CN202995036U - Radar echo characteristic based system for detecting and alarming railway roadblocks - Google Patents
Radar echo characteristic based system for detecting and alarming railway roadblocks Download PDFInfo
- Publication number
- CN202995036U CN202995036U CN 201220720627 CN201220720627U CN202995036U CN 202995036 U CN202995036 U CN 202995036U CN 201220720627 CN201220720627 CN 201220720627 CN 201220720627 U CN201220720627 U CN 201220720627U CN 202995036 U CN202995036 U CN 202995036U
- Authority
- CN
- China
- Prior art keywords
- signal
- echo
- radar
- railway
- train
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to a radar echo characteristic based system for detecting and alarming railway roadblocks. When a train runs at a high speed, a radar detector collects radar echo characteristics of the road ahead in real time; and a data processing and display control early warning platform provides position information of the train according to a GPS inertial navigation system, reads statistical data of historical echo characteristics of safe running of the train from a storage device, and carries out comparison. If an abnormal fluctuation circumstance of the echo characteristics occurs, the system gives out an alarming signal, and enough processing time is provided for a driver under the premise of ensuring a safe braking distance. The millimeter-wave radar provided by the utility model is long in detection range and high in resolution, and can acquire road information ahead through real-time processing of signals. In addition, the radar echo characteristic based system for detecting and alarming railway roadblocks is not influenced by the weather and climate, and simple and feasible, and can meet the needs of obstacle detection of high-speed rail.
Description
Technical field
The invention belongs to the intelligent traffic administration system technical field, be specifically related to a kind of railway roadblock detection based on Echo Characteristics and the system of alarm, mainly formed by millimetre-wave radar detector, GPS and inertial navigation unit, data processing and the aobvious early warning platform of controlling.
Background technology
Along with the increasing of China railways net pace of construction and the raising year by year of train speed, the especially quickening of high ferro construction, train traffic safety more and more comes into one's own.Easily send out the location in accident traditionally the staff is set, the mode of utilizing artificial investigation hidden danger be along with the increase of railway total kilometrage can not satisfy the demands, moreover also exists some to monitor and be not suitable for human work's location.
Existing railway Obstacle detection technology mainly contains two classes: a class is at key road segment, monitoring equipment to be installed, and another kind of is at the upper optical sensor of installing of motion platform (being train).
At key road segment, monitoring equipment is installed, this class technology can effectively be monitored the road conditions in special location, but for the emergency situations of the non-special road section of sensor installation (as landslide, rubble flow etc.) not, this class technology may lose efficacy.Therefore in the urgent need to vehicle-mounted obstacle detecting system, when driving, road surface, the place ahead is uninterruptedly surveyed, in time fed back information of road surface.
Optical sensor is installed on motion platform, is used the correlation theory of image detection to carry out detection of obstacles.This class technology can realize the fast detecting of dynamic and static barrier, but optical sensor is subjected to weather effect larger, can't satisfy the demand that the high ferro roadblock is surveyed all weather operations.Radar detedtor is installed on platform, and general technology path is that road pavement is carried out imaging, or barrier is carried out target identification.Imaging mode serious be coupling in technical being difficult to apart from the orientation and realize owing to existing on velocity reversal.Target recognition method algorithm is complicated, and operand is large, is difficult to real-time implementation, and discrimination is also lower, technical breakthrough of standby in addition.Except this, the required hardware platform of imaging mode and target recognition method is comparatively complicated, and the increase that this will cause the system research and development manufacturing cost is unfavorable for popularizing of system.
Radar obstacle detecting system traditionally tends to consider to utilize the high-resolution characteristic of radar, and road pavement is carried out imaging, and barrier is identified.Because imaging region is positioned at the train dead ahead, there is serious range-azimuth coupling in the SAR imaging mode and can't imaging.In addition, adopt the mode of radar imagery, the real-time of system can not be guaranteed, and manufacturing cost also can increase because of the increase of system complexity.
Summary of the invention
The technical matters that solves
For fear of the deficiencies in the prior art part, the present invention proposes a kind of railway roadblock based on Echo Characteristics and surveys and alarm, realizes round-the-clock detection and alarm to the railway roadblock.
Technical scheme
A kind of railway roadblock based on Echo Characteristics is surveyed the system with alarm method, the data processing and the demonstration control platform that it is characterized in that comprising GPS inertial navigation integrated navigation locating device, radar detedtor and be attached thereto; Described radar detedtor comprises monopulse antenna, frequency synthesizer, millimeter wave transceiving module, intermediate-frequency receiver and signal processor;
GPS and inertial navigation unit: train is located in real time, and locating information is sent into data processing unit;
Monopulse antenna: receive dimensional orientation radiation and target echo signal electromagnetic energy that milimeter wave detection system transmits, to realize and poor amplitude-comparison monopulse angle measurement;
Frequency synthesizer: for generation of linear FM signal and microwave-based calibration signal, and send into the millimeter wave transceiving module; Produce simultaneously timing reference signal, send into the signal processor subsystem;
Millimeter wave transceiving module: produce the linear FM signal of millimere-wave band, launch by antenna after being amplified to power demand; And will by antenna reception to target echo signal carry out frequency transformation and amplify after send into the intermediate-frequency receiver subsystem;
Intermediate-frequency receiver: to from the millimeter wave transceiving module carry out filtering, amplification with signal, difference signal and automatic gain is controlled, then send into signal processor;
Platform is controlled in signal processor and demonstration: the target echo signal that receives is detected, and amplitude, angle and the angle error feature completed echo are extracted; Simultaneously the information after processing is shown.
Beneficial effect
A kind of railway roadblock based on Echo Characteristics that the present invention proposes is surveyed the system with alarm, when train is run at high speed, the Echo Characteristics on road surface, radar detedtor extract real-time the place ahead, the train position information that data are processed and aobvious control early warning platform provides according to the GPS inertial navigation system, historical echo character statistics when reading train safe travelling from storer, and compare.If abnormal situation about rising and falling appears in echo character, system provides alarm signal, is guaranteeing that safety shut-down apart under prerequisite, provides enough processing times to the driver.Millimetre-wave radar detection range involved in the present invention is far away, and resolution is high, can obtain by the real-time processing of signal the information of road surface in the place ahead, and is not subjected to the impact of weather and climate, and system's simple possible can satisfy the demand of high ferro obstacle detection.
The beneficial effect that the present invention has compared with prior art is:
1) compare with the road surface safety installations of routine, native system is directly installed on train, can carry out continual detection to road surface, the place ahead in the train driving process, can use when the pavement monitoring facility loses efficacy, and further improves the traffic safety of train.
2) radar involved in the present invention is visited barrier and warning system, employing be the millimeter wave system, system surveys and is not subjected to weather and climatic influences, has the advantages such as round-the-clock, round-the-clock.
3) radar involved in the present invention is visited barrier and warning system, by the Echo Characteristics extract real-time with compare to realize obstacle detection, avoided the problems such as complicated radar imagery, target identification, simplicity of design is conducive to low-cost the realization.
Description of drawings
Fig. 1: the block diagram of system of the present invention;
Fig. 2: echo amplitude schematic diagram when having barrier;
Fig. 3: angle error schematic diagram when having barrier;
Fig. 4: rail barrier schematic diagram.
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
The monitoring of railway roadblock, effective method the most directly perceived is imaging, adjusts road speed by image processing techniques and driver's judgement.Traditional imaging mode is generally optical imagery, comprises infrared imaging, CCD shooting etc.As road condition monitoring, the operating distance that the optical imagery mode can reach at present is enough to satisfy the detection demand.But optical imagery is subjected to weather effect too large, and under the mal-conditions such as rain, mist, imaging is had a strong impact on.Accordingly, can consider to utilize the round-the-clock effect of millimeter wave, by radar detedtor, road conditions be carried out Real-Time Monitoring.
Consider train in operational process, only need to know whether the place ahead exists the barrier that affects traffic safety to get final product, and not need to understand other attributes of barrier.The present invention proposes a kind ofly to utilize method that Echo Characteristics is compared to carry out roadblock to survey accordingly, main thought is: in the train driving process, the echo character of extract real-time millimetre-wave radar detector (distance, amplitude and Angle Information etc.), the train position information that provides according to GPS and inertial navigation unit, historical echo character statistics when reading train safe travelling from storer, and compare.If abnormal the fluctuating appears in echo character, show that there is potential safety hazard in the place ahead, system provides alarm signal.
The system platform that relates in the embodiment of the present invention is composed as follows:
System is mainly processed by radar detedtor, data and shows that controlling platform, GPS and inertial navigation unit forms, and Fig. 1 is the block diagram of system.
Wherein each subsystem function of radar detedtor is as follows:
Antenna house is avoided physical environment and aerodynamic impact for the protection of antenna feeder and other subsystem, guarantees that under practical service environment, detection system can work; Simultaneously with as far as possible little loss transmission electromagnetic wave.
Antenna feeder is mainly used in dimensional orientation radiation and the reception of target echo signal electromagnetic energy, realization and the poor amplitude-comparison monopulse angle measurement that milimeter wave detection system transmits.
Frequency source is sent into the millimeter wave transceiving module mainly for generation of linear FM signal and microwave-based calibration signal; Produce simultaneously timing reference signal, send into the signal processor subsystem.
The millimeter wave transceiving module produces the linear FM signal of millimere-wave band, goes out by antenna transmission after being amplified to power demand; And will by antenna reception to target echo signal carry out frequency transformation and amplify after send into the intermediate-frequency receiver subsystem.
Intermediate-frequency receiver to from the millimeter wave transceiving module carry out filtering, amplification with signal, difference signal and automatic gain is controlled, then send into signal processor.
Signal processor is mainly used in target echo signal is detected, and completes the extraction to echo character (as amplitude, angle and angle error etc.).The signal processor processes flow process as shown in Figure 2.
Data are processed and are shown that control platform, GPS and inertial navigation unit function are as follows:
GPS and inertial navigation unit are mainly that train is located in real time, and locating information are sent into data processing unit.
Platform is controlled in data processing unit and demonstration, completes pattern control, locating information correction, database information management, real-time echo character comparison and carries out message exchange etc. with other control system.
When in rail, clear exists, article two, rail lays respectively at the position of main beam center both sides same distance, both sides rail energy equivalence, echo amplitude in radar return in range gate in the wave beam irradiation area rises and falls less, the Azimuth measurement of synthetic target is considered as zero degree nearly, as shown in Figure 3, Figure 4.
If when having barrier, as shown in Figure 7, will cause different variations to echo according to the barrier position.Increasing near the reflex amplitude of detector direction due to barrier, direction because barrier can shelter from a part of rail, can cause echo amplitude in certain distance slightly to reduce dorsad.The existence of barrier simultaneously also can cause the variation of Azimuth measurement error.A square iron rail energy near barrier is more, when being combined into a target, can cause the side that target is partial to barrier, so the target angle error will depart from zero degree this moment, as Fig. 5, shown in Figure 6.The left figure of Fig. 8 is the template database of setting up under accessible condition, use be the radar return amplitude characteristic, the radar return amplitude when the right figure of Fig. 8 is the test platform real time execution.
Claims (1)
1. survey system with alarm method based on the railway roadblock of Echo Characteristics for one kind, it is characterized in that comprising GPS inertial navigation integrated navigation locating device, radar detedtor and the data that are attached thereto are processed and shown and control platform; Described radar detedtor comprises monopulse antenna, frequency synthesizer, millimeter wave transceiving module, intermediate-frequency receiver and signal processor;
GPS and inertial navigation unit: train is located in real time, and locating information is sent into data processing unit;
Monopulse antenna: receive dimensional orientation radiation and target echo signal electromagnetic energy that milimeter wave detection system transmits, to realize and poor amplitude-comparison monopulse angle measurement;
Frequency synthesizer: for generation of linear FM signal and microwave-based calibration signal, and send into the millimeter wave transceiving module; Produce simultaneously timing reference signal, send into the signal processor subsystem;
Millimeter wave transceiving module: produce the linear FM signal of millimere-wave band, launch by antenna after being amplified to power demand; And will by antenna reception to target echo signal carry out frequency transformation and amplify after send into the intermediate-frequency receiver subsystem;
Intermediate-frequency receiver: to from the millimeter wave transceiving module carry out filtering, amplification with signal, difference signal and automatic gain is controlled, then send into signal processor;
Platform is controlled in signal processor and demonstration: the target echo signal that receives is detected, and amplitude, angle and the angle error feature completed echo are extracted; Simultaneously the information after processing is shown.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220720627 CN202995036U (en) | 2012-12-24 | 2012-12-24 | Radar echo characteristic based system for detecting and alarming railway roadblocks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220720627 CN202995036U (en) | 2012-12-24 | 2012-12-24 | Radar echo characteristic based system for detecting and alarming railway roadblocks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202995036U true CN202995036U (en) | 2013-06-12 |
Family
ID=48566205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220720627 Expired - Fee Related CN202995036U (en) | 2012-12-24 | 2012-12-24 | Radar echo characteristic based system for detecting and alarming railway roadblocks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202995036U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103487810A (en) * | 2013-09-09 | 2014-01-01 | 西安电子工程研究所 | Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics |
| CN103649683A (en) * | 2011-06-03 | 2014-03-19 | 罗伯特·博世有限公司 | Combined radar and gps localization system |
| CN110271582A (en) * | 2018-03-13 | 2019-09-24 | 保定市天河电子技术有限公司 | Across road and bridge region safety monitoring systems and method |
| CN113671491A (en) * | 2021-08-16 | 2021-11-19 | 珠海格力电器股份有限公司 | Road condition detection and early warning method and device |
| WO2023138253A1 (en) * | 2022-01-20 | 2023-07-27 | 大唐移动通信设备有限公司 | Detection method and communication device |
-
2012
- 2012-12-24 CN CN 201220720627 patent/CN202995036U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103649683A (en) * | 2011-06-03 | 2014-03-19 | 罗伯特·博世有限公司 | Combined radar and gps localization system |
| CN103649683B (en) * | 2011-06-03 | 2016-08-17 | 罗伯特·博世有限公司 | The radar of combination and GPS alignment system |
| US9562778B2 (en) | 2011-06-03 | 2017-02-07 | Robert Bosch Gmbh | Combined radar and GPS localization system |
| CN103487810A (en) * | 2013-09-09 | 2014-01-01 | 西安电子工程研究所 | Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics |
| CN110271582A (en) * | 2018-03-13 | 2019-09-24 | 保定市天河电子技术有限公司 | Across road and bridge region safety monitoring systems and method |
| CN113671491A (en) * | 2021-08-16 | 2021-11-19 | 珠海格力电器股份有限公司 | Road condition detection and early warning method and device |
| WO2023138253A1 (en) * | 2022-01-20 | 2023-07-27 | 大唐移动通信设备有限公司 | Detection method and communication device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103033808A (en) | Method and device of railway roadblock detection and alarm based on radar return characteristics | |
| EP3885794A1 (en) | Track and road obstacle detecting method | |
| CN105261215B (en) | Intelligent transportation behavior cognitive method and system based on microwave | |
| CN202995036U (en) | Radar echo characteristic based system for detecting and alarming railway roadblocks | |
| CN110542898A (en) | Radar group-based vehicle behavior continuous tracking detection system and method | |
| CN106125076A (en) | A kind of Anticollision Radar method for early warning being applied to urban transportation and device | |
| US20110260907A1 (en) | Method for detecting a bird or a flying object | |
| CN100541555C (en) | A kind of data assessment system of ADS-B surveillance technology | |
| CN102431495B (en) | 77GHz millimeter wave corner false-alarm inhibiting system for automobile active anticollision radar | |
| CN103914983A (en) | Traffic intersection management laser device and realizing method thereof | |
| CN113799852B (en) | Intelligent active obstacle identification protection method supporting dynamic mode switching | |
| CN109552366A (en) | Locomotive vehicle-mounted railway barrier intelligent detecting alarm system and its method for early warning | |
| CN204463467U (en) | A kind of laser type parking site detecting system | |
| CN109367529B (en) | Millimeter wave radar combined installation structure and virtual tunnel construction and obstacle judgment method | |
| CN109856626A (en) | High-speed rail platform end based on microwave radar is anti-to pass through alarm system and method | |
| CN111596293A (en) | Radar security and protection integrated machine and monitoring method thereof | |
| CN102565771B (en) | Single station wind profile radar-based wind shear identification and tracking method | |
| CN105610087A (en) | Power transmission line inspection system of power grid | |
| CN107783123A (en) | Pilotless automobile complex environment anticollision MMW RADAR SIGNAL USING processing system and method | |
| CN107578646A (en) | low slow small target detection monitoring management system and method | |
| CN210572736U (en) | Low, small and slow target automatic detection, tracking and identification system | |
| CN105989710A (en) | Vehicle monitoring device based on audio and method thereof | |
| CN205168320U (en) | Automobile safety precaution ware that goes based on thing networking | |
| CN211263763U (en) | Mobile mechanical anti-collision positioning device based on UWB ranging and GPS positioning | |
| CN208985373U (en) | A kind of multilane traffic surveillance and control system based on 77GHz millimetre-wave radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20201224 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |