A multi-mode laser ranging and speed measuring device and method for an ultra-high-speed maglev system

Abstract

The application provides a multi-mode laser ranging and speed measuring device and method for a super-high-speed maglev system, which comprises a laser range finder, a laser reflection plate, a vehicle-mounted grating light source, a plurality of ground laser receiving modules and a data signal processor; the laser range finder is arranged on the ground and is used for emitting laser to the laser reflection plate and acquiring the absolute position of a vehicle according to the reflected laser; the laser reflection plate is arranged on the vehicle and is used for receiving laser and reflecting the laser back to the laser range finder; the vehicle-mounted grating light source is arranged on the motor rotor of the vehicle and is used for emitting laser to form a grating, and the grating is irradiated into the corresponding ground laser receiving module; the plurality of ground laser receiving modules are arranged on one side of the ground track along the direction of the vehicle movement at equal intervals and are used for receiving the grating and generating the relative position information of the vehicle according to the grating; and the data signal processor is used for obtaining the actual position and speed of the vehicle according to the absolute position and the relative position information of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of ultra-high-speed maglev system technology, and in particular to a multi-mode laser ranging and velocimetry device and method for ultra-high-speed maglev systems. Background Technology

[0002] The ultra-high-speed magnetic levitation navigation system is powered by a synchronous linear motor. Driving this motor at high speed requires real-time position and velocity information for closed-loop control. The control accuracy of the linear motor depends on the position accuracy obtained by the positioning and velocimetry device.

[0003] Currently, there are two common positioning and speed measurement schemes. One is to use a laser transmitter to emit a laser beam at the object being measured, and then use a laser receiver to receive the reflected laser. The position information of the object is obtained by using laser time-of-flight ranging technology, and the speed information is calculated. The other is to use a laser transmitter, and then use a grating placed on the vehicle to block / transmit the laser to form light pulses. The laser receiver accumulates and counts the light pulses to determine the position and calculate the speed.

[0004] However, although Scheme 1 is simple to implement, it is difficult to apply to ultra-high-speed systems to achieve ultra-high-speed measurement due to its low measurement accuracy and long measurement cycle. Scheme 2 uses the principle of grating cumulative counting to determine the position, but it cannot determine the initial position information, and single position information is prone to cumulative error, resulting in incorrect position information. Summary of the Invention

[0005] This invention provides a multimode laser ranging and velocimetry device and method for ultra-high-speed maglev systems, which can solve the technical problems of low positioning accuracy, poor reliability, and large low-speed / high-speed errors in positioning and velocimetry in ultra-high-speed maglev systems.

[0006] According to one aspect of the present invention, a multimode laser ranging and velocimetry device for an ultra-high-speed maglev system is provided, the device comprising a laser rangefinder, a laser reflector, an on-board grating light source, a plurality of ground laser receiving modules and a data signal processor;

[0007] The laser rangefinder is set on the ground and is used to emit lasers onto the laser reflector and to obtain the absolute position of the vehicle based on the reflected laser.

[0008] The laser reflector is mounted on the vehicle and is used to receive laser light and reflect it back to the laser rangefinder.

[0009] The vehicle-mounted grating light source is mounted on the motor mover of the vehicle and is used to emit lasers to form a grating. The grating illuminates the corresponding ground laser receiving module.

[0010] Several ground laser receiving modules are equally spaced along the direction of travel of the vehicle on one side of the ground track, and each ground laser receiving module is perpendicular to the vehicle-mounted grating light source, used to receive the grating and generate the relative position information of the vehicle based on the grating;

[0011] The data signal processor is used to receive the absolute and relative position information of the vehicle, and to obtain the actual position and speed of the vehicle based on the absolute and relative position information.

[0012] Preferably, the laser rangefinder and the laser reflector are on the same horizontal line.

[0013] Preferably, the vehicle-mounted grating light source includes a vehicle-mounted light source and a grating plate, wherein a plurality of grating windows of the same width are equally spaced on the grating plate, and the laser emitted by the vehicle-mounted light source forms a grating through the grating windows.

[0014] Preferably, the interval D between the centers of two adjacent ground laser receiving modules r Less than the effective total length D of the grating t And D r It cannot be an integer multiple of D2.

[0015] Preferably, the effective total length of the grating is obtained by the following formula:

[0016] D t =D2*n

[0017] In the formula, D t D1 is the effective total length of the grating, D2 is the distance between the centers of two gratings, and n is the total number of gratings.

[0018] Preferably, the laser rangefinder is a phase-type laser rangefinder, which includes a phase generation circuit, a laser emitter, a first laser receiver, a filtering, mixing, and phase detection circuit, a first logic processing module, and a first communication module. The phase generation circuit generates electrical signals of different phases. The laser emitter acquires lasers of different frequencies based on the electrical signals of different phases and emits lasers of different frequencies. The first laser receiver receives reflected lasers and converts them into a first electrical signal. The filtering, mixing, and phase detection circuit performs filtering, mixing, and phase detection processing on the first electrical signal to obtain a processed first electrical signal. The first logic processing module calculates the phase difference of the processed first electrical signal to obtain the absolute position of the vehicle. The first communication module sends the absolute position of the vehicle to the data signal processor.

[0019] Preferably, the ground laser receiving module includes a second laser receiver, a filtering circuit, a second logic processing module, and a second communication module; the second laser receiver is used to receive a grating and convert the grating into a second electrical signal; the filtering circuit is used to filter the second electrical signal to obtain a processed second electrical signal; the second logic processing module is used to obtain the relative position information of the vehicle based on the processed second electrical signal; and the second communication module is used to send the relative position information of the vehicle to the data signal processor.

[0020] Preferably, the data signal processor includes a third communication module, a third logic processing module, and a controller; the third communication module is used to receive the absolute position and relative position information of the vehicle; the third logic processing module is used to fuse the absolute position and relative position information of the vehicle to obtain the actual position and speed of the vehicle; and the controller is used to send the actual position and speed of the vehicle to an external device.

[0021] According to another aspect of the present invention, a multimode laser ranging and velocimetry method for ultra-high-speed maglev systems is provided, the method employing any of the aforementioned devices for ranging and velocimetry, the method comprising:

[0022] During the operation of the vehicle, the laser rangefinder emits lasers of different frequencies toward the laser reflector and obtains the absolute position of the vehicle based on the reflected lasers;

[0023] The ground-based laser receiving module, located in the alternating dark and bright areas of the grating, performs a count each time a rising edge is generated from the dark area to the bright area.

[0024] The data signal processor acquires the absolute position of the vehicle at preset time intervals;

[0025] When the absolute position of the vehicle is acquired, the data signal processor takes the absolute position of the vehicle at the current moment as the actual position of the vehicle at the current moment; and acquires the speed of the vehicle at the current moment based on the absolute position of the vehicle at the current moment, the absolute position of the vehicle acquired last time, and the speed at the previous moment.

[0026] When the absolute position of the vehicle is not obtained, the actual position of the vehicle at the current moment is obtained based on the most recently obtained absolute position of the vehicle, the current count value of the ground laser receiving module in the alternating dark and bright areas of the grating, and the distance between the centers of the two gratings; the current speed of the vehicle is obtained based on the current count value of the ground laser receiving module in the alternating dark and bright areas of the grating, the distance between the centers of the two gratings, and the speed of the previous moment.

[0027] Preferably, the actual position of the spacecraft at the current moment is obtained by the following formula:

[0028]

[0029] In the formula, S is the actual position of the vehicle at the current moment. gt Let S be the absolute position of the spacecraft at the current time t. gnk ′ represents the absolute position of the vehicle closest to time nk, nk is the preset time interval, t=nk represents the time when the absolute position of the vehicle is acquired, t≠nk represents the time when the absolute position of the vehicle is not acquired, and cnt is the count value of the ground laser receiving module at the current time.

[0030] Preferably, the speed of the vehicle at the current moment is obtained by the following formula:

[0031]

[0032] In the formula, v t v t-1 S represents the speed of the spacecraft at the current moment and the speed at the previous moment, respectively. gnk S g(n-1)k These are the absolute positions of the vehicle obtained in the current and previous acquisitions, respectively, Δt. g Δt represents the time interval for the laser rangefinder to acquire the absolute position of the vehicle, and Δt represents the counting time interval of the ground laser receiving module. g >Δt.

[0033] By combining laser rangefinder and grating pulse counting measurement methods, the high-precision position value of the laser rangefinder and the grating pulse value are fused, overcoming the problems of the ranging and speed measurement system being difficult to adapt to high-speed measurement, difficult to determine the initial position, and large cumulative error. This improves the reliability, positioning accuracy, and speed measurement range of the ultra-high-speed maglev positioning and speed measurement system. By designing the grating width, millimeter-level positioning accuracy can be achieved, making the control accuracy of the ultra-high-speed maglev system higher and providing a guarantee for the stable and high-speed operation of the ultra-high-speed maglev vehicle. Attached Figure Description

[0034] The accompanying drawings, which form part of this specification, are provided to further illustrate embodiments of the invention and, together with the textual description, explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0035] Figure 1 A schematic diagram of a multimode laser ranging and velocimetry device for an ultra-high-speed maglev system according to an embodiment of the present invention is shown.

[0036] Figure 2A flowchart illustrating the operation of a multimode laser ranging and velocimetry device for an ultra-high-speed maglev system according to an embodiment of the present invention is shown.

[0037] Figure 3 A schematic diagram of the grating bright and dark areas and the corresponding pulses generated by the ground laser receiving module according to an embodiment of the present invention is shown.

[0038] The above figures include the following reference numerals:

[0039] 101-Laser Rangefinder

[0040] 102-Laser Reflector

[0041] 103-Vehicle-mounted grating light source

[0042] 104-Raster Window

[0043] 105-Vehicle Light Source

[0044] 106-Ground Track

[0045] 107-Ground Laser Receiver Module

[0046] 108-Data Signal Processor

[0047] 109-Motor Mover

[0048] 201-Ground laser receiver module output waveform

[0049] 202-Raster Bright Area

[0050] 203-Raster Dark Area Detailed Implementation

[0051] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0053] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0054] like Figure 1 As shown, the present invention provides a multimode laser ranging and velocimetry device for an ultra-high-speed maglev system. The device includes a laser rangefinder, a laser reflector, a vehicle-mounted grating light source, several ground laser receiving modules, and a data signal processor.

[0055] The laser rangefinder is set on the ground and is used to emit lasers onto the laser reflector and to obtain the absolute position of the vehicle based on the reflected laser.

[0056] The laser reflector is mounted on the vehicle and is used to receive laser light and reflect it back to the laser rangefinder.

[0057] The vehicle-mounted grating light source is mounted on the motor mover of the vehicle and is used to emit lasers to form a grating. The grating illuminates the corresponding ground laser receiving module.

[0058] Several ground laser receiving modules are equally spaced along one side of the ground track along the direction of travel of the vehicle, and each ground laser receiving module is perpendicular to the vehicle-mounted grating light source, used to receive the grating and generate the relative position information of the vehicle based on the grating; wherein, the relative position information is the count value of the ground laser receiving module;

[0059] The data signal processor is used to receive the absolute and relative position information of the vehicle, and to obtain the vehicle's actual position and speed based on this information. The data signal processor is connected to the laser rangefinder and the ground-based laser receiving module via optical fiber.

[0060] This invention combines laser rangefinder and grating pulse counting measurement methods, fusing the high-precision position value of the laser rangefinder with the grating pulse value. This overcomes the problems of ranging and speed measurement systems being unable to adapt to high-speed measurement, difficult to determine the initial position, and having large cumulative errors. It improves the reliability, positioning accuracy, and speed measurement range of the ultra-high-speed maglev positioning and speed measurement system. By designing the grating width, it can achieve millimeter-level positioning accuracy, making the control precision of the ultra-high-speed maglev system higher and providing a guarantee for the stable and high-speed operation of the ultra-high-speed maglev vehicle.

[0061] According to one embodiment of the present invention, the laser rangefinder and the laser reflector are on the same horizontal line.

[0062] According to one embodiment of the present invention, the vehicle-mounted grating light source includes a vehicle-mounted light source and a grating plate, wherein a plurality of grating windows of the same width are equally spaced on the grating plate, and the laser emitted by the vehicle-mounted light source forms a grating through the grating windows.

[0063] According to one embodiment of the present invention, in order to ensure data continuity between receivers, the interval D between the centers of two adjacent ground laser receiving modules is... r Less than the effective total length D of the grating t To avoid blind spots in data handover, D r It cannot be an integer multiple of D2.

[0064] Specifically, the effective total length of the grating is obtained using the following formula:

[0065] D t =D2*n

[0066] In the formula, D t D1 is the effective total length of the grating, D2 is the distance between the centers of two gratings, and n is the total number of gratings.

[0067] like Figure 2 The diagram shown illustrates the workflow of a multimode laser ranging and velocimetry device. Figure 2In this embodiment, the laser rangefinder is a phase-type laser rangefinder, which includes a phase generation circuit, a laser emitter, a first laser receiver, a filtering, mixing, and phase detection circuit, a first logic processing module, and a first communication module. The phase generation circuit generates electrical signals of different phases. The laser emitter acquires lasers of different frequencies based on the electrical signals of different phases and emits lasers of different frequencies. The first laser receiver receives reflected lasers and converts them into a first electrical signal. The filtering, mixing, and phase detection circuit performs filtering, mixing, and phase detection processing on the first electrical signal to obtain a processed first electrical signal. The first logic processing module calculates the phase difference of the processed first electrical signal to obtain the absolute position of the vehicle. The first communication module sends the absolute position of the vehicle to the data signal processor.

[0068] The ground-based laser receiving module includes a second laser receiver, a filtering circuit, a second logic processing module, and a second communication module. The second laser receiver is used to receive a grating and convert the grating into a second electrical signal. The filtering circuit is used to filter the second electrical signal to obtain a processed second electrical signal. The second logic processing module is used to obtain the relative position information of the vehicle based on the processed second electrical signal. The second communication module is used to send the relative position information of the vehicle to the data signal processor.

[0069] The data signal processor includes a third communication module, a third logic processing module, and a controller; the third communication module is used to receive the absolute position and relative position information of the vehicle; the third logic processing module is used to fuse the absolute position and relative position information of the vehicle to obtain the actual position and speed of the vehicle; the controller is used to send the actual position and speed of the vehicle to an external device.

[0070] The present invention also provides a multimode laser ranging and velocity measurement method for ultra-high-speed maglev systems, wherein the method uses any of the above-described devices for ranging and velocity measurement, and the method includes:

[0071] During the operation of the vehicle, the laser rangefinder emits lasers of different frequencies toward the laser reflector and obtains the absolute position of the vehicle based on the reflected lasers;

[0072] The ground-based laser receiving module, located in the alternating dark and bright areas of the grating, performs a count each time a rising edge is generated from the dark area to the bright area.

[0073] The data signal processor acquires the absolute position of the vehicle at preset time intervals;

[0074] When the absolute position of the vehicle is acquired, the data signal processor takes the absolute position of the vehicle at the current moment as the actual position of the vehicle at the current moment; and acquires the speed of the vehicle at the current moment based on the absolute position of the vehicle at the current moment, the absolute position of the vehicle acquired last time, and the speed at the previous moment.

[0075] When the absolute position of the vehicle is not obtained, the actual position of the vehicle at the current moment is obtained based on the most recently obtained absolute position of the vehicle, the current count value of the ground laser receiving module in the alternating dark and bright areas of the grating, and the distance between the centers of the two gratings; the current speed of the vehicle is obtained based on the current count value of the ground laser receiving module in the alternating dark and bright areas of the grating, the distance between the centers of the two gratings, and the speed of the previous moment.

[0076] According to one embodiment of the present invention, the actual position of the vehicle at the current moment is obtained by the following formula:

[0077]

[0078] In the formula, S is the actual position of the vehicle at the current moment. gt Let S be the absolute position of the spacecraft at the current time t. gnk ′ represents the absolute position of the vehicle closest to time nk, nk is the preset time interval, t=nk represents the time when the absolute position of the vehicle is acquired, t≠nk represents the time when the absolute position of the vehicle is not acquired, and cnt is the count value of the ground laser receiving module at the current time.

[0079] According to one embodiment of the present invention, the current speed of the aircraft is obtained by the following formula:

[0080]

[0081] In the formula, v t v t-1 S represents the speed of the spacecraft at the current moment and the speed at the previous moment, respectively. gnk S g(n-1)k These are the absolute positions of the vehicle obtained in the current and previous acquisitions, respectively, Δt. g Δt represents the time interval for the laser rangefinder to acquire the absolute position of the vehicle, and Δt represents the counting time interval of the ground laser receiving module. g >Δt.

[0082] To gain a further understanding of the present invention, the multimode laser ranging and velocimetry method for ultra-high-speed maglev systems of the present invention will be described in detail below.

[0083] In this embodiment, as Figure 3As shown, the width of each grating in the vehicle-mounted grating light source is D1 = 5mm, the distance between the centers of two gratings is D2 = 20mm, and the total number of gratings is n = 10. Therefore, the effective total length of the grating is: D t =200mm. The phase-type laser rangefinder is fixed to the ground; the ground laser receiving module is placed on one side of the ground track, perpendicular to the vehicle-mounted grating light source. To avoid blind spots in data transfer, the spacing D between each ground laser receiving device is... r =177mm; The data signal processor is placed on the ground and uses fiber optic cables to connect to the laser rangefinder and the ground laser receiving module to collect data.

[0084] The working process of this invention is as follows: After power-on, the phase-detection laser rangefinder continuously acquires the absolute position of the vehicle and transmits it to the data signal processor via optical fiber. The ground laser receiving module, positioned within a grating, feeds back its current voltage level to the data signal processor. The data signal processor combines this data to calculate the vehicle's actual position. When the vehicle is in operation, the onboard grating light source moves forward at a speed of v. The ground laser receiving module, positioned within an alternating bright and dark grating, generates a high-frequency pulse edge signal, which is sent to the data signal processor. The phase-detection laser rangefinder continuously acquires position information at a low frequency and sends it to the data signal processor. Before the next low-frequency absolute position data arrives, the data signal processor calculates the vehicle's position and velocity based on the cumulative count of the high-frequency pulse edges. After the phase-detection laser rangefinder updates its position information, the cumulative value is compared and updated to prevent cumulative errors. This process continuously updates the position and velocity information.

[0085] The positioning and speed measurement method of the present invention specifically includes the following steps:

[0086] 1) The system starts when the vehicle's motor rotor is stationary;

[0087] 2) The phase-type laser rangefinder obtains the absolute position S of the vehicle. g0 ;

[0088] 3) When the ground laser receiver module 1 receives the laser, it clears the cumulative counter, at which point the count cnt = 0;

[0089] 4) The data signal processor receives the data from both and obtains the position S0, which is time t0;

[0090] S0 = S g0

[0091] 5) The system starts based on position S0, and the vehicle moves.

[0092] 6) Ground laser receiving module 1 is in a state of alternating dark and bright areas of the grating. A rising edge is generated when transitioning from a dark area to a bright area. At this time, t1 occurs, and the next rising edge occurs at t2. This process is repeated by counting cnt. k The absolute position S is measured by the phase-based laser rangefinder controlled by the data signal processor. gk , in turn at t 2k t 3k …t nk S was measured by the controlled phase laser rangefinder. g2k S g3k S gnk Ensure data alignment;

[0093] 7) The data processing unit calculates the vehicle's real-time position and velocity based on the rising edge time of the ground laser receiving module and the accumulated count data, and sends the data to other systems. The fusion calculation logic is shown in the following formula:

[0094]

[0095] Where j1 and j2 are S t-1 The fusion calculation ratio of D2, S gt Let S be the absolute position of the spacecraft at the current time t. t-1 The actual position calculated at the previous moment; j3 and j4 are S t-1 v t-1 The fusion calculation ratio coefficient, S gnk ′ represents the absolute position of the vehicle closest to time nk, v t-1 The velocity calculated at the previous moment;

[0096] In the above method, when j1 = 0 and j2 = 0, the real-time position calculation of the vehicle can be simplified as follows:

[0097] S = S gt

[0098] In the above method, when j3=0 and j4=0, the real-time position calculation of the vehicle can be simplified to:

[0099]

[0100] During operation, the phase-detection laser rangefinder continuously generates absolute position data S on the rising edge. gt The data signal processor uses this data to continuously fuse and correct the data from the ground laser receiving module, preventing cumulative errors from occurring in the grating count.

[0101] In the above method, data from the phase-detection laser rangefinder, the count from the ground laser receiver module, and the velocity value from the previous moment are fused together in a data signal processor to obtain a more accurate velocity value v. t At the moment when the absolute position is measured by the phase laser rangefinder, S is used gnk v t-1 Integrated computing with CNT v t Before obtaining the absolute position, use S. gnk v t-1 Fusion iterative computation v t ;

[0102]

[0103] Where j5 and j6 are S gnk v t-1 The fusion calculation scaling factor; where j7 and j8 are S gnk v t-1 The scaling factor for fusion calculation; Δt g Δt is the time interval for the laser rangefinder to acquire the absolute position of the vehicle, i.e., the interval between two phase-type laser acquisitions; Δt is the counting time interval of the ground laser receiving module, i.e., the interval between the t rising edges of the ground laser receiving module.

[0104] In the above method, when j5 = 1, j6 = 1, j7 = 1, and j8 = 1, the formula can be simplified to:

[0105]

[0106] In summary, this invention provides a multi-mode laser ranging and velocity measurement device and method for ultra-high-speed maglev systems. By combining a laser rangefinder with a grating pulse counting measurement method, the high-precision position value of the laser rangefinder and the grating pulse value are fused, overcoming the problems of ranging and velocity measurement systems being unable to adapt to high-speed measurements, difficult to determine the initial position, and having large cumulative errors. This improves the reliability, positioning accuracy, and speed measurement range of the ultra-high-speed maglev positioning and velocity measurement system. By designing the grating width, millimeter-level positioning accuracy can be achieved, resulting in higher control precision for the ultra-high-speed maglev system and ensuring the stable and high-speed operation of the ultra-high-speed maglev vehicle.

[0107] The parts of this invention not described in detail are techniques known to those skilled in the art.

[0108] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0109] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0110] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0111] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multimode laser ranging and velocimetry device for ultra-high-speed maglev systems, characterized in that, The device includes a laser rangefinder, a laser reflector, a vehicle-mounted grating light source, several ground laser receiving modules, and a data signal processor. The laser rangefinder is set on the ground and is used to emit lasers onto the laser reflector and to obtain the absolute position of the vehicle based on the reflected laser. The laser reflector is mounted on the vehicle and is used to receive laser light and reflect it back to the laser rangefinder. The vehicle-mounted grating light source is mounted on the motor mover of the vehicle and is used to emit lasers to form a grating. The grating illuminates the corresponding ground laser receiving module. Several ground laser receiving modules are equally spaced along the direction of travel of the vehicle on one side of the ground track, and each ground laser receiving module is perpendicular to the vehicle-mounted grating light source, used to receive the grating and generate the relative position information of the vehicle based on the grating; The data signal processor is used to receive the absolute and relative position information of the vehicle, and to obtain the actual position and speed of the vehicle based on the absolute and relative position information.

2. The apparatus according to claim 1, characterized in that, The laser rangefinder and the laser reflector are on the same horizontal line.

3. The apparatus according to claim 1, characterized in that, The vehicle-mounted grating light source includes a vehicle-mounted light source and a grating plate. Several grating windows of the same width are equally spaced on the grating plate, and the laser emitted by the vehicle-mounted light source forms a grating through the grating windows.

4. The apparatus according to claim 1, characterized in that, The distance D between the centers of two adjacent ground laser receiving modules r Less than the effective total length D of the grating t And D r It cannot be an integer multiple of D2.

5. The apparatus according to claim 4, characterized in that, The effective total length of the grating can be obtained using the following formula: D t =D2*n In the formula, D t D1 is the effective total length of the grating, D2 is the distance between the centers of two gratings, and n is the total number of gratings.

6. The apparatus according to claim 1, characterized in that, The laser rangefinder is a phase-type laser rangefinder, which includes a phase generation circuit, a laser emitter, a first laser receiver, a filtering, mixing, and phase detection circuit, a first logic processing module, and a first communication module. The phase generation circuit generates electrical signals of different phases. The laser emitter acquires lasers of different frequencies based on the electrical signals of different phases and emits lasers of different frequencies. The first laser receiver receives reflected lasers and converts them into a first electrical signal. The filtering, mixing, and phase detection circuit filters, mixes, and detects the first electrical signal to obtain a processed first electrical signal. The first logic processing module calculates the phase difference of the processed first electrical signal to obtain the absolute position of the vehicle. The first communication module sends the absolute position of the vehicle to the data signal processor.

7. The apparatus according to claim 1, characterized in that, The ground-based laser receiving module includes a second laser receiver, a filtering circuit, a second logic processing module, and a second communication module. The second laser receiver is used to receive a grating and convert the grating into a second electrical signal. The filtering circuit is used to filter the second electrical signal to obtain a processed second electrical signal. The second logic processing module is used to obtain the relative position information of the vehicle based on the processed second electrical signal. The second communication module is used to send the relative position information of the vehicle to the data signal processor.

8. The apparatus according to claim 1, characterized in that, The data signal processor includes a third communication module, a third logic processing module, and a controller; the third communication module is used to receive the absolute position and relative position information of the vehicle; the third logic processing module is used to fuse the absolute position and relative position information of the vehicle to obtain the actual position and speed of the vehicle. The controller is used to send the vehicle's actual position and speed to external devices.

9. A multimode laser ranging and velocimetry method for ultra-high-speed maglev systems, characterized in that, The method uses the device described in any one of claims 1-8 for distance and speed measurement, and the method includes: During the operation of the vehicle, the laser rangefinder emits lasers of different frequencies toward the laser reflector and obtains the absolute position of the vehicle based on the reflected lasers; The ground-based laser receiving module, located in the alternating dark and bright areas of the grating, performs a count each time a rising edge is generated from the dark area to the bright area. The data signal processor acquires the absolute position of the vehicle at preset time intervals; When the absolute position of the vehicle is acquired, the data signal processor takes the absolute position of the vehicle at the current moment as the actual position of the vehicle at the current moment; and acquires the speed of the vehicle at the current moment based on the absolute position of the vehicle at the current moment, the absolute position of the vehicle acquired last time, and the speed at the previous moment. When the absolute position of the vehicle is not obtained, the actual position of the vehicle at the current moment is obtained based on the most recently obtained absolute position of the vehicle, the current count value of the ground laser receiving module in the alternating dark and bright areas of the grating, and the distance between the centers of the two gratings; the current speed of the vehicle is obtained based on the current count value of the ground laser receiving module in the alternating dark and bright areas of the grating, the distance between the centers of the two gratings, and the speed of the previous moment.

10. The method according to claim 9, characterized in that, The current position of the spacecraft can be obtained using the following formula: In the formula, S is the actual position of the vehicle at the current moment. gt Let S be the absolute position of the spacecraft at the current time t. gnk ′ represents the absolute position of the vehicle closest to time nk, nk is the preset time interval, t=nk represents the time when the absolute position of the vehicle is acquired, t≠nk represents the time when the absolute position of the vehicle is not acquired, and cnt is the count value of the ground laser receiving module at the current time.

11. The method according to claim 9, characterized in that, The current velocity of the spacecraft can be obtained using the following formula: In the formula, v t v t-1 S represents the speed of the spacecraft at the current moment and the speed at the previous moment, respectively. gnk S g(n -1 )k These are the absolute positions of the vehicle obtained in the current and previous acquisitions, respectively, Δt. g Δt represents the time interval for the laser rangefinder to acquire the absolute position of the vehicle, and Δt represents the counting time interval of the ground laser receiving module. g >Δt.

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