CN107380213B - It is a kind of to assist shunting pushing the safety monitoring system and its distance measuring method of operation - Google Patents
It is a kind of to assist shunting pushing the safety monitoring system and its distance measuring method of operation Download PDFInfo
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- CN107380213B CN107380213B CN201710439923.0A CN201710439923A CN107380213B CN 107380213 B CN107380213 B CN 107380213B CN 201710439923 A CN201710439923 A CN 201710439923A CN 107380213 B CN107380213 B CN 107380213B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000014509 gene expression Effects 0.000 claims abstract description 15
- 238000013527 convolutional neural network Methods 0.000 claims description 4
- 231100001261 hazardous Toxicity 0.000 abstract description 7
- 238000012545 processing Methods 0.000 description 41
- 230000005540 biological transmission Effects 0.000 description 15
- 230000003287 optical effect Effects 0.000 description 9
- 238000003384 imaging method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005286 illumination Methods 0.000 description 1
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Classifications
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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 trains
- 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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- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Train Traffic Observation, Control, And Security (AREA)
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Abstract
It shunts the invention discloses a kind of auxiliary and pushes the safety monitoring system and its distance measuring method of operation, by establishing the ranging model based on image longitudinal direction proportionate relationship, to obtain the relational expression of the horizontal distance between target point and video camera, by substituting into relevant parameter, to acquire the solution of relational expression, the horizontal distance between target point and video camera can be obtained, distance i.e. between foreign matter and train, therefore crew can be eliminated and climb the hazardous act on compartment, improve the efficiency of plugging between train.
Description
Technical field
The present invention relates to train schedulings to push field of operation, and especially a kind of auxiliary, which is shunt, pushes the security monitoring system of operation
System and its distance measuring method.
Background technique
The trains such as train, high-speed rail train and motor-car are all made of being plugged into as a compartment successively, therefore plug into train
When, shunt pushing operation.Traditional shunting pushes the progress of operation, needs crew's climbing in the tail of train
End, guaranteeing that train is plugged into the way of eye-observation can go on smoothly, avoid train complete plug into it is subsequent continue sail and
Promotion compartment of plugging into causes unexpectedly to occur, and it also requires on confirmation track with the presence or absence of foreign matter to avoid because foreign matter and
Influence the traveling of train.But this traditional shunting pushes operation mode, to need climb observation crew for there is
The hidden danger of safety, and when being observed using human eye, it is easy to appear the excessive problem of sighting distance error, to be unable to accurate judgement
The distance between foreign matter and train on track.
Summary of the invention
To solve the above problems, shunting the purpose of the present invention is to provide a kind of auxiliary pushes the safety monitoring system of operation
And its distance measuring method, the foreign matter on track can be accurately detected, and can accurately calculate distance between foreign matter and train, from
And eliminate crew and climb the hazardous act on compartment, improve the efficiency of plugging between train.
Technical solution used by the present invention solves the problems, such as it is:
It is a kind of to assist shunting pushing the safety monitoring system of operation, it is total including the front end for carrying out shooting processing to track
Installing is standby and for handling the image information sended over by front end General assembling equipment and the back-end processing equipment for carrying out range operation,
Front end General assembling equipment includes video camera, and front end General assembling equipment is set on the connection hitch of train, the optical axis and rail of video camera
Road center line is parallel to each other and optical axis and plane where track centerline are perpendicular to track, at front end General assembling equipment and rear end
Reason equipment carries out data connection by way of wireless transmission.
Further, front end General assembling equipment further includes for carrying out image real time transfer to by video camera acquired image
Figure transmission module sends the image transmitting antenna of image data for rear end processing equipment, for sending out by back-end processing equipment
The operational order brought carries out the main control module of data processing and the command reception antenna for receiving operational order, camera shooting
Machine, figure transmission module and image transmitting antenna are sequentially connected and connect, and command reception antenna, main control module and video camera, which are sequentially connected, to be connect.
Further, front end General assembling equipment further includes the headlamp for carrying out light filling auxiliary shooting, headlamp and master control mould
Block is connected.
Further, front end General assembling equipment further includes the buzzer for whistle of alarming, and buzzer is connected with main control module.
Further, front end General assembling equipment further includes being used to indicate train and shunt to push the warning lamp of operation, alert
Show that lamp is connected with main control module.
Further, back-end processing equipment includes for receiving the image receiving antenna of image data, for image data
The figure sending and receiving device of the form of digital signal is converted to, for carrying out foreign matter analysis and foreign matter from the form of high frequency analog signals
The data processing module of ranging is sent out for the wireless module to operational order progress radio-frequency modulations and for forward end General assembling equipment
The instruction transmission antenna of operational order is sent, image receiving antenna, figure sending and receiving device and data processing module are sequentially connected and connect, number
It is sequentially connected and connects according to processing module, wireless module and instruction transmission antenna.
Further, it shunts using a kind of auxiliary and pushes the distance measuring method of the safety monitoring system of operation, comprising the following steps:
A, the image of video camera shooting track acquires the pixel total length P and target point range image in the picture of image
The length in pixels Δ P of bottom end；
B, the ranging model based on image longitudinal direction proportionate relationship is established, the horizontal distance between target point and video camera is obtained
Relational expression are as follows:
Wherein, horizontal distance of the L between target point and video camera；L0For a constant, the camera shooting blind area of video camera is indicated
Distance；
C, the relational expression in step B is solved, obtains the horizontal distance between target point and video camera.
Further, the length in pixels Δ P of target point range image bottom end in the picture, including following step are acquired in step A
It is rapid:
A1, image is carried out binaryzation；
A2, according to the position of two pixels in image on rail, acquire this two using depth convolutional neural networks
The coordinate of pixel；
A3, rail linearity equation is acquired according to the coordinate of two pixels:
Y=kx+b
Wherein, y is the Y value of the pixel in picture on rail, and x is the cross of the pixel in picture on rail
Coordinate values, k are the slope of rail in picture, and b is the intercept of rail in picture；
A4, according to the rail linearity equation in A3, acquire the length in pixels Δ of target point range image bottom end in the picture
P。
The beneficial effects of the present invention are:
A kind of to assist shunting pushing the safety monitoring system of operation, front end General assembling equipment can shoot track, and
And the image taken can be real-time transmitted among back-end processing equipment by way of wireless transmission, and back-end processing is set
It is standby then data processing can be carried out to the image information that is transmitted by front end General assembling equipment and ranging calculates, so as to real-time
Monitoring whether there is foreign matter in track, and when in track there are when foreign matter, being capable of real-time measurement foreign matter and front end General assembling equipment
The distance between；The optical axis of video camera and track centerline are parallel to each other and optical axis and track centerline are perpendicular to track, because
This video camera effectively can all be filmed two rail of track, so that two be photographed bar rail is equably in figure
Treatment effeciency and accuracy of analysis to image are improved so as to reduce the processing difficulty to image in the middle position of picture；Cause
This, safety monitoring system of the invention can accurately detect the foreign matter on track, and can accurately calculate foreign matter and train
Between distance so that eliminating crew climbs hazardous act on compartment improve the efficiency of plugging between train；
It shunts using a kind of auxiliary and pushes the distance measuring method of the safety monitoring system of operation, it is longitudinal based on image by establishing
The ranging model of proportionate relationship, thus obtain the relational expression of the horizontal distance between target point and video camera, it is related by substituting into
To acquire the solution of relational expression the horizontal distance between target point and video camera can be obtained, i.e., between foreign matter and train in parameter
Distance, therefore crew can be eliminated and climb the hazardous act on compartment, improve the efficiency of plugging between train.
Detailed description of the invention
The invention will be further described with example with reference to the accompanying drawing.
Fig. 1 is the schematic diagram of safety monitoring system of the invention；
Fig. 2 is the ranging model schematic based on image longitudinal direction proportionate relationship；
Fig. 3 is the flow chart using the distance measuring method of safety monitoring system.
Specific embodiment
Referring to Fig.1, a kind of auxiliary of the invention, which is shunt, pushes the safety monitoring system of operation, including for carrying out to track
Shoot the front end General assembling equipment 1 of processing and for handling the image information sended over by front end General assembling equipment 1 and carrying out ranging
The back-end processing equipment 2 of operation, front end General assembling equipment 1 include video camera 11, and front end General assembling equipment 1 is set to the connection vehicle of train
On hook, the optical axis of video camera 11 and track centerline be parallel to each other and the plane where optical axis and track centerline perpendicular to
Track, front end General assembling equipment 1 and back-end processing equipment 2 carry out data connection by way of wireless transmission.Specifically, of the invention
Safety monitoring system in, front end General assembling equipment 1 can shoot track, and the image taken can be passed through nothing
The mode of line transmission is real-time transmitted among back-end processing equipment 2, and rear end processing equipment 2 then can be to by front end General assembling equipment
1 image information transmitted carries out data processing and ranging calculates, so as to whether there is foreign matter in real-time monitoring track,
And when in track there are when foreign matter, being capable of the distance between real-time measurement foreign matter and front end General assembling equipment 1；The light of video camera 11
Axis and track centerline are parallel to each other and optical axis and track centerline are perpendicular to track, therefore video camera 11 can be effectively rail
Two rail in road are all filmed, so that two be photographed bar rail is equably in the middle position of image, so as to
Enough processing difficulties reduced to image, improve the treatment effeciency and accuracy of analysis to image；Therefore, security monitoring of the invention
System can accurately detect the foreign matter on track, and can accurately calculate distance between foreign matter and train, to eliminate
Crew climbs the hazardous act on compartment, improves the efficiency of plugging between train.
Wherein, referring to Fig.1, front end General assembling equipment 1 further includes for carrying out image to by 11 acquired image of video camera
The figure transmission module 12 of data processing, for rear end processing equipment 2 send image data image transmitting antenna 13, for by
The operational order that back-end processing equipment 2 sends over carries out the main control module 14 of data processing and the finger for receiving operational order
Receiving antenna 15 is enabled, video camera 11, figure transmission module 12 and image transmitting antenna 13 are sequentially connected and connect, command reception antenna 15, master
Control module 14 and video camera 11 are sequentially connected and connect.Specifically, by 11 acquired image of video camera, by figure transmission module 12 to it
Data processing after, back-end processing equipment 2 is sent to by image transmitting antenna 13, to keep back-end processing equipment 2 real-time
Image is handled and is carried out distance calculation.After back-end processing equipment 2 calculates the real-time range between foreign matter and train,
2 forward end General assembling equipment 1 of back-end processing equipment sends relevant operational order, and command reception antenna 15 receives operational order
Afterwards, operational order being sent to main control module 14, main control module 14 controls front end General assembling equipment 1 and executes relevant operation, also,
Main control module 14 can also adjust the work of video camera 11, so that video camera 11 can continue in real time shoot track.
Wherein, referring to Fig.1, front end General assembling equipment 1 further includes the headlamp 16 for carrying out light filling auxiliary shooting, headlamp
16 are connected with main control module 14.Specifically, headlamp 16 can mend video camera 11 according to the light and shade situation of light
Light operation, so that the shooting of auxiliary camera 11, enables video camera 11 to shoot clear and accurate image, to facilitate figure
Transmission module 12 and back-end processing equipment 2 carry out data processing.
Wherein, referring to Fig.1, front end General assembling equipment 1 further includes the buzzer 17 for whistle of alarming, buzzer 17 and master control
Module 14 is connected.Specifically, buzzer 17 executes the task of alarm whistle, so that pedestrian is warned beyond this point, to ensure row
The safety of people.
Wherein, referring to Fig.1, front end General assembling equipment 1 further includes being used to indicate train and shunt to push the police of operation
Show that lamp 18, warning lamp 18 are connected with main control module 14.Specifically, warning lamp 18 can be used in that train is prompted to shunt
Operation is pushed, Keep off by alarm pedestrian, to guarantee safe operation.
Wherein, referring to Fig.1, back-end processing equipment 2 includes for receiving the image receiving antenna 21 of image data, for handle
Image data from the form of high frequency analog signals be converted to digital signal form figure sending and receiving device 22, for carrying out foreign matter
Analysis and foreign matter ranging data processing module 23, for operational order carry out radio-frequency modulations wireless module 24 and for
Front end General assembling equipment 1 sends the instruction transmission antenna 25 of operational order, image receiving antenna 21, figure sending and receiving device 22 and data
Processing module 23, which is sequentially connected, to be connect, and data processing module 23, wireless module 24 and instruction transmission antenna 25 are sequentially connected and connect.Specifically
Ground, the picture signal sended over by front end General assembling equipment 1 successively pass through image receiving antenna 21 and figure sending and receiving device 22,
It finally enters and is carried out distance calculation among data processing module 23.When the completion ranging of data processing module 23 calculates and obtains different
When real-time range between object and train, data processing module 23 is total by wireless module 24 and instruction 25 forward end of transmission antenna
Installing standby 1 sends operational order, and front end General assembling equipment 1 is made to execute corresponding operation, for example, headlamp 16 carry out light filling illumination,
The alarm of buzzer 17 whistle or warning lamp 18 alert pedestrian etc..
- Fig. 3 referring to Fig.1 shunts using a kind of auxiliary and pushes the distance measuring method of the safety monitoring system of operation, including following
Step:
A, video camera 11 shoots the image of track, acquires the pixel total length P and target point distance map in the picture of image
As the length in pixels Δ P of bottom end；
B, establish the ranging model based on image longitudinal direction proportionate relationship, obtain between target point and video camera 11 it is horizontal away from
From relational expression are as follows:
Wherein, horizontal distance of the L between target point and video camera 11；L0For a constant, the camera shooting of video camera 11 is indicated
Blind area distance；
C, the relational expression in step B is solved, obtains the horizontal distance between target point and video camera 11；
Specifically, by establishing the ranging model based on image longitudinal direction proportionate relationship, to obtain target point and video camera
The relational expression of horizontal distance between 11, by substituting into relevant parameter, to acquire the solution of relational expression, can be obtained target point with
Distance between horizontal distance between video camera 11, i.e. foreign matter and train, therefore crew's climbing can be eliminated on compartment
Hazardous act, improve the efficiency of plugging between train.
Wherein, the length in pixels Δ P of target point range image bottom end in the picture is acquired in-Fig. 3 referring to Fig.1, step A,
The following steps are included:
A1, image is carried out binaryzation；
A2, according to the position of two pixels in image on rail, acquire this two using depth convolutional neural networks
The coordinate of pixel；
A3, rail linearity equation is acquired according to the coordinate of two pixels:
Y=kx+b
Wherein, y is the Y value of the pixel in picture on rail, and x is the cross of the pixel in picture on rail
Coordinate values, k are the slope of rail in picture, and b is the intercept of rail in picture；
A4, according to the rail linearity equation in A3, acquire the length in pixels Δ of target point range image bottom end in the picture
P；
Specifically, video camera 11 takes the image of track and the image data is transferred in back-end processing equipment 2
When data processing module 23, carry out the processing of image for convenience, it is necessary first to the image of the track carry out binaryzation to
It is converted to matrix data, at this point, pixel at the foreign matter in image on rail, the i.e. pixel of target point, with matrix function
Position in is corresponding, therefore, in order to faster and more accurately find out the pixel of target point, needs to acquire rail linearity
Equation.Therefore, acquire the coordinate of any two pixel on rail in image using depth convolutional neural networks, and according to this two
The coordinate of a pixel acquires rail linearity equation, no matter at this point, target point is in any position on rail, it is straight using track
Line equation all can rapidly and accurately acquire the length in pixels Δ P of target point range image bottom end in the picture.
In addition,-Fig. 2 referring to Fig.1, since the optical axis and track centerline of video camera 11 are parallel to each other and optical axis and track
Plane where center line is perpendicular to track, therefore in the image of the track as taken by video camera 11, track is from image
Bottom extends at the horizontal line where the midpoint of image, and what the horizontal line where the midpoint of image was arrived to image
Top is the image of sky within the scope of this, and therefore, rail is vertical for image to the distance between the bottom of image in image
To the half of pixel total length.Therefore, in Fig. 1-Fig. 2, have definition below: f indicates the focal length of video camera 11, and h expression is taken the photograph
The mounting height of camera 11, L0Indicate video camera 11 camera shooting blind area distance, L indicate target point to video camera 11 level away from
From Δ b indicates target point to the re-imaging length of image base, and P is therefore image longitudinal direction pixel total length in conjunction with Fig. 2, can obtain
Relational expression below:
In conjunction with two above-mentioned relational expressions, can obtain:
Due toTherefore it can obtain:
And since the imaging total length in video camera 11 is 2ftan δ, and re-imaging length and image longitudinal direction pixel total length
There is one-to-one relationships, therefore it can be concluded that proportionate relationship below:
At this point, above-mentioned formula is be combined with each other, the horizontal distance between target point and video camera 11 can be obtained are as follows:
Wherein, L0With P as known parameters, and in step can be in the hope of target point range image bottom end in the picture
Length in pixels Δ P therefore these parameters are updated among the above, the level between target point and video camera 11 can be acquired
Distance to realize that real-time ranging calculates, therefore can eliminate crew and climb the hazardous act on compartment, improve
Efficiency of plugging between train.
In addition, after calculating the horizontal distance between target point and video camera 11, in order to guarantee that the result being calculated accords with
Close actual numberical range, it is therefore desirable to which error analysis is carried out to the result.With traditional grid scale based on gauge constant
Relationship ranging model is compared, and has comparison result below:
By above-mentioned data it is found that using the ranging side of the invention of the ranging model based on image longitudinal direction proportionate relationship
Method, error are less than the distance measuring method of the grid scale relationship ranging model based on gauge constant, therefore, application one of the invention
Kind auxiliary, which is shunt, pushes the distance measuring method of the safety monitoring system of operation, can more accurately detect the foreign matter on track, and
And it can more accurately calculate distance between foreign matter and train.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to above-mentioned embodiment party above
Formula, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (2)
1. a kind of auxiliary, which is shunt, pushes the distance measuring method of the safety monitoring system of operation, it is characterised in that: the following steps are included:
A, the image of video camera (11) shooting track acquires the pixel total length P and target point range image in the picture of image
The length in pixels Δ P of bottom end；
B, the ranging model based on image longitudinal direction proportionate relationship is established, the horizontal distance between target point and video camera (11) is obtained
Relational expression are as follows:
Wherein, horizontal distance of the L between target point and video camera (11)；L0For a constant, indicate that the camera shooting of video camera (11) is blind
Offset from；
C, the relational expression in step B is solved, obtains the horizontal distance between target point and video camera (11).
2. a kind of auxiliary according to claim 1, which is shunt, pushes the distance measuring method of the safety monitoring system of operation, feature
It is: acquires the length in pixels Δ P of target point range image bottom end in the picture in step A, comprising the following steps:
A1, image is carried out binaryzation；
A2, according to the position of two pixels in image on rail, acquire two pixels using depth convolutional neural networks
The coordinate of point；
A3, rail linearity equation is acquired according to the coordinate of two pixels:
Y=kx+b
Wherein, y is the Y value of the pixel in picture on rail, and x is the abscissa of the pixel in picture on rail
Numerical value, k are the slope of rail in picture, and b is the intercept of rail in picture；
A4, according to the rail linearity equation in A3, acquire the length in pixels Δ P of target point range image bottom end in the picture.
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| CN104486583A (en) * | 2014-12-12 | 2015-04-01 | 柳州铁道职业技术学院 | Wireless video monitoring system for railway shunting operation |
| CN104908782A (en) * | 2015-07-02 | 2015-09-16 | 株洲高新技术产业开发区壹星科技有限公司 | Safety pre-warning method and system device for locomotive shunting operation |
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| US6859730B2 (en) * | 2001-10-18 | 2005-02-22 | Fuji Jukogyo Kabushiki Kaisha | Monitor system of vehicle outside and method of monitoring same |
| CN203005470U (en) * | 2013-01-05 | 2013-06-19 | 陕西西北铁道电子有限公司 | Risk control system for shunting service |
| CN104486583A (en) * | 2014-12-12 | 2015-04-01 | 柳州铁道职业技术学院 | Wireless video monitoring system for railway shunting operation |
| CN104908782A (en) * | 2015-07-02 | 2015-09-16 | 株洲高新技术产业开发区壹星科技有限公司 | Safety pre-warning method and system device for locomotive shunting operation |
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