GB2590915A - Unmanned pedestrian crossing warning system - Google Patents
Unmanned pedestrian crossing warning system Download PDFInfo
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- GB2590915A GB2590915A GB2000078.2A GB202000078A GB2590915A GB 2590915 A GB2590915 A GB 2590915A GB 202000078 A GB202000078 A GB 202000078A GB 2590915 A GB2590915 A GB 2590915A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/007—Safety arrangements on railway crossings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
- B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A system for automatic operation of an unmanned pedestrian crossing control system, particularly initiating pedestrian crossing warnings for unmanned pedestrian crossings on railways. The system comprising a sensor array unit having multiple sensors for determining the passing of a train, the sensors of the arrays being connected via a multiplexor sending data to multiple processors. The processors process the signals and transmit an RF signal via an RF transceiver indicating the status of the sensors. The system includes a sensor array control unit which receives the RF signals, processes them and transmits a RF activation signal to a pedestrian crossing warning unit, the warning unit activating audio and visual warning systems to indicate that a train is approaching. Preferably the sensor units comprise plural sensors of different technologies including laser, radar, ultrasonic and vibration sensors. The sensor array units and control unit preferably comprise weather and tamper proof enclosures.
Description
Title: Unmanned Pedestrian Crossing Warning System
Description:
This invention relates to the automatic operation of a pedestrian traffic light control system and in particular but without limitation to initiating pedestrian crossing warnings for unmanned pedestrian crossings on railways, but without limitation to, electronic crossing activation units for railways, trams and other unmanned pedestrian crossing areas.
There are approximately 6,000 unmanned and uncontrolled pedestrian crossings in UK where a railway track is intersected by a footpath. In most cases there is no visible or audible indication as to whether a train is approaching the crossing thereby presenting a danger to anyone attempting to cross the railway tracks.
A train travelling at 100mph covers a distance of 1.6 miles in 1 minute or 1 mile in 36 seconds. Due to the effects of foliage around railway tracks, bends in the tracks route and limitations in peoples eyesight a train at a height of 3m (10 feet) a distance of a quarter of a mile would appear to be less than a centimetre in height. A person standing on the tracks would only have 9 seconds to realise that the 0.9 cm object was actually a train travelling towards them, which if elderly with impaired cognitive ability could take several seconds to realise what it was, leaving only a few seconds to get off the tracks. Consequently there are numerous deaths that occur each year at the unmanned crossings due to the factors listed above.
This invention aims to provide a solution to one or more of the above problems and/or provide an improved and/or alternative technology device.
The use of a device to facilitate and initiate an audible and visal warning at an unmanned pedestrian crossing is therefore a solution to many of the difficulties faced by many people of all ages and people in disability groups when attempting to cross railway tracks.
The system detection is achieved by using a plurality of sensors in an array formation as a way of providing complete accuracy of alarm activations and prevent false positives.
It is proposed that multiple sensor arrays are used to be located 1-1.5 miles as a minimum distance away from the pedestrian crossing at either side of it in order to provide notification of a train passing it and that each sensor array shall have a plurality of up to five different technology sensors each being monitored as a unique multiplexed set of signals lasting for a fraction of a second giving the effect of continuous monitoring of each sensor. The sensor technologies to be used are; but not limited to a) Laser distance measuring sensor, b) Ultrasonic Sensor, c) microwave sensor, d) radar detection sensor, and e) accelerometer used as a vibration sensor.
Due to conflicting signals from the sensors travelling to the microprocessor using the same data bus, the above sensors could not operate in combination with each other but have been made able to do so by the invention of a multiplexor system that sequentially switches the data from each sensor every few milliseconds to the processor which in turn determines if there is an alarm activation due to a train passing it. This is an innovative way to use multiple sensors that use the same data bus to transfer data, which prevents interference from each other. The sensor array is housed within a suitable unit that is fixed to, or adjacent to a railway track sleeper, in such a way that it will not interfere with the operation of the train, nor cause a hazard to a train travelling on the tracks. The sensors shall be used to identify a train on the tracks by a reduction in their distance sensing, eg. The sensor array shall be positioned at a distance of 0.7m away from the track mounted on a sleeper, with the sensors at an angle of 45° to the horizontal plane. The sensors shall be set to measure a free space distance of 3m + or -5% and any reduction in this distance by 30% as a result of an object passing in front of it shall be received by the processor. A plurality of data readings from sensors within the array conforming to this rule shall constitute a positive alarm activation. This will be verified as a positive by the accelerometer acting as a motion sensor detecting vibrations from the train travelling past the array on the tracks.
Once the processor determines that as a result of the data received from each sensor that there is a train in front of the sensor, the processor initiates a radio transmission via two sub-gigahertz frequency transmitters operating on different frequencies to a main control unit located in the vicinity of the sensor array. The use of two laser sensors within each array angled to give a set width between them at a given distance will provide for both speed and direction of the train. Using the formula Speed = Distance/Time it is possible to calculate the speed of the train and by always having sensor 1 at the side that is furthest away from the direction of the pedestrian crossing it is possible to determine which direction the train is travelling.ie. if crossing sensor 1 before sensor 2 the train is travelling towards the crossing. If however the train passes through sensor 2 before sensor 1 it is travelling away from the crossing. The sensor array configuration is shown in Fig 1.
The sensor arrays shall be housed in a suitable housing that it weather resistant and provides the correct angle for the sensors to provide detection of the trains on the tracks as well as incorporating a solar panel and battery storage to enable the unit to operate for several days in the event of a power failure.
The sensor arrays shall be capable of self-diagnostics to notify the Sensor Array Control Unit of a fault on one or more of the sensors. In the event of a train passing by the sensor array, all sensors should detect the train. If the same sensor does not detect the train after three activations it should provide a failure notification to the Sensor Array Control unit which in turn sends a notification to a control room or other fault warning notification medium that sensor X on sensor array unit 1/2/3 has failed and is at location XYZ ABC as determined by the GPS unit located within the Sensor Array Control Unit.
A plurality of sensor arrays shall be used to ensure the integrity of activations. Preferably three sensor arrays should be used for each set of train tracks with a minimum of two and maximum of four. The number of arrays in the system shall be determined as practically required.
Radio transmissions sent from each of the sensor arrays shall be on separate frequencies from each other so as not to interfere with each other and provide redundancy in respect of the radio transmitters and receivers, in the event of one developing a fault, thus enabling the receipt of a radio signal to the Sensor Array Control Unit from at least one of the sensor array units.
Using a radio frequency transceiver operating but not limited to the sub gigahertz frequency range, and a means of transmitting said signal to a corresponding radio frequency transceiver which is operating as a Sensor Array Control Unit capable of initiating an alarm activation to the Pedestrian Crossing Warning Control Unit, this invention will enable the remote operation of the Pedestrian Crossing Control Warning Control Unit in the near vicinity of the crossing. The invention will initiate the crossing warning, in the vicinity of the footpath and provide audio information via an audio device for example but not limited to an earphone, speaker or other such audio device capable of producing sound in the audio frequency range as to the current state of the pedestrian crossing as well as a visual warning similar but not limited to the type of push button demand unit used at pedestrian crossings with a Red Man symbol warning not to cross and a Green Man symbol inviting people to cross. The audio messages that may be heard could include but is not limited to the following messages. "Warning train approaching do not cross", "Train approaching leave the tracks immediately".
In addition to these there should/could be amber or any other colour that shall be required, flashing lights facing in both directions of the track notifying the train drivers to be more vigilant as they are approaching a pedestrian crossing. This light may be configured to change to a permanent or Flashing Red light to warn the driver that there is someone on the tracks.
The Sensor Array Control Unit shall be located in the vicinity of the sensor arrays, sited at a safe distance from the tracks so as not to be a hazard to the trains passing by on the tracks. It shall be a self-contained/self-powered unit that is capable of resisting attempts at vandalism or damage from the elements.
All of the units, i.e. the Sensor Array units, the Sensor Array Control Units and the Pedestrian Crossing Control Warning Unit shall be self-powered utilising solar power or other renewable energy source and a bank of batteries of sufficient power and capacity to keep the systems operational for several days in the event of a power failure as shown in Fig 4.
S The Sensor Array Control Unit shall consist of several radio frequency transceivers operating on different frequencies, a plurality of microprocessors, a GPS unit, a Bluetooth Unit and a Wireless Mobile Telephony Transceiver operating but not limited to the 4G radio transmission band.
The Sensor Array Control Unit via the three short range RF Receivers shall receive signals from the Sensor Array Units that a train is passing by them. The processors receive the information and are able to verify the activation and determine the Speed and Direction of the train. The Control Unit with then send out long range encrypted radio signals on 2 Radio frequency transmitters that are using secure encrypted data on 2 different frequency bands to ensure that in the event of the failure of one of them, the signal is able to reach the Pedestrian Crossing Warning Control Unit. The Radio Transceivers shall be coded specifically to only operate with their respective Pedestrian Crossing Warning Control Unit so as not to interfere or give false activations to other units within the transmission range of the Sensor Array Control Unit. The configuration of the Sensor Array Control Unit is shown in Fig 2.
The Sensor Array Control Unit shall be fitted with a GPS tracking unit so as to determine its position at any given time.
It shall also be fitted with a Bluetooth Unit to allow for a secondary local transmission medium, but also allow local diagnostic and programming of the system to be carried out.
A plurality of daily diagnostic reports shall be sent out from the Control Unit via the Wireless Mobile Telephony Transceiver operating but not limited to the 4G transmission band. The report for example shall contain the status of each of the Sensor Arrays in terms of battery life, charging status, and sensor operation status, as well as its own battery life, charging status and sub-unit operations, in addition to any other requisite information.
The Long Rage RF Signal sent from the Sensor Array Control Unit shall be received by the Pedestrian Crossing Warning Control Unit which will consist of 2 long range radio transceivers operating on the same encrypted frequencies as the Sensor Array Control Units and are coded to receive signals only from their corresponding Sensor Array Control Units.
The received signals are processed by the microprocessors which initiate the crossing warnings. A siren sound is played via the Audio PA Speaker to provide an initial warning followed by a voice annunciation stating "Warning, train approaching do not cross" or similar, which is repeated until the train has passed by and it is safe to cross. At the same time a visual warning is given by a pedestrian crossing demand control unit changing from the 'Green Man 'symbol to the 'Red Man' symbol showing visually that it is not safe to cross.
Warning lights fitted to the Pedestrian Crossing Warning Control Unit facing down the tracks would flash amber to notify the driver that they are approaching a pedestrian crossing and should be vigilant when approaching. This may turn to a flashing or permanent 'Red' if it is detected that there is a person or object on the tracks. Simultaneously an RE signal would be transmitted, which would be on a coded secure frequency capable of being received by a corresponding Train Driver Warning Indicator Unit located in the cab of the train, that would give a visual indication and audible message to the driver that there is a person or obstacle on the tracks.
Detection of a person or object on the tracks is carried out by a CCTV Camera operating video analytics, which can detect if there is movement or an object on the tracks as the train is approaching. Once the crossing warning has been initiated that a train is approaching, the video analytics monitors for any movement on the tracks. If it detects movement of a person then the intensity of the siren/warning announcement increases to warn the person to move off the tracks.
The camera shall be capable of recording all activity on the crossing across the tracks and will continue to record for several minutes before and after the train has passed. This will also provide evidence in the event of an incident on the tracks as to what happened should an investigation be necessary and shall be stored in a video storage device capable of holding several weeks of recorded video footage.
If the video analytics detects a person or object on the tracks the train driver warning light shall change to red to warn the driver to stop as there is an object or person on the crossing.
The Pedestrian Crossing Display unit on the Pedestrian Crossing Warning Control Unit shall also have a push button that can initiate a telephone call to a control room or operator in the event of an incident on the tracks. The unit shall operate on, but not limited to the 4G frequency band and be fitted with a microphone and speaker to hold a duplex conversation with an operator.
The Pedestrian Crossing Warning Control Unit shall be fitted with laser sensors to enable detection of the train and the direction and speed of travel. This will serve to change the status of the Pedestrian Crossing Warning Control Unit once the train has passed and there is no longer a danger present.
The Control unit shall be fitted with a GPS Unit to be able to determine its position at all times.
It shall also be fitted with a Bluetooth Unit to allow for a secondary local transmission medium, and also allow local diagnostic and programming of the system to be carried out.
A plurality of daily diagnostic reports shall be sent out from the Pedestrian Crossing Warning Control Unit via the Wireless Mobile Telephony Transceiver operating but not limited to the 4G transmission band. The report for example shall contain the status of the unit in terms of battery life, charging status, and sensor operation status, as well as sub-unit operations and any other requisite information.
Preferred embodiments of the invention shall now be described, by way of example only, with reference to the accompanying drawings in which: Figure 1 is a schematic diagram showing the Sensor Array Unit configuration excluding the power source.
Figure 2 is a schematic diagram showing the Sensor Array Control Unit configuration excluding the power source.
Figure 3 is a schematic diagram showing the Pedestrian Crossing Warning Control Unit excluding the power source.
Figure 4 is a schematic diagram showing the Power Source configuration using a renewable energy source. The same configuration is used for all devices but on appropriate scales.
Figure 5 is a Drawing showing a proposed design for mounting the Sensor Array in an environmental Housing with Solar Panel and integral Battery.
Figure 6 is a Drawing showing a proposed Pedestrian Crossing Warning Control Unit base unit with tilt-over column.
Figure 7 is a Drawing showing a proposed Sensor Array Control Unit base unit with tilt-over column.
Figure 8 is a Schematic Diagram showing a proposed Train Driver Warning Indicator Unit with audible and visual warnings.
Figure 9 is a Drawing showing a visual interpretation overview of the system.
Claims (21)
- CLAIMS1. According to the invention, there is provided a train line Pedestrian Crossing Warning System comprising multiple Sensor Array Units continually monitoring the train lines for detection of trains passing them, wherein the sensor arrays comprise multiple technologies of sensors connected via a unique sequential data multiplexer sending data to a number of processors, which once processed transmits an RE signal via an RE transceiver configured to send data relating to the status of the sensor arrays and activations; The system further comprises a Sensor Array Control Unit for processing the activations from the Sensor Array Units which is configured to receive the signal from its associated sensor arrays providing bidirectional data to the Sensor Array Units, which in turn processes the signals received and then transmits a secure encrypted wireless RF activation signal to a Pedestrian Crossing Warning Control Unit operatively connected to a means of converting said signal into audible and visual indications to warn pedestrians that a train is approaching and not to cross the tracks, whilst simultaneously monitoring the tracks for objects/obstacles in the path of the oncoming train and providing a visual and audible warning to a driver of the train as to any impending collision with said obstacles.
- 2. A Pedestrian Crossing Warning Sensor Array Units as in Claim 1, wherein the Sensor Array Units comprise a plurality of Laser, Ultrasonic, Radar, Microwave and vibration sensors, the units further comprising a unique sequential data multiplexer and processor to allow simultaneous monitoring of sensors via the same data bus, further comprising a plurality of RE Transceiver units to send data signals to a Sensor Array Control Unit, wherein each of the plurality of RE Transceivers operates on a different frequency. The unit also comprises a water and/or weatherproof anti-vandal enclosure.
- 3. A Pedestrian Crossing Warning System Sensor Array Unit as in claims land 2 further comprising an uninterruptable power supply, wherein the uninterruptable power supply comprises a battery or plurality thereof and means for trickle charging said batteries, the means for trickle charging comprising any one or more of the group comprising: a mains power supply, a vehicle power supply, a solar panel, a solar photovoltaic cell; and a wind turbine. It further comprises a power management circuit for control of the power to the system and a monitoring circuit for diagnostic analysis of the sensor operation and fault notification and monitoring the status of the unit and to automatically re-boot in the event of a system failure or crash.
- 4. A Pedestrian Crossing Warning System Sensor Array Control Unit as claimed in 1 where the control unit comprises several short range RF transceiver units, wherein each of the plurality of RF transceivers operates on a different frequency, and further comprising a plurality of long range RF transceiver units, wherein each of the plurality of long range RF transceivers operates on a different frequency. It further comprises a GPS unit to provide accurate location analysis of the unit. Also a Bluetooth unit to provide local programming or information retrieval from the unit, and further comprising a Wireless Mobile Telephony (WMT) Transceiver and several processing control units.
- 5. A Pedestrian Crossing Warning System Sensor Array Control Unit as claimed in land 4, comprising a power management circuit for control of the power to the system and a monitoring circuit for diagnostic analysis of the sensor operation and fault notification and monitoring the status of the unit. It further comprises a power management circuit for control of the power to the system and a monitoring circuit for diagnostic analysis of the component sub-assemblies and fault notification via the Wireless Mobile Telephony (WMT) Transceiver. The monitoring circuit is also used to monitor the status of the unit and to automatically re-boot in the event of a system failure or crash.
- 6. A Pedestrian Crossing Warning System Sensor Array Control Unit as in 1, 4 and 5 further comprising a Subscriber Identity Module (SIM) associated with the Wireless Mobile Telephony Transceiver, the SIM being uniquely identifiable on the WMT network.
- 7. A Pedestrian Crossing Warning System Sensor Array Control Unit as claimed in 1,4) 5 and 6, wherein the functionality of the system and any of the sensors is remotely re-programmable by way of AT commands sent to the system over the WMT/GPRS network. In addition the functionality of the system and any of the sensors is also remotely re-programmable by way of data sent to the system over the wm-r/GpRs network, wherein the WMT network comprises any one or more of the groups comprising: a Time Division Multiple Access (TDMA), Global System for Mobile Communications (GSM); a third generation (3G), fourth generation (4G) fifth generation (5G) or indeed any suitable WMT network that enable telephone, data or telephone-like communications via a telephone exchange.
- 8. A Pedestrian Crossing Warning System Sensor Array Control Unit as in any preceding claims further comprising an uninterruptable power supply, wherein the uninterruptable power supply comprises a battery or plurality thereof and means for trickle charging said batteries, the means for trickle charging comprising any one or more of the group comprising: a mains power supply, a vehicle power supply, a solar panel, a solar photovoltaic cell; and a wind turbine. The Sensor Array Control Unit further comprises a water and/or weatherproof anti-vandal enclosure.
- 9. A Pedestrian Crossing Warning System Warning Control Unit as claimed in 1, comprising a plurality of long range RE Transceivers, wherein each of the plurality of long range RE Transceivers operates on a different frequency. It further comprises a CCTV Camera operatively connected to a Video Analytics System to provide video analysis of the field of view over the tracks to determine whether there are people or objects on the tracks as the train is approaching, also to detect and determine whether an objects has been left on the tracks thereby causing a hazard to a train and automatically contact a control room in the event of a detection. The CCTV Camera is operatively connected to a Video Storage system to record video footage and still images of the field of view over the tracks when required and provide sufficient memory to store a minimum of 1 month video footage. Remote access for viewing live images from the camera or retrieving video footage from the storage medium shall be via the WMT network.
- 10. A Pedestrian Crossing Warning System Warning Control Unit as claimed in 1 and 9 further comprising a GPS unit to provide accurate location analysis of the Control Unit. It further comprises a Bluetooth unit to provide local programming or local information retrieval from the unit, and further comprises a Wireless Mobile Telephony (WMT) Transceiver and several processing control units to send data and audio telephony over the WMT Network. The Wireless Mobile Telephony (WMT) Transceiver system includes a microphone, speaker and call initiation button to provide audio telephony and bi-directional voice communications over the WMT Network, wherein the WMT network comprises any one or more of the groups comprising: a Time Division Multiple Access (TDMA), Global System for Mobile Communications (GSM); a third generation (3G), fourth generation (4G) fifth generation (SG) or indeed any suitable WMT network that enable telephone, data or telephone-like communications via a telephone exchange. It further comprises a Subscriber Identity Module (SIM) associated with the Wireless Mobile Telephony Transceiver, the SIM being uniquely identifiable on the WMT network.
- 11. A Pedestrian Crossing Warning System Warning Control Unit as claimed in 1, 9 and 10 further comprising a Public Address Speaker System to provide a siren sound and/or audio annunciation warning not to cross the tracks. The Public Address Speaker System further comprises a power management circuit providing variable gain of the power amplifier to increase its volume if required. The power management circuit also shuts down the power amplifier when not required to conserve power. It further comprises a monitoring circuit to automatically re-boot all or part of the system in the event of a system failure or crash.
- 12. A Pedestrian Crossing Warning System Warning Control Unit as in claim 1,9, 10, and 11, further comprising a Train Driver Warning Light that will flash amber or other colour as required as a driver is approaching the unmanned crossing to warn them to be vigilant, but changes colour to flashing or permanent red if an obstacle is detected on the tracks.
- 13. A Pedestrian Crossing Warning System Warning Control Unit as in any preceding claim to this one, further comprising a Train Driver Warning signal sent via a long range RF Frequency transceiver to a Train Driver Warning Indicator unit within the cab of the train that will flash as a driver is approaching the unmanned crossing to warn them to be vigilant, but changes colour to permanent red if an obstacle is detected on the tracks and provides an audio annunciation to audibly warn the driver of any hazards or danger.
- 14. A Pedestrian Crossing Warning System Warning Control Unit as in any preceding claims to this one, further comprising a visual warning indication display system for pedestrians similar to, but not limited to the type of crossing demand unit used in highway pedestrian crossings to give a visual indication warning as to whether it is safe to cross with caution or a pedestrian should not cross due to a train approaching.
- 15. A Pedestrian Crossing Warning System Warning Control Unit as in any preceding claims to this one, further comprising a plurality of laser sensors, operatively connected to a unique sequential data multiplexer and processor to allow simultaneous monitoring of sensors via the same data bus, providing information as to whether a train has gone through the crossing and it is safe to cross.
- 16. A Pedestrian Crossing Warning System Warning Control Unit as in any preceding claims further comprising an uninterruptable power supply, wherein the uninterruptable power supply comprises a battery or plurality thereof and means for trickle charging said batteries, the means for trickle charging comprising any one or more of the group comprising: a mains power supply, a vehicle power supply, a solar panel, a solar photovoltaic cell; and a wind turbine.
- 17. A Pedestrian Crossing Warning System Pedestrian Crossing Warning Control Unit as in claim 1 comprising a water and/or weatherproof anti-vandal enclosure.
- 18. A Pedestrian Crossing Warning System Pedestrian Crossing Warning Control Unit as in any preceding claims comprising an input means and an output means interconnected via a wireless a wireless mobile telephony network, wherein the input means comprises an audio input device, means for converting and audio signal into a signal transmittable over the WMT network, an exchange adapted to route the said signal transmittable over the WMT network to one or more uniquely identifiable output means, and wherein the output means comprises a PA Speaker unit according to any preceding claim. Also the PA Speaker via the WMT network is addressable by the input means individually from different sources.
- 19. A Pedestrian Crossing Warning System Pedestrian Crossing Warning Control Unit according to preceding claims wherein the exchange comprises a Voice Over Internet Protocol (VOIP) router providing one-to-one and/or one-to-many connections over the WMT network from the input means to one or more of the PA Speaker units via the WMT unit.
- 20. A Pedestrian Crossing Warning System, Train Driver Warning Indicator as in claim 1, comprising an RF Receiver unit configured to receive data signals from a Pedestrian Crossing Warning Control Unit. It comprises a visual display indicator and an audio warning speaker, with a low power monitoring circuit and battery back-up supply.
- 21. A Pedestrian Crossing Warning System substantially as hereinbefore described, with reference to and as illustrated in, Figures 1-9 of the accompanied drawings.
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US20140210646A1 (en) * | 2012-12-28 | 2014-07-31 | Balu Subramanya | Advanced parking and intersection management system |
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