Rail transit mileage positioning integrated device based on multi-sensor fusion

Abstract

The utility model relates to the technical field of rail transit detection and monitoring, in particular to a rail transit mileage positioning integrated device based on multi-sensor fusion, which comprises an encoder, a satellite positioning information receiving device, a marker recognition device and a data processing module, the encoder, the satellite positioning information receiving device and the marker recognition device are respectively connected with the data processing module, the encoder is installed at any shaft end of the rail transit carrier, and the satellite positioning information receiving device is installed at the top position of the rail transit carrier. The marker recognition device is installed on the side face of the rail transit carrier. The device has the advantages of being accurate in positioning, convenient to disassemble and assemble, wide in applicability and capable of clearly observing historical and periodic changes of a line.

Description

Technical Field

[0001] This utility model relates to the field of rail transit detection and monitoring technology, and in particular to an integrated rail transit mileage positioning device based on multi-sensor fusion. Background Art

[0002] With the continuous development of modern rail transit towards higher train density and higher operating speeds, efficient detection and precise location of line defects have become crucial technical guarantees for guiding maintenance and ensuring train safety. To improve the efficiency of defect detection, various dynamic detection and monitoring systems have been widely deployed. While these systems can detect defects, their location is not precise. During limited maintenance windows, staff often spend a significant amount of time searching for identified defects. Therefore, in the field of rail transit inspection, only by achieving precise location of dynamic detection and monitoring data can defects be found accurately and quickly.

[0003] Currently, the mainstream methods for mileage positioning in the field of rail transit inspection are as follows:

[0004] 1) Mileage accumulation positioning method based on axle-end encoder: The cumulative distance of wheel rotation is calculated based on the pulse signal recorded by the axle-end encoder on the train, thus obtaining the mileage and locating the train. However, due to factors such as the length of domestic railway lines, counting errors (wheel spinning, skidding, etc.), and wheel wear, the mileage is a linearly increasing value, which cannot correspond to the actual mileage on the ground and cannot guarantee its accuracy.

[0005] 2) Satellite Positioning Technology: A mileage and latitude / longitude database is pre-established using the latitude and longitude coordinates of the kilometer markers. Satellite positioning receivers installed on the train output the latitude and longitude coordinates in real time and match them with the database. After delay processing and algorithmic processing, the current mileage is obtained. Satellite positioning receivers are convenient to use, technologically mature, relatively low-cost, and relatively easy to maintain, providing positioning information for the train. However, the accuracy of satellite positioning is greatly affected by natural conditions. Signal obstruction occurs in mountainous areas, tunnels, stations, forests, and other locations, resulting in numerous blind spots and making real-time location information impossible. Furthermore, most current satellite positioning point databases are obtained dynamically based on kilometer markers. Different professional kilometer conversions exist during the design and construction phases, leading to discrepancies between the nominal mileage on the kilometer markers and the actual mileage. Additionally, the accuracy is compromised due to the delay in marking points.

[0006] 3) Other positioning methods: such as handheld keypad to kilometer markers, track circuit to track, etc., are commonly used rail transit detection and positioning methods. Their positioning accuracy is questionable. Point transponder positioning technology has high accuracy, but it is more expensive and not very versatile. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing an integrated rail transit mileage positioning device based on multi-sensor fusion. This device integrates various spatial positioning technologies by installing encoders, satellite positioning receivers, and marker recognition devices on rail transit vehicles. This ensures high accuracy and reliability of the positioning information in the collected data, making it suitable for dynamic detection and monitoring of mileage positioning in railways, urban subways, and light rail at various speed levels.

[0008] The purpose of this utility model is achieved by the following technical solutions:

[0009] An integrated rail transit mileage positioning device based on multi-sensor fusion is used for positioning rail transit vehicles. It is characterized by comprising an encoder, a satellite positioning information receiving device, a marker recognition device, and a data processing module. The encoder, the satellite positioning information receiving device, and the marker recognition device are respectively connected to the data processing module. The encoder is installed at any axle end of the rail transit vehicle, the satellite positioning information receiving device is installed at the top of the rail transit vehicle, and the marker recognition device is installed at the side of the rail transit vehicle.

[0010] The encoder is one or a combination of two or more of the following: incremental encoder, absolute encoder, and hybrid absolute encoder.

[0011] The satellite positioning information receiving device refers to a latitude and longitude information receiving device, which is one or a combination of two or more of the following: GPS positioning information receiving device, Beidou positioning information receiving device, and Galileo positioning information receiving device.

[0012] The marker recognition device includes a housing, a laser light source, a camera, and a laser rangefinder. The laser light source, the camera, and the laser rangefinder are all installed inside the housing, and the camera and the laser rangefinder are respectively connected to the data processing module.

[0013] The camera is an industrial camera that transmits image data via a network port.

[0014] The data processing module includes a PLA housing, a satellite positioning information processing module, a comprehensive data processing module, and a power supply module. The satellite positioning information processing module, the comprehensive data processing module, and the power supply module are all installed inside the PLA housing. The satellite positioning information processing module is connected to the satellite positioning information receiving device, and the comprehensive data processing module is connected to the encoder and the marker identification device, and is also connected to the satellite positioning information processing module.

[0015] The advantages of this utility model are:

[0016] 1) Precise positioning: After the collected data is calibrated and corrected by this device, the error will be reduced to 1 meter;

[0017] 2) Easy to assemble and disassemble: This device adopts a lightweight, modular, and distributed design, which occupies little space and maximizes the integrity of the vehicle body;

[0018] 3) Wide applicability: The unified mileage positioning data interface meets the requirements for accurate positioning of multiple vehicle models and multiple speed levels;

[0019] 4) Clear observation of historical cycle changes of the line: This positioning device can refine the detection data of the relevant line to the meter unit. By comparing historical records, the historical cycle changes of the line can be clearly observed, providing scientific guidance for line maintenance, upkeep and disaster prevention. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the device structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the identification device in this utility model;

[0022] Figure 3 This is a schematic diagram of the data processing module in this utility model;

[0023] Figure 4 This is a schematic diagram illustrating the working principle of this utility model;

[0024] Figure 5 This is a side view of the arrangement structure of this utility model;

[0025] Figure 6 This is the main view of the layout structure of this utility model. Detailed Implementation

[0026] The features and other related features of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments, so as to facilitate the understanding of those skilled in the art:

[0027] like Figure 1-6 As shown in the figure, labels 1-9 represent: encoder 1, satellite positioning information receiving device 2, marker identification device 3, data processing module 4, housing 5, laser light source 6, camera 7, laser rangefinder 8, and marker 9, respectively.

[0028] Example: Figures 1 to 6As shown, the multi-sensor fusion-based integrated rail transit mileage positioning device in this embodiment is used to locate the mileage of rail transit vehicles. Rail transit vehicles may include conventional operational rail transit vehicles, flaw detection vehicles that travel on the track for flaw detection operations, scanning vehicles that travel on the track to scan the surrounding environment (trackside equipment, platforms, etc.), and other various vehicles traveling on the track. The device in this embodiment is suitable for mileage positioning in the dynamic detection and monitoring fields of railways, urban subways, and light rail at various speed levels.

[0029] like Figure 1 As shown, the integrated device in this embodiment mainly consists of four parts: encoder 1, satellite positioning information receiving device 2, marker recognition device 3, and data processing module 4. The encoder 1, satellite positioning information receiving device 2, and marker recognition device 3 are used to output corresponding data information and send it to the data processing module 4 for data processing, thereby achieving accurate mileage positioning.

[0030] Specifically, such as Figure 4 As shown, encoder 1 is installed on the end of any axle of the vehicle. When the vehicle is displaced, encoder 1 emits a pulse signal, which is used by data processing module 4 to calculate the mileage and use it as a baseline value. Satellite positioning information receiving device 2 uses the current positioning information of the vehicle in real time, and marker recognition device 3 identifies the markers on both sides of the vehicle during its movement to obtain positioning information. The mileage baseline value of encoder 1 is corrected by a sum of multiple reference systems using satellite positioning information receiving device 2 and marker recognition device 3, thereby ensuring high accuracy and reliability of positioning information in the collected data.

[0031] like Figure 2 As shown, in this embodiment, the marker recognition device 3 includes a housing 5, a laser light source 6, a camera 7, and a laser rangefinder 8. The laser light source 6, camera 7, and laser rangefinder 8 are all installed inside the housing 5, which is made of PLA or aluminum alloy. The laser light source 6 provides light to markers (such as mileage markers) on both sides of the rail transit line, ensuring that the camera 7 can capture sufficiently clear images. The laser rangefinder 8 measures the relative distance between the vehicle and the markers to ensure accuracy when identifying and reading information within the image.

[0032] In this embodiment, the camera 7 is an industrial camera, which transmits image data to the data processing module 4 via a network port. The laser rangefinder 8 is connected to the data processing module 4 to transmit measurement data.

[0033] like Figure 3As shown, data processing module 4 includes a PLA housing, a satellite positioning information processing module, a comprehensive data processing module, and a power supply module. It has multiple interfaces, including a network interface, for receiving image information, identifying markers, and receiving satellite positioning information and distance information from suspected markers. Simultaneously, this module comprehensively processes the received data and outputs accurate mileage positioning information to the corresponding devices. The satellite positioning information processing device, comprehensive data processing module, and power supply module are all housed within the PLA housing, which has corresponding interfaces, for data reception, processing, and output. The power supply module can convert between 220V AC and 24V DC power as needed to supply power to the integrated device.

[0034] Combine Figure 5 and Figure 6 As shown, when the integrated device in this embodiment uses the GT-80 rail flaw detection vehicle as a carrier, it has the following usage methods:

[0035] Before installing this integrated device, the wheel diameter and operating speed class of the flaw detection vehicle should be determined, and the corresponding encoder 1 and satellite positioning device 2 should be matched. The encoder 1 should be installed on the axle end of the flaw detection vehicle, ensuring that the rotation of the encoder 1 shaft is consistent with the rolling angular velocity of the wheel. The satellite positioning information receiver 2 should be installed on the top of the flaw detection vehicle to reduce the interference of the vehicle itself on the communication signal of the satellite positioning information receiver 2 and ensure the accuracy of the information.

[0036] A marker recognition device 3 is installed on both sides of the vehicle's interior. This device identifies markers along the track while maximizing equipment lifespan. One or more markers within the detection range are selected, and a satellite positioning device 2 is used to locate these markers, recording their latitude and longitude coordinates and matching them with the mileage of the corresponding rail transit line. These markers serve as calibration points. The selected markers are typically fixed, immovable structures along the track that differ significantly in shape from other equipment in their distance from the rails within a certain mileage, such as overhead contact line poles, signal light poles, and tunnel portals. Each marker serves as a calibration point. A data processing module 4 is installed inside the vehicle.

[0037] When the flaw detection vehicle is running and collecting data, the satellite positioning information receiving device 2 is used to confirm the starting mileage, and the mileage is calculated based on the pulse signal emitted by the encoder 1 based on its rotation speed, which is used as the baseline value.

[0038] Using the marker recognition device 3, the mileage positioning is corrected after valid markers are identified.

[0039] Using the satellite positioning information received by the satellite positioning information receiving device 2, the validity of the marker is determined. The data processing module 4 summarizes the encoder accumulated data, satellite positioning data, and marker positioning data for comprehensive correction and outputs accurate mileage positioning information to comprehensively correct the mileage.

[0040] In actual installation. For example Figure 5 and Figure 6 As shown, the identification device 3, being small and lightweight, is easy to install and remove. It can be directly attached to the windshields of the driver and passenger sides, or installed on the side of the flaw detection vehicle through a window opening. The satellite positioning information receiver 2 is installed in an open area on the roof of the vehicle. The encoder 1 is installed on the axle end of the wheel set. The data processing module 4, due to its small size, can be installed in any space inside the vehicle.

[0041] In this embodiment, the encoder can be installed on any axle of the GT-80 flaw detection vehicle. The device is compact, concealed, and robust, with no impact on the normal operation of the vehicle. The overall operating power of the equipment is low, minimizing its impact on personnel and equipment in the same environment. In specific implementation, encoder 1 is one or more of incremental encoders, absolute encoders, and hybrid absolute encoders. Satellite positioning information receiving device 2 is one or more of GPS, BeiDou, and Galileo latitude and longitude information receiving devices.

[0042] This integrated device can be applied to the precise positioning of dynamic detection and monitoring in rail transit. For example, it can be used in railway systems with integrated inspection vehicles, integrated testing vehicles, rail flaw detection vehicles, and other single-specialty testing vehicles or mobile testing platforms to locate defects and damages discovered during the detection and monitoring process. Through comprehensive positioning using multiple sensors, it obtains more accurate mileage coordinates, greatly improving the efficiency of manual trackside verification. It features high precision, strong reliability, simple principle, convenient application, and meets usage requirements. Furthermore, this embodiment is also applicable to the precise positioning of defects and damages in the dynamic detection and monitoring of urban subways and light rails, thereby improving the accuracy of detection and monitoring reports.

[0043] Although the above embodiments have described the concept and embodiments of the present invention in detail with reference to the accompanying drawings, those skilled in the art will recognize that various improvements and modifications can still be made to the present invention without departing from the scope of the claims, and therefore will not be elaborated here.

Claims

1. A rail transit mileage positioning integrated device based on multi-sensor fusion, used for positioning rail transit vehicles, characterized by: It includes an encoder, a satellite positioning information receiving device, a marker recognition device and a data processing module. The encoder, the satellite positioning information receiving device and the marker recognition device are respectively connected to the data processing module. The encoder is installed at any axis end of the rail transit vehicle, the satellite positioning information receiving device is installed at the top position of the rail transit vehicle, and the marker recognition device is installed at the side position of the rail transit vehicle.

2. The rail transit mileage positioning integrated device based on multi-sensor fusion according to claim 1 is characterized in that: The encoder is one of an incremental encoder, an absolute encoder, and a hybrid absolute encoder, or a combination of two or more of the two.

3. The rail transit mileage positioning integrated device based on multi-sensor fusion according to claim 1 is characterized in that: The satellite positioning information receiving device refers to a latitude and longitude information receiving device, which is one or a combination of two or more of a GPS positioning information receiving device, a Beidou positioning information receiving device, and a Galileo positioning information receiving device.

4. The rail transit mileage positioning integrated device based on multi-sensor fusion according to claim 1 is characterized in that: The marker recognition device includes a shell, a laser light source, a camera and a laser distance measuring device, wherein the laser light source, the camera and the laser distance measuring device are all installed inside the shell, wherein the camera and the laser distance measuring device are respectively connected to the data processing module.

5. The rail transit mileage positioning integrated device based on multi-sensor fusion according to claim 4 is characterized in that: The camera is an industrial camera that transmits image data through a network port.

6. The rail transit mileage positioning integrated device based on multi-sensor fusion according to claim 1 is characterized by: The data processing module includes a PLA shell, a satellite positioning information processing module, a comprehensive data processing module and a power module, wherein the satellite positioning information processing module, the comprehensive data processing module and the power module are all installed in the PLA shell, wherein the satellite positioning information processing module is connected to the satellite positioning information receiving device, and the comprehensive data processing module is connected to the encoder and the identifier recognition device, and is also connected to the satellite positioning information processing module.

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