KR20070036319A - The life saving for the public of persons and railway line an operator - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a track worker and a lifesaving lifesaving system installed at the head of a tracked vehicle (a city railroad car, a light rail vehicle, etc.).

The present invention is largely composed of a sensing system unit for detecting a collision by detecting an object (person) in front of the track vehicle and a lifesaving unit unit for saving the collision person.

The sensing system unit of the present invention includes a remote sensing data generating means for sensing a remote object; Short-range sensing data generating means for detecting a short-range object; It is composed of a data processing unit for fusing the information of the respective data generating means and for determining the collision object.

In addition, the life saving device of the present invention, the drive controller for controlling the operation of the life saving device by receiving an electrical signal from the detection system; A main air cushion that primarily protects the track operator or the person who has fallen from the platform from the impact of the vehicle; It is composed of an auxiliary air cushion to prevent the secondary collision with the vehicle wrapped to prevent the person absorbed by the main air cushion to fall on the track.

Therefore, according to the present invention, a sensor having excellent distance performance, data output rate, and distance accuracy, such as a laser scanner or a binocular camera, can be detected by a track worker or a person who falls on a track that exists in front of a track vehicle (a city railroad vehicle, a light rail vehicle, etc.) By detecting the early detection and sending an electrical signal to the life-saving device to operate the life-saving device in a timely manner, there is an effect that can reduce the injury value and mortality rate of human accident due to the collision with the tracked vehicle.

Tracked vehicles, track workers, pedestrians, life-saving devices, air cushions, auxiliary air cushions, high pressure air cushions, low pressure air cushions, air cushion support

Description

The life saving for the public and persons and railway line an operator}

1 is a side cross-sectional view of a light rail vehicle or a city railroad vehicle head mounted with a monitoring system according to an embodiment of the present invention.

2 is a front view of a light rail vehicle or a city rail vehicle head unit equipped with a monitoring system according to an exemplary embodiment of the present invention.

3 is a view showing an observation range of a 3D laser scanner, a binocular camera and a 2D laser scanner for near field detection used in the present invention.

4 is a schematic view of a sensing system in accordance with one preferred embodiment of the present invention.

5A and 5B conceptually illustrate a world modeling method used in one preferred embodiment of the present invention.

6 to 8 schematically show a sensor fusion method according to an embodiment of the present invention.

9 is a front view of the main air cushion according to an embodiment of the present invention.

10 and 11 are side views of the main air cushion and the auxiliary air cushion according to an embodiment of the present invention.

12 is a view showing a low pressure air cushion front view according to an embodiment of the present invention.

Figure 13 is a view showing a high pressure air cushion front view in a preferred embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

A: detection system section B: lifesaving section

C: means for generating remote sensing data D: means for generating short sensing data

E: Main air cushion 1: 3D laser scanner

2: 2D laser scanner for long range detection 3: 2D laser scanner for near field detection

4 binocular camera 5 data processing unit

41: sensor fusion and world modeling unit 42: people and obstacle determination unit

43: control signal generator 100: high pressure air cushion

200: low pressure air cushion 201: upper air cushion

202: center air cushion 203: bottom air cushion

204: Left side air cushion 205: Right side air cushion

301, 302: hinge 303: air cushion support

401: auxiliary air cushion 500: operation controller

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a worker and a life-saving lifesaving system on a track installed at the front head of a tracked vehicle, and more particularly to the tracked vehicle in the presence of an object (a person and an obstacle) in front of a tracked vehicle (urban train, light rail vehicle, etc.). The present invention relates to a lifesaving system that detects this by using sensor sensors provided at the head and enables lifesaving by operating a life saving device installed at the head of the track vehicle.

In other words, the present invention is largely divided into a detection system unit and a lifesaving unit, and the detection system unit includes a remote sensing data generating means such as a 3D laser scanner and a 2D laser scanner for remote detection, and a 2D laser scanner and a binocular camera for short range detection. By detecting the near-field detection data of the object in front of the tracked vehicle (persons and obstacles), and identifying whether the detected object is a colliding object, if it is determined that the colliding object (persons and obstacles) to the electrical signal to the lifesaving unit The lifesaving unit receives the electrical signal and operates by exploding and inflating the explosives installed at the rear of the primary and secondary air cushions by an electric primer, and the two air cushions having different filling pressures (that is, the primary air cushion and Assist air cushion), the person who collided with the vehicle By installing the air cushion to the front head of the tracked vehicle so that it can be wrapped around, the rotatable air cushion stand is installed on the air cushion so that the air cushion stand is normally folded to the front of the vehicle to expose the air cushion to the outside. In case of an emergency, the air cushion base rotates under the vehicle to protect the inflated air cushion from falling under the vehicle, and in particular, the low pressure part air cushion and the high pressure part air of the main air cushion during collision with the track vehicle. Along with primary and secondary shock absorption by cushions, it relates to workers and aerial lifesaving systems on urban and light rail tracks that allow a crashed person to wrap over an auxiliary air cushion so that they do not fall on the track.

In other words, by detecting the track workers and aerial lives existing on the tracks of the city railroad cars or light rail cars with the detection sensors that can easily determine obstacles, the main and auxiliary air cushions can be operated to maximize the utilization of the lifesaving devices. The present invention relates to a worker and aerial lifesaving system on a track that can minimize injury and mortality rates of human accidents caused by a collision with a vehicle.

In general, in order to protect people who fall from railroad tracks, pedestrians and subway platforms, life-saving life-saving devices based on air cushions are installed on railroad cars or railcars. There is an example of using an air bag filled with air at the head of a vehicle.

The conventional life-saving system is configured to operate the life-saving device by manually operating the life lever installed inside the track vehicle by blowing the compressed air in the air chamber into the air cushion by visually determining the object (person) found in front of the track. It is.

Therefore, in the life-saving system having such a configuration, it is necessary to operate the lifesaving device by checking the person in front of the track vehicle through the view of the track vehicle driver. When the track vehicle is operated for a long time, it is necessary to check the person on the track. It's not easy.

In addition, even if the life lever is operated by checking the person in front of the track vehicle, unlike the general vehicle air cushion, the time required to fully fill the air in the air cushion is long, or when the person appears near the track vehicle. If you miss out and operate the life preserver, you will not be able to reduce the number of personal injury and mortality expected.

In particular, in the case of the recent safety accident of the urban railway, it is more difficult to operate the life-saving device in this case because the urban railway vehicle jumps in front of the urban vehicle at an unpredictable moment.

The present invention has been made to solve the conventional problems, such as a track vehicle by using a sensor such as a 2D and 3D laser scanner or a binocular camera with high accuracy for the distance performance, data output rate and distance, It is an object of the present invention to provide a worker and a life-saving lifesaving system on a track that can increase the detection rate of an object in front of the vehicle and can operate the lifesaving unit accurately in a collision situation by operating the lifesaving device by such a detection system.

In addition, another object of the present invention is to install a rotatable air cushion pedestal in the primary and secondary air cushion of the lifesaving unit to the low pressure unit air cushion and the high pressure unit air cushion of the main air cushion during collision with the track vehicle. Along with the first and second shock absorbers, workers on the tracks can be surrounded by auxiliary air cushions so that the crashed person does not fall on the tracks, thereby minimizing the injury and mortality of human accidents caused by collision with the tracked vehicle. And to provide a public lifesaving system.

In addition, another object of the present invention, by installing an explosive device on the back of the main and auxiliary air cushion to be exploded by the electric primer to be filled with a gas pressure that is instantaneously expanded, life-saving in emergency and sudden situations as soon as possible It is to provide a worker and a life-saving lifesaving system on a track that can flexibly cope with a collision situation by operating the device unit.

Further, another object of the present invention, in the case of the rotary air cushion base installed in the lower front head of the track vehicle together with the main air cushion and the auxiliary air cushion installed on the front head of the track vehicle as described above, usually folded to the front head side of the vehicle By preventing the air cushion and the auxiliary air cushion from being exposed to the outside, and in the event of an emergency, by rotating underneath the vehicle, the expanded air cushion is supported so as not to enter the vehicle, thereby preventing damage to the main air cushion and the auxiliary air cushion and in case of an emergency. To provide a worker and aerial life saving system on the track that can support the air cushion to facilitate the shock absorption.

The above object of the present invention is provided with short-range sensing data generating means installed in the lower end or the center of the head of the tracked vehicle to generate short-range sensing data in front of the track; Remote sensing data generating means installed at an upper end or a central portion of the track vehicle to generate remote sensing data in front of the track; By calculating the position and distance information of the objects (people and obstacles) by fusing the sensed data from the short-range sensing data generating means and the remote sensing data generating means, respectively, the corresponding object is determined from the calculated information of the objects (people and obstacles). A data processing unit for determining whether or not to collide with the tracked vehicle and selectively generating a driving signal to the life saving unit; It is basically composed of a life-saving device having an explosive device and installed in the lower end of the head of the tracked vehicle and operated under the control of the data processor to protect objects (people and obstacles) from the impact force of the tracked vehicle.

In this case, the near-field detection data generating means may be configured by selectively installing any one or both of a near-field detection 2D laser scanner or a binocular camera, in the case of the near-field detection 2D laser scanner is installed at the lower end of the head of the vehicle In the case of a binocular camera, it is preferable to provide it in the center part of the head part of a tracked vehicle.

The remote sensing data generating means may be configured by selectively installing any one or both of a 3D laser scanner and a 2D laser scanner for remote sensing.

The data processing unit may include: a sensor fusion and world modeling unit configured to receive data measured from the remote sensing data generating unit and data measured from the short range sensing data generating unit to perform sensor fusion and world modeling; A person and obstacle determining unit determining a person and an obstacle based on the world model generated by the sensor fusion and world modeling unit; And a control signal generator for generating a control signal to the lifesaving device in response to the result determined by the person and the obstacle determining unit.

In addition, the life-saving unit is installed in the head of the track vehicle, the main air cushion to protect the person who falls from the track operator or platform from the impact force of the vehicle while inflated by the expansion gas generated by the explosion of explosives installed on the rear and ; An auxiliary air cushion for preventing secondary collision with the vehicle by wrapping the person whose shock is absorbed by the main air cushion so as not to fall on the track; A rotatable air cushion pedestal for supporting the main air cushion and the auxiliary air cushion; It is composed of an operation controller that operates when a drive signal is generated in the control signal generator in the data processor to control the operation of the main air cushion and the auxiliary air cushion and to rotate the rotary air cushion support for supporting them. It features.

The main air cushion may be divided into a high pressure part air cushion and a low pressure part air cushion, respectively, and a low pressure part air cushion is installed around the high pressure part air cushion to supply the high pressure part air cushion. It characterized in that the low pressure portion is configured to be supported by.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is to largely detect the line workers and people existing on the track and to save the life by operating the detection system (A) for determining the collision object and the lifesaving device by the collision signal received from the detection system (A) It consists of a lifesaving device part (B).

That is, the sensing system unit (A) of the present invention is installed near the head of the tracked vehicle or at the center of the tracked near-field sensing data generating means (D) for generating short-range sensing data in front of the track, and the upper end of the tracked vehicle or A remote sensing data generating means (C) installed in a central portion for generating remote sensing data in front of the track, and the sensed data from the near sensing data generating means (D) and the remote sensing data generating means (C), respectively, In addition to calculating the location and distance information of (persons and obstacles), it is also possible to determine whether or not the object will collide with the tracked vehicle from the calculated information of the objects (persons and obstacles) to selectively generate driving signals to the lifesaving unit. A sensing system unit A composed of a processing unit 5;

Life-saving device (B) provided with an explosive device and installed at the lower end of the head of the tracked vehicle and operated under the control of the data processing unit (5) to protect objects (people and obstacles) from the impact force of the tracked vehicle. Based on the configuration.

In the above, the near-field detection data generating means (D) is installed by installing any one of the near-field detection 2D laser scanner (3) or the binocular camera (4) or both of them selectively configured, the remote-sensing data generating means (C) is characterized in that any one of the 3D laser scanner 1 and the 2D laser scanner 2 for remote detection is installed or all of them are selectively installed.

At this time, the near-field detection data generating means (D) of the near-field detection 2D laser scanner (3) is preferably installed in the lower end of the head of the vehicle, in the case of the binocular camera (4) is installed in the center of the head of the tracked vehicle It is desirable to.

In addition, the data processing unit 5 is remote sensing data and the short-range detection 2D measured from the remote sensing data generating means (C) consisting of a 3D laser scanner (1) and / or a 2D laser scanner for remote detection (2). A sensor fusion and world modeling unit 41 which receives the short-range sensing data measured from the short-range sensing data generating means D including the laser scanner 3 and / or the binocular camera 4, and fuses and world-models them;

A person and obstacle determination unit 42 for determining a person and an obstacle based on the world model generated by the sensor fusion and world modeling unit 41;

In response to the results determined by the person and obstacle determination unit 42, the control signal generating unit 43 for generating a control signal to the life saving device unit (B).

In addition, the life-saving device (B) is installed at the head of the tracked vehicle, and is expanded by the expansion gas generated by the explosion of the explosive device installed on the rear of the person who fell from the impact force of the vehicle from the track operator or platform. Main air cushion (E) to protect the;

An auxiliary air cushion (401) which is prevented from secondary collision with the vehicle by wrapping the upper and lower left and right sides of the main air cushion (E) so that the person whose shock is absorbed by the main air cushion (E) does not fall on the track;

A rotatable air cushion pedestal 303 for supporting the main air cushion E and the auxiliary air cushion 401;

Rotating air that operates when a drive signal is generated by the control signal generator 43 in the data processor 5 and controls the operations of the main air cushion E and the auxiliary air cushion 401 and supports them. It is characterized by consisting of an operation controller 500 for rotating the cushion pedestal 303.

In addition, the main air cushion (E) is configured to be divided into a high pressure unit air cushion 100 and a low pressure unit air cushion 200, respectively, the low pressure around the high pressure unit air cushion 100 is installed in the upper center portion When the pressure part air cushion 200 is installed and the expansion gas is supplied, the low pressure part air cushion 200 surrounds the circumference of the high pressure part air cushion 100 by the high pressure part air cushion 100. Characterized in that configured to be supported.

Referring to the operation and effect of the system of the present invention configured as described above are as follows.

First, Figures 1 and 2 show a cross-sectional side view and front view of the head of a light rail vehicle or a city railway vehicle equipped with a lifesaving system according to an embodiment of the present invention.

According to this, the 3D laser scanner 1, which is one of the remote sensing data generating means C, is installed at the center of the head of the tracked vehicle, wherein the field of view of the 3D laser scanner 1 is referred to as "FOV". Considering the distance performance) and distance performance, it is good to look at the line as far as possible from the front of the line so that the distance can be observed.

In addition, the 3D laser scanner 1 for remote detection or a 3D laser scanner 1 may be installed at the center portion of the track vehicle, or if the 3D laser scanner 1 and the 2D laser scanner for remote detection are installed. (2) If all are installed, they may be located far from each other as long as they are sufficient to ensure the viewing angle of each of them.

In addition, the binocular camera 4 is used as a short-range data sensing device of less than 30m due to the relatively short distance performance (within 30m), in this case installed in the center of the head portion in view of the viewing angle and distance performance of the binocular camera (4) Therefore, it is good to be able to observe near distance by looking toward the line as far as possible from the front of the track within the range where distance performance is allowed.

On the other hand, as shown in Figures 1 and 2, at the bottom of the track vehicle is installed a 2D laser scanner for the near-field detection at a certain height from the track, the direction of observation of the near-detection 2D laser scanner (3) is a line It is good to be able to observe near-field by making forward horizontal direction.

The height at which the near-field detection 2D laser scanner 3 is installed is preferably installed at a height of about 30 cm from the track in consideration of the size of the person and the obstacle to be detected and the viewable range.

In addition, the data processing unit 5 includes a 3D laser scanner 1 and / or a 2D laser scanner 2 for remote detection as each sensor, that is, the remote sensing data generating means C, as described in detail below. The position, size and state of the object appearing in front of the track through the fusion data are fused by fusing the data received from the 2D laser scanner 3 for short range detection and / or the binocular camera 4 as the short range detection data generating means D. After the determination, the object collision signal is generated and transmitted to the life saving unit B.

On the other hand, Figure 3 shows the observation range of the 3D laser scanner 1, the binocular camera 4 and the near-field detection 2D laser scanner 3 used in the present invention, taking into account the speed of the tracked vehicle and the performance of the sensor. 3D laser scanner (1) and / or the 2D laser scanner (2) for long-range detection to determine the distance of more than 30m in front of the tracked vehicle, and the 2D laser scanner for near-field detection up to 30m in front of the tracked vehicle. It is preferable to set it as the observation range 32 of (3) and / or the binocular camera 4.

4 is a diagram schematically illustrating a sensing system unit according to an exemplary embodiment of the present invention, wherein the data processing unit 5 includes data measured from the remote sensing data generating unit C and short-range sensing data generating unit D. FIG. When the measured data is received, the sensor fusion and the world modeling unit 41 generate the sensor fusion and the world model, and the person and obstacle determination unit 42 determines the person and the obstacle based on the generated world model. The control signal generator 43 is configured to generate a control signal to be transmitted to the life saving device (B).

In this case, the 3D laser scanner 1 and the binocular camera 4 may continuously acquire three-dimensional shape information in front of the moving vehicle at regular intervals according to the sensor data output rate.

According to an embodiment of the present invention, it is assumed that the coordinate axis of the binocular camera 4 is the same as the coordinate axis of the track vehicle. That is, the vehicle front traveling direction is the x axis, the vehicle upper direction is the z axis, and the vehicle side direction is the y axis.

In addition, the coordinate axis of the 3D laser scanner 1 varies depending on the manufacturer of the 3D laser scanner, but according to an embodiment of the present invention, it is assumed that the coordinate axis corresponds to the head of the track vehicle head.

In addition, the sensor fusion and world modeling unit 41 converts the data received from the 3D laser scanner 1 or the binocular camera 4 into the center coordinate system of the head of the tracked vehicle as described below, and the laser scanner world model and After the binocular camera world model is generated, a fused world model is generated by fusing the generated world model coordinate data.

In this case, the data received from the binocular camera 4 may be used to generate distance data only when the obstacle resolution is high but the left and right cameras match.

In addition, the person and obstacle determination unit 42 calculates the position and obstacle size of the object from the current moving vehicle using the fusion world model generated by the sensor fusion and world modeling unit 42 and whether or not the object collides with the collision. Generate an estimated time.

5A and 5B illustrate a concept of a world modeling method used in an embodiment of the present invention.

은 다음 수학식1과 같다.FIG. 5A illustrates a process of converting the sensor coordinate system of the 3D laser scanner 1 or the binocular camera 3 into the center coordinate system of the driving vehicle. The distance vector from the vehicle center to the obstacle is shown.

Is the same as Equation 1 below.

의 크기를 R_L,

의 크기를 R_C라 할때 장애물 좌표 (x0,y0, z0) 는 다음 수학식2와 같다therefore,

The size of R _L ,

Obstacle coordinates (x0, y0, z0) when the size of the R _C d is equal to the following expression (2)

Each of these coordinates is represented as a world model through unit sampling.

5B illustrates a method of representing a spatial world model with data received from each sensor.

From the coordinate-converted data 50 obtained using the method as described above, a sampling space 51 is generated in units of 5 x 5 cm with respect to the xy plane among the spatial coordinates represented by x, y and z, and the center point thereof. Specifies the sampling pointer 53 of the xy coordinate.

Further, the highest altitude data among the coordinate-converted data 50 is obtained as the z-coordinate of the sampling pointer to obtain the sampling pointer 53 of the xyz coordinate.

The sampling pointers 53 of the xyz coordinates acquired in this manner have the representative coordinates of the corresponding sampling space.

Since the present invention has an object in determining objects such as people and obstacles on a track, expressing altitude data in a unit world model of a cuboid as shown in FIG. 5B is sufficient to achieve the object of the present invention. It will be apparent to those skilled in the art that the method of connecting the sampling pointer sets to form a spatial shape is not limited thereto.

In a preferred embodiment of the present invention, the high data output of the 2D laser scanner 3 for short range detection and the 3D laser scanner 2 for long range detection in consideration of the characteristics of each sensor as described above and the point that the track vehicle travels the track. Based on the rate and distance accuracy, the sensor fusion with the 3D laser scanner 1 and / or the binocular camera 4 was used to obtain accurate shapes of near and far human and sudden obstacles.

Referring to Figures 6 to 8 will be described with respect to the sensor fusion employed in the present invention.

First, FIGS. 6A to 6C illustrate conceptual diagrams of a fusion of a 2D laser scanner 3 for short range detection and a 3D laser scanner 1 according to an embodiment of the present invention.

6A shows the observation range 62 of the 2D laser scanner 3 for near field detection and the observation range 61 of the 3D laser scanner 1 when a person appears in front of the track.

At this time, although the 3D laser scanner 1 can accurately detect at a long distance and near, since the 3D laser scanner 1 has a low data output rate, especially when a person suddenly appears in front of the track, It is inefficient to use.

Therefore, in the present embodiment, as shown in FIG. 6B, the 3D laser scanner 1 observes a long distance of 30 m or more, and the 2D laser scanner 3 for short distance detection observes a short distance of 30 m or less to integrate far and near data. have.

In FIG. 6B, reference numeral 63 denotes a detection image by the 3D laser scanner 1, reference numeral 64 denotes a detection image by the 2D laser scanner 3 for near field detection, and reference numeral 66 denotes a 2D laser scanner 3 for near field detection. ) And the 3D laser scanner 1 show the result of data fusion.

FIG. 6C is a view showing the generation result of the world model as described above using data generated through the fusion of the 2D laser scanner 3 for short range detection and the 3D laser scanner 1.

7A to 7C are conceptual views illustrating the fusion of the 2D laser scanner 3 for short range detection and the binocular camera 4 according to another embodiment of the present invention.

Similarly with reference to FIGS. 6A to 6C, in FIG. 7A, the viewing range 72 of the near-field detection 2D laser scanner 3 and the binocular camera 4 when a person appears in front of the track ( FIG. 7B shows a detection image 73 of the binocular camera 4, a near field detection image 74 and a binocular camera 4 and the near field detection of 30 m or less of the 2D laser scanner 3 for near field detection. An image 76 showing the result of data fusion of the 2D laser scanner 3 for use is shown.

FIG. 7C is a view showing the generation result of the world model as described above using the data generated through the fusion of the 2D laser scanner 3 for short range detection and the binocular camera 4.

8A to 8C are conceptual views illustrating the fusion of a 2D laser scanner 3, a binocular camera 4, and a 3D laser scanner 1 for short range detection according to another embodiment of the present invention.

Similarly with reference to FIGS. 6A to 6C, in FIG. 8A, the observation range 82 of the near-field detection 2D laser scanner 3 and the binocular camera 4 when a person appears in front of the track ( 81), and FIG. 8B shows a detection image 83 of the binocular camera 4, a remote detection image 85 of 30 m or more of the 3D laser scanner 1, and 30 m or less of the 2D laser scanner 3 for near field detection. A near-field detection image 87 and an image 88 showing a result of data fusion between the binocular camera 4 and the near-field detection 2D laser scanner 3 are shown.

However, as described above, although the binocular camera 4 has a high obstacle resolution, it is possible to generate a fine world model. However, when the left and right matching ratio is not high, the binocular camera 4 as shown by 84 in FIG. ) May result in an unmatched portion.

On the other hand, in general, the 3D laser scanner 1 may have a smaller detail of the world model than the binocular camera 4, but since the 3D laser scanner 1 can generate the world model over the entire portion, according to the present embodiment, the binocular camera ( Even if the data of the part not matched by 4) is lost, it can be supplemented by the data of the corresponding part 86 of the 3D laser scanner 1, so that accurate detection of the object is possible. It can be created.

Detailed descriptions of the person and the obstacle determination performed by the person and the obstacle determination unit 42 are as follows.

The object (obstacle or person) is determined based on the world model generated through the sensor fusion and the world modeling unit 41 described above.

The standard for determining the object is set to 30 cm or more in height and the width in consideration of the resolution of each sensor, but is preferably about 20 cm or more.

Also, if the detected object is located more than 30m away from the head of the tracked vehicle, it is determined to be a collision object, and if it is within 30m, it is determined to be a collision or accident.

When it is determined that there are people and obstacles that can be collided by the person and the obstacle determination unit 42 and outputs a predetermined signal to the control signal generator 43, the control signal generator 43 uses the life saving device unit ( B) generates a control signal for driving.

On the other hand, the operation of the lifesaving device by the collision signal received from the detection system unit (A) of the present invention will be described in detail in the lifesaving device unit (B) for the life-saving workers and public life.

The track vehicle life saving device unit B according to the present invention includes an operation controller 500 installed inside the track vehicle for generating an air cushion operation control signal from the life saving device operation signal received from the detection system unit A; The main air cushion E and the main air cushion E, which are installed at the head of the track vehicle and are inflated by the control signal of the operation controller 500 and protect the person who falls from the track operator or the platform from the impact force of the vehicle. It is composed of an auxiliary air cushion 401 to prevent secondary impact with the vehicle wrapped so that the person absorbed by the impact does not fall on the track.

Here, the main air cushion (E) is divided into a high pressure portion air cushion 100 and a low pressure portion in the cushion 200, respectively, the low pressure portion air cushion 200 around the high pressure portion air cushion 100 It is installed so that the low pressure air cushion 200 is supported by the high pressure air cushion 100 when supplying the expansion gas by the explosion of the explosive device.

In addition, the auxiliary air cushion 401 is installed at the lower end of the main air cushion (E) so that the track worker or a person who has fallen from the platform can fall to the air cushion side when the track vehicle collides with each other, the main air cushion ( It is comprised so that the person who was shock-absorbed by the low pressure part air cushion 200 of E) may expand and explode so that it may not fall on a track.

In addition, the operation of the primary air cushion (E) and the auxiliary air cushion 401 is controlled by the operation signal of the operation controller 500 connected to them under the control of the data processor 5.

In addition, when the air supply in the air cushion is rotated downward through the hinge 301 to expand the air cushion, when the air discharged in the air cushion is rotated upward through the hinge 301 and the air cushion of the track vehicle An air cushion pedestal 303 hinged to the lower end of the head of the tracked vehicle may be further provided to be fixedly supported at the head.

In addition, the low pressure air cushion 200 is installed in the left and right end air cushion 204, 205 of the track vehicle, as shown in Figures 9 and 12, but the person hit the air cushion by inclining the inside of the track vehicle Allow it to jump out of the center of the life preserver.

Then, the lower air cushion 203 of the shape as shown in Figure 10 and 11 is installed on the lower end of the track vehicle so that the person who firstly collided with the air cushion can be bounced to the center or upper end of the life-saving device, in this process 1 The upper air cushion 201 is installed to prevent a person who has collided with the vehicle from crossing over the upper end of the life preserver.

Referring to the main air cushion (E) in more detail, as shown in Figures 10 to 11, the high-pressure unit air cushion 100 and the low-pressure unit air cushion 200 is a state that is integrated with each other Although the filling pressure of the compressed air supplied into the high pressure part air cushion 100 and the low pressure part air cushion 200 is different from each other, the high pressure part air cushion 100 and the low pressure part air cushion 200 for this purpose are different. In order to withstand the filling pressure of the compressed air supplied into the main air cushion (E), and in order to withstand the impact force due to the collision with the track vehicle and the track operator or the person dropped from the platform. It is made of strong synthetic resin material.

In addition, in the case of the main air cushion (E), as described above, the low pressure portion air cushion 200 is installed around the high pressure portion air cushion 100 and the low pressure portion by the high pressure portion air cushion 100. The air cushion 200 is configured to be supported, which is a line from the impact force of the track vehicle through the primary shock absorption of the low pressure air cushion 200 and the secondary shock absorption of the high pressure air cushion 100. This is to minimize the damage of workers or people who have fallen from the platform.

In addition, an air outlet 20a for discharging the compressed air filled in the high pressure unit air cushion 100 to the outside is formed on the upper surface of the high pressure unit air cushion 100, and in the case of the air outlet 20a It is made to open and close through a valve (not shown).

Meanwhile, as shown in FIG. 11, the auxiliary air cushion 401 prevents a person who is shock absorbed by the main air cushion E from being thrown to the front of the vehicle and falling on the track. As a device for preventing vehicle collision, it is configured to explode and expand in a triangle shape as shown in FIG. 11 so that a person colliding with a track vehicle does not fall on a track.

In addition, as described above, in the event of a personal collision of the tracked vehicle, a line worker or a person who has fallen down on the platform may fall down to the air cushion side, and the person who has been subjected to primary shock absorption through the air cushion may not fall on the track. In order to be expanded, the auxiliary air cushion 401 has a structure connected to a lower end of the main air cushion E, that is, lower ends of both sides of the lower air cushion 203 of the low pressure air cushion 200.

In order to overcome the wind-resistant resistance of the running track vehicle and to rescue people who suddenly jump on the tracks, explosives on the back of each air cushion are exploded by an electric primer to generate a large amount of gas instantly. Explode and inflate the air cushion.

Hereinafter, the operation of the lifesaving device for urban railways of the present invention will be described.

When the detection system detects an object colliding in front of the tracked vehicle, the processing unit of the detection system sends a collision signal to the operation controller 500 of the life saving device. The operation controller 500 receives the collision signal and sends an electrical signal to the electric primer installed in the high and low pressure air cushions 100 and 200 of the main air cushion E to explode the explosives mounted on the rear of the air cushion. The main air cushion E is expanded through a large amount of gas generated instantaneously.

In this process, due to the expansion of the lower end air cushion 203 is rotated downward through the hinge 301 is fixed to the lower end of the track vehicle head by the lower pedestal 303.

 In addition, a groove (not shown) larger than the coupler is formed so that the rotation of the lower pedestal 303 is not limited by the coupler (not shown) installed at the center of the lower end of the head.

At the same time, the upper air cushion 201 is installed as shown in FIGS. 10 and 11 in order to prevent a person collided by the lower air cushion 203 from being thrown over the track vehicle.

In this case, the upper air cushion 201 pushes the upper pedestal 303 through the upper hinge 302 to secure the upper end of the life preserver when inflated.

In addition, the life-saving life-saving device for the used urban railway is composed of the high pressure part air cushion 100 and the low pressure part air cushion 200, and the main air cushion E and the auxiliary air cushion 401 are installed and replaced. The air cushion pedestal 303 is rotated toward the head of the tracked vehicle so that the high pressure air cushion and the low pressure air cushion are fixed in a folded state.

As described above, the above-described embodiments are described with respect to the most preferred examples of the present invention, but are not limited to the above embodiments, and it will be apparent to those skilled in the art that various modifications are possible without departing from the technical spirit of the present invention. .

As described above, according to the present invention, by providing a sensing system that can obtain accurate shape information and distance information for people and obstacles in the far and near in front of the track vehicle in a high speed track vehicle, It can be used to provide accurate emergency situations and accurate collision damage reduction standards for tracked vehicles traveling on the road, minimizing human injury and fatality by early detection of people and obstacles on the track and timely operation of lifesaving devices for lifesaving. You can.

In addition, the lifesaving device for the urban railway of the present invention, along with the two air cushions with different filling pressure, the air cushion made to wrap the air cushion so that the person collided with the vehicle does not protrude to the front of the vehicle to the front head of the track vehicle Install and configure a drive controller for controlling the driving of the main air cushion and the auxiliary air cushion, and also install and configure a rotatable air cushion stand in the air cushion, so that the air cushion With the primary and secondary shock absorbing by the low pressure and high pressure air cushions, the auxiliary air cushion is operated at an appropriate time to wrap the secondary air cushion so as not to fall on the track. There is an excellent effect that can minimize the injury and mortality rate of personal accidents caused by collisions with.

Claims (13)

In the system for saving track workers and people existing on the track on which the tracked vehicle travels, A detection system unit installed at a head of the track vehicle to detect a person present in front of the track vehicle; And a lifesaving device operated from the sensing system unit. The method of claim 1, The sensing system unit may include short-range sensing data generating means installed at a lower end or a center of the head of the track vehicle to generate short-range sensing data in front of the track; Remote sensing data generating means installed at an upper end or a central portion of the track vehicle to generate remote sensing data in front of the track; And a data processor for fusing the data output from the short range sensing data generating means and the data output from the remote sensing data generating means to generate fusion data. The method of claim 2, The means for generating remote sensing data includes at least one of a 3D laser scanner and a 2D laser scanner for remote sensing, The near field detection data generating means includes at least one of a near field detection 2D laser scanner and a binocular camera. The method of claim 2, And the data processor determines a person and an obstacle on a track to generate a control signal for operating a lifesaving device. The method of claim 1, The lifesaving unit includes: an operation controller installed inside the track vehicle for generating an air cushion operation control signal corresponding to the lifesaving operation signal received from the detection system unit; A main air cushion installed at the head of the track vehicle, the primary air cushion being primarily protected from the impact force of the vehicle while being inflated by the control signal of the operation controller and falling down from the platform; And an auxiliary air cushion for preventing secondary collision with the vehicle by wrapping the person whose shock is absorbed by the main air cushion so as not to fall on the track. The method according to claim 5, The air cushion is divided into a high pressure unit and a low pressure unit, respectively, the low pressure unit air cushion is installed around the high pressure unit air cushion is configured to support the low pressure unit air cushion by the high pressure unit air cushion when the air supply And on-track worker and aerial life saving systems.       The method of claim 6,       The low pressure air cushion is provided with a lower air cushion so that a person colliding with the main air cushion is bounced to the center of the track vehicle, and an upper air cushion is installed to prevent the bounced person from crossing over the top of the track vehicle. In the case of people and airborne life-saving system on the track, characterized in that to prevent the first person to collide with the air cushion falling on the track. The method of claim 6, Both sides of the low pressure part air cushion are opened and closed by a relief valve to achieve primary shock absorption for the person crash while the compressed air in the low pressure part air cushion is discharged to the outside air due to the pressure rise during the collision of the track vehicle. Worker and aerial life saving system on the track, characterized in that each air outlet is formed. The method of claim 5, The auxiliary air cushion is installed on the bottom of the main air cushion so that the track worker or a person who has fallen on the platform fall to the air cushion in the event of a personal collision of the track vehicle, life and life saving system on the track. The method of claim 5, And the auxiliary air cushion is operated from an electrical signal received from a drive controller, and is configured to explode and expand so that a person absorbed by the low pressure air cushion does not fall on the track. The method of claim 6, When the lower air cushion of the low pressure air cushion is inflated, it rotates downward through the hinge to expand the air cushion, and when the air is discharged from the air cushion, the air cushion is rotated upward through the hinge to fix the air cushion to the front head of the track vehicle. And a lower air cushion support hinged to the lower front of the front head of the tracked vehicle so as to be able to be. The method of claim 6, When the upper air cushion of the low pressure air cushion is inflated, the upper air cushion base rotates to the top through the upper hinge to support the air cushion, and when the air is discharged from the air cushion, the air cushion is rotated downward through the hinge. Worker and aerial life saving system on the track, characterized in that the air cushion support is further hinged to the top of the front head of the tracked vehicle to be fixedly supported on the front head of the tracked vehicle. The method of claim 5, The explosives installed on the rear of the primary and secondary air cushion is exploded by an electric primer in preparation for an emergency or sudden situation so that the air cushion can be inflated instantaneously.

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