CN107065028A - Railway track barrier monitors recognition methods automatically - Google Patents
Railway track barrier monitors recognition methods automatically Download PDFInfo
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- CN107065028A CN107065028A CN201710269081.9A CN201710269081A CN107065028A CN 107065028 A CN107065028 A CN 107065028A CN 201710269081 A CN201710269081 A CN 201710269081A CN 107065028 A CN107065028 A CN 107065028A
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- Prior art keywords
- laser
- barrier
- laser signal
- search
- harmful
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
Abstract
Recognition methods is monitored automatically the present invention relates to a kind of railway track barrier, including：A plane sends laser by set angle scope above along railway track, carries out sweeping search；The laser signal returned is received, automatic decision whether there is harmful barrier.This method can quickly and accurately be differentiated, and alarm target is positioned under the conditions of various weather and weather to harmful barrier that train normally travel may be threatened on rail track.
Description
Technical field
The invention belongs to laser measuring technique field, being related to a kind of railway track barrier laser radar, search is artificial automatically
Intellectual monitoring is recognized and alarm method
Background technology
China railways realized 120,000 kilometers of mileage open to traffic, high ferro operation in 2015 by the construction energetically of " 12 "
Mileage, more than 1.9 ten thousand kilometers, is that the trip of the common people is provided a great convenience, and is that socio-economic development is made that positive tribute
Offer.Operation security is the eternal theme of railway transportation.To strengthen rail track protection management, it is ensured that railway operation safety and the person
Safety, reduces human casualty accident inside and outside road, and the newly-built each grade Along Railway of China is provided with roll guard, protection network and made
Closed for railway circumference.Harmful barrier such as the falling rocks of tunnel face massif is serious harm safely to railway operation,
Key area carries out safety management means along the line, is to ensure one of important measures of railway operation safety.
Based on railway operation safety management demand, it is necessary to which research is based on tunnel monitoring technology, with reference to light sensing, fax sense
Etc. new technology and management and control measures, develop it is a set of run in harmful barrier warning system such as railway tunnel falling rocks, be that railway is carried
For comprehensive security protection, railway circumference, the safeguard management level of key area are significantly lifted.
The content of the invention
In view of this, monitor recognition methods automatically to solve it is an object of the invention to provide a kind of railway track barrier
At least one of above-described technical problem.
To achieve the above object, the present invention provides a kind of railway track barrier and monitors recognition methods automatically, including：
A plane sends laser by set angle scope above along railway track, carries out sweeping search；
The laser signal returned is received, automatic decision whether there is harmful barrier.
Further, when automatic decision has harmful barrier, alarm signal is sent.
Further, it is described to sweep search equiangularly step-forward methods progress.
Further, the angle of the stepping is 0.001 point of -10 degree.
Further, the laser signal returned is received, automatic decision whether there is harmful barrier and specifically include：
Acquired disturbance thing data are calculated according to the laser signal of return and the laser signal sent, the position of barrier is determined
Put and horizontal direction size；
The laser signal region for receiving return is carried out to repeat to sweep search, the laser signal of return is such as still received,
Then judge there is harmful barrier.
Further, the barrier data include the size of barrier, with the distance of the laser signal device of return with
And azimuth.
Further, the laser signal region for receiving return is carried out repeating to sweep search, as do not received return
Laser signal, then judge harmful barrier is not present.
Further, beam shaping is carried out to form collimated light beam to laser when sending laser by set angle scope, connect
Also beam shaping formation collimated light beam is carried out when receiving the laser signal returned.
Further, it is described to send that laser is sent in continuous laser mode or pulse laser mode is sent.
Further, the cycle for sweeping search is 1ms-60min.
Pass through above-mentioned technical proposal, it is known that monitoring recognition methods of the invention has the following advantages that：
(1) the inventive method can provide monitoring immediately and alarm, without time delay；Vision signal can be provided simultaneously, is supplied
Operator on duty is remote to be observed and is judged to harmful barrier, to be taken measures to alarm；
(2) the inventive method has the function of artificial intelligence, only harmful barrier (example to that may be threatened to railway
Such as size exceedes the harmful barrier of necessarily required falling rocks) alarm.It can differentiate due to raining, insect, float
Thing (such as leaf, polybag etc.), passes by the objects such as toy, and vehicular traffic, it is to avoid above-mentioned object causes the wrong report of system；
(3) the inventive method sweeps search using step-by-step movement, forms high-precision laser radar system, distance, point in orientation
Resolution can reach Centimeter Level；Laser radar search face can cover the rail track specified, and non-blind area, detection range is remote up to one
Hundred meters；
(4) the inventive method detects harmful barrier using the non-contacting way of search of laser beam of eye-safe, no
Train operation or line attendant can be damaged；
(5) the inventive method can be damp and hot, and high temperature or cold region are used, can be with all weather operations.
Brief description of the drawings
Fig. 1 is that the railway track barrier of the embodiment of the present invention monitors recognition methods flow chart automatically.
Fig. 2 is that the railway track barrier of the embodiment of the present invention monitors recognition methods principle schematic automatically.
Embodiment
To make technical scheme become apparent from clearly, the present invention is described further below in conjunction with the accompanying drawings,
It is any that guarantor of the present invention is each fallen within to the scheme that the technical characteristic progress equivalencing of technical solution of the present invention and conventional reasoning are drawn
Protect scope.The present invention includes and is not limited to following application.
Recognition methods is monitored there is provided a kind of railway track barrier according to the basic conception of the present invention automatically, passes through transmitting
With reception laser, using laser ranging and Laser video camera principle, the harmful barrier swarmed into investigative range can be carried out fast
Speed, differentiate exactly, and alarm target is positioned.Quick transmission warning information, is easy to related personnel to observe, in time simultaneously
Judge, take emergency measures.
Fig. 1 is that the railway track barrier of the embodiment of the present invention monitors recognition methods flow chart automatically.As shown in figure 1, should
The railway track barrier of embodiment monitors recognition methods automatically may include step：
S100：A plane sends laser by set angle scope above along railway track, carries out sweeping search；
S200：The laser signal returned is received, automatic decision whether there is harmful barrier.
In step S100, can be along one plane of railway track top and railway track place plane top setting height
Plane, the setting height is preferably 0.5-50cm, further preferably 1-10cm.Certain plane as far as possible with railway line
Plane where road is as parallel as possible, can also have certain angle between the two, can be detected with the laser for sweeping search
Region to be detected is defined above track to be detected.
For set angle, it is therefore an objective to realize across track scanning, i.e., from the track scanning of side to another siding track, also
It is that sweeping search can be realized above whole track.The set angle can be 0-360 °, preferably 180 degree.
For above-mentioned sweeping search, it can be sent according to continuous laser mode or pulse laser mode is sent, to setting
Angular range in scan for.
Wherein, above-mentioned steps S100 may include sub-step：
S101：An automatic search switch of railway track barrier laser radar is opened, the high accuracy of laser range finder is disposed
Turntable starts to circulate progress rotation laser search between set angle along a plane above railway track；
S102：During laser search, laser range finder sends laser, by beam shaping part, and being irradiated to go out
In existing target obstacle.
For the position of search, laser radar can be placed in the tunnel face of railway, towards tunnel face outside rail enter
Row laser search, Airborne Lidar probing at 0-1000 meters, preferably can also be 0-100 meters；Also can be as needed from tunnel
The track of one segment distance of the outside laser search tunnel exit of mouth.
Above-mentioned laser radar can be with the near-infrared laser (wavelength 780-2526nm) of eye-safe for light source, will not be to train
Operation or line attendant are damaged.
When rotating search, equiangularly step-forward methods it can carry out；The angle that stepping can be selected is 0.001 point -10
Degree.The step-by-step movement, which is searched for, can improve the precision of laser radar, the resolution ratio of the laser signal for the reflection that the raising later stage receives,
It can reach Centimeter Level.Stepper motor driven precise rotation platform has high accuracy, high stability and long-life feature, can
It is steady accurate on some angular range, the horizontal plane of some height to make to be mounted in laser range finder thereon for a long time
Progress has interruption, or unremitting search and monitoring for a long time.
In step S102, shaping can be carried out to laser beam by launching shaping unit, it is launched track and put down
The collimated light beam in face sweeps search, monitoring as detection light, wherein collimation laser to carrying out machinery in the angle of visual field of monitor area
Into the foreign body of monitoring scope.
What step-by-step movement was realized when searching for by above-mentioned high precision turntable, high precision turntable is arranged at laser range finder bottom,
Laser range finder is sent is reflected back laser signal if running into barrier after laser, be received；Then next angle is stepped to again
Degree, whether the next angle position of measurement, which deposits, can detect the signal of reflection.
Wherein, above-mentioned steps S200 may include sub-step：
S201：The laser signal of return returns to laser range finder receiver by receiving shaping unit；
S202：Gamut BACKGROUNDLasers are searched for and perfect；
S203：The position of harmful barrier is determined by measuring the distance and angle of the harmful barrier and range finder
Put and horizontal direction size, determine Obstacle Position；
S204：The position of the barrier of setting is repeated to sweep search；
S205：If barrier still suffers from home position, it is judged as harmful barrier, sends alarm；If this barrier is
Not in home position, then continue monitoring process, return to step S101.
Above-mentioned harmful barrier time of occurrence can be set according to specific requirement, such as 1ms-60min, further excellent
The 1-10s of choosing.Appear on railway track and (such as recognize that the size of the barrier of alarm can basis with certain volume size
It is required that setting, length and width high scope can be set as 0.5cm to 50cm, it is that length, width and height are 5cm to be currently set) object.
In step S201, beam shaping formation collimated light beam is also carried out when receiving the laser signal returned, it is accurate by being formed
Collimated optical beam is to improve the precision of detection.
S202：The search of gamut BACKGROUNDLasers is prescan, that is, is advanced by the situation for taking off circuit, can so exclude pre-
The normal object such as the electric pole on alert circuit, it is to avoid report by mistake as barrier；
Step S203 breaks the barriers decision circuitry realization, and barrier judgment circuit can be by range gating method (when having
Outside has barrier 204 to swarm into specified track-bound, carries out reception shaping to the laser reflection signal received first,
Then the signal after shaping is supplied to barrier judgment circuit and arithmetic processing unit, by according to harmful obtained by measurement
The distance and angular relationship of obstacle distance range finder and then the approximate location and horizontal length for judging harmful barrier,
And barrier residence time, decide whether to send alarm signal) or budget setting intelligent decision algorithm judge barrier
Hinder thing.
In step S205, when automatic decision has harmful barrier, alarm signal is sent.It may include an alarm,
The alarm includes sound, light, the alarm signal put.When the data that laser radar system is sent exceed the criterion of system early warning,
System sends alarm.Operator on duty is notified further to be judged by video to alarm scene, manual confirmation swarms into object
Property, takes necessary measure.The step can be realized by arithmetic processing unit, arithmetic processing unit can for single-chip microcomputer,
Computer and the integrated chip for having certain logic judging function.
Fig. 2 is that the railway track barrier of the embodiment of the present invention monitors recognition methods principle schematic automatically.Such as Fig. 2 institutes
Show, the laser range finder 201 of transmitting and exploring laser light integration, laser ranging can be provided with along the side of railway track 203
Machine sends laser 202 with set angle d along a plane 206 above railway track and carries out sweeping search.
There is barrier 204 to swarm into specified track-bound, the first laser reflection signal to receiving when have an outside
Reception shaping is carried out, the signal after shaping is then supplied to barrier judgment circuit and arithmetic processing unit, by according to survey
The distance and angular relationship of harmful obstacle distance range finder obtained by amount and then the substantially position for judging harmful barrier
Put and horizontal length, and barrier residence time, decide whether to send alarm signal.Sent when laser radar system
When data exceed the criterion of system early warning, system sends alarm.System is sent after alarm signal, while it is high to automatically open up laser
Monitor is differentiated, and notifies operator on duty further to be judged by video to alarm scene, manual confirmation swarms into object
Property, takes necessary measure.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of railway track barrier monitors recognition methods automatically, it is characterised in that including：
A plane sends laser by set angle scope above along railway track, carries out sweeping search；
The laser signal returned is received, automatic decision whether there is harmful barrier.
2. according to the method described in claim 1, it is characterised in that when automatic decision has harmful barrier, send alarm
Signal.
3. according to the method described in claim 1, it is characterised in that described to sweep search equiangularly step-forward methods progress.
4. method according to claim 3, it is characterised in that the angle of the stepping is 0.001 point of -10 degree.
5. according to the method described in claim 1, it is characterised in that receive the laser signal returned, automatic decision whether there is
Harmful barrier is specifically included：
Acquired disturbance thing data are calculated according to the laser signal of return and the laser signal sent, determine barrier position and
Horizontal direction size；
The laser signal region for receiving return is carried out to repeat to sweep search, the laser signal of return is such as still received, then sentences
It is disconnected to there is harmful barrier.
6. method according to claim 5, it is characterised in that the barrier data include the size of barrier, with returning
The distance of the laser signal device returned and azimuth.
7. method according to claim 5, it is characterised in that carry out repeating to sweep to the laser signal region for receiving return
Dynamic search, does not receive the laser signal of return such as, then judges harmful barrier is not present.
8. according to the method described in claim 1, it is characterised in that light is carried out to laser when sending laser by set angle scope
Beam shaping also carries out beam shaping formation collimated light beam to form collimated light beam when receiving the laser signal returned.
9. according to the method described in claim 1, it is characterised in that the laser that sends is sent or arteries and veins in continuous laser mode
Laser mode is rushed to send.
10. according to the method described in claim 1, it is characterised in that the cycle for sweeping search is 1ms-60min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269081.9A CN107065028A (en) | 2017-04-21 | 2017-04-21 | Railway track barrier monitors recognition methods automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269081.9A CN107065028A (en) | 2017-04-21 | 2017-04-21 | Railway track barrier monitors recognition methods automatically |
Publications (1)
| Publication Number | Publication Date |
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| CN107065028A true CN107065028A (en) | 2017-08-18 |
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ID=59604570
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710269081.9A Pending CN107065028A (en) | 2017-04-21 | 2017-04-21 | Railway track barrier monitors recognition methods automatically |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163721A (en) * | 2017-12-29 | 2018-06-15 | 江苏中科大港激光科技有限公司 | A kind of container front crane reversing active safety prior-warning device |
| CN111638714A (en) * | 2020-05-28 | 2020-09-08 | 北京海益同展信息科技有限公司 | Method and device for preventing track inspection robot from falling |
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| JP2000172961A (en) * | 1998-12-08 | 2000-06-23 | Mitsubishi Electric Corp | Monitoring and warning device |
| CN101430383A (en) * | 2007-11-05 | 2009-05-13 | 保定市天河电子技术有限公司 | Monitoring method and system for obstacles |
| CN102005097A (en) * | 2010-09-25 | 2011-04-06 | 公安部第三研究所 | Infrared laser perimeter protection method |
| CN204945409U (en) * | 2015-08-29 | 2016-01-06 | 西安希德电子信息技术股份有限公司 | A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically |
| CN105403893A (en) * | 2014-09-05 | 2016-03-16 | 现代摩比斯株式会社 | System and method for detecting obstacles |
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Patent Citations (5)
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|---|---|---|---|---|
| JP2000172961A (en) * | 1998-12-08 | 2000-06-23 | Mitsubishi Electric Corp | Monitoring and warning device |
| CN101430383A (en) * | 2007-11-05 | 2009-05-13 | 保定市天河电子技术有限公司 | Monitoring method and system for obstacles |
| CN102005097A (en) * | 2010-09-25 | 2011-04-06 | 公安部第三研究所 | Infrared laser perimeter protection method |
| CN105403893A (en) * | 2014-09-05 | 2016-03-16 | 现代摩比斯株式会社 | System and method for detecting obstacles |
| CN204945409U (en) * | 2015-08-29 | 2016-01-06 | 西安希德电子信息技术股份有限公司 | A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163721A (en) * | 2017-12-29 | 2018-06-15 | 江苏中科大港激光科技有限公司 | A kind of container front crane reversing active safety prior-warning device |
| CN111638714A (en) * | 2020-05-28 | 2020-09-08 | 北京海益同展信息科技有限公司 | Method and device for preventing track inspection robot from falling |
| CN111638714B (en) * | 2020-05-28 | 2023-12-05 | 京东科技信息技术有限公司 | Method and device for preventing track inspection robot from falling |
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Application publication date: 20170818 |