KR20070036320A - 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 The present invention relates to a track worker and a lifesaving lifesaving system installed at the head of a tracked vehicle (high speed train, general train, 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 lifesaving device of the present invention, the drive controller for receiving the electrical signal from the detection system unit to control the operation of the lifesaving device; It consists of an air cushion that protects track workers and track pedestrians who collide with the vehicle by throwing them off the track.

Therefore, according to the present invention, a track worker or a public person existing in front of a track vehicle (high speed train, a general train, etc.) is detected by a sensor having excellent distance performance, data output rate and distance accuracy such as a laser scanner or a binocular camera. It is possible to reduce the injuries and mortality rates of personal accidents caused by collision with the tracked vehicle by sending an electrical signal to the lifesaving device by sending an electric signal to the lifesaving device.

Tracked vehicles, track workers, pedestrians, life-saving devices, 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 high-speed train or a general train head portion equipped with a monitoring system according to an embodiment of the present invention.

Figure 2 is a front view of a high speed train or a general train head portion equipped with a monitoring system according to an 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.

Figure 9 is a side view of the operating state of the air cushion according to an embodiment of the present invention.

Figure 10 is a plan view of the operating state of the air cushion according to an embodiment of the present invention.

Figure 11 (a) (b) is an enlarged planar and side view of the air cushion 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 301: hinge

302: air cushion support 303: groove

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 in the front head of a tracked vehicle, and in particular, the head of a tracked vehicle when an object (person and obstacle) appears in front of a tracked vehicle (high speed train, general train, etc.). The present invention relates to a lifesaving system that detects this by using sensor sensors installed in the unit and enables lifesaving by operating a lifesaving unit 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, so that the detection system unit is a long-range detection data generation 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 short-range sensing data by means of a short-range sensing data generating unit such as a human being and an obstacle in front of the track vehicle, and identifying whether the detected object is a colliding object, if it is determined that the colliding object (person and obstacle) is an electrical signal to the lifesaving unit. The life-saving unit receives the electrical signal and operates by exploding and inflating the explosives installed at the rear of the air cushion by an electric primer, and the air cushion having the high pressure part and the low pressure part air cushion having different filling pressures. To bounce off the track By installing a rotatable air cushion stand at the bottom of the air cushion, the air cushion stand is normally folded to the front of the vehicle to prevent the air cushion from being exposed to the outside, and in an emergency, the air cushion stand is rotated downward to expand the vehicle. Supports and protects the air cushion from getting under the vehicle, and in case of collision with the tracked vehicle, the person who has collided with the first and second shock absorbed by the low pressure air cushion and the high pressure air cushion of the air cushion, A worker and aerial lifesaving system on a track that allows it to bounce off the track without falling onto it.

That is, the collision with the tracked vehicle by maximizing the utilization of the lifesaving unit by operating the air cushion by detecting the track worker and the aerial life existing on the track of the high-speed train or the general train with a detection sensor that can easily detect obstacles. It relates to a worker and a life-saving lifesaving system on a track that can minimize injury and mortality rates of human accidents.

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 suicide accidents that occur frequently in recent years, it is more difficult to operate the life preserver in this case because the vehicle driver jumps in front of the 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 revolving air cushion stand in the air cushion of the life-saving unit, when the collision with the track vehicle, the primary and secondary impact by the low pressure air cushion and high pressure air cushion of the air cushion It is to provide worker and aerial lifesaving systems on the line that can minimize the injuries and mortality of human accidents caused by collisions with tracked vehicles by allowing the collided person to fall off the track with the absorption. .

In addition, another object of the present invention, by installing an explosive device on the back of the air cushion to be exploded by an electric primer to be filled with a gas pressure that is expanded in a moment, the life-saving unit operation in a quick time in emergency and sudden situations In this way, it is to provide a worker and a life-saving life-saving system that can flexibly cope with a collision situation.

Further, another object of the present invention, in the case of the rotary air cushion base installed on the front head of the tracked vehicle together with the air cushion installed on the front head of the tracked vehicle as described above, is normally folded to the front of the vehicle front side to expose the air cushion to the outside It can be supported to prevent damage to the air cushion and to absorb shocks of the air cushion in an emergency by preventing the air cushion from being rotated and supporting the inflated air cushions to prevent the inflated air cushions from entering the vehicle. To provide workers and aerial lifesaving systems on track.

The above object of the present invention includes a short-range sensing data generating means installed at 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 a near-field detection 2D laser scanner is installed at the bottom 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 determination unit that determines a person and an obstacle based on a 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 device is installed in the head of the track vehicle, the explosives installed on the rear of the vehicle is exploded in the event of an emergency or unexpected situation, and is inflated by the inflating gas generated to bounce off the track workers or aerial persons colliding with the vehicle out of the track It is characterized by consisting of an air cushion to protect.

At this time, the air cushion of the life-saving unit is composed of a high pressure air cushion having a longitudinal section of the front center portion protruding in the vertical direction, and a low pressure air cushion installed in the periphery of the high pressure air cushion section The low pressure air cushion is supported by the high pressure air cushion when the expansion gas is supplied, and the air cushion is configured to operate from an electrical signal received from a driving controller.

In addition, on both sides of the low pressure air cushion, the relief air is discharged to the outside air due to the pressure increase during the collision of the tracked vehicle to the outside air, so as to achieve the primary shock absorption for the collision by the relief valve. Air openings that are opened and closed are characterized in that each formed.

In addition, the lower end of the front head of the track vehicle is installed through the hinge air cushion pedestal when the low pressure air cushion inflated by rotating the air cushion through the hinge, characterized in that the air cushion to expand and expand.

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 includes: short-range sensing data generating means (D) installed below or at 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 (C) 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 location and distance information of the objects (people and obstacles) by fusing the sensed data from the short-range sensing data generating means (D) and the remote sensing data generating means (C), respectively, the calculated objects (people and obstacles) are also calculated. A sensing system unit A configured to determine whether the object will collide with the tracked vehicle from the information and selectively generate a driving signal to the lifesaving unit B;

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 inflated by the expansion gas generated by the explosion of the explosive device installed on the rear side of the track worker or public name colliding with the vehicle off the track An air cushion (E) which bounces off;

A rotatable air cushion pedestal 302 which is axially supported by a hinge 301 at a lower portion of the head of the track vehicle to support the air cushion E;

When a drive signal is generated by the control signal generator 43 in the data processor 5, the controller operates the air cushion cradle 302 which controls the operation of the air cushion E and simultaneously supports them. The main is characterized by consisting of the operation controller 500.

At this time, the air cushion (E) of the life-saving device (B) is a high pressure portion air cushion 100 having a triangular shape in which the front center portion is protruded in the vertical direction; Characterized in that it consists of a low pressure air cushion 200 which is installed in a form surrounding the high pressure air cushion (100).

The low pressure unit air cushion 200 is supported by the high pressure unit air cushion 100 when supplying the expansion gas generated by explosives exploded by the electrical signal path received from the drive controller 500. .

In addition, an upper surface of the high pressure part air cushion 100 forms an air outlet 20a which is opened and closed by a relief valve (not shown) to discharge the compressed air filled in the high pressure part air cushion 100 to outside air. On both sides of the low pressure part air cushion 200, compressed air in the low pressure part air cushion 200 may be discharged to the outside air due to an increase in pressure when the track vehicle collides with each other, and thus, primary shock absorption may be achieved. It characterized in that the air outlet 20a is opened and closed by a relief valve (not shown), respectively.

Here, reference numeral 303 is formed in the center of the bottom of the air cushion (E) and the rotary air cushion pedestal 302 so that the near-field sensing data generating means (C) is exposed and rotated by a coupler (not shown). The groove is formed larger than the coupler so that the rotation of the air cushion pedestal 302 is not limited.

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 side cross-sectional view and a front view of the head of a high-speed train or a general train vehicle head 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 secure their respective viewing angles.

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, although the coordinate axis of the 3D laser scanner 1 varies depending on the manufacturer of the 3D laser scanner, it is assumed that the coordinate axis of the 3D laser scanner 1 coincides with the coordinate axis of the head of the track vehicle.

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.

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 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; And an air cushion (E) installed at the head of the track vehicle and inflated by the control signal of the operation controller 500 to bounce the track worker or the public name colliding with the vehicle out of the track and the lower portion of the head of the track vehicle. It is composed of a rotary air cushion pedestal 302 which is supported through the hinge 301 to support the air cushion (E).

Here, the air cushion (E) is divided into a high pressure portion air cushion 100 and a low pressure portion air cushion 200, respectively, the high pressure portion air cushion 100 is protruded in the front center with respect to the vertical direction and its longitudinal section It has a triangular shape, the low pressure air cushion 200 is installed in the form surrounding the high pressure air cushion 100, the high pressure air cushion (100) when supplying the expansion gas by the explosion of the explosion device The low pressure part air cushion 200 is supported.

Accordingly, when the air cushion E is operated, the high pressure part air cushion 100 has a shape in which the center portion of the track vehicle is convex, and the low pressure part air cushion 200 also has the high pressure part air cushion 100. Since the outer surface of the has a protruding form in the wrapping form, the impact force applied to the person collided with the track vehicle is primarily absorbed by the low pressure unit air cushion 200, and then successively high pressure unit air cushion 100 When it reaches the second shock absorber and at the same time the person collided by the elastic force generated in the high pressure air cushion 100 is thrown out.

At this time, the front portion of the high pressure unit air cushion 100 is inclined toward both sides around the center and at the same time the bottom surface maintains the form protruding from the upper surface, so that the person hit the air cushion (E) is the high pressure unit air cushion In response to the angle of inclination of the front of the (100) is bounced to the side, the person who collided with a high-speed train or a general train that eventually runs at high speed is bounced off the track by the high-pressure part air cushion 100 of the air cushion (E) and the track Not only can it be prevented from being killed by the vehicle, but it can also reduce the degree of damage to the line worker or the public due to the impact force of the tracked vehicle.

On the other hand, the operation of the air cushion (E) is under the control of the data processor 5 is made through the operation signal of the operation controller 500 connected to them.

In addition, the air cushion (E) is expanded by rotating downward through the hinge (301) when supplying the air in the air cushion, and rotates upward through the hinge (301) when the air in the air cushion is discharged An air cushion pedestal 303 hinged to the lower end of the head of the tracked vehicle is provided to be fixedly supported at the head of the tracked vehicle.

The air cushion E will be described in more detail with reference to FIGS. 9 to 11 (a) and (b). The high pressure unit air cushion 100 and the low pressure unit air cushion 200 are integrated with each other. Although the state is achieved, 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 formed to be different from each other, in particular, the filling of the air supplied into the air cushion E. In order to withstand the pressure and to withstand the impact force caused by the collision between the track vehicle and the track worker or the public, it was formed of a strong synthetic resin material.

In addition, the upper surface of the high pressure air cushion 100 is formed with an air outlet 10a for discharging the compressed air filled in the high pressure air cushion 100 to the outside, in the case of the air outlet relief valve ( It is configured to open and close through.

The compressed air in the low pressure part air cushion 200 is discharged to the outside air due to the pressure increase when the track vehicle collides with each other on both sides of the low pressure part air cushion 200 to achieve primary shock absorption for the personal collision. The air outlet 20a is formed so as to be possible, and the air outlet is also configured to be opened and closed through a relief valve.

In addition, as described above, the track worker or the aerial person may fall down to the air cushion E side when the track vehicle collides with each other, and the person who is primarily absorbed by the air cushion E may be pushed out of the track. The center has a convex structure.

In addition, in order to overcome the wind resistance of the running track vehicle and to rescue people who suddenly jump on the tracks, explosives installed at the rear of each air cushion (E) are exploded by an electric primer to generate a large amount of gas instantly. This gas was used to explode and expand the air cushion (E).

Hereinafter, the operation of the lifesaving device for a high-speed railway and a general railway of the present invention will be described.

When the detection system detects an object colliding in front of the tracked vehicle, the data 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 an impact signal and sends an electrical signal to an electric primer installed in each of the high and low pressure air cushions 100 and 200 of the air cushion E to explode the explosives mounted on the rear of the air cushion. The air cushion E is expanded through the momentarily generated large amount of gas.

When the air cushion (E) is inflated as described above, the rotary air cushion pedestal 302 installed at the lower portion of the track vehicle rotates downwardly through the hinge 301, so that the air cushion is expanded correctly. Since the recess 303 is formed in the lower center portion of the air cushion pedestal 302, the rotation is prevented from being restricted by the coupler (not shown).

On the other hand, the life-saving device for the high-speed railway or general railroad that has been used is replaced with an air cushion (E) consisting of a high pressure air cushion 100 and a low pressure air cushion 200, the air cushion support 302 is a track The air cushion E may be fixed in a folded state by turning to the head of the vehicle.

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 detection 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 used in the present invention is provided with an air cushion having a high pressure portion and a low pressure portion having different filling pressures on the front head of the tracked vehicle, and installs and configures a drive controller that can control the driving of the air cushion. By installing a rotatable air cushion stand on the air cushion, when the vehicle collides with the tracked vehicle, the collided person is absorbed along with the primary and secondary shock absorption by the low pressure air cushion and the high pressure air cushion of the air cushion. By bouncing off the track, there is an excellent effect of minimizing the injuries and mortality of personal accidents caused by collision with tracked vehicles.

In addition, it is a very useful invention, such as an effect that can reduce the injuries of passengers in a certain level even in an accident that collides with a car at the crossing.

Claims (10)

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 remote sensing data generating means includes at least one of a 3D laser scanner and a binocular camera, 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 data processor 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 determination unit that determines a person and an obstacle based on a world model generated by the sensor fusion and world modeling unit; And a control signal generator for generating a control signal to a lifesaving device in response to the result determined by the person and the obstacle determining unit. The method according to 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; An air cushion installed at the head of the track vehicle, the air cushion for reeling out a track worker or a public person colliding with the vehicle while being inflated by the expansion gas generated by the explosion of the explosive device installed at the rear of the track vehicle; And a life-saving life-saving system on a track, comprising a pivoting air cushion pedestal supported by a hinge at a lower portion of the head of the tracked vehicle to support the air cushion. The method according to claim 6, The air cushion is a high-pressure air cushion having a front center portion protrudes in the vertical direction and both sides are inclined so that the longitudinal section has a triangular shape; And a low pressure air cushion installed in a form surrounding the high pressure air cushion to be supported by the high pressure air cushion when the expansion gas is supplied. The method of claim 6, Both sides of the low pressure part air cushion are opened and closed by a relief valve so that compressed air in the low pressure part air cushion is discharged to the outside due to an increase in pressure when the track vehicle collides with the outside, and thus, primary shock absorption can be achieved. Worker and aerial life saving system on the track, characterized in that the air outlet is formed. The method of claim 6, Air that is opened and closed by a relief valve on the upper surface of the high-pressure unit air cushion is discharged to the outside as the compressed air in the high-pressure unit air cushion when the collision of the track vehicle is discharged to the outside to achieve the secondary shock absorption for the collision. Worker and aerial life saving system on a track, characterized in that the outlet is formed. The method of claim 6, The explosives installed on the rear portion of the air cushion is exploded by an electric primer so that the air cushion can be inflated instantaneously.

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