阅读说明：本技术 一种基于rfid定位技术的轨道综合检测方法和系统 (Comprehensive track detection method and system based on RFID (radio frequency identification) positioning technology ) 是由 凌文举 余天乐 朱继东 盛忠义 姚继东 郭建志 李谦颖 于 2019-10-08 设计创作，主要内容包括：本发明公开了基于RFID定位技术的轨道综合检测方法和系统,该方法包括步骤：中央信息系统获取编码器统计第一里程；RFID定位系统确定当前里程,记为第二里程,并上报给所述中央信息系统；所述中央信息系统根据当前的所述第二里程、车速和第一里程,计算编码器修正系数,并根据所述编码器修正系数修正所述编码器系数；中央信息系统生成台账,所述台账的每条记录包括所述第一里程及其对应的时间,使各类综合检测数据可对应至所述台账中的具体记录,以便于分析各类综合检测数据的历史数据。本发明可实现铁路综合检测过程中获取的信息对应至更为精确的里程定位。(The invention discloses a track comprehensive detection method and a system based on an RFID (radio frequency identification) positioning technology, wherein the method comprises the following steps: the central information system acquires a first mileage counted by an encoder; the RFID positioning system determines the current mileage, records the current mileage as a second mileage and reports the second mileage to the central information system; the central information system calculates an encoder correction coefficient according to the current second mileage, the current vehicle speed and the current first mileage, and corrects the encoder coefficient according to the encoder correction coefficient; and the central information system generates a standing book, wherein each record of the standing book comprises the first mileage and the corresponding time thereof, so that various comprehensive detection data can correspond to specific records in the standing book, and the historical data of various comprehensive detection data can be analyzed conveniently. The invention can realize that the information acquired in the railway comprehensive detection process corresponds to more accurate mileage positioning.)

1. a track comprehensive detection method based on an RFID positioning technology is characterized by comprising the following steps:

The central information system acquires the number of wheel rotation turns and the rotating speed counted by the encoder, calculates the current mileage and the vehicle speed counted by the encoder according to the encoder coefficient, the number of wheel rotation turns and the rotating speed, and records the current mileage counted by the encoder as a first mileage, wherein the initial value of the encoder coefficient is a preset value stored in the central information system;

the RFID positioning system determines the current mileage, records the current mileage as a second mileage and reports the second mileage to the central information system;

The central information system calculates an encoder correction coefficient according to the current second mileage, the current vehicle speed and the current first mileage, and corrects the encoder coefficient according to the encoder correction coefficient;

The central information system generates a standing book, each record of the standing book comprises the first mileage and the corresponding time, so that various comprehensive detection data can correspond to specific records in the standing book, and the historical data of various comprehensive detection data can be analyzed conveniently.

2. The comprehensive track detection method based on the RFID positioning technology as claimed in claim 1, wherein the RFID positioning system determines the current mileage includes the following steps:

The RFID electronic tag of the RFID positioning system sends tag information to a reader of the RFID positioning system, wherein the tag information comprises the second mileage;

The reader decodes the tag information and uploads it to a central information system.

3. The comprehensive track detection method based on the RFID positioning technology as claimed in claim 1, wherein the calculation formula of the encoder correction coefficient is as follows:

k＝(L_e+L_fwd-T_cd*V-L_cr)/L_r，

Where k is an encoder correction coefficient, L _e is the first mileage, L _r is the second mileage, V is a running speed, L _fwd is d/tan θ, and L _cr, θ, d, and T _cd are preset values stored in the central information system.

4. The track comprehensive detection method based on the RFID positioning technology according to any one of claims 1 to 3, wherein the correcting the encoder coefficient according to the encoder correction coefficient specifically includes: the encoder coefficient is the current encoder coefficient.

5. the comprehensive track detection method based on the RFID positioning technology as claimed in claim 2, wherein, for the position where the suspected damage is detected, the suspected damage position information is written into the tag information of the corresponding RFID electronic tag through the reader according to the actual flaw detection condition.

6. The comprehensive track detection method based on the RFID positioning technology as claimed in claim 5, wherein if the suspected damage position information exists in the tag information of a certain decoded RFID electronic tag read by the central information system, a suspected damage position mark is added to the ledger record corresponding to the third mileage corresponding to the RFID electronic tag.

7. The track comprehensive detection method based on the RFID positioning technology as claimed in claim 5 or 6, wherein the suspected damage position information includes the number of times of suspected damage detection, and each time a suspected damage is detected, the number of times of suspected damage detection is added by 1, and the initial value of the number of times of suspected damage detection is 0.

8. The comprehensive rail detection method based on the RFID positioning technology as claimed in claim 5 or 6, wherein if no suspected damage is detected at the RFID electronic tag where the suspected damage position information exists according to the actual flaw detection situation, the suspected damage position information in the RFID electronic tag is cleared through the reader.

9. The comprehensive rail detection method based on the RFID positioning technology as claimed in claim 2, wherein the tag information of the RFID electronic tag further includes weld seam position information.

10. the comprehensive track detection method based on the RFID positioning technology as claimed in claim 9, wherein if the weld joint position information exists in the tag information of a certain decoded RFID electronic tag read by the central information system, a weld joint position mark is added in an account book corresponding to a third mileage corresponding to the RFID electronic tag.

11. The comprehensive track detection method based on the RFID positioning technology as claimed in claim 1, wherein if the third distance is a whole kilometer, a whole kilometer mark is added to the account book corresponding to the third distance.

12. A track comprehensive detection system based on RFID positioning technology is characterized by comprising a central information system, an RFID positioning system and an encoder, wherein,

The central information system acquires the number of wheel rotation turns and the rotating speed counted by the encoder, calculates the current mileage and the vehicle speed counted by the encoder according to the encoder coefficient, the number of wheel rotation turns and the rotating speed, and records the current mileage counted by the encoder as a first mileage, wherein the initial value of the encoder coefficient is a preset value stored in the central information system; the central information system also calculates an encoder correction coefficient of the encoder according to the first mileage, the vehicle speed and the second mileage, and corrects the encoder coefficient according to the encoder correction coefficient; and finally, the central information system generates a standing book, wherein each record of the standing book comprises the first mileage and the corresponding time thereof, so that various comprehensive detection data can correspond to specific records in the standing book, and the historical data of various comprehensive detection data can be analyzed conveniently.

and the RFID positioning system determines the current mileage, records the current mileage as a second mileage and reports the second mileage to the central information system.

13. the track integrated detection system based on RFID positioning technology as claimed in claim 12, wherein the RFID positioning system comprises a plurality of RFID electronic tags and one or two readers, wherein,

The RFID electronic tag sends tag information to the reader, wherein the tag information comprises the second mileage;

The reader decodes the tag information and uploads it to the central information system.

14. the track integrity detection system based on RFID location technology as claimed in claim 13, wherein the central information system calculates the encoder correction factor according to the following formula:

k＝(L_e+L_fwd-T_cd*V-L_cr)/L_r，

where k is an encoder correction coefficient, L _e is the first mileage, L _r is the second mileage, V is a running speed, L _fwd is d/tan θ, and L _cr, θ, d, and T _cd are preset values stored in the central information system.

15. the track integrity detection system based on RFID location technology as claimed in claims 12-14, characterized in that the central information system modifies the encoder coefficients according to the following formula: the encoder coefficient is the current encoder coefficient.

16. The track comprehensive detection system based on the RFID positioning technology as claimed in claim 13, wherein the tag information of the RFID electronic tag comprises suspected damage position information and/or weld position information.

17. The RFID location technology-based track integrated detection system of claim 16, wherein the ledger record further comprises suspected flaw location markers and/or weld location markers.

18. The integrated track detection system based on RFID location technology of claim 12, wherein the ledger record further includes a whole kilometer location marker.

19. The track integrated detection system based on the RFID positioning technology as claimed in claim 12, wherein the central information system comprises a flaw detection system, a steel rail monitoring system, a track bed inspection system and/or a tunnel inspection system.

Technical Field

The application relates to the technical field of flaw detection and positioning, in particular to a comprehensive track detection method and system based on an RFID positioning technology.

background

At present, the medium-sized double-track flaw detection vehicles used in China, such as flaw detection systems, steel rail monitoring systems, track bed inspection systems, tunnel inspection systems and the like, are mainly positioned in an auxiliary mode by using vehicle-mounted encoders; the method for assisting in positioning by utilizing the encoder has the advantages that the initial mileage needs to be input by a user when the encoder is used for positioning, the driving mileage needs to be calculated through parameters provided by the encoder, and the finished mileage is obtained.

as for other auxiliary positioning methods, due to the corresponding drawbacks and limitations, they are not suitable for auxiliary positioning of inspection vehicles: for example, the GPS positioning method has large positioning error and has restrictive problems in the use of no signal section of a part of subway tunnels or mountain tunnels; in the traditional inspection operation method, the whole kilometer position needs to be rounded and marked manually; the method for manually marking the position of the track defect is easy to lose the mark due to environmental pollution.

The applicant also carries out certain research on related patent applications in the field, for example, in the invention patent 'cooperative correction system and method for accumulated errors of assisted positioning system of GNSS blind area intelligent vehicle' (application number is 201910165171.2), a cooperative correction system and method for accumulated errors of assisted positioning system of GNSS blind area intelligent vehicle is provided, and under the condition of GNSS signal interruption, a vehicle-mounted assisted positioning system is adopted for positioning; when the intelligent vehicle runs to the RFID induction area, the image acquisition equipment acquires images and positions the images; the vehicle-mounted RFID reader equipment calculates to obtain vehicle position information based on RFID positioning according to the RFID signal intensity; and the vehicle position information based on the image positioning and the vehicle position information based on the RFID positioning are subjected to fusion calculation to obtain more accurate vehicle positioning information, the vehicle position information based on the vehicle-mounted auxiliary positioning system is compared with the accurate vehicle positioning information to obtain the accumulated error of the vehicle-mounted auxiliary positioning system, an error correction instruction is obtained, and the error correction instruction is sent to the vehicle-mounted auxiliary positioning system to be subjected to error correction. The invention can correct the accumulated error generated by the auxiliary positioning system of the vehicle. The applicant finds that the accurate position is calculated by triggering image shooting by sensing the RFID tag in the vehicle traveling process, and to achieve the effect, the image content needing to be shot comprises milestones along the vehicle and the railway, and accordingly, the shooting device needs to have night shooting capability, can adapt to time delay conditions at different vehicle speeds, is too expensive to realize and cannot be applied in a large scale.

therefore, a new positioning method is needed to realize accurate position calibration corresponding to the flaw detection vehicle data.

Disclosure of Invention

Aiming at the technical problems, the invention provides a comprehensive track detection method and system based on an RFID positioning technology, which are convenient for the accuracy and convenience of comprehensive track detection.

In order to solve the above problems, the present invention provides a comprehensive track detection method based on an RFID positioning technology, which includes the following steps: the central information system acquires the number of wheel rotation turns and the rotating speed counted by the encoder, calculates the current mileage and the vehicle speed counted by the encoder according to the encoder coefficient, the number of wheel rotation turns and the rotating speed, and records the current mileage counted by the encoder as a first mileage, wherein the initial value of the encoder coefficient is a preset value stored in the central information system; the RFID positioning system determines the current mileage, records the current mileage as a second mileage and reports the second mileage to the central information system; the central information system calculates an encoder correction coefficient according to the current second mileage, the current vehicle speed and the current first mileage, and corrects the encoder coefficient according to the encoder correction coefficient; the central information system generates a standing book, each record of the standing book comprises the first mileage and the corresponding time, so that various comprehensive detection data can correspond to specific records in the standing book, and the historical data of various comprehensive detection data can be analyzed conveniently.

Preferably, the step of determining the current mileage by the RFID location system comprises the steps of: the RFID electronic tag of the RFID positioning system sends tag information to a reader of the RFID positioning system, wherein the tag information comprises the second mileage; the reader decodes the tag information and uploads it to a central information system.

preferably, the encoder correction coefficient is calculated by k ═ V-L _cr/L _r (L _e + L _fwd -T _cd ×, where k is the encoder correction coefficient, L _e is the first mileage, L _r is the second mileage, V is the driving speed, L _fwd ═ d/tan θ, and L _cr, θ, d, and T _cd are preset values stored in the central information system.

Preferably, the modifying the encoder coefficient according to the encoder correction coefficient specifically includes: the encoder coefficient is the current encoder coefficient.

Preferably, according to an actual flaw detection condition, for a position where a suspected flaw is detected, the suspected flaw position information is written into the tag information of the corresponding RFID tag through the reader.

Preferably, if the suspected damage position information exists in the tag information of the decoded certain RFID tag read by the central information system, a suspected damage position mark is added to the ledger record corresponding to the third mileage corresponding to the certain RFID tag.

Preferably, the suspected damage position information includes the number of times of suspected damage detection, and each time a suspected damage is detected, the number of times of suspected damage detection is added by 1, and the initial value of the number of times of suspected damage detection is 0.

Preferably, according to the actual flaw detection situation, if no suspected flaw is detected at the RFID electronic tag where the suspected flaw position information exists, the suspected flaw position information in the RFID electronic tag is cleared by the reader.

Preferably, the label information of the RFID electronic label further includes weld seam position information.

Preferably, if the weld joint position information exists in the tag information of the decoded certain RFID electronic tag read by the central information system, a weld joint position mark is added in the ledger record corresponding to the third mileage corresponding to the RFID electronic tag.

Preferably, if the third mileage is an entire kilometer number, an entire kilometer sign is added to the account book corresponding to the third mileage.

The invention also provides a track comprehensive detection system based on the RFID positioning technology, which is characterized by comprising a central information system, an RFID positioning system and an encoder, wherein the central information system acquires the number of wheel rotation turns and the rotating speed counted by the encoder, calculates the current mileage and the vehicle speed counted by the encoder according to the encoder coefficient, the number of wheel rotation turns and the rotating speed, and records the current mileage counted by the encoder as a first mileage, wherein the initial value of the encoder coefficient is a preset value stored in the central information system; the central information system also calculates an encoder correction coefficient of the encoder according to the first mileage, the vehicle speed and the second mileage, and corrects the encoder coefficient according to the encoder correction coefficient; the central information system generates a standing book, each record of the standing book comprises the first mileage and the corresponding time, so that various comprehensive detection data can correspond to specific records in the standing book, and the historical data of various comprehensive detection data can be analyzed conveniently; and the RFID positioning system determines the current mileage, records the current mileage as a second mileage and reports the second mileage to the central information system.

Preferably, the RFID positioning system comprises a plurality of RFID tags and one or two readers, wherein the RFID tags transmit tag information to the readers, wherein the tag information comprises the second mileage; the reader decodes the tag information and uploads it to the central information system.

Preferably, the central information system calculates the encoder correction factor according to a formula of k ═ L _e + L _fwd -T _cd × V-L _cr)/L _r, where k is the encoder correction factor, L _e is the first mileage, L _r is the second mileage, V is the driving speed, L _fwd ═ d/tan θ, and L _cr, θ, d, and T _cd are preset values stored in the central information system.

preferably, the central information system modifies the encoder coefficients according to the following formula: the encoder coefficient is the current encoder coefficient.

preferably, the tag information of the RFID tag includes suspected damage position information and/or weld position information.

preferably, the ledger record further comprises a suspected damage position mark and/or a weld position mark.

Preferably, the standing book record further includes a full kilometer location marker.

Preferably, the central information system includes a flaw detection system, a rail monitoring system, a track bed inspection system and/or a tunnel inspection system.

compared with the prior art, the invention has the following technical effects:

1. The embodiment of the invention generates the ledger based on the mileage positioning information of the mileage information correction encoder positioned and determined by the RFID positioning system, realizes that the information acquired in the railway comprehensive detection process corresponds to more accurate mileage positioning, and the mileage positioning has no accumulated error;

2. According to the embodiment of the invention, the special point position is marked based on the mileage positioning information, so that the important attention of historical problem data is realized, and the comprehensive railway detection efficiency is effectively improved;

3. The embodiment of the invention marks the position of the special point based on the mileage positioning information, and realizes the function of comparing and checking any 2 groups of historical data.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

drawings

in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:

Fig. 1 is a schematic structural diagram of a positioning error compensation system based on an RFID positioning technology in embodiment 1 of the present invention;

Fig. 2 is a flowchart of a positioning error compensation method based on the RFID positioning technology in embodiment 2 of the present invention;

FIG. 3 is a top view of a planning scheme for RFID tag and reader positions according to embodiment 1 of the present invention;

FIG. 4 is a plan view of a second RFID tag and reader location planning scheme in embodiment 1 of the present invention;

fig. 5 is a schematic view of an RFID tag and an RFID tag installed in a Z space in a second scheme for planning the location of a reader in embodiment 1 of the present invention;

Fig. 6 is a schematic diagram of an RFID tag installed in an X space in a second scheme for planning the positions of the RFID tag and the reader according to embodiment 1 of the present invention;

FIG. 7 is a spatial top view of the instant position where the RFID tag enters the radiation range of the reader according to the RFID tag and reader position planning scheme of embodiment 1 of the present invention;

FIG. 8 is a plane directional diagram of the spatial angle XOZ of the reader radiation range in embodiment 1 of the present invention;

FIG. 9 is a spatial angle XOY plane directional diagram of the reader radiation range in embodiment 1 of the present invention;

Fig. 10 is a schematic flow chart of the processing of the suspected damage location according to embodiment 2 of the present invention.

Detailed Description

The track comprehensive detection method and system based on the RFID positioning technology provided by the present invention will be described in detail with reference to the accompanying drawings, which are implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and revise the track comprehensive detection method and system without changing the spirit and content of the present invention.

The embodiment of the invention corrects the mileage positioning information of the encoder based on the mileage information determined by the RFID positioning system to obtain more accurate mileage positioning information, and further realizes the important attention of historical problem data by marking the position of a special point on the basis of the determined mileage positioning.