WO2021017760A1

WO2021017760A1 - Color coding-based mobile positioning device and method, and rail transport system

Info

Publication number: WO2021017760A1
Application number: PCT/CN2020/100395
Authority: WO
Inventors: 陈锡阳; 陈俊恺
Original assignee: 东莞开道科技有限公司
Priority date: 2019-07-30
Filing date: 2020-07-06
Publication date: 2021-02-04
Also published as: CN110304115B; CN110304115A

Abstract

A color coding-based mobile positioning device, comprising several coded ribbon groups (1) and a detection device (2). The several coded ribbon groups (1) are arranged at intervals in the direction where a monitoring route extends; each of the coded ribbon groups (1) comprises several ribbons (10) provided in parallel and having different color rankings; the detection device (2) is disposed on a movable carrier (71) to be monitored, and comprises a supporting plate (20); the supporting plate (20) is provided with several groups of ribbon detection modules (21); each of the ribbon detection modules (21) comprises several ribbon detectors. Also disclosed are a color coding-based mobile positioning method and a rail transport system in which the mobile positioning device is mounted. The specific element of the detection and recognition of the color coding-based mobile positioning device is the color of the ribbons, which has the advantages of fast recognition speed, large positioning code database and not affected by the slight vibration of the movable carrier.

Description

Mobile positioning device, method and rail transit system based on color coding

Technical field

The present invention relates to the technical field of mobile positioning, in particular to a mobile positioning device, method and rail transit system based on color coding.

Background technique

The existing positioning technology generally uses satellite positioning systems. The disadvantage is that it is impossible to locate in the tunnel. High-rise buildings, viaducts and bad weather will affect the positioning accuracy and speed.

technical problem

The PRT system is also known as the personal rapid transportation system. The locomotive positioning method is based on the characteristics of the train running on a fixed track, and the passive beacon (Transponder) is arranged on the line according to certain rules. When the locomotive runs on these passive beacons, the code of the beacon is obtained through the beacon antenna on the locomotive; then according to the code number stored in the locomotive database, relatively accurate position information is obtained, and the locomotive continuously updates itself during operation. The position of the locomotive can be positioned on the line. The limitation of this positioning method is that the positioning accuracy is limited by the distribution distance of passive beacons, and it is difficult to achieve high accuracy. Passive beacons are expensive when used for dense roads, and the information processing delay is difficult to meet the positioning requirements of automatic driving. .

The patent document with the US patent number US6029104 discloses a method for PRT system to use barcode for positioning. Bar codes are set on the track rails according to certain rules, and the codes of the bar codes are obtained through the laser scanner on the vehicle, and the position information corresponding to the codes is obtained from the vehicle database, so that the locomotive position can be determined. The information positioning system based on barcode or QR code is an analysis and processing system based on the shape of the pattern. Because the rail car will inevitably vibrate when driving at high speed, the slight vibration of the car body will affect the scanning and analysis of the barcode or QR code. It is difficult to guarantee the positioning speed, and a certain lag is often present in the application.

Technical solutions

One of the objectives of the present invention is to provide a color coding-based mobile positioning device that has high positioning accuracy, high speed, and is not affected by the slight vibration of the carrier.

Another object of the present invention is to provide a rail transit system with a mobile positioning device that has high positioning accuracy, high speed, and is not affected by the slight vibration of the carrier.

Another object of the present invention is to provide a color coding-based mobile positioning method that has high positioning accuracy, high speed, and is not affected by the slight vibration of the carrier.

In order to achieve the above objective, the present invention discloses a color coding-based mobile positioning device, which includes several coded ribbon groups and detection devices; several coded ribbon groups are arranged at intervals along the extension direction of the monitoring route, and each coded color The ribbon set includes a number of ribbons arranged in parallel and with different color sequences; the detection device is installed on the mobile carrier to be monitored, the detection device includes a support plate, and a number of sets of ribbon detection modules are provided on the support plate Each of the ribbon detection modules corresponds to one of the ribbons in the coded ribbon group, each of the ribbon detection modules includes a plurality of ribbon detectors, and a plurality of the color ribbons The ribbon detector is used to detect the color of the light reflected by the ribbon to determine the color of the corresponding ribbon.

Preferably, the color coding-based mobile positioning device further includes a processing device, which is electrically connected to the ribbon detection module, and is used to analyze and process the color ribbon detection module detected The color band sequence code in the code color band group determines the position of the mobile carrier.

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

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

Preferably, each of the ribbon detection modules is provided with three ribbon detectors, and the three ribbon detectors are respectively used to detect red, green, and blue monochromatic lights, and the detection device It also includes a light processing element configured to process the mixed color light reflected by the ribbon into monochromatic light to be received by the ribbon detector.

Preferably, the light processing element includes a filter layer or a filter cover coated on the ribbon detector.

Preferably, the light processing element includes a beam splitter arranged between the coded ribbon group and the support plate.

Preferably, the detection device further includes a light-shielding plate provided between the two adjacent ribbon detection modules, and the light-shielding plate is used to divide the two adjacent ribbon detection modules. Light receiving space.

Preferably, the detection device further includes a light-transmitting plate arranged between the beam splitter and the coded ribbon group, and a plurality of light-transmitting plates corresponding to each of the color ribbons are provided on the light-transmitting plate. A gap is formed by the light passing through the gap.

Preferably, a condensing plate is further arranged between the light-transmitting plate and the beam splitter, and a plurality of condensers corresponding to each of the gaps on the light-transmitting plate are arranged on the condensing plate.

Preferably, it further includes a cover in which the detection device is housed, the cover is provided with an opening facing the coded ribbon group, and the light-transmitting plate is installed at the opening.

Preferably, the detection device further includes a light source device, and the light source device is used to provide an illumination light source for the coded ribbon group.

The present invention also discloses a rail transit system, which includes a rail beam and a rail car. The rail car drives the rail car to walk through a drive mechanism installed in the rail beam. The rail transit system includes the above A mobile positioning device based on color coding, a number of the coded ribbon groups are arranged on the inner wall of the track beam, and the detection device is arranged on the driving mechanism.

Preferably, the inner walls of the two opposite sides of the track beam are respectively provided with the coded ribbon groups, and the driving mechanism is provided with two sets of the detection devices corresponding to the coded ribbon groups on both sides respectively .

The invention also discloses a mobile positioning method based on color coding, which includes:

A1: A number of positioning sections are set along the extension direction of the monitoring route on the monitoring route, and each positioning section is laid with a coded ribbon group consisting of several color bands;

A2: respectively encode the color bands in each of the coded color band groups according to the colors of the color bands to obtain a positioning code database corresponding to the positioning section where the coded color band group is located;

A3: When the mobile carrier walks to any one of the positioning segments, read the color of each of the color ribbons in the coded ribbon group at the positioning segment to obtain the positioning code at the positioning segment, and then pass Look up the positioning code database to obtain the position information of the positioning segment.

Beneficial effect

Compared with the prior art, the color coding-based mobile positioning device of the present invention performs position positioning through the identification process of the color bands. The specific principle is that each coded color band group corresponds to a positioning segment on the monitoring route and is sorted according to color. Encode the color bands in each coded color band group to obtain a positioning code database including the position information of all positioning sections. Each positioning section corresponds to a positioning code in the positioning code database. When the carrier is moved to a positioning section Detect the color of each ribbon in the coded ribbon group at the positioning section through the ribbon detection module on the detection device. When detecting, pass the ribbon detection module corresponding to each ribbon. The multiple ribbon detectors detect the color of the ribbon, and after detecting the color of each ribbon at the positioning segment, a positioning code composed of the color sequence of the ribbon is obtained, and then the above positioning code database is searched to obtain the The specific position information of the positioning segment; it can be seen that the specific element of the detection and recognition of the mobile positioning device based on color coding of the present invention is the color of the color band. Compared with the recognition of the shape of the figure, the recognition speed is fast and it is not affected by the mobile carrier micro The advantages of amplitude vibration.

Description of the drawings

Fig. 1 is a schematic diagram of a three-dimensional structure of a rail transit system according to an embodiment of the present invention.

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

FIG. 5 is a schematic diagram of the three-dimensional structure of the supporting plate in FIG. 4.

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

FIG. 7 is a schematic diagram of the three-dimensional structure of the light-transmitting plate in FIG. 4.

FIG. 8 is a schematic diagram of the three-dimensional structure of the concentrating plate in FIG. 4.

FIG. 9 is a schematic diagram of the three-dimensional structure of the triangular prism in FIG. 4.

FIG. 10 is a schematic diagram of the structure of the detection device installed in the cover in the embodiment of the present invention.

The best mode of the invention

In order to explain in detail the technical content, structural features, implementation principles, and achieved objectives and effects of the present invention, the following detailed descriptions are given in conjunction with the embodiments and accompanying drawings.

As shown in Figures 1 to 4, the present invention discloses an air rail transit system, which includes a rail beam 6 and a rail car suspended on the rail beam 6. The rail car includes a car body 70 and a drive connected to the car body 70 The mechanism 71, the driving mechanism 71 is placed inside the track beam 6, the car body 70 is located outside the track beam 6, and the driving mechanism 71 walks along the track beam 6 to drive the car body 70 to move. To facilitate the positioning of the position of the rail car, this embodiment discloses a color coding-based mobile positioning device, which includes a number of coded ribbon groups 1 and detection devices 2. A number of coded ribbon groups 1 are arranged at intervals along the extension direction of the monitoring route. In this embodiment, the coded ribbon groups 1 are arranged on the inner wall of the track beam 6. Each coded ribbon group 1 includes a number of parallelly arranged and has different Color band 10 for color sorting. For example, the color band 10 in a coded ribbon group 1 is red, yellow, green, white, and black from top to bottom, adjacent to another coded ribbon group 1. The ribbons 10 are yellow, yellow, green, white, and black. The detection device 2 is installed on the driving mechanism 71 to follow the track trolley. The detection device 2 includes a support plate 20. The support plate 20 is provided with several groups of ribbon detection modules 21. Each ribbon detection module 21 is connected to One of the ribbons 10 in the coded ribbon group 1 corresponds to each ribbon detection module 21. Each ribbon detection module 21 includes a number of ribbon detectors. The ribbon detectors in each ribbon detection module 21 are used to detect the difference The color of the light to determine the color of the corresponding ribbon. For each coded color band group 1, a certain color band 10 may be any one of multiple colors, and each color band reflects light of the same color. During detection, the light reflected by each ribbon is projected into the corresponding ribbon detection module. In the ribbon detection module, the ribbon detector corresponding to the reflected light from the ribbon reacts to determine the quality of the ribbon. colour. As for the ribbon detector, the color sensor or the photodiode 210 can be preferably used in this embodiment. The photodiode 210 is taken as an example for description in the following embodiments.

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

As shown in Figures 3 and 4, there are a number of positioning sections at equal intervals along the monitoring route such as the extension direction of the track beam 6, A1, A2, A3...An, and five color ribbons 10 in parallel in each positioning section An. , Regarding the color of the five ribbons 10, you can choose to use a single color, such as any choice from red, orange, yellow, green, blue, indigo, and purple, or you can choose to use three primary colors (red, green, blue) Combination of mixed colors. When all the ribbons 10 are monochromatic, each ribbon detection module 21 is provided with the same number of photodiodes 210 as the color type of the ribbon 10 used, and each photodiode 210 is used to detect the reflection of one type of ribbon 10 For example, when the colors of the above five ribbons 10 are rotated from the above seven monochromatic colors (red, orange, yellow, green, blue, indigo, and purple), each ribbon detection module 21 needs to set seven Photodiode 210. Preferably, in this embodiment, the ribbon 10 can choose to use monochromatic and mixed colors. According to the principle of three primary colors (red, green, and blue), three photodiodes 210 are provided in each ribbon detection module 21. The three photodiodes 210 are respectively used for detecting red light, green light, and blue light, and the color of the detected color band is comprehensively determined according to the detection results of the three photodiodes 210. For example, the colors of the five ribbons 10 can be red, yellow (red+green), green, yellow, magenta (red+blue), cyan (green+blue), white (red+green+blue), and black ( any one of any one of the three primary colors is not reflected) is, permutations and combinations of these five ink ribbon 10 into a different order provided in each positioning segment An, 32768 may be generated ⁽⁸⁵⁾ by means of the above five types of the ink ribbon 10 For different coded ribbon groups 1, 32768 positioning sections An can be set on the track beam 6, and the color bands 10 in each positioning section An can be coded according to the color to form a positioning code database including 32768 sets of positioning codes. Each set of positioning codes corresponds to a positioning segment An of a known position. If the coded ribbon group 1 and the corresponding detection device 2 are arranged on both side walls of the track beam 6, 1073741824 (32768*32768) positioning sections An can be arranged on the track beam 6 of the same length. The length L of the positioning section An determines the accuracy of the positioning, and the length L of each positioning section An can be freely set as required to meet the accuracy requirements of different levels. When the length L is set to 0.1 meters, a unique positioning code can be distributed on a track with a length of 107,000 kilometers to meet the needs of automatic driving positioning and management of several urban rail cars. The width of the ribbon 10 can be set to 10 mm, and the vibration amplitude of the detection device 2 within 10 mm will not affect the recognition of the ribbon 10.

As shown in Figures 4 and 5, corresponding to the five ribbons 10 on the inner wall of the track beam 6, five sets of ribbon detection modules 21 are arranged on the support plate 20 at intervals from top to bottom. Each set of ribbon detection modules 21 is connected to A ribbon 10 on the inner wall of the track beam 6 corresponds to each other. Each ribbon detection module 21 includes three photodiodes 210 for detecting three kinds of basic light. In addition, because the mixed color light reflected by the ribbon 10 needs to be processed into monochromatic light, which is then received by the photodiode 210 to analyze the color of the ribbon 10, therefore, in this embodiment, the detection device also It includes a light processing element for decomposing the mixed color light reflected by the color band into monochromatic light. The light processing element may include a filter layer coated on the photodiode 210 or a filter cover provided on the photodiode 210, or It is a beam splitter arranged between the coded ribbon group 1 and the support plate 20, and the beam splitter may preferably be a triangular prism 22 or a grating.

When choosing to use the three photodiodes 210 coated with red, green, and blue filter layers, if the color of the ribbon 10 is yellow (red+green), the reflected yellow light includes red and green. Monochromatic light, then the photodiode 210 coated with the red filter layer reacts with the photodiode 210 coated with the green filter layer to output a signal "1", and the photodiode 210 coated with the blue filter layer outputs Signal "0", so that the color of the ribbon 10 is judged to be yellow based on the light color combination "110". When the triangular prism 22 is selected, the yellow ribbon 10 is still taken as an example. The yellow light reflected by the ribbon 10 is decomposed into two beams of light by the triangular prism 22, which are red light and green light. The two beams of light are respectively projected to the corresponding On the photodiode 210, the output combination of the three photodiodes 210 is "110", so that it is determined 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 ribbon detection modules 21 on the support plate 20 respectively read the colors of the five ribbons 10 in the positioning section An to obtain the positioning code of the positioning section An. Then, the position information of the positioning segment An is obtained by searching the above-mentioned positioning code database. It can be seen that the specific element detected and recognized by the mobile positioning device based on the color coding of the present invention is the color of the ribbon 10, which has the advantages of faster recognition speed and not affected by the slight vibration of the mobile carrier compared to the recognition of the shape of the figure. In addition, the mobile positioning device in this embodiment can also be provided with a processing device (not shown), which is electrically connected to the ribbon detection module 21 for analyzing and processing the code detected by the ribbon detection module 21 The ribbon 10 in ribbon group 1 is sequenced and coded. The processing device can have its own memory, and the positioning codes on the track beam 6 corresponding to all the positioning sections An can be edited into a database and stored in the memory of the processing device for the processing device to call. When the ribbon detection module 21 reads a certain When the positioning code of a positioning segment An is transmitted to the processing device, the processing device quickly gives the current positioning information of the rail car.

In addition, in order to prevent the same beam of light from affecting the two sets of ribbon detection modules 21 adjacent to each other up and down, the following two solutions can be used to solve this problem. One is, as shown in FIG. A shading plate 24 is arranged between two adjacent ribbon detection modules 21, and the shading plate 24 is used to divide the light receiving space of two adjacent ribbon detection modules 21. The second is, as shown in Figures 4 and 7, a light-transmitting plate 25 is provided between the prism 22 and the coded ribbon set 1. The light-transmitting plate 25 is provided with a number of slits 250 corresponding to each ribbon 10, and light passes through A light band is formed after the slit 250, and the light reflected by each ribbon 10 passes through the slit 250 on the light-transmitting plate 25 to form a convergent beam, so as to prevent the divergence of the reflected light from the ribbon 10 from affecting the ribbon detection module 21. In this solution, a condensing plate 23 can also be arranged between the light-transmitting plate 25 and the triangular prism 22, and a plurality of condensing lenses 230 corresponding to each of the slits 250 on the light-transmitting plate 25 are provided on the condensing plate 23. The condenser 230 can be a convex lens, or a lens with a condensing effect composed of a combination of a convex lens and a concave lens. When the light beam is projected from the slit 250 on the light-transmitting plate 25 and then projected on the corresponding condenser 230, the light reflected by the ribbon 10 After passing through the gap 250 on the light-transmitting plate 25, it is projected onto the corresponding condenser lens 230, and then projected from the condenser lens 230 onto the prism 22. The light is converged twice by the condenser lens 230, making the light projected on the prism 22 more condensed.

Since the ribbon 10 is arranged in the track beam 6, in order to avoid 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 to provide an illumination light source for the coded ribbon group 1. The light source device 4 can be installed together with the light-transmitting plate 25 to provide illumination for the ribbon 10. Preferably, the light emitted by the light source device is also mixed-color light, such as white light. In addition, in order to avoid external light from interfering with the light reflected by the ribbon 10, as shown in FIG. 10, the detection device 2 can also be covered with a cover 5, and the cover 5 is provided with an opening facing the coded ribbon set 1. The light-transmitting plate 25 is installed at the opening 50. The cover 5 is arranged to block external light entering the cover 5 from interfering with the detection device 2. The light reflected by the ribbon 10 passes through the opening on the cover 5. 50 is projected onto the light-transmitting plate 25.

The above-disclosed are only preferred examples of the present invention, which of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made in accordance with the scope of the patent application of the present invention still fall within the scope of the present invention.

Industrial applicability

The invention has industrial applicability.

Claims

A mobile positioning device based on color coding, characterized in that it comprises:

A number of coded color band groups, which are arranged at intervals along the extension direction of the monitoring route, each of the coded color band groups includes a number of color bands arranged in parallel and with different color sequences;

The detection device is installed on the mobile carrier to be monitored. The detection device includes a support plate. The support plate is provided with a plurality of sets of ribbon detection modules. Each ribbon detection module is connected to the One of the ribbons in the coded ribbon group corresponds to each of the ribbon detection modules includes a plurality of ribbon detectors, and the plurality of ribbon detectors are used to detect the color of the light reflected by the ribbon, To determine the color of the corresponding ribbon.
The mobile positioning device based on color coding according to claim 1, further comprising a processing device electrically connected to the ribbon detection module for analyzing and processing the ribbon detection The color band sort code in the coded color band group detected by the module.
The mobile positioning device based on color coding according to claim 1, wherein the ribbon detector is a color sensor or a photodiode.
The mobile positioning device based on color coding according to claim 3, wherein the color of the ribbon can be composed of a single color and/or a mixed color.
The mobile positioning device based on color coding according to claim 4, wherein each of the ribbon detection modules is provided with three ribbon detectors, and the three ribbon detectors are respectively used for detecting Red, green, and blue monochromatic light, the detection device further includes a light processing element, the light processing element is used to process the mixed color light reflected by the ribbon into monochromatic light which is received by the ribbon detector .
The mobile positioning device based on color coding according to claim 5, wherein the light processing element comprises a filter layer or a filter cover coated on the color band detector.
The mobile positioning device based on color coding according to claim 5, wherein the light processing element comprises a beam splitter arranged between the coded ribbon group and the support plate.
The color coding-based mobile positioning device according to claim 1, wherein the detection device further comprises a shading plate arranged between two adjacent ribbon detection modules, and the shading plate is used for To divide the light receiving space of the two adjacent ribbon detection modules.
The mobile positioning device based on color coding according to claim 7, wherein the detection device further comprises a light-transmitting plate arranged between the beam splitter and the coded ribbon group, the light-transmitting plate A plurality of slits respectively corresponding to each of the color ribbons are arranged on the upper surface, and a light band is formed after light passes through the slits.
The mobile positioning device based on color coding according to claim 9, wherein a concentrating plate is further provided between the light-transmitting plate and the beam splitter, and a plurality of light-concentrating plates are provided on the light-concentrating plate respectively to communicate with the translucent plate. The condenser lens corresponding to each of the slits on the light plate.
The color coding-based mobile positioning device according to claim 9, further comprising a cover in which the detection device is housed, and the cover is provided with an opening facing the coded ribbon group An opening, the light-transmitting plate is installed at the opening.
The color coding-based mobile positioning device according to claim 1, wherein the detection device further comprises a light source device, and the light source device is used to provide an illumination light source for the coded ribbon group.
A rail transit system, comprising a rail beam and a rail car. The rail car is driven by a driving mechanism installed in the rail beam to move the rail car. The rail transit system is characterized in that the rail transit system includes According to the color coding-based mobile positioning device according to any one of to 12, a number of the coded ribbon groups are arranged on the inner wall of the track beam, and the detection device is arranged on the driving mechanism.
The rail transit system according to claim 13, wherein the inner walls of the two opposite sides of the track beam are respectively provided with the coded ribbon group, and the driving mechanism is provided with two groups of The detection device corresponding to the coded ribbon group.
A mobile positioning method based on color coding, characterized in that it includes:

A1: A number of positioning sections are set along the extension direction of the monitoring route on the monitoring route, and each positioning section is laid with a coded ribbon group consisting of several color bands;

A2: respectively encode the color bands in each of the coded color band groups according to the color of the color bands to obtain a positioning code database corresponding to the positioning section where the coded color band group is located;

A3: When the mobile carrier walks to any one of the positioning segments, read the color of each of the color ribbons in the coded ribbon group at the positioning segment to obtain the positioning code at the positioning segment, and then pass Look up the positioning code database to obtain the position information of the positioning segment.