CN214585995U - Real-time rail transit barrier detection device - Google Patents
Real-time rail transit barrier detection device Download PDFInfo
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- CN214585995U CN214585995U CN202120431502.5U CN202120431502U CN214585995U CN 214585995 U CN214585995 U CN 214585995U CN 202120431502 U CN202120431502 U CN 202120431502U CN 214585995 U CN214585995 U CN 214585995U
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Abstract
The utility model relates to the technical field of rail transit safety, in particular to a rail transit barrier real-time detection device, which comprises a first laser radar, a second laser radar, a control unit and an execution unit; the first laser radar detects a long-distance obstacle in the running process of the train; the second laser radar detects a detection blind area of the first laser radar; the control unit is used for receiving the detection information of the first laser radar and the second laser radar and sending a control instruction to the execution unit according to the detection information. The train carries out real-time detection to full track area at the operation in-process, and wherein, first laser radar sets up at the top of train locomotive, and the second laser radar sets up in the bottom of train locomotive front end, and first laser radar, second laser radar and vision sensor's cooperation realizes the all-round real-time detection of train in the in-process of traveling, has reduced the potential safety hazard that the train exists at the in-process of traveling to a very big degree.
Description
Technical Field
The utility model relates to a track traffic safety technical field especially relates to a track traffic barrier real-time detection device.
Background
The laser detection technology can carry out remote, non-contact and rapid real-time detection on a target, and feeds back surrounding environment data obtained by real-time detection to the system, so that the laser detection technology has wide application in many fields. The rail transit mainly comprises subways, ordinary railways, high-speed railways and the like, and has high requirements on safety. The traditional rail transit barrier checking mode is mainly carried out in a visual mode, and along with the acceleration of the speed of a train, the visual checking method cannot meet the technical requirements of rail transit development more and more, so that the train cannot adopt braking measures in time, and safety accidents are possibly caused. With the development of the related technology, the industry starts to adopt a camera shooting technical method to perform real-time detection on the obstacle, but the technology belongs to a passive detection mode, is very easily influenced by the environment and weather, especially by illumination and rain, fog and snow weather, and has great application limitation.
With the application development of laser technology and rapid detection technology, the industry starts to detect obstacles by adopting a laser detection mode, but most of the current laser detection modes are based on static non-real-time devices, and dangerous obstacles are regularly detected by installing laser detection equipment in some dangerous and sensitive areas. The technical method cannot meet the requirement of real-time detection of coverage of the full-track area, or although the full-track area coverage type real-time detection is adopted, a plurality of detection blind areas exist, great potential safety hazards exist, and further improvement is needed.
In view of the above, overcoming the drawbacks of the prior art is an urgent problem in the art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem be:
in the prior art, a laser detection mode is adopted for detecting obstacles. Most are static non-real time devices such as: laser detection equipment is installed in some dangerous and sensitive areas, and the mode cannot meet the real-time detection of the full-orbit area;
furthermore, although the real-time detection of the full-track area coverage type is adopted, a plurality of detection blind areas exist, and great potential safety hazards exist.
The invention solves the problems through the following technical scheme:
the invention provides a real-time rail transit obstacle detection device which comprises a first laser radar, a second laser radar, a control unit and an execution unit, wherein the first laser radar is used for detecting a rail transit obstacle;
the first laser radar and the second laser radar are both arranged on the train;
the first laser radar detects a long-distance obstacle in the running process of the train; the second laser radar detects a detection blind area of the first laser radar;
the control unit is used for receiving the detection information of the first laser radar and the second laser radar and sending a control instruction to the execution unit according to the detection information.
Preferably, first laser radar and second laser radar all set up on the train, specifically include:
the first laser radar is arranged at the top of the train head, and the second laser radar is arranged at the bottom of the front end of the train head.
Preferably, the detection distance of the first laser radar is greater than or equal to the braking distance of the train.
Preferably, the first and second lidar each comprise: the device comprises a light emitter, a transmitting lens, a rotating shaft, a swinging mirror, a receiving lens and a light receiver;
the rotating shaft is arranged on the swinging mirror;
the detection signal light emitted by the light emitter reaches the sweep mirror after being collimated by the emitting lens;
the detection signal light reflected by the obstacle passes through the swinging mirror again, is focused by the receiving lens and is transmitted to the optical receiver.
Preferably, an optical axis of a transmitting optical system composed of the light emitter and the transmitting lens and an optical axis of a receiving optical system composed of the receiving lens and the light receiver are parallel to each other.
Preferably, the rotating shaft is arranged on the swinging mirror and specifically comprises:
the side wall of the rotating shaft is connected with the left side wall or the right side wall of the swing mirror;
or the end surface of the rotating shaft is connected with the upper side wall or the lower side wall of the swing mirror.
Preferably, the device further comprises a visual sensor, wherein the visual sensor is arranged on the train and used for detecting the obstacles in a short distance.
Preferably, the vision sensor comprises an infrared detector and/or a camera.
Preferably, the vision sensor, the first lidar and the second lidar are controlled and activated by a control unit.
Preferably, the system further comprises an alarm unit, and before the control unit makes a control instruction according to the detection information, the system further comprises;
when the control unit judges that an obstacle exists in front of the train according to the detection information, an alarm instruction is sent to the alarm unit;
the alarm unit receives the alarm instruction and sends an alarm prompt to a driver according to the alarm instruction;
and if the driver does not react within the preset time, the control unit sends a control instruction to the execution unit according to the detection information.
The utility model has the advantages that: the method comprises the following steps that a first laser radar and a second laser radar are installed on a rail train, so that the real-time detection of the whole rail area in the running process of the train is realized, wherein long-distance obstacles in the running process of the train are detected; the second laser radar detects the detection blind area of first laser radar, and the cooperation of first laser radar, second laser radar and vision sensor realizes the all-round real-time detection of train in the in-process of traveling, has reduced the potential safety hazard that the train exists in the in-process of traveling to a great extent.
Further, because the mirror is swept in pendulum can carry out the angle customization based on the track width, need not carry out 360 degrees scannings of panorama, can effectively promote detection efficiency, reach high-speed train's application requirement.
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 view of a real-time rail transit obstacle detection device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a first laser radar and a first laser radar setting position provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of scanning light spots formed when a first laser radar provided by an embodiment of the present invention performs detection on a track;
fig. 4 is a schematic diagram of a detection blind area formed when the first laser radar performs real-time detection on the track according to an embodiment of the present invention;
fig. 5 is a schematic view of a laser radar optical path structure provided by an embodiment of the present invention;
FIG. 6 is a schematic view showing a connection relationship between a rotating shaft and a swing mirror provided in an embodiment of the present invention;
fig. 7 is a schematic view of a single scan of a swing mirror according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "up", "down", "top", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in detail with reference to the accompanying drawings and examples.
The embodiment of the utility model provides a track traffic barrier real-time detection device, as shown in fig. 1, including first laser radar, second laser radar, the control unit and the execution unit;
the first laser radar and the second laser radar are both arranged on the train;
the first laser radar detects a long-distance obstacle in the running process of the train; the second laser radar detects a detection blind area of the first laser radar;
the control unit is used for receiving the detection information of the first laser radar and the second laser radar and sending a control instruction to the execution unit according to the detection information.
In order to realize real-time detection of a long-distance obstacle in the running process of a train by the first laser radar, as shown in fig. 2, the first laser radar is arranged at the top of the train head, so that scanning spots formed when the first laser radar detects on the track in the moving process of the train are shown as dots in fig. 3-4; when the first laser radar detects on the track in real time, a detection blind area, such as a short-distance area in the running process of a train (1), can appear; (2) in the running process of the train, a scanning light spot middle area formed when the first laser radar detects on the track is a trapezoid area shown in fig. 4; (3) at a turning position of the train, a detection blind area which cannot be effectively detected by the first laser radar is formed; in order to detect the detection blind area formed when the first laser radar detects on the rail, the second laser radar is arranged at the bottom of the front end of the train head and used for detecting the detection blind area formed when the first laser radar detects on the rail in real time.
The first laser radar, the second laser radar and the execution unit are all connected with the control unit; the first laser radar and the second laser radar feed detection information back to the control unit, when the control unit judges that an obstacle exists in front of the train according to the detection information fed back by the first laser radar and the second laser radar, the control unit sends a control instruction to the execution unit, and the control instruction can be an emergency braking instruction.
First laser radar and second laser radar all set up on the train, specifically include: as shown in fig. 2, the first laser radar is disposed at the top of the locomotive, and the second laser radar is disposed at the bottom of the front end of the locomotive.
When the control unit judges that an obstacle exists in front of the train according to the information detected by the first laser radar, the control unit sends a control instruction (the control instruction can be a control instruction sent by manual operation of a driver or a control instruction sent automatically by the control unit according to specific conditions) to the execution unit so as to control emergency braking of the train, a braking distance can occur in the emergency braking process of the train, in the embodiment, the braking distance of the train is represented by d, and the detection distance of the first laser radar is represented by L; in order to realize effective obstacle avoidance of the train, the detection distance L of the first laser radar is greater than or equal to the braking distance d of the train, namely L is greater than or equal to d; therefore, the first laser radar can effectively avoid the obstacle when detecting the obstacle in front.
Because the train is along track forward traveling, first lidar and second lidar do not need the environmental aspect of real-time detection track both sides, and the width of train track is limited, in order to effectively promote first lidar and second lidar's detection efficiency, first lidar and second lidar need not carry out 360 degrees scans of panorama, consequently the scanning angle of first lidar and second lidar's detection signal light can be set for according to the practical application scene, if: and setting the scanning angles of the detection signal light of the first laser radar and the second laser radar according to the width of the track and the range to be detected. In order to take the above points into consideration, in view of the detection requirements of the first laser radar and the second laser radar in the present embodiment, the present embodiment provides an optical path structure of a laser radar, as shown in fig. 5, where the first laser radar and the second laser radar each include: the device comprises a light emitter, a transmitting lens, a rotating shaft, a swinging mirror, a receiving lens and a light receiver; the rotating shaft is arranged on the swinging mirror; the detection signal light emitted by the light emitter reaches the sweep mirror after being collimated by the emitting lens; the detection signal light reflected by the obstacle passes through the swinging mirror again, is focused by the receiving lens and is transmitted to the optical receiver.
The mirror is swept to pendulum in this embodiment is connected with the pivot, and the rotation through the pivot drives the mirror rotation of sweeping to change the scanning angle of detecting signal light, this embodiment provides a mode of calculating the mirror correlation parameter is swept to the pendulum, specifically does:
setting the maximum distance between scanning light spots formed on the track by swinging and sweeping the mirror once, as shown in fig. 3, (wherein W is also the distance of the train running in the time of swinging and sweeping the mirror once back and forth in the running process of the train), and the running speed of the train is v; the time delta t for completing the single sweeping of the sweeping mirror is as follows:
if the width of the track is w, the angle Δ θ of the oscillating-scanning mirror to complete a single scan is, as shown in fig. 7, the angle Δ θ formed by scanning counterclockwise once is taken as an example to explain:
since the width w of the track is of a small order of magnitude with respect to the detection distance L of the first lidar, equation (2) can be simplified as follows:
and (3) the calculation of related parameters of the swing scanning mirror can be completed based on the formula change from (1) to (3).
In order to detect the detection signal light for the longest possible distance, the optical axis of the transmitting optical system composed of the light transmitter and the transmitting lens of the laser radar and the optical axis of the receiving optical system composed of the receiving lens and the light receiver are parallel to each other.
The pivot set up in sweep the mirror in the pendulum, specifically include: as shown in fig. 6 (1), the side wall of the rotating shaft is connected with the left side wall or the right side wall of the sweeping mirror; alternatively, as shown in fig. 6 (2), an end surface of the rotating shaft is connected to an upper side wall or a lower side wall of the sweep mirror.
In order to further improve the security performance of train in the process of traveling, the utility model discloses except including first laser radar with the second laser radar still includes vision sensor, vision sensor sets up on the train, specifically can set up at the head of a train front end for closely survey the barrier, consequently, vision sensor can regard as the supplementary of second laser radar, solves the regional problem that second laser radar can not carry out the short-term test. The vision sensor comprises an infrared detector and/or a camera.
And the vision sensor, the first laser radar and the second laser radar are controlled by the control unit and start to work.
The utility model also provides another kind of realization scene for further improve the security performance of train in the driving process. The device also comprises an alarm unit and a control unit, wherein the alarm unit is used for sending a control instruction according to the detection information; when the control unit judges that an obstacle exists in front of the train according to the detection information, the control unit sends an alarm instruction to the alarm unit; the alarm unit receives the alarm instruction and sends an alarm prompt to a driver according to the alarm instruction; if the driver does not react within the preset time, the control unit sends a control instruction to the execution unit according to the detection information, for example, the control instruction is emergency braking, and the safety of the train in the running process is ensured.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A rail transit obstacle real-time detection device is characterized by comprising a first laser radar, a second laser radar, a control unit and an execution unit;
the first laser radar and the second laser radar are both arranged on the train;
the first laser radar detects a long-distance obstacle in the running process of the train; the second laser radar detects a detection blind area of the first laser radar;
the control unit is used for receiving the detection information of the first laser radar and the second laser radar and sending a control instruction to the execution unit according to the detection information.
2. The rail transit obstacle real-time detection device of claim 1, wherein the first lidar and the second lidar are both disposed on a train, and specifically comprise:
the first laser radar is arranged at the top of the train head, and the second laser radar is arranged at the bottom of the front end of the train head.
3. The real-time rail transit obstacle detection device of claim 1, wherein a detection distance of the first lidar is greater than or equal to a braking distance of the train.
4. The rail transit obstacle real-time detection device of claim 1, wherein the first lidar and the second lidar each comprise: the device comprises a light emitter, a transmitting lens, a rotating shaft, a swinging mirror, a receiving lens and a light receiver;
the rotating shaft is arranged on the swinging mirror;
the detection signal light emitted by the light emitter reaches the sweep mirror after being collimated by the emitting lens;
the detection signal light reflected by the obstacle passes through the swinging mirror again, is focused by the receiving lens and is transmitted to the optical receiver.
5. The real-time rail transit obstacle detection device of claim 4, wherein the optical axis of the transmitting optical system composed of the light emitter and the transmitting lens and the optical axis of the receiving optical system composed of the receiving lens and the light receiver are parallel to each other.
6. The real-time rail transit obstacle detection device of claim 4, wherein the rotating shaft is disposed on the sweeping mirror, and specifically comprises:
the side wall of the rotating shaft is connected with the left side wall or the right side wall of the swing mirror;
or the end surface of the rotating shaft is connected with the upper side wall or the lower side wall of the swing mirror.
7. The real-time rail transit obstacle detection device of any one of claims 1 to 6, further comprising a visual sensor, wherein the visual sensor is arranged on the train and used for detecting obstacles at a short distance.
8. The rail transit obstacle real-time detection device of claim 7, wherein the vision sensor comprises an infrared detector and/or a camera.
9. The rail transit obstacle real-time detection device of claim 8, wherein the vision sensor, the first lidar and the second lidar are controlled and activated by a control unit.
10. The rail transit obstacle real-time detection device according to claim 1, further comprising an alarm unit, before the control unit makes a control instruction according to the detection information;
when the control unit judges that an obstacle exists in front of the train according to the detection information, an alarm instruction is sent to the alarm unit;
the alarm unit receives the alarm instruction and sends an alarm prompt to a driver according to the alarm instruction;
and if the driver does not react within the preset time, the control unit sends a control instruction to the execution unit according to the detection information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120431502.5U CN214585995U (en) | 2021-02-26 | 2021-02-26 | Real-time rail transit barrier detection device |
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| CN202120431502.5U CN214585995U (en) | 2021-02-26 | 2021-02-26 | Real-time rail transit barrier detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116587991A (en) * | 2023-07-17 | 2023-08-15 | 深圳市蓝鲸智联科技有限公司 | Car bottom obstacle scanning early warning system |
| CN117590358A (en) * | 2024-01-15 | 2024-02-23 | 吉林瑞电科技有限公司 | Obstacle detection equipment with flange type sealing cover structure |
-
2021
- 2021-02-26 CN CN202120431502.5U patent/CN214585995U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116587991A (en) * | 2023-07-17 | 2023-08-15 | 深圳市蓝鲸智联科技有限公司 | Car bottom obstacle scanning early warning system |
| CN116587991B (en) * | 2023-07-17 | 2023-11-14 | 深圳市蓝鲸智联科技股份有限公司 | Car bottom obstacle scanning early warning system |
| CN117590358A (en) * | 2024-01-15 | 2024-02-23 | 吉林瑞电科技有限公司 | Obstacle detection equipment with flange type sealing cover structure |
| CN117590358B (en) * | 2024-01-15 | 2024-04-05 | 吉林瑞电科技有限公司 | Obstacle detection equipment with flange type sealing cover structure |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A real-time obstacle detection device for rail transit Effective date of registration: 20220520 Granted publication date: 20211102 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN KYLE OPTICS TECHNOLOGY CO.,LTD. Registration number: Y2022420000128 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230308 Granted publication date: 20211102 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: WUHAN KYLE OPTICS TECHNOLOGY CO.,LTD. Registration number: Y2022420000128 |