CN111398990A - Track foreign matter intrusion detection device, system and method based on multi-line three-dimensional radar - Google Patents
Track foreign matter intrusion detection device, system and method based on multi-line three-dimensional radar Download PDFInfo
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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
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The invention discloses a track foreign matter intrusion detection device, a system and a method based on a multi-line three-dimensional radar, which relate to the technical field of track traffic safety protection, solve the problem that the existing two-dimensional and three-dimensional laser radar intrusion foreign matter detection device has longer detection time of traffic intrusion foreign matters, and improve the attribute distinguishing capability of the intrusion foreign matters, and have the technical key points that: the identification device for identifying the track foreign matter and the supporting device for installing the identification device are arranged on the inner side, the outer side or the upper side of the track; the identification device comprises a high-definition video screen acquisition device and a multi-line three-dimensional laser radar acquisition device, the high-definition video acquisition device and the multi-line three-dimensional laser radar acquisition device are installed in a matched mode on the supporting device to monitor track foreign matter invasion, the multi-line three-dimensional laser radar acquisition device has the advantages that multiple tracks can be identified, monitoring efficiency is improved, the high-definition video acquisition device is arranged to monitor the tracks at the edges, and more accurate identification of track foreign matter invasion is achieved.
Description
Technical Field
The invention relates to the technical field of rail transit safety protection, in particular to a device, a system and a method for detecting rail foreign matter intrusion based on a multi-line three-dimensional radar.
Background
Rail transit refers to a type of vehicle or transportation system in which operating vehicles need to travel on a particular rail. The most typical rail transit is a railway system consisting of conventional trains and standard railways. Rail transit, such as ordinary railway, high-speed railway, light rail, subway, etc., plays an important role in the transportation field. In a rail transit system, the necessary way for guaranteeing the safety of rail transit is to inspect railway lines and analyze whether foreign body invasion behaviors occur on the rails.
At present, a two-dimensional laser radar is introduced into the field of rail transit safety protection, and a certain effect is achieved. However, in the prior art, the rail transit limit-invading foreign matter detection device based on the two-dimensional laser radar has more false alarm and missed alarm problems in practical use and is gradually replaced by a three-dimensional laser radar product. In a part of foreign matter intrusion detection systems, three-dimensional laser radar products successfully replace two-dimensional laser radar related products, the missing report of the system is effectively reduced, and the environmental adaptability is improved. However, the existing two-dimensional and three-dimensional laser radar limit-invading foreign matter detection device has the defects that limit-invading foreign matter three-dimensional information cannot be obtained (two-dimensional laser radar) or the time for obtaining the limit-invading foreign matter three-dimensional information is long (servo control three-dimensional laser radar), and less three-dimensional information is obtained at the same time. Especially, through the mode of laser radar with servo motor rotation control information collection, when being used in many track regions of monitoring, whole scanning time can be longer, invades limit foreign matter and detects the time and also can increase several times, has increased the risk of railway safety operation to a certain extent. Monitoring devices only rely on three-dimensional laser radar, appear easily to invading limit foreign matter and judge the mistake to and drive two-dimensional laser radar and three-dimensional laser radar through rotating parts and take place the wire rod easily and connect the damage under long-term rotation, servo motor also has the not enough problem of adaptability in the region of different temperatures, leads to whole device maintenance cost higher.
Therefore, in order to reduce the detection time of the rail transit invading foreign matter, improve the rail transit driving safety and improve the distinguishing capability of the attribute of the invasion limit foreign matter, a device, a system and a method for detecting the invasion limit of the rail foreign matter based on a multi-line three-dimensional radar are provided to solve the problems.
Disclosure of Invention
The invention aims to solve the technical problems of reducing the detection time of rail traffic invading foreign matters, improving the rail traffic driving safety and improving the property distinguishing capability of invading limit foreign matters, and aims to provide a rail foreign matter invading limit detection device based on a multi-line three-dimensional radar, which solves the problems that when the existing two-dimensional and three-dimensional laser radar monitors a plurality of railway lines simultaneously, the identification precision of the rail far away from the laser radar is not as good as that of the near rail, the monitoring area of the existing three-dimensional laser radar is limited, the scanning time of the whole plurality of rails is too long due to the fact that the servo motor and a rotating part drive the three-dimensional laser radar to rotate, and the maintenance problem exists after the rotating part is used for a long time, so that.
The invention is realized by the following technical scheme:
track foreign matter infringes limit detection device based on multi-thread three-dimensional radar, including the recognition device of discernment track foreign matter and install recognition device's strutting arrangement, strutting arrangement sets up in the track inboard, outside or top, recognition device includes high definition look screen collection system and multi-thread three-dimensional laser radar collection system, high definition video collection system with the cooperation of multi-thread three-dimensional laser radar collection system install in strutting arrangement monitors the track foreign matter infringes the limit.
By adopting the scheme, the recognition device is also provided with the high-definition video collection device besides the multi-line three-dimensional laser radar collection device, compared with the three-dimensional laser radar collection device, the multi-line three-dimensional laser radar collection device has the advantages that the multi-line three-dimensional laser radar collection device can recognize a plurality of tracks, but the three-dimensional laser radar collection device and the multi-line three-dimensional laser radar collection device have poorer capability of recognizing the invasion limit of foreign matters of remote tracks, the high-definition video collection device is additionally arranged to be matched with the three-dimensional laser radar collection device for use, the accurate judgment of the foreign matter attribute of remote tracks can be realized, when the number of tracks is more, the supporting device can be arranged at the two sides of the tracks, the recognition directions of the two-side recognition devices can be adjusted to adjust the recognition range, the accurate judgment of the invasion limit of the foreign matters of the plurality of tracks can, and the later maintenance is convenient.
Further, strutting arrangement includes ground cage and mounting bracket, the ground cage is buried in ground, the part that ground cage spills ground and mounting bracket fixed connection.
Adopt above-mentioned scheme, ground cage partly buries underground in the below ground, has guaranteed the safety and the stability of equipment, spills the ground part at ground cage and predetermines the installation screw, and after mounting bracket and ground cage fixed connection, the device is more firm.
Furthermore, a constant temperature device for regulating and controlling the temperature of the device is arranged in the multi-line three-dimensional laser radar collecting device.
By adopting the scheme, the tracks are distributed in different areas, normal operation of the multi-line three-dimensional laser radar acquisition device can be influenced due to overhigh temperature or overlow temperature in different environments, and the multi-line three-dimensional laser radar acquisition device can also realize track monitoring in extreme environments by arranging the constant temperature device in the multi-line three-dimensional laser radar acquisition device.
Further, the mounting frame comprises a mounting bar or a gantry.
By adopting the scheme, the mounting frames at different track positions can be the mounting rods and the portal frame, when the track is positioned in the tunnel, the bridge and other areas, the mounting frames are the mounting rods due to the fact that the mounting areas are limited, and when railway lines are bent greatly or railway electric rods are more, the non-blind area monitoring is achieved for avoiding the electric rods to shield, and the mounting frames are the portal frame.
Further, the height adjustable range of the mounting rod is 0-8 m.
By adopting the scheme, the installation rods are correspondingly installed to different heights to detect the track according to the local field environment corresponding to different position areas of the rail.
Further, the track foreign object intrusion detection system of the multiline three-dimensional radar comprises:
the multi-line three-dimensional laser radar acquisition unit is used for identifying and acquiring railway line information and recording the railway line information to generate cloud data A;
the high-definition video acquisition unit is used for monitoring railway line information and generating cloud data B;
the algorithm processing unit is used for processing the cloud data A and the cloud data B and generating foreign matter invasion limit information of the area to be monitored;
and the alarm output unit is used for processing the foreign matter intrusion information to generate a visual warning signal.
Adopt above-mentioned scheme: compare in single multi-thread three-dimensional laser radar acquisition unit that sets up, limit foreign matter three-dimensional characteristic information is invaded in the extra collection of high definition video acquisition unit is further discerned, further distinguishes the attribute and the classification of foreign matter, has reduced the device to the false positive and the problem of failing to report of invading limit foreign matter.
Further, the track foreign matter intrusion detection method based on the multi-line three-dimensional radar comprises the following steps:
(a) the method comprises the following steps that a multi-line three-dimensional laser radar acquisition device and a high-definition video acquisition device are started, a multi-line three-dimensional laser radar acquisition unit acquires information of a region to be monitored of a railway line and records the information as cloud data A, and a high-definition video acquisition unit acquires and records the information of the region to be monitored of the railway line as cloud data B;
(b) the algorithm processing unit extracts and processes the cloud data A and the cloud data B to generate foreign matter invasion limit information of the area to be monitored;
(c) and the alarm output unit reads and identifies the foreign matter invasion information and triggers the field alarm and signal prompt of the corresponding level.
Adopt above-mentioned scheme: the alarm output unit identifies the cloud data A and the cloud data B to generate foreign matter invasion information of an area to be monitored, and triggers field alarm and signal prompt of corresponding levels, so that the early warning diversity of the device is increased.
Further, in the step (a), the method further comprises the steps of:
(a1) the multi-line three-dimensional laser radar acquisition device identifies and records the intrusion range of foreign matters, the total volume of the foreign matters and the residence time of the foreign matters;
(a2) setting a threshold value A for screening the total volume of the foreign matters, a threshold value B for the staying time of the foreign matters and a threshold value C for the invasion limit range of the foreign matters;
the output result A1 is generated according to the total foreign matter volume greater than or equal to the threshold A, the output result A2 is generated according to the foreign matter staying time greater than or equal to the threshold B, and the output results A3, A1, A2 and A3 are generated according to the foreign matter invasion range greater than or equal to the threshold C and serve as cloud data A.
Adopt above-mentioned scheme: the multi-line three-dimensional laser radar acquisition unit screens the total volume of foreign matters, the residence time of the foreign matters and the invasion limit range of the foreign matters by setting the threshold value A, the threshold value B and the threshold value C, so that the foreign matters which cannot threaten the track running can be preliminarily screened, and the information processing capacity of the algorithm processing unit is reduced.
Further, in the step (b), the method further comprises the steps of:
(b1) constructing collected cloud data A, and generating a three-dimensional point cloud polar coordinate of a polar coordinate system with a multi-line three-dimensional laser radar as a center; processing the polar coordinates of the three-dimensional point cloud by adopting rectangular coordinate transformation, and establishing a track curve equation;
(b2) extracting a track curve equation, constructing a rectangular coordinate system which passes through an origin and is parallel to the center line of the inner side rail of the rail and is an X axis by adopting a cross point of the perpendicular lines from the multi-line three-dimensional laser radar to the center line of the inner side rail as the origin, and establishing a track coordinate system and performing space segmentation;
(b3) extracting three-dimensional characteristic information of the infringement foreign matter in the track coordinate system by adopting a clustering method for each partitioned space;
(b4) splicing the foreign matter information and calculating the distance between the foreign matter and the rail;
(b5) and carrying out data fusion on the three-dimensional characteristic information of the foreign matters extracted by the multi-line three-dimensional laser radar by using a high-definition video acquisition unit, and judging the attributes and categories of the invasion limit foreign matters.
Adopt above-mentioned scheme: the three-dimensional characteristics of the intrusion foreign bodies are extracted by adopting a clustering method and compared with a track coordinate system, so that 3D monitoring of intrusion of the foreign bodies can be realized, and accurate judgment of intrusion of the foreign bodies can be realized.
Further: in the step (c), the method further comprises the steps of:
(c1) setting an alarm list, and adding the identified foreign matter information into the alarm list;
(c2) processing foreign body information in the alarm list;
when the identification device monitors new foreign matter information, adding the new foreign matter information to an alarm list;
when the recognition device monitors that the foreign matters disappear, removing corresponding foreign matter information in the alarm list;
when the recognition device detects that the foreign matter disappears and then appears, the foreign matter information is added to the alarm device to generate secondary alarm.
Adopt above-mentioned scheme: the foreign matters can be better monitored by adding the foreign matter information for removing the alarm list to movable foreign matters (such as people, birds, animals, trains, debris flows and the like), and better alarm effect can be realized on moving organisms.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the track foreign matter invasion detection device based on the multi-line three-dimensional radar has the advantages that three-dimensional information of invasion foreign matters of a plurality of railway lines can be collected simultaneously, a high-definition video collection device is arranged to be matched with the multi-line three-dimensional laser radar collection device to monitor a plurality of tracks, the track invasion foreign matters are identified more accurately, the multi-line three-dimensional laser radar collection device and the high-definition video collection device can be fixedly connected in a simple mode such as a screw fixing piece, and a rotating piece is used for driving a two-dimensional laser radar identification device and a three-dimensional laser radar identification device to identify the track invasion foreign matters;
2. compared with a single multi-line three-dimensional laser radar acquisition unit, the high-definition video acquisition unit additionally acquires the three-dimensional characteristic information of the intrusion foreign matters for further identification, further distinguishes the attributes and the categories of the foreign matters, and reduces the false alarm and missing alarm problems of the intrusion foreign matters of the device;
3. according to the track foreign matter intrusion detection method based on the multi-line three-dimensional radar, the multi-line three-dimensional laser radar acquisition unit screens the total volume size of foreign matters, the residence time of the foreign matters and the intrusion range of the foreign matters by setting the threshold value A, the threshold value B and the threshold value C, the foreign matters which cannot threaten the track operation can be preliminarily screened out, the information processing amount of the algorithm processing unit is reduced, the three-dimensional characteristics of the intrusion foreign matters are extracted by adopting a clustering method and compared with a track coordinate system, the 3D monitoring of the intrusion of the foreign matters can be realized, the accurate judgment of the intrusion of the foreign matters is realized, and the foreign matters can be better monitored by adding the foreign matter information for removing an alarm list to the movable foreign;
4. according to the track foreign matter intrusion detection device based on the multi-line three-dimensional radar, the mounting frames can be the mounting rods and the portal frame aiming at different track positions, and when the track is located in a tunnel, a bridge and other areas, the mounting frames are the mounting rods due to the fact that the mounting areas are limited; when the railway line is bent greatly or the railway electric poles are more, in order to avoid the shielding of the electric poles and realize non-blind area monitoring, the mounting frame is a portal frame;
5. according to the track foreign matter intrusion detection device based on the multi-line three-dimensional radar, due to the fact that the tracks are distributed in different areas, normal operation of the multi-line three-dimensional laser radar acquisition device can be affected due to overhigh temperature or overlow temperature in different environments, and the multi-line three-dimensional laser radar acquisition device can monitor the tracks in extreme environments by arranging the constant temperature device in the multi-line three-dimensional laser radar acquisition device.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a perspective view of one embodiment of the present invention;
FIG. 2 is a schematic view of a first embodiment of the present invention;
FIG. 3 is a schematic view of a second embodiment of the present invention;
FIG. 4 is a schematic view of a third embodiment of the present invention;
FIG. 5 is a schematic view of example 1 of the present invention;
FIG. 6 is a schematic view of example 2 of the present invention;
FIG. 7 is a schematic view of example 3 of the present invention;
FIG. 8 is a schematic view of the present invention monitoring a single track;
FIG. 9 is a flow chart of a three-dimensional model of a monitoring area according to the present invention;
FIG. 10 is a flow chart of the three-dimensional point cloud threshold foreign object identification of the present invention;
FIG. 11 illustrates the multi-line three-dimensional lidar violation foreign object attribute discrimination logic of the present invention;
FIG. 12 is the alarm processing logic of the present invention.
Reference numbers and corresponding part names:
the method comprises the following steps of 1-track, 2-identification device, 21-high definition video acquisition device, 22-multi-line three-dimensional laser radar acquisition device, 3-supporting device, 31-ground cage, 32-mounting rod, 33-portal frame and 4-ground.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the scope of the present invention.
Example 1
As shown in fig. 2 and 5, the track foreign matter intrusion detection device based on the multi-line three-dimensional radar comprises a recognition device 2 for recognizing foreign matters in a track 1 and a supporting device 3 for installing the recognition device 2, wherein the supporting device 3 is arranged on one side of the track 1, the supporting device 3 comprises a ground cage 31 and an installation rod 32, the ground cage 31 is partially buried below the ground 4, the ground cage 31 is not limited to be composed of reinforced concrete, the burying depth and width of the ground cage 31 are determined according to geological conditions of an installation site, the body of the ground cage 31 has a certain height, and the part of the ground 4, which leaks out of the ground, of the ground cage 31 is fixedly connected with the installation rod 32. Recognition device 2 includes that the screen collection system is looked to the high definition and multi-thread three-dimensional laser radar collection system 22, high definition video collection system 21 and multi-thread three-dimensional laser radar collection system 22 fixed mounting are in installation pole 32 towards track 1 one side for monitoring track 1 foreign object and invading the limit, be equipped with the constant temperature equipment of regulation and control device temperature in the multi-thread three-dimensional laser radar collection system 22 and be used for adapting to high low temperature environment, the height-adjustable scope of installation pole 32 is 0 ~ 8m, the height of installation pole 32, thickness and wall thickness are according to the installation environment design at scene.
Example 2
As shown in fig. 3 and 6, the track foreign matter intrusion detection device based on the multi-line three-dimensional radar comprises a recognition device 2 for recognizing foreign matters in a track 1 and a supporting device 3 for installing the recognition device 2, wherein the supporting device 3 is arranged on two sides of the track 1, the supporting device 3 comprises a ground cage 31 and an installation rod 32, the ground cage 31 is partially buried below the ground 4, the ground cage 31 is not limited to be composed of reinforced concrete, the burying depth and width of the ground cage 31 are determined according to geological conditions of an installation site, the body of the ground cage 31 has a certain height, and the part of the ground 4, which leaks out of the ground, of the ground cage 31 is fixedly connected with the installation rod 32. Recognition device 2 includes that the screen collection system is looked to the high definition and multi-thread three-dimensional laser radar collection system 22, two sets of high definition video collection system 21 correspond respectively with multi-thread three-dimensional laser radar collection system 22 and install and monitor track 1 foreign object and invade the limit on the installation pole 32 of track 1 both sides, the constant temperature equipment who is equipped with regulation and control device temperature in the multi-thread three-dimensional laser radar collection system 22 is used for adapting to high low temperature environment, the height-adjustable scope of installation pole 32 is 0 ~ 8m, the height of installation pole 32, thickness and wall thickness are according to the installation environmental design on-the-spot.
Example 3
As shown in fig. 4 and 7, the track foreign matter intrusion detection device based on the multi-line three-dimensional radar comprises a recognition device 2 for recognizing foreign matters in a track 1 and a supporting device 3 for installing the recognition device 2, wherein the supporting device 3 is arranged on two sides of the track 1, the supporting device 3 comprises a ground cage 31 and a portal frame 33, the ground cage 31 is partially buried below the ground 4, the ground cage 31 is not limited to be composed of reinforced concrete, the filling depth and width of the ground cage 31 are determined according to geological conditions of an installation site, the body of the ground cage 31 has a certain height, and the ground 4 part of the ground cage 31 which leaks out is fixedly connected with the portal frame 33. Recognition device 2 includes that the screen collection system is looked to the high definition and multi-thread three-dimensional laser radar collection system 22, and high definition video collection system 21 installs in portal frame 33 with the cooperation of multi-thread three-dimensional laser radar collection system 22, and portal frame 33 spans in monitoring track foreign object and invade the limit by monitoring rail both sides, and the intermediate part can directly link both sides portal frame 33, also can be independent separately according to the monitoring demand. The constant temperature device for regulating and controlling the temperature of the device is arranged in the multi-line three-dimensional laser radar acquisition device 22 and is used for adapting to high and low temperature environments, and the height of the portal frame 33, the thickness of the frame body and the wall thickness of the support are designed according to the field installation environment.
Example 4
The rail 1 traffic foreign matter intrusion detection method based on the three-dimensional laser radar comprises the following steps:
(a) the multi-line three-dimensional laser radar acquisition device 22 and the high-definition video acquisition device 21 are started, the multi-line three-dimensional laser radar acquisition unit acquires information of a railway line to-be-monitored area and records the information as cloud data A, and the high-definition video acquisition unit acquires information of the railway line to-be-monitored area and records the information as cloud data B.
(b) The algorithm processing unit extracts and processes the cloud data A and the cloud data B to generate foreign matter invasion limit information of an area to be monitored, and the algorithm processing unit consists of a CPU board card (an embedded type or an industrial personal computer) and a corresponding peripheral circuit.
(c) And the alarm output unit reads and identifies the foreign matter invasion information and triggers the field alarm and signal prompt of the corresponding level.
Compare in single multi-thread three-dimensional laser radar acquisition unit that sets up, limit foreign matter three-dimensional characteristic information is invaded in the extra collection of high definition video acquisition unit is further discerned, further distinguishes the attribute and the classification of foreign matter, has reduced the device to the false positive and the problem of failing to report of invading limit foreign matter.
As shown in fig. 10, in the step (a), the method further includes the steps of:
(a1) the multi-line three-dimensional laser radar acquisition device identifies and records the intrusion range of foreign matters, the total volume of the foreign matters and the residence time of the foreign matters;
(a2) setting a threshold value A for screening the total volume of the foreign matters, a threshold value B for the staying time of the foreign matters and a threshold value C for the invasion limit range of the foreign matters;
the output result A1 is generated according to the total foreign matter volume greater than or equal to the threshold A, the output result A2 is generated according to the foreign matter staying time greater than or equal to the threshold B, and the output results A3, A1, A2 and A3 are generated according to the foreign matter invasion range greater than or equal to the threshold C and serve as cloud data A.
The threshold value A, the threshold value B and the threshold value C are set, foreign matters which can not threaten the operation of the track 1 can be screened out preliminarily, and the information processing amount of the algorithm processing unit is reduced.
As shown in fig. 8 and 9, in the step (b), the method further includes the steps of:
(b1) constructing collected cloud data A, and generating a three-dimensional point cloud polar coordinate of a polar coordinate system with a multi-line three-dimensional laser radar as a center; processing the polar coordinates of the three-dimensional point cloud by adopting rectangular coordinate transformation, and establishing a track curve equation;
(b2) extracting a track curve equation, constructing a rectangular coordinate system which passes through an origin and is parallel to the center line of the inner side rail of the rail and is an X axis by adopting a cross point of the perpendicular lines from the multi-line three-dimensional laser radar to the center line of the inner side rail as the origin, and establishing a track coordinate system and performing space segmentation;
(b3) extracting three-dimensional characteristic information of the infringement foreign matter in the track coordinate system by adopting a clustering method for each partitioned space;
(b4) splicing the foreign matter information and calculating the distance between the foreign matter and the rail;
(b5) and carrying out data fusion on the three-dimensional characteristic information of the foreign matters extracted by the multi-line three-dimensional laser radar by using a high-definition video acquisition unit, and judging the attributes and categories of the invasion limit foreign matters.
As shown in fig. 11, in the step (c), the method further includes the steps of:
(c1) setting an alarm list, and adding the identified foreign matter information into the alarm list;
(c2) processing foreign body information in the alarm list;
when the recognition device 2 monitors new foreign matter information, adding the new foreign matter information to an alarm list;
when the recognition device 2 monitors that the foreign matters disappear, removing the corresponding foreign matter information in the alarm list;
when the recognition device 2 detects that the foreign matter disappears and then appears, the foreign matter information is added to the alarm device to generate secondary alarm.
Alarm lists are set for different sizes of foreign matters, the residence time of the foreign matters and the invasion range of the foreign matters, the identification capability of the multi-line three-dimensional laser radar for the foreign matters is improved, the field alarm of the corresponding level is triggered by combining the track 1 information, and the railway alarm processing system is used for generating the three-dimensional characteristic of the foreign matters and the alarm information.
Working process of the embodiment 1: when the track 1 is in an environment such as a bridge or a tunnel, and the number of the tracks 1 is small (including one or two tracks 1), the mounting rack is a mounting rod 32 disposed on one side of the track 1. The remote system control unit sends out an instruction, the recognition device 2 faces one side of the track 1, the multi-line three-dimensional laser radar acquisition devices 22 fixedly installed on the installation rod 32 and the high-definition video acquisition device 21 are started, the multi-line three-dimensional laser radar acquisition devices 22 scan the track 1 and collect information, and the high-definition video screen acquisition devices acquire the track 1 information far away from the installation rod 32.
Working process of the embodiment 2: when the track 1 is more (including four tracks 1), the mounting rack is a mounting rod 32 arranged on two sides of the track 1. The remote system control unit sends out an instruction, the identification device 2 for monitoring the foreign matters in the track 1 is fixedly installed on the installation rods 32 on the two sides of the track 1, the identification device 2 comprises a multi-line three-dimensional laser radar acquisition device 22 and a high-definition video acquisition device 21, the multi-line three-dimensional laser radar acquisition device 22 on the two sides scans the track 1 and collects information, the high-definition video acquisition devices on the two sides collect the information of the track 1 which is far away from the installation rods 32, and the attribute of the foreign matters is accurately judged.
Working process of this example 3: when the number of the railway electric poles is large, in order to realize non-blind area monitoring, the mounting frame is a portal frame 33 arranged above the track 1. Remote system control unit sends out the instruction, portal frame 33 fixed mounting that is located track 1 top has recognition device 2 of monitoring track 1 foreign matter, recognition device 2 includes multi-thread three-dimensional laser radar collection device 22 and high definition video collection device 21, according to track 1 figure quantity, be equipped with corresponding quantity on portal frame 33 and look at screen collection device towards track 1's multi-thread three-dimensional laser radar collection device 22 and high definition, multi-thread three-dimensional laser radar collection device 22 scans and collects information track 1, screen collection device is looked to the high definition and gathers the partial track 1 information far away from installation pole 32, come the accurate attribute of judging the foreign matter.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. Track foreign matter intrusion detection device based on multi-line three-dimensional radar, its characterized in that, three-dimensional laser radar's track traffic foreign matter intrusion detection device includes:
the track foreign matter identification device comprises an identification device (2) for identifying track foreign matters and a supporting device (3) provided with the identification device (2), wherein the supporting device (3) is arranged on the inner side, the outer side or the upper side of a track (1);
the identification device (2) comprises a high-definition video screen acquisition device and a multi-line three-dimensional laser radar acquisition device (22);
the high-definition video acquisition device (21) and the multi-line three-dimensional laser radar acquisition device (22) are installed on the supporting device (3) in a matched mode to monitor track foreign matter invasion.
2. The track foreign object intrusion detection device based on the multi-line three-dimensional radar as claimed in claim 1, wherein the supporting device (3) comprises a ground cage (31) and a mounting frame, the ground cage (31) is buried in the ground (4), and the part of the ground cage (31) leaking out of the ground (4) is fixedly connected with the mounting frame.
3. The device for detecting the intrusion of foreign objects in the track based on the multi-line three-dimensional radar as claimed in claim 1, wherein a thermostat for regulating and controlling the temperature of the device is arranged in the multi-line three-dimensional laser radar collecting device (22).
4. The multi-line three-dimensional radar-based track foreign object intrusion detection device according to claim 2, wherein the mounting frame comprises a mounting bar (32) or a gantry (33).
5. The multi-line three-dimensional radar-based track foreign object intrusion detection device as recited in claim 4, wherein the height adjustable range of the mounting rod (32) is 0-8 m.
6. The track foreign matter intrusion detection system based on the multiline three-dimensional radar is characterized in that the track foreign matter intrusion detection device based on the multiline three-dimensional radar is used, and the track foreign matter intrusion detection system based on the multiline three-dimensional radar comprises:
the multi-line three-dimensional laser radar acquisition unit is used for identifying and acquiring railway line information and recording the railway line information to generate cloud data A;
the high-definition video acquisition unit is used for monitoring railway line information and generating cloud data B;
the algorithm processing unit is used for processing the cloud data A and the cloud data B and generating foreign matter invasion limit information of the area to be monitored;
and the alarm output unit is used for processing the foreign matter intrusion information to generate a visual warning signal.
7. The track foreign matter intrusion detection method based on the multi-line three-dimensional radar is characterized by comprising the following steps:
(a) the method comprises the following steps that a multi-line three-dimensional laser radar acquisition device and a high-definition video acquisition device are started, a multi-line three-dimensional laser radar acquisition unit acquires information of a region to be monitored of a railway line and records the information as cloud data A, and a high-definition video acquisition unit acquires and records the information of the region to be monitored of the railway line as cloud data B;
(b) the algorithm processing unit extracts and processes the cloud data A and the cloud data B to generate foreign matter invasion limit information of the area to be monitored;
(c) and the alarm output unit reads and identifies the foreign matter invasion information and triggers the field alarm and signal prompt of the corresponding level.
8. The method for detecting the intrusion of foreign objects in the orbit based on the multi-line three-dimensional radar as claimed in claim 7, wherein the step (a) further comprises the steps of:
(a1) the multi-line three-dimensional laser radar acquisition device identifies and records the intrusion range of foreign matters, the total volume of the foreign matters and the residence time of the foreign matters;
(a2) setting a threshold value A for screening the total volume of the foreign matters, a threshold value B for the staying time of the foreign matters and a threshold value C for the invasion limit range of the foreign matters;
the output result A1 is generated according to the total foreign matter volume greater than or equal to the threshold A, the output result A2 is generated according to the foreign matter staying time greater than or equal to the threshold B, and the output results A3, A1, A2 and A3 are generated according to the foreign matter invasion range greater than or equal to the threshold C and serve as cloud data A.
9. The method for detecting the intrusion of foreign objects in the orbit based on the multi-line three-dimensional radar as claimed in claim 7, further comprising the step (b):
(b1) constructing collected cloud data A, and generating a three-dimensional point cloud polar coordinate of a polar coordinate system with a multi-line three-dimensional laser radar as a center; processing the polar coordinates of the three-dimensional point cloud by adopting rectangular coordinate transformation, and establishing a track curve equation;
(b2) extracting a track curve equation, constructing a rectangular coordinate system which passes through an origin and is parallel to the center line of the inner side rail of the rail and is an X axis by adopting a cross point of the perpendicular lines from the multi-line three-dimensional laser radar to the center line of the inner side rail as the origin, and establishing a track coordinate system and performing space segmentation;
(b3) extracting three-dimensional characteristic information of the infringement foreign matter in the track coordinate system by adopting a clustering method for each partitioned space;
(b4) splicing the foreign matter information and calculating the distance between the foreign matter and the rail;
(b5) and carrying out data fusion on the three-dimensional characteristic information of the foreign matters extracted by the multi-line three-dimensional laser radar by using a high-definition video acquisition unit, and judging the attributes and categories of the invasion limit foreign matters.
10. The method for detecting the intrusion of foreign objects in the orbit based on the multi-line three-dimensional radar as claimed in claim 7, further comprising the step (c):
(c1) setting an alarm list, and adding the identified foreign matter information into the alarm list;
(c2) processing foreign body information in the alarm list;
when the identification device monitors new foreign matter information, adding the new foreign matter information to an alarm list;
when the recognition device monitors that the foreign matters disappear, removing corresponding foreign matter information in the alarm list;
when the recognition device detects that the foreign matter disappears and then appears, the foreign matter information is added to the alarm device to generate secondary alarm.
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| CN202010406472.2A CN111398990A (en) | 2020-05-14 | 2020-05-14 | Track foreign matter intrusion detection device, system and method based on multi-line three-dimensional radar |
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