CN108032869B - Wireline inspection method and monitoring system - Google Patents

Abstract

The present invention provides a kind of wireline inspection method and monitoring systems, it is related to railway security technical field, the monitoring system includes: control equipment, laser scanner is connect, picture pick-up device with the control equipment, it is connect with the control equipment, communication and input-output equipment, connect with the control equipment: the laser scanner scans rail track, obtains scan echo；The laser scanner is based on the scan echo, judges on the rail track with the presence or absence of the foreign matter for meeting preset condition；When scanning is to barrier, the laser scanner generates and exports that there are the warning messages of the foreign matter to the control equipment on the rail track for characterizing.Wireline inspection method uses laser scanner, and the setting of laser scanner is limited smaller by environment, suitable for the topography and geomorphology of different sections, can carry out real-time monitoring to the foreign matter of invasion rail track.

Description

Wireline inspection method and monitoring system

Technical field

The present invention relates to railway security technical fields, in particular to a kind of wireline inspection method and monitoring system.

Background technique

Safety of railway traffic has become the lifeline of system-wide system work.Since railroad train speed is fast, normally transporting Row and maintenance aspect have more particularity, the especially disasters such as massif falling rocks, landslide once occurring, and will seriously jeopardize transport Safety, to the consequence of bringing on a disaster property of train, easily leads to the major accidents such as EMU derailing, casualties.Therefore how perfect Safety of railway traffic safeguards system prevents and farthest reduces driving accident, will become one of railway modernization construction Major tasks.

The safety monitoring of railway mainly uses at present: Video Supervision Technique, sensor network technique, infrared technology, machine Vehicle barrier monitors identification technology and double power grid foreign body intrusion systems automatically, and still, these types of scheme is due to respective limitation Property, it is difficult to adapt to the complex environment of railway mountain route section.

Summary of the invention

In view of this, the embodiment of the present invention is designed to provide a kind of wireline inspection method and monitoring system, to solve The above problem.

In a first aspect, the present invention provides a kind of wireline inspection method, applied in the monitoring system of rail track, the prison Control system includes: control equipment, and laser scanner is connect, picture pick-up device with the control equipment, is connected with the control equipment It connects, communication and input-output equipment are connect with the control equipment.The laser scanner scans rail track, is scanned Echo；The laser scanner is based on the scan echo, and judging, which whether there is on the rail track, meets preset condition Foreign matter；When there is the foreign matter for meeting preset condition, the laser scanner is generated and is exported for characterizing the rail track On deposit the warning message of the foreign matter to the control equipment.

Second aspect, the present invention provide a kind of monitoring system, for being monitored to rail track, the monitoring system packet It includes.Control equipment, laser scanner connect, picture pick-up device with the control equipment, connect with the control equipment, communicate and Input-output equipment is connect with the control equipment.Wherein, the laser scanner is scanned for scanning rail track Echo；And the laser scanner is used to be based on the scan echo, judges pre- with the presence or absence of meeting on the rail track If the foreign matter of condition；And when there is the foreign matter for meeting preset condition, the laser scanner is used for for generating and exporting It characterizes and deposits the warning message of the foreign matter on the rail track to the control equipment.

The beneficial effects of the present invention are:

Wireline inspection method and monitoring system provided by the invention, the monitoring system include that control equipment and laser are swept It retouches and sets device, the control equipment is connect with the laser scanner, and the laser scanning and scanning rail track, acquisition scan back Wave is based on the scan echo, and the laser scanner, which judges to whether there is on the rail track, meets the different of preset condition Object, and when there is foreign matter generates and exports that there are the warning messages of the foreign matter to described on the rail track for characterizing Control equipment.The wireline inspection method that the present invention carries uses laser scanner, the setting of laser scanner by environmental restrictions compared with It is small, suitable for the topography and geomorphology of different sections, real-time monitoring can be carried out to the foreign matter of invasion rail track.

Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification It is clear that by implementing understanding of the embodiment of the present invention.The objectives and other advantages of the invention can be by written theory Specifically noted structure is achieved and obtained in bright book, claims and attached drawing.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.

Fig. 1 is the structural schematic diagram for the electronic equipment that present pre-ferred embodiments provide；

Fig. 2 is a kind of structural schematic diagram for the monitoring system that present pre-ferred embodiments provide；

Fig. 3 is another structural schematic diagram for the monitoring system that present pre-ferred embodiments provide；

Fig. 4 is a kind of flow chart of steps for the circuit monitoring method that second embodiment of the invention provides

Fig. 5 is the resolution ratio and scanning element distance for the laser scanner that second embodiment of the invention provides

Structural schematic diagram；

Fig. 6 is between the lasing beam diameter and eyeball of the laser scanner that second embodiment of the invention provides

Away from function relation figure；

Fig. 7 is that the detection object size of laser scanner that provides of second embodiment of the invention, light beam are straight

The relational graph of distance between diameter, light beam；

Fig. 8 is the secondary reflection pulse theory figure for the laser scanner that second embodiment of the invention provides；

Fig. 9 is the laser scanner that second embodiment of the invention provides；

Figure 10 is another flow chart of steps for the circuit monitoring method that second embodiment of the invention provides.

Specific embodiment

Those skilled in the art are seeking always a kind of tool for improving the problem or method for a long time.

In consideration of it, designer of the invention is by long-term exploration and trial and multiple experiment and effort, constantly Reform and innovation, obtain wireline inspection method and monitoring system shown in this programme.

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work There are other embodiments, shall fall within the protection scope of the present invention.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.

Fig. 1 shows a kind of structural block diagram of electronic equipment 200 that can be applied in the embodiment of the present application.The electronic equipment 200 can be used as monitor terminal.As shown in Figure 1, electronic equipment 200 may include memory 202, storage control 203, processing Device 204 and network module 205.

It is memory 202, storage control 203, processor 204, directly or indirectly electric between each element of network module 205 Connection, to realize the transmission or interaction of data.For example, one or more communication bus or signal can be passed through between these elements Bus realizes electrical connection.The wireline inspection method respectively includes at least one can be with the shape of software or firmware (firmware) Formula is stored in the software function module in memory 202, such as software function module or meter that the wireline inspection method includes Calculation machine program.

Memory 202 can store various software programs and module, such as wireline inspection side provided by the embodiments of the present application Corresponding program instruction/the module of method.The software program and module that processor 204 is stored in memory 202 by operation, from And perform various functions application and data processing, that is, realize the wireline inspection method in the embodiment of the present application.Memory 202 can To include but is not limited to random access memory (Random Access Memory, RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM) is erasable read-only to deposit Reservoir (Erasable Programmable Read-Only Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..

Processor 204 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor can be general Processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable Gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It can To realize or execute disclosed each method, step and the logic diagram in the embodiment of the present application.General processor can be micro- Processor or the processor are also possible to any conventional processor etc..

Network module 205 is for receiving and transmitting network signal.Above-mentioned network signal may include wireless signal or have Line signal.

Electronic equipment 200 can also include display module, which can provide between monitor terminal and user One interactive interface (such as user interface) refers to for display image data to user.

Safety of railway traffic has become the lifeline of system-wide system work.Since railroad train speed is fast, normally transporting Row and maintenance aspect have more particularity, the especially disasters such as massif falling rocks, landslide once occurring, and will seriously jeopardize transport Safety, to the consequence of bringing on a disaster property of train, easily leads to the major accidents such as EMU derailing, casualties.Therefore how perfect Safety of railway traffic safeguards system prevents and farthest reduces driving accident, will become one of railway modernization construction Major tasks.

The safety monitoring of railway mainly uses at present: Video Supervision Technique, sensor network technique, infrared technology, machine Vehicle barrier monitors identification technology and double power grid foreign body intrusion systems automatically.

Video Supervision Technique is in rainy season or to be fallen in dangerous section installation camera by network transmission to monitoring center In stone high-incidence season, operator on duty determines whether dangerous situation by live image, and then carries out respective handling.It is supervised based on video Although the scheme of control can monitor multiple key road segments in monitoring center, the security monitoring personnel same time is by attention It is totally absorbed on several or more Video Events, watches monitor for a long time, be all very big to people's energy, attention Test, the labor intensity of people is very big in this case.The attention of people generally only has 20min or so, more than 20min people One low-down grade will be dropped to the attention of video, in the subnormal situation of attention grade, be easy leakage Barrier on report and erroneous judgement route.The program only replaces artificial scene to stare at control with camera, lacks intelligent decision ability, no Massive information in energy screening system cannot replace people to carry out Realtime Alerts, can not reduce the workload of people, only labor intensity Staring at control than scene has larger reduction.The video image that the program obtains can only be used to subsequent inquiry.In addition, simple video monitoring It is affected by external conditions such as light variation, flying bird, sleet, weeds, easily generates and largely report by mistake, fail to report, be difficult to play Monitor and prevent accident the purpose of generation.

Sensor network technique is that a large amount of geology pressure sensor is arranged by the neighboring area in the high-risk section in mountain area, Form a sensor network, analyzed by the variation to each node pressure data of whole network, judge may occur or The geological disasters such as the falling rocks, landslide, the mud-rock flow that have occurred and that.Scheme based on sensor network is in high-risk section neighboring area A large amount of geology pressure sensor is buried, a sensor network is formed, passes through the pressure data to each node of whole network Variation monitors the geological disasters such as falling rocks, landslide, the mud-rock flow that may occur or occur to be analyzed.This technical solution Major defect it is as follows: cost is very high.Since the region area that geological disaster may occur is bigger, need to bury large number of Sensor, project amount is very big, and system cost is very high.Constructional difficulties.Due to burying large number of sensor project amount very Greatly, and the high-risk section general nature inclement condition of railway, the difficulty for carrying out large-scale engineering construction are also very big.It is difficult in maintenance. When sensor failure, it is highly difficult to carry out fault detection, and replace very inconvenient；Meanwhile each line upkeep (such as roadbed Renovation) afterwards cable require to re-lay, maintenance engineering amount is very big.Influence driving.In general, this system is needed in route Bury sensor network in two sides, it is therefore desirable to which across rail laying cable, train cannot pass through when construction, influence the normal fortune of train Row.Rate of false alarm is high.Due to not allowing embedded sensor within the scope of roadbed, even if sensor network has monitored geological disaster Generation, can not conclude whether these geological disasters have influenced driving region, may cause wrong report.

Infrared technology is that warning aperture plate is constituted near rail rail level by several infrared light beams, when road surface is endangered When dangerous roadblock, aperture plate, which is blocked, to be sounded an alarm.Aperture plate is made of multiple infrared reflective devices and receiver, in certain monitoring area Interior, one " fence " is at least made of an infrared transmitter and a receiver, aperture plate be exactly by a plurality of " fence ", that is, It is made of multiple transmitters and corresponding receiver.The spacing of every infrared palisade in infrared opposite-radiation scheme, by system The size (minimum dimension that can jeopardize the road obstacle of traffic safety) of the target obstacle of definition determines.Assuming that aperture plate interval For 50cm, it means that the barrier less than 50cm will be all missed.However in practical applications, the barrier of 50cm width is several It is difficult to receive, the barrier less than 50cm can still influence traffic safety.It is assumed that the width of monitoring disturbance in judgement object For 50cm, monitoring area 35m, then 70 infrared remote receivers are needed.If monitoring area is curve section, multiple groups are set Aperture plate forms relay-type broken line aperture plate and forms fence.It follows that even if aperture plate is set to actually to be difficult to receive 50cm, it is still desirable to a large amount of infrared transmitter and receiver, if smaller barrier warning ruler is arranged according to actual needs It is very little, need the more of infrared transmitter and receiver.From the angle of engineering construction, due to the presence of receiver, cause across Rail wiring is inevitable, and practice of construction is very difficult, even infeasible in the high-risk section of bad environments.In the dimension in later period In shield, detaching equipment is likely to require when railway bed is made firm by ramming, renovated and is reinstalled.Therefore the reliability, feasible of the program The complexity of property, difficulty of construction, cost and maintenance is difficult to apply to the railway system.

The monitoring of the vehicle barrier of view-based access control model system identifies, is under visible light conditions, by transferring on locomotive Video camera shooting image, circuitry obstacle object is monitored.Based on locomotive image monitoring identifying schemes, night needs visible Optical illumination necessarily occurs interfering poor image quality caused by image monitoring and weather condition (rain, snow, mist) because of winged insect and largely makes an uproar Sound problem, while there is also the camera vibration being difficult to avoid that (body oscillating, strong wind), largely report by mistake, fail to report to generate. Further, since system is mounted on locomotive, the barrier on forward box possibly can not be found when by curve section, is difficult Reach actual requirement.

Double power grid foreign body intrusion systems are that the burst accidents foreign body intrusion situation such as junk across iron to public affairs is monitored alarm.When When foreign body intrusion leads to double grid cut-offs, anti-disaster monitoring terminal auto-alarming, while nematic control locking system sends foreign body intrusion Alarm signal, carries out train linkage, closes accident section in time, realizes automatic or manual control by interlocking of signals and train control system Running speed processed avoids train by causing secondary injury.Based on double power grid foreign body intrusion system schemas, the program is needed to can Can have the setting of junk location ensures to block double power grids of junk, for massif from width to highly all can be one very greatly Numerical value.Therefore the monitoring for situations such as environmental suitability of the program is not strong, is extremely difficult to massif falling rocks, avalanche.

In view of this, inventor proposes wireline inspection provided in an embodiment of the present invention by studying for a long period of time and constantly exploring Method and monitor terminal.

First embodiment

Fig. 2 and Fig. 3 is referred to, for the structural block diagram for the monitor terminal that first embodiment of the invention provides.The monitoring Terminal includes control equipment, laser scanner, picture pick-up device, communication and input-output equipment.

The control equipment is set to rail track scene, including data processing module, and the data processing module is responsible for Field data is analyzed and is handled, and triggers alarms at different levels in time.As an implementation, industrial personal computer can be used, Industrial personal computer has the following characteristics that using industrial level framework, improves system stability, high reliablity；Mean time between failures It is long, reach efficient operation；Industrial personal computer use technical grade communication module, can real-time inspection and control object various parameters variation, it is right Procedure parameter and failure carry out real-time monitoring, trigger alarms at different levels in time, real-time is good；With preferable Electro Magnetic Compatibility and height The ability of anti-interference ability and high common mode inhibition, there is the ability of dust-proof, anticorrosion, vibration proof impact, and environmental suitability is strong；It is main Open principle is abided by machine interface, network communication, software compatibility and upgrading etc., in order to system extension, the connection of different machine, Software transplanting and exchange, it is open strong.Video handles picture recording module.Major function is to receive picture pick-up device by network to transmit Digital video bit stream, and stored, managed, to form networking bring distributed structure/architecture advantage.In systems, video Processing picture recording module mainly handles the video on the collected defence area route of picture pick-up device and distributes storage.Video processing Picture recording module must have the following characteristics that integrated with equipment is controlled, and interface docking is simple；It, can with work state monitoring function Itself work state information is provided to other modules；Easily replacement, can carry out plug-in replacement.In addition, the control equipment is also wrapped Include data memory module.Mainly undertake the storage of the data such as system running log, each laser scanner real time data and real-time video Task.The control equipment further includes environmental control module, has the function of temperature control, lightning protection and fire extinguishing.Environmental Kuznets Curves mould Block can monitoring and control equipment internal temperature go forward side by side trip temperature adjusting, temperature control be an independent closed loop subsystem, guarantee it is whole A control equipment is run at a suitable temperature.When temperature is lower than 5 DEG C in control equipment, heating device is started to work；Control When temperature reaches 30 DEG C in equipment, fan is started to work.Controlling equipment further includes lightning-protection module, when control equipment meets with lightning stroke When, instantaneous large-current can be introduced the earth and discharged by lightning-protection module, to guarantee to control equipment safety.In addition, control equipment is also wrapped Combined fixed extinguishing device is included, extinguishing device can effectively put out dead angle fire source, not blocked shadow by cabinet hanging plate, each device It rings.

The laser scanner real-time and accurately exports measurement data by Ethernet with multiecho technology.Laser is swept The side that device is mounted on railway track is retouched, to implementation monitoring is carried out in route and periphery a certain range, by the scanning number in defence area According to being uploaded to the control equipment.

The laser scanner carries out the transmission of data in the form of uploading message.Message information is divided into warning message, shape State message, data message three categories.Warning message, laser scanner is according to the projection size of object, position, fortune in monitoring region The information such as dynamic speed, judge whether it is barrier, upload warning message if barrier.State message, laser scanner monitoring The essential informations such as itself temperature, illiteracy dirt, heartbeat, scan frequency, network configuration upload to control equipment.Data message, laser The defence area information that scanner scans uploads and is stored into control equipment.

The working principle of laser scanner is to emit laser beam pulses, in the form of two dimension is polar on rail rail level Side constitutes warning aperture plate, covers entire zone of protection.When occurring above rail level including foreign matters such as people, birds and beasts, falling rocks, laser beam Reflection is blocked by foreign matter surface, the photodiode in laser scanner detects and receives reflection echo.This continuous mistake Journey is by accurate calculating, it may be determined that the location informations such as distance and the direction of motion of the foreign matter.

It is described communication and input-output equipment include input/output module, system state monitoring module, data disaply moudle, Interchanger and relay group etc..The input/output module is set for receiving the switching values information such as long-range control and being uploaded to control It is standby；It controls equipment and controls each way switch amount warning message of input/output module, include loudspeaker alarm, column control alarm and failure report It is alert.Input/output module has the following characteristics that open communication agreement；It occupies little space, suitable system modularized design；It is anti- Thunder, Anti-surging design, and increase input isolation, module can be protected.The system state monitoring module.For detecting The module of communication and working condition between the module of equipment is controlled, once control equipment breaks down, analysis system shape can be passed through State monitoring modular relevant information positions the module of failure, can quickly solve the problems, such as in this way, and making to control equipment recovery makes With, substantially reduce control equipment maintenance time, improve control equipment service efficiency.System state monitoring module has Following functions: real-time inspection and control in the storage state and dosage of each data memory module of equipment, control equipment memory, CPU usage, temperature, whether the information such as normal communication；Real-time monitoring video handles the states such as communication, the work of picture recording module； Whether real-time monitoring environmental control module temperature and humidity collected, the connection for each interface connecting with environmental control module are abnormal etc. Information；Whether the communication of real-time monitoring input/output module, data disaply moudle etc. is normal；The electric current of real-time monitoring power supply becomes Change；Control the mountable storage card of equipment, can mass-memory unit information for backup；Support ICP/IP protocol, it can be with phase It closes module and passes through ICP/IP protocol real time communication；It, can be with the module with RS485 interface in control equipment with RS485 interface It is communicated.The data disaply moudle, being capable of real-time display control equipment, the state of input/output module and Switching Power Supply. The interchanger is used to link up the industrial personal computer, video processing picture recording module, laser scanner and optical modem, Reliable data transmission is provided.The interchanger and relay group.The output of input/output module is received, control circuit is led to It is disconnected, thus the other module actions of control system.

The picture pick-up device using can the camera of high-speed holder control taken the photograph when some defence area finds doubtful barrier As equipment is according to the control instruction of the control equipment, so that camera automatic positioning is to the laser scanning submodule position of alarm It sets, it is ensured that obtain alarm live view at the first time.

The control equipment further includes power supply module, and the power supply module provides for control equipment normal operation stablizes electricity Source is made of AC power supply unit and DC power supply unit.The AC power supply unit provides 220VAC power supply by outside and accesses UPS, The stable power-supplying of realization system.System has the technical conditions of access two-way external power supply, and two-way 220VAC plant-grid connection is thrown certainly certainly Compound double power supply automatic switching switch.When 220VAC power failure all the way, storage battery power supply of the system by UPS, double electricity Source automatic transfer switch completes power supply switching in 1.5s, restores external and accesses power supply power supply.If two-way 220VAC power supply is sent out entirely Raw failure, UPS can run at least 4h for system power supply.The DC power supply unit provides DC power supply, wherein controlling equipment enclosure The power supply of interior electrical equipment is provided by 24V server power supply, and the conditional power source of column control alarm and fault alarm is by 27V server Power supply provides.Server power supply is double set redundant configurations, and double set server power sources in parallel use, when one of server power supply When breaking down, system normal operation is not influenced.

The control equipment further includes remote server, and the remote server includes data server and Video service Device is set to long-range monitoring room, is connect by Ethernet private communication channel with control equipment, is responsible for record and checks that control is set Standby warning message and video information, in order to later period system upgrade.Remote server and control equipment use C/S framework, i.e., Only allow to access server by way of client, partial arithmetic can be distributed to client process, using TCP network transmission Agreement, the interface communicated using WebService technology as client and server.Meanwhile task can reasonably be distributed to Client and server end has the advantage that safety and confidentiality are high, load is light, fast response time, interface are rich Rich, full-featured, software reuse rate height, multi-platform compatibility and Overpassing Platform by Using ability are strong.In addition, in order to guarantee that system is transported safely Row, builds two remote servers, and one is primary server, and one is standby server, when primary server when something goes wrong, hand It is dynamic to be switched to standby server and continue to run.

The control equipment further includes column control alarm module, and the column control alarm module with disaster prevention system for being led to Letter, to export column control alarm and fault-signal to disaster prevention system.As an implementation, the column control alarm module includes Safety relay, relay normal condition use normally-closed contact, and column control alarm is triggered using low level, when coil power supply, contact Trigger column control is alarmed after acting.Column control alarm module passes through two safety using double set redundant configurations, column control alarm module Relay is used in series, if one of relay break down can not be generated when leading to its coil power supply contact movement (still for Normally off), then another relay can arrange control alarm still with triggered as normal, and reduction system is failed to report.The column control alarm module Safety relay is set on rail track, is connect with the disaster prevention system of rail track.

Above-described monitor terminal is used to execute wireline inspection method provided in an embodiment of the present invention, specifically includes:

The laser scanner obtains scan echo for scanning rail track；And the laser scanner is used for base In the scan echo, judge on the rail track with the presence or absence of the foreign matter for meeting preset condition；And meet in advance existing If when the foreign matter of condition, the laser scanner deposits the foreign matter for characterizing for generating and exporting on the rail track Warning message is to the control equipment.

Wherein, when the laser scanner judges whether there is foreign matter, specifically: it is based on the scan echo, is obtained in institute An object is stated on rail track in the polar value of the plane of scanning motion of the laser scanner；Based on the polar value, determine The projection size of the object；Based on the projection size, judge whether the object is to form dangerous foreign matter.

The control equipment is used to generate and send the first control instruction based on the warning message to the picture pick-up device；

The picture pick-up device images the foreign matter region, obtains for executing first control instruction Video image.

The control equipment is also used to obtain the first duration that the foreign matter remains static based on the scan echo； And judge first duration whether more than the first preset duration；When for the first duration whether more than the first preset duration, institute It states control equipment and generates and sends the second control instruction to the communication and input-output equipment.

Second control instruction is transferred to the loudspeaker in the monitoring system by the communication and input-output equipment, So that the loudspeaker exports audible ringing signal by executing second control instruction.

The remote server that the control equipment is also used to send the video image in the monitoring system.

The control equipment is also used to judge that the foreign matter is in the second of the stationary state based on the scan echo Whether duration is greater than the second preset duration, wherein second preset duration is greater than first preset duration.

The second duration whether be greater than second it is default constantly, the control equipment generate and export third control instruction extremely with The disaster prevention system of the monitoring system connection, so that the disaster prevention system is prevented after executing the third control instruction to described The train control system of calamity system connection sends column control alarm signal.

Second embodiment

Fig. 4 is referred to, for the step flow chart for the wireline inspection method that second embodiment of the invention provides, is applied to first Monitoring system described in embodiment, which comprises

Step S310, the laser scanner scan rail track, obtain scan echo.

The laser scanner transmitting laser pulse being set on rail track, in the form of two-dimensional coordinate on steel track Side constitutes aperture plate.When there is foreign matter above track, laser beam blocks reflection by foreign matter surface, the photoelectricity two in laser scanner Pole pipe detects and receives scan echo.

Laser scanner carries out a spot measurement every certain angle when monitoring defence area progress flat scanning to it, Interval angles are defined as the resolution ratio of laser scanner, and resolution ratio is higher, and measurement accuracy is also higher.As laser scanner arrives The increase of limit foreign matter distance is invaded, the distance between single scanning element is also increasing.The distance between measurement point depends on angular resolution Configuration.The distance between light beam is related with monitoring distance and selected angular resolution.Using big resolution ratio apart from larger, make It is smaller with small resolution ratio distance, as shown in Figure 5.

Functional relation of the Fig. 6 between lasing beam diameter and eyeball spacing, beam diameter (mm)=monitoring distance × 0.0046(HR)or 0.011(SR)+13。

Limit foreign matter is invaded in order to reliably detect to one, beam of laser light beam must be incident upon on object completely.Only when Object shape arrives greatly certain size, it could be detected completely, between diameter=beam diameter+light beam that object can be detected Distance, as shown in Figure 7.

In addition, laser scanner can also measure secondary reflection pulse.When raining, laser beam encounters raindrop for reflecting part Divide energy, the rest part of light beam continues to propagate and reflected by actual object, generates secondary reflection pulse, as shown in Figure 8.

As shown in figure 9, for laser scanner, mounting height schematic diagram, object A are lower than cowcatcher height at the scene, it Traffic safety is not impacted, it is lower than laser beam aperture plate height, and no laser beam is irradiated to object A, therefore will not It is monitored as barrier.Object B higher than cowcatcher height is irradiated to by laser beam aperture plate, is generated reflection, is swept by laser It retouches device and is identified as barrier, to reduce rate of false alarm.

Step S320, the laser scanner are based on the scan echo, judge on the rail track with the presence or absence of full The foreign matter of sufficient preset condition.

As an implementation, the step S320 is specifically included

Step S321, the laser scanner are based on the scan echo, obtain an object on the rail track and exist The polar value of the plane of scanning motion of the laser scanner.

Step S322, the laser scanner are based on the polar value, determine the projection size of the object.

Step S323, the laser scanner are based on the projection size, judge whether the object is to form danger Foreign matter.

Step S330, the control equipment based on the scan echo obtain that the foreign matter remains static first when It is long；And judge first duration whether more than the first preset duration.

When judging the object is to form dangerous foreign matter, judge whether the duration that the object remains static is low In preset duration.

Step S340, when the duration to remain static is lower than preset duration, the control equipment generates and sends the Two control instructions give the communication and input-output equipment.

If the control equipment judges that the object is dangerous foreign matter, and the foreign matter of the danger exists

When quiescent time on the rail track is continued above the first preset duration, control is set to rail track scene Loudspeaker issue high pitch warning message.

Second control instruction is transferred in the monitoring system by step S350, the communication and input-output equipment Loudspeaker so that the loudspeaker exports audible ringing signal by executing second control instruction.

Step S360, the control equipment are based on the scan echo, judge that the foreign matter is in the stationary state Whether the first duration is greater than the second preset duration, wherein second preset duration is greater than first preset duration.

Step S370, when the first duration in the stationary state is greater than the second preset duration, the control equipment It generates and exports third control instruction to the disaster prevention system connecting with the monitoring system, so that the disaster prevention system is executing institute It states and sends column control alarm signal to the train control system connecting with the disaster prevention system after third control instruction.

If controlling equipment is based on the scan echo, judge that the stationary state of the foreign matter of the danger is more than second default When duration, alarm signal is sent to disaster prevention system, so that alarm signal is sent to train control system by disaster prevention system, prompts column control System monitoring personnel take measures.

In another embodiment, referring to Figure 10, in step after S330, further include

Step S380, the control equipment are based on the scan echo and generate and send the first control instruction to the camera shooting Equipment.

Step S390, the picture pick-up device execute first control instruction, image to the foreign matter region, Obtain video image.

When the laser scanner judges the foreign matter that the foreign matter is dangerous based on scan echo, and the danger is different When the first static duration of object is greater than the first preset duration, the first control instruction is sent to picture pick-up device, so that picture pick-up device is clapped The video image of foreign matter region is taken the photograph, and is sent to remote server, for subsequent calls.

In conclusion wireline inspection method provided by the invention and monitor terminal, using laser scanner using non-contact Formula detection method, no matter in terms of technology, the economic benefit or in terms of difficulty of construction with greater advantage, can be utmostly Meet system specifications.Laser scanner can carry out real-time monitoring to self-condition.System is to itself by unfavorable scene The destruction of (such as burial, fire, flood) carries out real-time monitoring, such as laser scanner inclination situation carries out real-time monitoring.One There is dangerous situation in denier, alarm can and time control harm is minimized.Using modularized design.In terms of production cost, modularization can So that assembling process is simple, capital equipment is integrated into 1U+1.5U cabinet, production efficiency is substantially improved and not easy to make mistakes.If Standby maintenance aspect, modularization can simplify plant maintenance work.

In addition, not only improving report scene in this way by real-time collection site images of equipment such as the cameras of scene setting Alert condition notifies related personnel in time, and the commander after being also beneficial to route generation obstacle speedily carries out rescue work, and video storaging equipment is then used to chase after It traces back analysis.

By the way that remote server is arranged, realizes the statistical analysis of system monitoring data, constantly upgrade for system and provide safeguard.

UPS equipment is set.On the basis of supplying power with double circuit, UPS power supply plan is added, guarantees that system being capable of stable for 24 hours, company Continuous work.

In several embodiments provided herein, it should be understood that disclosed device and method can also pass through Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product, Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.

In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.

It, can be with if the function is realized and when sold or used as an independent product in the form of software function module It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities The relationship or sequence on border.

The terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that packet The process, method, article or equipment for including a series of elements not only includes those elements, but also including being not explicitly listed Other element, or further include for elements inherent to such a process, method, article, or device.Do not limiting more In the case where, the element that is limited by sentence "including a ...", it is not excluded that including process, method, the object of the element There is also other identical elements in product or equipment.

The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing It is further defined and explained.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

Claims (8)

1. a kind of wireline inspection method, applied in the monitoring system of rail track, which is characterized in that the monitoring system packet Include: control equipment, laser scanner connect, picture pick-up device with the control equipment, connect with the control equipment, communicate and Input-output equipment is connect with the control equipment:

The laser scanner scans rail track, obtains scan echo；

The laser scanner is based on the scan echo, and judging, which whether there is on the rail track, meets the different of preset condition Object；

When scanning is to barrier, the laser scanner generates and exports that there are described different on the rail track for characterizing The warning message of object is to the control equipment；

The control equipment obtains the first duration that the foreign matter remains static based on the scan echo；And described in judging Whether the first duration is more than the first preset duration；

If first duration is more than the first preset duration, the control equipment is based on the scan echo, judges the foreign matter Whether the second duration in the stationary state is greater than the second preset duration, wherein second preset duration is greater than described First preset duration；

When the second preset duration is greater than first preset duration, the control equipment generates and exports third control instruction extremely The disaster prevention system being connect with the monitoring system so that the disaster prevention system after executing the third control instruction to it is described The train control system of disaster prevention system connection sends column control alarm signal.

2. the method according to claim 1, wherein the laser scanner is based on the scan echo, judgement With the presence or absence of the foreign matter for meeting preset condition on the rail track, comprising:

The laser scanner be based on the scan echo, obtain on the rail track object in the laser scanner The plane of scanning motion polar value；

The laser scanner is based on the polar value, determines the projection size of the object；

The laser scanner is based on the projection size, judges whether the object is to form dangerous foreign matter.

3. method according to claim 1 or 2, which is characterized in that generate and exported for table in the laser scanner After levying the warning message to the control equipment for depositing the foreign matter on the rail track, the method also includes:

The control equipment is based on the scan echo and generates and sends the first control instruction to the picture pick-up device；

The picture pick-up device executes first control instruction, images to the foreign matter region, obtains video image.

4. the method according to claim 1, wherein judging whether first duration is pre- more than first described If after duration, the method also includes:

When the first duration is more than the first preset duration, the control equipment generates and sends the second control instruction to the communication And input-output equipment；

Second control instruction is transferred to the loudspeaker in the monitoring system by the communication and input-output equipment, so that The loudspeaker exports audible ringing signal by executing second control instruction.

5. a kind of monitoring system, which is characterized in that for being monitored to rail track, the monitoring system includes:

Control equipment, laser scanner connect, picture pick-up device with the control equipment, connect with the control equipment, communicate and Input-output equipment is connect with the control equipment；

Wherein, the laser scanner obtains scan echo for scanning rail track；And the laser scanner is used for base In the scan echo, judge on the rail track with the presence or absence of the foreign matter for meeting preset condition；And meet in advance existing If when the foreign matter of condition, the laser scanner deposits the foreign matter for characterizing for generating and exporting on the rail track Warning message is to the control equipment；The control equipment obtains what the foreign matter remained static based on the scan echo First duration；And judge first duration whether more than the first preset duration；

If first duration is more than the first preset duration, the control equipment is based on the scan echo, judges the foreign matter Whether the second duration in the stationary state is greater than the second preset duration, wherein second preset duration is greater than described First preset duration；

When the second preset duration is greater than first preset duration, the control equipment generates and exports third control instruction extremely The disaster prevention system being connect with the monitoring system so that the disaster prevention system after executing the third control instruction to it is described The train control system of disaster prevention system connection sends column control alarm signal.

6. monitoring system according to claim 5, which is characterized in that the laser scanner is specifically used for:

Based on the scan echo, an object is obtained on the rail track in the pole of the plane of scanning motion of the laser scanner Coordinate value；

Based on the polar value, the projection size of the object is determined；

Based on the projection size, judge whether the object is to form dangerous foreign matter.

7. monitoring system according to claim 5 or 6, which is characterized in that the control equipment is used to be based on the alarm Information generates and sends the first control instruction to the picture pick-up device；

The picture pick-up device images the foreign matter region, obtains video for executing first control instruction Image.

8. monitoring system according to claim 5, which is characterized in that the control equipment is obtained based on the scan echo Obtain the first duration that the foreign matter remains static；And after judging first duration whether more than the first preset duration, It is also used to when the first duration is more than the first preset duration, the control equipment generates and sends the second control instruction to described logical Letter and input-output equipment；

Second control instruction is transferred to the loudspeaker in the monitoring system by the communication and input-output equipment, so that The loudspeaker exports audible ringing signal by executing second control instruction.