Vacuum pipeline speed measurement and positioning system and method

Abstract

The present invention discloses a vacuum pipeline speed measurement and positioning system and method. The system includes: a plurality of single-spectrum light sources of different wavebands; a vehicle-mounted image acquisition device acquires spectral images of a plurality of single-spectrum light sources of different wavebands; a control device processes the image to obtain a tensor matrix of the image, and locates the train according to the tensor matrix and the light source data pre-stored in the light source database; the control device also determines whether there is a change in the light source, if not, the data in the light source database is updated with the tensor matrix, if yes, the tensor matrix is ​​converted into a column vector and the light source change distance is determined, and then it is determined whether the light source tracking and identification is successful, if yes, the train speed is determined according to the light source change distance, otherwise it is determined whether the light source change distance is zero, if yes, the data in the light source database is updated with a column vector, otherwise, the data in the light source database is updated with a column vector and the light source database is triggered to send a column vector, and the updated light source change distance is determined according to the sent column vector to determine the train speed.

Description

Technical Field

[0001] The present invention relates to the technical field of speed measurement and positioning, and in particular to a vacuum pipeline speed measurement and positioning system and method. Background Art

[0002] The vacuum tube train uses magnetic levitation technology to separate from the ground and eliminate friction, and uses vacuum tubes to significantly reduce air resistance to achieve near-ground flight.

[0003] As the speed can reach over 1000km, the traditional speed measurement method is very expensive. Traditional speed measurement positioning includes ground laser speed measurement positioning, vehicle-mounted laser reflection sensor speed measurement positioning, and cross-induction loop positioning speed measurement.

[0004] For ground laser speed measurement and positioning, a laser sensor needs to be placed at a certain interval, and speed measurement and positioning is achieved by blocking the laser sensor count by a vehicle-mounted grating. The disadvantage is that the cost is high and there is no speed monitoring on the vehicle. For the vehicle-mounted laser reflection sensor, the vehicle speed is calculated by calculating the reflection angle. The disadvantage is that it is affected by the reflection surface or the speed exceeds a certain speed. The vehicle-mounted laser sensor may not be able to accurately receive the reflected light beam, resulting in speed measurement failure and loss of points, which in turn leads to safety accidents. The positioning and speed measurement system based on cross-induction loops lays cross-induction loops along the track according to a certain coding rule, and a high-frequency excitation signal is passed into the vehicle-mounted transmitting coil. According to the law of electromagnetic induction, an induction signal will be generated in the ground cross-loop. By detecting the amplitude and phase of the induction signal, the position and speed information of the train can be obtained in real time, thereby realizing the synchronous closed-loop traction of the maglev train. The disadvantage is high cost and complex construction. Summary of the invention

[0005] The invention provides a vacuum pipeline speed measurement and positioning system and method, which can solve the technical problems in the prior art.

[0006] The present invention provides a vacuum pipeline speed measurement and positioning system, wherein the system comprises:

[0007] A plurality of single-spectrum light sources of different wavelength bands are arranged in a vacuum tube in a predetermined coding manner;

[0008] A vehicle-mounted image acquisition device, used to acquire spectral images of single-spectrum light sources of multiple different wavebands;

[0009] A control device, used for processing the collected spectral image to obtain a tensor matrix of the spectral image, and positioning the train in the vacuum tube according to the tensor matrix and the light source data pre-stored in the light source database;

[0010] The control device is also used to determine whether there is a change in the light source. If not, the data in the light source database is updated with a tensor matrix. If so, the tensor matrix is ​​converted into a column vector, the light source change distance is determined according to the column vector, and whether the light source tracking and identification is successful is determined according to the light source change distance. If successful, the train speed is determined according to the light source change distance. If failed, it is determined whether the light source change distance is zero. If so, the data in the light source database is updated with a column vector. Otherwise, the data in the light source database is updated with a column vector and the light source database is triggered to send the column vector, and the updated light source change distance is determined according to the sent column vector, and the train speed is determined according to the updated light source change distance.

[0011] Preferably, the tensor matrix is ​​converted to a column vector by:

[0012] {Γ x,y (r,g,b;t)}[A]=[P x (t)],

[0013] Among them, Γ x,y (r, g, b; t) is the tensor matrix of the spectral image, P x (t) is a column vector, x represents the coordinate of the spectral image in the heading direction, y represents the coordinate of the spectral image in the normal direction, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents the dimensionality reduction matrix.

[0014] Preferably, the control device determines the light source change distance according to the column vector, and determines whether the light source tracking and identification is successful according to the light source change distance, including:

[0015] Determine the light source change distance according to the column vector at the current moment and the column vector at the next moment;

[0016] If the light source change distance is within the observation range, it is determined that the light source tracking and identification is successful, otherwise it is determined that the light source tracking and identification fails.

[0017] Preferably, the train speed is determined according to the light source change distance by the following formula:

[0018] v = Δx / Δt,

[0019] Among them, v is the speed of the train, Δx is the distance of light source change, and △t is the time interval between the next moment and the current moment.

[0020] Preferably, the vehicle-mounted image acquisition device is a camera.

[0021] The present invention also provides a vacuum pipeline speed measurement and positioning method, wherein the method comprises:

[0022] S100, using a vehicle-mounted image acquisition device to acquire spectral images of multiple single-spectrum light sources in different wavebands, wherein the multiple single-spectrum light sources in different wavebands are arranged in a vacuum pipe in a predetermined coding manner;

[0023] S102, using a control device to process the collected spectral image to obtain a tensor matrix of the spectral image;

[0024] S104, using the control device to locate the train in the vacuum tube according to the tensor matrix and the light source data pre-stored in the light source database;

[0025] S106, using the control device to determine whether there is a change in the light source, if not, go to S108, if yes, go to S110;

[0026] S108, updating the data in the light source database using the tensor matrix;

[0027] S110, converting the tensor matrix into a column vector;

[0028] S112, determining the light source change distance according to the column vector, and judging whether the light source tracking and identification is successful according to the light source change distance, if successful, go to S114, otherwise go to S116;

[0029] S114, determining the train speed according to the distance of the light source change;

[0030] S116, determine whether the light source change distance is zero, if yes, go to S118, otherwise go to S120;

[0031] S118, updating the data in the light source database using the column vector;

[0032] S120, updating the data in the light source database with the column vector and triggering the light source database to send the column vector;

[0033] S122, determining an updated light source change distance according to the sent column vector, and then determining the train speed according to the updated light source change distance.

[0034] Preferably, the tensor matrix is ​​converted to a column vector by:

[0035] {Γ x,y (r,g,b;t)}[A]=[P x (t)],

[0036] Among them, Γ x,y (r, g, b; t) is the tensor matrix of the spectral image, P x(t) is a column vector, x represents the coordinate of the spectral image in the heading direction, y represents the coordinate of the spectral image in the normal direction, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents the dimensionality reduction matrix.

[0037] Preferably, determining the light source change distance according to the column vector, and judging whether the light source tracking and identification is successful according to the light source change distance includes:

[0038] Determine the light source change distance according to the column vector at the current moment and the column vector at the next moment;

[0039] If the light source change distance is within the observation range, it is determined that the light source tracking and identification is successful, otherwise it is determined that the light source tracking and identification fails.

[0040] Preferably, the train speed is determined according to the light source change distance by the following formula:

[0041] v = Δx / Δt,

[0042] Among them, v is the speed of the train, Δx is the distance of light source change, and △t is the time interval between the next moment and the current moment.

[0043] Through the above technical scheme, the spectral images of single-spectrum light sources of multiple different bands can be collected by the image acquisition device, and then positioning can be achieved by detecting image coding; vehicle speed detection can be achieved based on the calculation of spectral image position transformation of single-spectrum light sources of multiple different bands and the light source database, which has the advantages of low cost and high real-time accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A block diagram of a vacuum pipeline speed measurement and positioning system according to an embodiment of the present invention is shown;

[0046] Figure 2 A schematic diagram showing the installation position of a vacuum pipeline speed measurement and positioning system according to an embodiment of the present invention is shown;

[0047] Figure 3 A flow chart of a vacuum pipeline speed measurement and positioning system method according to an embodiment of the present invention is shown;

[0048] Figure 4A schematic diagram of calculating vehicle speed by spectral image displacement (transformation) according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0052] Figure 1 A block diagram of a vacuum pipeline speed measurement and positioning system according to an embodiment of the present invention is shown.

[0053] like Figure 1As shown, an embodiment of the present invention provides a vacuum pipeline speed measurement and positioning system, wherein the system includes: a plurality of single-spectrum light sources 10 of different wavebands, which are arranged in a vacuum pipeline in a predetermined coding manner; a vehicle-mounted image acquisition device 20, which is used to acquire spectral images of the plurality of single-spectrum light sources 10 of different wavebands; a control device 30, which is used to process the acquired spectral images to obtain a tensor matrix of the spectral images, and locate the train in the vacuum pipeline according to the tensor matrix and the light source data pre-stored in the light source database; the control device 30 is also used to determine whether there is a change in the light source (spectral image change, such as Figure 4 As shown), if otherwise, the data in the light source database is updated with the tensor matrix, if so, the tensor matrix is ​​converted into a column vector, the light source change distance is determined according to the column vector, and the light source tracking and identification is judged to be successful according to the light source change distance, if successful, the train speed is determined according to the light source change distance (that is, when the train runs at high speed, the spectral change can be identified by the image acquisition device to achieve positioning and speed measurement), if it fails, it is judged whether the light source change distance is zero, if so, the data in the light source database is updated with the column vector, otherwise the data in the light source database is updated with the column vector and the light source database is triggered to send the column vector, and the updated light source change distance is determined according to the sent column vector, and then the train speed is determined according to the updated light source change distance (that is, when the train speed is too high or packet loss occurs, the database can be calibrated and positioned to achieve speed measurement and positioning).

[0054] Through the above technical scheme, the spectral images of single-spectrum light sources of multiple different bands can be collected by the image acquisition device, and then positioning can be achieved by detecting image coding; vehicle speed detection can be achieved based on the calculation of spectral image position transformation of single-spectrum light sources of multiple different bands and the light source database, which has the advantages of low cost and high real-time accuracy.

[0055] According to one embodiment of the present invention, the tensor matrix is ​​converted into a column vector by the following formula:

[0056] {Γ x,y (r,g,b;t)}[A]=[P x (t)],

[0057] Among them, Γ x,y (r, g, b; t) is the tensor matrix of the spectral image, P x (t) is a column vector, x represents the coordinate of the spectral image in the heading direction, y represents the coordinate of the spectral image in the normal direction, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents the dimensionality reduction matrix.

[0058] According to an embodiment of the present invention, the control device determines the light source change distance according to the column vector, and determines whether the light source tracking and identification is successful according to the light source change distance, including:

[0059] Determine the light source change distance according to the column vector at the current moment and the column vector at the next moment;

[0060] If the light source change distance is within the observation range, it is determined that the light source tracking and identification is successful, otherwise it is determined that the light source tracking and identification fails.

[0061] In the present invention, the method of determining the updated light source change distance according to the sent column vector is the same as the above-mentioned method of determining the light source change distance, which will not be repeated here.

[0062] According to one embodiment of the present invention, the train speed is determined according to the light source change distance by the following formula:

[0063] v = Δx / Δt,

[0064] Among them, v is the speed of the train, Δx is the distance of light source change, and △t is the time interval between the next moment and the current moment.

[0065] The above formula is also applicable to the case where the train speed is determined based on the updated light source change distance, as long as Δx is replaced by the updated light source change distance.

[0066] According to an embodiment of the present invention, the vehicle-mounted image acquisition device may be a camera, for example, a high-speed camera.

[0067] Those skilled in the art should understand that the above description of the vehicle-mounted image acquisition device is merely exemplary and is not intended to limit the present invention.

[0068] Figure 2 A schematic diagram of the installation position of a vacuum pipeline speed measurement and positioning system according to an embodiment of the present invention is shown.

[0069] like Figure 2 As shown, a plurality of single-spectrum light sources 10 of different wavelength bands are arranged in a vacuum pipe in a predetermined coding manner (ie, a single-spectrum multi-light source in a ring pipe), and a high-speed camera can be arranged on the top of the train body.

[0070] For example, multiple single-spectrum light sources of different wavelengths can emit light of different colors, and positioning codes can be formed by single-spectrum light sources of different wavelengths. In order to overcome the interference of sunlight or other external light sources, a light emitter of a specific wavelength can be selected as a single-spectrum light source. The selection of the optical fiber beam splitter and optical fiber involved can follow the principle of small loss in the beam splitting and transmission process and high beam splitting quality to ensure that the image acquisition device can detect the optical signal.

[0071] Figure 3 A flow chart of a vacuum pipeline speed measurement and positioning system method according to an embodiment of the present invention is shown.

[0072] like Figure 3As shown, an embodiment of the present invention further provides a vacuum pipeline speed measurement and positioning method, wherein the method comprises:

[0073] S100, using a vehicle-mounted image acquisition device to acquire spectral images of multiple single-spectrum light sources in different wavebands, wherein the multiple single-spectrum light sources in different wavebands are arranged in a vacuum pipe in a predetermined coding manner;

[0074] S102, using a control device to process the collected spectral image to obtain a tensor matrix of the spectral image;

[0075] S104, using the control device to locate the train in the vacuum tube according to the tensor matrix and the light source data pre-stored in the light source database;

[0076] S106, using the control device to determine whether there is a change in the light source, if not, go to S108, if yes, go to S110;

[0077] S108, updating the data in the light source database using the tensor matrix;

[0078] S110, converting the tensor matrix into a column vector;

[0079] S112, determining the light source change distance according to the column vector, and judging whether the light source tracking and identification is successful according to the light source change distance, if successful, go to S114, otherwise go to S116;

[0080] S114, determining the train speed according to the distance of the light source change;

[0081] S116, determine whether the light source change distance is zero, if yes, go to S118, otherwise go to S120;

[0082] S118, updating the data in the light source database using the column vector;

[0083] S120, updating the data in the light source database with the column vector and triggering the light source database to send the column vector;

[0084] S122, determining an updated light source change distance according to the sent column vector, and then determining the train speed according to the updated light source change distance.

[0085] Through the above technical scheme, the spectral images of single-spectrum light sources of multiple different bands can be collected by the image acquisition device, and then positioning can be achieved by detecting image coding; vehicle speed detection can be achieved based on the calculation of spectral image position transformation of single-spectrum light sources of multiple different bands and the light source database, which has the advantages of low cost and high real-time accuracy.

[0086] Among them, although Figure 3It is shown that S104 is executed first and then S106 is executed, but this is only exemplary and is not intended to limit the present invention. Alternatively, S104 and S106 may be executed simultaneously after S102.

[0087] According to one embodiment of the present invention, the tensor matrix is ​​converted into a column vector by the following formula:

[0088] {Γ x,y (r,g,b;t)}[A]=[P x (t)],

[0089] Among them, Γ x,y (r, g, b; t) is the tensor matrix of the spectral image, P x (t) is a column vector, x represents the coordinate of the spectral image in the heading direction, y represents the coordinate of the spectral image in the normal direction, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents the dimensionality reduction matrix.

[0090] According to an embodiment of the present invention, determining the light source change distance according to the column vector, and judging whether the light source tracking and identification is successful according to the light source change distance includes:

[0091] Determine the light source change distance according to the column vector at the current moment and the column vector at the next moment;

[0092] If the light source change distance is within the observation range, it is determined that the light source tracking and identification is successful, otherwise it is determined that the light source tracking and identification fails.

[0093] In the present invention, the method of determining the updated light source change distance according to the sent column vector is the same as the above-mentioned method of determining the light source change distance, which will not be repeated here.

[0094] According to one embodiment of the present invention, the train speed is determined according to the light source change distance by the following formula:

[0095] v = Δx / Δt,

[0096] Among them, v is the speed of the train, Δx is the distance of light source change, and △t is the time interval between the next moment and the current moment.

[0097] The above formula is also applicable to the case where the train speed is determined based on the updated light source change distance, as long as Δx is replaced by the updated light source change distance.

[0098] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0099] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0100] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vacuum pipeline speed measurement and positioning system, characterized in that: The system includes: A plurality of single-spectrum light sources of different wavelength bands are arranged in a vacuum tube in a predetermined coding manner; A vehicle-mounted image acquisition device, used to acquire spectral images of single-spectrum light sources of multiple different wavebands; A control device, used for processing the collected spectral image to obtain a tensor matrix of the spectral image, and positioning the train in the vacuum tube according to the tensor matrix and the light source data pre-stored in the light source database; The control device is also used to determine whether there is a change in the light source. If not, the data in the light source database is updated with a tensor matrix. If yes, the tensor matrix is ​​converted into a column vector, the light source change distance is determined according to the column vector, and whether the light source tracking and identification is successful is determined according to the light source change distance. If successful, the train speed is determined according to the light source change distance. If failed, it is determined whether the light source change distance is zero. If yes, the data in the light source database is updated with a column vector. Otherwise, the data in the light source database is updated with a column vector and the light source database is triggered to send a column vector, and the updated light source change distance is determined according to the sent column vector, and the train speed is determined according to the updated light source change distance. Convert the tensor matrix to a column vector using the following formula: {Γ x,y (r,g,b;t)}[A]=[P x (t)], Among them, Γ x,y (r, g, b; t) is the tensor matrix of the spectral image, P x (t) is a column vector, x represents the coordinate of the spectral image in the heading direction, y represents the coordinate of the spectral image in the normal direction, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents the dimensionality reduction matrix.

2. The system according to claim 1, characterized in that The control device determines the light source change distance according to the column vector, and determines whether the light source tracking and identification is successful according to the light source change distance, including: Determine the light source change distance according to the column vector at the current moment and the column vector at the next moment; If the light source change distance is within the observation range, it is determined that the light source tracking and identification is successful, otherwise it is determined that the light source tracking and identification fails.

3. The system according to claim 2, characterized in that The train speed is determined according to the distance of the light source by the following formula: v = Δx / Δt, Among them, v is the speed of the train, Δx is the distance of light source change, and △t is the time interval between the next moment and the current moment.

4. The system according to any one of claims 1 to 3, characterized in that: The vehicle-mounted image acquisition device is a camera.

5. A vacuum pipeline speed measurement and positioning method, characterized in that: The method includes: S100, using a vehicle-mounted image acquisition device to acquire spectral images of multiple single-spectrum light sources in different wavebands, wherein the multiple single-spectrum light sources in different wavebands are arranged in a vacuum pipe in a predetermined coding manner; S102, using a control device to process the collected spectral image to obtain a tensor matrix of the spectral image; S104, using the control device to locate the train in the vacuum tube according to the tensor matrix and the light source data pre-stored in the light source database; S106, using the control device to determine whether there is a change in the light source, if not, go to S108, if yes, go to S110; S108, updating the data in the light source database using the tensor matrix; S110, converting the tensor matrix into a column vector; S112, determining the light source change distance according to the column vector, and judging whether the light source tracking and identification is successful according to the light source change distance, if successful, go to S114, otherwise go to S116; S114, determining the train speed according to the distance of the light source change; S116, determine whether the light source change distance is zero, if yes, go to S118, otherwise go to S120; S118, updating the data in the light source database using the column vector; S120, updating the data in the light source database with the column vector and triggering the light source database to send the column vector; S122, determining an updated light source change distance according to the sent column vector, and further determining a train speed according to the updated light source change distance; Convert the tensor matrix to a column vector using the following formula: {Γ x,y (r,g,b;t)}[A]=[P x (t)], Among them, Γ x,y (r, g, b; t) is the tensor matrix of the spectral image, P x (t) is a column vector, x represents the coordinate of the spectral image in the heading direction, y represents the coordinate of the spectral image in the normal direction, r, g, b represent the RGB mode of the spectral image, t represents time, and A represents the dimensionality reduction matrix.

6. The method according to claim 5, characterized in that Determining the light source change distance according to the column vector, and judging whether the light source tracking and recognition is successful according to the light source change distance includes: Determine the light source change distance according to the column vector at the current moment and the column vector at the next moment; If the light source change distance is within the observation range, it is determined that the light source tracking and identification is successful, otherwise it is determined that the light source tracking and identification fails.

7. The method according to claim 6, characterized in that The train speed is determined according to the distance of the light source by the following formula: v = Δx / Δt, Among them, v is the speed of the train, Δx is the distance of light source change, and △t is the time interval between the next moment and the current moment.

Images