CN110161524A - Prevent train from passing through the scanning radar judgment method of wrong report - Google Patents

Abstract

The invention discloses a scanning radar judging method for preventing train passing false alarms, comprising: setting a scanning range and a scanning period of the scanning radar, wherein the scanning period is greater than or equal to the time required for a train to pass through the scanning range; The scanning radar scans according to the scanning range and scanning period, and outputs the scanning result; compares the scanning result of the current scanning period with the scanning result of the previous scanning period to determine whether there is a fixed obstacle, thereby judging whether the obstacle is train. This method can not only significantly reduce the false alarm rate, but also effectively control the workload and layout cost.

Description

Scanning Radar Judgment Method for Preventing Train Passing False Reports

technical field

The invention relates to the technical field of laser radar, in particular to a scanning radar judging method for preventing train passing false alarms.

Background technique

Monitoring line perimeter security and sensing foreign object intrusion events caused by natural or human factors have always been one of the key points of high-speed rail safety monitoring. With people's demand for high-speed rail safety and the increasingly severe situation of anti-terrorism worldwide, the requirements for high-speed rail environmental safety monitoring technology are getting higher and higher. Due to its excellent performance, laser radar can determine obstacles of a certain size through laser scanning. It has been used in railway monitoring to prevent obstacles from falling on the rails and affecting the safety of railway operations. However, the current effect is not satisfactory, and the false alarm rate is too high. One of the important factors is that when the train passes, the two-dimensional lidar will mistakenly think it is an obstacle and give an alarm. There are also some other methods to reduce the false alarm of Lidar on train passing, such as increasing the judgment of train passing time, or adding vibration sensors, etc., but these methods either require the cooperation of the train work section or need to install sensors on the rails, which increases the Additional work and layout costs.

Contents of the invention

(1) Technical problems to be solved

In view of the above technical problems, the present invention provides a scanning lidar judgment method for preventing train passing false alarms, so as to at least partially solve the above technical problems.

(2) Technical solutions

According to one aspect of the present invention, a scanning radar judging method for preventing trains from passing false alarms is provided, including:

Setting the scanning range and scanning period of the scanning radar, wherein the scanning period is greater than or equal to the time required for the train to pass through the scanning range;

The scanning radar scans according to the scanning range and scanning period, and outputs scanning results;

The scanning result of the current scanning period is compared with the scanning result of the previous scanning period to determine whether there is a fixed obstacle, so as to determine whether the obstacle is a train.

In a further embodiment, the scanning radar is a two-dimensional lidar.

In a further embodiment, before the scanning radar scans according to the scanning range and scanning period, it further includes: setting a scanning height of the scanning radar.

In a further embodiment, the scan height is between 5 cm and 1 m.

In a further embodiment, when the scanning radar is one-way scanning, the scanning period is the time when the scanning radar scans the scanning range once; when the scanning radar is bidirectional scanning, the scanning period is The time at which the scanning radar scans the scanning range twice.

In a further embodiment, the scanning period is determined according to the passing driving information of the train and the scanning range.

In a further embodiment, the traveling information includes: the traveling speed of the train, the length of the train and the traveling direction of the train.

In a further embodiment, comparing the scanning results of the current scanning cycle with the scanning results of the previous scanning cycle to determine whether there is a fixed obstacle, so as to determine whether the obstacle is a train includes:

After an obstacle is found in the scanning result of the scanning radar, it is marked as a suspected signal;

Judging whether there is the same obstacle at the same position in the scanning result of the next scanning cycle;

If it exists, the obstacle is not the train, and an alarm is given; otherwise, no alarm is given.

(3) Beneficial effects

The invention provides a scanning light radar judgment method for preventing train passing false alarms. In the method, after the scanning period of the scanning radar is set to be greater than or equal to that of the train passing through the scanning area, the scanning results of two adjacent scanning periods are compared to judge its Whether there are fixed obstacles, so as to judge whether it is a train passing. This method can not only significantly reduce the false alarm rate, but also effectively control the workload and layout cost.

Description of drawings

Fig. 1 is a flow chart of the scanning lidar judging method for preventing train passing false alarm provided by the present invention.

Fig. 2 is a schematic diagram of the working mode of the scanning lidar judging method for preventing train passing false alarms provided by the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

In order to prevent obstacles from falling on the rails and affecting the safety of railway operation, radars are usually installed next to the rails to continuously scan them to detect obstacles in time, but the current effect is not satisfactory, and the false alarm rate is too high. One of the important The biggest factor is that when the train passes, the two-dimensional lidar will mistake it for an obstacle and give an alarm.

The invention provides a scanning radar judging method for preventing train passing false alarms. By setting the scanning cycle of the scanning radar to be greater than or equal to the scanning area of the train passing through, and comparing the scanning results of two adjacent scanning cycles, it is judged whether there is a fixed obstacle, thereby judging whether it is a train passing, as shown in Figure 1, the method includes:

S1: Set the scanning range and scanning period of the scanning radar, wherein the scanning period is greater than or equal to the time required for the train to pass through the scanning range;

S2: The scanning radar scans according to the scanning range and scanning period, and outputs a scanning result;

S3: Compare the scanning result of the current scanning period with the scanning result of the previous scanning period to determine whether there is a fixed obstacle, so as to determine whether the obstacle is a train.

By comparing the results of two adjacent scans, the method can accurately determine whether there is an obstacle that may affect the operation of the train, thereby reducing the false alarm rate.

In this embodiment, the scanning radar is a two-dimensional laser radar. At this time, before the scanning radar scans according to the scanning range and scanning period, it also includes:

S0: Set the scanning height of the scanning radar.

Since the two-dimensional lidar can only scan one plane and cannot cover all heights, it is necessary to set the height according to the surrounding environment and conditions, and the height of possible obstacles. Generally, the scanning height is set between 5cm and 1m.

Of course, the scanning radar can also be other radars, such as three-dimensional laser radar. When using three-dimensional laser radar, since its scanning width and height are within a certain range, the required scanning range can be included.

In this embodiment, when the scanning radar is unidirectional scanning, the scanning period is the time for the scanning radar to scan the scanning range once; when the scanning radar is bidirectional scanning, the scanning period is the The time for the scanning radar to scan the scanning range twice.

In this embodiment, the set specific time t of the scanning period is determined according to the traveling information of the train passing and the scanning range s. Wherein, the traveling information includes: the traveling speed v of the train, the length c of the train and the traveling direction of the train.

Wherein, when the scanning radar scans in one direction from left to right or from left to left, the scanning cycle is the time for the scanning radar to scan the scanning range once, and is related to the direction of train travel. When the scanning direction is the same as the driving direction, the scanning period needs to satisfy: t≥(s+c)/(v-s/t); when the scanning direction is opposite to the driving direction, the scanning period needs to satisfy: t≥(s +c)/(v+s/t).

And when described scanning radar is two-way scanning, it is to scan back and forth during its work, then described scanning period is the time that described scanning radar scans described scanning range twice, this moment has nothing to do with driving direction, described scanning period needs Satisfy: t≥(s+c)/v.

In this embodiment, step S3 specifically includes:

S31: After an obstacle is found in the scanning result of the scanning radar, mark it as a suspected signal;

S32: judging whether the same obstacle exists in the same position in the scanning result of the next scanning cycle;

If it exists, the obstacle is not the train, and an alarm is given; otherwise, no alarm is given.

Wherein, as shown in FIG. 2 , FIG. 2 is a schematic diagram of the working mode of the scanning lidar judgment method for preventing train passing false alarms provided by the present invention. When the train passes, the scan results of the first scan cycle will scan the train and mark it as a suspected signal; since the scan cycle is greater than or equal to the train passing time, it will not be found in the same position in the scan results of the next scan cycle Obstacles; at this time, exclude the suspected signal and do not call the police. When there is a falling object or other obstacles that may affect the safe operation of the train, the scanning result of the first scan cycle scans the obstacle and marks it as a suspected signal; The obstacle can still be scanned at the same position in the periodic scanning results; at this time, an alarm is issued to remind the staff to deal with it in time.

In order to better explain the present invention, a specific exemplary embodiment is described in detail below:

In this embodiment, the speed of the train is 30 meters per second (108 km/h), and the length of the train is 80 meters, so the time required for the train to pass through the scanning range of the two-dimensional laser radar is (100+80)/ 30 = 6 seconds. Use two-dimensional laser radar as scanning radar, described two-dimensional laser radar is two-way scanning, and its scanning range is set to 100 meters (that is, scanning radius 50 meters), and scanning period is set to 7 seconds, and its scanning period is 7 seconds ≥ 6 second. The radar alarm condition is set as follows: the radar detects an obstacle in the first cycle and records it as a suspected signal, and does not alarm; in the next cycle, an obstacle is found at the same position again, and the alarm is issued. Since the train has already run through the radar's scanning range in one scan cycle, the radar will not find the train again as an obstacle to alarm in the next cycle, because no false alarm will be generated for the train.

Those skilled in the art will appreciate that although some of the embodiments described herein include some features and not others that are included in other embodiments, combinations of features from different embodiments are meant to be within the scope of the invention. And form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

It should also be noted that the text may provide examples of parameters that include specific values, but these parameters need not be exactly equal to the corresponding values, but may approximate the corresponding values within acceptable error tolerances or design constraints. The directional terms mentioned in the embodiments, such as "up", "down", "front", "rear", "left", "right", etc., are only referring to the directions of the drawings, and are not intended to limit the present invention protected range. In addition, unless specifically described or steps that must occur sequentially, the order of the above steps is not limited to that listed above and may be changed or rearranged according to the desired design. Moreover, the above-mentioned embodiments can be mixed and matched with each other or used with other embodiments based on design and reliability considerations, that is, technical features in different embodiments can be freely combined to form more embodiments.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention.

Claims (8)

1. A scanning radar judging method preventing trains from passing false reports, is characterized in that, comprising: Setting the scanning range and scanning period of the scanning radar, wherein the scanning period is greater than or equal to the time required for the train to pass through the scanning range; The scanning radar scans according to the scanning range and scanning period, and outputs scanning results; The scanning result of the current scanning period is compared with the scanning result of the previous scanning period to determine whether there is a fixed obstacle, so as to determine whether the obstacle is a train. 2. The scanning radar judging method for preventing train passing false alarms according to claim 1, wherein the scanning radar is a two-dimensional laser radar. 3. The scanning radar judging method for preventing trains from passing false reports according to claim 2, characterized in that, before the scanning radar scans according to the scanning range and the scanning period, it also includes: setting the scanning of the scanning radar high. 4. The scanning radar judging method for preventing train passing false alarms according to claim 3, wherein the scanning height is between 5cm and 1m. 5. The scanning radar judging method for preventing trains from passing false reports according to claim 1, wherein when the scanning radar is a one-way scanning, the scanning period is a single scan of the scanning range by the scanning radar time; when the scanning radar is bidirectional scanning, the scanning period is the time during which the scanning radar scans the scanning range twice. 6 . The scanning radar judging method for preventing train passing false alarms according to claim 5 , wherein the scanning period is determined according to the traveling information of the train passing and the scanning range. 7 . 7. The scanning radar judging method for preventing train passing false alarms according to claim 6, wherein the traveling information includes: the traveling speed of the train, the length of the train and the traveling direction of the train. 8. The scanning radar judging method for preventing trains from passing false alarms according to claim 1-7, wherein the scanning result of the current scanning cycle is compared with the scanning result of the previous scanning cycle to determine whether there is a fixed obstacle object, thereby judging whether the obstacle is a train includes: After an obstacle is found in the scanning result of the scanning radar, it is marked as a suspected signal; Judging whether there is the same obstacle at the same position in the scanning result of the next scanning cycle; If it exists, the obstacle is not the train, and an alarm is given; otherwise, no alarm is given.