CN110297252A - A kind of train front obstacle detection system and its detection method based on laser sensor array - Google Patents
A kind of train front obstacle detection system and its detection method based on laser sensor array Download PDFInfo
- Publication number
- CN110297252A CN110297252A CN201910647356.7A CN201910647356A CN110297252A CN 110297252 A CN110297252 A CN 110297252A CN 201910647356 A CN201910647356 A CN 201910647356A CN 110297252 A CN110297252 A CN 110297252A
- Authority
- CN
- China
- Prior art keywords
- train
- barrier
- laser sensor
- laser
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
A kind of train front obstacle detection system and its detection method based on laser sensor array, is related to detection of obstacles field.The problem of it is to observe the image or video in monitoring in a manual manner by video monitoring mostly that the present invention, which is to solve the existing detection to barrier in track, and automatization level is low, observed result poor reliability.Train-installed host, each laser sensor time used in from transmitting laser to reception optical signal is obtained according to the signal that each laser sensor exports, according to the time obtain each laser sensor to barrier or track distance, and the position for combining each laser sensor to be laid in orbit obtains the three-dimensional coordinate information of barrier, the current position of train is determined according to the directional information of the information of 6 axis gyroscopes acquisition and storage inside simultaneously, the current location information of the three-dimensional coordinate information and train is merged, determine the relative distance of train and barrier.It is used to detect the barrier in track.
Description
Technical field
The present invention relates to a kind of trains on the routes such as urban track traffic subway, single track to the barrier in front of operation into
The method of row detection and alarm, belongs to detection of obstacles field.
Background technique
With economic and science and technology fast development, private car is more and more common, and traffic congestion becomes a kind of normal phenomenon.For
Alleviate this phenomenon, the measure of restricting the number is taken in many cities, but the trip of people be unable to do without traffic, city then occurs
The routes such as rail traffic subway, single track, this traffic not only alleviate the pressure of urban traffic blocking, and greatly facilitate
The trip of people.It is known that high-speed rail, subway have swift as lightning speed, but their high speed does not only rely on train sheet
Body, track also play a very important role.In train high-speed cruising, if track is out of joint, train also has very big
Influence.For example, there is barrier in orbit, quickly due to train running speed, train operator can not be readily ascertained by barrier
Hinder object, if influence is smaller, the components of train may be impacted, going down for a long time, it is irreversible to cause to train
The influence turned, influences train service life.If influence is bigger, violent rub occurs for the wheel and track that will lead to train
It wipes, makes suspension of service, great inconvenience is brought to the trip of people.If influence is excessively serious, it will cause trains to turn over
Vehicle, such consequence are a kind of situations of most serious, the speed of service of train quickly, if train overturns in the process of moving,
Substantial portion of passenger can be injured on train, or even has dead situation and occur.
And at present China most route generally use be video monitoring mode, observation camera in a manual manner
The video or picture of barrier are obtained, this mode automatization level is relatively low, and not only labor intensive but also it cannot be guaranteed that sight
Survey the reliability of result.
Summary of the invention
It is by video monitoring, with artificial side mostly that the present invention, which is to solve the existing detection to barrier in track,
The problem of image or video in formula observation monitoring, automatization level is low, observed result poor reliability.One kind is now provided to be based on
The train front obstacle detection system and its detection method of laser sensor array.
A kind of train front obstacle detection system based on laser sensor array, the system comprises laser sensors
Array 1,6 axis gyroscopes 2, train-installed host 3 and train controller 4,
6 axis gyroscopes 2 are arranged ON TRAINS,
6 axis gyroscopes 2, for detecting the acceleration and traveling angle of train；
Laser sensor array 1 is made of multiple laser sensors, multiple laser sensors along track extending direction
It is uniformly laid in orbit, each laser sensor is used to issue laser, and receives to be returned by barrier or track reflection
Optical signal, optical signal is amplified and is converted into electric signal；
Train-installed host 3, the electric signal for being exported according to each laser sensor, obtain each laser sensor from
Emit the time used in laser to reception optical signal, each laser sensor is obtained to barrier or track according to the time
Distance, according to this distance and each laser sensor is laid with position in orbit, obtains the three-dimensional coordinate information of barrier, together
When according to the information of 6 axis gyroscopes 2 acquisition and directional information of the train driving in each position of storage inside determine that train is worked as
The current location information of the three-dimensional coordinate information of barrier and train is merged in preceding position, so that it is determined that train and barrier
Hinder the relative distance of object.
Preferably, the system also includes train controller 4,
Train controller 4, for acquiring the relative distance of train and barrier in real time, if train and barrier is opposite
Distance is less than the safe distance of setting, then alarms.
Preferably, the system also includes have night vision function industrial camera 5,
Industrial camera 5 with night vision function is arranged in train front end, for shooting orbital image,
Train-installed host 3 is also used to acquire the information of the industrial camera 5 with night vision function, which is imaged
The image that machine 5 is shot is compared with the orbital image of storage inside, judges whether there is barrier in the image of shooting.
Preferably, the industrial camera 5 with night vision function be also used to shoot track both sides semaphore lamp position color and
Speed(-)limit sign board,
Train-installed host 3, is also used to receive the shooting image of the semaphore lamp position color of track both sides, and display parking refers to
It enables, and receives the shooting image of the speed(-)limit sign board of track both sides, display speed limit instruction.
Preferably, the industrial camera 5 with night vision function is realized using visual sensor.
Preferably, each laser sensor in laser sensor array 1 is by laser, laser detector and measurement electricity
Road composition,
Laser, for launching laser,
Laser detector for receiving the optical signal returned by barrier or track reflection, and the optical signal is carried out
Amplification,
Measuring circuit, for converting electric signal for amplified optical signal.
Based on a kind of failure analyte detection side that the train front obstacle detection system based on laser sensor array is realized
Method, the method includes the following contents:
Start multiple laser sensors to issue laser and received optical signal is converted to electric signal,
Each laser sensing is acquired using the electric signal of each laser sensor output of train-installed 3 real-time reception of host
Device from transmitting laser to receive the time used in optical signal, to obtaining each laser sensor and barrier or track
Distance, according to this distance and each laser sensor is laid with position in orbit and obtains the three-dimensional coordinate information of barrier,
Using the output information of train-installed 3 real-time reception of host, 6 axis gyroscope 2, the output information and train vehicle are utilized
It carries directional information of the train driving of 3 storage inside of host in each position and determines the current position of train,
The current location information of the three-dimensional coordinate information of barrier and train is merged, so that it is determined that train and obstacle
The relative distance of object.
Preferably, the method also includes the following contents:
Train is compared with the relative distance of barrier with safe distance by train controller 4, when train and obstacle
The relative distance of object is alarmed when being less than safe distance.
The invention has the benefit that
It is laid with laser (passive detection) sensor array along the extending direction of track, so that laser sensor array be made to send out
Laser beam uniform fold out is in entire orbital region, if there is barrier in track, the appearance of barrier will touch immediately
Laser sensor array is sent out, the position for the laser sensor array being triggered is believed to calculate the three-dimensional coordinate of barrier
Breath；In conjunction with the collected train current location of 6 axis gyroscopes, can accurately be done in advance at a distance from train acquired disturbance object
Early warning out.Overcome existing only with ultrasonic distance measurement disadvantage, ten meters of ultrasonic distance measurement effective distance maximum number is unsatisfactory for ranging and wants
It asks.The application can in advance detect the barrier in track using laser sensor array, avoid travelling train
Cause danger, either static-obstacle thing or dynamic barrier in the process, laser sensor array can real-time detection go out to hinder
Hinder the position of object.Therefore, the application is combined with laser sensor array using 6 axis gyroscopes, by train-installed host into
Row information fusion can be effectively obtained train at a distance from barrier, effectively be controlled to train by train controller
System, whole system high degree of automation, high reliablity can effectively avoid the danger in train driving.The application also uses band
There is complementary sensor of the industrial camera of night vision function as obstacle identification, is realized jointly with laser sensor array to rail
Whole detections of barrier in road.The application device miniaturization, it is low in energy consumption, be easily installed.
The advantages of the application:
1, the dcs merged based on laser sensor array and 6 axis gyro datas, reduces train vehicle
It carries the design complexities of host, improve reliability.Influence of the damage of respective laser sensor to entire laser sensor array
It is very little, and each standalone module (6 axis gyroscopes and each laser sensor) can be replaced at any time, cost is relatively low, convenient for safeguarding.
2, it is improved by laser sensor array, train-installed host and train controller to detection of obstacles and pre-
Alert precision, reduces rate of failing to report and rate of false alarm.
3, realize that in the round-the-clock of rail vehicle, the barrier of full working scope is tested, and then passes through Train Control if any barrier
Device is alarmed.
Detailed description of the invention
Fig. 1 is the location drawing of the industrial camera with night vision function ON TRAINS, and appended drawing reference 6 indicates barrier；
Fig. 2 is a kind of train front obstacle detection system based on laser sensor array described in specific embodiment one
The schematic illustration of system.
Specific embodiment
Specific embodiment 1: present embodiment is illustrated referring to Figures 1 and 2, a kind of base described in present embodiment
In the train front obstacle detection system of laser sensor array, the system comprises laser sensor arrays 1,6 axis gyros
Instrument 2, train-installed host 3 and train controller 4,
6 axis gyroscopes 2 are arranged ON TRAINS,
6 axis gyroscopes 2, for detecting the acceleration and traveling angle of train；
Laser sensor array 1 is made of multiple laser sensors, multiple laser sensors along track extending direction
It is uniformly laid in orbit, each laser sensor is used to issue laser, and receives to be returned by barrier or track reflection
Optical signal, optical signal is amplified and is converted into electric signal；
Train-installed host 3, the electric signal for being exported according to each laser sensor, obtain each laser sensor from
Emit the time used in laser to reception optical signal, each laser sensor is obtained to barrier or track according to the time
Distance, according to this distance and each laser sensor is laid with position in orbit, obtains the three-dimensional coordinate information of barrier, together
When according to the information of 6 axis gyroscopes 2 acquisition and directional information of the train driving in each position of storage inside determine that train is worked as
The current location information of the three-dimensional coordinate information of barrier and train is merged in preceding position, so that it is determined that train and barrier
Hinder the relative distance of object.
In present embodiment, laser sensor array and train-installed host are all counted by wireless network real-time communication
Calculation process is completed in train-installed host, it can be achieved that the relative distance in the area Gui Hang between train and obstacle is shown, realizes early warning
And the functions such as prompting of slowing down.
6 axis gyroscopes are the moment of momentum sensitivity shell relative inertness spaces using high-speed rotator around being orthogonal to the axis of rotation
The angular movement detection device of one or two axis.In this application, it can be realized using 6 axis gyroscopes to ramp on route and curved
Road identified, wherein the pitch angle characterization of 6 axis gyroscopes of Gradient, ruling grade in 30-40 ‰, be divided into upward slope, under
Two kinds of slope scene.The angular speed of 6 axis gyroscopes of curve data, angular acceleration characterization, elbow curve radius are 300-500 meters.
The data tested above are input to train-installed host and carry out data fusion, the barrier data that will test are shown in man-machine
Interface, the display distance on interface, and sound-light alarm is provided, at this moment driver just can take train the measures such as deceleration.With night
The industrial camera of visual function can also identify semaphore lamp position color, and to the speed(-)limit sign board beside route into
Row identification.
Specific embodiment 2: present embodiment is to be based on laser sensor battle array to one kind described in specific embodiment one
The train front obstacle detection system of column is described further, in present embodiment, which is characterized in that the system also includes
Train controller 4,
Train controller 4, for acquiring the relative distance of train and barrier in real time, if train and barrier is opposite
Distance is less than the safe distance of setting, then alarms.
Specific embodiment 3: present embodiment is to be based on laser sensor battle array to one kind described in specific embodiment one
The train front obstacle detection system of column is described further, in present embodiment, which is characterized in that the system also includes
Industrial camera 5 with night vision function,
Industrial camera 5 with night vision function is arranged in train front end, for shooting orbital image,
Train-installed host 3 is also used to acquire the information of the industrial camera 5 with night vision function, which is imaged
The image that machine 5 is shot is compared with the orbital image of storage inside, judges whether there is barrier in the image of shooting.
In present embodiment, the industrial camera with night vision function is arranged in train front end, as shown in Figure 1, working as train
It runs to the image for shooting barrier close to the position of barrier and benchmark image stored in memory compares, disturbance in judgement object
Whether danger is caused to train rail traveling, and visual signature library finally is added in the image data of barrier and is stored.Band
The industrial camera and laser sensor for having night vision function detect barrier jointly, avoid missing inspection, erroneous detection.In addition, having night vision
The industrial camera of function can also the speed(-)limit sign board beside the color to the signal lamp of track both sides and route accurately known
Not, erroneous judgement can be avoided in this way, such as in straight line, curve, ramp, adjacent lines, switch zones, rail of turning back, facing movement etc.
Under scene, the running train in front of train is identified, compare with benchmark image stored in memory, judgement is barrier,
And for adjacent line train, the industrial camera with night vision function compares after collecting image with it, and judge between right and wrong obstacle
Object.For the signal lamp in roadside, the industrial camera with night vision function to the signal lamp of collected different colours can with it is interior
The benchmark for depositing middle storage compares, and different reactions is made to the signal lamp of different colors.
Specific embodiment 4: present embodiment is to be based on laser sensor battle array to one kind described in specific embodiment three
The train front obstacle detection system of column is described further, in present embodiment, the industrial camera 5 with night vision function
It is also used to shoot the semaphore lamp position color and speed(-)limit sign board of track both sides,
Train-installed host 3, is also used to receive the shooting image of the semaphore lamp position color of track both sides, and display parking refers to
It enables, and receives the shooting image of the speed(-)limit sign board of track both sides, display speed limit instruction.
Specific embodiment 5: present embodiment is to be based on laser sensor battle array to one kind described in specific embodiment four
The train front obstacle detection system of column is described further, in present embodiment, the industrial camera 5 with night vision function
It is realized using visual sensor.
Specific embodiment 6: present embodiment is to be based on laser sensor battle array to one kind described in specific embodiment one
The train front obstacle detection system of column is described further, and in present embodiment, each of laser sensor array 1 swashs
Optical sensor is made of laser, laser detector and measuring circuit,
Laser, for launching laser,
Laser detector for receiving the optical signal returned by barrier or track reflection, and the optical signal is carried out
Amplification,
Measuring circuit, for converting electric signal for amplified optical signal.
In present embodiment, measuring circuit, for converting optical signal into electric signal.The output electricity of laser sensor at this time
Size variation can also occur therewith for pressure, be believed by the simulation that the analog-digital converter acquisition measuring circuit in train-installed host issues
Number, it converts digital signal for analog signal, obtains the specific location of barrier in orbit, i.e., three coordinates in track
Information.
Specific embodiment 7: before based on a kind of train based on laser sensor array described in specific embodiment one
The fault detection method that square obstacle detection system is realized, in present embodiment, the method includes the following contents:
Start multiple laser sensors to issue laser and received optical signal is converted to electric signal,
Each laser sensing is acquired using the electric signal of each laser sensor output of train-installed 3 real-time reception of host
Device from transmitting laser to receive the time used in optical signal, to obtaining each laser sensor and barrier or track
Distance, according to this distance and each laser sensor is laid with position in orbit and obtains the three-dimensional coordinate information of barrier,
Using the output information of train-installed 3 real-time reception of host, 6 axis gyroscope 2, the output information and train vehicle are utilized
It carries directional information of the train driving of 3 storage inside of host in each position and determines the current position of train, by the three of barrier
Dimension coordinate information and the current location information of train are merged, so that it is determined that the relative distance of train and barrier.
In present embodiment, by having barrier in front of warning note train operator, train operator's the application will stop.
To guarantee traffic safety.Train-installed host 3 is also equipped with power-on self-test, period self-checking function and store function.It is train-installed
Host 3 has the function of real distance and sound-light alarm.
The technical indicator of system work are as follows:
The system cycle of operation is not more than 160ms.
System Initialization time should be not more than 50s.
System should meet the requirement uninterruptedly runed for 24 hours.
It should be less than or be equal to 1s to the time for completing processing from external information is received.
System detection is to the requirement of the distance between train and barrier: 300 meters are no less than on straight road；In sweep
70 meters are no less than on 300 meters of bend；100 meters are no less than in 30 ‰ up and down ramp.
Straight line range error is no more than 5%.
Barrier minimum resolution is 0.5-1m/300m.
Detection range 5-300m, blind area 0-5m,
Systematic protection Train highest running speed is 60km/h.
Under routine test environment, system is no less than 90% to the accuracy rate of detection of obstacles.
Specific embodiment 8: present embodiment is to be based on laser sensing according to one kind to described in specific embodiment seven
The failure object detecting method that the train front obstacle detection system of device array is realized is described further, in present embodiment,
The method also includes the following contents:
Train is compared with the relative distance of barrier with safe distance by train controller 4, when train and obstacle
The relative distance of object is alarmed when being less than safe distance.
Claims (8)
1. a kind of train front obstacle detection system based on laser sensor array, which is characterized in that the system comprises
Laser sensor array (1), 6 axis gyroscopes (2), train-installed host (3) and train controller (4),
6 axis gyroscopes (2) are arranged ON TRAINS,
6 axis gyroscopes (2), for detecting the acceleration and traveling angle of train；
Laser sensor array (1) is made of multiple laser sensors, and multiple laser sensors are equal along the extending direction of track
In orbit, each laser sensor is used to issue laser for even laying, and receives to be returned by barrier or track reflection
Optical signal is amplified and is converted into electric signal by optical signal；
Train-installed host (3), the electric signal for being exported according to each laser sensor, obtains each laser sensor from hair
Laser is penetrated to receiving the time used in optical signal, according to the time obtain each laser sensor to barrier or track away from
From according to this distance and each laser sensor is laid with position in orbit, obtains the three-dimensional coordinate information of barrier, simultaneously
Directional information according to the train driving of the information of 6 axis gyroscopes (2) acquisition and storage inside in each position determines that train is worked as
The current location information of the three-dimensional coordinate information of barrier and train is merged in preceding position, so that it is determined that train and barrier
Hinder the relative distance of object.
2. a kind of train front obstacle detection system based on laser sensor array according to claim 1, feature
It is, the system also includes train controller (4),
Train controller (4), for acquiring the relative distance of train and barrier in real time, if train and barrier it is opposite away from
From the safe distance for being less than setting, then alarm.
3. a kind of train front obstacle detection system based on laser sensor array according to claim 1, feature
Be, the system also includes have night vision function industrial camera (5),
Industrial camera (5) with night vision function is arranged in train front end, for shooting orbital image,
Train-installed host (3) is also used to acquire the information of the industrial camera (5) with night vision function, which is imaged
The image of machine (5) shooting is compared with the orbital image of storage inside, judges whether there is barrier in the image of shooting.
4. a kind of train front obstacle detection system based on laser sensor array according to claim 3, feature
It is, the industrial camera (5) with night vision function is also used to shoot the semaphore lamp position color and speed(-)limit sign of track both sides
Board,
Train-installed host (3), is also used to receive the shooting image of the semaphore lamp position color of track both sides, and display parking refers to
It enables, and receives the shooting image of the speed(-)limit sign board of track both sides, display speed limit instruction.
5. a kind of train front obstacle detection system based on laser sensor array according to claim 4, feature
It is, the industrial camera (5) with night vision function is realized using visual sensor.
6. a kind of train front obstacle detection system based on laser sensor array according to claim 1, feature
It is, each laser sensor in laser sensor array (1) is made of laser, laser detector and measuring circuit,
Laser, for launching laser,
Laser detector for receiving the optical signal returned by barrier or track reflection, and the optical signal is amplified,
Measuring circuit, for converting electric signal for amplified optical signal.
7. based on a kind of event that the train front obstacle detection system based on laser sensor array is realized described in claim 1
Barrier detection method, which is characterized in that the method includes the following contents:
Start multiple laser sensors to issue laser and received optical signal is converted to electric signal,
Each laser sensor is acquired using the electric signal of each laser sensor output of train-installed host (3) real-time reception
From transmitting laser to receive the time used in optical signal, to obtaining each laser sensor and barrier or track
Distance, according to this distance and each laser sensor is laid with position in orbit and obtains the three-dimensional coordinate information of barrier,
Using the output information of 6 axis gyroscope (2) of train-installed host (3) real-time reception, the output information and train vehicle are utilized
It carries directional information of the train driving of host (3) storage inside in each position and determines the current position of train, by barrier
Three-dimensional coordinate information and the current location information of train are merged, so that it is determined that the relative distance of train and barrier.
8. a kind of event that the train front obstacle detection system based on laser sensor array is realized according to claim 7
Barrier detection method, which is characterized in that the method also includes the following contents:
Train is compared with the relative distance of barrier with safe distance by train controller (4), when train and barrier
Relative distance be less than safe distance when alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910647356.7A CN110297252A (en) | 2019-07-17 | 2019-07-17 | A kind of train front obstacle detection system and its detection method based on laser sensor array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910647356.7A CN110297252A (en) | 2019-07-17 | 2019-07-17 | A kind of train front obstacle detection system and its detection method based on laser sensor array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110297252A true CN110297252A (en) | 2019-10-01 |
Family
ID=68031334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910647356.7A Pending CN110297252A (en) | 2019-07-17 | 2019-07-17 | A kind of train front obstacle detection system and its detection method based on laser sensor array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110297252A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834654A (en) * | 2019-11-20 | 2020-02-25 | 北交智慧科技有限公司 | Train operation track judgment system and method |
| CN111292292A (en) * | 2020-01-16 | 2020-06-16 | 深圳市施罗德工业集团有限公司 | Pipeline obstacle detection method and device, pipeline robot and readable storage medium |
| CN111949016A (en) * | 2020-06-21 | 2020-11-17 | 珠海市一微半导体有限公司 | Obstacle detection method fusing laser and IMU data, chip and robot |
| CN113280788A (en) * | 2021-06-01 | 2021-08-20 | 中国科学院西北生态环境资源研究院 | Roadbed settlement monitoring device and system |
| CN113581252A (en) * | 2021-07-21 | 2021-11-02 | 南京苏莱瑞新技术有限公司 | Obstacle detection system based on multi-sensor fusion |
| CN113984109A (en) * | 2021-09-28 | 2022-01-28 | 北京大成国测科技有限公司 | Track detection data correction method and device and electronic equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104615659A (en) * | 2013-10-15 | 2015-05-13 | 室内地图公司 | Generating search database based on earth's magnetic field measurements |
| CN104884896A (en) * | 2012-12-31 | 2015-09-02 | 高通股份有限公司 | Context-based parameter maps for position determination |
| CN204895486U (en) * | 2015-07-28 | 2015-12-23 | 陕西西北铁道电子有限公司 | Locomotive buffer stop that on -vehicle optical detection and geographic information combined together |
| CN107270889A (en) * | 2017-06-08 | 2017-10-20 | 东南大学 | A kind of indoor orientation method and alignment system based on earth magnetism collection of illustrative plates |
| CN107662623A (en) * | 2017-09-25 | 2018-02-06 | 中铁二院重庆勘察设计研究院有限责任公司 | Tramcar safety traffic detection early warning system and method |
| CN107985335A (en) * | 2016-10-26 | 2018-05-04 | 深圳金澜汉源科技有限公司 | track traffic safety detection method |
| CN108583622A (en) * | 2018-04-02 | 2018-09-28 | 交控科技股份有限公司 | Recognition methods, device, equipment and the medium of rail traffic situation |
| CN109188460A (en) * | 2018-09-25 | 2019-01-11 | 北京华开领航科技有限责任公司 | Unmanned foreign matter detection system and method |
| CN109375239A (en) * | 2018-11-13 | 2019-02-22 | 四川西南交大铁路发展股份有限公司 | A kind of circuitry obstacle object monitor and alarm system and method based on three-dimensional imaging |
-
2019
- 2019-07-17 CN CN201910647356.7A patent/CN110297252A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104884896A (en) * | 2012-12-31 | 2015-09-02 | 高通股份有限公司 | Context-based parameter maps for position determination |
| CN104615659A (en) * | 2013-10-15 | 2015-05-13 | 室内地图公司 | Generating search database based on earth's magnetic field measurements |
| CN204895486U (en) * | 2015-07-28 | 2015-12-23 | 陕西西北铁道电子有限公司 | Locomotive buffer stop that on -vehicle optical detection and geographic information combined together |
| CN107985335A (en) * | 2016-10-26 | 2018-05-04 | 深圳金澜汉源科技有限公司 | track traffic safety detection method |
| CN107270889A (en) * | 2017-06-08 | 2017-10-20 | 东南大学 | A kind of indoor orientation method and alignment system based on earth magnetism collection of illustrative plates |
| CN107662623A (en) * | 2017-09-25 | 2018-02-06 | 中铁二院重庆勘察设计研究院有限责任公司 | Tramcar safety traffic detection early warning system and method |
| CN108583622A (en) * | 2018-04-02 | 2018-09-28 | 交控科技股份有限公司 | Recognition methods, device, equipment and the medium of rail traffic situation |
| CN109188460A (en) * | 2018-09-25 | 2019-01-11 | 北京华开领航科技有限责任公司 | Unmanned foreign matter detection system and method |
| CN109375239A (en) * | 2018-11-13 | 2019-02-22 | 四川西南交大铁路发展股份有限公司 | A kind of circuitry obstacle object monitor and alarm system and method based on three-dimensional imaging |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110834654A (en) * | 2019-11-20 | 2020-02-25 | 北交智慧科技有限公司 | Train operation track judgment system and method |
| CN111292292A (en) * | 2020-01-16 | 2020-06-16 | 深圳市施罗德工业集团有限公司 | Pipeline obstacle detection method and device, pipeline robot and readable storage medium |
| CN111292292B (en) * | 2020-01-16 | 2023-09-26 | 深圳市施罗德工业集团有限公司 | Pipeline obstacle detection method, device, pipeline robot and readable storage medium |
| CN111949016A (en) * | 2020-06-21 | 2020-11-17 | 珠海市一微半导体有限公司 | Obstacle detection method fusing laser and IMU data, chip and robot |
| CN113280788A (en) * | 2021-06-01 | 2021-08-20 | 中国科学院西北生态环境资源研究院 | Roadbed settlement monitoring device and system |
| CN113581252A (en) * | 2021-07-21 | 2021-11-02 | 南京苏莱瑞新技术有限公司 | Obstacle detection system based on multi-sensor fusion |
| CN113984109A (en) * | 2021-09-28 | 2022-01-28 | 北京大成国测科技有限公司 | Track detection data correction method and device and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110297252A (en) | A kind of train front obstacle detection system and its detection method based on laser sensor array | |
| CN101694084B (en) | Ground on-vehicle mobile detecting system | |
| CN103901806B (en) | Intelligent ship berthing assistance system and method | |
| US9610961B2 (en) | Method and device for measuring speed in a vehicle independently of the wheels | |
| CN101987597B (en) | Angle information-based visible vehicle-backing track line forming system and method | |
| CN108932869A (en) | Vehicular system, information of vehicles processing method, recording medium, traffic system, infrastructure system and information processing method | |
| CN103223955B (en) | A kind of detection method of vehicle gauge and device | |
| WO2018158712A1 (en) | Guideway mounted vehicle localization system | |
| CN102576495B (en) | Collision monitor for a motor vehicle | |
| CN109425343A (en) | This truck position apparatus for predicting | |
| CN106715234A (en) | System and method for avoiding a collision for a vehicle | |
| CN111175788B (en) | Transverse positioning method and positioning system for automatic driving vehicle | |
| CN107406073A (en) | Will be by the method and apparatus for the nominal trajectory that vehicle crosses for the monitoring in terms of collisionless | |
| CN106627670A (en) | Train protection system and method based on laser detection | |
| JP2007010335A (en) | Vehicle position detecting device and system | |
| CN207850304U (en) | A kind of electrification railway contact net detecting system | |
| KR20070036405A (en) | Sensing system in a traveling railway vehicle for sensing a human body or an obstacle on a railway track | |
| CN105136153A (en) | Collection device and collection method of exact position of lane line | |
| CN109229156A (en) | A kind of rolling stock 3 D positioning system | |
| CN106443576A (en) | Vehicle positioning method, apparatus and system | |
| CN111717244A (en) | Train automatic driving sensing method and system | |
| RU179328U1 (en) | MEASURING DEVICE | |
| Stein et al. | Rail detection using lidar sensors | |
| CN112455502A (en) | Train positioning method and device based on laser radar | |
| WO2004006207A1 (en) | Automatic guide apparatus for public transport |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191001 |
|
| WD01 | Invention patent application deemed withdrawn after publication |