CN107336724A - The high ferro anticollision gear and method that a kind of computer vision and millimeter-wave technology combine - Google Patents
The high ferro anticollision gear and method that a kind of computer vision and millimeter-wave technology combine Download PDFInfo
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- 230000004888 barrier function Effects 0.000 claims abstract description 13
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- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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Abstract
The high ferro anticollision gear and method combined the invention discloses a kind of computer vision and millimeter-wave technology, the grader that machine learning method trains is directed through by high ferro anticollision gear, start millimetre-wave radar work, Visible Light Camera gathers video data, image preprocessing is done to the video data of collection, then module of target detection is started, millimetre-wave radar and computer vision module start simultaneously at detection target, if radar or Computer Vision Detection in the range of train driving rail, are alarmed to target by voice；If radar or computer vision do not detect target in the range of train driving rail, flow returns to Visible Light Camera collection video data, gathers next two field picture, continues to detect target.The present invention can travel the barrier in front of train in the range of rail with round-the-clock detection.
Description
Technical field
The present invention relates to a kind of high ferro anticollision gear and method, the height of particularly a kind of computer vision and millimeter-wave technology combination
Iron anticollision gear and method.
Background technology
The high ferro anticollision gear that computer vision and millimeter-wave technology are combined be in high ferro motorcoach train during shunting
Special anticollision gear, under high ferro EMUs shunting mode, whole-process automatic early warning is carried out to route ahead state.High ferro is moved
Car group under shunting mode, existing monitor recording device can not effective monitoring, easily occur Ren Gong lookout error or do not enter in time
Row reduction of speed, braking, cause to occur Vehicular impact foreign matter during circuit exception or the accident such as knock into the back.
The content of the invention
The high ferro anticollision gear and method combined present invention aims at a kind of computer vision of offer and millimeter-wave technology,
Solve high ferro EMUs under shunting mode, existing monitor recording device can not effective monitoring, easily occur Ren Gong lookout error
Or do not carry out reduction of speed, braking in time, cause to occur Vehicular impact foreign matter during circuit exception or knock into the back etc. accident the problem of.
The high ferro anticollision gear that a kind of computer vision and millimeter-wave technology combine, including：Visible Light Camera, radar detection
Device, processor and phonetic alarm；Also include：Grader load-on module, image pre-processing module, Radar Targets'Detection module,
Computer vision module.Wherein, it is seen that light camera, radar detedtor and phonetic alarm are entered with processor respectively by cable
Row physical connection, grader load-on module, image pre-processing module, Radar Targets'Detection module and the operation of computer vision module
In processor.It is described：
The function of Visible Light Camera is：Gather image/video data；
The function of radar detedtor is：Objects ahead is detected by millimeter-wave technology；
The function of processor is：Realize the control of each hardware module of high ferro anticollision gear and coordinate each software module work；
The function of phonetic alarm is：Pass through voice broadcast warning message；
The function of grader load-on module is：Loading machine learning method trains obtained grader；
The function of image pre-processing module is：Rim detection and extraction characteristics of image are carried out to the video image of visible light collection；
The function of Radar Targets'Detection algoritic module is：By calculating the distance and angle of target range collimation axis of radar, mesh is judged
Mark realizes the function of target detection whether in the range of the rail of train driving；
The function of computer vision module is：By the grader of loading, the characteristics of image extracted according to image pre-processing module,
The strategy of binding pattern identification realizes target detection.
The course of work of high ferro anticollision gear is：High ferro anticollision gear imports machine learning side by grader load-on module
The grader that method trains, then start radar detedtor work, while Visible Light Camera module collection video data, image are pre-
Processing module does image preprocessing to the video data of collection, then starts target detection, Radar Targets'Detection algoritic module and
Computer vision module starts target detection.When radar detedtor detects target, Radar Targets'Detection algoritic module calculates
The distance and angle of the high collimation axis of radar of target range, by distance and angle meter target whether train driving rail scope
It is interior, when target is in the range of the rail of train driving, then pass through voice broadcast：" pay attention to, front XX rice has barrier！", its
Middle XX represents the distance of target range collimation axis of radar, while flow returns to Visible Light Camera module, gathers next frame video image
Data, continue to detect target.When target is not in the range of the rail of train driving, but computer vision module passes through point of loading
When class device binding pattern recognition strategy detects target, then pass through voice broadcast：" pay attention to, there is barrier in front！”；When target not
In the range of the rail of train driving, and computer vision module does not have by the grader binding pattern recognition strategy detection of loading
When detecting target, flow returns to Visible Light Camera module, gathers next frame vedio data, continues to detect target.When
When radar detedtor does not detect target, flow returns to Visible Light Camera module, gathers next frame vedio data, continues
Detect target.
The high ferro avoiding collision that a kind of computer vision and millimeter-wave technology are combined concretely comprises the following steps：
The first step builds high ferro CAS, including：Visible Light Camera, radar detedtor, processor and phonetic alarm；Also
Including：Grader load-on module, image pre-processing module, Radar Targets'Detection module, computer vision module；Wherein, it is seen that
Light camera, radar detedtor and phonetic alarm carry out physical connection with processor respectively by cable；
The grader that second step high ferro CAS is trained by grader load-on module importing machine learning method, then
Start radar detedtor work；
3rd step Visible Light Camera module gathers vedio data；
4th step image pre-processing module does image preprocessing to the video data of collection；
5th step starts target detection, and Radar Targets'Detection algoritic module and computer vision module start target detection；
When radar detedtor detects target, Radar Targets'Detection algoritic module calculates the distance of the high collimation axis of radar of target range
And angle, by distance and angle meter target whether in the range of the rail of train driving：
When target is in the range of the rail of train driving, then pass through voice broadcast：" pay attention to, front XX rice has barrier！", its
Middle XX represents the distance of target range collimation axis of radar, while returns to Visible Light Camera module, gathers next frame vedio data,
Continue to detect target；
When target is not in the range of the rail of train driving, but computer vision module passes through the grader binding pattern of loading and known
When strategy does not detect target, then pass through voice broadcast：" pay attention to, there is barrier in front！”；When target is not in the iron of train driving
In the range of rail, and computer vision module does not detect target by the grader binding pattern recognition strategy detection of loading
When, Visible Light Camera module is returned to, gathers next frame vedio data, continues to detect target；
When radar detedtor does not detect target, Visible Light Camera module is returned to, gathers next frame vedio data, after
Continuous detection target；So far, the high ferro anticollision detection being combined based on computer vision and millimeter-wave technology is completed.
The present invention can whole-process automatic early warning, indirect labor judges and confirms line status, so that " failure is oriented to peace
It is entirely " design principle, is another the road safety curtain and protection network of high ferro EMUs shunting service.
Brief description of the drawings
The workflow diagram for the high ferro anticollision gear that a kind of computer visions of Fig. 1 and millimeter-wave technology combine；
The composition schematic diagram for the high ferro anticollision gear that a kind of computer visions of Fig. 2 and millimeter-wave technology combine.
Embodiment
The high ferro anticollision gear that a kind of computer vision and millimeter-wave technology combine, including：Visible Light Camera, radar detection
Device, processor and phonetic alarm；Also include：Grader load-on module, image pre-processing module, Radar Targets'Detection module,
Computer vision module.Wherein, it is seen that light camera, radar detedtor and phonetic alarm are entered with processor respectively by cable
Row physical connection, it is described：
The function of Visible Light Camera is：Gather image/video data；
The function of radar detedtor is：Objects ahead is detected by millimeter-wave technology；
The function of processor is：Realize the control of each hardware module of high ferro anticollision gear and coordinate each software module work；
The function of phonetic alarm is：Pass through voice broadcast warning message；
The function of grader load-on module is：Loading machine learning method trains obtained grader；
The function of image pre-processing module is：Rim detection and extraction characteristics of image are carried out to the video image of visible light collection；
The function of Radar Targets'Detection algoritic module is：By calculating the distance and angle of target range collimation axis of radar, mesh is judged
Mark realizes the function of target detection whether in the range of the rail of train driving；
The function of computer vision module is：By the grader of loading, the characteristics of image extracted according to image pre-processing module,
The strategy of binding pattern identification realizes target detection.
The course of work of high ferro anticollision gear is：High ferro anticollision gear imports machine learning side by grader load-on module
The grader that method trains, then start radar detedtor work, while Visible Light Camera module collection video data, image are pre-
Processing module does image preprocessing to the video data of collection, then starts target detection, Radar Targets'Detection algoritic module and
Computer vision module starts target detection.When radar detedtor detects target, Radar Targets'Detection algoritic module calculates
The distance and angle of the high collimation axis of radar of target range, by distance and angle meter target whether train driving rail scope
It is interior, when target is in the range of the rail of train driving, then pass through voice broadcast：" pay attention to, front XX rice has barrier！", its
Middle XX represents the distance of target range collimation axis of radar, while flow returns to Visible Light Camera module, gathers next frame video image
Data, continue to detect target.When target is not in the range of the rail of train driving, but computer vision module passes through point of loading
When class device binding pattern recognition strategy detects target, then pass through voice broadcast：" pay attention to, there is barrier in front！”；When target not
In the range of the rail of train driving, and computer vision module does not have by the grader binding pattern recognition strategy detection of loading
When detecting target, flow returns to Visible Light Camera module, gathers next frame vedio data, continues to detect target.When
When radar detedtor does not detect target, flow returns to Visible Light Camera module, gathers next frame vedio data, continues
Detect target.
The high ferro avoiding collision that a kind of computer vision and millimeter-wave technology are combined concretely comprises the following steps：
The first step builds high ferro CAS, including：Visible Light Camera, radar detedtor, processor and phonetic alarm；Also
Including：Grader load-on module, image pre-processing module, Radar Targets'Detection module, computer vision module；Wherein, it is seen that
Light camera, radar detedtor and phonetic alarm carry out physical connection with processor respectively by cable；
The grader that second step high ferro CAS is trained by grader load-on module importing machine learning method, then
Start radar detedtor work；
3rd step Visible Light Camera module gathers vedio data；
4th step image pre-processing module does image preprocessing to the video data of collection；
5th step starts target detection, and Radar Targets'Detection algoritic module and computer vision module start target detection；
When radar detedtor detects target, Radar Targets'Detection algoritic module calculates the distance of the high collimation axis of radar of target range
And angle, by distance and angle meter target whether in the range of the rail of train driving：
When target is in the range of the rail of train driving, then pass through voice broadcast：" pay attention to, front XX rice has barrier！", its
Middle XX represents the distance of target range collimation axis of radar, while returns to Visible Light Camera module, gathers next frame vedio data,
Continue to detect target；
When target is not in the range of the rail of train driving, but computer vision module passes through the grader binding pattern of loading and known
When strategy does not detect target, then pass through voice broadcast：" pay attention to, there is barrier in front！”；When target is not in the iron of train driving
In the range of rail, and computer vision module does not detect target by the grader binding pattern recognition strategy detection of loading
When, Visible Light Camera module is returned to, gathers next frame vedio data, continues to detect target；
When radar detedtor does not detect target, Visible Light Camera module is returned to, gathers next frame vedio data, after
Continuous detection target；So far, the high ferro anticollision detection being combined based on computer vision and millimeter-wave technology is completed.
Claims (3)
1. the high ferro anticollision gear that a kind of computer vision and millimeter-wave technology combine, including：Visible Light Camera, radar detection
Device, processor and phonetic alarm；Characterized by further comprising：Grader load-on module, image pre-processing module, radar target
Detection module, computer vision module；Wherein, it is seen that light camera, radar detedtor and phonetic alarm are distinguished by cable
Physical connection is carried out with processor, it is described：
The function of Visible Light Camera is：Gather image/video data；
The function of radar detedtor is：Objects ahead is detected by millimeter-wave technology；
The function of processor is：Realize the control of each hardware module of high ferro anticollision gear and coordinate each software module work；
The function of phonetic alarm is：Pass through voice broadcast warning message；
The function of grader load-on module is：Loading machine learning method trains obtained grader；
The function of image pre-processing module is：Rim detection and extraction characteristics of image are carried out to the video image of visible light collection；
The function of Radar Targets'Detection algoritic module is：By calculating the distance and angle of target range collimation axis of radar, mesh is judged
Mark realizes the function of target detection whether in the range of the rail of train driving；
The function of computer vision module is：By the grader of loading, the characteristics of image extracted according to image pre-processing module,
The strategy of binding pattern identification realizes target detection.
2. the high ferro anticollision gear that computer vision as claimed in claim 1 and millimeter-wave technology are combined, it is characterised in that
The course of work of the high ferro anticollision gear is：High ferro anticollision gear imports machine learning method by grader load-on module and instructed
The grader perfected, then start radar detedtor work, while Visible Light Camera module collection video data, image preprocessing
Module does image preprocessing to the video data of collection, then starts target detection, Radar Targets'Detection algoritic module and calculating
Machine vision module starts target detection；When radar detedtor detects target, Radar Targets'Detection algoritic module calculates target
Apart from the distance and angle of high collimation axis of radar, by distance and angle meter target whether in the range of the rail of train driving,
When target is in the range of the rail of train driving, then pass through voice broadcast：" pay attention to, front XX rice has barrier！", wherein XX
The distance of target range collimation axis of radar is represented, while returns to Visible Light Camera module, gathers next frame vedio data, is continued
Detect target；When target is not in the range of the rail of train driving, but computer vision module passes through the grader of loading and combined
When pattern recognition strategy detects target, then pass through voice broadcast：" pay attention to, there is barrier in front！”；When target is not in train row
In the range of the rail sailed, and computer vision module is not detected by the grader binding pattern recognition strategy detection of loading
During target, Visible Light Camera module is returned to, gathers next frame vedio data, continues to detect target；When radar detedtor does not have
When detecting target, flow returns to Visible Light Camera module, gathers next frame vedio data, continues to detect target.
3. the high ferro avoiding collision that a kind of computer vision and millimeter-wave technology are combined, it is characterised in that concretely comprise the following steps：
The first step builds high ferro CAS, including：Visible Light Camera, radar detedtor, processor and phonetic alarm；Also
Including：Grader load-on module, image pre-processing module, Radar Targets'Detection module, computer vision module；Wherein, it is seen that
Light camera, radar detedtor and phonetic alarm carry out physical connection with processor respectively by cable；
The grader that second step high ferro CAS is trained by grader load-on module importing machine learning method, then
Start radar detedtor work；
3rd step Visible Light Camera module gathers vedio data；
4th step image pre-processing module does image preprocessing to the video data of collection；
5th step starts target detection, and Radar Targets'Detection algoritic module and computer vision module start target detection；
When radar detedtor detects target, Radar Targets'Detection algoritic module calculates the distance of the high collimation axis of radar of target range
And angle, by distance and angle meter target whether in the range of the rail of train driving：
When target is in the range of the rail of train driving, then pass through voice broadcast：" pay attention to, front XX rice has barrier！", its
Middle XX represents the distance of target range collimation axis of radar, while returns to Visible Light Camera module, gathers next frame vedio data,
Continue to detect target；
When target is not in the range of the rail of train driving, but computer vision module passes through the grader binding pattern of loading and known
When strategy does not detect target, then pass through voice broadcast：" pay attention to, there is barrier in front！”；When target is not in the iron of train driving
In the range of rail, and computer vision module does not detect target by the grader binding pattern recognition strategy detection of loading
When, Visible Light Camera module is returned to, gathers next frame vedio data, continues to detect target；
When radar detedtor does not detect target, Visible Light Camera module is returned to, gathers next frame vedio data, after
Continuous detection target；
So far, the high ferro anticollision detection being combined based on computer vision and millimeter-wave technology is completed.
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| CN107336724B CN107336724B (en) | 2019-04-12 |
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| CN112298285A (en) * | 2019-07-26 | 2021-02-02 | 比亚迪股份有限公司 | Train control system, train control method and train |
| WO2021017803A1 (en) * | 2019-07-26 | 2021-02-04 | 比亚迪股份有限公司 | Train control system and control method, and train |
| TWI774445B (en) * | 2021-06-28 | 2022-08-11 | 萬旭電業股份有限公司 | Millimeter wave radar apparatus detecting obstacle on railway |
| CN113435404A (en) * | 2021-07-14 | 2021-09-24 | 深圳市比一比网络科技有限公司 | Safe auxiliary driving method and system for shunting electric bus based on radar and image detection |
| CN115366940A (en) * | 2022-08-29 | 2022-11-22 | 中南大学 | Train with self-adaptive crashworthiness protection device |
| CN115366940B (en) * | 2022-08-29 | 2023-09-26 | 中南大学 | Train with self-adaptive crashworthiness protection device |
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