute position from the absolute position transmitting device. In the case of absolute position reception, in case of RFID type reception, RFID reader is installed around the control device, and information is received from the RFID tag of the absolute position transmission device and received by the Bluetooth type. When the beacon signal is received by the control device . You can also use a modem device in the vicinity for Ethernet communication with external devices. The control server receives the vehicle position information from the vehicle position detecting device and uses the Ethernet communication to transmit the pollution degree to the vehicle terminal.

The present invention can be embodied as a computer readable code on a computer-readable recording medium (including all devices having an information processing function). A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of computer-readable recording devices include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: Absolute position transmitter 110: Rotation signal detector
120: vehicle position detecting device 130: vehicle terminal
140: control server 200: rotation signal receiver
210: Platform position information calculation unit 220: Relative position generation unit
230: Absolute position receiver 240:
250: communication interface unit 300: reception strength calculation unit
310: Position information determination data generation unit 320: Platform position determination unit
500: Beacon Slave 510: Historical Platform
520: railway vehicle 525: beacon master

Claims (6)

An absolute location transmitter for providing absolute location information of the history by installing a beacon on a platform of the history on which the railway vehicle enters;
A rotation signal detector for sensing the rotation of the wheel axle of the railway car and providing rotation information; And
Calculating relative position information of the railway vehicle by calculating the travel distance of the railway vehicle from the history platform using the rotation information from the rotation signal detector, receiving the absolute position information from the absolute position transmitter, And a vehicle position detecting device for generating position information of the railway car using the relative position information, The vehicle position detecting device according to claim 1, wherein the vehicle position detecting device
An absolute position receiver for receiving absolute position information from the absolute position transmitter;
A platform position information calculation unit for calculating a position of the platform;
A rotation signal receiver for receiving a rotation signal of a wheel axis of the railway vehicle from the rotation signal detector; And
And a relative position generator for calculating relative distance information of the railway vehicle by calculating the moving distance of the railway vehicle from the history platform using the rotation signal, 3. The method of claim 2,
Wherein the absolute position transmitter is a beacon slave for generating a beacon signal,
The platform location information calculation unit
A reception strength calculator for receiving the beacon signal at predetermined time intervals and calculating a received signal strength indicator (RSSI) of the beacon signal;
And repeating the process of acquiring the relative position information of the railway car using the rotation information of the tachometer installed at the time of receiving the beacon signal to determine the reception intensity of the plurality of beacon signals and the relative position information A position information determination data generation unit for generating the position information; And
And a platform position determining unit for determining an inflection point at which the size of the RSSI increases and then decreases using the plurality of beacon signal reception strengths and the relative position information of the railway vehicle to determine the position of the platform relative to the railway vehicle at the inflection point and,
The relative position generator
And a relative position of the railway vehicle is generated based on the position of the platform determined by the platform positioning unit The vehicle position detecting device according to claim 1, wherein the vehicle position detecting device
A traveling direction receiving unit for receiving traveling direction information on the forward or backward movement of the railway vehicle; And
Further comprising a communication interface unit for transmitting and receiving information between the control server and the vehicle terminal, The method according to claim 1,
A vehicle terminal for receiving and displaying positional information of the railway vehicle from the vehicle position detecting device; And
Further comprising a control server for receiving and storing the position information of the railway vehicle from the vehicle position detecting device and managing the position of the railway cars and displaying the position of the railway vehicle through the display device, Receiving a beacon signal generated by a beacon master installed in a railway vehicle at a predetermined time interval through a beacon slave installed in a historical platform on which a railway vehicle enters;
Calculating a Received Signal Strength Indicator (RSSI) of the beacon signal;
The relative position information of the railway vehicle is repeatedly obtained at the predetermined time intervals by using the rotation information of the tachometer installed at the time of receiving the beacon signal so that the reception intensity of the plurality of beacon signals and the relative position information of the railway car ≪ / RTI >
Determining an inflection point at which the size of the RSSI increases and then decreasing using the plurality of beacon signal reception strengths and the relative position information of the railway vehicle to determine a railway vehicle relative position at the inflection point as position information of the platform;
Generating a relative position of the railway vehicle based on the determined platform position; And
And measuring the position of the railway vehicle using the relative position of the railway vehicle and the absolute position information of the history received through the beacon installed on the platform.

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