CN108313088B - Non-contact rail vehicle barrier detection system - Google Patents
Non-contact rail vehicle barrier detection system Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 230000004888 barrier function Effects 0.000 title claims abstract description 17
- 238000012360 testing method Methods 0.000 claims abstract description 34
- 230000004927 fusion Effects 0.000 claims abstract description 23
- 238000005516 engineering process Methods 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000007499 fusion processing Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
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- 230000008569 process Effects 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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- Electric Propulsion And Braking For Vehicles (AREA)
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Abstract
A non-contact rail vehicle obstacle detection system performs data fusion on output data of a video camera device, a laser radar device, an infrared testing device, an ultrasonic testing device and a GPS (global positioning system) multiple testing sources according to working conditions of vehicles running in different road conditions, places and natural environments and characteristics of obstacles, realizes advantage complementation of the multiple testing devices, completes detection and early warning of the obstacles, controls running of the vehicles, ensures safe running of the rail vehicles and realizes non-contact obstacle detection; the precision of detecting and early warning the barrier is improved, and the false alarm rate and the missing alarm rate are reduced; the all-weather and all-working-condition obstacle testing and early warning on the rail vehicle are realized.
Description
Technical Field
The invention belongs to the field of safety protection of railway vehicles, and relates to non-contact detection of obstacles in the running process of vehicles.
Background
The transportation of the rail vehicles has the characteristics of large transportation amount, low energy consumption, high safety, convenience, all-weather transportation and the like, and the rail vehicles are used as very important basic transportation facilities in many countries in the world. Meanwhile, with the development of urban rail transit technology, some big cities at home and abroad propose to build full-automatic unmanned subway trains, and the running efficiency is improved. Considering that a train has a high speed and a large inertia in the running process and the condition of a road surface in rail transportation is relatively complex, it is very necessary to deeply research the safety problem of a rail vehicle transportation system, particularly the driving safety problem of the train, and obstacle detection is one of important technologies.
In view of the fact that most of the existing obstacle detection technologies are contact type detection modes or non-contact type detection modes with a single information source, the contact type obstacle detection modes have the problems that the detection distance is limited, mechanical damage can be caused to trains, and detection equipment cannot be reused, and the non-contact type detection modes with the single information source have the problems that real-time detection and early warning cannot be achieved, and all-weather and all-working-condition detection cannot be achieved, therefore, research and development of obstacle detection systems and control methods which are based on non-contact type, can achieve early warning in advance and can work in all weather and all working conditions are necessary.
Disclosure of Invention
The invention aims to provide a non-contact obstacle detection system of a railway vehicle, which can utilize various testing devices to complete all-weather and all-working-condition non-contact real-time detection and early warning functions of obstacles when the railway vehicle runs, and meet the safety requirement of vehicle running.
In order to achieve the above object, the present invention provides a non-contact rail vehicle obstacle detection system, comprising: including video camera device, laser radar device, infrared ray testing arrangement, ultrasonic testing arrangement, GPS, data fusion device and train controlling means, video camera device, laser radar device, infrared ray testing arrangement, ultrasonic testing arrangement, GPS connect the data fusion device respectively separately, and the train controlling means is connected to the data fusion device, wherein:
the video camera device is used for detecting the barrier by utilizing a stereoscopic vision technology and carrying out characteristic extraction and matching on pictures shot at different angles in the same scene;
the laser radar device is used for detecting the obstacles according to the analysis and identification of the laser reflection waves;
the infrared testing device is used for detecting the obstacles according to the heat radiation characteristic;
the ultrasonic testing device is used for obtaining the information of the obstacle according to the characteristic analysis of the echo and detecting the obstacle;
the GPS is used for obtaining the time, the running speed and the position information of the train;
the data fusion device is used for receiving test data of the video camera device, the laser radar device, the infrared test device, the ultrasonic test device and the GPS and carrying out data fusion;
and the train control device is used for receiving the barrier information fused by the data fusion device, displaying the barrier information and controlling a train traction and braking system.
The data fusion device is used for the data fusion process, and the process comprises the following steps: when the video camera device and the laser radar device detect obstacles in the weather environment, the sight line and the light ray are good, judging that the information is correct obstacle detection information and outputting the information to the train control device; under the working condition, the information of the obstacles which are detected independently by any other one and are detected by a plurality of detection devices together is judged to be false alarm, is not taken as the information of the detected obstacles for processing and outputs the information to the train control device; when the laser radar device, the infrared detection device and the ultrasonic detection device detect obstacles under the working conditions of severe weather environment or dark environment and weak light or the working conditions of severe change of the background light of the entering and exiting tunnel, judging that the information is correct obstacle detection information and outputting the information to the train control device; when any one of the laser radar device, the infrared detection device or the ultrasonic detection device detects an obstacle, the obstacle detection device judges that the obstacle is potential obstacle detection information and outputs the information to the train control device; in this condition, the obstacle information detected by any other detection device alone or the obstacle information detected by the video camera device is judged to be false alarm, and is not processed as the information for detecting the obstacle and output to the train control device.
According to the invention, through the interaction of the video camera device, the laser radar device, the infrared testing device, the ultrasonic testing device, the GPS, the data fusion device and the train control device, the data fusion function of multiple data sources of the data fusion device is utilized, and according to the working conditions of vehicles running in different road conditions, places and natural environments and the characteristics of obstacles, the data fusion is carried out on the output data of the multiple testing sources, so that the advantages of the multiple testing devices are complemented, the detection and early warning of the obstacles are completed, the running of the vehicles is controlled, the safe running of the rail vehicles is ensured, and the following positive effects are achieved:
(1) non-contact obstacle detection is realized;
(2) the precision of detecting and early warning the barrier is improved, and the false alarm rate and the missing alarm rate are reduced;
(3) the all-weather and all-working-condition obstacle testing and early warning on the rail vehicle are realized.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
fig. 2 is a flow chart of the control method of the present invention.
Detailed Description
Referring to fig. 1, the present invention includes a video camera device, a laser radar device, an infrared ray test device, an ultrasonic wave test device, a GPS, a data fusion device, and a train control device, the laser radar device detecting obstacles according to analysis and recognition of laser reflection waves by using a laser radar technology; the video camera device detects the obstacles by utilizing a stereoscopic vision technology according to the principle of extracting and matching the characteristics of pictures shot at different angles on the same scene by the video camera device, judges weather environment, sight line and light condition of the train during running by comparing and analyzing reference objects beside the running track of the train and distinguishes the running working condition of the train; the ultrasonic testing device utilizes an ultrasonic technology to obtain information of the barrier according to the characteristic analysis of the echo to detect the barrier, the infrared testing device utilizes an infrared imaging technology to detect the barrier according to the heat radiation characteristic, and the GPS is utilized to obtain the time, the running speed and the position information (including a tunnel portal) of the train; meanwhile, the weather environment, sight line and light condition of the train in operation are judged by comparing and analyzing reference objects beside the train operation track by utilizing a stereoscopic vision technology, the operation working conditions of the train are distinguished, and the working conditions are divided into two working conditions, namely normal working conditions and extreme working conditions. Inputting the test data of the devices into a data fusion device for data fusion; and outputting the fused detected barrier information to a train control device, and meanwhile, displaying the barrier information on a cab display screen, and controlling a train traction and braking system.
And (3) data fusion process:
when the weather environment, the sight line and the light are good (referred to as normal working condition for short), and when the video camera device and the laser radar device detect the obstacle, the information is judged to be correct obstacle detection information and is output to the train control device; under the working condition, the information of the obstacles which are detected independently by any other type and are detected by a plurality of detection devices together is judged to be false alarm, is not processed as the information of the detected obstacles and is output to the train control device.
When the laser radar device, the infrared detection device and the ultrasonic detection device detect obstacles, the information is judged to be correct obstacle detection information and is output to the train control device under the working conditions of poor light conditions such as weather environment (rain, snow, haze and the like) or dark environment or the working conditions of severe change of background light such as entering and exiting tunnels (referred to as extreme working conditions for short); when any one of the laser radar device, the infrared detection device or the ultrasonic detection device detects an obstacle, the obstacle detection device judges that the obstacle is potential obstacle detection information and outputs the information to the train control device; in this condition, the obstacle information detected by any other detection device alone or the obstacle information detected by the video camera device is judged to be false alarm, and is not processed as the information for detecting the obstacle and output to the train control device.
After the data fusion is completed, the working process of the train control device is as follows:
after receiving the obstacle information and confirming that the information is real and effective, the train control device controls a traction system and a brake system of the train according to the actual speed of the train and the detected obstacle distance, the train stops before reaching the obstacle, and if the detected obstacle information disappears before the train reaches the obstacle, the train control device controls the traction and brake system of the train to recover to the train state before the obstacle is detected; when the barrier information is received but the information is confirmed to be invalid, the train control device does not control the train, and the train can operate in the original state; after receiving the detection information of the potential obstacle and confirming that the information is real and effective, the train control device controls the traction system and the brake system of the train to reduce the speed to the lowest speed allowed by the line to run according to the actual speed of the train and the detected distance of the potential obstacle, the train stops if the information of the potential obstacle is still received before the safety distance of the potential obstacle is reached, and the information of the obstacle disappears before the train runs to the obstacle, so that the train control device controls the traction system and the brake system of the train to recover to the state of the train before the obstacle is detected.
Claims (1)
1. A non-contact rail vehicle barrier detection system characterized in that: including video camera device, laser radar device, infrared ray testing arrangement, ultrasonic testing arrangement, GPS, data fusion device, train controlling means, video camera device, laser radar device, infrared ray testing arrangement, ultrasonic testing arrangement, GPS connect the data fusion device respectively separately, and the train controlling means is connected to the data fusion device, wherein:
the video camera device is used for detecting the barrier by utilizing a stereoscopic vision technology and carrying out characteristic extraction and matching on pictures shot at different angles in the same scene;
the laser radar device is used for detecting the obstacles according to the analysis and identification of the laser reflection waves;
the infrared testing device is used for detecting the obstacles according to the heat radiation characteristic;
the ultrasonic testing device is used for obtaining the information of the obstacle according to the characteristic analysis of the echo and detecting the obstacle;
the GPS is used for obtaining the time, the running speed and the position information of the train;
the data fusion device is used for receiving test data of the video camera device, the laser radar device, the infrared test device, the ultrasonic test device and the GPS and carrying out data fusion;
the train control device is used for receiving the barrier information fused by the data fusion device, displaying the barrier information and controlling a train traction and braking system;
the data fusion device is used for the data fusion process and comprises the following steps: when the video camera device and the laser radar device detect obstacles in the weather environment, the sight line and the light ray are good, judging that the information is correct obstacle detection information and outputting the information to the train control device; under the working condition, the information of the obstacles which are detected independently by any other one and are detected by a plurality of detection devices together is judged to be false alarm, is not taken as the information of the detected obstacles for processing and outputs the information to the train control device; when the laser radar device, the infrared detection device and the ultrasonic detection device detect obstacles under the working conditions of severe weather environment or dark environment and weak light or the working conditions of severe change of the background light of the entering and exiting tunnel, judging that the information is correct obstacle detection information and outputting the information to the train control device; when any one of the laser radar device, the infrared detection device or the ultrasonic detection device detects an obstacle, the obstacle detection device judges that the obstacle is potential obstacle detection information and outputs the information to the train control device; in this condition, the obstacle information detected by any other detection device alone or the obstacle information detected by the video camera device is judged to be false alarm, and is not processed as the information for detecting the obstacle and output to the train control device.
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| CN201810153524.2A CN108313088B (en) | 2018-02-22 | 2018-02-22 | Non-contact rail vehicle barrier detection system |
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| CN201810153524.2A CN108313088B (en) | 2018-02-22 | 2018-02-22 | Non-contact rail vehicle barrier detection system |
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Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482427A (en) * | 2018-02-22 | 2018-09-04 | 中车长春轨道客车股份有限公司 | A kind of contactless rail vehicle obstacle detection system and method for controlling security |
| CN110027592B (en) * | 2019-03-08 | 2021-07-20 | 浙江众合科技股份有限公司 | CBTC unmanned vehicle-mounted control system with intelligent obstacle detection and early warning functions |
| CN111688758A (en) * | 2019-03-11 | 2020-09-22 | 北京华通时空通信技术有限公司 | Obstacle detection system for high-speed railway track |
| CN109910955B (en) * | 2019-03-19 | 2021-11-23 | 南京理工大学 | Rail transit tunnel barrier detection system and method based on transponder information transmission |
| CN110231402B (en) * | 2019-05-22 | 2020-09-11 | 张博湉 | Container detection method and device |
| CN111976788A (en) * | 2019-05-22 | 2020-11-24 | 杭州电子科技大学 | High-speed rail transit network radar system |
| CN112441076B (en) * | 2019-08-28 | 2022-07-15 | 比亚迪股份有限公司 | Rail vehicle and control method and control system thereof |
| CN110435689B (en) * | 2019-09-09 | 2020-12-08 | 中铁电气化局集团西安电气化工程有限公司 | Detection method of intelligent obstacle detection vehicle based on modular control |
| ES2835106A1 (en) * | 2019-12-19 | 2021-06-21 | Alvarez Francesc Xavier Gastaminza | Safety equipment and procedure (Machine-translation by Google Translate, not legally binding) |
| CN114056385A (en) * | 2020-07-31 | 2022-02-18 | 比亚迪股份有限公司 | Train control method and device and train |
| CN112101316B (en) * | 2020-11-17 | 2022-03-25 | 北京中科原动力科技有限公司 | Target detection method and system |
| CZ35674U1 (en) * | 2021-04-26 | 2021-12-21 | AŽD Praha s.r.o. | Railway train equipment for object detection and their subsequent classification |
| CN113325826B (en) * | 2021-06-08 | 2022-08-30 | 矿冶科技集团有限公司 | Underground vehicle control method and device, electronic equipment and storage medium |
| CN113963327B (en) * | 2021-09-06 | 2023-09-08 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method, obstacle detection device, autonomous vehicle, apparatus, and storage medium |
| CN114954570B (en) * | 2022-04-14 | 2024-06-14 | 通号城市轨道交通技术有限公司 | Rail obstacle processing method, device, electronic equipment and storage medium |
| CN117002544B (en) * | 2023-08-17 | 2024-04-12 | 中关村科学城城市大脑股份有限公司 | Folding track inspection equipment and track fault information sending method |
| CN119329584B (en) * | 2024-12-20 | 2025-03-14 | 常州瑞豪轨道交通科技有限公司 | Rail train obstacle detection early warning signal transmission system and method |
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| IL117279A (en) * | 1996-02-27 | 2000-01-31 | Israel Aircraft Ind Ltd | System for detecting obstacles on a railway track |
| CN101782646B (en) * | 2009-01-19 | 2012-08-29 | 财团法人工业技术研究院 | Surrounding environment sensing system and method |
| CN102653278A (en) * | 2011-07-27 | 2012-09-05 | 徐菲 | Range-based train control train-mounted moving block system and method |
| CN203158028U (en) * | 2013-04-11 | 2013-08-28 | 铁路科技（香港）有限公司 | A train operation safety control device based on obstacle detection chain |
| CN105799740B (en) * | 2016-03-08 | 2017-06-16 | 浙江大学 | A kind of track foreign body intrusion automatic detection and method for early warning based on technology of Internet of things |
| CN107336724B (en) * | 2017-06-14 | 2019-04-12 | 北京遥感设备研究所 | A kind of the high-speed rail anticollision gear and method of computer vision and millimeter-wave technology combination |
| CN108482427A (en) * | 2018-02-22 | 2018-09-04 | 中车长春轨道客车股份有限公司 | A kind of contactless rail vehicle obstacle detection system and method for controlling security |
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