CN111661111A - Rail transit obstacle detection method and device - Google Patents
Rail transit obstacle detection method and device Download PDFInfo
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- CN111661111A CN111661111A CN202010493565.3A CN202010493565A CN111661111A CN 111661111 A CN111661111 A CN 111661111A CN 202010493565 A CN202010493565 A CN 202010493565A CN 111661111 A CN111661111 A CN 111661111A
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- 230000004888 barrier function Effects 0.000 claims description 4
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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
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- 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
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Abstract
The application relates to a rail transit obstacle detection method, which comprises the following steps: controlling a laser detection device to measure the track width of each position of a track in a target area in the advancing direction of the track traffic train; comparing the measured track width of each position of the track with the standard width of the train track to obtain calibration parameters corresponding to each position of the track; continuously carrying out laser detection on the target area to determine whether an obstacle exists in the target area; if the target area has the obstacle, detecting a first state of the obstacle; and calibrating the first state by using the calibration parameters of the positions of the obstacles corresponding to the track to obtain the second state of the obstacles, thereby realizing the obstacle detection of the track traffic. According to the method, the detected state of the obstacle is calibrated, so that the detected state of the obstacle is more accurate, the risk of the moving object with collision risk can be estimated, and the safety of rail transit in operation is guaranteed.
Description
Technical Field
The invention belongs to the technical field of rail transit safety, and particularly relates to a rail transit obstacle detection method and device.
Background
In recent years, domestic high-speed railway projects are developed rapidly, the high-speed railway can realize the running speed of 250km/h to 380km/h, and even the running speed of part of magnetic suspension trains can reach 600 km/h. More convenience is brought to people for traveling, and as the year is 2019, the business mileage of railways in China reaches over 13.9 kilometers, wherein the business mileage of high-speed railways is 3.5 kilometers, and the first place in the world is.
However, while the high-speed railway brings convenience to people going out, the running speed of the high-speed railway naturally increases the risk when the high-speed railway encounters an obstacle, and therefore, an efficient obstacle detection and risk prediction scheme is required to be provided to ensure the safety of train running.
Disclosure of Invention
The application provides a rail transit obstacle detection method and device, which are used for reducing safety risks during operation of a high-speed railway.
The invention provides a rail transit obstacle detection method in a first aspect, which comprises the following steps:
controlling a laser detection device to measure the track width of each position of a track in a target area in the advancing direction of the track traffic train;
comparing the measured track width of each position of the track with the standard width of the train track to obtain calibration parameters corresponding to each position of the track;
continuously carrying out laser detection on a target area to determine whether an obstacle exists in the target area;
if the target area has an obstacle, detecting a first state of the obstacle;
and calibrating the first state by using the calibration parameters of the positions of the obstacles corresponding to the track to obtain a second state of the obstacles, thereby realizing the obstacle detection of the track traffic.
A second aspect of the present invention provides a rail transit obstacle detection apparatus, including:
the track width measuring module is used for controlling the laser detection device to measure the track width of each position of the track in the target area in the advancing direction of the track traffic train;
the calibration parameter determining module is used for comparing the measured track width of each position of the track with the standard width of the train track to obtain calibration parameters corresponding to each position of the track;
the obstacle judging module is used for carrying out laser detection on a target area so as to determine whether an obstacle exists in the target area;
the first state determining module is used for detecting a first state of an obstacle when the obstacle exists in the target area;
and the calibration module is used for calibrating the first state by using the calibration parameters of the position of the rail corresponding to the obstacle to obtain the second state of the obstacle, so that the obstacle detection of the rail transit is realized.
A third aspect of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the computer program is executed by the processor, the electronic device implements the steps in the rail transit obstacle detection method provided in the first aspect.
A fourth aspect of the present invention provides a storage medium having stored thereon a computer program that, when executed by a processor, implements the steps in the rail transit obstacle detection method provided in the first aspect.
As can be seen from the above description, the rail transit obstacle detection method provided by the present application includes: controlling a laser detection device to measure the track width of each position of a track in a target area in the advancing direction of the track traffic train; comparing the measured track width of each position of the track with the standard width of the train track to obtain calibration parameters corresponding to each position of the track; continuously carrying out laser detection on the target area to determine whether an obstacle exists in the target area; if the target area has the obstacle, detecting a first state of the obstacle; and calibrating the first state by using the calibration parameters of the positions of the obstacles corresponding to the track to obtain the second state of the obstacles, thereby realizing the obstacle detection of the track traffic. In the method, the track width in a target area in the train advancing direction is continuously measured and calibrated with a standard track in the train advancing process, and calibration parameters of each position of the track are determined. After the obstacle exists in the target area, the state of the detected obstacle is calibrated by using the calibration parameter of the track position corresponding to the obstacle, and more accurate obstacle state information is obtained, so that the accuracy of detecting the obstacle in the track traffic is improved, and the safety of the track traffic during operation is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a rail transit obstacle detection method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a rail transit obstacle detection device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, a schematic flow chart of a rail transit obstacle detection method provided by the present invention includes:
in the embodiment of the application, because the running speed of the train is very high, the air around the train is compressed when the train runs at a high speed, so that the density of the air around the train is unbalanced. In general, the closer the distance from the front of the train to the train, the greater the air density. The propagation speed of the laser light is different in air with different densities, namely the laser light is refracted in transmission. Therefore, when the train runs at a high speed, the propagation of the laser for distance measurement in the air is curve propagation instead of straight propagation, and therefore the state of the obstacle detected by the laser detection device also deviates from the actual state to a certain extent. Therefore, it is necessary to calibrate the obstacle state information detected by the laser detection device. In the process of advancing of the rail train, a laser detection device is used for measuring the track distance of the track in a target area in the advancing direction of the train in real time. Since the non-uniform density of the gas in the air causes certain interference to the laser detection, the measured track width at each position of the track also has certain difference. For example, the measured target area is within the range of 3-5 km ahead of the running direction of the rail train, and the area width can be set to be 10 m. Then the track width at a position 3km ahead of the train may be measured differently from the track width at a position 5km ahead of the train, it being understood that the track width at 3km to 5km may be continuous data. Each position on the track corresponds to a width datum. However, in practice, the track width of the rail traffic is a very standard fixed value, so the difference between the measured data and the actual data is the error caused by the environment to the detection. Therefore, to make the obstacle detection accurate, the error needs to be calibrated. And comparing the width measurement value of each position of the track with the track width standard value to obtain the calibration parameter corresponding to each position of the track. It is understood that the calibration parameters for each position of the track are not fixed, and the calibration parameters for different track positions are different. The track position herein does not refer to only a position on the track, but refers to a tangent plane position perpendicular to the train running direction corresponding to the track position.
in the embodiment of the application, in the process of the rail train moving, because the running speed of the train is high, even a small obstacle can cause great damage to the train, and therefore obstacle detection needs to be carried out on the moving direction of the train in real time. The invention adopts laser to detect obstacles, the laser can be a laser diode, the emitted laser light source can be ultraviolet light or laser signals of wave bands beyond human eye visible light wave bands such as infrared light, and the like, so as to avoid the influence of returned light rays on rail train drivers and the influence of the returned light rays on pedestrians or driving vehicles around the rail, avoid the influence of natural light on detection results, and further improve the accuracy s of the detection results. The detected target area is above the track in the train advancing direction and in the preset range of the two sides of the track.
Specifically, laser is firstly emitted to a target area above a track in the running direction of the track train and within a preset range on two sides of the track, so that obstacle detection is carried out on the target area. The laser light is reflected when it encounters an obstacle.
Then, utilize laser signal receiving arrangement to gather the laser signal who returns through barrier reflection, laser signal receiving arrangement can be camera device, can set up the filter before this camera device's the camera lens, and this filter can the filtering laser signal light signal beyond the signal to make the testing result more accurate.
And then judging whether the obstacle exists in the target area according to the returned laser signal, wherein the emitted and returned laser are distributed in a lattice manner, the laser signal can detect the specific direction of the reflecting object, and when the reflecting object is not detected to be in the target area, the threat of the reflecting object can be judged to be small, and the obstacle does not exist in the target area. Otherwise, judging that the obstacle exists in the target area.
And 104, if the obstacle exists in the target area, detecting a first state of the obstacle.
When the obstacle exists in the target area, the state of the obstacle needs to be further detected, and the detection of the state of the obstacle comprises the detection of the shape of the obstacle, the distance from the detection point and the movement trend of the obstacle. Specifically, the shape of the obstacle may be determined from an image of the obstacle taken by the image pickup device, the distance between the obstacle and the detection point may be calculated by triangulation from the returned laser signal, and further, the three-dimensional space coordinates of the obstacle may be detected due to laser detection. And then according to the three-dimensional space coordinate detected in real time, the laser detection device continuously measures the three-dimensional space coordinate of the obstacle, and the movement track of the obstacle is determined through measurement for a period of time, such as continuous measurement for 1s, so that the movement track of the obstacle is determined, and the movement trend of the obstacle can be pre-judged. Since the propagation of the laser in the environment may be affected by the air density, which may cause a deviation between the test result and the actual result, the shape, the distance, and the movement trend of the obstacle included in the above detected first state are denoted as a first shape, a first distance, and a first movement trend. Further calibration of the first state described above is required to obtain an accurate obstacle state.
And 105, calibrating the first state by using the calibration parameters to obtain a second state of the obstacle, so as to realize the detection of the rail transit.
After the specific position of the obstacle is determined, the calibration parameter corresponding to the track position at the position may be determined, for example, when the position of the obstacle is three kilometers away from the train in the advancing direction of the train, the calibration parameter for calibrating the obstacle is determined to be the calibration parameter corresponding to the track position three kilometers away from the train. After the calibration parameters are determined, the calibration parameters are used to calibrate the first state of the obstacle detected in step 104, specifically, the calibration parameters are used to calibrate the first shape, the first distance, and the first movement trend, respectively, so as to obtain a second shape, a second distance, and a second movement trend. And determining that the state of the obstacle is a second motion state, namely the shape of the obstacle is a second shape, the distance of the obstacle is a second distance, and the motion trend of the obstacle is a second motion trend, so as to finish the detection of the rail transit obstacle.
As can be seen from the above description, the rail transit obstacle detection method provided in the embodiment of the present application includes: controlling a laser detection device to measure the track width of each position of a track in a target area in the advancing direction of the track traffic train; comparing the measured track width of each position of the track with the standard width of the train track to obtain calibration parameters corresponding to each position of the track; continuously carrying out laser detection on the target area to determine whether an obstacle exists in the target area; if the target area has the obstacle, detecting a first state of the obstacle; and calibrating the first state by using the calibration parameters of the positions of the obstacles corresponding to the track to obtain the second state of the obstacles, thereby realizing the obstacle detection of the track traffic. In the method, the track width in a target area in the train advancing direction is continuously measured and calibrated with a standard track in the train advancing process, and calibration parameters of each position of the track are determined. After the obstacle exists in the target area, the state of the detected obstacle is calibrated by using the calibration parameter of the track position corresponding to the obstacle, and accurate obstacle state information is obtained, so that the accuracy of detecting the obstacle in the track traffic is improved, and the safety of the track traffic during operation is ensured.
Further, after the accurate state of the obstacle is obtained through detection, namely the second shape, the second distance and the second movement trend of the obstacle are determined, wherein the obstacle can be a moving object such as a person, a car or an animal, and can also be a debris flow, a mountain collapse, a tree overturn and the like, after the movement trend is determined, the movement trend of the obstacle is estimated, the estimated movement trend is compared with the advancing track of the train, if collision risks exist, an alarm sound is sent to remind a train driver, and the train can be directly subjected to emergency braking and danger information is sent to a train control center.
As shown in fig. 2, a schematic structural diagram of a rail transit obstacle detection device provided in the embodiment of the present application is shown, and the device includes:
the track width measuring module 201 is used for controlling the laser detection device to measure the track width of each position of the track in the target area in the advancing direction of the track traffic train;
the calibration parameter determining module 202 is configured to compare the measured track width at each position of the track with a standard width of a train track to obtain calibration parameters corresponding to each position of the track;
the obstacle judging module 203 is used for performing laser detection on the target area to determine whether an obstacle exists in the target area;
a first state determination module 204, configured to detect a first state of an obstacle when the obstacle exists in the target area;
the calibration module 205 is configured to calibrate the first state by using the calibration parameter of the track position corresponding to the obstacle, so as to obtain a second state of the obstacle.
It can be understood that the functions of the modules of the rail transit obstacle detection device provided in the embodiment of the present application are consistent with the contents of the steps of the rail transit obstacle detection method provided in the embodiment of fig. 1, and are not described again here.
Further, the obstacle determining module 203 includes:
the laser module is used for emitting laser to a target area to detect obstacles;
the acquisition module is used for acquiring the returned laser signal;
and the judging module is used for judging whether the target area has the obstacle or not according to the returned laser signal.
Further, the first state determination module 204 includes:
the first shape determining module is used for determining a first shape of an obstacle according to an obstacle image shot by the camera device;
the first distance determining module is used for calculating a first distance between the obstacle and the detection point according to the time difference between the returned laser signal receiving time and the laser emitting time, and determining the three-dimensional space coordinate of the obstacle;
the first motion trend determining module is used for determining a first motion trend of the obstacle according to the change of the three-dimensional space coordinate of the obstacle;
further, the apparatus further comprises:
and the early warning module is used for controlling the rail train to perform emergency braking and sending early warning signals to rail train drivers and a master control center if the collision risk between the barrier and the rail train is judged according to the movement trend.
It can be understood that the functions of the modules of the above-mentioned apparatus are consistent with the contents of the steps in the above-mentioned rail transit detection method, and are not described again. It is understood that the functions of the above modules can also be implemented by a Field Programmable Gate Array (FPGA) control state machine.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device includes:
The Memory 301 may be a Random Access Memory (RAM) Memory or a non-volatile Memory (non-volatile Memory), such as a magnetic disk Memory. The memory 301 is for storing executable program code, and the processor 302 is coupled to the memory 301.
The present application also provides a storage medium, which may be a memory. The storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the rail transit obstacle detection method provided in the embodiment of fig. 1. Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a readable storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned readable storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the technical solutions provided in the present application, those skilled in the art will recognize that there may be variations in the specific embodiments and applications of the concepts provided in the embodiments of the present application.
Claims (10)
1. A rail transit obstacle detection method, characterized in that the method comprises:
controlling a laser detection device to measure the track width of each position of a track in a target area in the advancing direction of the track traffic train;
comparing the measured track width of each position of the track with the standard width of the train track to obtain calibration parameters corresponding to each position of the track;
continuously carrying out laser detection on the target area to determine whether an obstacle exists in the target area;
if the target area has an obstacle, detecting a first state of the obstacle;
and calibrating the first state by using the calibration parameters of the positions of the obstacles corresponding to the track to obtain a second state of the obstacles, thereby realizing the obstacle detection of the track traffic.
2. The rail transit obstacle detection method of claim 1, wherein the continuously performing laser detection on the target area to determine whether an obstacle exists in the target area comprises:
emitting laser to a target area for obstacle detection;
collecting a returned laser signal;
and judging whether the target area has an obstacle or not according to the returned laser signal.
3. The rail transit obstacle detection method according to claim 2, wherein the detecting the first state of the obstacle includes:
determining a first shape of the obstacle according to an obstacle image shot by a camera device;
calculating a first distance between the obstacle and the detection point position and a three-dimensional space coordinate of the obstacle according to the returned laser signal;
determining a first movement trend of the obstacle according to the change of the three-dimensional space coordinates of the obstacle;
the calibrating the first state by using the calibration parameter to obtain a second state of the obstacle includes:
and calibrating the first shape, the first distance and the first movement trend of the obstacle by using the calibration parameters to obtain a second shape, a second distance and a second movement trend of the obstacle.
4. The method for detecting rail transit obstacle according to claim 3, wherein the calibrating the first shape, the first distance and the first movement trend of the obstacle with the calibration parameters further comprises:
and if the collision risk between the barrier and the rail train is judged according to the motion trend, controlling the rail train to perform emergency braking and sending early warning signals to rail train drivers and a master control center.
5. A rail transit obstacle detection device, characterized in that the device comprises:
the track width measuring module is used for controlling the laser detection device to measure the track width of each position of the track in the target area in the advancing direction of the track traffic train;
the calibration parameter determining module is used for comparing the measured track width of each position of the track with the standard width of the train track to obtain calibration parameters corresponding to each position of the track;
the obstacle judging module is used for carrying out laser detection on the target area so as to determine whether an obstacle exists in the target area;
the first state determining module is used for detecting a first state of an obstacle when the obstacle exists in the target area;
and the calibration module is used for calibrating the first state by using the calibration parameters of the position of the rail corresponding to the obstacle to obtain a second state of the obstacle.
6. The rail transit obstacle detection device according to claim 5, wherein the obstacle determination module includes:
the laser module is used for emitting laser to a target area to detect obstacles;
the acquisition module is used for acquiring the returned laser signal;
and the judging module is used for judging whether the target area has an obstacle or not according to the returned laser signal.
7. The rail transit obstacle detection device of claim 6, wherein the first state determination module comprises:
the first shape determining module is used for determining a first shape of the obstacle according to an obstacle image shot by the camera device;
the first distance determination module is used for calculating a first distance between the obstacle and the detection point position according to the returned laser signal and determining the three-dimensional space coordinate of the obstacle;
the first motion trend determining module is used for determining a first motion trend of the obstacle according to the change of the three-dimensional space coordinate of the obstacle;
the second state determination module is configured to calibrate the first shape, the first distance, and the first movement trend of the obstacle using the calibration parameter, so as to obtain a second shape, a second distance, and a second movement trend of the obstacle.
8. The rail transit obstacle detecting device according to claim 7, characterized in that the device further comprises:
and the early warning module is used for controlling the rail train to carry out emergency braking and sending early warning signals to rail train drivers and a master control center if the collision risk between the barrier and the rail train is judged according to the motion trend.
9. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any one of the rail transit obstacle detection methods of claims 1-4.
10. A rail transit obstacle detection device comprising an FPGA, characterized in that, when operating, the FPGA implements the steps of any one of the rail transit obstacle detection methods of claims 1-4.
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| CN112722009A (en) * | 2021-01-20 | 2021-04-30 | 李林卿 | Danger avoiding method and device for railway transportation and train-mounted terminal |
| CN112937647A (en) * | 2021-03-17 | 2021-06-11 | 青岛海信网络科技股份有限公司 | Train control method, equipment and medium |
| CN113553915A (en) * | 2021-06-30 | 2021-10-26 | 通号城市轨道交通技术有限公司 | Train operation method and device, electronic equipment and storage medium |
| CN113991890A (en) * | 2021-10-25 | 2022-01-28 | 郑州铁路职业技术学院 | Non-contact power supply method for rail transit |
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