CN107399341A - On-board running Environmental safety supervision system and method - Google Patents
On-board running Environmental safety supervision system and method Download PDFInfo
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- CN107399341A CN107399341A CN201610329247.7A CN201610329247A CN107399341A CN 107399341 A CN107399341 A CN 107399341A CN 201610329247 A CN201610329247 A CN 201610329247A CN 107399341 A CN107399341 A CN 107399341A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/009—On-board display devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The present invention relates to a kind of on-board running Environmental safety supervision system and monitoring method, line status detection means, reception and the warning device for showing the vehicle-mounted display terminal of described image information, to described image information analyze judgement and identify the analysis and processing module of abnormal information, alarm to the abnormal information that the system includes detecting the image information of running environment in front of train in real time, described line status detection means is arranged on the outside of train head, and described line status detection means includes：Infrared Image Information gathers module and visible light image information collection module.Infrared Image Information and visible light image information are combined analysis by the present invention, are had imaging clearly, are influenceed the advantages of small by weather.
Description
Technical field
The invention belongs to railway security monitoring technical field, more particularly to a kind of train front obstacle detection technique.
Background technology
With the high speed development of China's the Belt and Road construction, thousands of bullet trains high speed, highdensity operation on territory vast in territory, this proposes higher requirement to operation safety system.Foreign matter invades formed circuitry obstacle and can cause to cause catastrophic consequence to the train in high-speed cruising caused by falling rocks, mountain torrents and human factor caused by the natural calamity, therefore, realize that the monitoring of high ferro line environment is most important, but to establish that a set of full line monitoring system cost is high, construction is complicated, the construction period is long, difficult in maintenance along the railway.
In addition, CN104386092A proposes a kind of automatic train protection system based on image recognition and sensor fusion, the system knows barrier situation, and alarmed by ccd video camera or night infrared camera acquisition image information by computer analysis.But the system is merely capable of being monitored running environment closely, and monitoring effect easily is influenceed by factors such as wet weather, hazes, because train running speed is high, braking distance is remote, and braking time is short after finding barrier, it is therefore foreseen that property is poor.In addition, ccd video camera of the prior art or thermal camera is unobstructed is arranged on inside train, train is when running at night, because front windshield has glare, can also influence to monitor accuracy.
The content of the invention
The purpose of the present invention is to overcome the problems of the prior art, there is provided a kind of on-board running safety monitoring system of remote monitoring Along Railway environment.
The technical scheme is that a kind of on-board running Environmental safety supervision system, it includes：
The line status detection means detected in real time to the environmental information of train operation ahead, described line status detection means includes being used for train operation ahead emission pulse laser signal, and the Airborne Lidar examining system for obtaining the image information of train operation ahead by receiving reflected light signal；
Receive and show the vehicle-mounted display terminal of described image information；
Described image information is carried out analyzing judgement and identifies the analysis and processing module of abnormal information；And
The warning device alarmed the abnormal information；
The output end of described Airborne Lidar examining system is connected with the input of described vehicle-mounted display terminal and the input of analysis and processing module respectively, and the output end of described analysis and processing module is connected with the input of warning device.
Further technical scheme is the present invention：Described line status detection means also includes being used for the thermal imaging information gathering module for gathering train operation ahead thermal source information.
Preferably, described line status detection means also includes being used for the microwave radar detection system for detecting and identifying the obstacle information of train operation ahead.
Preferably, the Airborne Lidar examining system includes：
First pulsed laser source, for sending pulse laser to train operation ahead, form search coverage；
Optical antenna, the reflected light signal in field of view of receiver, the visual field of optical antenna at least partly overlap with search coverage；
Optical imagery module, for recording reflected light signal and forming optical imagery information；
Detection imaging module, for receiving reflected light signal and forming detection imaging information；And
First signal processing unit, it is connected with described optical imagery module, detection imaging module by signal, analysis and processing module and vehicle-mounted display terminal, the first described signal processing unit is used to receive described optical imagery information and detection imaging information and processing forms described image information.
Preferably, described detection imaging module is photodiode array and/or described optical imagery module is CCD image-forming modules.
Preferably, described line status detection means is arranged on the outside of train head, and at the headlight of train head.Because line status detection means is arranged on the outside of train head, therefore when can avoid night running, windshield glare on front side of train, false alarm situation is reduced.
It is a further object of the present invention to provide a kind of on-board running Environmental safety supervision method.
To reach the purpose, the present invention adopts the following technical scheme that：A kind of on-board running Environmental safety supervision method includes,
The environmental information of train operation ahead is monitored in real time, to train operation ahead emission pulse laser signal, and by receiving the image information of reflected light signal acquisition train operation ahead；
Receive and show described image information；
Described image information is carried out analyzing judgement and identifies abnormal information；
Abnormal information and alarm in the described image information of extraction.
Preferably, this method still further comprises：Gather the thermal imaging information of train operation ahead.
Further, this method also includes：Launch high-frequency microwave to train operation ahead, and the obstacle information of train operation ahead is obtained by receiving back wave.
Further say, described image information includes detection imaging information and optical imagery information.
In addition, the present invention is by the way of laser infrared radar imaging and infrared thermal imaging binding analysis, Airborne Lidar examining system has the advantages of irradiation distance is remote, the angle of divergence is small, the image of the high-resolution outside train operation ahead 5km can be obtained, and combined by optical imagery and detection imaging, further enable the invention to obtain higher, the apparent image quality of resolution ratio, obtain the image information of high quality；Infrared Image Information is used for showing pyrogenicity target either unconspicuous personnel and animal class target, in haze and sleety weather, Infrared Image Information can be beyond automatic identification 3km line status, without by inside even from weather, observation effect can be significantly improved, realizes obstacle identification and automatic early-warning prompting；Microwave radar detection system can not be influenceed by ambient light illumination, round-the-clock detection front obstacle information, realize the detection and identification to foreign matter on rail, the detection range of microwave radar detection system is 5km.
The present invention compared with prior art the advantages of be：The line status detection means of the present invention is detected by Airborne Lidar examining system to train operation ahead, laser, which has, dissipates small, jamproof advantage, oval imaging region can be formed in vehicle front distant location, and the detection imaging information and optical imagery information that are able to obtain object in imaging region are combined by detection imaging and optical imagery, there is the advantages of detection range is remote, precision is high.
Brief description of the drawings
Accompanying drawing 1 is the structured flowchart of the on-board running Environmental safety supervision system of the present invention；
Accompanying drawing 2 is the working state schematic representation of line status detection means；
Accompanying drawing 3 is the working state schematic representation of contact net state detecting equipment；
Accompanying drawing 4 is the structured flowchart of line status detection means；
Accompanying drawing 5 is the structured flowchart of Airborne Lidar examining system；
Accompanying drawing 6 is the structured flowchart of contact net state detecting equipment；
Accompanying drawing 7 is the working state schematic representation of the second image information collecting device of contact net state detecting equipment.
Wherein：10th, train；11st, pantograph；20th, contact net；30th, track；
100th, line status detection means；110th, Airborne Lidar examining system；111st, the first pulsed laser source；112nd, optical antenna；113rd, spectroscope；114th, optical imagery module；115th, detection imaging module；116th, the first signal processing unit；120th, thermal imaging information gathering module；130th, microwave radar detection system；140th, optical sensor；150th, it is imaged handover module；
200th, contact net state detecting equipment；210th, laser radar detection module；211st, the second pulsed laser source；212nd, optical image unit；213rd, detection imaging unit；214th, secondary signal processing unit；220th, Infrared Image Information collection module；230th, panoramic picture collection module；240th, the first image information collecting device；250th, the second image information collecting device；260th, network communication module；
400th, warning device；500th, analysis and processing module；600th, vehicle-mounted display terminal；700th, pantograph control module；701st, judge module；702nd, pulses generation module.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.On-board running Environmental safety supervision system belongs to one kind of detecting system on the line of intelligent EMUs, track and line status, contact net system state are detected in real time using High-speed Photography Technology, study the influence factor and action rule to train operating safety, train operation track is detected in real time, for the purpose of comprehensive acquisition vehicle state safe for operation, EMUs are established from sensing network system.
Referring to shown in accompanying drawing 1, the invention discloses a kind of on-board running Environmental safety supervision system, including：
The line status detection means 100 detected in real time to the environmental information of train operation ahead；
The contact net state detecting equipment 200 detected to the contact net of train operation ahead；
Analysis and processing module 500, receiving circuit condition checkout gear 100, the signal of contact net state detecting equipment 200, and analysis identification is carried out to above-mentioned signal respectively, and extract abnormal information；
Vehicle-mounted display terminal 600, receive and show the line status of reaction train, contact the image information of net state, and display alarm is prompted when occurring extremely；And
The warning device 400 alarmed the abnormal information.
Analysis and processing module 500 is typically the computer of processor, memory, and carrying out substantial amounts of analysis by the image information collected is calculated, and result of calculation is exported by vehicle-mounted display terminal 600 or warning device 400.And in Rail Transit System, analysis and processing module is often referred to be installed in the computer system on railcar train, and by means of network, analysis and processing module can interconnect with vehicle control center, realizes data real-time exchange.
Referring to shown in accompanying drawing 2, wherein, line status detection means is to the operation of train 10 front, 3km~5km（D3）What the state of track 30 in distance range was detected, for detecting front with the presence or absence of landslide, flood, animal and personnel etc..In order to prevent windshield glare, described line status detection means is arranged on the outside of train head, and at the headlight of train head, setting height(from bottom) is about at the 1.5m of ground.
Referring to accompanying drawing 4, the line status detection means 100 includes, the Airborne Lidar examining system 110 of the image information for obtaining train operation ahead, the thermal imaging information gathering module 120 for gathering train operation ahead thermal source information, the microwave radar detection system 130 for detecting and identifying front obstacle information.Airborne Lidar examining system 110 can carry out overlength distance obstacle detection to the region outside 5km, thermal imaging information gathering module 120 can detect the thermal source information of the scope within 3km, thermal imaging information gathering module is thermal infrared imager, and microwave radar detection system 130 is used for aided detection barrier.
In the preferred embodiments of the present invention, line status detection means 100 also includes being used for the optical sensor 140 for detecting ambient light illumination and the imaging handover module 150 for switching over described Airborne Lidar examining system 110 and Infrared Image Information collection module 120 according to the output valve of described optical sensor.So line status detection means 100 can just automatically select according to ambient light illumination, weather condition is still imaged using laser radar detection system imaging using thermal imaging information gathering module, Airborne Lidar examining system is used in the excellent weather of fair weather, air quality, and in overcast and rainy, haze weather, either night is imaged using thermal imaging information gathering module or Airborne Lidar examining system 110 and thermal imaging information gathering module 120 can be used to work simultaneously.
Referring to shown in accompanying drawing 5, Airborne Lidar examining system 110 includes：
First pulsed laser source 111, for sending pulse laser to the search coverage of train operation ahead, with train width 3.38m, exemplified by rail width 1.435m, Airborne Lidar examining system 110 is highly located installed in the headstock 1.4m of train 10, and it can form width 5m or so oval search coverage at 5km in front of train, and pulsed laser light beam width is 0.1 degree, 0.07 degree of aforesaid downward angle, then 700m~5km length detection scope can be covered in train operation ahead search coverage；
Optical antenna 112, optical antenna generally include multiple lens, its optical signalling being used in field of view of receiver；
Spectroscope 113, the optical signalling that optical antenna is received are divided into two beams；
Optical imagery module 114, receive wherein a branch of spectroscopic signal and recorded to form optical imagery information；
Detection imaging module 115, receive another beam spectroscopic signal and form detection imaging information；
First signal processing unit 116, it is connected with described optical imagery module 114, detection imaging module 115, analysis and processing module 500 and vehicle-mounted display terminal 600, the first described signal processing unit 116 is used to receive described optical imagery information and detection imaging information, and recovered, the processing such as stabilization, detection barrier forms image information.
Further say, described detection imaging module 115 is APD photodiode arrays, and the optical imagery module 114 is imaging sensor, such as CCD image-forming modules or cmos imaging module.
In the present embodiment, the sight angle of optical antenna 112 is 0.1 degree, and after train operation ahead reflected light signal is received by optical antenna 112, then the mirror 113 that is split is divided into two-way, enter optical imagery module 114 all the way, optical signalling is changed into by electric signal by CCD image-forming modules or cmos imaging module（Optical imagery information）Output, after the first signal processing unit 116 carries out the processing such as stabilization, noise reduction, optical imagery information is exported to analysis and processing module 500, the optical imagery information includes visible light image information；Another way light beam enters detection imaging module 115, pass through APD linear array optical detectors, detection imaging is carried out to front track, detection imaging information carries out calculating processing by the first signal processing unit 116, and the image and the information such as barrier and distance of front road conditions are can be derived that, then the information such as above-mentioned image, barrier, distance are sent into analysis and processing module 500.Wherein, optical imaging results are used to aid in human eye to carry out obstacle recognition, and imaging precision depends on the precision of optical imagery module, and its precision depends on CCD picture dot number by taking CCD image-forming modules as an example, and picture dot number is higher, and image quality is better.Detection imaging module can directly give whether front has the presence of barrier, the longitudinal frame of APD photodiode arrays depends on the range resolution ratio of APD devices, precision is up to 0.15m, the lateral resolution of APD photodiode arrays depends on the size of picture dot number and imaging region, imaging region is smaller, and the resolution ratio for detecting barrier is higher.
In a preferred embodiment of the invention, line status detection means 100 also includes the microwave radar detection system 130 that wave band is 3mm, system uses linear FM signal, using the signal more than 1GHz bandwidth, its Range resolution can reach better than 0.2m, can carry out high-resolution identification to target, and the mode being imaged in orientation upwardly through high-resolution pulse, azimuth resolution is improved, and is imaged, finally realizes the detection and identification to foreign matter on track.
Analysis and processing module 500 receives described optical imagery information, detection imaging information, thermal imaging information and microwave radar detection information respectively, and identify that the abnormal information in these information is alarmed, and the image information, thermal imaging information and obstacle information in these information can also be shown by vehicle-mounted display terminal 600, staff can be with the situation of real-time monitored front track.
Analysis and processing module 500 runs following algorithm：Abnormal position is extracted in described optical imagery information, detection imaging information, thermal imaging information and microwave radar detection information, and judges the information such as the size, distance, position of abnormal position；Wherein, detection imaging information, thermal imaging information and microwave radar detection information respectively can be by compared with given thresholds, so as to extract the abnormal position different from threshold size, and alarmed, and optical imagery information usually requires direct surveillance's exception, or analysis and processing module can also be by compared with history optical imagery information, finding difference and extracting abnormal position current optical imagery information.
Referring to shown in accompanying drawing 3,6,7, contact net state detecting equipment 200 is detected in real time for the contact net system to train operation ahead, its can automatic identification buckle come off, foreign matter suspension, contact net textural anomaly the problems such as.
Contact net state detecting equipment 200 is arranged on the headstock of train 10, is connected with the vehicle-mounted display terminal of train 10, it includes：
For gathering the first image information collecting device 240 of the remote contact net image information of train operation ahead；
For gathering the second image information collecting device 250 of train operation ahead panorama image information；
The pantograph control module 700 being connected with the pantograph control interface of train.
Output end of the input of analysis and processing module 500 respectively with the first image information collecting device 240 and/or the second image information collecting device 250 is connected, the panorama image information that the remote image information and/or the second image information collecting device 250 that analysis and processing module 500 collects to the first image information collecting device 240 collect analyzes and processes, and abnormal position information is identified, warning device 400 receives described abnormal position information and alarmed.The output end of analysis and processing module 500 is also connected with warning device 400 and the signal of pantograph control module 700, the pantograph 11 of train receives to fold after drop bow instruction by pantograph control interface lands, the automatic rising bow again of pantograph 11 when waiting the train to cross abnormal position.
Specifically, the first image information collecting device 240 includes the laser radar detection module 210 of the contact net state outside 1Km in front of collection train, and the laser radar detection module includes：
Second pulsed laser source 211, for sending pulse laser to the contact net of train operation ahead, and form search coverage S1, because the angle of divergence of laser is small, therefore, search coverage S1Irradiation distance is remote, visual field is relatively small；
Optical image unit 212, high-speed industrial video camera typically is selected, it is used for search coverage S1Imaging, and form optical imagery information；
Detection imaging unit 213, for search coverage S1Detection, and detection imaging information is formed, system can quickly find contact net foreign matter or contact net abnormal failure according to detection information；And
Secondary signal processing unit 214, it is connected with optical image unit 212, detection imaging unit 213, analysis and processing module 500 and vehicle-mounted display terminal 600, secondary signal processing unit 214 is used to receive optical imagery information and detection imaging information and processing forms image information.
Referring to accompanying drawing 3, to avoid the front windshield of train from producing dazzle, therefore the first image information collecting device 240 of the present invention is arranged on the outside of train head, installed in headstock headlight opening position, apart from ground level about 1.4m.The detection range D of first image collecting device 2401More than 1Km, by the first image information collecting device 240, train contact network condition checkout gear can know the contact net state outside 1Km, the abnormal conditions such as automatic identification buckle comes off, foreign matter suspension, and complete alarm or automatic bow-lowering action.
In order to obtain high quality under overcast and rainy, haze weather or in the case of night running, clearly be imaged, the first described image information collecting device 240 also includes being used for the Infrared Image Information collection module 220 for gathering thermal source information, and Infrared Image Information collection module is thermal infrared imager.
Referring to accompanying drawing 7, the second image information collecting device 250 is arranged in the driver's cabin of train head.It is D that second image information collecting device 250, which includes that train operation ahead distance can be gathered,2Panorama image information panorama camera, the field range of the panorama camera is S2, as shown in Figure 3, D2Usually 10~30 meters or so.Kilometer number, the information of catenary mast bar bar number comprising contact net structural condition information and reflection train present position in panorama image information, section partition can be carried out automatically with reference to the GPS information of train, can quickly and accurately it position, therefore analyzed by the way that panoramic picture is sent into analysis identification module, we can just learn train present position and the abnormality of contact net.Panorama image information can also be recorded by storage device, be used as drive recorder.
In the present embodiment, second image information collecting device 250 includes the first monitoring camera of collection kilometer number and contact net support bar number and the second monitoring camera of collection overhead contact line unit state, and the first monitoring camera and the second monitoring camera are integrated into dual-camera structure.The installation of second image information collecting device needs accurate adjustment horizontal level, upright position and shooting angle, firstly the need of with software calibration shooting area before formal shooting, make shooting area consistent with structure, the gradient and the trend of contact net in database Plays image etc..
In order to obtain contact net status information, described analysis and processing module 500 also includes with lower part：
Contact net anomalous identification module, for identifying the contact net abnormal information in described remote contact net image information, contact net anomalous identification module can be identified in remote contact net image information, the abnormal data such as the buckle in overhead contact line region comes off, part missing, foreign matter suspension；
Positional information identification module, for identifying the real-time position information in described panorama image information, described positional information identification module includes being used for the bar identification module for identifying bar number and the kilometer post identification module for identifying kilometer post；
Textural anomaly identification module, for identifying the textural anomaly information in panorama image information, the textural anomaly identification module can be identified in panorama image information, the contact net structural informations such as relative slope, the relative position of web frame are contacted, textural anomaly identification module also includes being stored with the memory cell of the contact net construction standard information corresponding to each bar number and the comparator for the contact net structural information in described panorama image information to be compared with described contact net construction standard information.
Described contact net anomalous identification module and textural anomaly identification module are connected with the signal of warning device 400 respectively, once it was found that contact net abnormal information or contact net textural anomaly information be present, alarmed immediately by warning device, warning message is fed back into vehicle-mounted display terminal 600 simultaneously, other train contact network condition checkout gear 200 also includes being used for the network communication module 260 that abnormal information is fed back to control centre, by control centre, the train subsequently passed through can be reminded to pay attention to.
Pantograph control module 700 is included with the pulses generation module 702 for judging whether to perform the judge module 701 of drop bow action, drop bow signal or rising bow signal for sending according to the contact net abnormal information or textural anomaly information.Due to train in the process of moving the speed of service quickly, therefore drop bow or rising bow action typically judged by contact net abnormal information.Described contact net anomalous identification module, positional information identification module and car running computer is connected with described pantograph control module signal.The judge module sends drop bow instruction according to contact net abnormal information, real-time position information, speed information before train will reach abort situation, and in train after abort situation, rising bow instruction is sent, so as to avoid that the driving accident as caused by contact net failure occurs.
The detection method of the on-board running Environmental safety supervision system of the present invention, mainly includes：
Train operation ahead circuit is imaged by line status detection means, obtains the obstacle information on forward box；
It is imaged by contact net state of the contact net state detecting equipment to train operation ahead, obtains remote contact net image information and panorama image information；
By analysis and processing module, call and prestore the data such as standard information in memory, threshold information, and be compared calculating, identify the abnormal information in obstacle information, contact net information, contact net structural information；
Above-mentioned abnormal information is alarmed by warning device；
Above-mentioned monitoring result is shown by vehicle-mounted display terminal.
Wherein, the detection method of line status detection means is：
a1）, to train operation ahead launch laser signal, receive reflected light information, above-mentioned reflected light information is converted into by optical imagery information by optical imagery module, reflected light information is converted into by detection imaging information by detection imaging module；
a2）, to train operation ahead launch microwave signal, receive echo, identify echo in obstacle information；
a3）, pass through thermal imaging information gathering module gather train operation ahead thermal imaging information；
a4）, described optical imagery information and detection imaging information and/or obstacle information and/or thermal imaging information are analyzed and processed；
a5）, extraction above- mentioned information in abnormal information and alarm；
a6）, described optical imagery information and detection imaging information and/or obstacle information and/or thermal imaging information and abnormal information shown in vehicle-mounted display terminal.
The detection method of contact net state detecting equipment is：
b1）, collection train operation ahead distant location contact net image information；
b2）, collection train operation ahead panorama image information；
b3）, positional information and contact net structural information are extracted in described panorama image information, and described contact net structural information is compared with the standard information corresponding to the positional information to prestore in the memory unit, analyze and identify the abnormal position in described contact net image information and panorama image information；
b4）, extraction abnormal position information and alarms；
b5）, according to abnormal position information control train pantograph make drop bow or rising bow act.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art to understand present disclosure and implement according to this, it is not intended to limit the scope of the present invention.Any equivalent change or modification in accordance with the spirit of the invention, it should all be included within the scope of the present invention.
Claims (10)
- A kind of 1. on-board running Environmental safety supervision system, it is characterised in that including：The line status detection means detected in real time to the environmental information of train operation ahead, described line status detection means includes being used for train operation ahead emission pulse laser signal, and the Airborne Lidar examining system for obtaining the image information of train operation ahead by receiving reflected light signal；Receive and show the vehicle-mounted display terminal of described image information；Described image information is carried out analyzing judgement and identifies the analysis and processing module of abnormal information；AndThe warning device alarmed the abnormal information；The output end of described Airborne Lidar examining system is connected with the input of described vehicle-mounted display terminal and the input of analysis and processing module respectively, and the output end of described analysis and processing module is connected with the input of warning device.
- 2. on-board running Environmental safety supervision system according to claim 1, it is characterised in that：Described line status detection means also includes being used for the thermal imaging information gathering module for gathering train operation ahead thermal source information.
- 3. on-board running Environmental safety supervision system according to claim 1, it is characterised in that：Described line status detection means also includes being used for the microwave radar detection system for detecting and identifying the obstacle information of train operation ahead.
- 4. on-board running Environmental safety supervision system according to claim 1, it is characterised in that：The Airborne Lidar examining system includes：First pulsed laser source, for sending pulse laser to train operation ahead, form search coverage；Optical antenna, the reflected light signal in field of view of receiver, the visual field of optical antenna at least partly overlap with search coverage；Optical imagery module, for recording reflected light signal and forming optical imagery information；Detection imaging module, for receiving reflected light signal and forming detection imaging information；AndFirst signal processing unit, it is connected with described optical imagery module, detection imaging module by signal, analysis and processing module and vehicle-mounted display terminal, the first described signal processing unit is used to receive described optical imagery information and detection imaging information and processing forms described image information.
- 5. on-board running Environmental safety supervision system according to claim 4, it is characterised in that：Described detection imaging module is photodiode array and/or described optical imagery module is CCD image-forming modules.
- 6. according to any described on-board running Environmental safety supervision systems of claim 1-5, it is characterised in that：Described line status detection means is arranged on the outside of train head, and at the headlight of train head.
- A kind of 7. on-board running Environmental safety supervision method, it is characterised in that：It includes：The environmental information of train operation ahead is monitored in real time, to train operation ahead emission pulse laser signal, and by receiving the image information of reflected light signal acquisition train operation ahead；Receive and show described image information；Described image information is carried out analyzing judgement and identifies abnormal information；Abnormal information and alarm in the described image information of extraction.
- 8. on-board running Environmental safety supervision method according to claim 7, it is characterised in that：Also include the thermal imaging information of collection train operation ahead.
- 9. on-board running Environmental safety supervision method according to claim 7, it is characterised in that：Also include launching high-frequency microwave to train operation ahead, and the obstacle information of train operation ahead is obtained by receiving back wave.
- 10. on-board running Environmental safety supervision method according to claim 7, it is characterised in that：Described image information includes detection imaging information and optical imagery information.
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