KR20120013859A - Track position recognition and position correction system - Google Patents

Abstract

In the method of recognizing the position on the track currently running on the railroad tracks, the railroad tracks such as track position information, position correction information, etc. are stored on the roadbed such as sleepers in the RFID TAG and installed on the track. The present invention relates to a system that reads an RFID ground apparatus at the moment of passage and combines it with the traveling distance information obtained from the vehicle speed sensor to obtain corrected position information.

Description

Recognition and Correction of Location on Rail Track}

The present invention relates to a system for correcting the track position recognition and position distortion of a railway vehicle running on the rail track.

The method of recognizing the position on the track currently running in various railway vehicles traveling on the railroad track is to manually input the location information of the kilopost, which is a signpost of the absolute position placed next to the track, and to speed up the subsequent driving distance. It calculates and reflects it by using wheel rotation information obtained from the sensor. However, due to wheel size error, slip and sliding, the actual position and significant position error are shown depending on the driving distance. Since there is no position correction means for correcting this again, a person reads the kilopost distance information and resets it while driving in a vehicle. However, it is inconvenient. In the process of resetting the kilopost position, it is accompanied by a considerable error due to time difference. Also, the kilopost is installed at the distance of 1km as the position of the track design, and the distance from the reference point is expressed in km, but the actual construction error, When measured during actual driving due to the maintenance and change of the track afterwards, it is confirmed that the distance between the kiloposts is not exactly 1km, but there is a significant oversufficiency error. For this reason, the reality is that the position on the track and the distance position on the actual track recognized by the driving vehicle have a considerable error. For this reason, in particular, accuracy problems due to the mismatch between the track position of the track data and the track position of the track data, which are detected in the track vehicle, have been controversial. The present invention is directed to a solution to this problem.

 As a method of recognizing the position of the vehicle on the rail track, when the vehicle passes the kilopost, which is the location information sign on the track, the human is inputting the corresponding position to the system. Although it is possible to input the location, it is extremely inconvenient, such as having to stop and enter the car exactly at the kilopost position, and when the vehicle enters the location information by resetting the kilopost position while driving, a considerable error is caused by the time error. Accordingly, it is necessary to devise a system for automatically recognizing the track position.

 Thus, the relative distance is added to the absolute position information on the track at the kilopost position input to the onboard device to obtain the current position information. When the vehicle travels on the track, the relative distance is determined using the speed sensor information. Can be calculated However, when the vehicle reaches the next kilopost, the position recognition information of the vehicle must match the position information written on the kilopost, but in reality, the measurement error of wheel diameter and the effect of diameter change due to abrasion and the effective effect of the meandering of the wheel Due to fluctuations in the rolling diameter, slip caused by acceleration of the vehicle and sliding caused by deceleration, there are calculation errors.Therefore, due to the initial error of the position information written on the kilopost periodically installed on the track, Whenever you pass a kilopost, the location information recognized by the vehicle does not coincide with the location information written on the kilopost. This causes serious problems for railroad cars that require accurate track positions. For example, in the case of a track detection car, the measurement is performed from one point of the kilopost to the next kilopost, which causes the measurement distance to be shorter than 1km or remains, which causes difficulties in storing / processing the data. If the measured distance is less than 1km, the current processing method overlaps the measured value of the remaining track position with the same data by overlapping the data of the last measured location point, and stores the measured data when the distance of the measured distance is more than 1km. Since there is no space, the information about the remaining distance is discarded. If the same section is measured in the opposite direction, the duplicated data and the remaining data are different from the previous time, resulting in a problem that the same result cannot be obtained. Due to this irrationality, the position error problem of orbital measurement has been seriously brought about, and the necessity of the position correction method has been raised.

In summary, instead of manually inputting the vehicle system a means of recognizing the position of the kilopost periodically installed adjacent to the rail track, the track position and characteristic data are automatically recognized when the vehicle travels on track. To provide a track position automatic recognition means and a track position correction means for correcting the error between the distance traveled on the kilopost by using the speed sensor when the vehicle travels between the kilopost.

First, it is about the track position automatic recognition means.

 The RFID TAG is installed at a position adjacent to the track (for example, the upper part of the sleeper) that matches the position of the kilopost. The TAG stores various track characteristic information such as track position information and track type, and stores the upper part of the track. If a vehicle is equipped with an RFID receiving antenna and a signal processing device in a passing vehicle, the RFID TAG transmits a trigger signal and track characteristic information at the moment the vehicle passes, and the onboard device automatically receives the track position and track information. A recognition method is possible.

  In other words, the on-vehicle device mounted on the vehicle at the moment of passing the RFID TAG installed on the ground recognizes the absolute position on the track and serves as a reset point of the track position recognition, and then uses the pulse signal of the speed sensor installed in the vehicle. By measuring the number of revolutions of the wheel to calculate the moving distance of the vehicle, it is always possible to recognize the track position at the present point of view.

Second, it is about the track position correction means.

Since the distance between the kiloposts periodically installed adjacent to the track does not coincide with the measured distance by the actual driving of the vehicle, the main point is to set the distance correction information as a correction method for correcting this.

In other words, if the ratio of the actual mileage to the reference distance (typically 1KM), which is the difference between the track positions specified in two adjacent kiloposts, is set as the distance correction factor, the mileage is corrected using interpolation to distribute the position error. This can greatly reduce position mismatch in the next kilopost. This will be described with reference to FIG. 2.

In other words, if the actual driving measurement distance between kiloposts is shorter than the nominal reference distance of 1KM and is measured as 990M, the distance correction coefficient of this section is defined as 990 / 1,000 = 0.99. Dividing this correction factor by the mileage increases the reference distance and interpolates, so when the next kilopost is reached, you get 1,000M instead of 990M. On the contrary, if the actual driving measurement distance between kiloposts is measured as 1,005M longer than the reference distance of 1KM, the distance correction coefficient of this section is defined as 1,005 / 1,000 = 1.005. If you divide this correction factor by, it is reduced to the reference distance and interpolated, so when you reach the next kilopost, you get 1,000M instead of 1,005M.

In defining the correction information, a method of storing a difference value between two distance values instead of a correction coefficient, which is a ratio of a reference distance and a measured driving distance, may be used in the same scheme. The concept is illustrated in FIG. . That is, if the reference distance is 1KM (= 1,000M) and the actual driving distance is 990M, if the distance difference value -10M is stored as the correction distance, the correction distance (-10M) is the total distance distance (990M) during distance correction. ), The same calculation can be performed by interpolation. For example, in a section where the actual measured distance of 990M in the reference distance of 1,000M is 200M, and to calculate the mileage correction in the current section when the actual mileage of the corresponding section is 200M,

Current distance compensation amount = Correction distance X Actual driving distance / section measurement distance in the current section

                = -10 X 200/990 = -2.02 M,

The corrected mileage in the range is 200-(-2.02) = 202.02 M.

This correction information is obtained from several driving test results and two methods of using this value are devised. The first is to store this information in the RFID tag installed at the location of the kilopost, and automatically recognize this correction information along with the absolute position when the vehicle passes through this position. When calculating the mileage by using this method to reflect the correction information to calculate the mileage to recognize the absolute position corrected as a reference position, which is suitable when the position is recognized in real time. The second method is to store the distance correction information in each section in the onboard device, data processing device, or ground computer, and to interpolate the tracked distance in the measurement position correction of track measurement data later. That's how.

The automatic recognition of the absolute position on the track when passing through the RFID TAG makes the position recognition at the exact time and accurate at the exact time compared to the conventional method of seeing the kilopost and manually recognizing the position in the vehicle system. It became possible. In addition, by setting the distance correction coefficient to the problem caused by the error between the reference distance, which is the position difference between the kiloposts, and the actual measurement distance, the interpolation method is used to disperse interpolation of the position error over the entire area of the corresponding section. It is possible to solve the problem of position mismatch in position.

1 is a system conceptual diagram of a track position recognition system using RFID.
2 is a conceptual diagram of defining a ratio between an actual measurement distance and a reference distance between kiloposts as a distance correction coefficient, and correcting a position by correcting a driving distance using the distance correction coefficient.
3 is a conceptual diagram of defining a difference between an actual measurement distance and a reference distance between kiloposts as a distance difference value, and correcting a position by correcting a driving distance using the distance difference value.

One embodiment is shown in FIG. 1 as a configuration and installation diagram of a system for implementing the above-described invention, and a concept of calculating position correction using a distance correction coefficient is shown in FIGS. 2 and 3. .

Referring to FIG. 1, an RFID vehicle device 4 including an RFID READER and an RFID processor is installed on a railroad vehicle 1 traveling on a track, and an RFID TAG (3) is installed on a roadbed 2 such as a sleeper. ), But stores the track information such as absolute position coordinates (orbital position information) on the track in the internal memory and detects the speed of the vehicle by detecting the rotation speed of the wheel or the member that rotates in connection with the wheel. The vehicle speed sensor 5 was installed, and the data processing device 6 was installed on the vehicle. When the railroad vehicle travels on the track and passes the RFID TAG 3, the RFID vehicle 4 receives the track information such as the track position information sent from the RFID TAG to recognize the absolute position on the track of the TAG installation position. After the data is sent to the data processing device 6, the distance information detected by the vehicle speed sensor 5 is sent to the data processing device 6, and the two are combined to recognize the track position at the current position while driving.

 2 and 3 illustrate a concept of calculating position correction using distance correction information. The distance between the kiloposts that are periodically installed adjacent to the track is usually 1KM, but in practice, the actual distance is often less than 1km due to construction errors in the construction process, maintenance after repair, and errors due to changes. . In addition, even if the railway vehicle runs 1km, the distance calculation result by the pulse detected by the speed sensor is mostly different from the above-mentioned causes. Therefore, when passing through one kilopost, the coordinates are calculated after setting the absolute coordinates, then adding the mileage. When the next kilopost is reached, the mileage remains or is shortened by 1 km. Will occur. This causes a problem in storing and processing data such as orbital distortion measurement. In order to solve this problem, it is necessary to apply the interpolation method that compresses or extends the distance that remains or falls short of the reference distance to the reference distance. If the information on the difference between the reference distance and the actual driving distance is obtained by several measurements and determined as section distance correction information, this information can be used to correct the position of the section.

2 shows the concept of correcting the position by defining a correction coefficient that is the ratio of the actual measurement distance to the reference distance as the correction information, and dividing the actual driving distance value by this correction coefficient to correspond to the reference distance. have.

FIG. 3 is a correction information, which defines a difference between an actual measurement distance and a reference distance as a correction distance, and is a value obtained by multiplying the current mileage distance value by the ratio of the correction distance and the current mileage value relative to the actual measurement distance. The concept of position correction is shown by subtracting the value from the reference distance.

In <Figure 1>
1: railway vehicle
2: sleepers and sleepers
3: RFID TAG
4: RFID Carborne Device
5: vehicle speed sensor
6: data processing device

Claims (3)

A vehicle speed sensor 5 which detects the speed of the vehicle by detecting a rotational speed of the wheel 5 or a member that rotates in association with the wheel; RFID TAG (3) installed in the roadbed (2), such as sleepers and embeds track information; An RFID onboard device (4) comprising an RFID READER and a PROCESSOR mounted on a railroad vehicle to wirelessly receive the TAG's internal information when passing near the TAG; The data processing device 6 calculates the position on the track of the railway vehicle in real time from the collected data, and corrects the difference between the actual distance between the kiloposts and the reference distance information by interpolation over the entire area of the corresponding section. Orbital Position Recognition and Position Correction System
The method of claim 1, further comprising: interpolating a difference between the actual distance between the two kiloposts and the reference distance information over the entire area of the interval;
When the distance correction coefficient which is the ratio of the actual distance to the reference distance of this section or the correction distance which is the difference value of the actual distance relative to the reference distance is called correction information; This correction information is stored in the RFID TAG installed at the kilopost position of this position along with the absolute position information, and the RFID vehicle apparatus of the vehicle passing the RFID recognizes the correction information together with the absolute position. Track position recognition and position correction system having the function of calculating the corrected track position information in real time by calculating the travel distance reflecting this correction information when calculating the travel distance using the speed sensor information in addition to the absolute position information.
The method of claim 1, further comprising: correcting the difference between the actual distance between the kiloposts and the reference distance information by interpolation over the entire area of the section;
When the distance correction coefficient which is the ratio of the actual distance to the reference distance of this section or the correction distance which is the difference value of the actual distance relative to the reference distance is called correction information;
Track position recognition and position correction system having the function of storing this correction information in onboard device, data processing device or ground computer, and reflecting this later in measuring position of track measurement data and interpolating by post processing method.

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