Magnetic levitation positioning method, device, computer equipment and storage medium

Abstract

The present application relates to a method, device, computer equipment and storage medium for magnetic levitation positioning. The method comprises: obtaining a first voltage value of an absolute position sensor when a magnetic levitation train is started and storing it in a memory; during the operation of the magnetic levitation train, continuously obtaining the voltage value of the absolute position sensor, and storing the second voltage value of the absolute position sensor when the power is off in the memory; when the magnetic levitation train is restarted, continuously collecting a third voltage value of the absolute position sensor, and when the ratio of the difference between the third voltage and the first voltage value in the memory is less than the first threshold exceeds the threshold, or when the ratio of the difference between the third voltage and the second voltage value in the memory is less than the first threshold exceeds the threshold, calculating the average value of the third voltage value, so that the absolute position sensor can locate the magnetic levitation train according to the average value. The method can realize the adaptive positioning of the magnetic levitation train.

Description

Technical Field

[0001] The present application relates to the field of magnetic levitation positioning technology, and in particular to a magnetic levitation positioning method, device, computer equipment and storage medium. Background Art

[0002] When the train is running, the operation control system must always know the exact position and speed of each train on the line in order to achieve centralized control and dispatching. The train positioning function is realized by the positioning system on the train. The basic structure of the train positioning system is as follows: Figure 1 As shown in the figure, each train has two head cars with an independent positioning system, each of which includes four independent positioning channels and a train safety positioning function provided by a safety computer. Each positioning channel includes a relative positioning measurement unit (also called a tooth slot counter, NUT), an absolute positioning code reading unit (INK) and a set of positioning electronic components (ORT).

[0003] In order to absolutely locate the train, positioning markers are arranged on both sides of the track at certain positions (about 200m apart) on the line. Three positioning markers are installed on each side of each positioning marker installation position. Each positioning marker has a 4-bit code, so each position has a 12-bit code. When the spacing between each set of markers is 200m, the measurable line length exceeds 800km. These codes are read by the absolute positioning sensor (INK) on the train.

[0004] The absolute positioning sensor scans the passive positioning sign plate fixed along the track to obtain the coded information on the positioning sign plate. The on-board sensor adopts a U-shaped groove structure, with a transmitting coil arranged on one side of the U-shaped groove and a receiving coil arranged on the other side. When the coded metal sign plate passes through the groove, the amplitude of the induction signal of the receiving coil will change. According to the change pattern of the received signal, the information on the sign plate can be decoded.

[0005] The sensor is installed on the box beam of the train, and the positioning mark plate is fixed on the track. The sensor has a U-shaped groove structure. On one side of the U-shaped groove, there are 10 transmitting coils (8 wide coils and 2 narrow coils), which are excited by a high-frequency signal source. On the other side, there are 10 receiving coils. The two narrower coils are code reading coils, which are responsible for reading the code of the positioning mark plate. The eight wider coils are positioning coils, which are responsible for determining the position of the positioning mark plate in the sensor and assisting the code reading logic. Figure 2 shown.

[0006] The coil size of the absolute position sensor needs to match the size of the mark plate, and the distance between the coils is equal to 1 / 5 of the width of the positioning mark plate. When the mark plate passes through the middle of the U-shaped groove, due to the shielding effect of metal platinum on electromagnetic waves, the induction signal in the receiving coil group will change, and its change pattern is related to the position of the narrow slit of the mark plate code. A special decoding circuit can be designed to extract the code value of the mark plate.

[0007] At present, there is no unified standard in the industry for the performance of absolute position sensors, and manual calibration is required. In addition, due to the lack of technical indicators in the actual engineering process, the quality of sensors varies. In actual applications, the sensor is in a sealed state, and the temperature inside the cavity is high due to the influence of high power. As the operating time increases, the overall performance of the absolute position sensor is affected. Summary of the invention

[0008] Based on this, it is necessary to provide a magnetic levitation positioning method, device, computer equipment and storage medium that can solve the problem of increasing inaccurate positioning over time in response to the above technical problems.

[0009] A magnetic levitation positioning method, the method comprising:

[0010] Acquire a first voltage value of the absolute position sensor when the maglev train starts, and store it in a memory;

[0011] During the operation of the maglev train, the voltage value of the absolute position sensor is continuously acquired, and the second voltage value of the absolute position sensor when the power is off is stored in the memory;

[0012] When the maglev train resumes startup, the third voltage value of the absolute position sensor is continuously collected. When the ratio of the difference between the third voltage and the first voltage value in the memory that is less than the first threshold exceeds the threshold, or when the ratio of the difference between the third voltage and the second voltage value in the memory that is less than the first threshold exceeds the threshold, the average value of the third voltage value is calculated so that the absolute position sensor can locate the maglev train according to the average value.

[0013] In one embodiment, the first voltage value, the second voltage value, and the third voltage value are all calibration values ​​of the absolute position sensor when it is idle.

[0014] In one of the embodiments, the method further includes: setting the average value as a real-time calibration value of an absolute position sensor; and when positioning a maglev train, positioning the maglev train according to the measured voltage value of the absolute position sensor and the real-time calibration value.

[0015] In one of the embodiments, it also includes: setting a collection interval; collecting the calibration value of the absolute position sensor at the collection interval, and saving a number of third voltage values ​​after collecting a number of times for subsequent comparison.

[0016] In one embodiment, the collection interval is 300ms, and the number of collections is 10 times; it also includes: when the number of times the difference between the third voltage and the first voltage value in the memory is less than the first threshold is greater than 7 times, or when the difference between the third voltage and the second voltage value in the memory is less than 7 times, calculating the average value of the third voltage value.

[0017] A magnetic levitation positioning device, comprising:

[0018] A first voltage value acquisition module, used to acquire a first voltage value of the absolute position sensor when the maglev train starts, and store it in a memory;

[0019] A second voltage value acquisition module, used to continuously acquire the voltage value of the absolute position sensor during the operation of the maglev train, and store the second voltage value of the absolute position sensor when power is off in the memory;

[0020] The adaptive positioning module is used to continuously collect the third voltage value of the absolute position sensor when the maglev train resumes and starts, and when the ratio of the difference between the third voltage and the first voltage value in the memory being less than the first threshold exceeds the threshold, or when the ratio of the difference between the third voltage and the second voltage value in the memory being less than the first threshold exceeds the threshold, calculate the average value of the third voltage value, so that the absolute position sensor can locate the maglev train according to the average value.

[0021] In one embodiment, the first voltage value, the second voltage value, and the third voltage value are all calibration values ​​of the absolute position sensor when it is idle.

[0022] In one of the embodiments, the adaptive positioning module is further used to set the average value as a real-time calibration value of the absolute position sensor; when positioning the maglev train, the maglev train is positioned according to the measured voltage value of the absolute position sensor and the real-time calibration value.

[0023] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0024] Acquire a first voltage value of the absolute position sensor when the maglev train starts, and store it in a memory;

[0025] During the operation of the maglev train, the voltage value of the absolute position sensor is continuously acquired, and the second voltage value of the absolute position sensor when the power is off is stored in the memory;

[0026] When the maglev train resumes startup, the third voltage value of the absolute position sensor is continuously collected. When the ratio of the difference between the third voltage and the first voltage value in the memory that is less than the first threshold exceeds the threshold, or when the ratio of the difference between the third voltage and the second voltage value in the memory that is less than the first threshold exceeds the threshold, the average value of the third voltage value is calculated so that the absolute position sensor can locate the maglev train according to the average value.

[0027] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0028] Acquire a first voltage value of the absolute position sensor when the maglev train starts, and store it in a memory;

[0029] During the operation of the maglev train, the voltage value of the absolute position sensor is continuously acquired, and the second voltage value of the absolute position sensor when the power is off is stored in the memory;

[0030] When the maglev train resumes startup, the third voltage value of the absolute position sensor is continuously collected. When the ratio of the difference between the third voltage and the first voltage value in the memory that is less than the first threshold exceeds the threshold, or when the ratio of the difference between the third voltage and the second voltage value in the memory that is less than the first threshold exceeds the threshold, the average value of the third voltage value is calculated so that the absolute position sensor can locate the maglev train according to the average value.

[0031] The above-mentioned magnetic levitation positioning method, device, computer equipment and storage medium store a first voltage value and a second voltage value in the storage, wherein the first voltage value is the initial calibration value of the absolute position sensor, and the second voltage value is the voltage calibration value of the absolute position sensor when the power is cut off during operation. Therefore, when the magnetic levitation train runs for a long time, if the temperature has a small effect on the calibration value of the absolute position sensor, the first voltage value is used for comparison, and the average value is used as the calibration value. If the temperature has a large effect on the calibration value of the absolute position sensor, the second voltage value is used for comparison, thereby eliminating the effect of the temperature on the calibration value of the absolute position sensor, thereby improving the positioning accuracy when positioning the magnetic levitation train. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural diagram of a maglev train positioning system in a traditional technology;

[0033] Figure 2 is a coil distribution diagram of an absolute position sensor in conventional technology;

[0034] Figure 3 A schematic diagram of an absolute positioning sign board in a conventional technology;

[0035] Figure 4 A diagram showing the relative positions of an absolute position sensor and a positioning mark plate in one embodiment;

[0036] Figure 5 A flowchart of an absolute position sensor in one embodiment;

[0037] Figure 6 is a schematic flow chart of a magnetic levitation positioning method in one embodiment;

[0038] Figure 7 is a schematic structural diagram of a magnetic levitation positioning device in one embodiment;

[0039] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] First, the working principle of the absolute position sensor is as follows:

[0042] The transmitting coil emits a high-frequency carrier signal, which is received by the receiving coil and detected by the detection circuit and sent to the digital logic circuit for processing. The transmitting coil on the sensor continuously transmits a high-frequency electromagnetic signal with a fixed frequency, generating an alternating magnetic field, so that the receiving coil can generate an alternating induced voltage. Figure 3 ) passes through the sensor U-shaped groove (such as Figure 4 ), because the sign board has a copper coating, and its thickness is enough to form an electromagnetic shield, thus blocking the electromagnetic field, but the coding slit allows the electromagnetic field to pass through. The induced voltage on the code reading receiving coil changes continuously as the sign board passes through the sensor. The code on the sign board is different, and the position of the coding slit is also different, and the induced voltage of the code reading receiving coil will also change accordingly. The absolute position sensor flow chart is as follows Figure 5 shown.

[0043] From the above process, we can know that when the calibration value of the absolute position sensor changes, it will affect the accuracy of positioning.

[0044] Based on this, in one embodiment, Figure 6 As shown, a magnetic levitation positioning method is provided, comprising the following steps:

[0045] Step 602, obtaining a first voltage value of the absolute position sensor when the maglev train starts, and storing it in a memory.

[0046] The memory is arranged on the maglev train and is used to store the calibration value of the absolute position sensor. When positioning is performed, the memory can be read to obtain the data in the memory.

[0047] Step 604: During the operation of the maglev train, the voltage value of the absolute position sensor is continuously acquired, and the second voltage value of the absolute position sensor when the power is off is stored in the memory.

[0048] In this step, the temperature will continue to rise as time goes by. Generally speaking, the temperature of the temperature sensor will not decrease when the power is turned off.

[0049] Step 606, when the maglev train resumes startup, continuously collect the third voltage value of the absolute position sensor, when the ratio of the difference between the third voltage and the first voltage value in the memory that is less than the first threshold exceeds the threshold, or when the ratio of the difference between the third voltage and the second voltage value in the memory that is less than the first threshold exceeds the threshold, calculate the average value of the third voltage value, so that the absolute position sensor can locate the maglev train according to the average value.

[0050] In the above-mentioned magnetic levitation positioning method, a first voltage value and a second voltage value are stored in the storage, wherein the first voltage value is the initial calibration value of the absolute position sensor, and the second voltage value is the voltage calibration value of the absolute position sensor when the power is turned off during operation. Therefore, when the magnetic levitation train runs for a long time, if the temperature has a small effect on the calibration value of the absolute position sensor, the first voltage value is used for comparison, and the average value is used as the calibration value. If the temperature has a large effect on the calibration value of the absolute position sensor, the second voltage value is used for comparison, thereby eliminating the effect of the temperature on the calibration value of the absolute position sensor, thereby improving the positioning accuracy when positioning the magnetic levitation train.

[0051] In one embodiment, the first voltage value, the second voltage value, and the third voltage value are all calibration values ​​when the absolute position sensor is idle. In this embodiment, it is defined that the absolute position sensor is in an idle state when there is no positioning mark plate passing between the transmitting coil and the receiving coil and the high-frequency signal reception is not affected by other metal materials; it is defined that the absolute position sensor is in a code reading state when there is a positioning mark plate passing between the two coils.

[0052] Specifically, after power is turned on in the idle state, the calibration value sampled by the absolute position sensor is the first voltage value, so the code reading is accurate. After power is turned on in the code reading state, the value sampled by the absolute position sensor will not be included in the calibration. The mark plate to be positioned has completely passed through the U-shaped groove, and the sampled value is the calibration value U1, and the code reading is accurate. After the absolute position sensor has been running for a long time, it is powered on and off in a short time, and the temperature inside the shell is still high. At this time, the calibration value sampled in the idle state is the second voltage value, and the code reading is accurate; after the absolute position sensor has been running for a long time, it is powered on and off in a short time, and the temperature inside the shell is still high. At this time, the calibration value sampled in the code reading state is the second voltage value, and the code reading is accurate. In summary, through two comparisons, the calibration value of the absolute position sensor can be accurately read in any state.

[0053] In one of the embodiments, the average value is set as the real-time calibration value of the absolute position sensor; when the maglev train is positioned, the maglev train is positioned according to the measured voltage value and the real-time calibration value of the absolute position sensor.

[0054] In one of the embodiments, a collection interval is set; the calibration value of the absolute position sensor is collected at the collection interval, and after collecting several times, several third voltage values ​​are saved for subsequent comparison.

[0055] Specifically, the collection interval is 300ms, the number of collections is 10 times, and when the difference between the third voltage and the first voltage value in the memory is less than the first threshold value for more than 7 times, or when the difference between the third voltage and the second voltage value in the memory is less than 7 times, the average value of the third voltage value is calculated.

[0056] The above process is described below:

[0057] The absolute position sensor is calibrated before leaving the factory, and the initial voltage value is recorded (this set of voltages is positioned as U0). The calibration value is updated when the absolute position sensor is powered on. When the power is turned on, U0 is backed up, and a new set of calibration values ​​U1 is defined. When the power is first turned on, U1 is the value of U0. At the same time, a set of calibration values ​​U3 is defined. After U1 is updated 5 times, the last U1 is backed up to U3. U3 is the same as U0 and is stored in the memory. It still exists after power failure and can be directly read when the power is turned on again. At the same time, the absolute position sensor keeps sampling once every 300ms (the interval time is summarized through multiple tests). If the results of n (n≥7) sampling times within 10 times are all within 0.2V of U0, the average value of these n sampling times is taken as U2. At this time, U1 is updated to the value of U2, and U1 is the new calibration value. If N<7, determine whether the results of m (m≥7) samplings within 10 times are all within 0.2V of U3. If so, take the average value of these m samplings, i.e. U2. If both n and m do not meet the conditions, do not record U2 and continue to resample until n≥7 or m≥7.

[0058] During the code reading process, the positioning mark plate is always compared with U1 when passing the sensor to obtain the coding information. In this way, when the temperature rises and the calibration value changes, the process is self-adapted to ensure accurate code reading.

[0059] It should be understood that although Figure 6 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 6 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0060] In one embodiment, Figure 7 As shown, a magnetic levitation positioning device is provided, including: a first voltage value acquisition module 702, a second voltage value acquisition module 704 and an adaptive positioning module 706, wherein:

[0061] A first voltage value acquisition module 702, used to acquire a first voltage value of the absolute position sensor when the maglev train starts, and store it in a memory;

[0062] A second voltage value acquisition module 704, used to continuously acquire the voltage value of the absolute position sensor during the operation of the maglev train, and store the second voltage value of the absolute position sensor when the power is off in the memory;

[0063] The adaptive positioning module 706 is used to continuously collect the third voltage value of the absolute position sensor when the maglev train resumes and starts, and when the ratio of the difference between the third voltage and the first voltage value in the memory that is less than the first threshold exceeds the threshold, or when the ratio of the difference between the third voltage and the second voltage value in the memory that is less than the first threshold exceeds the threshold, calculate the average value of the third voltage value, so that the absolute position sensor can locate the maglev train according to the average value.

[0064] In one embodiment, the first voltage value, the second voltage value, and the third voltage value are all calibration values ​​of the absolute position sensor when it is idle.

[0065] In one of the embodiments, the adaptive positioning module 706 is further used to set the average value as the real-time calibration value of the absolute position sensor; when positioning the maglev train, the maglev train is positioned according to the code reading value of the absolute position sensor and the real-time calibration value.

[0066] In one embodiment, the adaptive positioning module 706 is further used to set a collection interval; collect the calibration value of the absolute position sensor at the collection interval, and save several third voltage values ​​after collecting several times for subsequent comparison.

[0067] In one embodiment, the collection interval is 300ms, and the number of collections is 10 times; the adaptive positioning module 706 is also used to calculate the average value of the third voltage value when the number of times the difference between the third voltage and the first voltage value in the memory is less than the first threshold is greater than 7 times, or when the difference between the third voltage and the second voltage value in the memory is less than 7 times.

[0068] For the specific definition of the magnetic levitation positioning device, please refer to the definition of the magnetic levitation positioning method above, which will not be repeated here. Each module in the above-mentioned magnetic levitation positioning device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0069] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a magnetic levitation positioning method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0070] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0071] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0072] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.

[0073] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0074] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A magnetic levitation positioning method, characterized in that: The method comprises: The first voltage value of the absolute position sensor when the maglev train starts is obtained and stored in the memory; the absolute position sensor scans the passive positioning mark plate fixed along the maglev track to obtain the coding information on the positioning mark plate, and the induced voltage on the code reading receiving coil of the absolute position sensor changes continuously as the mark plate passes through the sensor; During the operation of the maglev train, the voltage value of the absolute position sensor is continuously acquired, and the second voltage value of the absolute position sensor when the power is off is stored in the memory; When the maglev train is restarted, the third voltage value of the absolute position sensor is continuously collected, and when the number of times that the difference between the third voltage and the first voltage value in the memory is less than the first threshold exceeds the threshold, or when the number of times that the difference between the third voltage and the second voltage value in the memory is less than the first threshold exceeds the threshold, the average value of the third voltage value is calculated, so that the absolute position sensor can locate the maglev train according to the average value; The first voltage value, the second voltage value, and the third voltage value are all calibration values ​​of the absolute position sensor when it is idle.

2. The method according to claim 1, characterized in that The absolute position sensor positions the maglev train according to the average value, including: Setting the average value as a real-time calibration value of the absolute position sensor; When positioning the maglev train, the maglev train is positioned according to the actually measured voltage value of the absolute position sensor and the real-time calibration value.

3. The method according to claim 1, characterized in that Continuously collect the third voltage value of the absolute position sensor, including: Set the collection interval; The calibration value of the absolute position sensor is collected at the collection interval time, and after collecting several times, the third voltage values ​​are saved for subsequent comparison.

4. The method according to claim 3, characterized in that The sampling interval is 300ms and the number of sampling times is 10; When the number of times that the difference between the third voltage and the first voltage value in the memory is less than the first threshold exceeds a threshold, or when the number of times that the difference between the third voltage and the second voltage value in the memory is less than the first threshold exceeds a threshold, calculating an average value of the third voltage value comprises: When the number of times that the difference between the third voltage and the first voltage value in the memory is less than the first threshold is greater than 7 times, or when the difference between the third voltage and the second voltage value in the memory is less than 7 times, the average value of the third voltage is calculated.

5. A magnetic levitation positioning device, characterized in that: The device comprises: The first voltage value acquisition module is used to acquire the first voltage value of the absolute position sensor when the maglev train starts, and store it in the memory; the absolute position sensor scans the passive positioning mark plate fixed along the maglev track to acquire the coding information on the positioning mark plate, and the induced voltage on the code reading receiving coil of the absolute position sensor changes continuously as the mark plate passes through the sensor; A second voltage value acquisition module, used to continuously acquire the voltage value of the absolute position sensor during the operation of the maglev train, and store the second voltage value of the absolute position sensor when power is off in the memory; An adaptive positioning module is used to continuously collect a third voltage value of the absolute position sensor when the maglev train resumes startup, and when the number of times that the difference between the third voltage and the first voltage value in the memory is less than a first threshold exceeds a threshold, or when the number of times that the difference between the third voltage and the second voltage value in the memory is less than the first threshold exceeds a threshold, calculate an average value of the third voltage value, so that the absolute position sensor can locate the maglev train according to the average value; the first voltage value, the second voltage value, and the third voltage value are all calibration values ​​of the absolute position sensor when it is idle.

6. The device according to claim 5, characterized in that The adaptive positioning module is also used to set the average value as the real-time calibration value of the absolute position sensor; when positioning the maglev train, the maglev train is positioned according to the measured voltage value of the absolute position sensor and the real-time calibration value.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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