CN112061179A - Active anti-collision device and method for rail vehicle based on unmanned aerial vehicle - Google Patents
Active anti-collision device and method for rail vehicle based on unmanned aerial vehicle 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The invention discloses an active anti-collision device and method for a rail vehicle based on an unmanned aerial vehicle. The unmanned aerial vehicle takes the scheduling control platform as the operation line planned by the rail vehicle to control the flight path, and the path planning of the unmanned aerial vehicle is simply and reliably realized. According to the method, data are sent to the rail vehicle according to collision grades, different data are sent to the rail vehicle according to different collision grades, the sending amount of the data is greatly reduced through the grading sending, the endurance mileage of the unmanned aerial vehicle is improved, and the requirement on the storage space of the rail vehicle is lowered.
Description
Technical Field
The invention belongs to the technical field of rail vehicle anti-collision, and particularly relates to an active rail vehicle anti-collision device and method based on an unmanned aerial vehicle.
Background
With the rapid development of high-speed railways, the running speed of trains is continuously increased, and the difficulty of ensuring the driving safety is increased more and more. The rail transit line has complex and various environments along the way, and the driving safety is seriously influenced by the condition that obstacles caused by natural disasters, human factors, random foreign matters and the like invade the train driving clearance. At present, the rail vehicle barrier detection and anti-collision method comprises the following steps: firstly, the detection of the obstacle by the train driven by people mainly depends on the personal judgment of the driver, the driver observes the condition of the driving road section in real time in the driving process, when the foreign object intrusion condition is found and when the emergency brake is applied is mainly influenced by factors such as the eyesight, driving habits, attention concentration degree and the like of the driver, and once the attention of the driver is not concentrated or the obstacle exceeds the visual distance, serious accidents are possibly caused because the emergency brake is not applied in time. And secondly, the active anti-collision system with multi-sensor fusion detection is arranged on the vehicle, has short detection distance, can only monitor the range within about 500m, does not include the conditions of special scenes such as fluctuating ramps, severe environments and the like, and is far from meeting the application requirement for the braking distance of 2000m of a 200km/h passenger train.
Disclosure of Invention
The invention aims to provide an active anti-collision device and method for a rail vehicle based on an unmanned aerial vehicle, and aims to solve the problem that the detection distance of the existing active anti-collision system cannot meet the requirement of train safety braking.
The solution of the independent claims of the present invention solves one of the above mentioned objects.
The invention solves the technical problems through the following technical scheme: an active anti-collision device of a rail vehicle based on an unmanned aerial vehicle comprises: the system comprises an unmanned aerial vehicle, a railway vehicle and a dispatching control platform; the unmanned aerial vehicle comprises a first detection module arranged at the front end of the unmanned aerial vehicle, a second detection module arranged at the rear end of the unmanned aerial vehicle, a first data processing module, a flight control module, a first data storage module, a power supply module and a first wireless communication module, wherein the first data processing module, the flight control module, the first data storage module, the power supply module and the first wireless communication module are arranged on the unmanned aerial vehicle; the railway vehicle comprises a second wireless communication module, a third wireless communication module, a network control system, a train control unit, a traction braking module, a second data storage module and a first alarm module; the dispatching control platform comprises a fourth wireless communication module, a second data processing module, a third data storage module and an operation line planning module;
the first data processing module is respectively connected with the first detection module, the second detection module, the flight control module, the first data storage module, the power supply module and the first wireless communication module; the second wireless communication module is connected with a network control system, the network control system is connected with a train control unit, and the train control unit is respectively connected with a third wireless communication module, a traction braking module, a second data storage module and a first alarm module; the second data processing module is respectively connected with the fourth wireless communication module, the third data storage module and the operation line planning module; the second wireless communication module is in communication connection with the first wireless communication module, and the third wireless communication module is in communication connection with the fourth wireless communication module;
the operation line planning module is used for planning the operation line of the rail vehicle;
the flight control module is used for controlling the flight path of the unmanned aerial vehicle according to the running line of the rail vehicle and controlling the flight speed of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the rail vehicle;
the first detection module is used for detecting whether an obstacle exists at the front end of the unmanned aerial vehicle; the second detection module is used for detecting whether an obstacle exists at the rear end of the unmanned aerial vehicle;
the first data processing module is used for analyzing and judging the detection data of the first detection module and the second detection module, determining the collision grade according to the analysis and judgment result, and sending different data to the second wireless communication module through the first wireless communication module according to the collision grade;
the train control unit is used for controlling the first alarm module and/or the traction brake module to make a preliminary action according to different data received by the second wireless communication module, and then controlling the first alarm module and/or the traction brake module to make a final action according to a comprehensive judgment result fed back by the third wireless communication module;
and the second data processing module is used for comprehensively judging the running of the rail vehicle according to different data corresponding to different collision grades sent to the fourth wireless communication module by the third wireless communication module and the running states of other rail vehicles and feeding back the comprehensive judgment result to the train control unit through the fourth wireless communication module and the third wireless communication module.
In the invention, the first detection module and the second detection module respectively detect the obstacles at the front end and the rear end of the unmanned aerial vehicle, so that the detection distance is doubled, the early warning capability of the obstacles is improved, and the running safety of the rail vehicle is improved. The unmanned aerial vehicle takes the scheduling control platform as the operation line planned by the rail vehicle to control the flight path, and the path planning of the unmanned aerial vehicle is simply and reliably realized. According to the method, data are sent to the rail vehicle according to collision grades, different data are sent to the rail vehicle according to different collision grades, the sending amount of the data is greatly reduced through the grading sending, the endurance mileage of the unmanned aerial vehicle is improved, and the requirement on the storage space of the rail vehicle is lowered. After receiving the collision grade and the corresponding data, the rail vehicle firstly makes a preliminary action, and then makes a final action according to the comprehensive judgment feedback of the dispatching control platform, so that the collision with the barrier can be avoided, the influence on the running state of other rail vehicles can be avoided, and the running safety of all rail vehicles on the whole line is improved.
Further, the first detection module and the second detection module respectively comprise a visual acquisition module and a radar detection module. The vision collection module can detect the barrier condition of unmanned aerial vehicle preceding, rear end, and radar detection module can be surveyed the rail driving district on every side, detects this rail vehicle and same station track or same switch district section, has the distance between other rail vehicles of conflict risk, has not only increased detection range around having increased, has still increased detection range about, has guaranteed the reliability that rail vehicle operation circuit was monitored, has improved early warning ability.
Further, the flight control module is used for controlling the flight speed of the unmanned aerial vehicle to be consistent with the running speed of the rail vehicle, controlling the distance between the unmanned aerial vehicle and the rail vehicle according to the speed grade of the rail vehicle, and guaranteeing the real-time performance of the monitored running line of the rail vehicle.
Further, the unmanned aerial vehicle flies above a traction power supply network on one side of a track where the rail vehicle runs, and the transverse distance between the unmanned aerial vehicle and the track center of the running track is 2.5 m; the side of the running track refers to the side without the adjacent track; the influence of the driving wind on the flight of the unmanned aerial vehicle is reduced, and the normal operation of the vehicle is guaranteed not to be influenced by falling within the operation limit of the rail vehicle even if the unmanned aerial vehicle falls.
And when the railway vehicle is judged to be in a false trigger alarm state or the alarm is relieved, the railway vehicle can be recovered and started by one key through the first key module and the second key module, so that the railway vehicle can enter a normal operation mode quickly.
Furthermore, the dispatching control platform further comprises a second alarm module connected with the second data processing module, and the second alarm module is used for giving an alarm when the collision level is a high risk level.
Further, power module is solar module, and solar module provides the power for all power modules on the unmanned aerial vehicle, and solar cell has realized unmanned aerial vehicle's continuation of the journey requirement.
Further, the collision levels include an unobstructed level, a low risk level, and a high risk level;
when the grade is the barrier-free grade, the unmanned aerial vehicle sends a grade signal to the rail vehicle through the first wireless communication module;
when the risk level is low, the unmanned aerial vehicle sends a level signal and detection data to the rail vehicle through the first wireless communication module;
when being high risk level, unmanned aerial vehicle sends grade signal and detection data for rail vehicle through first wireless communication module.
When the rail vehicle runs, most of the situations are the situations without obstacles, and only a barrier-free grade signal is sent to the rail vehicle when no obstacles exist, for example, if '0' represents a barrier-free grade, only '0' is sent to the rail vehicle, so that the data sending amount is greatly reduced, the cruising range of the unmanned aerial vehicle is improved, and the requirement on the storage space of the rail vehicle is reduced.
The invention also provides an active anti-collision method for the rail vehicle based on the unmanned aerial vehicle, which utilizes the active anti-collision device for the rail vehicle, and comprises the following steps:
acquiring barrier information of the front end and the rear end of the unmanned aerial vehicle;
judging whether an obstacle invades the running limit of the rail vehicle according to the obstacle information, and determining the distance between the obstacle and the rail vehicle when the obstacle invades;
determining the collision grade according to the running limit of whether the obstacle invades the rail vehicle and the distance between the obstacle and the rail vehicle when the obstacle invades;
sending data to the rail vehicle according to the collision grade, and sending different data to the rail vehicle according to different collision grades;
controlling a first alarm module and/or a traction brake module of the rail vehicle to make a preliminary action according to the data, and simultaneously sending the data to a dispatching control platform by the rail vehicle;
the dispatching control platform comprehensively judges the operation of the rail vehicle according to the data and the operation states of other rail vehicles and feeds back the comprehensive judgment result to the rail vehicle;
and controlling a first alarm module and/or a traction brake module of the railway vehicle to make final action according to the comprehensive judgment result.
Further, before obtaining the obstacle information of unmanned aerial vehicle front end, rear end, still include the step of control unmanned aerial vehicle flight, concrete step is: controlling the flight path of the unmanned aerial vehicle according to the running line of the rail vehicle; controlling the flight speed of the unmanned aerial vehicle according to the running speed of the rail vehicle, so that the flight speed of the unmanned aerial vehicle is consistent with the running speed of the rail vehicle; and controlling the distance between the unmanned aerial vehicle and the rail vehicle according to the speed grade of the rail vehicle.
Further, the collision levels include an unobstructed level, a low risk level, and a high risk level;
when the grade is the barrier-free grade, the unmanned aerial vehicle sends a grade signal to the rail vehicle through the first wireless communication module;
when the risk level is low, the unmanned aerial vehicle sends a level signal and detection data to the rail vehicle through the first wireless communication module;
when being high risk level, unmanned aerial vehicle sends grade signal and detection data for rail vehicle through first wireless communication module.
Advantageous effects
Compared with the prior art, the active anti-collision device and method for the rail vehicle based on the unmanned aerial vehicle, provided by the invention, have the advantages that the first detection module and the second detection module respectively detect the obstacles at the front end and the rear end of the unmanned aerial vehicle, the detection distance is doubled, the early warning capability on the obstacles is improved, and the running safety of the rail vehicle is improved. The unmanned aerial vehicle takes the scheduling control platform as the operation line planned by the rail vehicle to control the flight path, and the path planning of the unmanned aerial vehicle is simply and reliably realized. According to the method, data are sent to the rail vehicle according to collision grades, different data are sent to the rail vehicle according to different collision grades, the sending amount of the data is greatly reduced through the grading sending, the endurance mileage of the unmanned aerial vehicle is improved, and the requirement on the storage space of the rail vehicle is lowered. After receiving the collision grade and the corresponding data, the rail vehicle firstly performs a preliminary action, and then performs a final action according to the comprehensive judgment feedback of the dispatching control platform, so that the collision with the barrier can be avoided, the influence on the running state of other rail vehicles can be avoided, and the running safety of all rail vehicles on the whole line is improved; the device and the method can greatly improve the active safety capability of the rail vehicle, and have very important social value and economic benefit for safe, reliable and sustainable development of the rail transit industry.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a structural block diagram of an active anti-collision device for a rail vehicle based on an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of communication among a drone, a rail vehicle, and a dispatch control platform in an embodiment of the present invention;
fig. 3 is a flowchart of an active collision avoidance method for a rail vehicle based on an unmanned aerial vehicle according to an embodiment of the present invention;
wherein, the power supply system comprises 1-traction power supply network, 2-ascending rail and 3-descending rail.
Detailed Description
The technical solutions in the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of 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 invention.
As shown in fig. 1 and 2, the active anti-collision device for a rail vehicle based on an unmanned aerial vehicle provided in this embodiment includes: the system comprises an unmanned aerial vehicle, a railway vehicle and a dispatching control platform; the unmanned aerial vehicle comprises a first detection module arranged at the front end of the unmanned aerial vehicle, a second detection module arranged at the rear end of the unmanned aerial vehicle, a first data processing module, a flight control module, a first data storage module, a power supply module and a first wireless communication module, wherein the first data processing module, the flight control module, the first data storage module, the power supply module and the first wireless communication module are arranged on the unmanned aerial vehicle; the rail vehicle comprises a second wireless communication module, a third wireless communication module, a network control system, a train control unit, a traction braking module, a second data storage module and a first alarm module; the dispatching control platform comprises a fourth wireless communication module, a second data processing module, a third data storage module and an operation line planning module.
The first data processing module is respectively connected with the first detection module, the second detection module, the flight control module, the first data storage module, the power supply module and the first wireless communication module; the second wireless communication module is connected with a network control system, the network control system is connected with a train control unit, and the train control unit is respectively connected with the third wireless communication module, the traction braking module, the second data storage module and the first alarm module; the second data processing module is respectively connected with the fourth wireless communication module, the third data storage module and the operation line planning module; the second wireless communication module is in communication connection with the first wireless communication module, and the third wireless communication module is in communication connection with the fourth wireless communication module.
And the flight control module is used for controlling the flight path of the unmanned aerial vehicle according to the running line of the rail vehicle and controlling the flight speed of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the rail vehicle. In this embodiment, the flight control module controls the flying speed of unmanned aerial vehicle and the functioning speed of rail vehicle to keep unanimous according to rail vehicle's functioning speed, and unmanned aerial vehicle and rail vehicle are relative still promptly, and the flight control module still controls the interval between unmanned aerial vehicle and the rail vehicle according to rail vehicle's speed grade, and for example rail vehicle's the highest functioning speed is 120km/h, can control the interval between unmanned aerial vehicle and the rail vehicle then and be half of braking safety distance, be 500m promptly. The real-time monitoring of the operation line of the rail vehicle is ensured by controlling the flight state (namely the flight path, the flight speed and the distance between the unmanned aerial vehicle and the rail vehicle) of the unmanned aerial vehicle; meanwhile, the path planning of the unmanned aerial vehicle is simply and reliably realized.
The unmanned aerial vehicle flies above the traction power supply network 1 on one side of the running track of the rail vehicle, and the transverse distance between the unmanned aerial vehicle and the track center of the running track is 2.5 m. The one side of the orbit that moves is the one side that does not have adjacent track, as shown in fig. 2, supposing that rail vehicle moves on the track 2 that goes upward, the one side of the track 2 that goes upward is the track 3 that goes downward, and the opposite side of the track 2 that goes upward does not have adjacent track, then unmanned aerial vehicle flies in the track 2 that goes upward and does not have adjacent track one side, and the horizontal distance of unmanned aerial vehicle and the track center of the track 2 that goes upward is 2.5m, and this distance can set up according to actual conditions. The flight position of the unmanned aerial vehicle reduces the influence of the driving wind on the flight of the unmanned aerial vehicle, and ensures that the unmanned aerial vehicle can not fall into the operation boundary of the rail vehicle to influence the normal operation of the vehicle even if falling when the unmanned aerial vehicle breaks down.
The first detection module is used for detecting whether an obstacle exists at the front end of the unmanned aerial vehicle; and the second detection module is used for detecting whether the rear end of the unmanned aerial vehicle has an obstacle. In this embodiment, first detection module, second detection module all include vision collection module and radar detection module, and vision collection module and radar detection module all can select for use current product. The vision collection module can detect the barrier condition before unmanned aerial vehicle, the rear end, utilizes image processing technique to judge whether there is the barrier to invade rail vehicle's operation route to the vision collection module through the unmanned aerial vehicle front end and the vision collection module of unmanned aerial vehicle rear end contrast can discern more accurately whether moving object can invade rail vehicle's operation limit. The radar detection module can detect the surrounding track area, detect the distance between the rail vehicle and other rail vehicles with the same track or the same turnout section and collision risks, and evaluate the collision risks or collision levels (the evaluation can be carried out according to a set threshold value, for example, a vehicle with a 200km/h grade, the braking distance is 2000m, the running distance of the reaction time is 100m, and the set threshold value can be 2100 m). The cooperation of first detection module and second detection module, the cooperation of vision collection module and radar detection module has not only increased detection range around, has still increased detection range about, has guaranteed the reliability that rail vehicle operation circuit was monitored, has improved early warning ability. Utilize unmanned aerial vehicle to carry out the barrier monitoring, avoided because of the influence of circumstances such as ramp fluctuation to monitoring range.
The first data processing module is used for analyzing and judging the detection data of the first detection module and the second detection module, for example, analyzing whether an obstacle invades the running limit of the rail vehicle or not and the distance between the obstacle and the rail vehicle when the obstacle invades, determining the collision grade according to the analysis and judgment result, and sending different data to the second wireless communication module through the first wireless communication module according to the collision grade, namely sending the different data to the rail vehicle. The collision grade comprises an obstacle-free grade, a low-risk grade and a high-risk grade, and when the collision grade is the obstacle-free grade, the unmanned aerial vehicle sends a grade signal to the rail vehicle through the first wireless communication module; when the risk level is low, the unmanned aerial vehicle sends a level signal and detection data to the rail vehicle through the first wireless communication module; when the vehicle is in a high risk level, the unmanned aerial vehicle sends a level signal and detection data to the rail vehicle through the first wireless communication module, namely the sent data are the level signal or the level signal and the detection data. For example, if the level signal at the barrier-free level is "0", the level signal at the low risk level is "1", and the level signal at the high risk level is "2", only "0" is transmitted to the rail vehicle at the barrier-free level, and "1" and the detection data are transmitted to the rail vehicle at the low risk level, and "2" and the detection data are transmitted to the rail vehicle at the high risk level. The detection data comprises pictures and videos acquired by the vision acquisition module and radar signals acquired by the radar detection module. Different data are sent to the rail vehicle according to different collision grades, the sending amount of the data is greatly reduced through the graded sending, the endurance mileage of the unmanned aerial vehicle is improved, and the requirement on the storage space of the rail vehicle is reduced.
The first data storage module is used for storing detection data of the first detection module and the second detection module, collision grade data of the second data processing module and the like, for example, a video (not less than 720P and 15 frames per second) is stored for not less than 15 days, and the first data storage module can store videos (not less than 1080P and 15 frames per second) of 2 minutes before and after 10 times of obstacle intrusion.
The power module provides the power for all power modules or parts on the unmanned aerial vehicle, and the power module is a solar cell module, and the solar cell realizes the endurance requirement of the unmanned aerial vehicle. The power module can also adopt an energy storage power supply which is replaced when arriving at a station.
The first wireless communication module and the second wireless communication module are used for communication between the unmanned aerial vehicle and the rail vehicle.
The network control system, the train control unit and the traction brake module are the existing structures of the rail vehicle.
And the data sent by the unmanned aerial vehicle is transmitted to the train control unit through the second wireless communication module and the network control system.
And the train control unit is used for controlling the first alarm module and/or the traction brake module to make a preliminary action according to the data and then controlling the first alarm module and/or the traction brake module to make a final action according to a comprehensive judgment result fed back by the third wireless communication module. For example, when the data is a barrier-free grade signal, the train control unit controls the first alarm module and the traction brake module to maintain the original state, namely, the state is not changed; when the data is low risk grade and detection data, the train control unit controls the first alarm module to give out early warning, and the traction brake module controls the rail vehicle to decelerate; when the data is high risk and detection data, the train control unit controls the first alarm module to give out early warning, the traction brake module controls the rail vehicle to brake emergently, and then the final decision is made on the running state of the rail vehicle according to the comprehensive judgment of the dispatching control platform. The train control unit can automatically control the operation of preventing the collision of the obstacles, thereby avoiding serious accidents caused by untimely emergency braking due to the inattention of drivers or the exceeding of visual distance.
The third wireless communication module and the fourth wireless communication module are used for communication between the railway vehicle and the dispatching control platform.
And the second data processing module is used for comprehensively judging the running of the rail vehicle according to different data corresponding to different collision grades and the running state of other rail vehicles and feeding back the comprehensive judgment result to the train control unit through the fourth wireless communication module and the third wireless communication module. The dispatching control platform can acquire the running states of all the rail vehicles on the running line, and the running of the monitored rail vehicles is comprehensively decided by combining the corresponding data of the collision grade, so that the collision with the barrier can be avoided, the influence on the running states of other rail vehicles can be avoided, and the running safety of all the rail vehicles on the whole line is improved.
And the operation route planning module is used for planning the operation route of the rail vehicle.
In the invention, the rail vehicles are all rail vehicles monitored by the unmanned aerial vehicle, and the other rail vehicles are rail vehicles running on the same line in a descending mode except the rail vehicles monitored by the unmanned aerial vehicle.
The railway vehicle is also provided with a first key module connected with the train control unit, the dispatching control platform further comprises a second key module connected with the second data processing module, and when the condition that false triggering alarm or alarm release is determined, the railway vehicle can be recovered and started through one key by the first key module and the second key module, so that the railway vehicle can enter a normal operation mode quickly. The dispatching control platform further comprises a second alarm module connected with the second data processing module, and the second alarm module is used for giving an alarm when the collision grade is a high risk grade. The first alarm module and the second alarm module can carry out sound and picture reminding when alarming.
As shown in fig. 3, the present embodiment further provides an active anti-collision method for a rail vehicle based on an unmanned aerial vehicle, where the active anti-collision device for a rail vehicle as described above is used, and the method includes:
1. controlling the unmanned aerial vehicle to fly: controlling the flight path of the unmanned aerial vehicle according to the running line of the rail vehicle; controlling the flight speed of the unmanned aerial vehicle according to the running speed of the rail vehicle, so that the flight speed of the unmanned aerial vehicle is consistent with the running speed of the rail vehicle; and controlling the distance between the unmanned aerial vehicle and the rail vehicle according to the speed grade of the rail vehicle.
Cruise is carried out by taking the running line of the rail vehicle as a reference, and the path planning of the unmanned aerial vehicle can be simply and reliably realized without re-planning the flight path for the unmanned aerial vehicle.
2. Obstacle information of the front end and the rear end of the unmanned aerial vehicle is acquired through the first detection module and the second detection module respectively.
First detection module, second detection module all include vision collection module and radar detection module, and vision collection module and radar detection module all can select for use current product.
3. And judging whether an obstacle invades the running limit of the rail vehicle according to the obstacle information, and determining the distance between the obstacle and the rail vehicle when the obstacle invades.
4. And determining the collision grade according to whether the obstacle invades the running limit of the railway vehicle and the distance between the obstacle and the railway vehicle when the obstacle invades.
When no obstacle invades the running limit of the rail vehicle, the grade is no obstacle; when the obstacle invades the running limit of the rail vehicle and the distance between the obstacle and the rail vehicle is larger than the set distance, the risk level is low; and when the obstacle invades the running limit of the railway vehicle and the distance between the obstacle and the railway vehicle is smaller than the set distance, the high risk level is achieved. The set distance may be set according to a speed class of the rail vehicle.
5. And sending the data to the rail vehicle according to the collision grade, and sending different data to the rail vehicle according to different collision grades.
Collision levels include barrier-free level, low risk level, and high risk level;
when the grade is the barrier-free grade, the unmanned aerial vehicle sends a grade signal to the rail vehicle through the first wireless communication module;
when the risk level is low, the unmanned aerial vehicle sends a level signal and detection data to the rail vehicle through the first wireless communication module;
when being high risk level, unmanned aerial vehicle sends grade signal and detection data for rail vehicle through first wireless communication module.
6. And controlling a first alarm module and/or a traction brake module of the railway vehicle to perform a preliminary action according to the data, and simultaneously sending the data to a dispatching control platform by the railway vehicle.
7. And the dispatching control platform comprehensively judges the operation of the rail vehicles according to the data and the operation states of other rail vehicles and feeds back the comprehensive judgment result to the rail vehicles.
8. And controlling a first alarm module and/or a traction brake module of the railway vehicle to make final action according to the comprehensive judgment result.
The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.
Claims (10)
1. The utility model provides a rail vehicle initiative collision device based on unmanned aerial vehicle, its characterized in that includes: the system comprises an unmanned aerial vehicle, a railway vehicle and a dispatching control platform; the unmanned aerial vehicle comprises a first detection module arranged at the front end of the unmanned aerial vehicle, a second detection module arranged at the rear end of the unmanned aerial vehicle, a first data processing module, a flight control module, a first data storage module, a power supply module and a first wireless communication module, wherein the first data processing module, the flight control module, the first data storage module, the power supply module and the first wireless communication module are arranged on the unmanned aerial vehicle; the railway vehicle comprises a second wireless communication module, a third wireless communication module, a network control system, a train control unit, a traction braking module, a second data storage module and a first alarm module; the dispatching control platform comprises a fourth wireless communication module, a second data processing module, a third data storage module and an operation line planning module;
the first data processing module is respectively connected with the first detection module, the second detection module, the flight control module, the first data storage module, the power supply module and the first wireless communication module; the second wireless communication module is connected with a network control system, the network control system is connected with a train control unit, and the train control unit is respectively connected with a third wireless communication module, a traction braking module, a second data storage module and a first alarm module; the second data processing module is respectively connected with the fourth wireless communication module, the third data storage module and the operation line planning module; the second wireless communication module is in communication connection with the first wireless communication module, and the third wireless communication module is in communication connection with the fourth wireless communication module;
the operation line planning module is used for planning the operation line of the rail vehicle;
the flight control module is used for controlling the flight path of the unmanned aerial vehicle according to the running line of the rail vehicle and controlling the flight speed of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the rail vehicle;
the first detection module is used for detecting whether an obstacle exists at the front end of the unmanned aerial vehicle; the second detection module is used for detecting whether an obstacle exists at the rear end of the unmanned aerial vehicle;
the first data processing module is used for analyzing and judging the detection data of the first detection module and the second detection module, determining the collision grade according to the analysis and judgment result, and sending different data to the second wireless communication module through the first wireless communication module according to the collision grade;
the train control unit is used for controlling the first alarm module and/or the traction brake module to make a preliminary action according to different data received by the second wireless communication module, and then controlling the first alarm module and/or the traction brake module to make a final action according to a comprehensive judgment result fed back by the third wireless communication module;
and the second data processing module is used for comprehensively judging the running of the rail vehicle according to different data corresponding to different collision grades sent to the fourth wireless communication module by the third wireless communication module and the running states of other rail vehicles and feeding back the comprehensive judgment result to the train control unit through the fourth wireless communication module and the third wireless communication module.
2. The active rail vehicle collision avoidance apparatus of claim 1, wherein: the first detection module and the second detection module respectively comprise a vision acquisition module and a radar detection module.
3. The active rail vehicle collision avoidance apparatus of claim 1, wherein: the flight control module is also used for controlling the flight speed of the unmanned aerial vehicle to be consistent with the running speed of the rail vehicle, and controlling the distance between the unmanned aerial vehicle and the rail vehicle according to the speed grade of the rail vehicle.
4. The active rail vehicle collision avoidance apparatus of claim 1, wherein: the unmanned aerial vehicle flies above a traction power supply network on one side of a track where the rail vehicle runs, and the transverse distance between the unmanned aerial vehicle and the center of the track of the running track is 2.5 m; the side of the track that is traveled refers to the side without the adjacent track.
5. The active rail vehicle collision avoidance apparatus of claim 1, wherein: the railway vehicle is also provided with a first key module connected with the train control unit, and the dispatching control platform further comprises a second key module connected with the second data processing module.
6. The active rail vehicle collision avoidance apparatus of claim 1, wherein: the dispatching control platform also comprises a second alarm module connected with the second data processing module.
7. The active collision avoidance device for rail vehicles according to any one of claims 1 to 6, wherein: the collision levels include an obstacle-free level, a low risk level, and a high risk level;
when the grade is the barrier-free grade, the unmanned aerial vehicle sends a grade signal to the rail vehicle through the first wireless communication module;
when the risk level is low, the unmanned aerial vehicle sends a level signal and detection data to the rail vehicle through the first wireless communication module;
when being high risk level, unmanned aerial vehicle sends grade signal and detection data for rail vehicle through first wireless communication module.
8. An active anti-collision method for a rail vehicle based on an unmanned aerial vehicle is characterized in that: the active anti-collision device for the railway vehicle according to any one of claims 1 to 7 comprises:
acquiring barrier information of the front end and the rear end of the unmanned aerial vehicle;
judging whether an obstacle invades the running limit of the rail vehicle according to the obstacle information, and determining the distance between the obstacle and the rail vehicle when the obstacle invades;
determining the collision grade according to the running limit of whether the obstacle invades the rail vehicle and the distance between the obstacle and the rail vehicle when the obstacle invades;
sending data to the rail vehicle according to the collision grade, and sending different data to the rail vehicle according to different collision grades;
controlling a first alarm module and/or a traction brake module of the rail vehicle to make a preliminary action according to the data, and simultaneously sending the data to a dispatching control platform by the rail vehicle;
the dispatching control platform comprehensively judges the operation of the rail vehicle according to the data and the operation states of other rail vehicles and feeds back the comprehensive judgment result to the rail vehicle;
and controlling a first alarm module and/or a traction brake module of the railway vehicle to make final action according to the comprehensive judgment result.
9. The method for active collision avoidance for a rail vehicle of claim 8, wherein: before obtaining the barrier information of unmanned aerial vehicle front end, rear end, still include the step of control unmanned aerial vehicle flight, concrete step is:
controlling the flight path of the unmanned aerial vehicle according to the running line of the rail vehicle; controlling the flight speed of the unmanned aerial vehicle according to the running speed of the rail vehicle, so that the flight speed of the unmanned aerial vehicle is consistent with the running speed of the rail vehicle; and controlling the distance between the unmanned aerial vehicle and the rail vehicle according to the speed grade of the rail vehicle.
10. The active collision avoidance method for a rail vehicle according to claim 8 or 9, characterized in that: the collision levels include an obstacle-free level, a low risk level, and a high risk level;
when the grade is the barrier-free grade, the unmanned aerial vehicle sends a grade signal to the rail vehicle through the first wireless communication module;
when the risk level is low, the unmanned aerial vehicle sends a level signal and detection data to the rail vehicle through the first wireless communication module;
when being high risk level, unmanned aerial vehicle sends grade signal and detection data for rail vehicle through first wireless communication module.
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Application publication date: 20201211 |