KR102301184B1 - High-Speed Relative Position Measuring Method by Scanning and Detecting with Multiple Light Sources, Capable of Detecting Bitwise Information - Google Patents

Abstract

The present invention is a high-speed relative position measurement method for detecting the position of a hypertube vehicle in a hypertube, a mark array ( mark array); a transmitter disposed in the hypertube vehicle and irradiating a laser to the mark array; and a receiver disposed in the hypertube vehicle, spaced apart from the transmitter in the traveling direction of the hypertube, and receiving reflected light reflected from the laser mark array. and the receiver consists of two or more pairs for a single mark, the mark array includes information marks for specific information transfer at predetermined intervals, and the information marks are formed to reflect reflected light in a discretized form. It's about positioning.

Description

High-Speed Relative Position Measuring Method by Scanning and Detecting with Multiple Light Sources, Capable of Detecting Bitwise Information

The present invention relates to a high-speed relative position measurement method using multiple light source scanning and detection capable of stepwise information expression.

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

The hyperloop or hypertube vehicle, which has recently been attracting attention as a next-generation high-speed train, allows the maglev train to run in a sub-vacuum of 0.001 atm, in a conductor tube with a speed of up to 1,200 km/h. development is in progress. The vehicle can be accelerated from a standstill to the maximum speed with 0.5 G acceleration. At this time, the magnetic force between the HTS electromagnets installed on the vehicle side and the air-core electromagnets installed on the ground side is applied. used to propel the vehicle.

Since the vehicle-side superconducting electromagnet is a DC electromagnet, the vehicle is propelled by adjusting the phase of the current flowing in the ground-side three-phase air-core linear synchronous motor. At this time, the location of the vehicle-side superconducting electromagnet (or vehicle) must be precisely grasped by the inverter (power supply device) installed on the ground side. That is, in the 3-phase linear synchronous motor located on the ground side, the phase of the current must be precisely controlled according to the position of the vehicle, so that the vehicle can be propelled with maximum efficiency without wasting unnecessary electromagnetic power. Currently, hypertube propulsion systems based on precise positioning of several centimeters are being developed.

Various types of non-contact sensors have been studied for the purpose of position measurement. Although an inductive sensor has been applied to a maglev train with a maximum speed of 300 km/h, it is difficult to apply to a hypertube vehicle because it is vulnerable to noise due to the effect of a higher magnetic field by a superconducting electromagnet. The ultrasonic method has a slow reaction speed, and the method using RFID has low reaction speed and measurement precision. The optical sensor has the advantage of having a fast reaction speed, but when it is installed around a guideway, contamination due to factors in the hypertube may become a problem. On the other hand, any method in which the sensor main module is arranged on the guideway is advantageous in securing precision, but it is not desirable in terms of commercialization due to unrealistic installation and maintenance costs that require installing sensors at intervals of several cm across the entire section.

In the sub-vacuum tube train operation system (so-called hypertube system), it is necessary to continuously measure the speed when driving at subsonic speed (1,200 km/h), acceleration/deceleration, and constant speed driving. The present invention provides an effective precise position detection method of a vehicle during a section in which a hypertube vehicle is operated, in particular, an acceleration section for maximum efficiency in a propulsion system using an air-core linear synchronous motor (LSM) of a hypertube. aims to provide

Another object of the present invention is to provide a speed measuring device capable of additionally reading specific information such as an absolute position of a vehicle in a tube.

In order to solve the above problems, a high-speed relative position measurement method according to an embodiment of the present invention is a high-speed relative position measurement method for detecting the position of a hypertube vehicle in a hypertube, and the progress of the hypertube vehicle a mark array in which a plurality of marks in the form of a strip are arranged in a hypertube along a path; a transmitter disposed in the hypertube vehicle and irradiating a laser to the mark array; and a receiver disposed in the hypertube vehicle, spaced apart from the transmitter in the traveling direction of the hypertube, and receiving reflected light reflected from the laser mark array. and the receiver consists of two or more pairs for a single mark, the mark array includes an information mark for transmitting specific information at predetermined intervals, and the information mark is formed to reflect the reflected light in a discretized form do it with

In addition, each of the two or more pairs of the transmitter and the receiver is configured to irradiate and receive lasers having different wavelengths, and the information mark is characterized in that it is formed to reflect reflected light of different sizes.

Further, the information mark is characterized in that it is formed so as to reflect the reflected light at different time intervals.

In addition, the laser irradiated from the transmitting unit is a line laser, the receiving unit is a line-type light receiving unit formed to receive the line laser, and the information mark is formed in a plurality of steps by reflecting reflected light of different sizes by forming white bands of different lengths. It is characterized in that it is formed to convey discretized information.

In addition, the white band is disposed on a black background arranged to have a width three times or more than the width of the white band, so that the reflected light signal reflected by the white band against the black background can be easily detected. .

In addition, the information mark is characterized in that a plurality of white bands having the same width are arranged on a black background, and arranged at different intervals along the traveling direction of the hypertube vehicle.

In addition, each of the two or more pairs of the transmitter and the receiver is characterized in that the laser is reflected at different points spaced apart in the traveling direction of the hypertube vehicle.

In addition, each of the two or more pairs of the transmitter and the receiver is set to be temporally synchronized with each other.

In addition, each of the two or more pairs of the transmitter and the receiver detects the speed of the hypertube vehicle using the detection parallax of the initial reflected light by the information mark, and corrects the detection interval of a plurality of white bands of the information mark based on the speed. characterized in that

In addition, the white band of the information mark is formed on a black background wider than the arrangement area of the white band by combining a plurality of thin inner white bands smaller than the width of the white band, and changing the width or number of internal white bands in the white band It is characterized in that the reflectance of the white band is adjusted by adjusting the space occupancy.

The present invention enables non-contact speed measurement at intervals of several cm precision in a subsonic high-speed train system, and has the effect of improving measurement reliability. In addition, there is an effect of providing direction information of the vehicle along with the measurement of the vehicle speed.

1 is a conceptual diagram illustrating an infrastructure tube and a guideway of a general hypertube.
2 shows a configuration diagram and a side view of a general air-core type linear motor.
3 shows the basic form of the optical scanning detection method.
4 is a conceptual diagram illustrating a concept of diversifying detection information using a difference in marking size according to an embodiment of the present invention.
5 is a conceptual diagram illustrating a concept of diversification of detection information by two-column marking according to another embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. Throughout the specification, when a part 'includes' or 'includes' a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. . In addition, the '... Terms such as 'unit' and 'module' mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software.

1 is a conceptual diagram illustrating an infrastructure tube and a guideway of a general hypertube.

Referring to FIG. 1 , the hypertube 10 includes a guideway 110 serving as propulsion, levitation and guidance in an infratube 100 in which a sub-vacuum is formed, and the vehicle 120 includes a superconducting magnet 200 . It is propelled by the magnetic levitation method.

2 shows a configuration diagram and a side view of a general air-core type linear motor.

Referring to FIG. 2 , (a) of FIG. 2 is a perspective view showing the configuration of the air-core type linear motor 20, and FIG. 2(b) is a side view showing the configuration of the air-core type linear motor 20.

The three-phase air-core linear synchronous synchronous motor 20 has a superconducting electromagnet 200 disposed on the vehicle 120 side, and each electromagnet coil 212 , 214 , 216 for forming three phases along the guideway 110 on the ground. It includes a propulsion coil 210 which is alternately disposed on the guideway 110 of the side.

Since the vehicle 120 side superconducting electromagnet 200 is a DC electromagnet, the vehicle 120 is propelled by adjusting the phase of the current flowing in the ground side three-phase air-core linear synchronous motor 20 . At this time, the position of the superconducting electromagnet (or the vehicle 120 ) on the vehicle 120 side must be precisely grasped by the inverter (power supply device) installed on the ground side. That is, in the three-phase linear synchronous motor 20 located on the ground side, the phase of the current must be precisely controlled according to the position of the vehicle 120 so that the vehicle 120 can be propelled with maximum efficiency without unnecessary waste of electromagnetic power.

3 shows the basic form of the optical scanning detection method.

Referring to FIG. 3 , in the relative position measurement method according to an embodiment of the present invention, a sensor unit 30 including a transmitter 310 and a receiver 320 is installed in a vehicle 120 , and the guideway 110 is Accordingly, the sensor unit 30 measures the mark array 40 disposed at regular intervals in the infra tube 100 . The transmitter 310 may be a laser emitter, and the receiver 320 may be a photo detector. The transmitter 310 and the receiver 320 form a pair so that the receiver 320 detects that the light emitted from the transmitter 310 is reflected from the mark array 40 .

The mark array 40 may have a form in which a black band 410 providing the lowest reflectance and a white band 420 providing the maximum reflectance are alternately disposed to cause a difference in light reflectivity. Each of the mark arrays 40 may have an arbitrary reflectance, and the light reflected in the region between the black bands 410 or the white bands 420 may have any value.

The receiver 320 may detect the magnitude of the received light, for example, measure the maximum value from the magnitude distribution of the light to determine the time point. By specifying two viewpoints from the maximum value of the received light reflected from each of the arranged adjacent white bands 420, it is calculated how long the interval between the white bands 420 known in advance has passed, and the speed can be calculated.

In this configuration, in order to accurately calculate the time difference between the two time points, the position of the peak value of the light received by the receiver 320 should be accurately identified. However, in measuring the received light by the receiver 320 , the light reflected from the white band 420 disposed in the direction in which the vehicle 120 travels may not all have the same peak value and be incident on the receiver 320 . can That is, in order to determine the exact position of the peak value from an analog waveform having an arbitrary peak value, for example, an ADC (Analog to Digital Converter) requires very high time resolution and a considerable amount of calculation.

In an embodiment of the present invention, by using the black band 410 together with the white band 420 , the maximum and minimum information on the amount of light is additionally used in the optical signal measured by the receiver 320 . That is, in an embodiment, the maximum and minimum range of the magnitude of the light received by the receiver 320 can be checked in real time by including the black band 410 having the minimum reflectivity.

In an embodiment, both the maximum value and the minimum value of the light incident on the receiver 320 may be grasped, and the size range of the light may be determined from this. Such information may be utilized to more efficiently operate the signal detection algorithm of the receiver 320 and to improve detection reliability and precision. For example, since the amplitude range of the input optical signal can be predicted in advance, the peak value detection section can be shortened, so that the amount of calculation and time required for peak value detection can be reduced, and the precision can be improved. Alternatively, a threshold value for setting a peak value detection section may be set or adjusted in real time based on the magnitude range of the optical signal. For example, when the magnitude of the reflected light reflected from the black band 410 is 0 and the average magnitude of the reflected light reflected from the white band 420 is 1, the threshold value is set to 0.7 and the calculation interval for calculating the maximum value is 0.7 to The calculation speed can be improved by limiting to one section. In order to set the threshold, an average value of reflected light reflected from the plurality of black bands 410 and the plurality of white bands 420 may be used. The threshold values exemplified herein are for illustrative purposes only and are not limited thereto.

By way of analogy, the method according to the embodiment includes the white band 420 , so that the light intensity value measured by the receiver 320 corresponds to an absolute measurement value rather than a relative measurement value.

In the high-speed relative position measurement method according to an embodiment, not only the white band 420 is arranged as a target for light reflection, but the black band 410 and the white band 420 are alternately arranged, resulting in reliability and precision of signal detection. There are features that can increase

On the other hand, it is possible to arrange a pair of bands having a predetermined distance different from these 10 pairs after the arrangement of the midpoint of the mark array 40, for example, 10 pairs of black bands 410-white bands 420. have. The vehicle 120 may be configured to transmit predetermined information by disposing targets having different intervals in a section in which the vehicle 120 travels at a constant speed. Such information may include, for example, navigation-related information including an absolute distance from the departure point of the vehicle 120 or safety-related information.

4 is a conceptual diagram illustrating a concept of diversifying detection information using a difference in marking size according to an embodiment of the present invention.

Referring to FIG. 4 , in the high-speed relative position measurement method according to an embodiment, the white band 420 of the mark array 40 as shown in FIG. 3 is white on the black band 412 having a larger area. An example in which the bands 422 are alternately formed in a stacked form is shown. For convenience of illustration, the black band 412 is illustrated as hatched with a plurality of dots, but is actually filled with black. In the case of the illustrated embodiment, the transmitter 310 may be configured to emit a line laser, and similarly, the receiver 320 may have a light receiver of a line type. In one embodiment, the amount of light received can be transmitted differently by forming different lengths of the white bands 422, 422', and 422". FIG. 4 shows a case in which discretized information is transmitted in three steps.

In addition, by surrounding the white band 422 with the black band 412 having the lowest reflectance, it may be configured to easily identify the lowest point in detecting the amount of received light.

When the light source of the transmitter 310 is not a line laser type but a point light source type, the white band 422 portion is a plurality of thinner (preferably a width smaller than the spot size of the light source) of the white band 422 . It can be formed by combining them so that the reflectance is different from each other. For example, by forming the reflectance to be different from each other, such as 100%, 66%, and 33%, it is possible to transmit the discretized information in three steps to be detected by the receiver.

In one embodiment, the information discretized in three steps has been described, but the present invention is not limited thereto, and data composed of binary data composed of normal [0, 1] may be exchanged.

The marking array 40 may include a specific mark 430 marked with such data at a predetermined position in the infratube 100 . Specific marks 430 marked with data may be arranged in a form that is repeated every predetermined distance in the marking array 40 . Data transmitted by the specific mark 430 may include data for various purposes, such as an absolute position from a starting point in the tunnel, a position unit, a reset position, and a reference point for error correction.

5 is a conceptual diagram illustrating a concept of diversification of detection information by two-column marking according to another embodiment of the present invention.

Referring to FIG. 5, as another embodiment according to the present invention, information detection by two-column marking will be described. The detection method according to an embodiment may be compared to a method corresponding to a form similar to a normal barcode. The two sensor pairs 32 are configured to reflect light at physically different locations along the traveling direction of the vehicle 120 . Accordingly, each of the transmitters 310 and 312 and the receivers 320 and 322 may be spaced apart from each other. Although not shown in detail, the marked data is arranged to include a plurality of white bands 420 , and each white band 420 has a constant width, but is arranged at different distances apart from each other so that the discretized information is expressed. can be formed.

When only one sensor pair 32 is used, the measured light interval may vary depending on the speed of the vehicle 120 , and thus the interval between the white bands 420 may not be correctly detected.

In one embodiment, two sensor pairs 32 are used, and the parallax between the two sensor pairs 32 may be configured to recognize a speed based on, for example, a white band 420 measured initially. When a combination of a plurality of white bands 420 corresponding to data including information is detected, the measured speed may be corrected to be recognized. That is, it can be understood that the use of the two sensor pairs 42 in one embodiment is introduced in order to exclude the influence by the vehicle speed.

The above description is merely illustrative of the technical idea of this embodiment, and various modifications and variations will be possible by those skilled in the art to which this embodiment belongs without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are intended to explain rather than limit the technical spirit of the present embodiment, and the scope of the technical spirit of the present embodiment is not limited by these embodiments. The protection scope of this embodiment should be interpreted by the following claims, and all technical ideas within the equivalent range should be interpreted as being included in the scope of the present embodiment.

Claims (10)

A high-speed relative position measurement method for detecting the position of a hypertube vehicle in a hypertube, comprising:
a mark array in which a plurality of marks in the form of a band are arranged in the hypertube along a traveling path of the hypertube vehicle;
a transmitter disposed in the hypertube vehicle and irradiating a laser to the mark array; and
a receiving unit disposed in the hypertube vehicle, spaced apart from the transmitting unit in a traveling direction of the hypertube, and receiving reflected light reflected from the mark array by the laser;
The speed of the hypertube vehicle is detected by a position detection system comprising:
The transmitter and the receiver are composed of two or more pairs for the single mark,
The mark array includes an information mark for transmitting specific information at predetermined intervals, and the information mark is formed to reflect the reflected light in a discrete form, wherein the information mark has a plurality of white bands having the same width on a black background A high-speed relative position measurement method disposed on the upper surface, disposed at different intervals along the traveling direction of the hypertube vehicle. According to claim 1,
Each of the two or more pairs of the transmitter and the receiver is configured to irradiate and receive lasers having different wavelengths,
The information mark is a high-speed relative position measurement method formed to reflect the reflected light of different sizes. According to claim 1,
The information mark is
A high-speed relative position measurement method formed to reflect reflected light at different time intervals. 3. The method of claim 2,
The laser irradiated from the transmitting unit is a line laser, and the receiving unit is a line-type light receiving unit configured to receive the line laser,
The information mark is formed to transmit the discretized information in a plurality of steps by reflecting the reflected light of different sizes by forming the white bands with different lengths. 5. The method of claim 4,
The white band is
It is arranged on a black background that is arranged to have a width three times or more than the width of the white band,
A high-speed relative position measuring method formed to easily detect the reflected light signal reflected by the white band against the black background. delete According to claim 1,
Each of the two or more pairs of the transmitter and the receiver is formed so that the laser is reflected at different points spaced apart from each other in the traveling direction of the hypertube vehicle. 8. The method of claim 7,
Each of the two or more pairs of the transmitter and the receiver is set to be time-synchronized with each other. 9. The method of claim 8,
Each of the two or more pairs of the transmitting unit and the receiving unit detects the speed of the hypertube vehicle by using the detection parallax of the initial reflection light by the information mark, and detecting a plurality of white bands of the information mark based on the speed A high-speed relative position measurement method that compensates for gaps. 3. The method of claim 2,
The white band of the information mark is formed on a black background wider than the arrangement area of the white band by combining a plurality of thin inner white bands smaller than the width of the white band, the width of the inner white band within the white band or A high-speed relative position measurement method in which the reflectance of the white band is adjusted by changing the number and adjusting the space occupancy.

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