CN203698310U - Vehicle high-precision locating device based on inductive loop wire - Google Patents
Vehicle high-precision locating device based on inductive loop wire Download PDFInfo
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- CN203698310U CN203698310U CN201420066341.4U CN201420066341U CN203698310U CN 203698310 U CN203698310 U CN 203698310U CN 201420066341 U CN201420066341 U CN 201420066341U CN 203698310 U CN203698310 U CN 203698310U
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Abstract
本实用新型公开了一种基于感应环线的车辆高精度定位装置，控制单元、安装在车辆底部的车载天线以及铺设在车辆运行轨迹上的地面感应环线，地面感应环线包括两根导线，两根导线每间隔距离L交叉一次形成多个依次排列的环线圈，车载天线包括第一线圈和第二线圈，当第一线圈在地面感应环线布置方向上的边沿与环线圈的边沿重合时，第二线圈的中心点与两相邻环线圈之间的交叉点重合；第一线圈与第二线圈感应对应所述地面感应环线的磁场并分别输出感应电压至控制单元，控制单元根据所述第一线圈的感应电压与第二线圈的感应电压之间的比值输出车辆的位置信号。本实用新型结构简单，能够消除因车辆振动带来的测量误差，提高了测量精度及可靠性。
The utility model discloses a vehicle high-precision positioning device based on an induction loop line, a control unit, a vehicle-mounted antenna installed at the bottom of the vehicle, and a ground induction loop line laid on the running track of the vehicle. The ground induction loop line includes two wires, two wires Intersect once at every distance L to form a plurality of sequentially arranged loop coils. The vehicle-mounted antenna includes a first coil and a second coil. The center point of the center point coincides with the cross point between two adjacent ring coils; the first coil and the second coil induce the magnetic field corresponding to the ground induction loop line and output the induced voltage to the control unit respectively, and the control unit according to the first coil The ratio between the induced voltage and the induced voltage of the second coil outputs a position signal of the vehicle. The utility model has a simple structure, can eliminate measurement errors caused by vehicle vibration, and improves measurement accuracy and reliability.
Description
Technical field
The utility model relates to vehicle speed measuring field of locating technology, refers in particular to a kind of vehicle high-precision positioner based on induction loop.
Background technology
For the vehicle of motion, speed and location information are two very important parameters.Due to vehicle in operational process constantly in dynamic process, only have the information such as speed and position of obtaining in time vehicle, the control such as could realize that vehicle is advanced, stops, being accelerated and slows down, and then guarantee operating efficiency and the traffic safety of vehicle.Therefore, speed and position probing are the bases of vehicle automation control, are also to realize vehicle safety to move requisite component part.
The vital function to moving vehicle in view of speed and location information, the locate mode that tests the speed at present mainly contains rotary encoder detection technique, the velocity measuring technique based on Doppler effect, wireless induction the test the speed location technology etc. that tests the speed of location technology and optical fiber grating sensing of location technology, GPS that tests the speed.The vital function of the position fixing system that tests the speed in vehicle control system determined that first it must be able to guarantee to provide vehicle to run speed and location information accurately and reliably, and adapts to complicated, severe actual environment.Secondly, vehicle control system is just towards quick, accurate future development, and real-time and precision to the location technology that tests the speed are also had higher requirement.
Above-mentioned several locate mode that tests the speed can reach the positioning requirements that tests the speed that vehicle is advanced substantially, but still has a lot of limitation, such as rotary encoder can produce detection error in the time that vehicle slip or brake wheel do not turn; Contact detection technique can because the mechanical abrasion of contact component and the fixing aid life-span that causes testing the speed shorter; For the mode that tests the speed based on Doppler effect, its testing result is subject to the impact of the natural environments such as landform, rainwater, dust, soda acid; GPS tests the speed locate mode equally also can be in location with a varied topography, and the limitation of propagating due to radio magnetic wave produces signal blind zone; For the optical detective technology of optical fiber grating sensing, in the serious industry of dust and external environment, cannot normally work.Therefore, as one of component part important in vehicle control system, the choose reasonable of the locate mode that tests the speed and use, most important for development vehicle operating control system.
Be compared to above-mentioned several locate mode that tests the speed, the method for locating speed measurement based on induction loop is widely used in industries such as metallurgy, harbour, mine, electric power, chemical industry.Its antijamming capability is strong, reliability is high, can detect accurately and rapidly real-time speed and the position of moving vehicle, and it closely non-contact detection feature make system safety better, the decussate texture of cable inside can suppress the interference to external environment condition and other mobile units effectively, can adapt to severe industry and external environment.Therefore, the location technology that tests the speed based on induction loop has higher Combination property and practical value, and along with the raising of industrial production automation level, testing the speed the application prospect of location technology based on induction loop will be more wide.
Based on the induction loop ground traffic circle point of the every mistake of position fixing system that tests the speed, export a relative position pulse, speed and location information are just once renewable, thereby the precision of system is relevant with the traffic circle cycle.The traffic circle cycle is less, and system accuracy of detection is higher.If improve accuracy of detection by the method that reduces the traffic circle cycle, although method is simple, precision improves limited.Meanwhile, along with dwindling of stagger(ed) cycle, the magnetic-field intensity that exciting current produces above loop wire will weaken rapidly, will certainly make magnetic test coil induced signal intensity reduce, and make it be difficult to detect.On the other hand, because electromagnetic field is to be divergent shape to distribute, for guaranteeing the intensity of receiving coil induced signal, reduce just to mean the distance that must dwindle between receiving coil and loop wire stagger(ed) cycle, limited based on the test the speed application scenario of position fixing system of induction loop.
Utility model content
The technical matters existing for prior art, the utility model provide a kind of simple in structure, eliminate the measured error bringing because of Vehicular vibration, the vehicle high-precision positioner based on induction loop that improves survey precision and reliability.
In order to solve the problems of the technologies described above, the technical scheme the utility model proposes is:
A kind of vehicle high-precision positioner based on induction loop, comprise control unit, be arranged on the Car antnna of vehicle bottom and be laid on the ground induction loop on vehicle operating track, described ground induction loop comprises two wires, two wires intersect and once form multiple ring coils that are arranged in order at interval of distance L, cross-shaped between adjacent described ring coil, described Car antnna comprises more than one group the first coil and the second coil, in the induction loop of described ground, the edge of each ring coil and the first coil and the second coil edge in the induction loop arranged direction of ground is equal in length, in the time that the edge of described the first coil in the induction loop arranged direction of ground overlaps with the edge of ring coil, point of crossing between the center-point of described the second coil and two adjacent ring coils overlaps, described the first coil is also exported respectively induced voltage to control unit with the magnetic field of the second coil-induced corresponding described ground induction loop, and described control unit is according to the position signal of the ratio output vehicle between the induced voltage of described the first coil and the induced voltage of the second coil.
Further improvement as technique scheme:
Also comprise signal processing circuit, described information-processing circuit is connected between control unit and the first coil and the second coil, and described signal processing circuit carries out exporting control unit to after ratio amplification, bandpass filtering and detection to the induced voltage of the first coil and the second coil.
Described the first coil is identical with the second coil size.
Compared with prior art, the utility model has the advantage of:
Vehicle high-precision positioner based on induction loop of the present utility model, by detecting the induced voltage of the first coil and the second coil, the two is compared, then obtain the position signal of vehicle according to ratio, realize the real-time output to position signal, improved the precision of measuring; Owing to being that low coverage is contactless between the first coil and the second coil and ground induction loop, eliminated the measured error bringing because of Vehicular vibration, improve detect reliability, and reproducible, safety good, applicability is strong.
Accompanying drawing explanation
Fig. 1 is concrete application implementation illustration of the present utility model.
Fig. 2 is induced voltage processing flow chart in the utility model.
Fig. 3 is induction voltage waveform figure in the utility model.
Fig. 4 is that ground induction loop and the first coil and the second coil position are related to schematic diagram.
Fig. 5 is the ratio figure after induced voltage amplitude and the demodulation of the first coil and the second coil.
Fig. 6 is that in the utility model, induced voltage is processed block flow diagram.
Fig. 7 is digital circuit part frame structure schematic diagram in the utility model.
Fig. 8 is control unit workflow schematic diagram in the utility model.
Number in the figure explanation: 1, vehicle; 2, Car antnna; 21, the first coil; 22, the second coil; 3, ground induction loop; 4, ground station; 5, vehicle-mounted cabinet; 6, control unit.
The specific embodiment
Below in conjunction with Figure of description and specific embodiment, the utility model is further described.
As shown in Figures 1 to 8, the vehicle high-precision positioner based on induction loop of the present embodiment, comprise control unit 6, be arranged on the Car antnna 2 of vehicle 1 bottom and be laid on the ground induction loop 3 on vehicle 1 running orbit, ground induction loop 3 comprises two wires, two wires intersect and once form multiple ring coils that are arranged in order at interval of distance L, link together by terminal matched resistance at two wire ends, Car antnna 2 comprises the first coil 21 and the second coil 22, in ground induction loop 3, the edge of each ring coil and the first coil 21 and the edge of the second coil 22 in ground induction loop 3 arranged direction are equal in length, in the time that the edge of the first coil 21 in ground induction loop 3 arranged direction overlaps with the edge of ring coil, point of crossing between the center-point of the second coil 22 and two adjacent ring coils overlaps, the first coil 21 and the second coil 22 are responded to the magnetic field of corresponding ground induction loop 3 and are exported respectively induced voltage to control unit 6, and control unit 6 is according to the position signal of the ratio output vehicle 1 between the induced voltage of the first coil 21 and the induced voltage of the second coil 22.The utility model, by detecting the induced voltage of the first coil 21 and the second coil 22, is compared the two, then is obtained the position signal of vehicle 1 according to ratio, has realized the real-time output to moving vehicle 1 position signal, has improved the precision of measuring; Owing to being that low coverage is contactless between the first coil 21 and the second coil 22 and ground induction loop 3, eliminate because vehicle 1 vibrates the measured error bringing, improve the reliability detecting, and there is feature reproducible, that safety good, applicability is strong.
In the present embodiment, also comprise signal processing circuit, information-processing circuit is connected between control unit 6 and the first coil 21 and the second coil 22, and signal processing circuit carries out exporting control unit 6 to after ratio amplification, bandpass filtering and detection to the induced voltage of the first coil 21 and the second coil 22.
In the present embodiment, Car antnna 2 comprises one group of first coil 21 and the second coil 22, and the first coil 21 is identical with the size of the second coil 22.
Registration device design process of the present utility model is as follows: from the groundwork of locating based on induction loop, the induced signal (being induced voltage) that Car antnna 2 produces is modulated carrier signal, it is the mobile message that intrinsic curve has comprised vehicle 1 that the amplitude of carrier signal changes, length stagger(ed) cycle of the corresponding ground induction loop 3 of laying of each amplitude period of change.By induced signal is extracted intrinsic curve and samples accordingly and table look-up, can obtain in real time vehicle 1 location information, as shown in Figures 2 and 3.
The processing essence that receives induced signal is that the amplitude of induced signal is processed, and depends on regularity and the stability of induced signal, once induced signal is interfered, must cause the variation of amplitude, thus the speed leading to errors and position signal output.For improving system reliability, and keep the feature that general induction loop position fixing system is reproducible, safety good, applicability is strong, thus the form of two groups of coils adopted, as shown in Figure 4.
Suppose that ground induction loop 3 magnetic field is around uniformly distributed within the specific limits, the magnetic-field intensity that the first coil 21 and the second coil 22 sense is just determined the payload space intersecting in certain intercross distance of loop wire by coil.In the time of the point of crossing of Zheng Dui ground, the center of coil induction loop 3, payload space is zero; When coil is during just to ground induction loop 3 non crossover point part, it is maximum that payload space reaches, and is just in time the area of coil.The maxim of supposing to establish induced voltage is V
max, the relative ground of coil induction loop 3 point of crossing horizontal throws are x, and wherein the length of side of ground induction loop 3 one sides is L, and the induced voltage that two coils receive is respectively:
V(A)=V
max(1-x/L)
V(B)=V
maxx/L （1）
Utilize above formula, the in the situation that of known V (A) and V (B) and L, can try to achieve miles of relative movement x:
Because V (A) and V (B) are subject to the impact of magnetic field power, car body shake will inevitably cause the variation of distance between coil and ground induction loop 3, thereby V (A) and V (B) are changed, therefore only adopt V (A) and V (B) all cannot eliminate the impact of car body shake, reflect that with them the variation of position is inadequate failure-free.Not affected by amplitude and a big or small related parameter corresponding thereto and V (A)/V (B) is one, can reduce to a certain extent car body and shake the impact bringing.It is a nonlinearities change function, is to become positive infinity from zero at the Changing Pattern of 3 stagger(ed) cycles of ground induction loop, then by infinitely great vanishing.By can effectively judge the position of train within a stagger(ed) cycle to the detection of V (A)/V (B), as shown in Figure 5.
The intrinsic curve voltage that micro controller system produces the first coil 21 and the second coil 22 carries out ratio calculation after sampling respectively, obtains V (A)/V (B).From above, V (A)/V (B) is a nonlinear function, relevant with the relative position of coil and ground induction loop 3.Value by V (A)/V (B) is determined relative position, can use look-up table, as shown in Figure 6.
Look-up table refers to the element n of a known table, searching to the corresponding item of element n, i.e. model voltage ratio-change in location table.When measurement, just can from table, find corresponding location information according to induced voltage ratio.Look-up table is by V (A)/V (B) profile memory in memory device, as long as the precision of A/D converter is enough high, V (A)/V (B) curve just can accurately reflect the variation of receiving coil relative position.Therefore this method survey precision is higher, and circuit structure is simple, is easy to realize, convenient debugging.
In the time setting up form, first the induced voltage intrinsic curve ratio of a stagger(ed) cycle to be demarcated, object is to determine the numerical value of envelope voltage ratio in the time that receiving coil moves fixed range along cross-inductive loop wire direction, sets up form.Table look-up when detecting after receiving coil intrinsic curve voltage ratio, can obtain the relative position of receiving coil relative induction loop wire.
Compared with the scheme that improves systemic resolution with multiple reception signal stack, the method has been broken away from precision and has been limited to the impact of the factors such as receiving coil group number, is reducing system bulk, when increasing system reliability, has greatly improved system accuracy of detection.Meanwhile, the sampling precision of this scheme depends on stated accuracy, and it is even higher that general precision can reach 2cm, has met the survey precision requirement of Train Control to position fixing system.
Adopt the induced signal demodulation sampling of two groups of receiving coils to table look-up to process compared with the induced signal demodulation sampling that adopts single group receiving coil is tabled look-up and processed, the two something in common is all to need induced signal to carry out filtering, to remove clutter, and filtered induced signal is carried out to detection, extract envelope signal; Difference is, adopt the induced signal demodulation sampling of two groups of receiving coils to table look-up after processing method samples respectively to induced signal after treatment, it is not the processing of directly tabling look-up, but the two is compared, ask for ratio, table look-up according to ratio again, thereby can obtain a train exact location signal in the cross-inductive cycle.
By processing that the intrinsic curve after detection is sampled and tabled look-up, obtain train relative position information based on induction loop high-resolution signal processing scheme, above-mentioned signal processing is mainly realized in digital circuit part.Digital circuit part radical function is analog acquisition, processes, tables look-up and transfer to upper computer or display equipment.
Control unit 6 uses C8051F060 micro controller system, as shown in Figure 7.C8051F060 chip becomes to have at a high speed, the CIP-51 kernel of pipeline organization, this core instructions collection and 80C51 compatibility, there is built-in RAM, chip self is with CAN bus controller, except having the digital peripherals of standard 8051, inside is also integrated with the element such as modulus and D and A converter conventional in data acquisition and control system, and abundant peripheral hardware resource and high speed instruction arithmetic capability are simplified system greatly, can realize sampling, storage and the computing function of cross-inductive loop wire position fixing system.
This registration device should be noted that following matters in when design in addition: because the precision of sampling depends on the precision of reference voltage, and the noise of the internal reference voltage noise that C8051F060 provides and circuit power part is substantially suitable, for avoiding power supply interfering signal to affect systematic sampling precision, power supply precision should be improved as far as possible, the power supply chip that precision is higher should be adopted.Meanwhile, analog power should use decoupling capacitor, and for reducing line impedance, the power lead overstriking of should trying one's best.
In wiring, for reducing unnecessary interference, strictly observe circuit board wiring rule, analog chip part and digit chip part are covered separately to copper, thereby reduce the phase mutual interference between the two.Avoid cabling below device, in order to avoid cause the increase of wiring place at device inside noise simultaneously as far as possible.Meanwhile, analog electrical seedbed and digital power ground will be distinguished.In circuit system design,, there is again digital power ground in existing analog electrical seedbed, need correctly distinguish the two.
In circuit layout, for improving the stability of circuit, adopt the components and parts that should select low-power consumption, high reliability compared with stabilized power source simultaneously, to guarantee high stability and the high reliability of circuit working.Overall procedure is illustrated in fig. 8 shown below.
Below be only preferred implementation of the present utility model, protection domain of the present utility model is also not only confined to above-described embodiment, and all technical schemes belonging under the utility model thinking all belong to protection domain of the present utility model.It should be pointed out that for those skilled in the art, in the some improvements and modifications that do not depart under the utility model principle prerequisite, should be considered as protection domain of the present utility model.
Claims (3)
1. the vehicle high-precision positioner based on induction loop, comprise control unit (6), be arranged on the Car antnna (2) of vehicle (1) bottom and be laid on the ground induction loop (3) on vehicle (1) running orbit, it is characterized in that, described ground induction loop (3) comprises two wires, two wires intersect and once form multiple ring coils that are arranged in order at interval of distance L, described Car antnna (2) comprises the first coil (21) and the second coil (22), in described ground induction loop (3), the edge of each ring coil and the first coil (21) and the second coil (22) edge in ground induction loop (3) arranged direction is equal in length, in the time that the edge of described the first coil (21) in ground induction loop (3) arranged direction overlaps with the edge of ring coil, point of crossing between the center-point of described the second coil (22) and two adjacent ring coils overlaps, described the first coil (21) is responded to the magnetic field of corresponding described ground induction loop (3) and exports respectively induced voltage to control unit (6) with the second coil (22), and described control unit (6) is according to the position signal of the ratio output vehicle (1) between the induced voltage of described the first coil (21) and the induced voltage of the second coil (22).
2. the vehicle high-precision positioner based on induction loop according to claim 1, it is characterized in that, also comprise signal processing circuit, described information-processing circuit is connected between control unit (6) and the first coil (21) and the second coil (22), and described signal processing circuit carries out exporting control unit (6) to after ratio amplification, bandpass filtering and detection to the induced voltage of the first coil (21) and the second coil (22).
3. the vehicle high-precision positioner based on induction loop according to claim 1 and 2, is characterized in that, described the first coil (21) is identical with the second coil (22) size.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420066341.4U CN203698310U (en) | 2014-02-14 | 2014-02-14 | Vehicle high-precision locating device based on inductive loop wire |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420066341.4U CN203698310U (en) | 2014-02-14 | 2014-02-14 | Vehicle high-precision locating device based on inductive loop wire |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711622A (en) * | 2016-02-18 | 2016-06-29 | 杭州钱江称重技术有限公司 | Positioning loop line |
| CN105905135A (en) * | 2016-04-20 | 2016-08-31 | 中国人民解放军国防科学技术大学 | Magnetic levitation train positioning and speed measuring system and method and magnetic levitation train |
| CN108945005A (en) * | 2018-04-12 | 2018-12-07 | 浙江众合科技股份有限公司 | Cross talk loop wire and CBTC control system |
| CN109080665A (en) * | 2018-06-27 | 2018-12-25 | 北京全路通信信号研究设计院集团有限公司 | Train positioning method based on cross induction loop intersection information |
| CN110068701A (en) * | 2019-05-05 | 2019-07-30 | 太原理工大学 | Pipeline vehicle instantaneous velocity measuring system based on electromagnetic method |
| CN110419067A (en) * | 2017-03-28 | 2019-11-05 | 爱知制钢株式会社 | Concentrator marker system |
| CN110828003A (en) * | 2019-11-15 | 2020-02-21 | 中国原子能科学研究院 | signal processing system |
| CN112298289A (en) * | 2020-09-28 | 2021-02-02 | 卡斯柯信号有限公司 | A train relocation method based on speedometer and trackside loop |
| CN114812541A (en) * | 2022-04-07 | 2022-07-29 | 中铁十九局集团矿业投资有限公司 | An indoor positioning system and positioning method based on electromagnetic grid |
| CN114812649A (en) * | 2021-01-18 | 2022-07-29 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Test system of cross induction loop line under superspeed environment |
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2014
- 2014-02-14 CN CN201420066341.4U patent/CN203698310U/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711622B (en) * | 2016-02-18 | 2017-08-22 | 杭州钱江称重技术有限公司 | Position loop wire |
| CN105711622A (en) * | 2016-02-18 | 2016-06-29 | 杭州钱江称重技术有限公司 | Positioning loop line |
| CN105905135A (en) * | 2016-04-20 | 2016-08-31 | 中国人民解放军国防科学技术大学 | Magnetic levitation train positioning and speed measuring system and method and magnetic levitation train |
| CN110419067A (en) * | 2017-03-28 | 2019-11-05 | 爱知制钢株式会社 | Concentrator marker system |
| CN110419067B (en) * | 2017-03-28 | 2022-03-15 | 爱知制钢株式会社 | Marker system |
| CN108945005A (en) * | 2018-04-12 | 2018-12-07 | 浙江众合科技股份有限公司 | Cross talk loop wire and CBTC control system |
| CN109080665B (en) * | 2018-06-27 | 2021-01-22 | 北京全路通信信号研究设计院集团有限公司 | Train positioning method based on cross induction loop intersection information |
| CN109080665A (en) * | 2018-06-27 | 2018-12-25 | 北京全路通信信号研究设计院集团有限公司 | Train positioning method based on cross induction loop intersection information |
| CN110068701A (en) * | 2019-05-05 | 2019-07-30 | 太原理工大学 | Pipeline vehicle instantaneous velocity measuring system based on electromagnetic method |
| CN110828003A (en) * | 2019-11-15 | 2020-02-21 | 中国原子能科学研究院 | signal processing system |
| CN110828003B (en) * | 2019-11-15 | 2022-03-11 | 中国原子能科学研究院 | signal processing system |
| CN112298289A (en) * | 2020-09-28 | 2021-02-02 | 卡斯柯信号有限公司 | A train relocation method based on speedometer and trackside loop |
| CN112298289B (en) * | 2020-09-28 | 2022-07-08 | 卡斯柯信号有限公司 | Train repositioning method based on speedometer and trackside loop |
| CN114812649A (en) * | 2021-01-18 | 2022-07-29 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Test system of cross induction loop line under superspeed environment |
| CN114812541A (en) * | 2022-04-07 | 2022-07-29 | 中铁十九局集团矿业投资有限公司 | An indoor positioning system and positioning method based on electromagnetic grid |
| CN114812541B (en) * | 2022-04-07 | 2025-09-05 | 中铁十九局集团矿业投资有限公司 | Indoor positioning system and positioning method based on electromagnetic grid |
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Granted publication date: 20140709 |