CN108313088A - A kind of contactless rail vehicle obstacle detection system - Google Patents
A kind of contactless rail vehicle obstacle detection system Download PDFInfo
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- CN108313088A CN108313088A CN201810153524.2A CN201810153524A CN108313088A CN 108313088 A CN108313088 A CN 108313088A CN 201810153524 A CN201810153524 A CN 201810153524A CN 108313088 A CN108313088 A CN 108313088A
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 230000004888 barrier function Effects 0.000 claims abstract description 42
- 230000004927 fusion Effects 0.000 claims abstract description 27
- 238000012360 testing method Methods 0.000 claims abstract description 11
- 238000007689 inspection Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000010365 information processing Effects 0.000 claims description 6
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000005036 potential barrier Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 238000012372 quality testing Methods 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 239000013589 supplement Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 239000012491 analyte Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of contactless rail vehicle obstacle detection system, the operating mode of different road conditions, place and natural environment is operated according to vehicle, and the characteristic of barrier, data fusion is carried out to the output data of more kinds of video shooting device, laser radar apparatus, infrared tester, ultrasonic inspection system, GPS test sources, realize the mutual supplement with each other's advantages to a variety of test devices, it completes the detection and early warning to barrier and controls the operation of vehicle, the safe operation for ensuring rail vehicle realizes contactless detection of obstacles；The precision to detection of obstacles and early warning is improved, wrong report, rate of failing to report are reduced；Realize the test of round-the-clock, full working scope barrier and early warning in rail vehicle.
Description
Technical field
The invention belongs to the safety protection field of rail vehicle, it is related in vehicle operation to the contactless of barrier
Detection.
Background technology
The transport of rail vehicle have freight volume is big, energy consumption is low, it is safe, convenient and it is round-the-clock transport etc. spies
Point, many countries are all using rail vehicle as very important basic means of transportation in the world.Meanwhile with urban track traffic
The development of technology, some domestic and international big cities propose to build full-automatic unmanned driving's subway train, raising operational efficiency.It considers
Speed is fast in the process of running, inertia is big for train, and pavement behavior is relatively complicated in rail transport, therefore, very
It is necessary to the Exploration on Train Operation Safety of the safety problem to rail vehicle transportation system, especially train to carry out in-depth study, barrier
It is exactly one of important technology therein to hinder analyte detection.
It is mostly contact mode, or the non-contact detection for single piece of information source in view of current obstacle detection technology
Mode, that there is detecting distances is limited for contact detection of obstacles mode, can cause mechanical damage, detection device can not on train
The problem of recycling, and there is can not achieve detection in real time and give warning in advance the non-contact detection mode in single piece of information source
And can not the detection of round-the-clock, full working scope the problem of, therefore, research and development can realize early warning and energy in advance based on contactless
The obstacle detection system and control method of enough round-the-clock full working scope work become necessity.
Invention content
The object of the present invention is to provide a kind of contactless obstacle detection systems of rail vehicle, can be in rail vehicle
It is completed to round-the-clock and full working scope the contactless real-time detection of barrier and early warning work(using a variety of test devices when operation
Can, meet the demand for security of vehicle operation.
To achieve the above object, the present invention provides a kind of contactless rail vehicle obstacle detection system, and feature exists
In：Including video shooting device, laser radar apparatus, infrared tester, ultrasonic inspection system, GPS, data fusion dress
It sets and train controller, video shooting device, laser radar apparatus, infrared tester, ultrasonic inspection system, GPS
Respectively connection data fusion device, data fusion device connect train controller respectively, wherein：
Video shooting device is used to utilize stereovision technique, and carrying out different angle shooting picture progress characteristic to same scene carries
It takes and barrier is detected with matched principle；
Laser radar apparatus is used for basis and is detected to barrier to the analysis of laser reflection wave and identification；
Infrared tester is for detecting barrier according to thermal radiation property；
Ultrasonic inspection system is used to, according to the information of the signature analysis acquired disturbance object to echo, detect barrier；
GPS is used to obtain time, the speed of service and the location information of train；
Data fusion device is for receiving video shooting device, laser radar apparatus, infrared tester, ultrasound trial assembly
The test data with GPS is set, data fusion is carried out；
Train controller is used to receive the obstacle information after data fusion device fusion, carries out obstacle information and shows and right
The control of train traction and braking system.
The data fusion device is for the process of data fusion：It is good in weather environment and sight and light
When operating mode, when video shooting device and laser radar apparatus detect barrier, then judge this information for correct obstacle
Information is simultaneously output to train controller by quality testing measurement information；It is any other a kind of individually detecting and more under the operating mode
It plants the obstacle information that detection device detects jointly to be judged as reporting by mistake, not as the information processing for detecting barrier and incite somebody to action
Information is output to train controller；In the weather environment severe either weak operating mode of dark surrounds light or access tunnel bias light
When the operating mode of acute variation operating mode occurs for line, when laser radar apparatus, infra-red ray detection device and ultrasonic detection device are examined
When measuring barrier, then this information is judged for correct detection of obstacles information and information is output to train controller；When
Laser radar apparatus detects barrier with any one detection device in infra-red ray detection device or ultrasonic detection device
When, then it is judged as potential detection of obstacles information and information is output to train controller；For under this operating mode, other
It anticipates a kind of obstacle information that detection device individually detects or the obstacle information that video shooting device detects judges
For wrong report, not as the information processing for detecting barrier and information is output to train controller.
The present invention by video shooting device, laser radar apparatus, infrared tester, ultrasonic inspection system,
The interaction of GPS, data fusion device and train controller utilize the data fusion of data fusion device multi-data source
Function operates in the operating mode of different road conditions, place and natural environment and the characteristic of barrier according to vehicle, to above a variety of
The output data of test source carries out data fusion, realizes the mutual supplement with each other's advantages to a variety of test devices, completes the detection to barrier
With early warning and control the operation of vehicle, it is ensured that the safe operation of rail vehicle reaches following good effect：
（1）Realize contactless detection of obstacles；
（2）The precision to detection of obstacles and early warning is improved, wrong report, rate of failing to report are reduced；
（3）Realize the test of round-the-clock, full working scope barrier and early warning in rail vehicle.
Description of the drawings
Fig. 1 is present system composition frame chart；
Fig. 2 is control method flow chart of the present invention.
Specific implementation mode
Referring to Fig.1, the present invention includes video shooting device, laser radar apparatus, infrared tester, ultrasonic test
Device, GPS, data fusion device and train controller, laser radar apparatus is using laser radar technique according to anti-to laser
The analysis and identification of ejected wave detect barrier；Video shooting device utilizes stereovision technique, according to video camera
Device carries out different angle shooting picture progress feature extraction to same scene and matched principle detects barrier, leads to
Cross weather environment, sight and the light line compared and analyzed to the object of reference by train operation track when judging train operation
Part distinguishes the operating condition of train；Ultrasonic inspection system is hindered using ultrasonic technology according to the signature analysis to echo
The information of object is hindered to detect barrier, infrared tester is using infrared imagery technique according to thermal radiation property to obstacle
Object is detected, and time, the speed of service and the location information of train are obtained using GPS（Including tunnel face）；Simultaneously using three-dimensional
Vision technique is by comparing and analyzing the object of reference by train operation track weather environment when judging train operation, sight
And light condition, the operating condition of train is distinguished, and operating mode is divided into nominal situation and extreme operating condition totally two kinds of operating modes.Will more than
The test data of device is input in data fusion device, carries out data fusion；By detecting after fusion, obstacle information is defeated
Go out to train controller, while can show obstacle information on drivers' cab display screen, and to train traction and braking system
System is controlled.
Data fusion process：
In weather environment and sight and the good operating mode of light（Abbreviation nominal situation）, when video shooting device and laser thunder
When detecting barrier up to device, then this information is judged for correct detection of obstacles information and information is output to train control
Device processed；Under the operating mode, the barrier that any other a kind of individually detecting and a variety of detection devices detect jointly is believed
Breath is judged as reporting by mistake, and not as the information processing for detecting barrier and information is output to train controller.
It is severe in weather environment（Rain, snow, haze etc.）The either back ofs the body such as the weak operating mode of the light such as dark surrounds or access tunnel
When the operating mode of acute variation operating mode occurs for scape light（Abbreviation extreme operating condition）, when laser radar apparatus, infra-red ray detection device and
When ultrasonic detection device detects barrier, then this information is judged for correct detection of obstacles information and exports information
To train controller；When any one detection in laser radar apparatus and infra-red ray detection device or ultrasonic detection device
When device detects barrier, then it is judged as potential detection of obstacles information and information is output to train controller；For
Under this operating mode, what a kind of any other obstacle information that detection device individually detects or video shooting device detected
Obstacle information is judged as reporting by mistake, and Train Control dress is output to not as the information processing for detecting barrier and by information
It sets.
After completing data fusion, the course of work of train controller is as follows：
After receiving obstacle information and confirm that the information truth is effective, train controller is according to the actual speed of train
And the trailer system and braking system of the obstacle distance control train detected, it stops before train reaches barrier, such as
Fruit reaches the obstacle information detected before barrier in train and disappears, then the traction and braking of train controller control train
System is restored to the train status before detecting barrier；After receiving obstacle information but confirm that the information is invalid, train
Control device does not control train, and train keeps original state operation；When receiving potential detection of obstacles information
Afterwards and confirm that the information truth is effective, train controller is according to the actual speed of train and the potential barrier detected
The minimum speed that the trailer system and braking system of distance controlling train are reduced to circuit permission travels, and reaches potential barrier
When before safe distance if still receiving potential obstacle information Train Stopping, before train driving to barrier barrier believe
Breath disappears, then the traction of train controller control train and braking system are restored to the train status before detecting barrier.
Claims (2)
1. a kind of contactless rail vehicle obstacle detection system, it is characterised in that：Including video shooting device, laser radar
Device, infrared tester, ultrasonic inspection system, GPS, data fusion device, train controller, video camera dress
It sets, laser radar apparatus, infrared tester, ultrasonic inspection system, GPS respectively connect data fusion device respectively, number
Train controller is connected according to fusing device, wherein：
Video shooting device is used to utilize stereovision technique, and carrying out different angle shooting picture progress characteristic to same scene carries
It takes and barrier is detected with matched principle；
Laser radar apparatus is used for basis and is detected to barrier to the analysis of laser reflection wave and identification；
Infrared tester is for detecting barrier according to thermal radiation property；
Ultrasonic inspection system is used to, according to the information of the signature analysis acquired disturbance object to echo, detect barrier；
GPS is used to obtain time, the speed of service and the location information of train；
Data fusion device is for receiving video shooting device, laser radar apparatus, infrared tester, ultrasound trial assembly
The test data with GPS is set, data fusion is carried out；
Train controller is used to receive the obstacle information after data fusion device fusion, carries out obstacle information and shows and right
The control of train traction and braking system.
2. a kind of contactless rail vehicle obstacle detection system according to claim 1, it is characterised in that：Described
Data fusion device is for the process of data fusion：In weather environment and sight and the good operating mode of light, work as video
When photographic device and laser radar apparatus detect barrier, then this information is judged for correct detection of obstacles information and is incited somebody to action
Information is output to train controller；Under the operating mode, any other a kind of individually detecting and a variety of detection devices are common
The obstacle information detected is judged as reporting by mistake, and not as the information processing for detecting barrier and information is output to train
Control device；Acute variation occurs in the severe either weak operating mode of dark surrounds light of weather environment or access tunnel background light
When the operating mode of operating mode, when laser radar apparatus, infra-red ray detection device and ultrasonic detection device detect barrier, then
This information is judged for correct detection of obstacles information and information is output to train controller；When laser radar apparatus with it is red
When any one detection device in outer line detector or ultrasonic detection device detects barrier, then it is judged as potential barrier
Hinder quality testing measurement information and information is output to train controller；For under this operating mode, a kind of any other detection device list
The obstacle information that the obstacle information or video shooting device solely detected detects is judged as reporting by mistake, not as detection
To barrier information processing and information is output to train controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810153524.2A CN108313088B (en) | 2018-02-22 | 2018-02-22 | Non-contact rail vehicle barrier detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810153524.2A CN108313088B (en) | 2018-02-22 | 2018-02-22 | Non-contact rail vehicle barrier detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108313088A true CN108313088A (en) | 2018-07-24 |
| CN108313088B CN108313088B (en) | 2020-08-25 |
Family
ID=62899795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810153524.2A Active CN108313088B (en) | 2018-02-22 | 2018-02-22 | Non-contact rail vehicle barrier detection system |
Country Status (1)
| Country | Link |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482427A (en) * | 2018-02-22 | 2018-09-04 | 中车长春轨道客车股份有限公司 | A kind of contactless rail vehicle obstacle detection system and method for controlling security |
| CN109910955A (en) * | 2019-03-19 | 2019-06-21 | 南京理工大学 | Rail tunnel obstacle detection system and method based on transponder information transmission |
| CN110027592A (en) * | 2019-03-08 | 2019-07-19 | 浙江众合科技股份有限公司 | The unmanned vehicle control syetem of CBTC with disturbance of intelligence analyte detection and warning function |
| CN110231402A (en) * | 2019-05-22 | 2019-09-13 | 张博湉 | A kind of Container inspection system method and device |
| CN110435689A (en) * | 2019-09-09 | 2019-11-12 | 中铁电气化局集团西安电气化工程有限公司 | Disturbance of intelligence probe vehicles and detection method based on modularity control |
| CN111688758A (en) * | 2019-03-11 | 2020-09-22 | 北京华通时空通信技术有限公司 | Obstacle detection system for high-speed railway track |
| CN111976788A (en) * | 2019-05-22 | 2020-11-24 | 杭州电子科技大学 | High-speed rail transit network radar system |
| CN112101316A (en) * | 2020-11-17 | 2020-12-18 | 北京中科原动力科技有限公司 | Target detection method and system |
| CN112441076A (en) * | 2019-08-28 | 2021-03-05 | 比亚迪股份有限公司 | Rail vehicle and control method and control system thereof |
| ES2835106A1 (en) * | 2019-12-19 | 2021-06-21 | Alvarez Francesc Xavier Gastaminza | Safety equipment and procedure (Machine-translation by Google Translate, not legally binding) |
| CN113325826A (en) * | 2021-06-08 | 2021-08-31 | 矿冶科技集团有限公司 | Underground vehicle control method and device, electronic equipment and storage medium |
| CN113963327A (en) * | 2021-09-06 | 2022-01-21 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method, obstacle detection apparatus, autonomous vehicle, device, and storage medium |
| CN114056385A (en) * | 2020-07-31 | 2022-02-18 | 比亚迪股份有限公司 | Train control method and device and train |
| CN114954570A (en) * | 2022-04-14 | 2022-08-30 | 通号城市轨道交通技术有限公司 | Rail obstacle processing method and device, electronic equipment and storage medium |
| WO2022228592A1 (en) * | 2021-04-26 | 2022-11-03 | AŽD Praha s.r.o. | Railway train equipment for the detection of objects and their subsequent classification |
| CN117002544A (en) * | 2023-08-17 | 2023-11-07 | 中关村科学城城市大脑股份有限公司 | Folding track inspection equipment and track fault information sending method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108482427A (en) * | 2018-02-22 | 2018-09-04 | 中车长春轨道客车股份有限公司 | A kind of contactless rail vehicle obstacle detection system and method for controlling security |
| CN110027592B (en) * | 2019-03-08 | 2021-07-20 | 浙江众合科技股份有限公司 | CBTC unmanned vehicle-mounted control system with intelligent obstacle detection and early warning functions |
| CN110027592A (en) * | 2019-03-08 | 2019-07-19 | 浙江众合科技股份有限公司 | The unmanned vehicle control syetem of CBTC with disturbance of intelligence analyte detection and warning function |
| CN111688758A (en) * | 2019-03-11 | 2020-09-22 | 北京华通时空通信技术有限公司 | Obstacle detection system for high-speed railway track |
| CN109910955A (en) * | 2019-03-19 | 2019-06-21 | 南京理工大学 | Rail tunnel obstacle detection system and method based on transponder information transmission |
| CN109910955B (en) * | 2019-03-19 | 2021-11-23 | 南京理工大学 | Rail transit tunnel barrier detection system and method based on transponder information transmission |
| CN110231402A (en) * | 2019-05-22 | 2019-09-13 | 张博湉 | A kind of Container inspection system method and device |
| CN111976788A (en) * | 2019-05-22 | 2020-11-24 | 杭州电子科技大学 | High-speed rail transit network radar system |
| CN112441076A (en) * | 2019-08-28 | 2021-03-05 | 比亚迪股份有限公司 | Rail vehicle and control method and control system thereof |
| CN112441076B (en) * | 2019-08-28 | 2022-07-15 | 比亚迪股份有限公司 | Rail vehicle and control method and control system thereof |
| CN110435689A (en) * | 2019-09-09 | 2019-11-12 | 中铁电气化局集团西安电气化工程有限公司 | Disturbance of intelligence probe vehicles and detection method based on modularity control |
| ES2835106A1 (en) * | 2019-12-19 | 2021-06-21 | Alvarez Francesc Xavier Gastaminza | Safety equipment and procedure (Machine-translation by Google Translate, not legally binding) |
| CN114056385A (en) * | 2020-07-31 | 2022-02-18 | 比亚迪股份有限公司 | Train control method and device and train |
| CN112101316B (en) * | 2020-11-17 | 2022-03-25 | 北京中科原动力科技有限公司 | Target detection method and system |
| CN112101316A (en) * | 2020-11-17 | 2020-12-18 | 北京中科原动力科技有限公司 | Target detection method and system |
| WO2022228592A1 (en) * | 2021-04-26 | 2022-11-03 | AŽD Praha s.r.o. | Railway train equipment for the detection of objects and their subsequent classification |
| CN113325826A (en) * | 2021-06-08 | 2021-08-31 | 矿冶科技集团有限公司 | Underground vehicle control method and device, electronic equipment and storage medium |
| CN113963327A (en) * | 2021-09-06 | 2022-01-21 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method, obstacle detection apparatus, autonomous vehicle, device, and storage medium |
| CN113963327B (en) * | 2021-09-06 | 2023-09-08 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method, obstacle detection device, autonomous vehicle, apparatus, and storage medium |
| CN114954570A (en) * | 2022-04-14 | 2022-08-30 | 通号城市轨道交通技术有限公司 | Rail obstacle processing method and device, electronic equipment and storage medium |
| CN117002544A (en) * | 2023-08-17 | 2023-11-07 | 中关村科学城城市大脑股份有限公司 | Folding track inspection equipment and track fault information sending method |
| CN117002544B (en) * | 2023-08-17 | 2024-04-12 | 中关村科学城城市大脑股份有限公司 | Folding track inspection equipment and track fault information sending method |
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| CN108313088B (en) | 2020-08-25 |
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