CN204945409U - A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically - Google Patents
A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically Download PDFInfo
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Abstract
The utility model relates to a kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically, comprises Switching Power Supply, two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm; Two dimensional laser scanning radar is fixed on rotary head and with rotary head synchronous axial system; Computer for controlling is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Switching Power Supply is connected with two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm respectively.The utility model provides a kind of reliability and the validity that effectively can improve monitoring, and can realize carrying out dynamic monitoring to object, make alarm response speed sooner, more in time, and long-rangely can carry out the three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically of remote control.
Description
Technical field
The utility model belongs to security technology area, relates to a kind of warning system, particularly relates to a kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically.
Background technology
With a very important position in national economy of transportation by railroad, railway security is matters vital to national well-being and the people's livelihood.Along with the continuous extension of China Express Railway, geological state of arranging net gradually is complicated, the geographic area that topographic relief is large.The railway security hidden danger that these regions easily cause location, many Plains never to run into.Comprising Along Railway landslide, slip by slope, rubble flow, falling rocks and other harm railway securities foreign matter invasion and attack.The railway security of a kind of comparatively effective measures to these geological state complex ground is not also had to monitor accurately and effectively at present.What current use was more is the two power network monitoring technology of passive type.This technology is being easier to erection Chain Link Fence in location, landslide occurs.Being laid with insulated conductor above protection network, when there is landslide, having stone or large area earth is slipped on protection network, if junk preponderance, wire can be cut off and produce warning message.Although the rate of false alarm of this technology is lower, as long as there is xsect to be greater than the falling rocks of the mouth of protection network, after cut-out insulated conductor, all alerting signal can be produced.But the monitoring capability of this pair of power network monitoring technology to the real time status at scene is lower, it is the guard system belonging to passive type.Can not active monitoring be carried out to the situation of railway own in addition, the direct information of railway security can not be obtained.In addition, cannot be uploaded by monitoring information for the landslide accumulation on protection network such as falling rocks.Electrical network does not possess reusable function, after being pressed down, needs again to change maintenance, and quantities is comparatively large, and input human cost is high.Also there is certain potential safety hazard in wire netting self, if change not in time after damaging, may work the mischief to railway operation safety.
Have pilot to use active two-dimensional scanning laser radar monitoring system at present, this system utilizes laser radar to utilize the laser beam of collimation to carry out horizontal scanning to the distance and position of several millimeters exceeding rail.There are the foreign matter invasion and attack exceeding rail within the safe distance being judged whether to exist railway by the ranging information of laser radar.If find that there is unsafe condition, send warning message notice control center, control center call that laser radar side installs light camera head can be carried out examination to railway security suitable.Although this two dimensional laser scanning Radar Technology achieves on-the-spot active safety monitoring, but because it is merely able to realize one-dimensional scanning two-dimensional imaging, the solid space situation in the middle of railway and within the safe range of both sides can not be obtained, easily produce erroneous judgement and misjudgement.Environmental interference is large, and the thick grass such as grown can cause interference to the judgement of system, can not judge accurately mobile object.Image recognition and judge to rely on the video camera of visible ray, greatly affected by environment, can not round-the-clock, round-the-clock work.And the image that video camera obtains accurately can not extrapolate the solid space azimuth information of foreign matter, comprehensive, thisly can not to monitor accurately and effectively railway security with two dimensional laser scanning radar system.
Utility model content
For the deficiency existed in existing railway security monitoring technology, the utility model provides a kind of reliability and the validity that effectively can improve monitoring, and can realize carrying out dynamic monitoring to object, make alarm response speed sooner, more in time, and long-rangely can carry out the three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically of remote control.
For achieving the above object, the utility model adopts following technical scheme:
Railway obstacle is carried out to a three-dimensional laser radar warning system for automatically monitoring, it is characterized in that: described Switching Power Supply, two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm are comprised to the three-dimensional laser radar warning system that railway obstacle carries out monitoring automatically; Described two dimensional laser scanning radar is fixed on rotary head and with rotary head synchronous axial system; Described computer for controlling is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Described Switching Power Supply is connected with two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm respectively.
As preferably, the rotary head that the utility model adopts is the rotary head that can carry out luffing angle rotation.
As preferably, the range of the luffing angle of the rotary head that the utility model adopts is 90 degree.
As preferably, the angular resolution of the rotational angle of the rotary head that the utility model adopts and the rotational angle of two dimensional laser scanning radar is 0.1 degree.
As preferably, the useful range of the two dimensional laser scanning radar that the utility model adopts is 50m.
As preferably, the resolution of ranging of the two dimensional laser scanning radar that the utility model adopts is 5cm.
As preferably, the computer for controlling that the utility model adopts comprises power panel, DSP, FPGA, memory storage SDRAM and FLASH; Described power panel, memory storage SDRAM and FLASH access FPGA respectively by DSP; Described FPGA is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Described Switching Power Supply access power panel.
As preferably, the FPGA that the utility model adopts is connected with photoelectric alarm by optocoupler.
As preferably, the photoelectric alarm that the utility model adopts is optocoupler photo-electric alarm.
As preferably, what the utility model adopted also comprises radio service device, wire transmission server and Surveillance center to the three-dimensional laser radar warning system that railway obstacle carries out monitoring automatically; Detection signal is passed to Surveillance center by radio service device and wire transmission server by described computer for controlling successively.
The utility model has the advantages that:
The utility model provides a kind of three-dimensional laser radar warning system of automatically monitoring for railway obstacle, and this system comprises Switching Power Supply, two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm; Two dimensional laser scanning radar is fixed on rotary head and with rotary head synchronous axial system; Computer for controlling is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Switching Power Supply is connected with two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm respectively.Two dimensional laser scanning radar be fixed on possess pitching spinfunction rotary head on; Computer for controlling controls the range finding of two dimensional laser scanning radar and the rotation of The Cloud Terrace and pitching, and is positional information according to the space size that the range finding of radar and the space angle information of The Cloud Terrace calculate target to be measured; Carry out process to the 3-D view of target and extract clarification of objective information, comparative analysis has judged whether that foreign matter invades in the middle of railway and whether can endanger railway and affect train driving safety; After system synthesis Treatment Analysis, if find that there is unsafe condition, railway monitoring point can be informed by the mode that direct voice is reported to the police and flashlamp is reported to the police, also by signal cable optical fiber, danger signal can be transferred to control center; Surveillance center also can utilize signal cable optical fiber real-time view data to be recalled long-range discriminatory analysis Railway Site situation.The utility model utilizes laser radar to carry out 3-D scanning imaging to region to be measured, directly obtain three-dimensional image effect, and can directly indicating characteristic object relative to the spatial positional information of rail, false alarm rate is low, report to the police accurately, possess higher reliability, meet the high reliability request of railway systems.Second, the utility model carries out scanning imagery frame by frame to region to be measured, the information change contrasted between the image between every frame can obtain motion direction and the speed of moving target, improve the accuracy of target discrimination, for the instant judgement of railway obstacle and investigation provide information accurately, dynamic monitoring can be carried out to object.3rd, the utility model is flexible for installation, and the impact by terrain environment is little, can install and use in multiple terrain environment easily.Laser radar effectively monitoring distance can reach 50m, and position angle can reach 180 degree, and the angle of pitch reaches 90 degree, so can to carrying out dynamic monitoring on a large scale.Effective detection of 10cm object can be realized in the scope of distance 50m, the target unit of less (<5cm) can be detected at nearer distance range.Can monitor out accurately for the object exceeding railway 10cm yardstick.Laser radar utilizes near-infrared laser as probe source, the impact that this laser receives environment is little, efficient location algorithm can reduce the impact that cloud and mist sleet environment causes, so this technology can round-the-clock, round-the-clock work complicated climatic environment under, cause monitoring technology to apply in a flexible way.4th, the utility model is after the state of noting abnormalities, produce alerting signal, control center obtain alerting signal the three-dimensional data that laser radar gathers can be uploaded to control center, monitor staff can carry out emphasis monitoring to target by true-time operation laser radar, confirms the reason of generation alerting signal and judges whether to need to send staff to remove barriers to scene.The monitoring of this real-time can shift to an earlier date the situation at long-range judgement scene, greatly reduces human cost.In addition, radar monitoring device can be arranged on to be possessed in the housing of mechanical protection, and therefore system is not fragile, can reuse, and reduces maintenance cost.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of warning system provided by the utility model;
Fig. 2 is the structured flowchart of the two dimensional laser scanning radar that the utility model adopts;
Fig. 3 is the structured flowchart of the computer for controlling that the utility model adopts;
Fig. 4 is the operation topological structure schematic diagram of warning system provided by the utility model.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated:
See Fig. 1, the utility model provides a kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically, and the three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically comprises Switching Power Supply, two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm; Two dimensional laser scanning radar is fixed on rotary head and with rotary head synchronous axial system; Computer for controlling is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Switching Power Supply is connected with two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm respectively.The rotation collaborative work of two dimensional laser scanning radar and The Cloud Terrace, and the real time record test target distance distance of radar, position angle, the angle of pitch.
Two dimensional laser scanning radar is installed on above scanning rotary head, and two dimensional laser scanning radar can realize the scanning range finding of the single plane of 180 degree, and rotary head can realize the luffing angle scanning of 90 degree of scopes.After the initialization of system, two dimensional laser scanning radar is after the scanning completing 180 degree.The timing signal control rotary head that rotary head obtains control center automatically moves a step distance, and then two dimensional laser scanning radar continues the scanning of next line, finally completes the scanning process to monitor area.The angular resolution of The Cloud Terrace and two-dimension scanning laser radar can reach 0.1 degree in the present system, the luffing angle range of rotary head can reach 90 degree, the sweep test angle of two dimensional laser scanning radar is 180 degree, so the resolution of every two field picture is the highest can reach 1800*900 pixel.The spatial resolution of laser radar determines jointly by the range resolution by azimuthal angular resolution of two dimensional laser scanning radar, the angular resolution of rotary head, the size of laser facula and radar range finding.The useful range of radar range finding in native system is 50m, and the effective resolution of radar range finding is 5cm.The size of laser facula is determined by the optical system of particular design, and the beam divergence angle after collimation can control at 1 ~ 2mrad order of magnitude, and the spot size at 50m place is 5cm.It can thus be appreciated that the spatial resolution of this three-dimensional laser radar can reach 10cm magnitude in the distance of 50m.
The two dimensional laser scanning radar that the utility model adopts can be any one of the prior art, as shown in Figure 2, this two dimensional laser scanning radar is made up of laser instrument, optical emitting/receiving system, photodetector (APD), Laser Power Devices, one-dimensional high-speed galvanometer and controller, flight time test chip TDC, hardware system (FPGA+ARM), system power supply power supply etc. the structured flowchart of the two dimensional laser scanning radar that such as the utility model adopts.Laser instrument produces the light source for finding range, through the laser pulse after ovennodulation to be expanded by optical system and one dimension galvanometer reflection after be irradiated in test target unit, laser forms pulse echo through the diffuse reflection of target, and pulse echo is focused in high-speed photodetector by optical receiver antenna and produces photoelectric effect.High speed time test chip (TDC) can record modulated after pulse round-trip flight time, finally converse the distance of target to detector.The light source of laser instrument is chosen as near-infrared laser, this band laser technology maturation, and is non-visible light, and the laser intensity threshold value that human eye can bear is high.One-dimensional high-speed galvanometer can rotate with fixed speed at a high speed under the control of vibrating mirror driver, just can realize one-dimensional scanning at a high speed under the output of stabilized lasers pulsed frequency.The deflection angle of one-dimensional high-speed galvanometer and measuring distance can be kept in the storage center of system with fixing sequential by hardware control circuit.Data bus is made up of serial ports and Ethernet, both can satisfy the demands lower slow data transmission and also can meet real-time high speed data transfer.
The computer for controlling that the utility model adopts can be any one of the prior art, controls as long as can gather corresponding data and carry out orientation to two dimensional laser scanning radar and rotary head.Such as, as shown in Figure 3, wherein, computer for controlling comprises power panel, DSP, FPGA, memory storage SDRAM and FLASH to the structure that the computer for controlling that the utility model adopts adopts; Power panel, memory storage SDRAM and FLASH access FPGA respectively by DSP; FPGA is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Switching Power Supply access power panel.System is made up of FPGA, DSP, memory storage SDRAM and FLASH, power supply, loading and reseting module, alarm and general serial and ethernet interface.The time sort run that FPGA realizes whole system controls, the data transmission procedure of each port of management and dispatching.FPGA is by the data of serial communication interface collection from The Cloud Terrace and two dimensional laser scanning radar, then convert by calculating and orientation angles correction the locus azimuth information all angle and distance information being changed into tested region, form the original preliminary images of 3-D effect.DSP gets the original three-dimensional image be stored in FPGA buffer memory, and image is processed frame by frame, contrast the change of every two field picture parameter, obtained the profile information of the feature locations of test zone by the algorithm computing of image procossing, and then calculate the key parameters such as locus, length and movement velocity.DSP also realizes the compression of data simultaneously, and the classification of speciality value, these data processed are stored in the mass storage of system frame by frame the most at last.After image procossing completes, if find there is abnormal occurrence in some part of monitored area, such as, have foreign matter to attack railway.Then system is according to the volume size calculating this foreign matter, judges that foreign matter is existing way crisis railway security that is fixing or motion.If the size of fixed object then judgment object, whether exceed the restriction that railway can allow to exist, survey send alerting signal if exceed limit value.If moving object body examination judges the working time of this object, whether stay in above railway for a long time, if exceed safe residence time survey to send alerting signal.Control center, after receiving alerting signal, can directly directly communicate with each radar system, and then directly real-time observation is on-the-spot, artificially judges field conditions, reduces the false alarm rate that system judges, improves security.
Because the range of observation of single radar is limited, in actual application, multiple radar system can be installed on different regions real-time observation is carried out to multiple region, as shown in Figure 4.The data considering single radar transmissions are image information, and the stock number taken in message transmitting procedure is large, so in order to better management and layout, utilize the topological structure of classification bus transfer in being suitable for of reality.Every regional area forms a control center, possesses the control to radar in compass of competency, monitors several radar.This control center carries out interconnected with higher level center simultaneously, so just forms tree-like laser radar management system.The control department being in tree-like top just can monitor whole piece railway line, and grasp railway security situation in real time, the safety traffic for train provides strong guarantee.In monitor procedure, single radar carries out real time scan imaging that is round-the-clock, round-the-clock to monitored region.Then control center is notified when the dangerous act that radar finds that there is invasion and attack railway occurs, notice center obtains the control of this radar, by the data transmission of bus, the result of radar scanning imaging is directly presented to control center, so just can not cause the Communication Block caused because data volume is excessive and the phenomenon slowly that communicates.Ensure the unimpeded in real time of whole radar communication network, the instant on-site signal obtaining hazardous location.What the utility model adopted also comprises radio service device, wire transmission server and Surveillance center to the three-dimensional laser radar warning system that railway obstacle carries out automatically monitoring; Detection signal is passed to Surveillance center by radio service device and wire transmission server by computer for controlling successively.
Although be below described embodiment of the present utility model by reference to the accompanying drawings, but the utility model is not limited to above-mentioned specific embodiments and applications field, above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art is under the enlightenment of instructions, and when not departing from the scope that the utility model claim is protected, can also make a variety of forms, these all belong to the row of the utility model protection.
Claims (10)
1. railway obstacle is carried out to a three-dimensional laser radar warning system for automatically monitoring, it is characterized in that: described Switching Power Supply, two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm are comprised to the three-dimensional laser radar warning system that railway obstacle carries out monitoring automatically; Described two dimensional laser scanning radar is fixed on rotary head and with rotary head synchronous axial system; Described computer for controlling is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Described Switching Power Supply is connected with two dimensional laser scanning radar, rotary head, computer for controlling and photoelectric alarm respectively.
2. three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to claim 1, is characterized in that: described rotary head is the rotary head that can carry out luffing angle rotation.
3. three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to claim 2, is characterized in that: the range of the luffing angle of described rotary head is 90 degree.
4. three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to claim 3, is characterized in that: the angular resolution of the rotational angle of described rotary head and the rotational angle of two dimensional laser scanning radar is 0.1 degree.
5. three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to claim 4, is characterized in that: the useful range of described two dimensional laser scanning radar is 50m.
6. three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to claim 5, is characterized in that: the resolution of ranging of described two dimensional laser scanning radar is 5cm.
7. the three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to the arbitrary claim of claim 1-6, is characterized in that: described computer for controlling comprises power panel, DSP, FPGA, memory storage SDRAM and FLASH; Described power panel, memory storage SDRAM and FLASH access FPGA respectively by DSP; Described FPGA is connected with two dimensional laser scanning radar, rotary head and photoelectric alarm respectively; Described Switching Power Supply access power panel.
8. three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to claim 7, is characterized in that: described FPGA is connected with photoelectric alarm by optocoupler.
9. three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically according to claim 8, is characterized in that: described photoelectric alarm is optocoupler photo-electric alarm.
10. three-dimensional laser radar warning system of railway obstacle being carried out to automatically monitoring according to claim 9, is characterized in that: describedly also comprise radio service device, wire transmission server and Surveillance center to the three-dimensional laser radar warning system that railway obstacle carries out monitoring automatically; Detection signal is passed to Surveillance center by radio service device and wire transmission server by described computer for controlling successively.
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| CN105866793A (en) * | 2016-06-27 | 2016-08-17 | 东北大学 | Portable three-dimensional scanning device based on 2D laser radar |
| CN105966424A (en) * | 2016-06-02 | 2016-09-28 | 绵阳天眼激光科技有限公司 | High-definition railway line safety monitoring system based on laser positioning |
| CN106050309A (en) * | 2016-08-09 | 2016-10-26 | 北京铁路局北京科学技术研究所 | Monitoring and alarming system and method for falling object in tunnel |
| CN106226780A (en) * | 2016-07-26 | 2016-12-14 | 南京航空航天大学 | Many rotor-wing indoors alignment system based on scanning laser radar and implementation method |
| CN107065028A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors recognition methods automatically |
| CN107064952A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors the device of identification automatically |
| CN107399341A (en) * | 2016-05-18 | 2017-11-28 | 苏州华兴致远电子科技有限公司 | On-board running Environmental safety supervision system and method |
| CN107966711A (en) * | 2017-10-27 | 2018-04-27 | 河南辉煌科技股份有限公司 | Rail track barrier automatic identifying method based on two-dimensional laser radar |
| CN108931781A (en) * | 2018-05-25 | 2018-12-04 | 深圳新亮智能技术有限公司 | high speed three-dimensional laser radar system based on VCSEL laser light source |
| CN109738908A (en) * | 2018-12-18 | 2019-05-10 | 歌尔股份有限公司 | Alarm method, apparatus and system based on laser radar |
| CN110133669A (en) * | 2019-05-24 | 2019-08-16 | 中铁科学技术开发有限公司 | A kind of three-dimensional laser foreign body intrusion monitoring method and system |
| CN110161526A (en) * | 2019-05-24 | 2019-08-23 | 河南辉煌科技股份有限公司 | A kind of circuitry obstacle object recognition methods based on three-dimensional imaging |
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| CN107399341A (en) * | 2016-05-18 | 2017-11-28 | 苏州华兴致远电子科技有限公司 | On-board running Environmental safety supervision system and method |
| CN105966424A (en) * | 2016-06-02 | 2016-09-28 | 绵阳天眼激光科技有限公司 | High-definition railway line safety monitoring system based on laser positioning |
| CN105866793A (en) * | 2016-06-27 | 2016-08-17 | 东北大学 | Portable three-dimensional scanning device based on 2D laser radar |
| CN106226780A (en) * | 2016-07-26 | 2016-12-14 | 南京航空航天大学 | Many rotor-wing indoors alignment system based on scanning laser radar and implementation method |
| CN106226780B (en) * | 2016-07-26 | 2019-02-05 | 南京航空航天大学 | More rotor-wing indoor positioning systems and implementation method based on scanning laser radar |
| CN106050309A (en) * | 2016-08-09 | 2016-10-26 | 北京铁路局北京科学技术研究所 | Monitoring and alarming system and method for falling object in tunnel |
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| CN107065028A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors recognition methods automatically |
| CN107064952A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors the device of identification automatically |
| CN107966711A (en) * | 2017-10-27 | 2018-04-27 | 河南辉煌科技股份有限公司 | Rail track barrier automatic identifying method based on two-dimensional laser radar |
| CN108931781A (en) * | 2018-05-25 | 2018-12-04 | 深圳新亮智能技术有限公司 | high speed three-dimensional laser radar system based on VCSEL laser light source |
| CN109738908A (en) * | 2018-12-18 | 2019-05-10 | 歌尔股份有限公司 | Alarm method, apparatus and system based on laser radar |
| CN110133669A (en) * | 2019-05-24 | 2019-08-16 | 中铁科学技术开发有限公司 | A kind of three-dimensional laser foreign body intrusion monitoring method and system |
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| CN111580052B (en) * | 2020-05-18 | 2023-05-23 | 苏州理工雷科传感技术有限公司 | Simulation holder system and device for FOD detection radar joint debugging test |
| CN112379386A (en) * | 2020-09-30 | 2021-02-19 | 中国人民解放军陆军炮兵防空兵学院 | Unmanned swarm target space position distribution detection system and method |
| CN112379386B (en) * | 2020-09-30 | 2024-01-02 | 中国人民解放军陆军炮兵防空兵学院 | Unmanned bee colony target space position distribution detection system and method |
| CN112505720A (en) * | 2020-10-29 | 2021-03-16 | 北京全路通信信号研究设计院集团有限公司 | Multi-line laser radar-based slope disaster monitoring system and method |
| CN113534187A (en) * | 2021-07-16 | 2021-10-22 | 哈尔滨工业大学 | Data processing system based on Geiger APD array laser radar |
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