CN113702966A - Urban railway barrier and derailment detection system - Google Patents
Urban railway barrier and derailment detection system Download PDFInfo
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- 238000004458 analytical method Methods 0.000 claims abstract description 5
- 206010012411 Derailment Diseases 0.000 claims description 92
- 230000001133 acceleration Effects 0.000 claims description 44
- 230000011218 segmentation Effects 0.000 claims description 17
- 230000004927 fusion Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
Abstract
The invention provides an urban railway obstacle and derailment detection system which comprises a vehicle-mounted host, a train control system and a plurality of data acquisition sensors, wherein a derailment detection module, an obstacle detection module and the data acquisition sensors are respectively in communication connection with the vehicle-mounted host, the obstacle detection module comprises a millimeter wave radar, a laser radar and a camera, and the millimeter wave radar is used for acquiring 3D point cloud data in front of a train; the millimeter wave radar is used for acquiring 2D point cloud data in front of the train, and the camera is used for acquiring image information in front of the train; the millimeter wave radar, the laser radar and the camera are respectively in communication connection with a vehicle-mounted host computer, and the vehicle-mounted host computer is in communication connection with the train control system; and judging the barrier information and the derailment information respectively, carrying out precision analysis and calculation through the vehicle-mounted host, comprehensively evaluating the current situation of the train, and outputting the current situation to a train control system for braking or other control.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a multifunctional integrated urban railway obstacle and derailment detection system integrating vision detection and radar detection.
Background
With the continuous development of science and technology, the railway construction of China also develops rapidly, and a large number of express trains and express trains start to run after the speed is increased for a plurality of times in recent years. After the sixth speed increase in 2007, the harmonious motor train unit is driven by the railway department, and the speed per hour can reach more than 200 kilometers. Especially, high-speed railways such as Jingguang high-speed railway, Jinghu high-speed railway and Hukun high-speed railway are built successively, and the maximum operation speed reaches 350 km. In addition to wheel tracks, maglev trains are also used as part of inter-city rail traffic. Under the condition that the running speed of a train is higher and higher, the running safety problem of the train is also more and more emphasized, and based on the rapid development of an automatic driving technology, the detection of obstacles and derailment in the running process of the train is more important.
The obstacle and derailment detection in the prior art has the defect that the processing mode of the acquired data information is not perfect in the high-speed running process of the train, so that the derailment condition and the front obstacle condition of the train cannot be stably judged in the running process of the system, and signals are fed back to a train control system in time to output and control.
Disclosure of Invention
The invention provides an urban railway obstacle and derailment detection system aiming at the technical problems in the prior art, wherein obstacle information and derailment information are respectively judged through a laser radar, a millimeter wave radar, a camera and a derailment detection module, and are subjected to precise analysis and calculation through a vehicle-mounted host, the current situation of a train is comprehensively evaluated, and the current situation is technically output to a train control system for braking or other control.
According to a first aspect of the invention, an urban railway obstacle and derailment detection system is provided, which comprises a derailment detection module and an obstacle detection module, wherein the derailment detection module and the obstacle detection module are respectively used for detecting the position relation between a train and a track and the obstacle information in front of the train;
the derailment detection module, the obstacle detection module and the data acquisition sensors are respectively in communication connection with the vehicle-mounted host, the obstacle detection module comprises a millimeter wave radar, a laser radar and a camera, and the millimeter wave radar is used for acquiring 3D point cloud data in front of the train; the millimeter wave radar is used for acquiring 2D point cloud data in front of the train, and the camera is used for acquiring image information in front of the train; the millimeter wave radar, the laser radar and the camera are respectively in communication connection with a vehicle-mounted host computer, and the vehicle-mounted host computer is in communication connection with the train control system;
the vehicle-mounted host is used for analyzing and processing data information acquired by the millimeter wave radar, the laser radar, the camera and the data acquisition sensor, judging the current risk state of the vehicle by combining detection data of the derailment detection module, and outputting a control or alarm signal to the train control system.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the vehicle-mounted host includes:
an image target segmentation unit for separating an object profile, a background profile and a trajectory profile in an image;
the train contour data acquisition device comprises a track line dividing unit, a position acquisition unit and a position acquisition unit, wherein the track line dividing unit is used for determining the position and the advancing direction of a track and judging the position and the size of a train body in space according to the advancing direction of the track and train contour data;
the sensor feature fusion unit is used for unifying the coordinates of the image information acquired by the camera and the coordinate information acquired by the millimeter wave radar and the laser radar, and determining the coordinates of the object in the image and the speed relative to the train;
the obstacle judging unit is used for judging whether the motion trail of the object can intersect with the train outline or not;
the system comprises a collision risk/derailment risk judging unit, a train control system and a train control system, wherein the collision risk/derailment risk judging unit is used for comprehensively judging whether the current environment and state of the train have collision risk and derailment risk according to data information of a derailment detection module, an obstacle judging unit and a track line dividing unit and sending the information to the train control system;
the signal output ends of the image target segmentation unit are respectively connected with the signal input ends of the track line segmentation unit and the sensor feature fusion unit, the signal output ends of the sensor feature fusion unit and the track line segmentation unit are respectively connected with the signal input end of the obstacle judgment unit, and the signal output ends of the obstacle judgment unit, the track line segmentation unit and the derailment detection unit are respectively connected with the signal input end of the collision risk/derailment risk judgment unit.
Optionally, the derailment detection module includes derailment detection sensor unit and derailment detection control unit, the derailment detection sensor unit includes acceleration sensor and displacement sensor, through gathering train acceleration and train speed and sending the derailment detection control unit and carry out analysis and output control.
Optionally, the number of the acceleration sensors is multiple, and the acceleration sensors are respectively used for acquiring acceleration signals in multiple axial directions.
Optionally, the device further comprises an acceleration calibration unit, wherein the acceleration calibration unit is connected with the acceleration sensor respectively, and is used for calibrating the acceleration information acquired by the acceleration sensor in each axial direction through the acceleration calibration unit.
Optionally, the derailment detection control unit is connected with a driving derailment relay, and when it is determined that the train is derailed, the driving derailment relay is triggered to act.
Optionally, the driving derailment relay is connected with a train emergency braking system, and when it is determined that the train derails, the driving derailment relay is triggered to act, so as to further trigger the train emergency braking system to act.
Optionally, when the train emergency braking system acts, the train control system sends an emergency braking prompt signal to the opposite train and the backward train on the track.
The invention has the beneficial effects that: according to the urban railway obstacle and derailment detection system provided by the invention, the laser radar, the millimeter wave radar, the camera and the derailment detection module are integrated to carry out data acquisition together, and the acquired data information is analyzed and processed through the vehicle-mounted host, so that the accuracy of system judgment is improved, meanwhile, the stability of the system is improved, and the requirement of quick and accurate judgment in the high-speed driving process can be met.
Drawings
FIG. 1 is a flow chart of the system operation of an urban railway obstacle and derailment detection system according to the present invention;
FIG. 2 is a schematic diagram of the derailment detection logic of the present invention;
fig. 3 is a schematic diagram of the obstacle detection logic of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 1 is a flow chart of a system operation of an urban railway obstacle and derailment detection system provided by the present invention, as shown in fig. 1, the system includes:
the derailment detection module and the obstacle detection module are respectively used for detecting the position relation between the train and the track and the obstacle information in front of the train;
the derailment detection module, the obstacle detection module and the data acquisition sensors are respectively in communication connection with the vehicle-mounted host, the obstacle detection module comprises a millimeter wave radar, a laser radar and a camera, and the millimeter wave radar is used for acquiring 3D point cloud data in front of the train; the millimeter wave radar is used for acquiring 2D point cloud data in front of the train, and the camera is used for acquiring image information in front of the train; the millimeter wave radar, the laser radar and the camera are respectively in communication connection with a vehicle-mounted host computer, and the vehicle-mounted host computer is in communication connection with the train control system;
the vehicle-mounted host is used for analyzing and processing data information acquired by the millimeter wave radar, the laser radar, the camera and the data acquisition sensor, judging the current risk state of the vehicle by combining detection data of the derailment detection module, and outputting a control or alarm signal to the train control system.
Based on the defects in the background art, the embodiment of the invention provides an urban railway obstacle and derailment detection system, which is divided into a derailment detection module and an obstacle detection module, wherein the derailment detection module and the obstacle detection module are respectively used for detecting the position relationship between a train and a track and the obstacle information in front of the train; the data information collected by the derailment detection module and the obstacle detection module and the data information collected by the set data collection sensors are comprehensively processed, analyzed and compared through the vehicle-mounted host, whether the train has derailment or collision risk is finally judged, the current collision or derailment risk level is judged according to the comparison between the collected data information and set parameters, and the information is sent to the train control system to perform corresponding control action.
In one possible embodiment, the onboard host includes:
an image target segmentation unit for separating an object profile, a background profile and a trajectory profile in an image;
the train contour data acquisition device comprises a track line dividing unit, a position acquisition unit and a position acquisition unit, wherein the track line dividing unit is used for determining the position and the advancing direction of a track and judging the position and the size of a train body in space according to the advancing direction of the track and train contour data;
the sensor feature fusion unit is used for unifying the coordinates of the image information acquired by the camera and the coordinate information acquired by the millimeter wave radar and the laser radar, and determining the coordinates of the object in the image and the speed relative to the train;
the obstacle judging unit is used for judging whether the motion trail of the object can intersect with the train outline or not;
the system comprises a collision risk/derailment risk judging unit, a train control system and a train control system, wherein the collision risk/derailment risk judging unit is used for comprehensively judging whether the current environment and state of the train have collision risk and derailment risk according to data information of a derailment detection module, an obstacle judging unit and a track line dividing unit and sending the information to the train control system;
the signal output ends of the image target segmentation unit are respectively connected with the signal input ends of the track line segmentation unit and the sensor feature fusion unit, the signal output ends of the sensor feature fusion unit and the track line segmentation unit are respectively connected with the signal input end of the obstacle judgment unit, and the signal output ends of the obstacle judgment unit, the track line segmentation unit and the derailment detection unit are respectively connected with the signal input end of the collision risk/derailment risk judgment unit.
As shown in fig. 1, the 3D point cloud information acquired by the laser radar, the 2D point cloud information acquired by the millimeter wave radar, and the image information acquired by the high-speed camera are separated from the object profile, the background profile and the track line profile in the image by the image target segmentation unit, and are simultaneously sent to the sensor feature fusion unit for processing, then the track position and the advancing direction are determined by the track line segmentation unit, and the position and the size of the train body in the space are determined by the advancing direction and the train profile data; the sensor feature fusion unit performs coordinate unified processing on the image and coordinate information acquired by the radar, determines coordinates of an object in the image and the speed of the object in the image relative to a train and sends the coordinates and the speed to the obstacle judgment unit, the obstacle judgment unit mainly judges whether a motion track of the object intersects with the train outline at a future moment, if the motion track intersects with the train outline, a collision risk exists, the derailment detection module mainly judges whether a derailment risk exists according to vehicle acceleration, and if the collision risk or the derailment risk exists, alarm information is sent to a train control system.
In a possible embodiment mode, the derailment detection module comprises a derailment detection sensor unit and a derailment detection control unit, wherein the derailment detection sensor unit comprises an acceleration sensor and a displacement sensor, and the acceleration and the speed of the train are collected and sent to the derailment detection control unit for analysis and output control.
It can be understood that train acceleration data is detected through the acceleration sensor and the displacement sensor, and the vehicle-mounted host acquires train acceleration information and displacement information provided by the derailment detection module and compares the train acceleration information and the displacement information with a system setting threshold value to judge whether the train body has a risk of derailment. The derailment detection control unit outputs a control command to the next-stage device.
Optionally, the acceleration sensor has a plurality of, are used for gathering a plurality of axial acceleration signals respectively.
It can be understood that the acceleration sensor is at least a 2-axis acceleration sensor, and the acceleration information in multiple axial directions is collected, for example, the acceleration is further analyzed and determined after the collection, taking the X axis and the Z axis as an example.
Optionally, the device further comprises an acceleration calibration unit, wherein the acceleration calibration unit is connected with the acceleration sensor respectively, and is used for calibrating the acceleration information of each axial direction acquired by the acceleration sensor through the acceleration calibration unit.
The acceleration calibration unit is used for receiving data information of the acceleration sensor, calibrating acceleration signals according to the acceleration information in the axial direction of different wheel shafts, comprehensively analyzing the current running speed of the train, judging whether the signals need to be bypassed, stopping the detection action of the derailment detection module if the signals need to be bypassed, and otherwise, alarming and outputting to a train control system for braking when the derailment is detected.
Optionally, the derailment detection control unit is connected with a driving derailment relay, and when it is determined that the train is derailed, the driving derailment relay is triggered to act.
It can be understood that the state of the derailment relay is driven to control the corresponding derailment equipment to act, so that the normal operation of other equipment of the system can not be influenced, and meanwhile, the safety control effect during derailment is improved.
Optionally, the driving derailment relay is connected with a train emergency braking system, and when it is determined that the train derails, the driving derailment relay is triggered to act, so as to further trigger the train emergency braking system to act.
It can be understood that the train emergency braking system is turned on by driving the derailment relay, thereby outputting a braking signal.
Optionally, when the train emergency braking system acts, the train control system sends an emergency braking prompt signal to the opposite train and the backward train on the track.
It will be appreciated that when the train is under emergency braking, it is necessary to inform nearby trains of avoidance attention, or in another embodiment, when a nearby train is sufficiently close, the emergency braking system of the nearby train is triggered directly to respond quickly.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. An urban railway barrier and derailment detection system comprises a derailment detection module and a barrier detection module, wherein the derailment detection module and the barrier detection module are respectively used for detecting the position relation between a train and a track and the information of barriers in front of the train; the device is characterized by further comprising a vehicle-mounted host, a train control system and a plurality of data acquisition sensors, wherein the derailment detection module, the obstacle detection module and the data acquisition sensors are respectively in communication connection with the vehicle-mounted host, the obstacle detection module comprises a millimeter wave radar, a laser radar and a camera, and the millimeter wave radar is used for acquiring 3D point cloud data in front of a train; the millimeter wave radar is used for acquiring 2D point cloud data in front of the train, and the camera is used for acquiring image information in front of the train; the millimeter wave radar, the laser radar and the camera are respectively in communication connection with a vehicle-mounted host computer, and the vehicle-mounted host computer is in communication connection with the train control system;
the vehicle-mounted host is used for analyzing and processing data information acquired by the millimeter wave radar, the laser radar, the camera and the data acquisition sensor, judging the current risk state of the vehicle by combining detection data of the derailment detection module, and outputting a control or alarm signal to the train control system.
2. The system of claim 1, wherein the on-board host computer comprises:
an image target segmentation unit for separating an object profile, a background profile and a trajectory profile in an image;
the train contour data acquisition device comprises a track line dividing unit, a position acquisition unit and a position acquisition unit, wherein the track line dividing unit is used for determining the position and the advancing direction of a track and judging the position and the size of a train body in space according to the advancing direction of the track and train contour data;
the sensor feature fusion unit is used for unifying the coordinates of the image information acquired by the camera and the coordinate information acquired by the millimeter wave radar and the laser radar, and determining the coordinates of the object in the image and the speed relative to the train;
the obstacle judging unit is used for judging whether the motion trail of the object can intersect with the train outline or not;
the system comprises a collision risk/derailment risk judging unit, a train control system and a train control system, wherein the collision risk/derailment risk judging unit is used for comprehensively judging whether the current environment and state of the train have collision risk and derailment risk according to data information of a derailment detection module, an obstacle judging unit and a track line dividing unit and sending the information to the train control system;
the signal output ends of the image target segmentation unit are respectively connected with the signal input ends of the track line segmentation unit and the sensor feature fusion unit, the signal output ends of the sensor feature fusion unit and the track line segmentation unit are respectively connected with the signal input end of the obstacle judgment unit, and the signal output ends of the obstacle judgment unit, the track line segmentation unit and the derailment detection unit are respectively connected with the signal input end of the collision risk/derailment risk judgment unit.
3. The system as claimed in claim 2, wherein said derailment detection module comprises a derailment detection sensor unit and a derailment detection control unit, said derailment detection sensor unit comprises an acceleration sensor and a displacement sensor, and said acceleration and speed of train are collected and transmitted to the derailment detection control unit for analysis and output control.
4. The system of claim 3, wherein the plurality of acceleration sensors are respectively configured to acquire a plurality of axial acceleration signals.
5. The system according to claim 4, further comprising an acceleration calibration unit, wherein the acceleration calibration unit is connected to the acceleration sensor, respectively, and is configured to calibrate the acceleration information acquired by the acceleration sensor in each axial direction through the acceleration calibration unit.
6. The system as claimed in claim 3, wherein said derailment detection control unit is connected to a derailment driving relay, and when it is determined that the train is derailed, said derailment driving relay is triggered.
7. The system as claimed in claim 6, wherein said driving derailment relay is connected to a train emergency braking system, and when it is determined that the train is derailed, said driving derailment relay is triggered to further trigger the train emergency braking system.
8. The system of claim 7, wherein when the train emergency braking system is activated, the train control system sends emergency braking prompt signals to the oncoming and oncoming trains on the track.
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| CN114275017A (en) * | 2021-11-12 | 2022-04-05 | 广州地铁集团有限公司 | Urban rail comprehensive operation and maintenance system based on 5G communication technology and operation method thereof |
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| CN112291129A (en) * | 2020-11-02 | 2021-01-29 | 中车南京浦镇车辆有限公司 | Unmanned subway train derailment detection control device |
| CN112406960A (en) * | 2020-11-08 | 2021-02-26 | 青岛融创信为技术有限公司 | Active anti-collision system and method for fusion of multiple sensors for subway |
| CN112622986A (en) * | 2020-12-25 | 2021-04-09 | 辽宁业升轨道驱动装备技术有限公司 | Urban rail train obstacle and derailment detection system |
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| CN114275017A (en) * | 2021-11-12 | 2022-04-05 | 广州地铁集团有限公司 | Urban rail comprehensive operation and maintenance system based on 5G communication technology and operation method thereof |
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