CN113581252A - Obstacle detection system based on multi-sensor fusion - Google Patents
Obstacle detection system based on multi-sensor fusion Download PDFInfo
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- CN113581252A CN113581252A CN202110825244.3A CN202110825244A CN113581252A CN 113581252 A CN113581252 A CN 113581252A CN 202110825244 A CN202110825244 A CN 202110825244A CN 113581252 A CN113581252 A CN 113581252A
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- obstacle detection
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- 238000001514 detection method Methods 0.000 title claims abstract description 48
- 230000004927 fusion Effects 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000007306 turnover Effects 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000006978 adaptation Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 7
- 239000011347 resin Substances 0.000 abstract description 4
- 229920005989 resin Polymers 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention relates to the technical field of train safety, in particular to an obstacle detection system based on multi-sensor fusion; rolling disc and recess swing joint, the one end that the rolling disc is located the recess is provided with driven tooth portion, rotating device's output is corresponding with driven tooth portion, the one end of installation arm is provided with the axis of rotation, axis of rotation and linking frame swing joint, turning device's output is corresponding with the axis of rotation, start rotating device, it rotates to drive the rolling disc through driven tooth portion, thereby it is rotatory to drive the barrier detection device horizontal rotation on the installation arm, start turning device, it overturns to drive the barrier detection device resin on the installation arm through the axis of rotation, thereby enlarge barrier detection device's detection range, gather more barrier information, and then type barrier information into monitor platform through data processing device on.
Description
Technical Field
The invention relates to the technical field of train safety, in particular to a barrier detection system based on multi-sensor fusion.
Background
In order to better ensure the running safety of the train, people enter a running line section, construction remnants, optical cable and cable invasion, barriers in front limits such as billboards, trees, color steel plates and the like need to be continuously detected, detected image data are uploaded to a monitoring platform, and when certain indexes exceed a normal predetermined safety range, corresponding alarm prompt is carried out on the train.
However, the existing obstacle detection system has a small detection range, and cannot upload more obstacle image information on a line to a monitoring platform.
Disclosure of Invention
The invention aims to provide an obstacle detection system based on multi-sensor fusion, which solves the problems that the existing obstacle detection system in the prior art is small in detection range and cannot upload more obstacle image information on a line to a monitoring platform.
In order to achieve the purpose, the invention provides an obstacle detection system based on multi-sensor fusion, which comprises a vehicle body, supports, obstacle detection devices and a data processing device, wherein the supports are arranged at two ends of the vehicle body, the obstacle detection devices are arranged on the supports, and the information output ends of the obstacle detection devices are connected with the information input ends of the data processing device;
each support comprises a bottom plate, a support arm, a rotating device, a rotating disc, a turnover device, a connecting frame and a mounting arm, the bottom plate is detachably connected with the vehicle body, one end of the support arm is fixedly connected with the bottom plate, the other end of the support arm is provided with a groove, the rotating device is arranged in the groove, the rotating disc is movably connected with the groove and is positioned above the rotating device, one end of the rotating disc, which is positioned in the groove, is provided with a driven tooth part, one end of the rotating disc, which is far away from the groove, is provided with the turnover device and the connecting frame, the output end of the rotating device corresponds to the driven tooth part, one end of the mounting arm is provided with a rotating shaft, the other end of the mounting arm is provided with the obstacle detecting device, and the rotating shaft is movably connected with the connecting frame, the output end of the turnover device corresponds to the rotating shaft.
The rotating device is started, the rotating disc is driven to rotate through the driven tooth portion, so that the obstacle detection device on the mounting arm is driven to rotate horizontally, the overturning device is started, the rotating shaft drives the obstacle detection device on the mounting arm to overturn resin, the detection range of the obstacle detection device is expanded, more obstacle information is collected, and the obstacle information is recorded on the monitoring platform through the data processing device.
The rotating device comprises a first servo motor, an output shaft and an output gear, the first servo motor is detachably connected with the supporting arm and is located inside the groove, the output shaft is arranged at the output end of the first servo motor, the output gear is arranged at one end, away from the first servo motor, of the output shaft, and the output gear is meshed with the driven tooth portion.
And starting the first servo motor to drive the output gear to rotate by using the output shaft, wherein the output gear is meshed with the driven tooth part, so that the rotating disc is driven to rotate.
The tooth number of the output gear is smaller than that of the driven tooth part, and a wiring hole is further formed in the support arm and corresponds to the groove.
The number of teeth of output gear is less than the number of teeth of driven tooth portion, through driven tooth portion slows down first servo motor's output rotational speed, thereby makes the rolling disc slowly rotates set up on the support arm the wiring hole makes the installation more convenient during the first servo motor.
The turnover device comprises a second servo motor, a gear reduction box and a transmission shaft, the second servo motor is detachably connected with the rotating disc, the gear reduction box is arranged at the output end of the second servo motor, the transmission shaft is arranged at the output end of the gear reduction box, a clamping groove is formed in one end, close to the transmission shaft, of the rotating shaft, a clamping block is arranged at one end, far away from the gear reduction box, of the transmission shaft, and the clamping block is matched with the clamping groove.
The clamping block is inserted into the clamping groove, the clamping block and the clamping groove are both in regular polygon structures, the second servo motor is started, the gear reduction box is used for reducing the output rotating speed of the second servo motor, and then the transmission shaft drives the rotating shaft to rotate so as to drive the mounting arm to overturn.
Wherein, the connection frame includes two coupling assembling, every coupling assembling all with the rolling disc is dismantled and is connected, and is located respectively the both sides of installation arm, every all be provided with the through-hole on the coupling assembling, the through-hole with the rotating shaft looks adaptation.
And placing two connecting assemblies on two sides of the mounting arm respectively, and enabling the rotating shaft to penetrate through the through hole, and utilizing screws to install the two connecting assemblies on the rotating disc, so that the mounting arm is movably connected with the connecting frame.
Wherein, every coupling assembling all includes installation piece and riser, the installation piece with the rolling disc is dismantled and is connected, the riser with installation piece fixed connection, and with installation piece mutually perpendicular, be provided with on the riser the through-hole.
The mounting panel with riser fixed connection adopts integrated into one piece technique to make the structure more firm during manufacturing.
The invention relates to an obstacle detection system based on multi-sensor fusion, wherein an information output end of an obstacle detection device is connected with an information input end of a data processing device, a rotating disc is movably connected with a groove and is positioned above a rotating device, one end of the rotating disc positioned in the groove is provided with a driven tooth part, an output end of the rotating device corresponds to the driven tooth part, one end of an installation arm is provided with a rotating shaft which is movably connected with a connecting frame, an output end of a turnover device corresponds to the rotating shaft, the rotating device is started, the rotating disc is driven to rotate through the driven tooth part, so that the obstacle detection device on the installation arm is driven to rotate horizontally, the turnover device is started, and the obstacle detection device on the installation arm is driven to turn resin through the rotating shaft, therefore, the detection range of the obstacle detection device is expanded, more obstacle information is collected, and the obstacle information is recorded on the monitoring platform through the data processing device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an obstacle detection system based on multi-sensor fusion provided by the invention.
Fig. 2 is a schematic view of a connection structure of the bracket and the obstacle detecting device provided by the present invention.
Fig. 3 is an enlarged view of a portion of the structure of fig. 2 a according to the present invention.
Fig. 4 is a rear view of the bracket and the obstacle detecting device provided by the present invention.
Fig. 5 is a sectional view of the inner structure taken along line a-a of fig. 4 according to the present invention.
1-vehicle body, 2-bracket, 21-bottom plate, 22-supporting arm, 221-groove, 222-wiring hole, 23-rotating device, 231-first servo motor, 232-output shaft, 233-output gear, 24-rotating disc, 241-driven tooth part, 25-turnover device, 251-second servo motor, 252-gear reduction box, 253-transmission shaft, 254-fixture block, 26-connecting frame, 261-connecting assembly, 262-through hole, 263-mounting block, 264-vertical plate, 27-mounting arm, 271-rotating shaft, 3-obstacle detection device, 31-camera, 32-ultrasonic sensor and 33-infrared sensor.
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 drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 5, the invention provides a multi-sensor fusion-based obstacle detection system, which includes a vehicle body 1, supports 2, obstacle detection devices 3 and a data processing device, wherein the supports 2 are respectively disposed at two ends of the vehicle body 1, each support 2 is provided with the obstacle detection device 3, and an information output end of the obstacle detection device 3 is connected with an information input end of the data processing device;
each support 2 comprises a bottom plate 21, a support arm 22, a rotating device 23, a rotating disc 24, a turnover device 25, a connecting frame 26 and a mounting arm 27, the bottom plate 21 is detachably connected with the vehicle body 1, one end of the support arm 22 is fixedly connected with the bottom plate 21, the other end of the support arm 22 is provided with a groove 221, the rotating device 23 is arranged in the groove 221, the rotating disc 24 is movably connected with the groove 221 and is positioned above the rotating device 23, one end of the rotating disc 24, which is positioned in the groove 221, is provided with a driven tooth portion 241, one end of the rotating disc 24, which is away from the groove 221, is provided with the turnover device 25 and the connecting frame 26, the output end of the rotating device 23 corresponds to the driven tooth portion 241, one end of the mounting arm 27 is provided with a rotating shaft 271, and the other end of the mounting arm 27 is provided with the obstacle detecting device 3, the rotating shaft 271 is movably connected with the connecting frame 26, and the output end of the turnover device 25 corresponds to the rotating shaft 271.
In this embodiment, the rotating device 23 is started, the driven gear portion 241 drives the rotating disc 24 to rotate, so as to drive the obstacle detecting device 3 on the mounting arm 27 to rotate horizontally, the turning device 25 is started, the rotating shaft 271 drives the obstacle detecting device 3 on the mounting arm 27 to turn over resin, so as to expand the detection range of the obstacle detecting device 3, collect more obstacle information, and further record the obstacle information on the monitoring platform through the data processing device.
Further, the rotating device 23 includes a first servo motor 231, an output shaft 232 and an output gear 233, the first servo motor 231 is detachably connected to the supporting arm 22 and is located inside the groove 221, the output shaft 232 is provided at an output end of the first servo motor 231, the output gear 233 is provided at an end of the output shaft 232 away from the first servo motor 231, the output gear 233 is engaged with the driven tooth portion 241, the number of teeth of the output gear 233 is smaller than that of the driven tooth portion 241, a wiring hole 222 is further provided on the supporting arm 22, and the wiring hole 222 corresponds to the groove 221.
In this embodiment, the first servo motor 231 is started to drive the output gear 233 to rotate by using the output shaft 232, because the output gear 233 is engaged with the driven tooth portion 241, so as to drive the rotating disc 24 to rotate, the number of teeth of the output gear 233 is less than that of the driven tooth portion 241, the output rotating speed of the first servo motor 231 is reduced by the driven tooth portion 241, so that the rotating disc 24 rotates slowly, and the support arm 22 is provided with the wiring hole 222, so that the first servo motor 231 is more convenient to mount.
Further, the turning device 25 comprises a second servo motor 251, a gear reduction box 252 and a transmission shaft 253, the second servo motor 251 is detachably connected with the rotating disc 24, the gear reduction box 252 is arranged at the output end of the second servo motor 251, the transmission shaft 253 is arranged at the output end of the gear reduction box 252, a clamping groove is formed in one end, close to the transmission shaft 253, of the rotating shaft 271, a clamping block 254 is arranged at one end, far away from the gear reduction box 252, of the transmission shaft 253, and the clamping block 254 is matched with the clamping groove.
In this embodiment, the clamping block 254 is inserted into the clamping groove, the clamping block 254 and the clamping groove are both arranged in a regular polygon structure, and after the second servo motor 251 is started, and the output rotation speed of the second servo motor 251 is reduced by using the gear reduction box 252, the rotating shaft 271 is driven to rotate by the transmission shaft 253, so as to drive the mounting arm 27 to turn.
Further, the connection frame 26 includes two coupling assembling 261, every coupling assembling 261 all with the carousel 24 is dismantled and is connected, and is located respectively the both sides of installation arm 27, every all be provided with through-hole 262 on the coupling assembling 261, through-hole 262 with axis of rotation 271 looks adaptation, every coupling assembling 261 all includes installation piece 263 and riser 264, installation piece 263 with the carousel 24 is dismantled and is connected, riser 264 with installation piece 263 fixed connection, and with installation piece 263 mutually perpendicular, be provided with on the riser 264 the through-hole 262.
In this embodiment, two of the connecting assemblies 261 are respectively disposed on two sides of the mounting arm 27, and after the rotating shaft 271 penetrates through the through hole 262, the two connecting assemblies 261 are mounted on the rotating disc 24 by screws, so that the mounting arm 27 is movably connected to the connecting frame 26, and the mounting plate is fixedly connected to the vertical plate 264, and is manufactured by an integral molding technology, so that the structure is firmer.
Further, the obstacle detection device 3 includes a camera 31 and an ultrasonic sensor 32, the camera 31 and the ultrasonic sensor 32 are both disposed at one end of the mounting arm 27 far away from the connecting frame 26, and the camera 31 and the ultrasonic sensor 32 are both electrically connected to the data processing device.
In the present embodiment, the time difference between the transmission of the ultrasonic wave and the reception of the reflected wave generated by the reflection of the ultrasonic wave by the object is measured by the ultrasonic sensor 32 to measure the distance to the obstacle, and the angle of the camera 31 is adjusted by the turning device 23 and the reversing device 25 to more accurately record the image information of the obstacle.
Further, the obstacle detection device 3 further includes an infrared sensor 33, and the infrared sensor 33 is electrically connected to the data processing device.
In the present embodiment, when the ultrasonic transmitter of another device is present on the line and the detection is performed by the ultrasonic sensor 32, crosstalk may occur, so that the infrared sensor 33 assists the ultrasonic sensor 32 in detecting an obstacle on the line, and the detection is more accurate.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. An obstacle detection system based on multi-sensor fusion is characterized in that,
the obstacle detection system based on the multi-sensor fusion comprises a vehicle body, supports, obstacle detection devices and a data processing device, wherein the supports are arranged at two ends of the vehicle body, the obstacle detection devices are arranged on the supports, and the information output ends of the obstacle detection devices are connected with the information input ends of the data processing device;
each support comprises a bottom plate, a support arm, a rotating device, a rotating disc, a turnover device, a connecting frame and a mounting arm, the bottom plate is detachably connected with the vehicle body, one end of the support arm is fixedly connected with the bottom plate, the other end of the support arm is provided with a groove, the rotating device is arranged in the groove, the rotating disc is movably connected with the groove and is positioned above the rotating device, one end of the rotating disc, which is positioned in the groove, is provided with a driven tooth part, one end of the rotating disc, which is far away from the groove, is provided with the turnover device and the connecting frame, the output end of the rotating device corresponds to the driven tooth part, one end of the mounting arm is provided with a rotating shaft, the other end of the mounting arm is provided with the obstacle detecting device, and the rotating shaft is movably connected with the connecting frame, the output end of the turnover device corresponds to the rotating shaft.
2. The multi-sensor fusion based obstacle detection system of claim 1,
the rotating device comprises a first servo motor, an output shaft and an output gear, the first servo motor is detachably connected with the supporting arm and is located inside the groove, the output end of the first servo motor is provided with the output shaft, one end, far away from the first servo motor, of the output shaft is provided with the output gear, and the output gear is meshed with the driven tooth portion.
3. The multi-sensor fusion based obstacle detection system of claim 2,
the tooth number of output gear is less than the tooth number of driven tooth portion, still be provided with the wiring hole on the support arm, the wiring hole with the recess is corresponding.
4. The multi-sensor fusion based obstacle detection system of claim 1,
the turnover device comprises a second servo motor, a gear reduction box and a transmission shaft, the second servo motor is detachably connected with the rotating disc, the gear reduction box is arranged at the output end of the second servo motor, the transmission shaft is arranged at the output end of the gear reduction box, a clamping groove is formed in one end, close to the transmission shaft, of the rotating shaft, a clamping block is arranged at one end, far away from the gear reduction box, of the transmission shaft, and the clamping block is matched with the clamping groove.
5. The multi-sensor fusion based obstacle detection system of claim 1,
the connection frame includes two coupling assembling, every coupling assembling all with the rolling disc is dismantled and is connected, and is located respectively the both sides of installation arm, every all be provided with the through-hole on the coupling assembling, the through-hole with the rotating shaft looks adaptation.
6. The multi-sensor fusion based obstacle detection system of claim 5,
every coupling assembling all includes installation piece and riser, the installation piece with the rolling disc is dismantled and is connected, the riser with installation piece fixed connection, and with installation piece mutually perpendicular, be provided with on the riser the through-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825244.3A CN113581252A (en) | 2021-07-21 | 2021-07-21 | Obstacle detection system based on multi-sensor fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825244.3A CN113581252A (en) | 2021-07-21 | 2021-07-21 | Obstacle detection system based on multi-sensor fusion |
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| Publication Number | Publication Date |
|---|---|
| CN113581252A true CN113581252A (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110825244.3A Pending CN113581252A (en) | 2021-07-21 | 2021-07-21 | Obstacle detection system based on multi-sensor fusion |
Country Status (1)
| Country | Link |
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| CN (1) | CN113581252A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572277A (en) * | 2022-03-03 | 2022-06-03 | 河北建筑工程学院 | Intelligent identification method for rail obstacle |
| CN115361496A (en) * | 2022-07-29 | 2022-11-18 | 重庆七腾科技有限公司 | Intelligent inspection robot image recognition device |
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| JPH07186955A (en) * | 1993-12-24 | 1995-07-25 | East Japan Railway Co | Obstacle detecting system |
| CN107471898A (en) * | 2017-09-25 | 2017-12-15 | 浙江绿洲胶粘制品有限公司 | One kind automation wallpaper mounting system |
| CN107628282A (en) * | 2017-11-07 | 2018-01-26 | 内蒙古工业大学 | A kind of large scale synthetic attitude simulator stand |
| CN108008411A (en) * | 2016-10-31 | 2018-05-08 | 张舒怡 | A kind of sensor for automatic Pilot |
| CN108161885A (en) * | 2018-01-06 | 2018-06-15 | 哈尔滨工大特种机器人有限公司 | A kind of public safety mobile robot |
| CN109292015A (en) * | 2018-09-04 | 2019-02-01 | 东莞理工学院 | A kind of full landform multifunctional barrier-crossing rescue robot |
| CN110297252A (en) * | 2019-07-17 | 2019-10-01 | 哈尔滨理工大学 | A kind of train front obstacle detection system and its detection method based on laser sensor array |
| JP2020188372A (en) * | 2019-05-15 | 2020-11-19 | トヨタ車体株式会社 | Vehicle operation support device and vehicle operation support method |
| WO2021053866A1 (en) * | 2019-09-17 | 2021-03-25 | 株式会社日立製作所 | Train control system |
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| JPH07186955A (en) * | 1993-12-24 | 1995-07-25 | East Japan Railway Co | Obstacle detecting system |
| CN108008411A (en) * | 2016-10-31 | 2018-05-08 | 张舒怡 | A kind of sensor for automatic Pilot |
| CN107471898A (en) * | 2017-09-25 | 2017-12-15 | 浙江绿洲胶粘制品有限公司 | One kind automation wallpaper mounting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114572277A (en) * | 2022-03-03 | 2022-06-03 | 河北建筑工程学院 | Intelligent identification method for rail obstacle |
| CN115361496A (en) * | 2022-07-29 | 2022-11-18 | 重庆七腾科技有限公司 | Intelligent inspection robot image recognition device |
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Application publication date: 20211102 |