CN110239592A - A kind of active barrier of rail vehicle and derailing detection system - Google Patents
A kind of active barrier of rail vehicle and derailing detection system Download PDFInfo
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- CN110239592A CN110239592A CN201910595556.2A CN201910595556A CN110239592A CN 110239592 A CN110239592 A CN 110239592A CN 201910595556 A CN201910595556 A CN 201910595556A CN 110239592 A CN110239592 A CN 110239592A
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- 230000004888 barrier function Effects 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 21
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000005856 abnormality Effects 0.000 abstract 1
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9328—Rail vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of active barrier of rail vehicle and derailing detection systems, it include: the barrier being electrically connected with each other and track detecting unit, data processing unit, train control system, the barrier and track detecting unit are used to be scanned the object of surrounding in rail vehicle driving process and the track run, obtain object point cloud data, object information and orbital image information, the initial point cloud data of rail vehicle surrounding objects acquired in radar in normal driving process is prestored in the data processing unit, preliminary orbit image information acquired in initial image information and camera, by carrying out the information of barrier and track detecting unit feedback to merge comparison with its memory information, analysis obtains a result and feeds back to train control system, actively train is transported based on the analysis results by train control system Row state makes control instruction.By the above-mentioned means, the present invention can note abnormalities in time and make active braking instruction to vehicle.
Description
Technical field
The present invention relates to rail vehicle autonomous driving technical fields, more particularly to a kind of active barrier of rail vehicle
And derailing detection system.
Background technique
Rail vehicle has the characteristics that freight volume is big, low energy consumption, highly-safe, convenient and round-the-clock transport, in the world
Many countries are all using rail vehicle as very important basic means of transportation.Meanwhile with the hair of urban rail transit technology
Exhibition, some big cities propose construction full-automatic unmanned driving's rail vehicle both at home and abroad, improve operational efficiency.In view of rail vehicle
Speed is fast in the process of running, inertia is big, and pavement behavior is relatively complicated in rail transport, therefore, rail vehicle barrier
Object and derailing detection technique is hindered to have become one of the research hotspot in current orbit traffic automation field.
The barrier and derailing detection system of current orbit vehicle mainstream are mostly passive form, that is, use contact barrier
There is being limited in scope for detection barrier in detection mode, and the distance for detecting barrier is limited, cannot find comprehensively, ahead of time
Barrier can cause mechanical damage on rail vehicle, even influence safety in operation.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of active barrier of rail vehicle and derailing detection system,
Point cloud data, object information and the fortune for the rail vehicle surrounding objects that can be obtained in real time according to barrier and track detecting unit
Row orbital image information feeds back to train control system after data processing unit convergence analysis obtains testing result, by train
Control system actively makes control instruction to train operation state according to testing result, so as to solve existing passive type obstacle
Drawbacks described above present in object and derailing detection system.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: it is active to provide a kind of rail vehicle
Barrier and derailing detection system, comprising:
Barrier and track detecting unit, for the object of surrounding in rail vehicle driving process and the rail run
Road is scanned, and obtains object point cloud data, object information and orbital image information；
Data processing unit, inside prestore rail vehicle surrounding objects acquired in radar in normal driving process just
Preliminary orbit image information acquired in beginning point cloud data, initial image information and camera, the data processing unit are used
In the object point cloud data, object information and the orbital image information that receive the barrier and the acquisition of track detecting unit, and will
Initial point cloud data that the object point cloud data, object information are prestored with it, initial image information carry out merging comparison, analyze
Show that whether there are obstacles and obstacle information around rail vehicle, it is first by what is prestored in the orbital image information and its
Beginning orbital image information carries out fusion comparison, and analysis obtains running rail with the presence or absence of abnormal；
Train control system, for receiving the analysis of the data processing unit as a result, based on the analysis results to running over
Rail vehicle in journey actively issues relevant control instruction.
In a preferred embodiment of the present invention, the barrier and track detecting unit include laser radar, millimeter wave
Radar and camera.
In a preferred embodiment of the present invention, the laser radar is configured at the front, rear and two sides of rail vehicle,
For scanning the object information at front, rear and two sides in rail vehicle driving process, object point cloud data is formed, and feed back to
Data processing unit.
In a preferred embodiment of the present invention, the laser radar includes single line laser radar and multi-line laser radar,
The single line laser radar is configured at rail vehicle two sides, and the multi-line laser radar is configured at rail vehicle front and back,
By the single line laser radar and multi-line laser radar to the object of the left and right sides in rail vehicle driving process, front and back into
Row scanning, can obtain object parameters and form object point cloud data and feed back to data processing unit.
In a preferred embodiment of the present invention, the millimetre-wave radar is configured at the front of rail vehicle, for scanning
The object information in front in rail vehicle driving process obtains object accurately distance, speed and angle information, and correlation is believed
Breath feeds back to data processing unit.
In a preferred embodiment of the present invention, the camera is configured at the front and back of rail vehicle, for sweeping
The orbital image information in rail vehicle driving process is retouched, and relevant information is fed back into data processing unit.
In a preferred embodiment of the present invention, the camera in front of rail vehicle is configured to be also used to scan track
On object information, and relevant information is fed back into data processing unit.
The beneficial effects of the present invention are: the present invention breaks the barriers and track detecting unit can obtain rail vehicle in real time
Relevant information is carried out fusion pair through data processing unit by point cloud data, object information or the orbital image information of surrounding objects
Than train control system being fed back to after obtaining analysis result, by train control system based on the analysis results actively to train operation
State makes control instruction, to can brake in time when occurring barrier or abnormal track appearance around rail vehicle
Running vehicle.
Detailed description of the invention
Fig. 1 is the theory of constitution figure of the active barrier of rail vehicle of the present invention and detection system of derailing；
Fig. 2 is the working effect schematic diagram of the active barrier of rail vehicle of the present invention and detection system of derailing；
The components in the drawings are labeled as follows: 1, multi-line laser radar, 2, single line laser radar, 3, millimetre-wave radar, 4,
Camera.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the present invention includes:
A kind of active barrier of rail vehicle and derailing detection system, comprising: the barrier and rail being electrically connected with each other
Road detection unit, data processing unit and train control system；
The barrier and track detecting unit, for the object and vehicle to vehicle periphery in rail vehicle driving process
The track run is scanned, and obtains object information and orbital image information, and object correlation information is formed a point cloud number
According to；Specifically, the barrier and track detecting unit include laser radar 1,2, millimetre-wave radar 3 and camera 4, in conjunction with figure
Shown in 2, in the present embodiment, the laser radar includes multi-line laser radar 1 and single line laser radar 2, the multi-thread laser thunder
It is configured at rail vehicle front and back up to 1, for scanning the object in rail vehicle front and rear and obtaining object parameters, is wrapped
Include object coordinates, size, speed；The single line laser radar 2 is configured at left and right sides of rail vehicle, for scanning rail vehicle
The object of the left and right sides simultaneously obtains object parameters, including object coordinates, size, speed；The multi-line laser radar 1 and single line swash
The object correlation information that optical radar 2 obtains scanning forms point cloud data, and feeds back to data processing unit；
The millimetre-wave radar 3 is configured at the front and back of rail vehicle, for scanning in rail vehicle driving process
The object information of front or behind obtains object accurately distance, speed and angle information, and relevant information is fed back to data
Processing unit；
The camera 4 is configured at the front and back of rail vehicle, for scanning the rail in rail vehicle driving process
Road image information, and relevant information is fed back into data processing unit；In the present embodiment, the camera 4 is obtained in addition to scanning
Outside orbital image information in rail vehicle driving process, the object information for obtaining and being located on track can also be scanned, can be mended
The object information of the acquisition of millimetre-wave radar 3 is filled, so as to more reliably, comprehensively obtain the object information and feedback on track
To data processing unit.
The data processing unit receives the object that point cloud data, the millimetre-wave radar 3 that laser radar 1,2 is fed back are fed back
The orbital image information that information, camera 4 are fed back, by point cloud data, object information and the normal row of rail vehicle prestored in it
Object information acquired in initial point cloud data, millimetre-wave radar acquired in laser radar carries out fusion comparison during sailing,
Analysis show that whether there are obstacles and obstacle information (coordinate, speed, motion profile) around rail vehicle, while by rail
Road image information and in it under the rail vehicle normally travel state that prestores preliminary orbit image information acquired in camera into
Row comparison, analysis obtain running rail with the presence or absence of abnormal, if derailment occurring occur；The data processing unit ties analysis
Fruit feeds back to train control system.
Train control system, for receiving the information of data processing unit feedback, according to feedback information to running over
Rail vehicle in journey actively issues relevant control instruction.
In conclusion the present invention uses barrier and track detecting including laser radar, millimetre-wave radar and camera
Unit is tested the speed complementary with camera image identification function by radar range finding, to surrounding environment in rail vehicle driving process into
Row scanning, the point cloud data of surrounding objects is obtained by laser radar respectively, objects in front information is obtained by millimetre-wave radar,
Orbital image information and objects in front information are obtained by camera, and above-mentioned point cloud data, object information, orbital image are believed
Breath feeds back to data processing unit, carries out fusion comparison through data processing unit, feeds back to Train Control after obtaining analysis result
System actively makes control instruction to train operation state based on the analysis results by train control system, to work as rail vehicle
Around when there is barrier or track and occurring abnormal, being capable of vehicle in running under braking in time.
In the description of the present invention, it should be noted that the instruction such as term " on ", "lower", "left", "right", "inner", "outside"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, and comes for those skilled in the art
It says, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any modification, equivalent
Replacement, improvement etc., should all be included in the protection scope of the present invention.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of active barrier of rail vehicle and derailing detection system characterized by comprising
Barrier and track detecting unit, for the object around in rail vehicle driving process and the track run into
Row scanning, obtains object point cloud data, object information and orbital image information；
Data processing unit inside prestores the initial point of rail vehicle surrounding objects acquired in radar in normal driving process
Preliminary orbit image information acquired in cloud data, initial image information and camera, the data processing unit is for connecing
Object point cloud data, object information and the orbital image information that the barrier and track detecting unit obtain are received, and will be described
Initial point cloud data that object point cloud data, object information are prestored with it, initial image information carry out merging comparison, and analysis obtains
Whether there are obstacles around rail vehicle and obstacle information, the track primary that will be prestored in the orbital image information and its
Road image information carries out fusion comparison, and analysis obtains running rail with the presence or absence of abnormal；
Train control system, for receiving the analysis of the data processing unit as a result, based on the analysis results in driving process
Rail vehicle actively issue relevant control instruction.
2. the active barrier of rail vehicle according to claim 1 and derailing detection system, which is characterized in that the barrier
Hinder object and track detecting unit includes laser radar, millimetre-wave radar and camera.
3. the active barrier of rail vehicle according to claim 2 and derailing detection system, which is characterized in that described to swash
Optical radar is configured at the front, rear and two sides of rail vehicle, for scanning front, rear and two in rail vehicle driving process
The object information of side simultaneously forms object point cloud data, feeds back to data processing unit.
4. the active barrier of rail vehicle according to claim 2 or 3 and derailing detection system, which is characterized in that institute
Stating laser radar includes single line laser radar and multi-line laser radar, and the single line laser radar is configured at rail vehicle two sides,
The multi-line laser radar is configured at rail vehicle front and back, passes through the single line laser radar and multi-line laser radar pair
In rail vehicle driving process the left and right sides, front and back object be scanned, object parameters can be obtained and form object point
Cloud data simultaneously feed back to data processing unit.
5. the active barrier of rail vehicle according to claim 2 or 3 and derailing detection system, which is characterized in that institute
The front that millimetre-wave radar is configured at rail vehicle is stated, for scanning the object information in front in rail vehicle driving process, is obtained
To the accurate distance of object, speed and angle information, and relevant information is fed back into data processing unit.
6. the active barrier of rail vehicle according to claim 2 or 3 and derailing detection system, which is characterized in that institute
The front and back that camera is configured at rail vehicle is stated, for scanning the orbital image information in rail vehicle driving process,
And relevant information is fed back into data processing unit.
7. the active barrier of rail vehicle according to claim 6 and derailing detection system, which is characterized in that be configured at
The camera in front of rail vehicle is also used to scan the object information on track, and relevant information is fed back to data processing
Unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910595556.2A CN110239592A (en) | 2019-07-03 | 2019-07-03 | A kind of active barrier of rail vehicle and derailing detection system |
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| CN201910595556.2A CN110239592A (en) | 2019-07-03 | 2019-07-03 | A kind of active barrier of rail vehicle and derailing detection system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654422A (en) * | 2019-11-12 | 2020-01-07 | 中科(徐州)人工智能研究院有限公司 | Rail train driving assistance method, device and system |
| CN110703770A (en) * | 2019-11-12 | 2020-01-17 | 中科(徐州)人工智能研究院有限公司 | Method and device for controlling automatic running of track inspection vehicle |
| CN111114561A (en) * | 2019-12-19 | 2020-05-08 | 中铁轨道交通装备有限公司 | Tramcar auxiliary driving system based on ADAS technology and control method |
| CN111337927A (en) * | 2020-04-13 | 2020-06-26 | 丹东东方测控技术股份有限公司 | Obstacle identification radar device for underground unmanned locomotive |
| CN112036274A (en) * | 2020-08-19 | 2020-12-04 | 江苏智能网联汽车创新中心有限公司 | Driving region detection method and device, electronic equipment and storage medium |
| WO2021017803A1 (en) * | 2019-07-26 | 2021-02-04 | 比亚迪股份有限公司 | Train control system and control method, and train |
| CN112380927A (en) * | 2020-10-29 | 2021-02-19 | 中车株洲电力机车研究所有限公司 | Track identification method and device |
| CN112596074A (en) * | 2020-12-09 | 2021-04-02 | 南京农业大学 | Navigation vehicle obstacle detection method based on laser radar |
| ES2835106A1 (en) * | 2019-12-19 | 2021-06-21 | Alvarez Francesc Xavier Gastaminza | Safety equipment and procedure (Machine-translation by Google Translate, not legally binding) |
| CN113002588A (en) * | 2021-03-15 | 2021-06-22 | 上海交通大学 | Train track foreign matter detection method and system |
| CN113085923A (en) * | 2021-04-15 | 2021-07-09 | 北京智川科技发展有限公司 | Track detection method and device, automatic track detection vehicle and storage medium |
| CN113297939A (en) * | 2021-05-17 | 2021-08-24 | 深圳市优必选科技股份有限公司 | Obstacle detection method, system, terminal device and storage medium |
| CN113536883A (en) * | 2021-03-23 | 2021-10-22 | 长沙智能驾驶研究院有限公司 | Obstacle detection method, vehicle, device, and computer storage medium |
| CN113702966A (en) * | 2021-08-06 | 2021-11-26 | 武汉找道科技有限公司 | Urban railway barrier and derailment detection system |
| CN113734207A (en) * | 2020-05-29 | 2021-12-03 | 比亚迪股份有限公司 | Vehicle safety protection system and method and vehicle |
| CN113777622A (en) * | 2021-08-31 | 2021-12-10 | 通号城市轨道交通技术有限公司 | Method and device for identifying rail obstacle |
| WO2022183871A1 (en) * | 2021-03-04 | 2022-09-09 | 上海申传电气股份有限公司 | Construction method for dynamic envelope line for electric locomotive for mine railway |
| WO2024079650A1 (en) * | 2022-10-11 | 2024-04-18 | Hack Partners Limited | Automated safety management in environment |
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| WO2021017803A1 (en) * | 2019-07-26 | 2021-02-04 | 比亚迪股份有限公司 | Train control system and control method, and train |
| CN110703770A (en) * | 2019-11-12 | 2020-01-17 | 中科(徐州)人工智能研究院有限公司 | Method and device for controlling automatic running of track inspection vehicle |
| CN110654422A (en) * | 2019-11-12 | 2020-01-07 | 中科(徐州)人工智能研究院有限公司 | Rail train driving assistance method, device and system |
| ES2835106A1 (en) * | 2019-12-19 | 2021-06-21 | Alvarez Francesc Xavier Gastaminza | Safety equipment and procedure (Machine-translation by Google Translate, not legally binding) |
| CN111114561A (en) * | 2019-12-19 | 2020-05-08 | 中铁轨道交通装备有限公司 | Tramcar auxiliary driving system based on ADAS technology and control method |
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Application publication date: 20190917 |