Modular tooth groove plate-based maglev traffic positioning and speed measurement method and system

Abstract

The application discloses a magnetic levitation traffic positioning and speed measuring method and system based on a modular tooth groove plate, and the method comprises the following steps: detecting the signal of the modular tooth groove plate through an eddy current sensor, the modular tooth groove plate is composed of metal sheets sealed by insulating materials and arranged regularly, the width of the metal sheets is fixed as l The position of the tooth groove is a tooth, and the width of the groove between the adjacent teeth is a specified multiple of l The time difference of the signal waveforms output by at least two fixed interval eddy current sensor coils is used to calculate the running speed of the train; the absolute position ID of the train is obtained through absolute position coding of different tooth groove width ratios; the train absolute position ID is matched with line basic data information, and the line basic data information comprises turnout, slope or curve information; and the speed, the absolute position and the line basic data information are output to a train control system to adjust the dynamic running control strategy of the train. The application effectively improves the stability and comfort of the train running and reduces the cost and complexity of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic levitation transportation positioning and speed measurement, and in particular to a magnetic levitation transportation positioning and speed measurement method and system based on modularized slotted plates. Background Art

[0002] In the field of maglev transportation, positioning and speed measurement technology is a key core technology for achieving precise control of maglev linear motors and is directly related to the safety and stability of train operation. Currently, commonly used positioning and speed measurement methods for maglev trains include the sleeper counting method and the cross-induction loop method. Although these methods can measure train speed and relative position, they have obvious limitations. Among them, the sleeper counting method relies on the spacing between sleepers. Since the sleeper spacing fluctuates between 600mm and 1200mm, when the train runs at low speeds, it will suffer from slow speed updates and low measurement accuracy, making it difficult to meet the requirements of high-precision positioning and speed measurement.

[0003] To avoid the accumulation of relative position measurement errors, existing technologies require the installation of additional absolute position measurement devices, such as transponders and beacons, to calibrate train position. However, these two independent devices for speed (relative position) and absolute position measurement not only significantly increase the cost and complexity of the positioning and speed measurement system, but also, due to the limited spacing between absolute position measurement devices on the track, result in low absolute position measurement resolution, affecting the overall effectiveness of positioning and speed measurement.

[0004] Furthermore, the maglev system is complex, encompassing multiple key components, including the traction and suspension systems. Factors such as the train's acceleration and deceleration performance and suspension stability directly impact passenger comfort, and basic line data provides a crucial basis for train control. However, existing speed measurement methods generally lack the ability to store this basic line data, making them inadequate for the precise control required for maglev trains.

[0005] Regarding positioning and speed measurement equipment, the modular slotted plates comprise multiple metal structures, making installation complex and tedious. To prevent metal deformation from interfering with measurement, the metal thickness must meet strength requirements. However, due to the skin effect, the electromagnetic field is limited to the surface of the metal conductor, resulting in low metal material utilization, increased equipment costs, and wasted resources. Therefore, there is an urgent need to develop a new maglev train positioning and speed measurement technology that can overcome these limitations. Summary of the Invention

[0006] Technical problem to be solved by the present invention: In response to the above-mentioned problems of the prior art, a method and system for magnetic levitation transportation positioning and speed measurement based on modular tooth plates are provided. The present invention aims to solve the problems existing in the existing magnetic levitation train positioning and speed measurement technology, that is, a single technology and device cannot simultaneously realize the train running speed and absolute position measurement, and two sets of independent devices are required, resulting in high cost, complex structure, and limited measurement accuracy. By adopting a positioning and speed measurement method based on modular tooth plates, accurate measurement of train speed and absolute position, acquisition and matching of line basic data information are achieved, thereby effectively improving the stability and comfort of train operation, and reducing the cost and complexity of the system.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0008] A method for magnetic levitation transportation positioning and speed measurement based on modular slotted plates comprises the following steps:

[0009] The signal of the modular tooth plate is detected by the eddy current sensor. The modular tooth plate is composed of metal sheets sealed with insulating materials and arranged regularly. The width of the metal sheet is fixed. l , the position of the metal sheet is the tooth, and the width of the slot between adjacent teeth is l a specified multiple of the value of the train speed; calculating the train running speed based on the time difference of the signal waveforms output by at least two eddy current sensor coils with a fixed interval; obtaining the train absolute position ID by performing absolute position encoding through different tooth slot width ratios; matching the line basic data information according to the train absolute position ID, the line basic data information including turnout, ramp or curve information; outputting the speed, absolute position and line basic data information to the train control system to adjust the train dynamic operation control strategy.

[0010] Optionally, the metal sheet of the modular alveolar plate adopts a rectangular sheet structure with uniform size and material.

[0011] Optionally, the method for calculating the train speed based on the time difference between the signal waveforms output by at least two fixed-spaced eddy current sensor coils is as follows: selecting the time difference t between adjacent rising edges of the eddy current sensor signals and calculating the speed according to the following formula:

[0012] ,

[0013] in, is the fixed distance between two adjacent eddy current sensors, l is the width of the metal sheet in the modular slotted plate, and t is the time difference between the adjacent rising edges of the output signals of two adjacent eddy current sensor coils.

[0014] Optionally, the train speed is calculated by using the time difference of the signal waveforms output by four fixed-interval eddy current sensor coils, and the first coil and the second coil in the eddy current sensor are set as the first coil group, and the third coil and the fourth coil are set as the second coil group. The first train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the first coil and the third coil; the second train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the second coil and the third coil; and the third train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the second coil and the fourth coil.

[0015] Optionally, when a coil fails, the signal of the coil group where the failed coil is located is invalid, and the train speed is calculated using the following formula based on the signal waveform of the unfaulty coil group:

[0016] ,

[0017] in, is the train speed under the signal of a single coil group, is the fixed distance between two adjacent eddy current sensors, is the width of the metal sheet in the modular tooth plate, It is the time difference between the adjacent rising edges of the output signals of two coils in the same group.

[0018] Optionally, the method for obtaining the train absolute position ID by performing absolute position encoding through different tooth slot width ratios is: when the tooth slot widths are equal, the signal waveform relationship detected by the eddy current sensor is defined as 0, and when the tooth slot width ratios are unequal, the detected signal waveform relationship is defined as 1; during the detection process, when the first waveform with an unequal tooth slot width ratio is detected, it is recorded as the start bit 1, and the number of digits of the train absolute position ID is specified according to the actual line length and absolute position requirements. The last detected 1 within the range of digits of the train absolute position ID is the stop bit, thereby obtaining the train absolute position ID.

[0019] Optionally, in the process of decoding the absolute position, the erroneous train absolute position ID is eliminated by checking the continuity of the adjacent train absolute position IDs, and the adjacent train absolute position ID tooth plates are spaced by at least n-1 regular tooth slots, where n is the maximum number of bits of the ID.

[0020] Optionally, when a coil fails, the signal of the coil group where the failed coil is located is invalid, and the absolute position ID of the train is read based on the signal waveform of the coil group without failure.

[0021] The present invention also provides a magnetic levitation traffic positioning and speed measurement system based on a modular slotted plate, comprising:

[0022] Modular tooth plate, composed of metal sheets sealed with insulating material in a regular arrangement, with a fixed width of , the position of the metal sheet is the tooth, and the width of the slot between adjacent teeth is A specified multiple of

[0023] Eddy current sensor, used to detect modular tooth plate signals;

[0024] A signal processing module is used to receive and process eddy current sensor signals, decode the slot width ratio of the modular slot plates to obtain the train's absolute position ID, calculate the train's running speed based on the sensor signals, and obtain basic line data corresponding to the absolute position ID;

[0025] The data output module is used to output the train running speed, the train absolute position ID and the line basic data information matching the train absolute position ID to the train control system.

[0026] The present invention also provides a computer-readable storage medium, which stores a computer program or instruction. The computer program or instruction is programmed or configured to execute the magnetic levitation transportation positioning and speed measurement method based on modular toothed plates through a processor.

[0027] Compared with the prior art, the present invention can mainly achieve the following beneficial effects:

[0028] 1. The present invention integrates speed measurement and absolute position measurement functions. It uses eddy current sensors to detect modular tooth slot plates to generate detection signal waveforms. The train speed is calculated by the time difference of the signal waveforms. At the same time, absolute position encoding is performed based on different tooth slot width ratios to obtain the train's absolute position ID. This avoids the high cost and complex structure caused by the need to install two independent speed and absolute position measurement devices in traditional technologies, effectively reducing the cost and complexity of the positioning and speed measurement system.

[0029] 2. This invention matches essential line data, such as turnout, ramp, or curve information, to the train's absolute position ID and outputs speed, absolute position, and essential line data to the train control system. This allows for real-time optimization and adjustment of the train's dynamic operational control strategy, thereby improving operational smoothness and ride comfort. This is of great significance for the precise control and operational efficiency of maglev trains. Furthermore, the modular slotted plate design facilitates production and installation. The use of insulating material to seal the metal sheet not only improves system reliability but also facilitates customized production based on site dimensions, reducing maintenance costs. This facilitates widespread application in engineering practice and provides a more advanced, efficient, economical, and reliable solution for maglev train positioning and speed measurement technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1This is a flow chart of a method for magnetic levitation transportation positioning and speed measurement based on modular toothed plates in an embodiment of the present invention.

[0031] Figure 2 Schematic diagram of a single modular tooth plate for positioning and speed measurement in an embodiment of the present invention.

[0032] Figure 3 Schematic diagram of the metal arrangement of the tooth plate in an embodiment of the present invention.

[0033] Figure 4 Schematic diagram of the sensor coil detecting the alveolar plate in an embodiment of the present invention.

[0034] Figure 5 Figure 1 shows a schematic diagram of a method for calculating train speed based on the square wave output obtained by sensor coils detecting modular alveolar plates in an embodiment of the present invention. Here, t1 is the time difference between adjacent rising edges of coil 3 output signal S3 and coil 1 output signal S1; t2 is the time difference between adjacent rising edges of coil 2 output signal S2 and coil 3 output signal S3; and t3 is the time difference between adjacent rising edges of coil 4 output signal S4 and coil 2 output signal S2.

[0035] Figure 6 Schematic diagram of a method for calculating train speed when a sensor coil fails in an embodiment of the present invention.

[0036] Figure 7 Schematic diagram of absolute position coding reading in an embodiment of the present invention.

[0037] Figure 8 Schematic diagram of absolute position code reading when a coil fails in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be further described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0039] like Figure 1 As shown, this embodiment provides a method for magnetic levitation transportation positioning and speed measurement based on a modular slotted plate, comprising the following steps:

[0040] The signal of the modular tooth plate is detected by the eddy current sensor. The modular tooth plate is composed of metal sheets sealed with insulating materials and arranged regularly. The width of the metal sheet is fixed. l , the position of the metal sheet is the tooth, and the width of the slot between adjacent teeth is lThe system calculates the train speed based on the time difference of the signal waveforms output by at least two eddy current sensor coils with fixed intervals; obtains the train absolute position ID by performing absolute position encoding through different tooth slot width ratios; matches the line basic data information based on the train absolute position ID, the line basic data information including turnout, ramp and curve information; outputs the speed, absolute position and line basic data information to the train control system to adjust the train dynamic operation control strategy.

[0041] In this embodiment, by using eddy current sensors to detect the tooth plate, the train speed measurement function can be effectively realized. More importantly, by designing the internal metal structure of the tooth plate and its arrangement, the line basic information can be encoded. Through this encoding method, the absolute position of the train, as well as key line basic data such as switches, tracks, ramps, and curves can be accurately analyzed. This not only realizes the absolute positioning of the train, but also provides accurate and comprehensive line basic information for the operation control of the train. The train's traction, suspension, braking and other systems can flexibly adjust the corresponding control strategies based on these real-time line basic data, thereby ensuring the smoothness of the train operation and the comfort experience of passengers to the greatest extent.

[0042] like Figure 2 As shown, in a specific application embodiment, the tooth width in the tooth plate structure is fixed to l There are two kinds of slot widths: l and 3 l .

[0043] In this embodiment, the metal sheets of the modular tooth groove plate adopt a rectangular sheet structure of uniform size and material, and the spacing between adjacent metal sheets is much smaller than the spacing of traditional rail sleepers. This design significantly shortens the speed update cycle, reducing it by more than 50%, thereby significantly improving the accuracy of speed measurement. The uniform specifications of the metal sheets effectively simplify the production and processing procedures, thereby reducing manufacturing costs. In terms of material selection, this embodiment gives priority to using metal profiles that are easy to generate eddy currents, such as aluminum metal, to construct the "tooth" structure. It should be pointed out that the material of the metal sheets of the modular tooth groove plate is not fixed, but can be flexibly selected according to actual application requirements.

[0044] The modular slotted plates contain multiple metal structures, making their installation complex. To prevent deformation from affecting measurement accuracy, the metal thickness must meet certain strength requirements. However, due to the skin effect, the electromagnetic field is primarily concentrated on the surface of the metal conductor, resulting in a weaker electromagnetic field within the metal, which in turn reduces the metal's utilization.

[0045] In this embodiment, the modular alveolar plate insulation material is made of non-metallic materials, such as epoxy resin materials that are easy to cure, have low shrinkage, and have stable performance. By using non-metallic materials to seal regularly arranged metal sheets, a single positioning and speed measuring alveolar plate is formed, and the length of a single alveolar plate can be adjusted according to actual needs, such as Figure 3 The non-metallic sealing structure effectively prevents metal sheet deformation or shedding, reduces thickness requirements, and improves metal material utilization. Furthermore, the modular design facilitates the installation of the tooth plate, reduces maintenance and installation costs, and improves system reliability.

[0046] In this embodiment, the method for calculating the train speed based on the time difference of the signal waveforms output by at least two fixed-spaced eddy current sensor coils is as follows: the time difference t between adjacent rising edges of the eddy current sensor signals is selected and the speed is calculated according to the following formula:

[0047] (1)

[0048] in, is the fixed distance between two adjacent eddy current sensors, is the width of the metal sheet in the modular slotted plate, and t is the time difference between the adjacent rising edges of the output signals of two adjacent eddy current sensor coils.

[0049] In this embodiment, the train speed is calculated by using the time difference of the signal waveforms output by four fixed-interval eddy current sensor coils. The first coil and the second coil in the eddy current sensor are set as the first coil group, and the third coil and the fourth coil are set as the second coil group. The first train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the first coil and the third coil; the second train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the second coil and the third coil; and the third train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the second coil and the fourth coil.

[0050] like Figure 4 As shown, ①, ②, ③, and ④ correspond to coil 1, coil 2, coil 3, and coil 4 in the sensor for detecting signals, respectively; and correspondingly, S1, S2, S3, and S4 are the square wave signals output by the above coils 1, coil 2, coil 3, and coil 4 after detecting the modular alveolar plate.

[0051] In this embodiment, an eddy current sensor is used. It should be noted that the choice of sensor is not fixed and can be flexibly determined based on actual working conditions (such as working environment, detection accuracy requirements, etc.). In the eddy current sensor, coils 1 and 2 are divided into one group, and coils 3 and 4 are divided into another group. The distance D between two adjacent coils along the direction of the slot plate is fixed. The eddy current sensor detects a series of square wave signals generated by the modular tooth plate, such as Figure 5 As shown. Velocity v1 is calculated based on the time difference t1 between the adjacent rising edges of square wave signals S1 output by coil 1 and S3 output by coil 3. Velocity v2 is calculated based on the time difference t2 between the adjacent rising edges of square wave signals S2 output by coil 2 and S3 output by coil 3. Velocity v3 is calculated based on the time difference t3 between the adjacent rising edges of square wave signals S4 output by coil 4 and S2 output by coil 2. Since the distance D between adjacent coils is small, assuming the train is moving at a constant speed within this range, the train velocity at that moment can be calculated using Formula 1.

[0052] In this embodiment, the system detection has redundancy. When a coil fails, the signal of the coil group where the faulty coil is located is invalid. The train speed can be calculated using the following formula based on the signal waveform of the unfaulty coil group:

[0053] (2)

[0054] in, is the train speed under the signal of a single coil group, is the fixed distance between two adjacent eddy current sensors, l is the width of the metal sheet in the modular tooth plate, It is the time difference between the adjacent rising edges of the output signals of two coils in the same group.

[0055] Specifically, if Figure 6 As shown, when one or both of coils 3 and 4 fail, the train speed is calculated based on the square wave signals S1 and S2 output by coils 1 and 2 as shown in formula 2. It is the time difference between the adjacent rising edges of the coil 2 output signal S2 and the coil 1 output signal S1.

[0056] In this embodiment, in addition to the basic speed measurement function, absolute position encoding can also be performed using different slot width ratios. The method for obtaining the train's absolute position ID using absolute position encoding using different slot width ratios is as follows: when the slot widths are equal, the signal waveform relationship detected by the eddy current sensor is defined as 0; when the slot width ratios are unequal, the detected signal waveform relationship is defined as 1; during the detection process, when the first waveform with unequal slot width ratios is detected, it is recorded as the start bit 1. The number of digits of the train's absolute position ID is specified based on the actual line length and absolute position requirements. The last 1 detected within the range of digits of the train's absolute position ID is the stop bit, thereby obtaining the train's absolute position ID.

[0057] This embodiment uses Figure 2 Taking the selected tooth plate area as an example, the digital ID "00111001" can be detected. Figure 7 As shown, in a specific application embodiment, the states of waveforms S1 and S2 are determined at the falling edge of S4. If waveforms S1 and S2 are one high level and one low level, the output is 0; if waveforms S1 and S2 are both low levels, the output is 1. Among them, 0 and 1 are absolute position codes. The first output 1 detected is determined as the start bit of the absolute position ID. The number of digits can be specified according to the actual line length and absolute position requirements. The last output 1 detected within the specified number of digits is the stop bit, and the position ID is output after the reading is completed. For example, when the maximum number of digits to be read is n, the maximum number of digits that can be set is ( ) different location IDs.

[0058] In the existing technology, speed and absolute position measurement usually use two completely independent measurement devices. Therefore, an additional absolute position measurement device is required to measure the absolute position of the train. However, due to the installation spacing of the absolute position measurement equipment on the line, the absolute position measurement resolution is low.

[0059] In this embodiment, the speed and absolute position measurement functions are integrated. By designing an arrangement with different tooth slot width ratios, the same tooth slot plate can be used to measure both speed and absolute position of the train. It has good stability and environmental adaptability, and the absolute position resolution can be customized according to line requirements, thereby effectively improving the absolute position measurement resolution.

[0060] In this embodiment, when a coil fails, the coil group signal where the failed coil is located will be determined to be invalid. At this time, the system will read the absolute position ID of the train based on the signal waveform of the unfaulty coil group. Figure 8 Taking the scenario shown as an example, the specific reading logic is as follows: If square wave S1 is in a high-level state, the output signal is 0; if square wave S1 is in a low-level state, the output signal is 1. Based on this judgment rule, the digital ID can be detected as 00111001. It is worth noting that the two coil groups are functionally redundant. That is, if one coil group fails, the other intact coil group can independently perform signal acquisition and position ID reading, effectively ensuring the continued stable operation of the system. ∆t is the calculation time difference set by the system and is a key parameter for absolute position encoding judgment. Its specific value should be selected based on the operating conditions in the actual application.

[0061] In order to avoid the influence of detection error on the next ID code reading, the interval between the adjacent train absolute position ID slot plates is at least n-1 regular slots, and the interval slot plate length should be greater than or equal to , n is the maximum number of bits of ID.

[0062] For example, taking the line length of 20km and the slot width of l=60mm as an example, taking the reading number of digits as 14, 4065 absolute position IDs can be set, that is, the interval of about 5m can be used for train absolute position calibration.

[0063] Because of the complexity of the maglev transportation system, including the traction system, the suspension system, etc., the acceleration and deceleration performance of the train, the suspension stability, etc. will all affect the ride comfort of the maglev train, and the line basic data information can provide a basis for train control. The existing speed measurement method does not have the function of storing line basic data information.

[0064] In the engineering application of the embodiment, the ID is one-to-one corresponding to the absolute position according to the actual laying position of the modular slot plate. Special positions such as turnout, track, uphill, curve, etc. are used to correspond to the line data by using a unique specific digital ID. When the train travels to a special section, the corresponding digital ID can be read by scanning the positioning speed measurement slot plate to obtain the line basic data information: traction, suspension, braking, etc. The system can adjust the control strategy in real time according to the line basic data information to ensure the stability and comfort of the train.

[0065] In the embodiment, by detecting the modular slot plate, not only the train speed measurement function can be realized, but also the absolute positioning and the analysis of the absolute position, turnout, track, slope, curve, etc. line basic data can be realized to provide the line basic data information for train operation control. The traction, suspension, braking, etc. system can adjust the control strategy according to the line basic data information to ensure the stability and comfort of the train. The speed and position measurement are accurate, which is helpful for the control of the maglev linear motor and improves the accuracy of the traction force. The positioning speed measurement slot plate structure adopts modular design, which is convenient to install, reduces the maintenance cost and installation difficulty, improves the system reliability, and is conducive to engineering promotion.

[0066] The embodiment also provides a maglev transportation positioning and speed measurement system based on a modular slot plate, which comprises:

[0067] Modular tooth slot plate, composed of metal sheets sealed by insulating material, arranged regularly, the width of the metal sheet is fixed as , the position of the metal sheet is tooth, the width of the slot between adjacent teeth is a specified multiple of ;

[0068] Eddy current sensor, used for detecting the signal of the modular tooth slot plate;

[0069] Signal processing module, used for receiving and processing the signal of the eddy current sensor, decoding the absolute position ID of the train by analyzing the tooth slot width ratio of the modular tooth slot plate, calculating the running speed of the train according to the sensor signal, and obtaining the line basic data information corresponding to the absolute position ID of the train;

[0070] Data output module, used for outputting the running speed of the train, the absolute position ID of the train, and the line basic data information matched with the absolute position ID of the train to the train control system.

[0071] The embodiment also provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions are programmed or configured to execute the magnetic levitation transportation positioning and speed measuring method based on the modular tooth slot plate by a processor.

[0072] Those skilled in the art should understand that the technical solution provided by the present application can be in the form of a method, a system, or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer readable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program codes. The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device that implements the functions specified in one or more flows or blocks in the flowcharts and / or block diagrams. These computer program instructions can also be stored in a computer readable memory that can cause the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including instruction devices that implement the functions specified in one or more flows or blocks in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or one block or multiple blocks Figure 1 The functions specified in one flow or multiple flows and / or one block or multiple blocks Figure 1a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0073] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for magnetic levitation traffic positioning and speed measurement based on modular slotted plates, characterized in that: The steps include: The signal of the modular tooth plate is detected by the eddy current sensor. The modular tooth plate is composed of metal sheets sealed with insulating materials and arranged regularly. The width of the metal sheet is fixed. l , the position of the metal sheet is the tooth, and the width of the slot between adjacent teeth is l a specified multiple of the value of the train; calculating the train running speed based on the time difference of the signal waveforms output by at least two fixed-spaced eddy current sensor coils; obtaining the train absolute position ID by performing absolute position encoding using different tooth slot width ratios; matching line basic data information based on the train absolute position ID, the line basic data information including turnout, ramp or curve information; Output train speed, absolute position ID and line basic data information to the train control system to adjust the train dynamic operation control strategy; The metal sheet of the modular alveolar plate adopts a rectangular sheet structure with uniform size and material; The method for calculating the train speed based on the time difference of the signal waveforms output by at least two fixed-spaced eddy current sensor coils is as follows: selecting the time difference t between adjacent rising edges of the eddy current sensor signals and calculating the train speed according to the following formula: ， in, is the fixed distance between two adjacent eddy current sensors, is the width of the metal sheet in the modular slotted plate, t is the time difference between the adjacent rising edges of the output signals of two adjacent eddy current sensor coils; The method for obtaining the train absolute position ID by performing absolute position encoding with different slot width ratios is as follows: when the slot width ratios are equal, the signal waveform relationship detected by the eddy current sensor is defined as 0; when the slot width ratios are unequal, the detected signal waveform relationship is defined as 1; during the detection process, when the first waveform with unequal slot width ratios is detected, it is recorded as the start bit 1, and the number of digits of the train absolute position ID is specified according to the actual line length and absolute position requirements. The last detected 1 within the range of digits of the train absolute position ID is the stop bit, thereby obtaining the train absolute position ID.

2. The method for magnetic levitation transportation positioning and speed measurement based on modular toothed plates according to claim 1, characterized in that: The train speed is calculated using the time difference of the signal waveforms output by four fixed-interval eddy current sensor coils. The first coil and the second coil in the eddy current sensor are set as the first coil group, and the third coil and the fourth coil are set as the second coil group. The first train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the first coil and the third coil; the second train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the second coil and the third coil; and the third train speed is calculated based on the time difference of adjacent rising edges in the signal waveforms output by the second coil and the fourth coil.

3. The method for magnetic levitation transportation positioning and speed measurement based on modular slotted plates according to claim 2, characterized in that: When a coil fails, the signal of the coil group where the faulty coil is located is invalid. The train speed is calculated using the following formula based on the signal waveform of the coil group without fault: ， in, is the train running speed under the signal of a single coil group, is the fixed distance between two adjacent eddy current sensors, is the width of the metal sheet in the modular tooth plate, It is the time difference between the adjacent rising edges of the output signals of two coils in the same coil group.

4. The method for magnetic levitation transportation positioning and speed measurement based on modular slotted plates according to claim 1, characterized in that: In the process of absolute position encoding, the continuity of the absolute position IDs of adjacent trains is verified to eliminate the erroneous train absolute position IDs. The adjacent train absolute position ID tooth plates are separated by at least n-1 regular tooth slots, where n is the maximum number of bits of the ID.

5. A modular slotted plate-based magnetic levitation traffic positioning and speed measurement system, using the modular slotted plate-based magnetic levitation traffic positioning and speed measurement method according to any one of claims 1 to 4, characterized in that: include: Modular tooth plate, composed of metal sheets sealed with insulating material in a regular arrangement, with a fixed width of , the position of the metal sheet is the tooth, and the width of the slot between adjacent teeth is A specified multiple of Eddy current sensor, used to detect modular tooth plate signals; A signal processing module is used to receive and process eddy current sensor signals, perform absolute position encoding by analyzing the slot width ratio of the modular slot plates to obtain the train's absolute position ID, calculate the train's running speed based on the eddy current sensor signals, and obtain line basic data information corresponding to the train's absolute position ID; The data output module is used to output the train running speed, the train absolute position ID and the line basic data information matching the train absolute position ID to the train control system.

6. A computer-readable storage medium having a computer program or instruction stored therein, characterized in that: The computer program or instruction is programmed or configured to execute the magnetic levitation transportation positioning and speed measurement method based on modular tooth plate as described in any one of claims 1 to 4 through a processor.

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