CN106627670B - A kind of train protection system and method based on laser detection - Google Patents
A kind of train protection system and method based on laser detection Download PDFInfo
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- CN106627670B CN106627670B CN201611179257.3A CN201611179257A CN106627670B CN 106627670 B CN106627670 B CN 106627670B CN 201611179257 A CN201611179257 A CN 201611179257A CN 106627670 B CN106627670 B CN 106627670B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
Abstract
The present invention relates to a kind of train protection system and methods based on laser detection.The train protection system includes：For emitting laser pulse to current train front and being received back the laser sensor module of pulse information；For obtain train current location and whether in bend and during in bend bend curvature information electronic map positioning module；Acquire and store in real time the information collection memory module of above-mentioned echo impulse information；For obtaining the Data Management Analysis module of the speed of service of ranging data and current train current location and/or bend curvature information adjustment current train.Present invention only requires corresponding equipment is installed in train forepart, without installing ground installation at each station, normal operating conditions be in without other trains are relied on, it is small to occupy vehicle-mounted space, installs simple and convenient.Meanwhile the present invention is also used as the auxiliary system of ATP system, reduces the possibility of train collision, improves train driving safety.
Description
Technical field
The present invention relates to field of track traffic more particularly to a kind of train protection system and methods based on laser detection.
Background technology
In the prior art, urban track traffic using time interval between to trains system (AutomaticTrainProtection,
ATP train traffic safety protection) is carried out, i.e., installing the detection of positioning device, communication equipment and earth station in each train sets
It is standby, it communicates between each equipment, prevents collision from knocking into the back by following train.
Front train is detected to realize, certain company designs a kind of system of railcar train detection front obstacle,
It is formed including camera, millimetre-wave radar and orbits controlling unit, using camera acquired image come cognitive disorders object, and
The distance between barrier is determined according to variables such as speed, and calculate the possibility to collide with front truck, and then avoid touching
Hit the generation for the phenomenon that knocks into the back.
There are following defects for the above method：(1) ATP system needs to install equipment on ground, and dependent on another train
The normal operation of equipment.If a certain train is in abnormal operating state, the traffic safety in sections such as straight way, bends relies on
Driver observation or telephone block system measure judge that there are the hidden danger of train from overtaking collision.(2) when being identified using image, since image is known
Other algorithm is complicated, and operand is big, to system performance requirements height；And Multi-sensor Fusion is needed, cost is higher.
Invention content
For the defects in the prior art, the present invention provides a kind of train protection system and method based on laser detection,
For solving, ATP system installation is complicated in the prior art and another train normal operation of dependence or image recognition algorithm are complicated
The problem of high to system performance.
In a first aspect, an embodiment of the present invention provides a kind of train protection system based on laser detection, the system packet
It includes：Laser sensor module, electronic map positioning module, information collection memory module and data processing analysis module；Wherein,
The laser sensor module includes at least two laser range finders, mounted on the headstock position of current train, uses
In to transmitting laser pulse in front of the current train and being received back pulse information；
The electronic map positioning module is used to obtain the current location of current train and be existed according to above-mentioned current location
Bend curvature letter when determining the current train in electronic map whether in bend and in bend is inquired in electronic map
Breath；
Described information acquisition memory module is connected with the laser sensor module, described in acquiring and storing in real time
The echo impulse information that laser sensor module is received；
The Data Management Analysis module respectively with the laser sensor module, the electronic map positioning module and institute
It states information collection memory module to be connected, for according to above-mentioned echo impulse acquisition of information ranging data, and with reference to current train
Current location and/or bend curvature information obtain the safe speed V of current train traveling and according to the safety speed
Spend the speed of service of V adjustment current trains.
Optionally, the system also includes the sound and light alarm module being connected with the Data Management Analysis module, the sound
Light alarm module is used to alarm with acoustooptic when the Data Management Analysis module generates sound-light alarm control signal.
Optionally, the laser sensor module includes three laser range finders；Three laser range finders are mounted on
The headstock region of the current train, and the axis of three laser range finders is parallel.
Second aspect, the embodiment of the present invention additionally provides a kind of train protection method based on laser detection, based on first
Train protection system realization described in aspect, the method includes：
Laser sensor module nematic front side emits laser pulse and is received back pulse information；
Electronic map positioning module obtains the current location of current train and according to above-mentioned current location in electronic map
Bend curvature information when whether the middle inquiry current train is in bend and in bend；
Data Management Analysis module combines the current of current train according to above-mentioned echo impulse acquisition of information ranging data
Position and/or bend curvature information obtain the safe speed V of the current train traveling and according to the safe speed V tune
The speed of service of whole current train.
Optionally, the method further includes：
Sound and light alarm module starting sound when receiving the Data Management Analysis module generation sound-light alarm control signal
Light is alarmed.
Optionally, the current location of the Data Management Analysis module combination current train and/or bend curvature information obtain
The step of safe speed V for taking the current train traveling, includes：
Whether the current train is inquired in straight way in electronic map according to the current location；
If so, calculating the average value of all ranging datas and using the average value as distance measurement result；
The safe speed V of current train traveling is calculated according to the distance measurement result.
Optionally, the current location of the Data Management Analysis module combination current train and/or bend curvature information obtain
The step of safe speed V for taking the current train traveling, includes
Whether the current train is inquired in bend in electronic map according to the current location；
If so, obtain the curvature information of the bend and the rate peak V0 of the corresponding bend；
Minimum distance measurement value is selected from all ranging datas as distance measurement result；
The safe speed V of current train traveling is obtained according to the distance measurement result；
Judge whether the safe speed V is more than the rate peak V0, if so, the rate peak V0 is replaced
It is changed to the safe speed of current train traveling；
Wherein, the bend includes：Tunnel inner curve and tunnel outer curve.
Optionally, the Data Management Analysis module according to the step of above-mentioned echo impulse acquisition of information ranging data it
Afterwards, the method further includes：
Judge whether the ranging data is virtual value, if so, performing according to the ranging data, the location information
The step of obtaining the safe speed V of the current train traveling；
If it is not, then the front of current train travelled without vehicle and in straight way transport condition according to the current speed of service or
Current train is then travelled without vehicle and in negotiation of bends state according to the rate peak V0 of the bend.
Optionally, the Data Management Analysis module according to the step of above-mentioned echo impulse acquisition of information ranging data it
Afterwards, the method further includes：
The ranging data and preset minimum safe distance are compared；
If the ranging data is less than the minimum safe distance, the acousto-optic for alarm is sent to sound and light alarm module
Alarm control signal.
Optionally, the Data Management Analysis module according to the step of above-mentioned echo impulse acquisition of information ranging data it
Afterwards, the method further includes：Information collection memory module stores the ranging data.
As shown from the above technical solution, the present invention includes laser sensor mould by the installation in the headstock region of current train
Block, electronic map positioning module, information collection memory module, Data Management Analysis module and sound and light alarm module；The laser
Sensor assembly includes at least two laser range finders, mounted on the headstock position of current train, for the current train
Front emits laser pulse and is received back pulse information；The electronic map positioning module is used to obtain the current of current train
Position and determine the current train in electronic map whether in bend and during in bend according to above-mentioned current location
Bend curvature information；Described information acquisition memory module is connected with the laser sensor module, for acquiring and depositing in real time
Store up the echo impulse information that the laser sensor module is received；The Data Management Analysis module respectively with the laser
Sensor module, the electronic map positioning module are connected with described information acquisition memory module, for according to the echo arteries and veins
Rush acquisition of information ranging data and according to current location of the current train in electronic map and/or bend curvature information tune
The speed of service of the whole current train；The sound and light alarm module is connected with the Data Management Analysis module, for
The Data Management Analysis module is alarmed when generating sound-light alarm control signal with acoustooptic.Compared with prior art
Compared with, present invention only requires corresponding equipment is installed in train forepart, without installing ground installation at each station, without
It relies on other trains and is in normal operating conditions, it is small to occupy vehicle-mounted space, and installation is simple and convenient.Meanwhile the present invention can also make
For the auxiliary system of ATP system, the possibility of train collision is reduced, improves train driving safety.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to make a simply introduction, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of train protection system block diagram based on laser detection provided by the invention；
Fig. 2 is laser range finder scheme of installation
Fig. 3 is laser distance measuring principle schematic diagram；
Fig. 4 is a kind of flow diagram of the train protection method based on laser detection provided by the invention；
Fig. 5~Fig. 6 is train straight way testing principle schematic diagram when driving；
Fig. 7~Figure 13 is train curve testing principle schematic diagram when driving.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
Fig. 1 shows a kind of train protection system block diagram based on laser detection provided by the invention.Referring to Fig. 1, the row
Vehicle guard system includes：Laser sensor module, electronic map positioning module, information collection memory module and Data Management Analysis
Module；Wherein,
The laser sensor module includes at least two laser range finders, mounted on the headstock position of current train, uses
In to transmitting laser pulse in front of the current train and being received back pulse information；
The electronic map positioning module is used to obtain the current location of current train and be existed according to above-mentioned current location
Bend curvature information when the current train is inquired in electronic map whether in bend and in bend；
Described information acquisition memory module is connected with the laser sensor module, described in acquiring and storing in real time
The echo impulse information that laser sensor module is received；
The Data Management Analysis module respectively with the laser sensor module, the electronic map positioning module and institute
It states information collection memory module to be connected, for according to above-mentioned echo impulse acquisition of information ranging data, and with reference to current train
Current location and/or bend curvature information obtain the safe speed V of current train traveling and according to the safety speed
Spend the speed of service of V adjustment current trains.
Above-mentioned laser sensor module includes at least two laser range finders in the present invention.Optionally, the present invention one is implemented
Laser sensor module includes three laser range finders in example, as shown in Fig. 2, three laser range finders are separately mounted to described work as
The headstock region of preceding train, and the axis of three laser range finders is parallel (as shown in Figure 3).It will be appreciated that axis is put down
Row is conducive to detect the front train in bend, improves the precision of detection.It should be noted that the quantity of laser range finder can be with
It is adjusted according to concrete scene, for example, setting four, five even more laser range finders, can improve ranging in this way
As a result accuracy.But the increase of laser range finder quantity can also increase the calculation amount of Data Management Analysis module, reduce number
According to processing speed, those skilled in the art is needed to be balanced in processing speed and accuracy at this time.
Above-mentioned electronic map positioning module includes positioning unit and electronic map unit, and above-mentioned positioning unit can be current
Existing positioning device on train, for example, GPS positioning device or the GPS being separately provided for electronic map positioning module
Positioning device or other positioning devices.It will be appreciated that when positioning device is separately provided for the electronic map positioning module, it can
To reduce the interactive information with current train, the reliability of system is improved.Positioning unit obtains the geographical location of current train, i.e.,
The latitude and longitude coordinates of train.Electronic map unit reads latitude and longitude coordinates from above-mentioned positioning unit, is then sat according to the longitude and latitude
Mark determines the position of current train on the electronic map with reference to electronic map, so as to obtain rail residing for the Train of current location
The shape in road.Above-mentioned trade shape includes straight way and bend, and wherein bend includes tunnel inner curve and tunnel outer curve.
It should be noted that above-mentioned electronic map refers to be stored in advance in the map datum in mobile unit.The map
Data include the trade shape in each geographical location, e.g. straight way or bend.Also, when being bend, the map number
According to the rate peak V0 for the curvature information and the bend for further including bend.The electronic map can be obtained from map vendors
, it can also be that enterprise carries out the electronic map oneself established after data processing.No matter which kind of electronic map can realize this
The scheme of inventive embodiments both falls within the protection domain of the embodiment of the present invention.
Data Management Analysis module may be used microcontroller, ARM chips or dsp chip and realize in the embodiment of the present invention.
The Data Management Analysis module is used to judge to calculate two vehicles when current train whether there is front train, there is front train before
The distance between and calculate the current train safe velocity etc., those skilled in the art carry out according to concrete application scene
Selection, the embodiment of the present invention are not construed as limiting.
As shown in Figure 1, information collection memory module connects laser sensor module and data respectively in the embodiment of the present invention
Analysis module is handled, for acquiring and storing the survey that the echo information of laser range finder acquisition and data processing analysis module calculate
Away from data.Certainly, which can also store the intermediate data and most of Data Management Analysis resume module
Whole data etc. (for example, the speed of service of current train, safe speed), can also store above-mentioned electronic map data.
The train protection system that one embodiment of the invention provides further includes sound and light alarm module.As shown in Figure 1, the acousto-optic report
Alert module connection Data Management Analysis module, the sound-light alarm control signal for being sent according to Data Management Analysis module carry out
Alarm.The sound and light alarm module may be used indicator light and buzzer of the prior art and realize, the embodiment of the present invention does not limit
It is fixed.
One embodiment of the invention additionally provides a kind of train protection method based on laser detection, based on train above
Guard system is realized, as shown in figure 4, the train protection method includes：
Emit laser pulse in front of S1, laser sensor module nematic Chinese herbaceous peony train and be received back pulse information；
S2, electronic map positioning module obtain the current location of current train and according to above-mentioned current location in electronics
Bend curvature information when the current train is inquired in map whether in bend and in bend；
S3, Data Management Analysis module combine current train according to above-mentioned echo impulse acquisition of information ranging data
Current location and/or bend curvature information obtain the safe speed V of the current train traveling and according to the safe speeds
V adjusts the speed of service of current train.
Each step of detection method provided by the invention is described in detail in the following with reference to the drawings and specific embodiments.
First, S1, laser sensor module nematic Chinese herbaceous peony train front transmitting laser pulse are introduced and receives echo impulse
The step of information.
In the embodiment of the present invention above-mentioned detection method is realized using three laser range finders.It is understood that with swashing
The increase of optar quantity, the accuracy of detection method acquired results equally improve, but can increase Data Management Analysis mould
The calculation amount of block.When train protection system further includes information collection memory module, what which was stored
Data volume also can linear increase, increase the cost of storage device.Therefore, those skilled in the art can be according to specifically used scene
Actual demand, select appropriate number of laser range finder.Therefore, in the embodiment of the present invention, the quantity setting of laser range finder
At three, you can applied to train detection in front of the front of bullet train.
In practical application, as shown in Fig. 2, above three laser range finder (label 1,2,3 in Fig. 2) is mounted on current train
Headstock position, the light direction of each laser range finder is parallel with the direction of current train directly when driving.That is,
As shown in figure 3, light direction is the front of current train, three laser range finders can emit once in each measurement period
Laser pulse, what launch time can synchronize.When encounter barrier (tunnel wall, front train, building when) when, laser pulse
It can return to form echo-signal；Laser range finder can acquire echo-signal in real time.
It should be noted that above-mentioned laser range finder has effective ranging range, and effective ranging range can be long-range
The minimum range allowed between current train and front train i.e. two vehicle safe distances.Those skilled in the art can be according to tool
Body usage scenario selects the laser range finder of suitable type, and the present invention is not construed as limiting.
Secondly, S2, the current location of electronic map positioning module acquisition current train are introduced and according to above-mentioned present bit
The step of putting bend curvature information when the current train is inquired in electronic map whether in bend and in bend.
The current location that above-mentioned electronic map positioning module obtains current train in real time (refers mainly to geographical location information as passed through
Latitude coordinate).Then, which is matched above-mentioned current location with electronic map to obtain current train
Accurate location in electronic map and track, and then track residing for current train is obtained from the electronic map after matching
Shape, such as current orbit are straight way, bend, monorail bend or multi-track bend etc., and wherein bend includes in tunnel again
Bend and tunnel outer curve.
When current train present position is bend, from electronic map database when read the curvature and rate of the bend
Peak V0.
Finally, S3, Data Management Analysis module are introduced according to above-mentioned echo impulse acquisition of information ranging data, and combines and works as
The current location of preceding train and/or bend curvature information obtain the safe speed V of the current train traveling and according to described
Safe speed V adjusts the step of speed of service of current train.
Data Management Analysis module receives the echo-signal transmitted from each laser range finder and calculates current train itself
Ranging data between front obstacle, the trade shape of the current train present position of electronic map positioning module transfer
And/or bend curvature and rate peak V0, the travel speed in current location current train is calculated, including：
1st, trade shape is straight way.
(1) if as shown in figure 5, the distance measured by three laser range finders is the maximum range value of the rangefinder or does not have
Have, then show that current train travels on straight way, and its front does not have barrier (i.e. front does not have train), in this case,
Current train is travelled according to current velocity Huo existing speed.
(2) if ranging corresponding to three laser range finders apart from equal (in practical application, due to the shape of front train
There are certain difference, allow there are certain error, this can be set according to actual needs.If in error range,
It is considered herein that the two is apart from equal), then train travels on straight way, and is front there are barrier immediately ahead of current train
Train, as shown in fig. 6, in this case, using the ranging distance of a laser range finder and front train as distance measurement result Z.It can
Selection of land, can be using the average value of three ranging distances as distance measurement result Z to eliminate influence of the error to distance measurement result.
Then above-mentioned distance measurement result and two vehicle safe distance Z0 are compared, when distance measurement result Z is more than or equal to two
During vehicle safe distance Z0, the peace of current train is calculated according to the default retro-speed a0 of current train and above-mentioned distance measurement result Z
Full speed degree V, current train is according to above-mentioned safe speed V travelings at this time.Wherein, the calculation formula of safe speed V is as follows：
In formula, V represents the safe speed at this moment of current train；A0 represents default retro-speed, refers under normal conditions
The worst retro-speed of current train；Z represents distance measurement result.
When distance measurement result Z is less than two vehicle safe distance Z0, Data Management Analysis module generation sound-light alarm control signal,
For driver to be prompted manually to slow down or brake.When distance measurement result Z is more than two vehicle safe distance Z0, according to the safety calculated
Speed V is travelled, dangerous at this time to release.
2nd, trade shape is bend
When current train handles bend, the distance of corresponding three laser range finders can change, according to the difference of bend,
Its variation pattern is also different.It is illustrated by taking right bend as an example below
1) monorail bend
(1) tunnel inner curve
When current train is in tunnel, including then entering bend, bend neutralizes the three kinds of situations that will go off the curve, this three kinds
In the case of, current train moves ahead all along bend tangent line, and distance measuring method is identical in the case of all three.If each laser range finder
The distance between front obstacle is sequentially increased according to bend direction residing for current train, then will be apart from minimum value as ranging
As a result Z.
As shown in fig. 7, when current train has just enter into bend, due to the influence of tunnel wall, corresponding to three laser range finders
Ranging data it is inconsistent.The distance of corresponding laser range finder A is A-A1, and the distance of corresponding laser range finder B is B-B1, corresponding
The distance of laser range finder C is C-C1, and length successively increases.That is distance A-A1 is distance measurement result Z in this period.Such as Fig. 8 institutes
Show, distance A-A1 can be calculated by the following formula：
In formula, Z represents that distance measurement result is the length of distance A-A1；R represents turning for curvature, that is, current train of current curve
Curved radius；AO represents laser range finder A to the distance in the bend center of circle.
As illustrated in figs. 7 and 8, when there is no train in front of current train, with minimum range A- in three laser range finders
A1 has just enter into bend, when bend neutralization will go off the curve, distance A-A1 is theoretically remained unchanged as distance measurement result Z.At this time
To preset the safe speed V that retro-speed and above-mentioned distance measurement result Z i.e. distance A-A1 calculate current train.If safe speed V
More than or equal to the rate peak V0 in tunnel, then travelled with the rate peak V0 in tunnel, otherwise with safe speed V rows
It sails.
There are during train in front of current train, current train enters bend from straight way, as shown in figure 9, front train starts
The laser pulse that i.e. laser range finder C is sent out of the laser pulse on the right side of current train is blocked, at this time A-A1<B-B1 and C-C1<
B-B1；When two vehicles close to when, as shown in Figure 10, front train blocks the laser pulse that laser range finder C and B are sent out, at this time
A-A1<B-B1 and C-C1<B-B1；When two vehicles further towards when, as shown in figure 11, front train blocks laser range finder C, B
The laser pulse sent out with A, at this time A-A1>B-B1>C-C1.As shown in figure 12, when current train is in bend, front train
Block the laser pulse that laser range finder C, B and A are sent out.
According to above-mentioned four kinds of situations it is found that the corresponding ranging distance of three laser range finders does not increase successively according to bend direction
It (is sequentially increased and refers to greatly：A-A1<B-B1<It C-C1), then will be apart from minimum value as distance measurement result Z.Then Data Management Analysis
Module continues to calculate the safe speed V of current train, compares safe speed V and rate the peak V0, safe speed V in tunnel
Greatly, then current train is travelled with the rate peak V0 in tunnel, otherwise is travelled with safe speed V.
(2) tunnel outer curve
When current train is the operation of opening bend outside tunnel, due to there is no tunnel wall to block, then laser ranging side
Formula is different from tunnel.
If each laser range finder does not obtain distance measurement result, i.e. current train all is clear ahead, current train with
The safe curve speed traveling of residing bend, the situation is identical with the computational methods of monorail bend, please refers to above.If at least
One laser range finder obtains the distance between front obstacle, then using the minimum value in the distance as distance measurement result Z.So
The safe speed V of current train is calculated according to default retro-speed a0 and distance measurement result Z afterwards.Data Management Analysis module comparison peace
The rate peak V0 of full speed degree V and bend, if safe speed V is big, current train is travelled with the rate peak V0 of bend,
Otherwise it is travelled with safe speed V.
As shown in Figure 11 and Figure 12, the distance between each laser range finder and front obstacle are according to residing for current train
Bend direction is sequentially reduced, then will be apart from minimum value as distance measurement result, i.e. distance C-C1 minimums have in current train front at this time
Train.Then Data Management Analysis module please refers to above, details are not described herein according to safe speed V calculated above.
2) multi-track bend, by taking two-orbit as an example.
(1) when Lin Dao has vehicle without Che Qiezhe roads, with the minimum in the distance between each laser range finder and front train
Value is as distance measurement result Z.Then Data Management Analysis module please refers to above, herein no longer according to safe speed V calculated above
It repeats.
(2) if there is vehicle in Lin Dao You Cheqiezhe roads, as shown in figure 13, the minimum of distance between train in front of Ben Daonei
Value is as distance measurement result Z.Then Data Management Analysis module please refers to above, herein no longer according to safe speed V calculated above
It repeats.
(3) if Lin Dao You Cheqiezhe roads are without vehicle, using the minimum value in all distances as distance measurement result Z.Then data
Analysis module is handled according to safe speed V calculated above, is please referred to above, details are not described herein.
Above-mentioned various situations, when distance measurement result Z is less than two vehicle safe distances, then Data Management Analysis module generates acousto-optic
Alarm control signal.
Optionally, sound-light alarm, prompting department are carried out when sound and light alarm module receives above-mentioned sound-light alarm control signal
The man-machine deceleration of machine or braking, so as to avoid collision the generation of rear-end collision.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution recorded in foregoing embodiments either to which part or all technical features into
Row equivalent replacement；And these modifications or replacement, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover in the claim of the present invention and the range of specification.
Claims (7)
- A kind of 1. train protection method based on laser detection, which is characterized in that the method uses the row based on laser detection The realization of vehicle guard system, the train protection system based on laser detection, including：Laser sensor module, electronic map are fixed Position module, information collection memory module and data processing analysis module；Wherein,The laser sensor module includes at least two laser range finders, mounted on the headstock position of current train, for Emit laser pulse in front of the current train and be received back pulse information；The electronic map positioning module is used to obtain the current location of current train and according to above-mentioned current location in electronics Bend curvature information when the current train is inquired in map whether in bend and in bend；Described information acquisition memory module is connected with the laser sensor module, for acquiring and storing the laser in real time The echo impulse information that sensor assembly is received；The Data Management Analysis module respectively with the laser sensor module, the electronic map positioning module and the letter Breath acquisition memory module is connected, and for according to above-mentioned echo impulse acquisition of information ranging data, and combines working as current train Front position and/or bend curvature information obtain the safe speed V of the current train traveling and according to the safe speed V Adjust the speed of service of current train；Wherein, the method includes：Laser sensor module nematic front side emits laser pulse and is received back pulse information；Electronic map positioning module obtains the current location of current train and is looked into electronic map according to above-mentioned current location Bend curvature information when whether asking the current train in bend and in bend；Data Management Analysis module combines the current location of current train according to above-mentioned echo impulse acquisition of information ranging data And/or bend curvature information obtains the safe speed V of the current train traveling and is worked as according to safe speed V adjustment The speed of service of preceding train；The current location of the Data Management Analysis module combination current train and/or bend curvature information work as forefront described in obtaining The step of safe speed V of vehicle traveling, includes：Whether the current train is inquired in bend in electronic map according to the current location；If so, obtain the curvature information of the bend and the rate peak V0 of the corresponding bend；Minimum distance measurement value is selected from all ranging datas as distance measurement result；The safe speed V of current train traveling is obtained according to the distance measurement result；Judge whether the safe speed V is more than the rate peak V0, if so, the rate peak V0 is replaced with The safe speed of current train traveling；Wherein, the bend includes：Tunnel inner curve and tunnel outer curve.
- 2. train protection method according to claim 1, which is characterized in that the method further includes：Sound and light alarm module starts acousto-optic report when receiving the Data Management Analysis module generation sound-light alarm control signal It is alert.
- 3. train protection method according to claim 1 or 2, which is characterized in that the Data Management Analysis module according to After the step of above-mentioned echo impulse acquisition of information ranging data, the method further includes：Judge whether the ranging data is virtual value, obtained if so, performing according to the ranging data, the location information The step of safe speed V of the current train traveling；If it is not, then the front of current train travels or current without vehicle and in straight way transport condition according to the current speed of service Train is then travelled without vehicle and in negotiation of bends state according to the rate peak V0 of the bend.
- 4. train protection method according to claim 1 or 2, which is characterized in that the Data Management Analysis module according to After the step of above-mentioned echo impulse acquisition of information ranging data, the method further includes：The ranging data and preset minimum safe distance are compared；If the ranging data is less than the minimum safe distance, the sound-light alarm for alarm is sent to sound and light alarm module Control signal.
- 5. train protection method according to claim 1 or 2, which is characterized in that the Data Management Analysis module according to After the step of above-mentioned echo impulse acquisition of information ranging data, the method further includes：Information collection memory module stores institute State ranging data.
- 6. train protection method according to claim 1, which is characterized in that the train protection system based on laser detection System further includes the sound and light alarm module being connected with the Data Management Analysis module, which is used in the number It is alarmed when generating sound-light alarm control signal according to processing analysis module with acoustooptic.
- 7. the train protection method according to claim 1 or 6, which is characterized in that the laser sensor module includes three A laser range finder；Three laser range finders are mounted on the headstock region of the current train, and three Laser Measurings The axis of distance meter is parallel.
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| CN110716573B (en) * | 2019-11-01 | 2023-06-06 | 中铁轨道交通装备有限公司 | Intelligent bending system of tramcar and control method thereof |
| CN113465954B (en) * | 2020-03-30 | 2022-10-18 | 比亚迪股份有限公司 | Method, device and equipment for detecting train wheel steering and storage medium |
| WO2021226786A1 (en) * | 2020-05-11 | 2021-11-18 | Mtr Corporation Limited | On-board systems for trains and methods of determining safe speeds and locations of trains |
| CN111762236B (en) * | 2020-06-29 | 2022-05-10 | 交控科技股份有限公司 | Rail transit train positioning method, device and system |
| CN112033395B (en) * | 2020-09-08 | 2022-05-10 | 广东博智林机器人有限公司 | Mobile platform positioning method and device, electronic equipment and storage medium |
| CN114537476A (en) * | 2020-11-26 | 2022-05-27 | 比亚迪股份有限公司 | Train anti-collision processing method, device and system |
| CN112631302B (en) * | 2020-12-25 | 2024-04-19 | 珠海格力智能装备有限公司 | Method and device for controlling collision avoidance system of guided vehicle |
| CN114397672A (en) * | 2021-12-14 | 2022-04-26 | 卡斯柯信号有限公司 | Train active obstacle detection method and device based on positioning technology |
| CN114148379B (en) * | 2021-12-28 | 2023-12-01 | 卡斯柯信号有限公司 | Electronic map sending method capable of dynamically adjusting transmission rate |
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Inventor after: Yu Zujun Inventor after: Wang Wei Inventor after: Zhang Jianming Inventor before: Wang Wei Inventor before: Zhang Jianming |