CN107037436A - In a kind of train and its travel direction obstacle spacing from detection method - Google Patents
In a kind of train and its travel direction obstacle spacing from detection method Download PDFInfo
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- CN107037436A CN107037436A CN201610894136.0A CN201610894136A CN107037436A CN 107037436 A CN107037436 A CN 107037436A CN 201610894136 A CN201610894136 A CN 201610894136A CN 107037436 A CN107037436 A CN 107037436A
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- Prior art keywords
- train
- laser
- range finder
- barrier
- laser range
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention provides obstacle spacing in a kind of train and its travel direction from detection method, this method is respectively mounted two groups of laser velocimeters in the two ends headstock end face of train, the laser detection angle of each group laser range finder is set respectively, for detect train operation straight path, turn or run to ramp when and barrier on This train is bound for XXX between distance；Judged to whether there is barrier in the travel direction of target train according to laser range finder, if there is barrier, it is determined that distance between train and barrier.It is of the invention effectively and the detection of the efficient upper barrier that realizes that This train is bound for XXX and to obstacle spacing on train and its travel direction from acquisition, so that non-communicating train can also be obtained with train in its travel direction or obstacle spacing from, it is ensured that the operation safety and operational efficiency of train in time.
Description
Technical field
The present invention relates to urban rail transit technology field, and in particular on a kind of train and its travel direction between barrier
The detection method of distance.
Background technology
The operation of train in urban track traffic, carries the operation main force in the public transport of big and medium-sized cities, becomes
Indispensable one in the sustainable development factor in city；Simultaneously, it is ensured that the operation of train is also to ensure citizens' activities safely
Safety and the effective means that congestion is avoided in peak period；Barrier or other trains on This train is bound for XXX etc., are shadows
One of influence factor of train operating safety is rung, and especially when train is turned or is run to ramp, train driver can not
Find that front obstacle or distance pair barrier between are uncertain in time, and accurate emergency operation can not be made in time, enter
And have impact on the operation safety of train.
At present, train does not have a kind of effective means and front obstacle or vehicle distances is detected in itself, existing
Movable block scheme in train driven according to driving license, if front vehicles are non-communicating car, then train can only be with
The mode of fixed blocking is driven, it is impossible to is determined in time and front obstacle or separation between vehicles, be have impact on train operation
The operational efficiency of safety and train.
The content of the invention
For defect of the prior art, the present invention provide a kind of train and obstacle spacing in its travel direction from inspection
Survey method, including：
The two ends headstock end face of target train of the step 1. in urban track traffic is respectively mounted two groups of laser velocimeters,
Wherein, the headstock end face is to drive end face where glass perpendicular to This train is bound for XXX in train driving room；
Step 2. sets the laser detection angle of laser range finder described in each group respectively so that two groups of laser velocimeters are used
The distance between barrier when target train is detected in linear running and on This train is bound for XXX, and one of which is additionally operable to
The distance between barrier of the target train when turning and on This train is bound for XXX is detected, another group is additionally operable to detect target column
Distance between barrier of the car when operation is to ramp and on This train is bound for XXX；
Step 3. runs in target train on straight path, when travelling to turning or running to ramp, respectively basis
The corresponding laser range finder judges to whether there is barrier in the travel direction of the target train, if there is barrier,
Then enter step 4；
Step 4. determines the row according to the distance between the laser range finder and barrier on This train is bound for XXX
Distance between car and the barrier.
Further, the step 1 includes：
Using the central point of headstock end face as cross coordinate center, set respectively in the headstock both sides on abscissa direction
Left laser range finder A and right laser range finder B, and set respectively in the top and bottom of the headstock end face on ordinate direction
Put laser range finder C and lower laser range finder D.
Further, the step 2 includes：
The left laser range finder A and right laser range finder B laser detection angle is disposed as θ, and by the left side
Laser range finder A and right laser range finder B Laser emission direction be set to towards the laser the target train traveling
The direction and laser crosses in the travel direction of the target train, wherein, θ is maximum curved on the vehicle line of train
The angle in road；
And the upper laser range finder C and lower laser range finder D laser detection angle is disposed as β, and by institute
The Laser emission direction for stating laser range finder C and lower laser range finder D is set to towards the laser in the target train
The travel direction and laser crosses in the travel direction of the target train, wherein, β is the slope on the vehicle line of train
The maximum angle in road.
Further, the step 3 includes：
Step 3-1. judges the current running status of the target train；If the current running status of the target train is
Turn, then into step 3-2；
If the current running status of the target train is runs to ramp, into step 3-3；
If the target train is operated on straight path, into step 3-4；Step 3-2. is according to turn direction on a left side
Choose main rangefinder and junior range instrument in laser range finder A and right laser range finder B, and judge on This train is bound for XXX whether
There is barrier, if in the presence of into step 4；
Step 3-3. chooses main survey on will be described according to the angle in ramp in laser range finder C and lower laser range finder D
Distance meter and junior range instrument, and it is upper with the presence or absence of barrier to judge that This train is bound for XXX, if in the presence of into step 4；
Step 3-4. judges that This train is bound for XXX upper with the presence or absence of barrier, if depositing according to any one group of laser range finder
Then into step 4.
Further, if the current running status of the target train is turns left, the step 3-2 includes：
The right laser range finder B is confirmed to be main rangefinder, and the left laser range finder A is confirmed as into junior range
Instrument, in left laser range finder A and right laser range finder B detects barrier and the distance between barrier is respectively less than first
During maximum effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described first maximum effectively survey
Away from the central point for the headstock end face to the distance between first laser intersection point, the first laser intersection point is the left Laser Measuring
Distance meter A and right laser range finder B laser joint.
Further, if the current running status of the target train is turns right, the step 3-2 includes：
The left laser range finder A is confirmed to be main rangefinder, and the right laser range finder B is confirmed as into junior range
Instrument, in left laser range finder A and right laser range finder B detects barrier and the distance between barrier is respectively less than first
During maximum effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described first maximum effectively survey
Away from the central point for the headstock end face to the distance between first laser intersection point, the first laser intersection point is the left Laser Measuring
Distance meter A and right laser range finder B laser joint.
Further, if the current running status of the target train is runs to up gradient, the step 3-3 bags
Include：
The lower laser range finder D is confirmed to be main rangefinder, and the upper laser range finder C is confirmed as into junior range
Instrument, in upper laser range finder C and lower laser range finder D detects barrier and the distance between barrier is respectively less than second
During maximum effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described second maximum effectively survey
Away from the central point for the headstock end face to the distance between second laser intersection point, the second laser intersection point is the upper Laser Measuring
Distance meter C or lower laser range finders D laser joint.
Further, if the current running status of the target train is runs to gug, the step 3-3 bags
Include：
The upper laser range finder C is confirmed to be main rangefinder, and the lower laser range finder D is confirmed as into junior range
Instrument, in upper laser range finder C and lower laser range finder D detects barrier and the distance between barrier is respectively less than second
During maximum effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described second maximum effectively survey
Away from the central point for the headstock end face to the distance between second laser intersection point, the second laser intersection point is the upper Laser Measuring
Distance meter C or lower laser range finders D laser joint.
Further, if the current running status of the target train is turns or run to ramp, the step 4 is wrapped
Include：
Between the step 4-1. main rangefinders and barrier on This train is bound for XXX, the junior range instrument with
The distance between barrier on This train is bound for XXX is worth, and the target train and obstacle are obtained according to wherein less distance value
The distance between thing；
Step 4-2. according to the distance between the target train and barrier, control the target train continue to run with and
Emergency brake.
Further, if the current running status of the target train is operates on straight path, the step 4 is wrapped
Include：
The testing result of 2 laser range finders in any one group is done into redundancy processing, the target train and barrier is obtained
Hinder the distance between thing, and according to the distance between target train and barrier, control the target train to continue to run with and tightly
Bring to a halt.
As shown from the above technical solution, in a kind of train of the present invention and its travel direction obstacle spacing from inspection
Survey method, effectively and the detection of the efficient upper barrier that realizes that This train is bound for XXX and to hindering on train and its travel direction
Hinder the acquisition of distance between thing so that non-communicating train can also be obtained and vehicle in its travel direction or obstacle spacing in time
From, it is ensured that the operation safety and operational efficiency of train.
1st, technical scheme, can be used not only for according to breakdown lorry and treats that the distance measurement result between breakdown train is use up
Amount close to treating breakdown train, the distance measurement result control train between train and barrier that can also be in operation promptly keep away stop and
Remove obstacles, it is ensured that while the rescue efficiency of train rescuing, also ensure that the operation safety of train in operation.
2nd, technical scheme, by installing laser range finder in headstock end face, is realized in no driving license
In the case of, it can in time and effectively obtain the distance with front obstacle or train.
3rd, technical scheme, passes through the adjustment of the laser detection angle to each laser range finder, enabling complete
Face and it is effective detect train when turning or running to ramp in front of barrier or train.
4th, technical scheme, by determining main rangefinder and junior range instrument, judges whether This train is bound for XXX
There is barrier so that judged result is accurately and securely, it is to avoid single rangefinder may caused by barrier erroneous judgement defect.
5th, technical scheme, can in time and effectively obtain the distance between train and barrier so that operation
In train emergency brake or the judgement that continues on can be carried out according to the distance value, and then improve the efficiency of train rescuing
And operation in train security.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 be in a kind of train and its travel direction of the present invention obstacle spacing from the flow of detection method illustrate
Figure；
Fig. 2 be the present invention step 100 in laser range finder mounting structure schematic diagram；
Fig. 3 be the present invention step 200 in laser range finder left and right laser detection angle schematic diagram；
Fig. 4 be the present invention step 200 in laser range finder the angle schematic diagram of laser detection up and down；
Fig. 5 is the schematic flow sheet of step 300 in detection method of the invention；
Fig. 6 is the schematic flow sheet of step 400 in detection method of the invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The embodiment of the present invention one provide obstacle spacing in a kind of train and its travel direction from detection method, referring to
Fig. 1, the detection method specifically includes following steps：
Step 100：The two ends headstock end face of target train in urban track traffic is respectively mounted two groups of laser velocimeters
Instrument, wherein, headstock end face is to drive end face where glass perpendicular to This train is bound for XXX in train driving room.
In this step, it is first determined need to carry out the train in the urban track traffic of ranging, can be normal carry
Passenger train car or breakdown lorry；Then two groups are respectively mounted to the two ends headstock end face of the target train by ranging is needed
Laser velocimeter so that train can carry out barrier ranging in any one direction traveling to two ends.
Step 200：The laser detection angle of each group laser range finder is set respectively.
In this step, after end face each group laser range finder being arranged on where driving glass, adjust each group laser
The laser detection angle of rangefinder so that two groups of laser velocimeters be used to detection target train in linear running with train row
Sail the distance between barrier on direction, and one of which be additionally operable to detection target train when turning with This train is bound for XXX
On the distance between barrier, another group be additionally operable to detection target train when operation is to ramp with This train is bound for XXX
The distance between barrier.
Step 300：When being run in target train on straight path, travelling to turning or run to ramp, difference root
Judge to whether there is barrier in the travel direction of target train according to corresponding laser range finder, if there is barrier, enter
Step 400.
In this step, if target train is that when travelling on straight track, each group laser range finder measurement is obtained
Data do redundancy processing.
Step 400：According to the distance between laser range finder and barrier on This train is bound for XXX, train and barrier are determined
Hinder distance between thing.
In this step, it is determined that between train and barrier after distance, train driver is according to the Distance Judgment train
Whether continue to run with or promptly keep away and stop, wherein, if breakdown lorry and treating the ranging between breakdown train, then driver's control train
Continue to run with, and concern distance value must change in real time, until close to after rescue of being stopped after breakdown train；If the train in operation
With the ranging between barrier not within the consideration, then driver's control train, which is promptly kept away, stops, and informs the department of removing obstacles to barrier
Thing is hindered to be cleared up.
It was found from foregoing description, the detection method of the present embodiment can be used not only for according to breakdown lorry and treat breakdown train
Between distance measurement result close proximity to breakdown train is treated, the control of distance measurement result between train and barrier that can also be in operation
Train, which is promptly kept away, to stop and removes obstacles, it is ensured that while the rescue efficiency of train rescuing, also ensure that the operation peace of train in operation
Entirely.
There is provided a kind of specific embodiment of step 100 in above-mentioned detection method in a kind of optional embodiment.Should
Step 100 specifically includes following steps：
Referring to Fig. 2 laser range finder headstock end face mounting structure, using the central point O of headstock end face as cross coordinate
Center, left laser range finder A and right laser range finder B is set in the headstock both sides on abscissa x directions respectively, and in place
In the top and bottom of the headstock end face on ordinate y directions, upper laser range finder C and lower laser range finder D are set respectively.
It was found from foregoing description, the detection method of the present embodiment is realized by installing laser range finder in headstock end face
In the case of no driving license, the distance with front obstacle or train can in time and be effectively obtained.
There is provided a kind of specific embodiment of step 200 in above-mentioned detection method in a kind of optional embodiment.Should
Step 200 specifically includes following steps：
Referring to the setting of the left and right laser detection angle of Fig. 3 laser range finder, by left laser range finder A and right Laser Measuring
Distance meter B laser detection angle is disposed as θ, and left laser range finder A and right laser range finder B Laser emission direction are set
To be crossed towards travel direction and laser of the laser in target train in the travel direction of target train, wherein, θ is train
The angle of maximum bend on vehicle line；
Referring to the setting of the angle of laser detection up and down of Fig. 4 laser range finder, by upper laser range finder C and lower Laser Measuring
Distance meter D laser detection angle is disposed as β, and upper laser range finder C and lower laser range finder D Laser emission direction are set
To be crossed towards travel direction and laser of the laser in target train in the travel direction of target train, wherein, β is train
The maximum angle in the ramp on vehicle line.
It was found from foregoing description, the tune that the detection method of the present embodiment passes through the laser detection angle to each laser range finder
It is whole, enabling comprehensively and it is effective detect train when turning or running to ramp in front of barrier or train.
There is provided a kind of specific embodiment of step 300 in above-mentioned detection method in a kind of optional embodiment.Ginseng
See Fig. 5, the step 300 specifically includes following steps：
Step 301：Judge the current running status of target train；Wherein, the mobile unit in train driving room is according to car
Speed, angle and vehicle body during operation such as rock at the information, and real-time judge target train is currently at linear running, turned still
Run in ramp.
If the current running status of target train is turns, into step 302.
If the current running status of target train is runs to ramp, into step 303.
If target train is operated on straight path, into step 304.
Step 302：Main rangefinder is chosen and auxiliary in left laser range finder A and right laser range finder B according to turn direction
Rangefinder is helped, and it is upper with the presence or absence of barrier to judge that This train is bound for XXX, if in the presence of into step 400.In this step,
If the current running status of target train is turns left, step 302 specifically includes following content：
Right laser range finder B is confirmed to be main rangefinder, and left laser range finder A is confirmed as into junior range instrument, on a left side
Laser range finder A and right laser range finder B, which detect barrier and be respectively less than the first maximum with the distance between barrier, to be had
When imitating ranging, judge there is barrier on This train is bound for XXX, into step 4.
Wherein, the first maximum effectively ranging swashs for the central point of headstock end face to the distance between first laser intersection point, first
Light intersection point is left laser range finder A and right laser range finder B laser joint, and (headstock is wide by the first maximum effectively ranging S=
Degree/2) * tan (90- θ) rice.
If the current running status of target train is turns right, step 302 specifically includes following content：
Left laser range finder A is confirmed to be main rangefinder, and right laser range finder B is confirmed as into junior range instrument, on a left side
Laser range finder A and right laser range finder B, which detect barrier and be respectively less than the first maximum with the distance between barrier, to be had
When imitating ranging, judge there is barrier on This train is bound for XXX, into step 4.
Wherein, the first maximum effectively ranging swashs for the central point of headstock end face to the distance between first laser intersection point, first
Light intersection point is left laser range finder A and right laser range finder B laser joint.
Step 303：Main rangefinder will chosen in upper laser range finder C and lower laser range finder D according to the angle in ramp
And junior range instrument, and it is upper with the presence or absence of barrier to judge that This train is bound for XXX, if in the presence of into step 400.
In this step, if the current running status of target train for operation to up gradient, step 303 specifically include as
Lower content：
Lower laser range finder D is confirmed to be main rangefinder, and upper laser range finder C is confirmed as into junior range instrument, upper
Laser range finder C and lower laser range finder D, which detect barrier and be respectively less than the second maximum with the distance between barrier, to be had
When imitating ranging, judge there is barrier on This train is bound for XXX, into step 4.
Wherein, the second maximum effectively ranging swashs for the central point of headstock end face to the distance between second laser intersection point, second
Light intersection point is upper laser range finder C or lower laser range finders D laser joint.
In this step, if the current running status of target train for operation to gug, step 303 specifically include as
Lower content：
Upper laser range finder C is confirmed to be main rangefinder, and lower laser range finder D is confirmed as into junior range instrument, upper
Laser range finder C and lower laser range finder D, which detect barrier and be respectively less than the second maximum with the distance between barrier, to be had
When imitating ranging, judge there is barrier on This train is bound for XXX, into step 4.
Wherein, the second maximum effectively ranging swashs for the central point of headstock end face to the distance between second laser intersection point, second
Light intersection point is upper laser range finder C or lower laser range finders D laser joint, and the second maximum effectively ranging is that (headstock is high
Degree/2) * tan (90- β) rice.
Step 304：According to any one group of laser range finder, judge that This train is bound for XXX upper with the presence or absence of barrier, if depositing
Then into step 400.
In this step, laser range finder A, B and laser range finder C, D can be to whether there is on This train is bound for XXX
Barrier is detected, the testing result of 2 laser range finders in any one group then is done into redundancy processing, obtains target column
The distance between car and barrier.
It was found from foregoing description, the detection method of the present embodiment judges row by determining main rangefinder and junior range instrument
Car travel direction whether there is barrier so that judged result is accurately and securely, it is to avoid single rangefinder may caused by hinder
The defect for hindering thing to be judged by accident.
There is provided a kind of specific embodiment of step 400 in above-mentioned detection method in a kind of optional embodiment.
If the current running status of target train is turns or run to ramp, referring to Fig. 6, then the step 400 is specific wraps
Include following steps：
Step 401：Compare main rangefinder between the barrier on This train is bound for XXX, junior range instrument and train driving
The distance between barrier on direction is worth, according to wherein less distance value obtain between target train and barrier away from
From.
During train operation to turning, train head is left laser range finder A's and right laser range finder B apart from barrier
The smaller value of laser ranging is multiplied by sin (90- θ).
During train operation to ramp, train head apart from barrier be upper laser range finder C, lower laser range finder D swash
The smaller value of ligh-ranging is multiplied by sin (90- β).
Step 402：According to the distance between target train and barrier, control targe train is continued to run with and promptly stopped
Car.
If the current running status of target train is operates on straight path, the step 400 specifically includes following step
Suddenly：
Laser range finder A, B and laser range finder C, D upper to This train is bound for XXX can be carried out with the presence or absence of barrier
Detection, does summation by the testing result of 2 laser range finders in any one group and averages processing, obtains target train with hindering
Hinder the distance between thing, and according to the distance between target train and barrier, control targe train is continued to run with and promptly stopped
Car.
It was found from foregoing description, the detection method of the present embodiment in time and it is effective obtain between train and barrier away from
From so that operating train can carry out emergency brake or the judgement continued on according to the distance value, and then improve row
The security of train in the efficiency of car rescue and operation.
Above example is merely to illustrate technical scheme, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed or replaced
Change, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. in a kind of train and its travel direction obstacle spacing from detection method, it is characterised in that including：
The two ends headstock end face of target train of the step 1. in urban track traffic is respectively mounted two groups of laser velocimeters, its
In, the headstock end face is to drive end face where glass perpendicular to This train is bound for XXX in train driving room；
Step 2. sets the laser detection angle of laser range finder described in each group respectively so that two groups of laser velocimeters are used to inspection
The distance surveyed between barrier of the target train in linear running and on This train is bound for XXX, and one of which is additionally operable to detection
Distance between barrier of the target train when turning and on This train is bound for XXX, another group is additionally operable to detection target train and exists
Run to during ramp the distance between with the barrier on This train is bound for XXX；
When step 3. is run on straight path in target train, travels to turning or run to ramp, respectively according to correspondence
The laser range finder judge to whether there is barrier in the travel direction of the target train, if there is barrier, enter
Enter step 4；
Step 4. according to the distance between the laser range finder and barrier on This train is bound for XXX, determine the train with
Distance between the barrier.
2. according to the method described in claim 1, it is characterised in that the step 1 includes：
Using the central point of headstock end face as cross coordinate center, set left sharp respectively in the headstock both sides on abscissa direction
Optar A and right laser range finder B, and set respectively in the top and bottom of the headstock end face on ordinate direction
Laser range finder C and lower laser range finder D.
3. according to the method described in claim 1, it is characterised in that the step 2 includes：
The left laser range finder A and right laser range finder B laser detection angle is disposed as θ, and by the left laser
Rangefinder A and right laser range finder B Laser emission direction be set to towards the laser the target train travel direction
And the laser crosses in the travel direction of the target train, wherein, θ is the maximum bend on the vehicle line of train
Angle；
And the upper laser range finder C and lower laser range finder D laser detection angle is disposed as β, and will be described on
Laser range finder C and lower laser range finder D Laser emission direction be set to towards the laser the target train traveling
The direction and laser crosses in the travel direction of the target train, wherein, β is the ramp on the vehicle line of train
Maximum angle.
4. according to the method described in claim 1, it is characterised in that the step 3 includes：
Step 3-1. judges the current running status of the target train；If the current running status of the target train is to turn
It is curved, then into step 3-2；
If the current running status of the target train is runs to ramp, into step 3-3；
If the target train is operated on straight path, into step 3-4；Step 3-2. is according to turn direction in left laser
Main rangefinder and junior range instrument are chosen in rangefinder A and right laser range finder B, and judges to whether there is on This train is bound for XXX
Barrier, if in the presence of into step 4；
Step 3-3. chooses main rangefinder on will be described according to the angle in ramp in laser range finder C and lower laser range finder D
And junior range instrument, and it is upper with the presence or absence of barrier to judge that This train is bound for XXX, if in the presence of into step 4；
Step 3-4. judges that This train is bound for XXX upper with the presence or absence of barrier according to any one group of laser range finder, if in the presence of,
Into step 4.
5. method according to claim 4, it is characterised in that if the current running status of the target train is left-hand rotation
Curved, then the step 3-2 includes：
The right laser range finder B is confirmed to be main rangefinder, and the left laser range finder A is confirmed as into junior range instrument,
In left laser range finder A and right laser range finder B detects barrier and the distance between barrier is respectively less than first most
During big effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described first maximum effectively ranging
For the headstock end face central point to the distance between first laser intersection point, the first laser intersection point is the left laser ranging
Instrument A and right laser range finder B laser joint.
6. method according to claim 4, it is characterised in that if the current running status of the target train is right-hand rotation
Curved, then the step 3-2 includes：
The left laser range finder A is confirmed to be main rangefinder, and the right laser range finder B is confirmed as into junior range instrument,
In left laser range finder A and right laser range finder B detects barrier and the distance between barrier is respectively less than first most
During big effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described first maximum effectively ranging
For the headstock end face central point to the distance between first laser intersection point, the first laser intersection point is the left laser ranging
Instrument A and right laser range finder B laser joint.
7. method according to claim 4, it is characterised in that if the current running status of the target train is to run extremely
Up gradient, then the step 3-3 include：
The lower laser range finder D is confirmed to be main rangefinder, and the upper laser range finder C is confirmed as into junior range instrument,
In upper laser range finder C and lower laser range finder D detects barrier and the distance between barrier is respectively less than second most
During big effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described second maximum effectively ranging
For the headstock end face central point to the distance between second laser intersection point, the second laser intersection point is the upper laser ranging
Instrument C or lower laser range finders D laser joint.
8. method according to claim 4, it is characterised in that if the current running status of the target train is to run extremely
Gug, then the step 3-3 include：
The upper laser range finder C is confirmed to be main rangefinder, and the lower laser range finder D is confirmed as into junior range instrument,
In upper laser range finder C and lower laser range finder D detects barrier and the distance between barrier is respectively less than second most
During big effectively ranging, judge there is barrier on This train is bound for XXX, into step 4；Wherein, the described second maximum effectively ranging
For the headstock end face central point to the distance between second laser intersection point, the second laser intersection point is the upper laser ranging
Instrument C or lower laser range finders D laser joint.
9. method according to claim 4, it is characterised in that if the current running status of the target train to turn or
Operation to ramp, the then step 4 includes：
Between the step 4-1. main rangefinders and barrier on This train is bound for XXX, the junior range instrument and train
The distance between barrier in travel direction is worth, according to wherein less distance value obtain the target train and barrier it
Between distance；
Step 4-2. controls the target train to continue to run with and promptly according to the distance between the target train and barrier
Brake.
10. method according to claim 4, it is characterised in that if the current running status of the target train is operation
On straight path, then the step 4 includes：
The testing result of 2 laser range finders in any one group is done into redundancy processing, the target train and barrier is obtained
The distance between, and according to the distance between target train and barrier, control the target train to continue to run with and promptly stop
Car.
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Inventor after: Zhang Qiang Inventor after: Gao Chunhai Inventor after: Yu Zujun Inventor before: Zhang Qiang Inventor before: Gao Chunhai |