CN100561532C - Multi-sensor intrusion detection system - Google Patents
Multi-sensor intrusion detection system Download PDFInfo
- Publication number
- CN100561532C CN100561532C CN 200580036678 CN200580036678A CN100561532C CN 100561532 C CN100561532 C CN 100561532C CN 200580036678 CN200580036678 CN 200580036678 CN 200580036678 A CN200580036678 A CN 200580036678A CN 100561532 C CN100561532 C CN 100561532C
- Authority
- CN
- China
- Prior art keywords
- electromagnetic wave
- platform
- target
- detection device
- invasion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
Disclose the intruder detection system that is suitable for railroad platform (10), this system uses two or more detectors (14,16), and described detector is preferably the detector of the electromagnetic wave spectrum of different wavelength range.This detector can be laser scanner and CCTV stereocamera.To handling, with by requiring two detectors all to indicate an invasion to avoid the mistake alarm from the signal of two detectors.Can store the background profile of zone when empty, and use this background profile, to determine for example existing of people in conjunction with one of described detector.This processing can further require two detectors at one time same position detect a certain existence.Each detector can comprise the device that is used to delete the changes in environmental conditions such as the light level changes.
Description
Technical field
The present invention relates to use the intruder detection system of two or more detectors, each detector is used for the electromagnetic wave spectrum of different wavelength range.It uses the signal from different detectors to carry out the invasive characteristics analysis, reduces to minimum will miss alarm, particularly aspect protection heavy traffic zone.
Background technology
When inappropriate alarm be invalid target that entering by the newspaper that rises such as wind or clothes or lost animal (as dog, cat and bird) specified the forbidden zone trigger the time, the conventional invasion detection system that is used for reminding people that this appointments forbidden zone occurs entering or risk object invasion through regular meeting by mistake alarm injection.
In the forbidden zone such as the railroad track in railway station---at the train station, the high volume of the flow of passengers that platform has the passenger that waits for bus, get on the bus and get off to cause, above-mentioned intrusion system further increases the weight of the susceptibility of invalid target.The generation of above-mentioned inappropriate alarm or mistake alarm may cause unnecessary interference to the railway service.On the other hand, the invasion of effective people or risk object no matter when occurs, intrusion system must stalwartness and accurately trigger alarm.
New-type train system is operation automatically usually, there are not driver or platform masters, although and the safety that safety " yellow line " has been set up about 50cm along platform edge empties the area, the passenger still may by mistake cross this yellow line so that more close platform edge once in a while.This situation is particularly common when the passenger sees close train, thereby increased the danger that falls platform greatly, only there is the time in several seconds to give a warning and prevents close train to grind on one's body at such clutch intruder detection system from the passenger who falls.
A solution is to utilize a stifled wall that has door physically platform and railroad track to be separated, and this door is only just opened when train safe is stopped, and train door is corresponding with gate.This solution requires to install expensive equipment, so that gate and train door can be coordinated with cooperating operation, and this solution requires accurate the stop, so that make the position of both sides' door corresponding on the whole length of train, and wherein the number in compartment may be different with model.Yet this physical method can not be warned has other may disturb train on the track, the target of train derailment or damage train is occurred.
Laser scanner also has been used as the detector of intruder detection system, as in U.S. Patent No. 4,949,074 and U.S. Patent No. 6,278,373 disclosed intruder detection systems in.Two dimension (2-D) laser scanner also has been used to scan and cover the track along the platform.Yet such two dimensional laser scanning device costs an arm and a leg, and in order to cover the length of general station platform, requires to install in the open-air outside or exposed environment at least four such scanners to cover single railroad track.The laser sensor of this scanner is installed in and is exposed under the inclement weather when outdoor, thereby its validity is influenced, thereby may trigger the mistake alarm easily, and heavy rain or strong daylight can interference search gears.
Another method is to use Close Circuit Television (CCTV), promptly comprise frequency still camera and video camera, as monitoring or imageing sensor, as U.S. Patent No. 6,429,893 and U.S. Patent No. 6,097,429 is disclosed, and it carries out aspect the Flame Image Process effect to video data when the real invasion of identification limited.This is because camera is a visible light sensor, and is extremely sensitive to the weather and the illumination condition that change.
U.S. Patent No. 6,297 has been used stereocamera in 844.U.S. Patent No. 5,825, the video camera detection system in 412 is calculated the number of pixels of intrusion target, is that the two dimension of target is caught therefore.So, except camera to above-mentioned other inaccuracies its sensitivity, such as the illumination of the weather of the variation that causes by the clouding in the external environment condition and fluctuation, a newspaper may be considered to a very big target.
In this manual all discussion of document, equipment, action or knowledge are included to explain background of the present invention.Should not be regarded as admitting that any foregoing constituted the part on prior art basis or the common practise in the association area in that Singapore or any other are local here before the priority date of the disclosure and claim or this priority date.All about the statement on date or about the description of the content of these documents based on the obtainable information of applicant, any of correctness who does not constitute the content of these dates or these documents admits.
Summary of the invention
Our invention is devoted to by overcoming problem discussed above in conjunction with new hardware configuration and new data process method.Our first target is by reduce the number of expensive sensing hardware in conjunction with the sensor that can survey the electromagnetic wave spectrum that is in two different range.
Our second target is by the detectable signal from two cover sensors is reduced the generation of alarm by mistake as bulk treatment.The 3rd target is to adopt the combinations of two cover sensors to retouch out the actual area that circumference and minimizing are treated to scan at invasion.
The 4th target provides the 3-D scanning to intrusion target, so that determine its physical size rather than two dimensional image.The 5th target provides data process method process flow diagram or algorithm, and this data process method process flow diagram or algorithm were verified the two or more invasion signals from sensor before allowing to generate intrusion alarm.The 6th target be in the regular hour frame, determine intrusion target be instantaneous or static in orbit so that the system triggers alarm.
For realizing above-mentioned target, our intruder detection system provides the basic embodiment of form of employing intrusion detection device of our invention, and this intrusion detection device is used for the invasion of the detection of a target to the appointed area, and described device comprises:
At least the first detector of-the first electromagnetic wave spectrum scope;
At least the second detector of-the second electromagnetic wave spectrum scope, the scope of this second electromagnetic wave spectrum is obviously different with described first electromagnetic wave spectrum;
Wherein this first and second detector is arranged in diverse location, with detection each self-corresponding electromagnetic wave from described appointed area, so that
-electromagnetic wave of the profile surveyed, described appointed area normal or not have invaded is appointed as reference background; And
-electromagnetic wave and described reference background current detection, that target is made to the invasion in the described appointed area are made comparisons, to determine whether there is variation between described reference background and the current electromagnetic wave that detects, survey thereon and change the generation detectable signal;
-signal processing apparatus, this signal processing apparatus is arranged to receive the detectable signal from described detector, wherein verify that when described signal processor the detectable signal from first and second detectors is to survey in same approximately position and when asking to join one the invasion of a time, generate the intrusion alarm signal.
Preferably, our device is in the high zone realization of the traffic flow of the people such as Commuter Train station, city (urban commutingtrain station), wherein at least one in the platform edge in appointed area covering rail and described railway station.Also preferably, first and second detectors respectively are selected from photoelectricity point-to-point (point-to-point), multistage beam monitor (multi-level beam detector), or respectively are selected from microwave, radiowave, infrared, laser instrument and visible-light detector.
In a preferred embodiment, first detector is a laser scanner, and this laser scanner comprises straight line (rectilinear) scanner.This laser scanner can be two dimension (2D) laser scanner, and this two dimensional laser scanning device projects the empty wall parallel with at least a portion of the circumference of appointed area and limits at least a portion of the circumference of this appointed area, makes that crossing this void wall triggers detectable signal.This laser scanner is installed in the top of platform edge, just throws to following and next door about the platform edge inboard greatly.The laser scanner of sufficient amount can be configured to project empty wall, to cross over the regional length of getting on the bus of platform.
Preferably, second detector can be the camera that is selected from frequency still camera and video camera, and this camera comprises a pair of stereocamera, and it can be installed at least one end of platform above the platform edge, perhaps preferably, above the two ends of platform are installed in platform edge.This stereocamera is to being aligned, make its optical axis be parallel to platform edge, make and the stereo-picture that can receive is shown as a composograph with this stereocamera, this composograph is divided into both sides, be platform side and rail side, make this platform edge in this composograph, show as a single projection line (perspective line).The three-dimensional composograph that at least one of this stereocamera centering caught is relevant with the pel array that is positioned at X and Y-axis, and this X and Y-axis are corresponding to extending along platform edge and crossing along the grid of the train rail of described platform.
In a preferred embodiment, comprise at least one position transducer, this at least one position transducer can be surveyed train just approaching, that stop or leave platform, and correspondingly generate the signal for the treatment of by described signal processing means processes.This position transducer can generate when detecting the train of stop stops signal, and this stop signal is sent to described signal processing apparatus.This position transducer is preferably sensing apparatus.A plurality of position transducers can be placed on the top, are enough to cover the length of the train of stopping along platform, and other position transducer is placed on after the platform and before the platform, with the arrival of detection train with leave.
In another aspect of this invention, provide a kind of method that is used for the detection of a target to the invasion of appointed area, wherein this method may further comprise the steps:
Electromagnetic wave in the-detection first electromagnetic wave spectrum scope;
-survey the electromagnetic wave in the second electromagnetic wave spectrum scope, the scope of this second electromagnetic wave spectrum is obviously different with the described first electromagnetic wave spectrum scope;
Wherein the first and second electromagnetic wave spectrum scopes are surveyed by the diverse location in described appointed area, thus
-the electromagnetic waves profile surveyed, described appointed area normal or not have invaded, in the first and second electromagnetic wave spectrum scopes are appointed as reference background; And
-electromagnetic wave and described reference background in current detection, that intrude into target in the described appointed area, the first and second electromagnetic wave spectrum scopes are made comparisons, to determine whether there is variation between described reference background and the current electromagnetic wave that detects; Survey predetermined variation thereon, generate detectable signal;
-before generating the intrusion alarm signal, checking is to survey the same approximately position in described appointed area and asking to join one received invasion of a time from the detectable signal of this first and second electromagnetic wave spectrum.
In a preferred embodiment, this method receives the electromagnetic wave in the first and second electromagnetic wave spectrum scopes that detect, and with the reference as a setting of described electromagnetic wave.Preferably, our method receives the electromagnetic wave in the current first and second electromagnetic wave spectrum scopes that detect; Described electromagnetic wave that detects and reference background are made comparisons, to obtain variation; Described variation and predetermined variance threshold are made comparisons; And, when surpassing described predetermined variance threshold, described variation triggers first intrusion alarm when detecting.Preferably, when at least one position sensing, ignore from the detectable signal of the first electromagnetic wave spectrum scope or the detectable signal of the first and second electromagnetic wave spectrum scopes at the train of stopping along platform.
In a preferred embodiment of this method, when first intrusion alarm is triggered, start routine, learn the size that function is estimated the intrusion target that detects with described first and/or second electromagnetic wave spectrum to utilize three-dimensional geometry; Target size and the predetermined threshold size estimated are made comparisons; And/or before triggering second intrusion alarm, whether checking detects target at least 2 frames.
Preferably, can be surveyed the whole length and/or the position of train by the multimode sniffer, this multimode sniffer carries out described detection to play unifunctional effect in the mode of integral body.At least one position of the detectable train of stopping along platform, and preferably ignore detectable signal from this first and/or second electromagnetic wave spectrum.Detectable signal can be by remote transmission for processing, therefore can be embodied as can be remotely enabled (remotely-enabled) carry out Centralized Monitoring with a plurality of railway stations to the railway service network, this can comprise that can enable SCADA maybe can enable any one or its combination in the Internet Protocol.
By the detailed description that hereinafter provides, the further scope of application of the present invention will become apparent.Yet, it should be understood that, although this detailed description and specific embodiment have illustrated the preferred embodiments of the invention, but this detailed description and specific embodiment only are the modes with illustration to be provided, because according to this detailed description, for a person skilled in the art, multiple variation and the remodeling that drops within the spirit and scope of the invention is conspicuous.
Description of drawings
By with reference to the accompanying drawings and the detailed description of next carrying out hereinafter, the present invention may be better understood, and wherein specific embodiments is used as non-limiting example or illustration is described, wherein:
Fig. 1 shows the illustrative configurations planimetric map that is used for the intruder detection system of platform according to of the present invention;
Fig. 2 A-2C shows the side view of the illustrative configurations of Fig. 1 intruder detection system, wherein Fig. 2 A shows the sensor configuration that is used to not have the platform that train stops, Fig. 2 B shows the sensor configuration that is used to have the platform that bicycle railway carriage or compartment train stops, and Fig. 2 C shows the sensor configuration that is used to have the platform that two compartment trains stop; And
Fig. 3 shows according to the logical flow chart of intrusion system of the present invention or algorithm.
Embodiment
Briefly, totally comprise the first kind detector that is used to the first electromagnetic wave spectrum scope that scans basically according to our intruder detection system that is used to specify the zone of invention and be used to the second type detector of the second electromagnetic wave spectrum scope that scans.This detector of two types can be arranged in diverse location, to receive each self-corresponding electromagnetic wave from described appointed area, so that at first collect background signal as a reference, invade signal then and be compared to survey the marked change between them, to generate detectable signal.Signal processing apparatus is to making bulk treatment from the signal of this detector of two types.Have only when signal processor checking invasion by this detector of two types about same position and when the same time is detected, just generate the intrusion alarm signal.
By with reference to as Fig. 1 intruder detection system that the present invention may be better understood of preferred embodiment, wherein this system is used to survey the invasion in the railway station, particularly along platform (10) with along the invasion of the railroad track (20) of platform (10).Known invasion to orbital region (20) is most possible only from the fact of platform (10), and we think that our detection perimeter should originate in the platform edge (12) that extends along railroad track (20).
Sensor type 1: laser scanner
As shown in Figure 1, a pair ofly separate the laser scanner (14,16) of placement, as the first kind detector of the first electromagnetic wave spectrum scope, can be installed in the top of platform edge (12), so that below the laser scanning light beam directive and next door with suitable interval.For the typical railway station such as Singapore popular rapid transit (MRT) system, the platform span may have only 40 meters, and single this laser scanner is enough to cover the whole length of platform (10).For bigger station, with the laser scanner (14,16) of a pair of this costliness of needs, as shown in Figure 1.
Laser scanner (14,16) can be preferably the two-dimensional scan type.The typical case of this laser scanner comprises (the Grindelwald Leo Kirch (Waldkirch) by SICK AG, Germany) the LMS-291 laser scanner of making, this LMS-291 laser scanner can provide long detection range and survey reliably, even also like this under harsh environmental conditions the most.
Another typical case of the laser scanner of expection is the SIGUARD LS-4 that is made by Siemens AG (Munich, Germany), and SIGUARD LS-4 is an optical distance sensor.This equipment sends light pulse on 190 ° working range intercycle ground.If barrier or people are run in pulse, the light that laser scanner reflects reception is also estimated it.Scanner calculates the definite coordinate of the barrier that is detected according to the light travel-time.If barrier/people in program control (programmed) zone, will give the alarm signal or start safe shutdown of scanner.
Obviously, can use other that about 180 ° scanning field of view and minimum-rate laser scanner at 25Hz is provided, and be not limited to LMS-291 and SIGUARD LS-4.
Preferably, the about 2 centimetres place of light beam directive edge of table leaving from station (12), so that light beam does not detect the invasion in yellow line zone (18) of being got into by crowded crowd that the passenger in yellow line zone (18) makes by insubordinate passenger and those, this invasion may trigger the mistake alarm.Adopt this configuration, unless the passenger abnormally dangerously near platform edge (12), not so invades and will can not be detected.The spacing of this 2cm of edge of table leaving from station (12) has also been guaranteed laser sensor (14,16) when train enters the station or leaves the station, does not detect the vacation invasion signal from train.
This 2-D laser scanner scans the platform scene from top to bottom, provides about 180 ° scanning field of view, and its speed is in 25Hz arrives the scope of 40Hz.The scanning field that the side view that Fig. 2 A-2C represents clearly show that train and do not have train to exist.
Above-mentioned configuration according to laser scanner, be apparent that, our method is to use laser scanner (14,16) set up empty wall (22) along platform edge (12), limiting the circumference of orbital region to be protected, rather than monitor to the yellow line zone (18) of platform with along the whole length of the railroad track (20) of platform (10); In fact the invasion to the orbital region (20) is most possible only from platform (10), and this invasion must be passed empty wall (22), therefore, and by utilizing such fact to reduce to treat the zone that monitors at invasion.So we only need any crossing of empty wall (22) to be surveyed invasion to the orbital region (20) by at first surveying.This method has reduced the required number of sensors in zone to be monitored and system significantly.
Sensor type II: camera
As for second type sensor, can use camera.Camera can be frequency still camera or video camera.Preferably, (30a 30b) (comprises closed-circuit television to a pair of stereocamera, CCTV) be installed in the top of each end of platform (10), and be aligned on the railroad track (20), preferably, be positioned under the covering of station ceiling (32), so that they less are subjected to the influence of weather.The optical axis of two stereocameras of this stereocamera centering is aligned with each other so that platform edge shows as a single line in shown image, simultaneously in composograph with the image separated into two parts, i.e. platform part and rail portion.
Adopt the configuration of this laser scanner and three-dimensional CCTV, shielded or appointed area covers invaded detection system fully.Any quilt so detects and shows as the invasion of image with railroad track (20) is gone up or the intrusion target of top corresponding to being physically located at very for certain on the CCTV display.
Although two types detector of top exemplary description is laser scanner and three-dimensional CCTV, promptly distinguish the electromagnetic wavelength of exploring laser light and visible range, but they can be substituted by the detector that is used for other electromagnetic wave spectrum scopes, as long as these detectors are the detectors with different wave spectrum scopes.Particularly, first and second detectors can comprise any in microwave, radiowave, infrared, laser and the visible-light detector or their any combination.
Except having the laser scanner of 180 ° of scanning fields, empty wall (22) also can be combined to form by any in photoelectricity point-to-point, the multistage beam monitor or by them, described photoelectricity point-to-point, multistage beam monitor form beam array, or adopt the form that is arranged with the rectilinear scanning that forms empty wall or fence.Here term " photoelectricity " equipment be intended to contain any by incidence electromagnetic radiation the electromagnetic wave spectrum of visible range electric current and electrical effect that cause, that in equipment (as, sensor), produce just.
In concrete configuration, when having only empty wall (22) to be crossed, (30a 30b) just is activated to scan at invasion the CCTV stereocamera.With in the accompanying drawing graphic present embodiment, form empty wall (22) two laser scanners (14,16) can with CCTV stereocamera (30a, 30b) parallel running.The three-dimensional composograph of being caught by at least one stereocamera of this stereocamera centering can be relevant with the pel array that is positioned at X and Y-axis, this X and Y-axis with extend along platform edge (12) and corresponding across grid along the railroad track (20) of described platform (10).The algorithm requirement of our system, in order to make the invasion that detects is that effectively this invasion must be detected by two types sensor, promptly at least by laser scanner (14,16) (30a, 30b) at least one detects with the CCTV stereocamera in one.Implement this principle and false alarm rate can be remained on very low ratio, even if also like this under harsh weather condition.
Can realize this principle by using charge-coupled device (CCD), CCD is a kind of analog to digital converter of form, and it generates the digital signal output of expression analog image input.The migration of CCD stored electric charge provides operation method, make each pixel can be assigned with one with cover along the corresponding coordinate of grid of the train rail of platform edge.In this layout, two types sensor, particularly stereocamera can detect invasion at one time on the pairing location of pixels of every type sensor.
Replacedly, perhaps replenish ground, can use the notion of image-ground registration that a kind of scheme is provided, make the location of pixels (x on the image
i, y
i) and ground real space coordinate (X
g, Y
g) relevant.This realizes by the zone of at first selecting to be identified as orbital region in the image.By corner (x with this orbital region in the image
i, y
i) with they True Ground Range (X apart from camera
g, Y
g) mapping mutually, each pixel in the orbital region all is mapped to the two-dimensional coordinate in the real space.By this mapping, can estimate to occupy the position (x in the orbital region
i, y
i) the physical location (X of target
g, Y
g).
Position transducer
With reference to figure 1, except above-mentioned two types sensor be laser scanner (14,16) and CCTV stereocamera (30a, 30b) outside, the sensor configuration of the third type can also be advanced in the system, with this most preferred embodiment as our invention.The sensor of this third type is a position transducer, and it is preferably sensing apparatus, and promptly induction generates the signal equipment of electric current when detecting iron content or non-ferrous metal target, and this target induces described signal around the inductive coil of equipment.Some this sensors comprise the (Schaumburg by Omron ElectronicsLLC, IL, the U.S.) the TL-L series of making is long apart from the inductance type proximity transducer, for iron (iron content) and aluminium (non-iron content) target, the long-range inductance type proximity transducer of this TL-L series all has the effective detection-sensitive distance of the length that is up to 100mm.Another kind of sensor model is the Osiprox inductance type proximity transducer of being made by Schneider Electric Industries S.A. (Rueil-Malmaison, France), and effective detection-sensitive distance of this Osiprox inductance type proximity transducer is up to 60mm.
As shown in Figure 1, the most preferred embodiment comprises three types sensor, promptly except laser scanner (14,16) and the CCTV stereocamera (30a, 30b) outside, also preferably along the railroad track placement location sensor (40a that turns up the soil at interval, 40b, 40c, 40d and 40e), be used to survey train arrival, leave and stop position.
Fig. 1 shows five this position transducer (40a, 40b, 40c, 40d and 40e), they are along the railroad track placement of turning up the soil at interval, 3 position transducer (40b in them wherein, 40c and 40d) be placed and used to the position that sensing rests in the train on the platform, and two position transducers (40a 40e) is placed on the two ends of track, be preferably located in place, make that diseases caused by external factors measure train arrival or leave the station AT STATION away from each end 10m of platform.Preferably, position transducer be placed in across the top of railroad track (20) (as, be installed on the track ceiling).
The number of position transducer depends on the length at station and the needs that suitably cover the length of train, and the length of train depends on the number in compartment.Shown in Fig. 2 B and 2C, a position transducer (40) can suitably be surveyed the position of bicycle railway carriage or compartment train (50), and (40b 40c) can suitably survey the position of two compartment trains (52) for two sensors.The empty wall of being set up by laser scanner (14,16) (22) can be configured, to ignore crossing along empty wall (22) some part, or at position transducer (40,40b 40c) detects train when platform is stopped, and " opening " is along the window area of empty wall (22).This window is opened the zone can be corresponding with the door of train, so that the moving of passenger of getting on the bus or getting off from there is not registered as invasion or crosses empty wall (22).
3-D scanning
In our realization, stereocamera provides 3-D scanning by using the establishment method that calculates three-dimensional inconsistent map (stereo disparity map).Two images by the Same Scene that will take by two different cameral positions are made comparisons, and can obtain this inconsistent map.Each map is made up of a value matrix, thus the inconsistent degree of each locations of pixels of each value representation.Value on each unit (element) is calculated in the following way: at first the same point that two cameras are seen is associated, determine the relative position on this same point each image in two images, and by using basic geometry to obtain the depth information of this point.This stereoscopic approach (stereo method) makes can determine the distance of target apart from camera.Therefore, when the two-dimensional space information that is provided when this information and image combined, this information was extended to three-dimensional.
Signal Processing and logic
Except the sensor as aforementioned configuration, a basic element of character that is used for this intruder detection system of railway platform and track is a signal processing apparatus, this signal processing apparatus is used to receive and handle the signal from aforementioned various types of sensors, so that background reference data can be collected and be stored, to make comparisons from the signal that described sensor receives with intrusion detection run duration in this system.Signal processing apparatus can preferably embody represented logical flow chart of Fig. 3 or algorithm.
Step (1) at logical flow chart; laser scanner and CCTV stereocamera are all by allowing sensor to receive data from appointed area to be protected when also not allowing the passenger to platform; carry out calibration automatically, this appointed area to be protected is platform edge and railroad track.The data of preserve collecting also can store it as the reference data with retrieving.For laser scanner, the profile of the platform edge of being surveyed by scanner is collected and is stored in the storer.For CCTV, the image of the railroad track when not having train also is hunted down and stores.
In step (2), laser scanner uses its intrusion detection routine scanning movement edge of table.It is with the frequency sweeping scene of 40Hz, and for each frame of being caught, all in step (3) itself and background profile is as a reference made comparisons.If value does not have the variation of variation or value in predetermined threshold, routine will be got back to the place that begins of step (2).If change between reference data and the scan-data, perhaps the difference of range value (range value) surpasses predetermined threshold, and then detectable signal is regarded as possible or potential invasion.
In step (4), (5) and (6), in case laser scanner detects the variation of region contour (rangeprofile), routine is just checked the state of position transducer.If position transducer record train is stopped, so possible or potential invasion signal may be crossed the empty wall of laser scanner and triggered by the passenger when getting on the bus or leave.So check the coordinate of crossing at empty wall place, whether relevant to check them with the stop position of train.If they are relevant really, routine will be got back to the place that begins of step (2).
Otherwise routine will enter next step, if crossing of promptly being detected dropped on the zone beyond the train of the stop that position transducer determines, have invasion so, promptly in train the place ahead or the rear have the people and fall on the track.Next logic step is a size of calculating intrusion target.
In step (7) and (8), will analyze by the number that aligns the gusset plate section (angular segment) that is detected, calculate the estimation size of intrusion target.Surpass preliminary dimension or threshold size if estimate size, this invasion is regarded as effective scanning device rank (scanner-level) invasion.The definite position of this invasion is recorded, and for pass through second type sensor in step (9), promptly the CCTV stereocamera is done further to analyze.
In step (9), (10) and (11), this routine is by means of using the CCTV stereocamera to check whether this invasion can be detected similarly at the same position on the railroad track zone.If report has the invasion of same position, will set about determining in step (12) routine whether the target that target and laser scanner are detected is same so, and set about determining target size.Otherwise the detection incident will be regarded as resulting from noise, and routine will be got back to the place that begins of step (2).
In step (11), if CCTV does not detect any target, routine will utilize the timer on the laser scanner to check, be instantaneous or will have surpassed preset time frame (time-frame) to check this detection.If this detection has surpassed for example 2 seconds time frame, invasion may be by intervening (tampering), disturb or stand to such an extent that the too near passenger of edge of table leaving from station causes, therefore continuous other intrusion alarm of trigger scanner level so.
Therefore, this routine will trigger Alert Level 1, this Alert Level 1 can generate public warning by means of sound and/or the vision means such as automatic speech broadcasting, flash of light and alarm warning etc., perhaps notifies the commander of central authorities and the control of station Security Officer and circular railway network.If CCTV does not detect any target, if perhaps the time frame of Tan Ceing is not exceeded (as, the invasion passenger leaves), the detection that routine hypothesis laser scanner is made results from instantaneous noise.So routine will be got back to the place that begins of step 2, and optionally produce an event log.
In case CCTV confirms the existence of intrusion target, with regard to execution in step (12).After target stops in orbit, the height and the width of the image calculation target that routine is just used CCTV and caught.This is based on such hypothesis, and the size of promptly estimating fixed target is than the target of estimating still in flight or landing, as newspaper, size more accurate.The size of target utilizes the quantity of recording pixel (registered pixel count) of institute's captured object image to estimate.
In step 13, will compare according to target size and the predetermined threshold that the CCTV image is estimated, and keep the numerical value contrast of captive time frame with target.If target size surpasses threshold size and is not instantaneous, trigger Alert Level 2 so.Depend on and the relevant response of other alarm of this level, can generate signal by routine, continue operation to hinder the train normal procedure, the commander of central authorities of notice station Security Officer and railway network and control etc., wherein the alarm of this rank 2 is regarded as more serious than the alarm of rank 1.
Will be understood that to make a lot of above-mentioned character modules blockings, perhaps correspondingly they are made amendment or adjust at other forms of purposes or configuration.For example, can make the configuration of modular of sensor so that can install and dispose two or more modules, with as an entire system play a role, cover big railway station or grade-separated interchange.Signal from sensor can be by wireless device transmissions to signal processing apparatus.Intruder detection system can also be made into and has management control and data acquisition ability, perhaps can enable management control and data acquisition (SCADA), maybe can enable Internet Protocol, so that can carry out Centralized Monitoring to a plurality of railway stations of railway service network.
It will also be understood that above-mentioned intruder detection system also can add the sensor of other types in addition,, be used to confirm to occur on the railroad track the infrared and heat detector of big homoiothermy body as interpolation with the ability that prevents of further enhancing to the mistake alarm.
It is evident that also that to those skilled in the art according to identical total design, feature and principle of work of the present invention, more above-mentioned sensors or scanner configurations and logical process can be reconfigured, revise or substitute.
These variants and alternate embodiment can be used as alternative arrangements or embodiment, be used to replace above-mentioned ingredient, parts, material, step or process, although do not specifically describe these alternative arrangements or embodiment at this, these alternative arrangements or embodiment still can be used to put into practice effectively design of the present invention and principle of work.Therefore, they can not be regarded as departing from the present invention, and should regard as within the statement and scope that falls into following claim.
Although in conjunction with specific embodiments of the present invention the present invention is described, what will be understood that is that the present invention can have further modification.This application is intended to cover any following variant of the present invention, application or modification: such variant, use or be modified in and follow principle of the present invention generally and comprise and depart from the disclosure but be known or the content of practice and the essential characteristic that can be applicable to state hereinbefore in the technical field of the invention.
The essence that does not break away from essential characteristic of the present invention because the present invention can embody in a variety of forms, therefore it should be understood that, unless otherwise prescribed, above-mentioned embodiment is not to limit of the present inventionly, and should do wide in range understanding within the spirit and scope of the invention that limit as claims.Being intended to multiple remodeling and equivalent is comprised in the essence and scope of the present invention and claims.Therefore, specific embodiments should be understood as that it is a lot of modes that the principle of the invention is put into practice in explanation.In following claim, be intended to device and add structure and equivalent structures and the equivalent structure that the function that is limited is carried out in the covering of function fund.For example, although nail and screw may not be equivalent structures, because nail adopts periphery that wooden part is fixed together, and screw adopts helical surface that wooden part is fixed together, but under the environment of fixing wooden part, nail and screw are equivalent structures.
" comprise (comprise/comprising) " when being used in this manual, be used for the existence of feature, complete thing (integer), step or parts that regulation states, exist or additional one or more other features, complete thing, step, parts or its combination but do not get rid of.
Claims (26)
1. intrusion detection device that is used for the detection of a target to the invasion of appointed area, described device comprises:
At least the first detector of-the first electromagnetic wave spectrum scope;
At least the second detector of-the second electromagnetic wave spectrum scope, the scope of this second electromagnetic wave spectrum is obviously different with described first electromagnetic wave spectrum;
Wherein this first and second detector is arranged in diverse location, with detection each self-corresponding electromagnetic wave from described appointed area, so that
-electromagnetic wave of the profile surveyed, described appointed area normal or not have invaded is appointed as reference background; And
-electromagnetic wave and described reference background current detection, that target is made to the invasion in the described appointed area are made comparisons, to determine whether there is variation between described reference background and the current electromagnetic wave that detects, survey predetermined variation thereon, generate detectable signal;
-signal processing apparatus, this signal processing apparatus is arranged to receive the detectable signal from described detector, wherein verify that when described signal processor the detectable signal from first and second detectors is to survey in same approximately position and when asking to join one the invasion of a time, generate the intrusion alarm signal.
2. according to the intrusion detection device of claim 1, comprising that the traffic flow of the people high zone of city Commuter Train in standing in realize, wherein the appointed area covers at least one in the platform edge in rail and described railway station.
3. according to the intrusion detection device of claim 1, wherein this first and second detector respectively is selected from photoelectricity point-to-point, multistage beam monitor.
4. according to the intrusion detection device of claim 1, wherein this first and second detector respectively is selected from microwave, radiowave, infrared, laser instrument and visible-light detector.
5. according to the intrusion detection device of claim 1, wherein this first detector is a laser scanner.
6. according to the intrusion detection device of claim 5, wherein this scanner is a rectilinear scanner.
7. according to the intrusion detection device of claim 6, wherein this laser scanner is two dimension (2D) laser scanner, this two dimensional laser scanning device projects the empty wall parallel with at least a portion of the circumference of appointed area and limits at least a portion of the circumference of this appointed area, makes that crossing this void wall triggers detectable signal.
8. according to the intrusion detection device of claim 6, wherein this laser scanner is installed in the top of platform edge, just throws to following and next door about the platform edge inboard greatly.
9. according to the intrusion detection device of claim 5, wherein the laser scanner of sufficient amount is configured to project empty wall, to cross over the regional length of getting on the bus of platform.
10. according to the intrusion detection device of claim 1, wherein this second detector comprises at least one camera that is selected from frequency still camera and video camera.
11. according to the intrusion detection device of claim 10, wherein this camera comprises a pair of stereocamera.
12. according to the intrusion detection device of claim 10, wherein at least one end of platform, this camera is installed in the platform edge top.
13. intrusion detection device according to claim 11, wherein this stereocamera is to being aligned, make its optical axis be parallel to platform edge, make and the stereo-picture that can receive is shown as a composograph with this stereocamera, this composograph is divided into both sides, be platform side and rail side, make this platform edge in this composograph, show as a single projection line.
14. according to the intrusion detection device of claim 11, wherein this stereocamera is to being installed in the platform two ends.
15. according to any one intrusion detection device in claim 13 and 14, wherein at least one of this stereocamera centering three-dimensional composograph of catching is relevant with the pel array that is positioned at X and Y-axis, and this X and Y-axis are corresponding to extending along platform edge and crossing along the grid of the train rail of described platform.
16. the intrusion detection device according to claim 1 also comprises at least one position transducer, this at least one position transducer can be surveyed train just approaching, that stop or leave platform, and correspondingly generate the signal for the treatment of by described signal processing means processes.
17. according to the intrusion detection device of claim 16, wherein this position transducer generates when detecting the train of stop and stops signal, this stop signal is sent to described signal processing apparatus.
18. according to the intrusion detection device of claim 16, wherein this position transducer is a sensing apparatus.
19. intrusion detection device according to claim 16, wherein a plurality of position transducers are placed on the top, be enough to cover along the length of the train of the stop of platform, and other position transducer is placed on after the platform and before the platform, with the arrival of detection train with leave.
20. a method that is used for the detection of a target to the invasion of appointed area said method comprising the steps of:
Electromagnetic wave in the-detection first electromagnetic wave spectrum scope;
-survey the electromagnetic wave in the second electromagnetic wave spectrum scope, the scope of this second electromagnetic wave spectrum is obviously different with the described first electromagnetic wave spectrum scope;
Wherein the first and second electromagnetic wave spectrum scopes are surveyed by the diverse location in described appointed area, thus
-the electromagnetic waves profile surveyed, described appointed area normal or not have invaded, in the first and second electromagnetic wave spectrum scopes are appointed as reference background; And
-electromagnetic wave and described reference background in current detection, that intrude into target in the described appointed area, the first and second electromagnetic wave spectrum scopes are made comparisons, to determine whether there is variation between described reference background and the current electromagnetic wave that detects; Survey predetermined variation thereon, generate detectable signal;
-before generating the intrusion alarm signal, checking is to survey the same approximately position in described appointed area and asking to join one received invasion of a time from the detectable signal of this first and second electromagnetic wave spectrum.
21. the method according to the invasion that is used for the detection of a target of claim 20 further comprises:
-in case detect variation, described variation and predetermined variance threshold are made comparisons, and,
-when detecting described variation, trigger first intrusion alarm above described predetermined variance threshold.
22. the method according to the invasion that is used for the detection of a target of claim 20 comprises
-at least one position sensing of the train of stopping along platform, and
-ignore from the detectable signal of the first electromagnetic wave spectrum scope or the detectable signal of the first and second electromagnetic wave spectrum scopes.
23. according to the method for the invasion that is used for the detection of a target of claim 21, wherein when this first intrusion alarm is triggered,
-start routine, learn the size that function is estimated the intrusion target that detects with described first and/or second electromagnetic wave spectrum to utilize three-dimensional geometry;
-target size and the predetermined threshold size estimated are made comparisons; And/or
-before triggering second intrusion alarm, whether checking has detected described target at least 2 frames.
24. according to the method for the invasion that is used for the detection of a target of claim 22, wherein by the multimode sniffer the whole length and/or the position of train are surveyed, this multimode sniffer carries out described detection to play unifunctional effect in the mode of integral body.
25. according to the method for the invasion that is used for the detection of a target of any one in the claim 20 to 24, wherein this signal by remote transmission for processing.
26. method according to the invasion that is used for the detection of a target of any one in the claim 20 to 24, this method be can be remotely enabled a plurality of railway stations with to the railway service network carry out Centralized Monitoring, comprise that can enable SCADA maybe can enable any one or its combination in the Internet Protocol.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US60529404P | 2004-08-27 | 2004-08-27 | |
| US60/605,294 | 2004-08-27 | ||
| SG2004067716 | 2004-11-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101048806A CN101048806A (en) | 2007-10-03 |
| CN100561532C true CN100561532C (en) | 2009-11-18 |
Family
ID=36586230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200580036678 Expired - Fee Related CN100561532C (en) | 2004-08-27 | 2005-03-21 | Multi-sensor intrusion detection system |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN100561532C (en) |
| MY (1) | MY141837A (en) |
| SG (1) | SG120208A1 (en) |
| TW (1) | TWI380245B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9429398B2 (en) * | 2014-05-21 | 2016-08-30 | Universal City Studios Llc | Optical tracking for controlling pyrotechnic show elements |
| CN104590319B (en) * | 2014-06-11 | 2016-07-06 | 北京交通大学 | Foreign body invades detecting device and foreign body invades detection method |
| CN105389920B (en) * | 2015-11-30 | 2017-11-17 | 北京正安维视科技股份有限公司 | Perimeter alarm method based on two-dimensional laser radar and video analysis |
| US10147195B2 (en) * | 2016-02-19 | 2018-12-04 | Flir Systems, Inc. | Object detection along pre-defined trajectory |
| CN105738967B (en) * | 2016-02-26 | 2018-08-14 | 武汉大学 | A kind of road hazard monitoring foreign bodies device |
| CN107094223A (en) * | 2017-03-17 | 2017-08-25 | 奥克斯空调股份有限公司 | Obtain the method and device of the high-definition image of intrusion target |
| CN107103715A (en) * | 2017-04-17 | 2017-08-29 | 江苏蓝深远望科技股份有限公司 | Invader's identifying system, invader's recognition methods and the device of station platform pit |
| CN107727656A (en) * | 2017-11-27 | 2018-02-23 | 江苏昆太工业装备有限公司 | A kind of laser detection platform intelligent checking system |
| CN108216309A (en) * | 2018-01-31 | 2018-06-29 | 中国铁路设计集团有限公司 | Yard circuit O＆M safe and intelligent early warning system and its method for early warning under the conditions of station reconstruction |
| CN110091879B (en) * | 2019-05-10 | 2023-08-01 | 中铁第四勘察设计院集团有限公司 | Platform door anti-pinch detection system based on image recognition and control method thereof |
| CN110796819B (en) * | 2019-10-18 | 2021-07-13 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Detection method and system for platform yellow line invasion border crossing personnel |
| CN110821330B (en) * | 2019-11-26 | 2021-03-12 | 交控科技股份有限公司 | Method and device for preventing people from being clamped between vehicle door and shielding door gap |
| CN111784986B (en) * | 2020-07-13 | 2021-02-09 | 和宇健康科技股份有限公司 | Intelligent security alarm method based on big data |
| CN113393652A (en) * | 2021-06-18 | 2021-09-14 | 国能神东煤炭集团有限责任公司 | Alarm method, system, device and storage medium |
| CN114802354A (en) * | 2022-05-30 | 2022-07-29 | 中铁电气化局集团第三工程有限公司 | Intrusion detection system and method for track construction interval and early warning system |
| CN116935551A (en) * | 2023-09-18 | 2023-10-24 | 华诺星空技术股份有限公司 | Perimeter intrusion detection method, system, equipment and storage medium |
-
2004
- 2004-11-24 SG SG200406771A patent/SG120208A1/en unknown
-
2005
- 2005-03-21 CN CN 200580036678 patent/CN100561532C/en not_active Expired - Fee Related
- 2005-08-10 MY MYPI20053722A patent/MY141837A/en unknown
- 2005-08-24 TW TW094128846A patent/TWI380245B/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| TWI380245B (en) | 2012-12-21 |
| MY141837A (en) | 2010-06-30 |
| SG120208A1 (en) | 2006-03-28 |
| CN101048806A (en) | 2007-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100561532C (en) | Multi-sensor intrusion detection system | |
| US10970851B2 (en) | Operations monitoring in an area | |
| WO2006022594A1 (en) | Multi-sensor intrusion detection system | |
| EP1547036B1 (en) | Automatic detection and monitoring of perimeter physical movement | |
| CN104590319B (en) | Foreign body invades detecting device and foreign body invades detection method | |
| KR100998339B1 (en) | Rail watching system | |
| US8908034B2 (en) | Surveillance systems and methods to monitor, recognize, track objects and unusual activities in real time within user defined boundaries in an area | |
| EP0072567B1 (en) | Boundary plane warning system | |
| CN110126885B (en) | Railway perimeter intrusion target monitoring method and system | |
| CN102279995A (en) | Security pre-warning system based on Internet of things | |
| CN107985335A (en) | track traffic safety detection method | |
| CN209993060U (en) | Electronic fence linkage system based on internet of things technology | |
| CN107901950B (en) | Line monitoring method and monitoring system | |
| CN112757300A (en) | Robot protection system and method | |
| CN213876966U (en) | Railway perimeter safety precaution system | |
| JP5357668B2 (en) | Intruder detection device | |
| JP2018192844A (en) | Monitoring device, monitoring system, monitoring program, and storage medium | |
| KR100957529B1 (en) | Gate Type Metal Detector capable of Preventing Mulfunction | |
| TWI684960B (en) | Platform orbital area intrusion alarm system | |
| CN210027456U (en) | Motor train unit overhaul warehouse with alarm system | |
| CN107424372A (en) | A kind of Internet of Things safety-protection system | |
| WO2020119837A1 (en) | Three-dimensional detection system and method of its detection | |
| RU79698U1 (en) | COMPLEX OF TECHNICAL MEANS OF OPTICAL DETECTION OF OBJECT | |
| KR101372893B1 (en) | Method for fence security using consumption communication devices | |
| CN201150107Y (en) | Sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091118 Termination date: 20190321 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |