CN112907853A - Tramcar level crossing safety detection device and method based on image recognition - Google Patents
Tramcar level crossing safety detection device and method based on image recognition Download PDFInfo
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- CN112907853A CN112907853A CN202110082139.5A CN202110082139A CN112907853A CN 112907853 A CN112907853 A CN 112907853A CN 202110082139 A CN202110082139 A CN 202110082139A CN 112907853 A CN112907853 A CN 112907853A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
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- G06F18/22—Matching criteria, e.g. proximity measures
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- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
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Abstract
The invention discloses a tramcar level crossing safety detection device and method based on image recognition, wherein the device comprises sound-light alarm equipment, an image acquisition and processing device and a barrier gate system; the barrier gate system rises and falls the barrier rod according to the analysis result of the image acquisition and processing device, and sends out an alarm prompt through the sound-light alarm device, so that vehicles and pedestrians passing through the level crossing can pass through safely. The invention can send out warning information before the tramcar reaches the level crossing by adding the image acquisition and processing device and combining the improvement of the barrier gate mechanism, thereby preventing the tramcar from invading into the crossing protection area and simultaneously accurately identifying the foreign matters which are still positioned in the crossing protection area, and then controlling the rising and falling of the road bar according to the result, ensuring the driving safety when the tramcar passes through the crossing protection area, and greatly improving the safety when the tramcar passes through the crossing protection area.
Description
Technical Field
The invention relates to the technical field of tramcar forming safety control, in particular to a safety detection device and a method for a tramcar level crossing.
Background
The modern tramcar is a novel urban rail transit tool with medium and low traffic volume between a subway and a public transport, has the characteristics of safety, comfort, environmental protection and high speed, can relieve the increasingly congested pressure of urban roads and reduce the emission problem of waste gas, and can also provide a new solution for the construction of public transport.
Modern tramcars generally adopt a modular design concept, modules are connected by hinges, a passenger room floor is a 100% low floor, and a traveling part is of a steel wheel steel rail system. The line closure degree is low, generally adopt the ground wire to lay, the form of buried track, share the right of way with social transportation vehicle, the crossing generally adopts overpass, underpass or plane crossing line. When the modern tramcar runs on the main line, a global positioning system and a track detection device are generally adopted for positioning, the communication between a control center and trains and beside the track is realized by adopting a wireless communication technology, and at a level crossing which conflicts with social vehicles, the safety of tramcar drivers passing through a conflict area is ensured by coordinating the opening of social traffic lights and special tramcar signal machines. In the whole operation process, the traffic flows of all parties at the level crossing are well coordinated, and the solution of conflict between the tramcar and social traffic vehicles is the key point for ensuring the safe operation of the tramcar and improving the operation efficiency, so the research on the signal control of the tramcar level crossing is very necessary.
The acousto-optic alarm equipment is a common device applied to a level crossing and used for sending acousto-optic indication to ensure driving safety. Although the existing anti-intrusion device of the sound-light alarm equipment can meet the requirement of sound-light alarm signal acquisition, a detection blind area exists, and only the foreign matters newly intruded dynamically can be detected, so that alarm can be given out to advise people to dissuade, and the foreign matters existing in a crossing protection area and obstructing the safe passing of a tramcar cannot be judged, so that certain potential safety hazards exist.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a tramcar level crossing safety detection device and method based on image recognition, which can recognize all barriers in the area of the level crossing, thereby providing a reliable foundation for traffic safety.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The tramcar level crossing safety detection device based on image identification comprises an acousto-optic alarm device, an image acquisition and processing device and a barrier gate system,
the sound-light alarm device comprises a sound-light alarm arranged at the level crossing through a mounting vertical rod and is used for giving an alarm prompt to vehicles and pedestrians before the tramcar arrives at the level crossing;
the image acquisition and processing device comprises a network camera and an image processing server which are arranged on the mounting vertical rod and is used for acquiring images of the crossing protection area and analyzing and processing the images;
and the barrier gate system is used for isolating the crossing protection area before the tramcar reaches the level crossing according to the running state of the tramcar, the analysis result of the image acquisition and processing device and the set level crossing signal timing.
Above-mentioned tram level crossing safety inspection device based on image recognition, the banister system is including setting up tram detection sensor, the crossing controller of setting on the installation montant, level crossing signal configuration case, banister mechanism and being located the millimeter wave radar detector that is used for detecting the banister mechanism below and has or not have the foreign matter on the banister mechanism at the level crossing upper reaches, tram detection sensor, level crossing signal configuration case and millimeter wave radar detector's signal output part is connected with the input of crossing controller respectively, and the controlled end of banister mechanism is connected to the output of crossing controller.
The tramcar level crossing safety detection device based on image recognition comprises a barrier gate mechanism and a case fixedly arranged on the ground, wherein the top end of the case is provided with a groove for the barrier gate to rotate and pass through; a stepping motor for driving the road rod to rotate is fixedly installed in the case through a support, the controlled end of the stepping motor is connected with the output end of the road junction controller, and the output shaft of the stepping motor is fixedly connected with the rear part of the road rod in the case; the rear end of the road rod is provided with a through hole with the axial direction parallel to the ground, a pull ring is sleeved in the through hole, a pull rod vertically located in the case is further sleeved on the pull ring, and the bottom end of the pull rod is hinged with a balancing weight for balancing the rising and falling of the road rod.
Above-mentioned tram level crossing safety inspection device based on image recognition, still be provided with the guide post that is vertical ascending in the quick-witted case, set up in the guide post and supply the pouring weight to move from top to bottom and to its spout that leads.
Above-mentioned tram level crossing safety inspection device based on image recognition, the last encoder that is provided with of step motor, the input of crossing controller is connected to the output of encoder.
A tramcar level crossing safety detection method based on image recognition specifically comprises the following steps:
A. the crossing controller collects information of a signal configuration box of the level crossing and signals output by a tramcar detection sensor;
B. when the crossing controller receives a signal that a traffic signal lamp is changed into red or a tramcar arrives, starting an audible and visual alarm to give an alarm, and starting time delay and timing;
C. after the delay time is up, the millimeter wave radar detector starts to detect whether foreign matters exist below the barrier gate mechanism or not, the network camera and the image processing server are started simultaneously, the network camera starts to collect images of a protective area of the road junction and sends the images to the image processing server, and the image processing server judges whether foreign matters exist in the protective area or not; the processing results of the millimeter wave radar detector and the image processing server are sent to the crossing controller in real time;
D. when foreign matter intrusion occurs, the crossing controller controls the barrier rod of the barrier gate mechanism to stop falling, and emergency treatment measures are taken; when the foreign matter invasion is not generated or eliminated, the road rod falls to the appointed position.
In the step C, the image processing server acquires the image shot by the network camera and then compares the image with the stored standard image for similarity, so as to determine whether a foreign object exists, wherein the specific determination method comprises the following steps:
C11. carrying out graying processing on the shot image;
C12. matching the shot image with the standard image by adopting a normalized cross-correlation method;
C13. when the metric value of the normalized cross correlation method is greater than 0.95, the crossing protection area is considered to have no foreign matters; when the value is less than 0.95, the foreign matter is considered to be present in the crossing protection area.
Due to the adoption of the technical scheme, the technical progress of the invention is as follows.
The invention can send out warning information before the tramcar reaches the level crossing by adding the image acquisition and processing device and combining the improvement of the barrier gate mechanism, thereby preventing the tramcar from invading into the crossing protection area and simultaneously accurately identifying the foreign matters which are still positioned in the crossing protection area, and then controlling the rising and falling of the road bar according to the result, ensuring the driving safety when the tramcar passes through the crossing protection area, and greatly improving the safety when the tramcar passes through the crossing protection area.
Drawings
FIG. 1 is a schematic structural diagram of a security detection system according to the present invention;
FIG. 2 is a schematic structural diagram of the barrier mechanism of the present invention;
fig. 3 is a control flow chart of the security detection method according to the present invention.
Wherein: 1. the track comprises a track rod, 2 a case, 3 a stepping motor, 4 a pull rod, 5 a balancing weight and 6 a guide post.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A tramcar level crossing safety detection device based on image recognition is structurally shown in figure 1 and comprises sound-light alarm equipment, an image acquisition and processing device and a barrier gate system; the barrier gate system rises and falls the barrier rod according to the analysis result of the image acquisition and processing device, and sends out an alarm prompt through the sound-light alarm device, so that vehicles and pedestrians passing through the level crossing can pass through safely.
The sound-light alarm device comprises a sound-light alarm arranged at the road junction through an installation vertical rod, and is used for giving an alarm to vehicles and pedestrians before the tramcar arrives at the road junction.
The image acquisition and processing device comprises a network camera and an image processing server which are arranged on the installation vertical rod and used for acquiring images of the crossing protection area and analyzing and processing the images. The setting of image acquisition and processing device can carry out accurate discernment and analysis to the information of level crossing, has avoided the existence of blind area, and its accessible network camera gathers the crossing protection zone picture, then carries out the analysis and compares through the initial condition's of image processing server shooting and the standard picture of not having any foreign matter of prestoring to judge whether there is the foreign matter to exist.
And the barrier gate system is used for isolating the crossing protection area before the tramcar reaches the level crossing according to the running state of the tramcar, the analysis result of the image acquisition and processing device and the set level crossing signal timing.
The barrier gate system comprises a tramcar detection sensor, a crossing controller, a level crossing signal configuration box, a barrier gate mechanism and a millimeter wave radar detector, wherein the signal output ends of the tramcar detection sensor, the level crossing signal configuration box and the millimeter wave radar detector are respectively connected with the input end of the crossing controller, and the output end of the crossing controller is connected with the controlled end of the barrier gate mechanism. The tramcar detection sensor is arranged at the upstream of a level crossing and used for detecting whether a tramcar enters the level crossing or not and sending the information to the crossing controller; the grade crossing signal configuration box is arranged at the roadside of the grade crossing and used for sending a traffic signal lamp indicating signal and timing information to the grade crossing controller; the millimeter wave radar detector is arranged on the barrier gate mechanism and used for detecting whether foreign matters exist below the barrier gate mechanism or not and sending a result to the crossing controller; the crossing controller is arranged on the mounting vertical rod; the barrier gate mechanism is arranged at the level crossing, and the barrier gate mechanism is used for controlling the lifting barrier bar to be lifted under the command of the crossing controller.
In order to ensure that the road rod of the road gate mechanism can rise and fall smoothly and prolong the service life of the road gate mechanism, the road gate mechanism is improved, the specific structure of the road gate mechanism is shown in figure 2, the road gate mechanism comprises a road rod 1 and a case 2 fixedly arranged on the ground, and the top end of the case is provided with a groove for the road rod 1 to rotate and pass through; a stepping motor 3 for driving the road rod to rotate is fixedly arranged in the case through a support, the controlled end of the stepping motor is connected with the output end of the road junction controller, and the output shaft of the stepping motor is fixedly connected with the rear part of the road rod in the case; the rear end of the track rod is provided with a through hole which is axially parallel to the ground, a pull ring is sleeved in the through hole, a pull rod 4 which is vertically positioned in the case is further sleeved on the pull ring, and the bottom end of the pull rod is hinged with a balancing weight 5 which balances the lifting of the track rod. When the road rod falls, the stepping motor acts, the encoder sends a position signal to the road junction controller, after the road rod falls to the position, the stepping motor stops working, and in the process, the balancing weight moves upwards along the sliding groove; when the road rod rises, the road junction controller controls the stepping motor to return, the road rod rotates upwards at the moment, and the weight of the balancing weight moving downwards along the sliding groove is quickly reset, so that the load of the stepping motor is reduced, and the service life of the barrier gate mechanism is prolonged.
The case is also provided with a vertical guide post 6, and a sliding groove is arranged in the guide post for the counterweight block to move up and down and guide the counterweight block. The stepping motor is provided with an encoder, and the output end of the encoder is connected with the input end of the crossing controller, so that the rising and falling angle of the road rod is controlled.
The invention also provides a safety detection method of the tramcar level crossing safety detection device based on image recognition, the flow of the method is shown in figure 3, and the method specifically comprises the following steps.
A. The crossing controller collects information of a signal configuration box of the level crossing and signals output by a tramcar detection sensor; the information output by the signal configuration box of the level crossing comprises the phase of the traffic signal and the timing of the signal of the level crossing.
B. When the crossing controller receives a signal that a traffic signal lamp turns red or a tramcar arrives, the audible and visual alarm is started to give an alarm, and time delay is started. The time delay duration is set according to specific requirements.
C. After the delay time is up, the millimeter wave radar detector starts to detect whether foreign matters exist below the barrier gate mechanism or not, the network camera and the image processing server are started simultaneously, the network camera starts to collect images of a protective area of the road junction and sends the images to the image processing server, and the image processing server judges whether foreign matters exist in the protective area or not; and processing results of the millimeter wave radar detector and the image processing server are sent to the crossing controller in real time.
The image processing server acquires the image shot by the network camera and then compares the image with the stored standard image in similarity, so as to judge whether foreign matters exist or not.
C11. And carrying out graying processing on the shot image. The image was sampled and the analog image was divided into 16 x 16 gray scale images and quantized to 16 gray scale images.
C12. And matching the shot image with the standard image by adopting a normalized cross-correlation method.
Calculating the measurement value NC of the shot image and the standard image by adopting a normalized cross-correlation method, wherein the calculation formula is as follows:
where X (I, J) is a grayscale value of the captured image at the pixel coordinate (I, J), Y (I, J) is a grayscale value of the standard image at the pixel coordinate (I, J), and I ═ J ═ 15.
C13. When the metric value of the normalized cross correlation method is greater than 0.95, the crossing protection area is considered to have no foreign matters; when the value is less than 0.95, the foreign matter is considered to be present in the crossing protection area.
D. When foreign matter intrusion occurs, the crossing controller controls the barrier rod of the barrier gate mechanism to stop falling, and emergency treatment measures are taken; when the foreign matter invasion is not generated or eliminated, the road rod falls to the appointed position.
Claims (7)
1. Tram level crossing safety inspection device based on image recognition, its characterized in that: comprises an audible and visual alarm device, an image acquisition and processing device and a barrier gate system,
the sound-light alarm device comprises a sound-light alarm arranged at the level crossing through a mounting vertical rod and is used for giving an alarm prompt to vehicles and pedestrians before the tramcar arrives at the level crossing;
the image acquisition and processing device comprises a network camera and an image processing server which are arranged on the mounting vertical rod and is used for acquiring images of the crossing protection area and analyzing and processing the images;
and the barrier gate system is used for isolating the crossing protection area before the tramcar reaches the level crossing according to the running state of the tramcar, the analysis result of the image acquisition and processing device and the set level crossing signal timing.
2. The tram road crossing safety detection device based on image recognition as claimed in claim 1, characterized in that: the barrier gate system comprises a tramcar detection sensor arranged on the upper stream of a level crossing, a crossing controller arranged on an installation vertical rod, a level crossing signal configuration box, a barrier gate mechanism and a millimeter wave radar detector which is arranged on the barrier gate mechanism and used for detecting whether foreign matters exist below the barrier gate mechanism, wherein the signal output ends of the tramcar detection sensor, the level crossing signal configuration box and the millimeter wave radar detector are respectively connected with the input end of the crossing controller, and the output end of the crossing controller is connected with the controlled end of the barrier gate mechanism.
3. The tram road crossing safety detection device based on image recognition as claimed in claim 2, characterized in that: the barrier gate mechanism comprises a barrier rod (1) and a case (2) fixedly arranged on the ground, and the top end of the case is provided with a groove for the barrier rod (1) to rotate through; a stepping motor (3) for driving the road rod to rotate is fixedly arranged in the case through a support, the controlled end of the stepping motor is connected with the output end of the road junction controller, and the output shaft of the stepping motor is fixedly connected with the rear part of the road rod in the case; the rear end of the track rod is provided with a through hole with the axial direction parallel to the ground, a pull ring is sleeved in the through hole, a pull rod (4) vertically located in the case is further sleeved on the pull ring, and the bottom end of the pull rod is hinged with a balancing weight (5) for balancing the rise and fall of the track rod.
4. The tram road crossing safety detection device based on image recognition as claimed in claim 3, characterized in that: the machine case is also internally provided with a vertical and upward guide post (6), and a sliding groove for the weight block to move up and down and guide the weight block is arranged in the guide post.
5. The tram road crossing safety detection device based on image recognition as claimed in claim 4, characterized in that: and the stepping motor is provided with an encoder, and the output end of the encoder is connected with the input end of the crossing controller.
6. A tramcar level crossing safety detection method based on image recognition is characterized in that the method is realized based on the safety detection device of claims 1 to 5, and specifically comprises the following steps:
A. the crossing controller collects information of a signal configuration box of the level crossing and signals output by a tramcar detection sensor;
B. when the crossing controller receives a signal that a traffic signal lamp is changed into red or a tramcar arrives, starting an audible and visual alarm to give an alarm, and starting time delay and timing;
C. after the delay time is up, the millimeter wave radar detector starts to detect whether foreign matters exist below the barrier gate mechanism or not, the network camera and the image processing server are started simultaneously, the network camera starts to collect images of a protective area of the road junction and sends the images to the image processing server, and the image processing server judges whether foreign matters exist in the protective area or not; the processing results of the millimeter wave radar detector and the image processing server are sent to the crossing controller in real time;
D. when foreign matter intrusion occurs, the crossing controller controls the barrier rod of the barrier gate mechanism to stop falling, and emergency treatment measures are taken; when the foreign matter invasion is not generated or eliminated, the road rod falls to the appointed position.
7. The streetcar crossing safety detection method based on image recognition as claimed in claim 6, wherein in the step C, after the image processing server collects the image shot by the network camera, the image is compared with the stored standard image in similarity, so as to determine whether the foreign matter exists, and the specific determination method is as follows:
C11. carrying out graying processing on the shot image;
C12. matching the shot image with the standard image by adopting a normalized cross-correlation method;
C13. when the metric value of the normalized cross correlation method is greater than 0.95, the crossing protection area is considered to have no foreign matters; when the value is less than 0.95, the foreign matter is considered to be present in the crossing protection area.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115946749A (en) * | 2023-03-10 | 2023-04-11 | 唐山百川智能机器股份有限公司 | Control system and method for safe passing of tramcar level crossing |
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Application publication date: 20210604 |