CN101590861A - Adopt the railroad track obstacle detection method and the device of image comparison techniques - Google Patents
Adopt the railroad track obstacle detection method and the device of image comparison techniques Download PDFInfo
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- CN101590861A CN101590861A CNA2008100674808A CN200810067480A CN101590861A CN 101590861 A CN101590861 A CN 101590861A CN A2008100674808 A CNA2008100674808 A CN A2008100674808A CN 200810067480 A CN200810067480 A CN 200810067480A CN 101590861 A CN101590861 A CN 101590861A
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Abstract
A kind of railroad track obstacle detection method and device that adopts the image comparison techniques, be used to detect obstacle on the track, described obstacle detector is arranged at by the railway track along the line, the obstacle detector keystone configuration includes controller (1), storage device (2), camera device (3), wherein, controller (1) is by the preset program running, control the running of storage device (2) and camera device (3), and, controller (1) is taken the sample image of clear in the operating range in advance by camera device (3), and sample image is stored in storage device (2), when detecting obstacle, controller (1) is taken the interior real-time imaging of operating range by camera device (3), and the sample image of real-time imaging and storage compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, controller (1) information that gives a warning obstacle occurs on the track in the expression operating range.
Description
[technical field]
The present invention relates to the railway security field, particularly relate to a kind of railroad track obstacle detection method and device that adopts the image comparison techniques.
[background technology]
Current general railroad track; except electrified railway is to adopt the totally enclosed rail; all the other most of railways all are to adopt open rail; be that orbital region is open zone; anyone can enter rail; cross rail; when train driver is found to have the people to stop on the track; can not as automobile, can in short range, train very be stopped immediately; usually stopping distance needs hundreds of meters to several kilometers, and when having the people to want sudden stop on finding track, it is fixed generally to need tens of seconds time train could be stopped; so collide people's accident to death, be a problem extremely to be solved through regular meeting.
[summary of the invention]
Purpose of the present invention, be to provide a kind of railroad track obstacle detection method and device that adopts the image comparison techniques, detect on the track obstacle whether occurred, information gives a warning when the discovery obstacle occurs, make the relevant personnel make suitable action, thereby avoid having an accident.
The object of the present invention is achieved like this, adopt a kind of like this obstacle detection method, be used to detect the obstacle on the railroad track, it is characterized in that, described obstacle detection method comprises that the orbit imagery of taking clear in the operating range in advance is as sample image, then when detecting obstacle, take the interior orbit imagery of operating range as real-time imaging, and described real-time imaging and sample image compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression operating range obstacle appears.
And, adopt a kind of like this obstacle detector, be used to detect the obstacle on the railroad track, adopt obstacle method on the detection railroad track as previously described, it is characterized in that, described obstacle detector includes controller (1), storage device (2), camera device (3), wherein, described controller (1) is connected with camera device (3) circuitry phase with storage device (2), and by the preset program running, control the running of storage device (2) and camera device (3), and, controller (1) is taken the orbit imagery of clear in the operating range as sample image in advance by camera device (3), and described sample image is stored in the storage device (2), then when detecting obstacle, controller (1) is taken the interior orbit imagery of operating range as real-time imaging by camera device (3), and the sample image that stores in described real-time imaging and the storage device (2) compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning, obstacle appears in the track in the expression operating range.
So just realized purpose of the present invention.
Obstacle detector of the present invention is to adopt the image comparative approach to detect obstacle, so can detect any obstacle, comprise people, animal, object etc., as long as obstacle has entered on the track of operating range, will change the captured real-time imaging of camera device (3), by comparing real-time imaging and sample image, just can find the appearance of obstacle.
[description of drawings]
Fig. 1 is the three-dimensional schematic illustration of the imageization of obstacle detector of the present invention;
Fig. 2 is the structural representation instruction diagram of obstacle detector of the present invention;
Fig. 3 is a structural representation instruction diagram of having set up the obstacle detector of communication device (4);
Fig. 4 is obstacle detector when work near the give a warning schematic illustration of information of train;
Fig. 5 is a structural representation instruction diagram of having set up the obstacle detector of wireless signal receiver (5);
Fig. 6 is a structural representation instruction diagram of having set up the obstacle detector of laser suggestion device (6);
Fig. 7 to Figure 10 is the three-dimensional schematic illustration of imageization that obstacle detector of the present invention is arranged at diverse location.
Among the figure, the device that identical digitized representation is identical, parts device, accompanying drawing are schematically, in order to formation of the present invention and principal character to be described.
[specific embodiment]
Below in conjunction with accompanying drawing, apparatus and method of the present invention are described in further detail.
Consult Fig. 1 and Fig. 2, Fig. 1 is the three-dimensional schematic illustration of the imageization of obstacle detector of the present invention, Fig. 2 is the structural representation instruction diagram of obstacle detector of the present invention, obstacle detector shown in Fig. 1 and Fig. 2 is arranged at by the railway track along the line, keystone configuration includes controller (1), storage device (2), camera device (3), wherein, described controller (1) is connected with camera device (3) circuitry phase with storage device (2), and by the preset program running, control the running of storage device (2) and camera device (3), and, controller (1) is taken the orbit imagery of clear in the operating range as sample image in advance by camera device (3), and described sample image is stored in the storage device (2), then when detecting obstacle, controller (1) is taken the interior orbit imagery of operating range as real-time imaging by camera device (3), and the sample image that stores in described real-time imaging and the storage device (2) compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning, obstacle appears in the track in the expression operating range.In addition, obstacle detector also includes a unique identification coding, described identification coding is mainly used in the place that is provided with that the cognitive disorders quality testing is surveyed device, and, described warning message content includes the identification coding of the device that sends this warning message, so just can be that obstacle appears in the track in the operating range of that obstacle detector from the content-aware of warning message.
The present invention adopts the image comparative approach to detect obstacle, method of inspection comprises that the orbit imagery of taking clear in the operating range in advance is as sample image, then when detecting obstacle, take the interior orbit imagery of operating range as real-time imaging, and described real-time imaging and sample image compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression operating range obstacle appears.As long as in operating range (with shade line part being shown in as Fig. 1), obstacle occurs, obstacle will influence the real-time imaging of taking gained, cause real-time imaging and sample image inconsistent, just can detect whether occur obstacle in the operating range by checking comparison real-time imaging and sample image.In addition, in this manual, real-time imaging and sample image are to obtain by the orbit imagery of taking operating range, camera device (3) may also be filmed the scenery beyond the operating range together when taking, wherein the image of operating range part just can be as the real-time imaging or the sample image of indication of the present invention but have only, beyond the operating range image of part can give up need not, to avoid influencing testing result.
Because general open rail is to be in open-air atmosphere, so operating range can be changed by daylight and the brightness of the real-time imaging of taking gained is affected, so when checking comparison real-time imaging and sample image, relatively checking step comprises the brightness of adjusting real-time imaging, make the mean flow rate of real-time imaging identical with the mean flow rate of sample image, with each pixel in the real-time imaging be then real-time pixel one by one with sample image in cooresponding pixel be that the brightness of sampled pixel is compared, find out with the brightness of sampled pixel real-time pixel inequality be the obstacle pixel, and from each obstacle pixel, find out the obstacle image, described obstacle image is made up of a plurality of continuous obstacle pixels, when finding that obstacle pixel quantity that any one obstacle image is wherein comprised surpasses specified quantity, be to occur and the inconsistent part of sample image in the real-time imaging, obstacle occur on the track in the expression operating range.And, described obstacle pixel is meant that the brightness number of real-time pixel and the brightness number of corresponding sample pixel differ above the specification error value, for example the specification error value is 2%, and when the brightness number of real-time pixel and sampled pixel differs when surpassing 2%, this real-time pixel is exactly the obstacle pixel.
Consult Fig. 3 and Fig. 4, Fig. 3 is a structural representation instruction diagram of having set up the obstacle detector of communication device (4), Fig. 4 is obstacle detector when work near the give a warning schematic illustration of information of train, obstacle detector shown in Fig. 3 and Fig. 4 also includes communication device (4), described communication device (4) is controlled by controller (1), when obstacle appears in the track in obstacle detector detects operating range, by communication device (4) warning message is sent near train by controller (1).And described communication device (4) is wireless signal transmitter or GSM mobile handset or CDMA mobile phone or 3G mobile.Continue to consult Fig. 3 and Fig. 4, among the embodiment of Fig. 3 and Fig. 4, one communication device (4) will be set on each train, make each train receive the warning message of sending by obstacle detector by communication device (4), train is just as having grown farsighted person like this, if obstacle occurs on the train fwd rail, train driver just can not receive warning message by communication device (4) before train sails to, know that obstacle appears on that stretch rail, just can make appropriate reaction early, avoid meeting accident.
Consult Fig. 5, Fig. 5 is a structural representation instruction diagram of having set up the obstacle detector of wireless signal receiver (5), obstacle detector shown in the figure also includes wireless signal receiver (5), described wireless signal receiver (5) is mainly used in the signal that reception is sent by near train, after controller (1) receives the signal that is sent by near train by wireless signal receiver (5), controller (1) just begins to detect obstacle work, behind the signal that near train not receiving sends, just stop to detect obstacle work.Continue to consult Fig. 5, among the embodiment of Fig. 5, will a wireless signal transmitter be set on each train, each train can be started by this wireless signal transmitter be positioned at train fwd obstacle detector, leaving the obstruction detecting device to train will the SELF CL power supply.
Consult Fig. 6, Fig. 6 is a structural representation instruction diagram of having set up the obstacle detector of laser suggestion device (6), obstacle detector shown in the figure also includes laser suggestion device (6), described laser suggestion device (6) is arranged at the track top, and control by controller (1), when obstacle detector detects when obstacle occurring on the track, controller (1) startup laser suggestion device (6) gives off laser beam and shines the interior track of operating range signal by way of caution back and forth, if the obstacle on the track is the people, he sees that this laser beam just knows that train soon sails to this track, he is deorbit immediately just, avoids meeting accident.
In addition, the further improvement of obstacle detection method of the present invention, it is the environmental information of when taking sample image, noting operating range at that time, and under different environmental information conditions, take a plurality of different sample images, and, when detecting obstacle, when taking real-time imaging, note the environmental information of operating range at that time, then real-time imaging and the sample image with equivalent environment information are compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression operating range obstacle appears.And described environmental information includes geographical location information and/or temporal information and/or Weather information etc.So just can under different environment, accurately detect obstacle, for example respectively morning of fine, cloudy day, rainy day, noon, dusk equal time take under sample image, the environment in the time of just can be according to detection when detecting obstacle is found out the corresponding sample image and is detected obstacle.
Aspect obstacle detector, above-mentioned further the improving one's methods of same employing, a plurality of orbit imageries of taking clear in the operating range in advance by camera device (3) at described controller (1) are during as sample image, write down each sample image shooting environmental information at that time simultaneously, then each sample image and cooresponding environmental information are bundled and be stored in the storage device (2), and, when detecting obstacle, controller (1) is taken the interior orbit imagery of operating range as real-time imaging by camera device (3), write down this real-time imaging shooting environmental information at that time simultaneously, in storage device (2), find out sample image then with equivalent environment information, described real-time imaging and sample image are compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning obstacle occurs on the track in the expression operating range.
By above-mentioned further improve one's methods after, obstacle detector singly can not be installed on the fixed position, also can be installed in the train head, as long as when taking sample image, note the geographical location information and the Weather information of train at that time simultaneously, train is gone on the identical position later on, just the sample image with same geographic location information detects obstacle, so just can help train driver to detect the train front whether obstacle is arranged, when finding obstacle, just can be immediately to the train driver information that gives a warning, make chaufeur in time make appropriate reaction, avoid meeting accident.
Consult Fig. 7 to Figure 10, Fig. 7 to Figure 10 is the three-dimensional schematic illustration of imageization that obstacle detector of the present invention is arranged at diverse location, obstacle detector shown in Fig. 7 is arranged on the other pillar of track, obstacle detector shown in Fig. 8 is arranged on the pillar of middle position of two-wire track, and be provided with in back-to-back mode with two obstacle detectors, can save the expense that pillar is set like this, obstacle detector shown in Fig. 9 is arranged at the middle position on the rack beam on the track, be provided with in back-to-back mode with two obstacle detectors equally, obstacle detector shown in Figure 10 is arranged on the other pillar of track, and between each pillar and pillar, be provided with power lead, this power lead is except can providing the required electric power of each obstacle detector, more can adopt power-line carrier communication, this power lead is become communication network, obstacle detector just can send testing result to railway dispatching control center by power lead like this, makes the railway dispatching control center detecting device that can break the barriers in time grasp the situation in each track highway section.In addition, obstacle detector more can be sent to railway dispatching control center immediately with the real-time imaging that obstacle occurs, when the people will destroy any facility on the railway, railway dispatching control center just can know from real-time imaging immediately, just can send someone immediately to handle, it is the same that this obstacle detector just equals a railway guard, at every moment keeps guard over track, to improving very benifit of railway security.
In addition, though the present invention is illustrated with the above embodiments, the present invention is not limited to this, under the situation of the scope of not leaving spirit of the present invention and appended claims, can do multiple change and variation.
Obstacle detector of the present invention is particularly suitable for being applied on some existing non-electrified open tracks, by being arranged at railway obstacle detector along the line, on near train driver just can be known the track whether obstacle is arranged, just as train has increased farsighted person, when on finding track, obstacle occurring, just can make suitable action early, avoid meeting accident.Enforcement of the present invention can improve railway security and bring good society and economic benefit.
Claims (12)
1. obstacle detection method, be used to detect the obstacle on the railroad track, it is characterized in that, described obstacle detection method comprises that the orbit imagery of taking clear in the operating range in advance is as sample image, then when detecting obstacle, take the interior orbit imagery of operating range as real-time imaging, and described real-time imaging and sample image compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression operating range obstacle appears.
2. obstacle detection method as claimed in claim 1, it is characterized in that, described relatively checking step comprises the brightness of adjusting real-time imaging, make the mean flow rate of real-time imaging identical with the mean flow rate of sample image, with each pixel in the real-time imaging be then real-time pixel one by one with sample image in cooresponding pixel be that the brightness of sampled pixel is compared, find out with the brightness of sampled pixel real-time pixel inequality be the obstacle pixel, and from each obstacle pixel, find out the obstacle image, described obstacle image is made up of a plurality of continuous obstacle pixels, when finding that obstacle pixel quantity that any one obstacle image is wherein comprised surpasses specified quantity, be to occur and the inconsistent part of sample image in the real-time imaging, obstacle occur on the track in the expression operating range.
3. obstacle detection method as claimed in claim 2 is characterized in that, described obstacle pixel is meant that the brightness number of real-time pixel and the brightness number of corresponding sample pixel differ above the specification error value.
4. obstacle detection method as claimed in claim 1 or 2, it is characterized in that, when taking sample image, note the environmental information of operating range at that time, and under different environmental information conditions, take a plurality of different sample images, and, when detecting obstacle, when taking real-time imaging, note the environmental information of operating range at that time, then real-time imaging and the sample image with equivalent environment information are compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression operating range obstacle appears.
5. obstacle detection method as claimed in claim 4 is characterized in that, described environmental information includes geographical location information and/or temporal information and/or Weather information.
6. obstacle detector, be used to detect the obstacle on the railroad track, adopt as obstacle method on each described detection railroad track of claim 1 to 5, it is characterized in that, described obstacle detector includes controller (1), storage device (2), camera device (3), wherein, described controller (1) is connected with camera device (3) circuitry phase with storage device (2), and by the preset program running, control the running of storage device (2) and camera device (3), and, controller (1) is taken the orbit imagery of clear in the operating range as sample image in advance by camera device (3), and described sample image is stored in the storage device (2), then when detecting obstacle, controller (1) is taken the interior orbit imagery of operating range as real-time imaging by camera device (3), and the sample image that stores in described real-time imaging and the storage device (2) compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning, obstacle appears in the track in the expression operating range.
7. obstacle detector as claimed in claim 6, it is characterized in that, described obstacle detector also includes communication device (4), described communication device (4) is controlled by controller (1), when obstacle appears in the track in obstacle detector detects operating range, by communication device (4) warning message is sent near train by controller (1).
8. obstacle detector as claimed in claim 7 is characterized in that, described communication device (4) is wireless signal transmitter or GSM mobile handset or CDMA mobile phone or 3G mobile.
9. as claim 6 or 7 or 8 described obstacle detectors, it is characterized in that, described obstacle detector also includes wireless signal receiver (5), described wireless signal receiver (5) is mainly used in the signal that reception is sent by near train, after controller (1) receives the signal that is sent by near train by wireless signal receiver (5), controller (1) just begins to detect obstacle work, behind the signal that near train not receiving sends, just stop to detect obstacle work.
10. as claim 6 or 7 or 8 described obstacle detectors, it is characterized in that, described obstacle detector also includes laser suggestion device (6), described laser suggestion device (6) is arranged at the track top, and control by controller (1), when obstacle detector detects when obstacle occurring on the track, controller (1) starts laser suggestion device (6) and gives off laser beam and shine track signal by way of caution in the operating range back and forth.
11. as claim 6 or 7 or 8 described obstacle detectors, it is characterized in that, a plurality of orbit imageries that described controller (1) is taken clear in the operating range in advance by camera device (3) are during as sample image, write down each sample image shooting environmental information at that time simultaneously, then each sample image and cooresponding environmental information are bundled and be stored in the storage device (2), and, when detecting obstacle, controller (1) is taken the interior orbit imagery of operating range as real-time imaging by camera device (3), write down this real-time imaging shooting environmental information at that time simultaneously, in storage device (2), find out sample image then with equivalent environment information, described real-time imaging and sample image are compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning obstacle occurs on the track in the expression operating range.
12. as claim 6 or 7 or 11 described obstacle detectors, it is characterized in that, described obstacle detector also includes a unique identification coding, and described warning message content includes the identification coding of the obstacle detector that sends this warning message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810067480 CN101590861B (en) | 2008-05-30 | 2008-05-30 | Method and device for detecting obstructions on railway rail by adopting image comparing technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810067480 CN101590861B (en) | 2008-05-30 | 2008-05-30 | Method and device for detecting obstructions on railway rail by adopting image comparing technology |
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| Publication Number | Publication Date |
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| CN101590861A true CN101590861A (en) | 2009-12-02 |
| CN101590861B CN101590861B (en) | 2013-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200810067480 Expired - Fee Related CN101590861B (en) | 2008-05-30 | 2008-05-30 | Method and device for detecting obstructions on railway rail by adopting image comparing technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973290A (en) * | 2010-09-25 | 2011-02-16 | 张澎珍 | Estimation system of railway operating environment of high-speed train |
| CN112776856A (en) * | 2021-01-15 | 2021-05-11 | 中国神华能源股份有限公司神朔铁路分公司 | Track foreign matter intrusion monitoring method, device and system and monitoring host equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156089A (en) * | 1983-10-11 | 1984-09-05 | Hitachi Ltd | Obstacle detecting method for vehicle |
| CN101020466A (en) * | 2006-02-13 | 2007-08-22 | 申朗 | Over-the-horizon and curve observing system for railway train |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL117279A (en) * | 1996-02-27 | 2000-01-31 | Israel Aircraft Ind Ltd | System for detecting obstacles on a railway track |
-
2008
- 2008-05-30 CN CN 200810067480 patent/CN101590861B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156089A (en) * | 1983-10-11 | 1984-09-05 | Hitachi Ltd | Obstacle detecting method for vehicle |
| CN101020466A (en) * | 2006-02-13 | 2007-08-22 | 申朗 | Over-the-horizon and curve observing system for railway train |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973290A (en) * | 2010-09-25 | 2011-02-16 | 张澎珍 | Estimation system of railway operating environment of high-speed train |
| CN101973290B (en) * | 2010-09-25 | 2015-02-11 | 张澎珍 | Estimation system of railway operating environment of high-speed train |
| CN112776856A (en) * | 2021-01-15 | 2021-05-11 | 中国神华能源股份有限公司神朔铁路分公司 | Track foreign matter intrusion monitoring method, device and system and monitoring host equipment |
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| CN101590861B (en) | 2013-07-10 |
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