CN111717243B - Rail transit monitoring system and method - Google Patents
Rail transit monitoring system and method Download PDFInfo
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- CN111717243B CN111717243B CN202010571883.7A CN202010571883A CN111717243B CN 111717243 B CN111717243 B CN 111717243B CN 202010571883 A CN202010571883 A CN 202010571883A CN 111717243 B CN111717243 B CN 111717243B
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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 vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
Abstract
The invention provides a rail transit monitoring system and a rail transit monitoring method. The system comprises a plurality of monitoring alarm terminals, a data exchange module and a vehicle-mounted terminal which are arranged along a track; the monitoring alarm terminal comprises a plurality of image acquisition modules, a plurality of optical alarm modules and a first processing module; all the first processing modules are connected and communicated through the data exchange module; the first processing module identifies whether foreign matter invasion limit exists in the image output by the image acquisition module, and transmits an alarm signal to the first processing module of the front or rear monitoring alarm terminal when the foreign matter invasion limit exists, so that the light alarm module in a first distance range in front or rear can send out a light alarm signal; the vehicle-mounted terminal comprises an optical receiver positioned at the head of the train and a second processing module. The system sends out the light alarm signal through the light alarm module, does not rely on the signal system to convey the alarm signal, and when the signal communication system breaks down, or in the scenes such as tunnel that communication quality is relatively poor, still can effectively transmit the alarm signal, improves driving safety.
Description
Technical Field
The invention relates to the field of rail transit, in particular to a rail transit monitoring system and a rail transit monitoring method.
Background
In the rail transit automatic driving technology, the safety of the Train is realized by a automatic Train Protection system (ATP for short). The ATP system consists of trackside equipment for automatic protection of the train, vehicle-mounted equipment and interlocking equipment in a control area. It has the following disadvantages: the control method can only control the block area of the train, but cannot detect foreign matters suddenly entering the track area, such as pedestrians, equipment falling, landslides and the like; meanwhile, when the signal system fails and the ATP system is removed, the vehicle can be driven only by a driver for manual driving and manual observation, and a large accident is often caused.
In order to make up the situation that foreign matters invade an orbit area in the automatic rail transit automatic driving technology, in the prior art, an image acquisition module is installed and implemented on a train to acquire real-time images of a track in front of the train, and meanwhile, a millimeter wave radar is added to serve as distance extension for obstacle detection, so that the aim of replacing an ATP system is fulfilled.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a rail transit monitoring system and a rail transit monitoring method.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a rail traffic monitoring system, comprising a plurality of monitoring alarm terminals disposed along a rail, a data exchange module, and a vehicle-mounted terminal located on a train; the monitoring alarm terminal comprises a plurality of image acquisition modules for shooting track area images, a plurality of optical alarm modules in one-to-one correspondence with the image acquisition modules and a first processing module, wherein the image acquisition modules are arranged along a track; the first processing modules of all the monitoring alarm terminals are connected and communicated through the data exchange module; in each monitoring alarm terminal, a first processing module identifies whether foreign matter intrusion exists in an image output by an image acquisition module, and when the foreign matter intrusion exists, the first processing module of the monitoring alarm terminal transmits an alarm signal to a first processing module of a front or rear monitoring alarm terminal so that an optical alarm module in a first distance range in front or rear emits the optical alarm signal; the vehicle-mounted terminal comprises an optical receiver positioned at the head of the train and a second processing module; the optical receiver is used for receiving the optical alarm signal, and the second processing module is connected with the optical receiver.
The beneficial effects of the above technical scheme are: according to the system, the monitoring alarm terminals are arranged along the track, global monitoring of the track can be realized, the track is accurately monitored in real time through the acquisition and processing of real-time video data, and the running safety of a train is guaranteed; when foreign matter intrusion exists, the light alarm module sends out light alarm signals, the vehicle-mounted terminal acquires whether foreign matter intrusion exists or not by collecting the light alarm signals, corresponding counter measures are made, the safety condition of a front rail area of the train is observed in real time through the vehicle-mounted terminal, the observation visual range of a driver is expanded, the safety of the train under manual driving can be improved in an application scene of manual driving, the system does not depend on a signal system to transmit the alarm signals, and when a signal communication system fails or in scenes with poor communication quality such as tunnels, the alarm signals can still be effectively transmitted; in addition, the light alarm module sends out light alarm signals in the first distance range, so that the train has sufficient response time, the train running safety is further improved, and the train operation efficiency and the train fault processing efficiency are improved.
In a preferred embodiment of the present invention, the outgoing light of the light alarm module comprises visible light and invisible light.
The beneficial effects of the above technical scheme are: visible light is used for visual observation of train drivers, invisible light is used, the light receiver is matched with a camera which only receives the invisible light, other interference light (such as environment stray light) can be filtered, and the vehicle-mounted terminal can more accurately and quickly identify the light alarm signal.
In a preferred embodiment of the present invention, the optical receiver is a camera, and the camera is connected to the second processing module; and/or the vehicle-mounted terminal further comprises an alarm, and the alarm is connected with the second processing module.
The beneficial effects of the above technical scheme are: the light alarm signal and the holding signal can be conveniently and rapidly collected and extracted; when foreign matter intrusion exists, the alarm gives an alarm to a driver, and the effectiveness of the alarm is improved.
In a preferred embodiment of the present invention, the monitoring and alarming terminal further includes at least two in-place sensors disposed along the track, and the first processing module is connected to each in-place sensor.
The beneficial effects of the above technical scheme are: the train running position, the running direction and the running speed can be conveniently obtained, the self-adaptive dynamic segmented limit intrusion monitoring according to the train running position independent of a signal communication network can be conveniently realized, the power consumption and the operation cost of the system are greatly reduced, and the working efficiency of the system is improved.
In a preferred embodiment of the invention, a position sensor is provided at each station along the track, said position sensor being connected to the closest first processing module.
The beneficial effects of the above technical scheme are: the train driving position is convenient to obtain, the self-adaptive dynamic segmented limit intrusion monitoring according to the train driving position independent of a signal communication network is convenient to realize, the power consumption and the operation cost of the system are greatly reduced, and the working efficiency of the system is improved.
In a preferred embodiment of the present invention, the in-place sensor is an RFID receiving module, and the vehicle-mounted terminal further includes an RFID transmitting module.
The beneficial effects of the above technical scheme are: convenient implementation and high reliability.
In a preferred embodiment of the present invention, the monitoring system further includes a management control center, and the management control center is connected and communicated with the first processing module of each monitoring alarm terminal through a data exchange module.
The beneficial effects of the above technical scheme are: the management control center is convenient for information aggregation and global control, and management of equipment, users, alarm statistics and display of the whole system is facilitated.
In a preferred embodiment of the present invention, the vehicle-mounted terminal further includes a vehicle-mounted communication module and an acceleration sensor; the vehicle-mounted communication module is connected with the management control center for communication, and the second processing module is respectively connected with the vehicle-mounted communication module and the acceleration sensor.
The beneficial effects of the above technical scheme are: the train running position is conveniently acquired by the management control center, the track dynamic section limit invasion monitoring of the following train position is realized, the system power consumption and the operation cost are greatly reduced, and the working efficiency of the system is improved.
In order to achieve the above object of the present invention, according to a second aspect of the present invention, there is provided a track monitoring method comprising: in each monitoring alarm terminal, a first processing module inquires whether an in-place sensor outputs an in-place signal or not, after the in-place sensor outputs the in-place signal, the first processing module acquires the running direction and the running speed of a train according to the sequence and time difference of the in-place signals output by adjacent in-place sensors, the first processing module acquires a second distance according to the running speed of the train, and after the first processing module transmits an image acquisition starting signal, the running direction and the running speed of the train to a first processing module which has the same running direction with the train and is away from the first processing module by the second distance, the first processing module controls an image acquisition module of the monitoring alarm terminal to be closed or to enter a standby state; in each monitoring alarm terminal, after a first processing module receives image acquisition starting signals sent by other first processing modules, the running direction and the running speed of a train, the first processing module controls the image acquisition module of the monitoring alarm terminal to acquire track area images, the first processing module identifies whether foreign object invasion limits exist in the output images of the image acquisition module, when the foreign object invasion limits exist, a first distance is acquired based on the running speed of the train, the first processing module transmits alarm signals to the first processing module in the opposite direction of the running direction of the train, and the optical alarm module in the first distance range in the opposite direction of the running direction of the train is controlled to send optical alarm signals.
The beneficial effects of the above technical scheme are: the method enables the monitoring alarm terminal arranged along the track to quickly and effectively obtain the train running position, the running speed and the running direction of the train, adaptively starts the monitoring alarm terminal at the second distance according to the train running position and the running direction to carry out intrusion monitoring, ensures that no track monitoring blind area occurs because the second distance is arranged according to the running speed, can reduce the system power consumption, does not depend on a signal communication network, does not need the intervention of a management control center, and improves the reliability of track monitoring.
In order to achieve the above object of the present invention, according to a third aspect of the present invention, there is provided a track monitoring method comprising: s1, the management control center acquires the first train position reported by the vehicle-mounted terminal in real time; s2, controlling a first processing module of the monitoring alarm terminal of the corresponding section of the first train position to output an image recognition train based on the image acquisition module, and controlling the monitoring alarm terminal of the corresponding section of the first train position to close or enter a standby state after the monitoring alarm terminal at a third distance from the first processing module of the train to be recognized in the train running direction is started to work by the management control center after the train is recognized; and when no train is identified in all the images, controlling the monitoring alarm terminal of the corresponding section of the first train position to be closed or to enter a standby state, and returning to the step S1.
The beneficial effects of the above technical scheme are: the method verifies and checks the first train position reported by the vehicle-mounted terminal by identifying the train from the output image, improves the accuracy of the obtained train position, and is convenient for a management control center to accurately monitor the track invasion limit by sections along with the actual position of the train.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a system block diagram of a rail traffic monitoring system in a preferred embodiment of the present invention;
FIG. 2 is a block diagram of the monitoring alarm terminal in a preferred embodiment of the present invention;
FIG. 3 is a block diagram of the components of the vehicle-mounted terminal in a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the operation of a rail traffic monitoring system in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a limit violation alarm process of a rail transit monitoring system in an application scenario of the present invention;
FIG. 6 is a system block diagram of a rail transit monitoring system in another preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of the operation of a rail transit monitoring system in accordance with another preferred embodiment of the present invention;
fig. 8 is an operation diagram of a rail traffic monitoring system according to still another preferred embodiment of the present invention.
Reference numerals:
1, monitoring an alarm terminal; 1-1 a first processing module; 1-2 image acquisition module; 1-3 light alarm module; 1-4 in-place sensors; 2, a data exchange module; 3 managing the control center; 4, a vehicle-mounted terminal; 4-1 visible light camera; 4-2 invisible light camera; 4-3 acceleration sensors; 4-4 a second processing module; 4-5 storage modules; 4-6 alarm; 4-7 vehicle-mounted communication module; 4-8RFID transmitting module.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The invention discloses a rail transit monitoring system, which comprises a plurality of monitoring alarm terminals 1 arranged along a rail, a data exchange module 2 and a vehicle-mounted terminal 4 positioned on a train, wherein in a preferred embodiment, as shown in figure 1; as shown in fig. 2 and 4, the monitoring alarm terminal 1 includes a plurality of image acquisition modules 1-2 arranged along a track for capturing track area images, a plurality of optical alarm modules 1-3 corresponding to the image acquisition modules 1-2 one by one, and a first processing module 1-1, wherein the first processing module 1-1 is connected with the image acquisition modules 1-2 and the optical alarm modules 1-3 respectively; the first processing modules 1-1 of all the monitoring alarm terminals 1 are connected and communicated through the data exchange module 2; in each monitoring alarm terminal 1, a first processing module 1-1 identifies whether foreign matter intrusion exists in an image output by an image acquisition module 1-2, and when the foreign matter intrusion exists, the first processing module 1-1 of the monitoring alarm terminal 1 transmits an alarm signal to the first processing module 1-1 of the monitoring alarm terminal 1 in front or behind so that an optical alarm module 1-3 in a first distance range in front or behind sends out an optical alarm signal; as shown in fig. 3 and 4, the on-board terminal 4 includes an optical receiver located at the head of the train, and a second processing module 4-4; the optical receiver is used for receiving the optical alarm signal, and the second processing module 4-4 is connected with the optical receiver.
In the embodiment, the rail traffic monitoring system can be applied to application sites of various rail traffic such as subways, high-speed rails, ordinary railways and the like, has independence, is efficient and accurate, and has strong anti-interference capability.
In this embodiment, the method for identifying whether there is a foreign object violation in the image output by the image acquisition module 1-2 by the first processing module 1-1 may adopt an existing algorithm, for example, a method for determining whether there is a foreign object violation in the track and the area near the track through a neural network algorithm disclosed in chinese patent with publication number CN110962886A may be adopted, and details thereof are not repeated herein.
In this embodiment, the monitoring alarm terminal 1 may be located on both sides or one side of the track. Preferably, one monitoring alarm terminal 1 comprises a first processing module 1-1, a plurality of image acquisition modules 1-2 and a plurality of optical alarm modules 1-3, the first processing module 1-1 is simultaneously connected with the plurality of image acquisition modules 1-2 and the plurality of optical alarm modules 1-3, and further preferably, the number of the image acquisition modules 1-2 and the number of the optical alarm modules 1-3 are 4 to 8. The image acquisition module 1-2 can be an active image acquisition module 1-2 with a special wavelength light source for light supplement, or a low-illumination image acquisition module 1-2 without active light supplement, and can be set according to the illumination condition of an installation site.
In this embodiment, in order to prevent the train lights from irradiating the image acquisition module 1-2 to cause the image of the train lights to be over-exploded and influence the accuracy of limit violation identification, a first method may be adopted: adding a narrow-band optical filter on an optical input path of the image acquisition module 1-2, and adding a near-infrared light supplementing light source; and/or method two can be used: for a one-way lane, the acquisition window of the image acquisition module 1-2 can be inclined by an angle, and the inclination direction is consistent with the running direction of a train, so that the situation of image over-explosion caused by train lights and the like is avoided; and/or method three can be used: the image acquisition module 1-2 is arranged on a steering engine component, the steering engine component can drive the image acquisition module 1-2 to rotate, a direction acquisition module for acquiring the running direction of a train is also arranged, the first processing module 1-1 acquires the running direction of the train from the direction acquisition module, the steering engine component is controlled to drive the image acquisition module 1-2 to rotate, an acquisition window of the image acquisition module 1-2 is inclined by an angle, the inclined direction is consistent with the running direction of the train, so that the situation of image over-explosion is avoided, the direction acquisition module is conveniently applied to a bidirectional track, the direction acquisition module is preferably but not limited to at least two in-place sensors 1-4 arranged along the passing track of the train, the first processing module 1-1 is respectively connected with the in-place sensors 1-4, and all the first processing modules 1-1 share the running direction of the train through the data exchange module 2, and controls the rotation direction of the steering engine component of the image acquisition module 1-2 corresponding to the image acquisition module.
In the present embodiment, the first processing module 1-1 and the data exchange module 2 of the monitoring alarm terminal 1 may be connected and communicated by wire or wireless. The number of the data exchange modules 2 may be one or more. The first distance is larger than the braking distance of the train, can be a fixed value, and can also be set in real time according to the speed of the train, and the larger the speed of the train is, the larger the first distance is.
In the present embodiment, as shown in fig. 4, when a train comes from the front when there is a foreign matter intrusion, the first processing module 1-1 of the monitoring alarm terminal 1 transmits an alarm signal to the first processing module 1-1 of the monitoring alarm terminal 1 in front, so that the optical alarm module 1-3 in the first distance range in front emits an optical alarm signal; when foreign matter intrusion exists, when a train drives from the rear, the first processing module 1-1 of the monitoring alarm terminal 1 transmits an alarm signal to the first processing module 1-1 of the rear monitoring alarm terminal 1, so that the light alarm module 1-3 in the rear first distance range (in fig. 4, the light alarm module 1-3 with the darker color is luminous, and the light alarm module 1-3 with the lighter color is not luminous) emits a light alarm signal. Specifically, as shown in fig. 4, the monitoring alarm terminal 1 has the capability of receiving and processing a cascade alarm signal between other monitoring alarm terminals 1. When a limit invasion event is monitored to occur in a picture of one image acquisition module 1-2, the corresponding first processing module 1-1 converts the number of the optical alarm modules 1-3 needing to be controlled to work according to a first distance set in advance, transmits an alarm signal to the monitoring alarm terminal 1 behind the monitoring alarm module (a train drives from the front), and simultaneously starts the optical alarm module 1-3 corresponding to the first processing module 1-1; when the first monitoring alarm terminal 1 behind the first monitoring alarm terminal receives the alarm signal, the quantity of the controllable optical alarm modules 1-3 is analyzed, the first monitoring alarm terminal controls the first monitoring alarm terminal to be lightened, the quantity value of the controllable optical alarm modules 1-3 is subtracted, and then the first monitoring alarm terminal forwards the alarm signal to the next monitoring alarm terminal 1 behind until the quantity of the alarm signal received by the last monitoring alarm terminal 1 is converted into the quantity of the controlled optical alarm modules 1-3 to be 0. Therefore, the purpose that a train driver or automatic driving monitoring equipment finds alarm information in advance is achieved, and the running safety of the train is guaranteed.
In this embodiment, preferably, the system further includes a fixing column located at a side edge of the track and used for fixing the image capturing module 1-2 and the optical alarm module 1-3, a first processing module 1-1 is further installed on a part of the fixing column, and the image capturing modules 1-2 are distributed at equal intervals along the track.
In this embodiment, it is preferable that the outgoing light of the optical alarm module 1-3 includes visible light and invisible light, and specifically, the optical alarm module 1-3 includes a visible light source and an invisible light source, which can be installed close to each other. The source of invisible light is preferably, but not limited to, a near infrared light source.
In this embodiment, preferably, as shown in fig. 3, the optical receiver of the in-vehicle terminal 4 is a camera, the camera includes a visible light camera 4-1 and a non-visible light camera 4-2, the visible light camera 4-1 is configured to receive visible light emitted by the optical alarm module 1-3, and the non-visible light camera 4-2 is configured to receive non-visible light emitted by the optical alarm module 1-3, and is, for example, a narrow-band near-infrared camera. The second processing module 4-4 identifies whether a first light spot formed by visible light exists in the output image of the visible light camera 4-1, and the second processing module 4-4 identifies whether a second light spot formed by invisible light exists in the output image of the invisible light camera 4-2, preferably, the light alarm signal is considered to exist when the first light spot and the second light spot exist simultaneously. The visible light camera 4-1 and the invisible light camera 4-2 are installed right in front of the cab of the running train.
In this embodiment, preferably, the optical receiver of the in-vehicle terminal 4 includes an optical filter, a condenser lens, and a photoelectric converter, the optical filter allows only the light of the invisible light emitted by the optical alarm module 1-3 to pass through, the condenser lens converges the light passing through the optical filter to the light receiving surface of the photoelectric converter, the output end of the photoelectric converter is connected to the second processing module 4-4, the second processing module 4-4 determines whether the optical alarm signal is received according to the magnitude of the voltage output by the photoelectric converter, and when the voltage is a high voltage, it is considered that the optical alarm signal is received, and when the voltage is a low voltage, it is considered that the optical alarm signal is not received.
In the present embodiment, preferably, the vehicle-mounted terminal 4 further includes an alarm 4-6, the alarm 4-6 is connected to the second processing module 4-4, the alarm 4-6 is preferably, but not limited to, a sound and light alarm module 1-3, and the sound and light alarm module 1-3 is turned on when the second processing module 4-4 processes the signal of the optical receiver and considers that the optical alarm signal is received. Preferably, the alarm 4-6 is mounted near the driver for easy viewing by the driver. Preferably, the vehicle-mounted terminal 4 further comprises a storage module 4-5 for storing the output signal of the optical receiver, the alarm signal and the like, so as to facilitate subsequent review.
In an application scenario of the present embodiment, as shown in fig. 4, in the application scenario, an offline monitoring method is adopted, and a global monitoring device needs to work in real time, so that when any violation event occurs, an alarm signal can be timely identified and generated. The invisible light camera 4-2 is a narrow-band near-infrared camera and is used for collecting image data of the light alarm modules 1-3 arranged along the track in front of the train in real time, and the second processing module 4-4 is used for analyzing and processing the collected image data and judging whether alarm signals exist or not. If the alarm is given, the intelligent processing module outputs a signal to start an audible and visual alarm 4-6 in the vehicle to prompt a driver to do emergency braking operation.
In the application scenario, it is preferable to install one vehicle-mounted terminal 4 in each cab of the train, so as to ensure that the warning information right ahead of the train can be identified and determined in real time when the train runs in different directions.
In the application scene, the image acquisition module 1-2/the optical alarm module 1-3 are deployed at a single side at a distance of 50 meters, if the system is a multi-line system, the system needs to be deployed at two sides, the first processing module 1-1 is connected with the camera through a network cable, and then the data exchange module 2 is used for interconnection communication.
In the application scenario, the specific program flow is shown in fig. 5, after the first processing module 1-1 receives the image data of each image acquisition module 1-2, the track edge is identified through an image processing algorithm, the train driving safety limit is automatically generated according to the track edge data, then the moving detection algorithm is combined with the deep learning algorithm to perform fusion judgment, whether a foreign object exists in the image is analyzed and identified, and whether the foreign object exists in the image is judged, and the specific method can refer to the technical scheme disclosed in the chinese patent with the publication number CN 110962886A. If foreign matter intrusion exists, an optical alarm signal is output, an optical receiver of the vehicle-mounted terminal 4 receives the optical alarm signal, sound and light alarm is carried out after the optical alarm signal is processed by the second processing module 4-4, and when a driver brakes manually or a train is unmanned, the first processing module 1-1 outputs a brake signal to a brake system of the train.
In a preferred embodiment, the monitoring alarm terminal 1 further comprises at least two in-place sensors 1-4 arranged along the track, and the first processing module 1-1 is respectively connected with each in-place sensor 1-4.
In this embodiment, preferably, the in-place sensors 1 to 4 are RFID receiving modules, and correspondingly, the vehicle-mounted terminal 4 further includes RFID transmitting modules 4 to 8. When the train passes by, the RFID receiving module receives the wireless signal of the RFID transmitting module 4-8 on the train.
In an application scenario of the embodiment, more than two RFID receiving modules are installed on a test run line, and RFID transmitting modules 4-8 are added in a train cab to serve as trigger signals for a train to enter a main line from the test run line; when the monitoring alarm terminal 1 receives a trigger signal, starting a corresponding image acquisition module 1-2 to carry out foreign matter intrusion monitoring work, and tracking the real-time position of a train; generating a corresponding trigger signal according to the running position of the train so as to trigger the image acquisition module 1-2 in the first distance range in front of the train to work; when the train passes through the view field of the image acquisition module 1-2, the corresponding image acquisition module 1-2 is closed, so that the safety of the running train is guaranteed, and the power consumption of the system is reduced.
In this embodiment, it is preferable that the on-position sensors 1 to 4 are vibration sensors installed near the track, and the amplitude sensed by the vibration sensors is larger as the distance between the running train and the vibration sensors is shorter, so that the train running direction, the running speed and the current running position of the train can be obtained by the output signals of two spaced on-position sensors 1 to 4(a and B), if the output signal of a is larger than B, the train running direction is considered to be a to B, and if the time difference that the output signals of a and B reach a certain threshold value is used, and the train running speed can be obtained according to the known distance between a and B, so as to set the first distance, and if the running position of the train is estimated by the size of the output signal of a or B, the larger the output signal is, the closer the train position is.
In a preferred embodiment, as shown in fig. 8, a position sensor 1-4 is provided at each station along the track, and the position sensor 1-4 is connected to the closest first processing module 1-1. The in-place sensors 1-4 are preferably, but not limited to, RFID receiving modules.
In the subway application scene of the embodiment, an RFID receiving module is added at a station position to detect the train arrival condition; when a train arrival signal is received, starting an image acquisition module 1-2 between a train station and the next station to carry out foreign matter limit intrusion detection work; because the real-time foreign body intrusion monitoring time is short, the real-time foreign body intrusion monitoring is generally completed within 5s, and whether an alarm signal is output or not is determined. The train driver or the vehicle-mounted terminal 4 can know whether the front road section is safe or not before the train exits the station. Fig. 8 is a schematic diagram of the operation of triggering the image acquisition module 1-2 between the current station and the next station to detect the intrusion of foreign objects when a train enters the station.
In a preferred embodiment, as shown in fig. 6 and 7, the monitoring and alarming terminal further comprises a management control center 3, and the management control center 3 is connected and communicated with the first processing module 1-1 of each monitoring and alarming terminal 1 through the data exchange module 2. When the foreign matter intrusion exists, the management control center 3 controls the light alarm module 1-3 in the first distance range in front of or behind the image acquisition module 1-2 for acquiring the foreign matter intrusion image to send out a light alarm signal.
In a preferred embodiment, the vehicle-mounted terminal 4 further comprises a vehicle-mounted communication module 4-7 and an acceleration sensor 4-3; the vehicle-mounted communication module 4-7 is connected with the management control center 3 for communication, and the second processing module 4-4 is respectively connected with the vehicle-mounted communication module 4-7 and the acceleration sensor 4-3.
The invention also discloses a track monitoring method based on the track traffic monitoring system, and in a preferred embodiment, the method comprises the following steps: in each monitoring alarm terminal 1, a first processing module 1-1 inquires whether an in-place sensor 1-4 outputs an in-place signal, after the in-place sensors 1-4 output in-place signals, the first processing module 1-1 acquires the running direction and the running speed of the train according to the sequence and the time difference of the in-place signals output by the adjacent in-place sensors 1-4, the first processing module 1-1 acquires a second distance according to the running speed of the train, and after the first processing module 1-1 transmits image acquisition starting signals, the running direction and the running speed of the train to the first processing module 1-1 which has the same running direction of the train and is away from the first processing module 1-1 by the second distance, the first processing module 1-1 controls the image acquisition module 1-2 of the monitoring alarm terminal 1 to be closed or to enter a standby state. The method also comprises that in each monitoring alarm terminal 1, after the first processing module 1-1 receives the image acquisition starting signal sent by other first processing modules 1-1, the running direction and the running speed of the train, the first processing module 1-1 controls the image acquisition module 1-2 of the monitoring alarm terminal 1 to acquire the track area image, the first processing module 1-1 identifies whether the foreign object invasion limit exists in the image output by the image acquisition module 1-2, when foreign matter intrusion exists, a first distance is obtained based on the running speed of the train, the first processing module 1-1 transmits an alarm signal to the first processing module 1-1 in the opposite direction of the running direction of the train, and the optical alarm module 1-3 in the first distance range in the opposite direction of the running direction of the train is controlled to send out an optical alarm signal.
In the embodiment, the first distance and the second distance can be preset, and can also be dynamically set according to the acquired train running speed; the first distance is larger than the braking distance and is positively correlated with the running speed; the second distance is larger than the product of the sum of the total foreign matter invasion identification processing time of the images output by all the image acquisition modules 1-2 of the monitoring alarm terminal 1 and the driving speed of the first processing module 1-1.
The invention also discloses a track monitoring method based on the track traffic monitoring system, and in a preferred embodiment, the method comprises the following steps: s1, the management control center 3 acquires the first train position reported by the vehicle-mounted terminal 4 in real time; s2, controlling the first processing module 1-1 of the monitoring alarm terminal 1 in the corresponding section of the first train position to output an image recognition train based on the image acquisition module 1-2, and after recognizing the train, controlling the monitoring alarm terminal 1 in the corresponding section of the first train position to close or enter a standby state after the monitoring alarm terminal 1 in the third distance from the first processing module 1-1 recognizing the train in the train driving direction is started by the management control center 3; and when no train is identified in all the images, controlling the monitoring alarm terminal 1 of the corresponding section of the first train position to be closed or enter a standby state, and returning to the step S1.
In the present embodiment, the third distance is related to the processing time of the first processing module 1-1 for image-recognizing the train and the train speed, and the third distance should be greater than the product of the processing time of the image-recognizing the train and the train speed. The method for recognizing the train by the first processing module 1-1 image can adopt the existing deep learning algorithm, or can set a train reference image, calculate the similarity between the currently acquired image and the reference image, if the similarity reaches a similarity threshold, the train is recognized, otherwise, the train is not recognized, and the existing image similarity calculation method can be adopted for calculating the similarity, which is not repeated herein.
In an application scenario of the embodiment, the application scenario is an online monitoring manner, and the working state of the front-end monitoring alarm terminal 1 can be dynamically controlled according to the position information of the train, so as to achieve the purpose of real-time monitoring of the intrusion state within the safety distance in front of the train.
In the present application scenario, as shown in fig. 7, when a train travels on a track, the on-board terminal 4 thereon transmits first train position information to the management control center 3 in real time. And after receiving the first train position information, the management control center 3 controls the monitoring alarm terminal 1 in the corresponding area to work, preferably, the corresponding area includes the monitoring alarm terminal 1 in the first train position and also includes the monitoring alarm terminal 1 adjacent to the corresponding area in the monitoring range. Because the acceleration sensor 4-3 is adopted to position the train, the positioning precision is not very accurate. The management control center 3 will first start the monitoring alarm terminal 1 of the corresponding section of the train position to determine the real-time position of the train. Once the actual position of the train is determined, the monitoring terminal at the third distance in front of the train is immediately controlled to work, and whether a foreign matter limit invasion event occurs or not is timely identified. Thereby achieving the purpose of guaranteeing the safety and real-time monitoring of train running.
In the application scenario, in the online monitoring mode, the management control center 3 can be set to be in a full-line inspection mode or a segmented inspection mode; the whole line inspection can set inspection time, inspection period and the like. The comprehensive track running area safety inspection of the whole train is guaranteed under the condition that the train does not run. The segmented inspection mode is mainly used for tracking and recording the work of field maintenance; the on-line monitoring can be carried out on the maintenance process, the operation of personnel is standard, the behavior is standard, the dressing is standard and the like, after the maintenance is completed and the personnel measure, the object which does not influence the driving safety of the train is ensured to be left on the track in an inspection mode.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A rail transit monitoring system is characterized by comprising a plurality of monitoring alarm terminals, a data exchange module and a vehicle-mounted terminal, wherein the monitoring alarm terminals, the data exchange module and the vehicle-mounted terminal are arranged along a rail;
the monitoring alarm terminal comprises a plurality of image acquisition modules for shooting track area images, a plurality of optical alarm modules in one-to-one correspondence with the image acquisition modules and a first processing module, wherein the image acquisition modules are arranged along a track; the first processing modules of all the monitoring alarm terminals are connected and communicated through the data exchange module;
in each monitoring alarm terminal, a first processing module identifies whether foreign matter intrusion exists in an image output by an image acquisition module, and when the foreign matter intrusion exists, the first processing module of the monitoring alarm terminal transmits an alarm signal to a first processing module of a front or rear monitoring alarm terminal so that an optical alarm module in a first distance range in front or rear emits the optical alarm signal;
the vehicle-mounted terminal comprises an optical receiver positioned at the head of the train and a second processing module; the optical receiver is used for receiving the optical alarm signal, and the second processing module is connected with the optical receiver;
the monitoring alarm terminal also comprises at least two in-place sensors arranged along the track, and the first processing module is respectively connected with each in-place sensor;
in each monitoring alarm terminal, a first processing module inquires whether an in-place sensor outputs an in-place signal or not, after the in-place sensor outputs the in-place signal, the first processing module acquires the running direction and the running speed of a train according to the sequence and time difference of the in-place signals output by adjacent in-place sensors, the first processing module acquires a second distance according to the running speed of the train, and after the first processing module transmits an image acquisition starting signal, the running direction and the running speed of the train to a first processing module which has the same running direction with the train and is away from the first processing module by the second distance, the first processing module controls an image acquisition module of the monitoring alarm terminal to be closed or to enter a standby state;
in each monitoring alarm terminal, after a first processing module receives image acquisition starting signals sent by other first processing modules, the running direction and the running speed of a train, the first processing module controls the image acquisition module of the monitoring alarm terminal to acquire track area images, the first processing module identifies whether foreign object invasion limits exist in the output images of the image acquisition module, and when the foreign object invasion limits exist, a first distance is acquired based on the running speed of the train, the first processing module transmits alarm signals to the first processing module in the opposite direction of the running direction of the train, and controls an optical alarm module in a first distance range in the opposite direction of the running direction of the train to send optical alarm signals;
the first distance is greater than the braking distance and positively correlated with the driving speed; the second distance is greater than the product of the sum of the total foreign body invasion identification processing time of the images output by all the image acquisition modules of the monitoring alarm terminal and the driving speed by the first processing module.
2. The rail traffic monitoring system of claim 1, wherein the outgoing light of the light alarm module includes visible light and invisible light.
3. The rail transit monitoring system of claim 1, wherein the optical receiver is a camera, the camera being connected to a second processing module;
and/or the vehicle-mounted terminal further comprises an alarm, and the alarm is connected with the second processing module.
4. The rail traffic monitoring system of claim 1, wherein an in-place sensor is provided at each station along the track, the in-place sensor being connected to the first processing module that is closest.
5. The rail transit monitoring system of claim 1 or 4, wherein the in-place sensor is an RFID receiving module, and the vehicle-mounted terminal further comprises an RFID transmitting module.
6. The rail transit monitoring system of claim 1, further comprising a management control center, wherein the management control center is connected and communicated with the first processing module of each monitoring alarm terminal through a data exchange module.
7. The rail transit monitoring system of claim 6, wherein the vehicle-mounted terminal further comprises a vehicle-mounted communication module and an acceleration sensor; the vehicle-mounted communication module is connected with the management control center for communication, and the second processing module is respectively connected with the vehicle-mounted communication module and the acceleration sensor.
8. A track monitoring method based on the track traffic monitoring system of claim 6 or 7, characterized by comprising:
s1, the management control center acquires the first train position reported by the vehicle-mounted terminal in real time;
s2, controlling a first processing module of the monitoring alarm terminal of the corresponding section of the first train position to output an image recognition train based on the image acquisition module, and controlling the monitoring alarm terminal of the corresponding section of the first train position to close or enter a standby state after the monitoring alarm terminal at a third distance from the first processing module of the train to be recognized in the train running direction is started to work by the management control center after the train is recognized; and when no train is identified in all the images, controlling the monitoring alarm terminal of the corresponding section of the first train position to be closed or to enter a standby state, and returning to the step S1.
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| CN113011252B (en) * | 2021-02-04 | 2023-12-05 | 成都希格玛光电科技有限公司 | Rail foreign matter intrusion detection system and method |
| CN113002595B (en) * | 2021-03-19 | 2023-09-08 | 通号通信信息集团有限公司 | Train tracking method and system |
| CN113781018B (en) * | 2021-11-10 | 2022-04-19 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Automatic classification monitoring operation method and device of railway traffic safety monitoring system |
| CN117061994A (en) * | 2023-10-12 | 2023-11-14 | 南京高达软件有限公司 | Method and equipment for isolating wireless channels of rail transit main line and test line |
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