KR20100003015A

KR20100003015A - System and method to detect an obstacle at a railway crossing using the laser beam

Info

Publication number: KR20100003015A
Application number: KR1020080063101A
Authority: KR
Inventors: 김동섭; 명관 이
Original assignee: (주)엔텍엔지니어링; 김동섭
Priority date: 2008-06-30
Filing date: 2008-06-30
Publication date: 2010-01-07

Abstract

PURPOSE: A system and a method for detecting an obstacle at a railway crossing are provided to detect the movement direction, speed, existence of the obstacle by scanning the laser line light at the railway crossing. CONSTITUTION: A line light generator(160) scans the laser line light to the railway crossing. An image obtaining unit(150) obtains the image of the railway crossing. A controller(130) controls the operation of the image obtaining unit and the line light generator. The controller detects the obstacle from the image of the railway crossing. A signal input unit(110) transmits a train entry signal of an external device to the controller. A signal output unit(120) transmits the signal of the controller to the external device. A database(140) stores the obstacle detection history and image of the railway crossing.

Description

Control system and method for detecting railroad crossing obstacles using laser beams {SYSTEM AND METHOD TO DETECT AN OBSTACLE AT A RAILWAY CROSSING USING THE LASER BEAM}

The present invention relates to a "railroad crossing obstacle detection control system and method using a laser beam" to ensure the safety of railroad crossings, and in particular, the presence or absence of obstacles by scanning laser line (LINE) light in railroad crossings It detects the direction and moving speed, controls the operation of the exit breaker so that objects passing through the crossing (e.g. cars) are not trapped between the breakers, and informs the train operation control device and the driver (engineer) of the presence of obstacles. This is to prevent accidents caused by obstacles existing in the device.

In the present specification, the laser line light refers to a laser light in the form of a line. In other words, the laser beam is irradiated with a line (line) light source as compared with a general laser beam is irradiated with a point light source. Same as below.

As is well known, trains are a mass transportation mode where high safety must be ensured as a top priority, and many devices have been continuously developed to secure the safety of trains and passengers, improve operating efficiency and improve driving convenience.

AUTOMATIC TRAIN STOP SYSTEM (ATS), AUTOMATIC TRAIN PROTECTOR (ATP), AUTOMATIC TRAIN CONTROL SYSTEM (ATC), AUTOMATIC TRAIN OPERATING SYSTEM (ATO) Train control systems such as these are the representative devices to secure the safety of trains, increase operating efficiency and improve driving convenience.

Such a train operation control device is a device that secures the safety of the train by detecting the train occupancy state of the preceding train to control the train operation, and further enables unmanned automatic operation by exchanging information on the train operation.

For example, the ATS, as shown in Figures 2 and 3, the grounder (11) consisting of a capacitor (C) and a coil (L) to form an LC resonant circuit; By connecting the capacitors C of the grounder 11 in parallel by the on / off operation of the relays RL1, RL2, ..., RLn-1, RLn, the resonance frequency of the grounder 11 is changed. Ground magnetic relay 12 consisting of capacitors C1, C2, ..., Cn-1, Cn; And a ground device unit (10) comprising a signal device (13) for applying a relay control signal to the ground control relay (12),

A primary box 21 in which the primary coil and the secondary coil are inductively coupled with a predetermined coupling degree to sense the resonance frequency of the ground wave 11 by frequency induction; It consists of an amplifying circuit section and an oscillating circuit section, and performs oscillation at a predetermined frequency (for example, 78 KHz) to be fed back through the coil of the vehicle box 21 and at the same time oscillates the frequency of the coil of the vehicle box 21. An oscillator 22 to amplify; A frequency detector (24) for detecting and outputting a frequency output from the oscillator (22) because it is composed of a plurality of band pass filters (BAND PASS FILTER) and connected to the oscillator (22); A speed detector 23 attached to the wheel side of the train to detect an actual speed of the train; The logic judgment control to generate an alarm control signal when the actual speed of the train exceeds the speed commanded by the ground apparatus unit 10 by comparing and determining the signals input from the frequency detector 24 and the speed detector 23. Device 26; Connected to the logic determination control device 26, when an alarm control signal is generated in the logic determination control device 26, an alarm sound and a display control signal are generated for a predetermined time, and then the actual train An alarm device 27 for generating a braking signal when the speed does not become smaller than the driving instruction speed; An emergency brake 28 connected to the alarm device 27 for rapidly braking a train when a braking signal is generated from the alarm device; And a connection between the alarm device 27 and the logic judgment control device 26, when a display control signal is generated in the alarm device 27, visually displaying an alarm, and a recovery command by the driver. When instructed, the on-vehicle device section 20 made up of a display control device 25 for transmitting a signal to the logic determination control device 26 and displaying a predetermined signal generated by the logic determination control device 26. It is composed of; is a device for controlling the actual speed of the train at the driving instruction speed calculated from the track occupancy state of the train.

As technology advances further, safety becomes more important as the train speeds up, the number of trips increases, and passenger traffic increases, and the concept of safety has advanced from safety to the train itself to safety around the train.

Safety on railroad crossings, where tracks and roads intersect, is an important safety factor that causes major disasters such as train derailment and rollover in the event of an accident.

Conventional devices for securing the safety of such railroad crossings include an outlet side breaker control device and an obstacle detecting device.

As shown in FIG. 4, the exit side breaker control device embeds a geomagnetic sensor 31 for detecting a geomagnetic field at a depth of 0.7 m underground at the crossing, and then enters the railroad crossing of the train through the geomagnetic sensor 31. It is a device that prevents an obstacle (eg, a vehicle) from being trapped between an inlet breaker and an outlet breaker by detecting the presence of an obstacle in a crossing and controlling the operation of the outlet breaker.

The obstacle detecting device, as shown in FIG. 5, installs the laser transmitter 44 and the laser receiver 45 at the crossing, detects whether there is an obstacle in the crossing when entering the railroad crossing of the train, and then signals By controlling the lighting of the lamp 43, it is a device which informs the driver (engineer) whether the obstacle exists in the crossing.

In the drawings, reference numeral 1 denotes a train, 2 a line, 3 a breaker controller, 4 a breaker, and 5 a traffic light. Denoted at 32 is an outlet side breaker controller, at 41 a train detector, and at 42 a disturbance detection controller.

However, the conventional railroad crossing safety devices as described above are difficult to install and maintain, costly, malfunction, and of course, there is a redundant function, which is not reasonable.

That is, in the case of the outlet side breaker control device, first, there is a problem in that installation and maintenance costs are required by installing the earth magnetic field sensor 31 at a depth of 0.7 m underground, and secondly, during installation and maintenance. There is a problem that causes traffic obstacles, and third, there is a problem that the malfunction due to the disturbing noise of the electric field and the magnetic field is increasing rapidly.

In addition, in the case of the obstacle detecting device, first, since the plurality of laser transmitters 44 and the laser receivers 45 should be spaced apart from each other, there is a problem that the optical axis adjustment is required and the installation work is difficult and expensive. Secondly, there is a problem that there is a non-detection area, and thirdly. There was a problem that the optical axis is malfunctioned by an external physical shock, causing malfunction.

In addition, since both the outlet side breaker control device and the obstacle detecting device detect the obstacle and perform the next control operation, there is a problem that a device for detecting the obstacle is duplicated.

An object of the present invention is to solve the above conventional problems, in particular, by detecting the presence of obstacles and the movement direction, the moving speed by scanning the laser line light in the railroad crossing when entering the railroad crossing of the train, exit Control system and method for detecting railroad crossing obstacles using laser beam, which controls the operation of side breaker and prevents obstacles caused by obstacles existing in the crossing by informing the train operation control device and the driver whether obstacles exist. "Is to provide.

That is, the train detects whether the train crosses the railroad crossing, and when the train approaches the railroad crossing, scans the laser line light in the crosswalk, acquires the scanned image of the laser line light, and then analyzes the image to detect the presence of obstacles and the direction of movement. And detecting the moving speed and controlling the operation of the outlet side breaker according to the detected result.

In addition, the result of the presence or absence of the obstacle to the driver and the train operation control device through the signal lamp and the crossing box to call the driver's attention, as well as to automatically control the train operation by the ATS control logic exists in the crossing This is to prevent accidents caused by obstacles.

In order to achieve the above object, the present invention "railroad crossing obstacle detection system using a laser beam",

One or more line light generators for scanning laser line light in a railroad crossing;

At least one image acquisition unit photographing a railroad crossing through which the laser line light is scanned; And,

And a control unit for controlling the operation of the line light generator and the image acquisition unit to detect whether the obstacle exists in the crosswalk from the image of the railroad crossing to which the laser line light is scanned. It features.

In the above configuration, the database unit is connected to the control unit, the database unit for databaseing the image of the railroad crossing, the obstacle detection history of the railroad crossing and the laser line light is scanned;

When the database is built in the database unit, the obstacle further includes a moving direction and a moving speed.

This database unit is used to identify the cause when an accident occurs by making a database of railroad crossings.

In the above configuration, it is connected to the control unit, the signal input unit for applying a train entrance signal applied from the outside; characterized in that it further comprises a.

The signal input unit is for controlling an obstacle detecting operation in a railroad crossing by applying a train entry signal output from a breaker controller or other device to the controller.

The signal input unit may be configured as a known interfacing device for converting a signal format output from the breaker controller or other device to be applied to the control unit.

In the above configuration, the signal output unit is connected to the control unit, the signal output unit for applying a signal output from the control unit to an external device.

The signal output unit is for applying a signal output from the control unit to another device (for example, a circuit breaker controller), and is preferably composed of a known communication circuit or an interfacing circuit for transmitting the output signal to another device.

Since the configuration and operation of an interface circuit for converting a signal format for inputting a signal output from one device to another device are well known, the detailed description thereof will be omitted.

If the control unit analyzes an image of a railroad crossing to which laser line light is scanned, and it is determined that an obstacle exists, it is disturbed from two or more images continuously taken or two or more images taken with a certain time difference. It is characterized by detecting the moving direction of water.

In the above case, if it is determined that obstacles exist in the railroad crossing, the moving speed of the obstacles or the size of the obstacles may be determined from two or more images continuously photographed or two or more images photographed with a certain time difference. Further detection, or further detects the moving speed and size of the obstacle.

That is, the movement of the obstacle is detected from two or more images of railroad crossings through which the laser line light is scanned to detect the moving direction, the moving speed, and the size of the obstacle.

Image processing technology for detecting moving objects by comparing two or more images continuously shot or two or more images shot with a predetermined time difference, and detecting the size, the moving direction, and the moving speed of the moving object are well known. Since the same, detailed description thereof will be omitted.

The image acquisition unit may be configured as a CCD camera or a PSD (POSITION SENSOR DETECTOR) camera.

The image acquisition unit is characterized in that it further comprises a filter for passing the light of a specific frequency region in front of the CCD camera or PSD camera.

Light in a specific region passed through the filter is characterized in that the frequency band of the laser light.

For example, in the case of using a laser beam having a wavelength of 1028 nm, it is composed of a filter for passing the light of the frequency band.

The filter may be coated on a CCD camera lens or a PSD camera lens.

These filters are designed to simplify the construction and reduce the cost by coating the camera lens without a separate optical filter.

The image acquisition unit may further include an image signal amplifier configured to amplify the signal output from the CCD camera or the PSD camera.

In the image acquisition unit, the image processing unit for detecting the presence or absence of obstacles and the moving direction and the moving speed by analyzing the image of the railroad crossing to which the laser line light is scanned; characterized in that it further comprises a.

The image processing unit is preferably composed of a known image processing processor.

The image acquisition unit is to reduce the load on the control unit by processing the image of the railroad crossing to which the laser line light is scanned through the image processing unit.

The line light generator,

A laser beam generator for generating a laser beam; And,

And a cylindrical lens for converting the laser beam of the point light source output from the laser beam generator into the laser beam of the line light source.

The line light generator performs a function of converting a point light source into line light by passing a laser beam output from the laser beam generator through a cylindrical lens.

For reference, the cylindrical lens converts incident light into line light.

The control unit is preferably composed of a microcomputer or a computer system having an input / output terminal, a calculation module, a memory, a communication module, and an A / D converter or a D / A converter.

In the configuration 1 of the present invention configured as described above, the laser line light is scanned in the railroad crossing, and then the image of the crosswalk in which the laser line light is scanned is analyzed to determine the presence or absence of obstacles in the entire crossing area, the direction of movement, It is to detect a moving speed and the like in real time and output a signal indicating this.

The output data (data such as presence or absence of obstacles, movement direction, moving speed, etc.) is transmitted to and used by other devices (eg, breaker controller, outlet side breaker controller, obstacle detection device, etc.) that require this signal.

The present invention "railroad crossing obstacle detection control system using a laser beam",

At least one train detection unit detecting a train entering a railroad crossing;

At least one image acquisition unit photographing a railroad crossing through which the laser line light is scanned;

One or more signal lamps indicating the presence of obstacles in railroad crossings;

A control signal output unit for applying a breaker operation control signal to the breaker controller; And,

It is connected between the train detecting unit, the line light generating unit, the image acquisition unit, the signal lamp, and the control signal output unit, and scans the laser crossing light into the railroad crossing when the train enters, A control unit for controlling photographing, detecting a presence or absence of a obstacle and a moving direction from the railroad crossing image scanned with laser line light, and controlling a breaker and an operation of a signal lamp according to the presence or absence of the obstacle; It is characterized by including the technical configuration.

In the above configuration, it is connected to the control unit, at least one train operation control unit for controlling the operation of the train in accordance with the presence or absence of obstacles in the railroad crossings; characterized in that it further comprises a.

The train operation control unit controls the train operation according to the ATS control logic by transmitting the presence or absence of obstacles in the railroad crossing to the ATS onboard equipment installed in the train according to the ATS control logic.

In the above configuration, the database unit is connected to the control unit for the database of the image of the railroad crossing where the obstacle detection history of the railroad crossing and the laser line light is scanned; characterized in that it further comprises.

The train detection unit is preferably configured to install a well-known wheel sensor for detecting the presence of the train by detecting the train wheels on the track.

One or more such train detection units are provided at a distance in front of the railroad crossing entrance to detect a railroad crossing of the train and apply the same to the controller, thereby controlling an obstacle detecting operation in the railroad crossing.

The signal lamp is composed of a plurality of high-brightness LEDs, or lamps to indicate whether obstacles are present in the crossing.

For example, when there is an obstacle, the red light is turned on, and when there is no obstacle, the green light is turned on so that the train driver can easily know whether the obstacle is present.

The train operation control unit,

Cross box, consisting of a coil and a condenser to form a resonant frequency;

A relay unit including a plurality of capacitors sequentially connected to the capacitors of the crossing box, and a plurality of relays for controlling the parallel connection of each of the capacitors; And,

And a ground controller controlling the operation of the relay relay according to the received signal by receiving the relay control signal transmitted from the controller.

Such a train operation control unit controls the operation of the relay unit according to the relay control signal transmitted from the control unit to change the resonance frequency of the crossing box by connecting or disconnecting the capacitor of the relay unit to the capacitor of the crossing box. It is for.

That is, to control the operation of the train by changing the resonant frequency of the crossing box according to the control logic of the ATS operating in the three or five predecessors installed on the train.

For example, the operation of the crossing box is controlled to have a resonance frequency for controlling train operation at a predetermined speed or lower, or a resonance frequency indicating stop.

At this time, when there is no obstacle in the railroad crossing, the resonance frequency of the crossing box is set to a value other than the resonance frequency used in the ATS so as not to affect the ATS operation.

That is, by having a value other than the resonant frequency detected by the ATS on-vehicle device to enable normal operation when there is no obstacle in the crossing.

Alternatively, in the absence of obstacles, the connection of the capacitors in the crossing box may be released so that the resonance frequency is not formed.

That is, after the relay is installed to control the parallel connection of the coil and the capacitor in the crossing box, the operation of the relay is controlled according to the presence or absence of the obstacle, so that the resonance circuit is not formed in the absence of the obstacle. have.

The control signal output unit preferably comprises a known communication circuit or an interface circuit for applying the breaker control signal output from the control unit to the breaker controller.

On the other hand, the present invention "railroad crossing obstacle detection method using a laser beam",

A line light scanning step of scanning laser line light in a railroad crossing;

An image photographing step of photographing a railroad crossing on which laser line light is scanned after performing the line light scanning step; And,

And an image processing step of detecting whether the obstacle exists by analyzing the railroad crossing image scanned by the laser line light photographed by performing the image photographing step.

And performing a signal processing step of outputting an obstacle detection result after performing the image processing step.

And storing the obstacle detection result in a database after performing the image processing step.

When it is determined that obstacles exist in the railroad crossing in the image processing step, the moving direction of the obstacles is detected from two or more images continuously photographed or two or more images photographed with a predetermined time difference. .

If it is determined in the image processing step that the obstacle is present in the railroad crossing, the moving speed of the obstacle, or the size of the obstacle from the two or more images continuously shot, or two or more images taken with a certain time difference It detects one more, or further detects the moving speed and size of the obstacle.

The present invention "railroad crossing obstacle detection control method using a laser beam",

A train entry detection step of detecting whether a train enters a railroad crossing;

A laser line light scanning step of scanning laser line light in a railroad crossing when it is determined that a train enters as a result of performing the train entry detection step;

An image acquisition step of photographing a railroad crossing on which laser line light is scanned after performing the laser line light scanning step;

A obstacle detection step of detecting whether a obstacle exists and a moving direction of the obstacle by analyzing an image of a railroad crossing image scanned by laser line light photographed by performing the image acquisition step;

A circuit breaker control step of controlling the operation of the exit circuit breaker in the direction in which the obstacle passes, if it is determined that the obstacle exists in the railroad crossing as a result of performing the obstacle detection step; And,

And a signal lamp control step of controlling whether the obstacle is present in the railroad crossing by controlling the operation of the signal lamp after performing the obstacle detection step or the circuit breaker control step. It is done.

In the above configuration, the train operation control step for controlling the operation of the train entering the crossing in accordance with the presence or absence of obstacles after performing the signal lamp control step; characterized in that it further comprises.

In the case of controlling the operation of the train according to the presence or absence of obstacles in the train operation control step, the train operation is controlled by the ATS control logic.

In the above configuration, after performing the signal lamp control step or the train operation control step, a database step of database the obstacle detection results; characterized in that it further comprises.

The present invention "railroad crossing obstacle detection control system and method using a laser beam", in particular, by scanning the laser line light in the railroad crossings to detect the presence of obstacles, the direction of movement, the moving speed and the like operation of the breaker at the exit And control the train operation, firstly, there is no non-detection area by detecting obstacles in all areas of railroad crossings, and secondly, there is no malfunction due to the surrounding environment (electromagnetic noise, etc.), and thirdly, installation and maintenance Fourth, the installation cost and maintenance cost is low, and the fifth, there is an effect that can eliminate the redundant installation of the obstacle detection device.

When the technical concept of the present invention "railroad crossing obstacle detection control system and method using a laser beam" will be described in detail with reference to the embodiment.

In the description, the same name is used for a component having the same or similar configuration and function.

Example 1

This Embodiment 1 shows an embodiment of the "railroad crossing obstacle detection system using a laser beam" of the present invention.

In the first embodiment, a configuration including a database unit, a signal input unit, and a signal output unit will be described as an example.

In the first embodiment, the circuit breaker controller 3 receives an input of a circuit breaker operation signal (a obstacle detection start signal) as an example, and detects the presence or absence of an obstacle in a railroad crossing to perform the operation of the circuit breaker 4. Control will be described as an example.

In addition, in the first embodiment, the image acquisition unit includes an image signal amplifier and an image processor.

The reason why the first embodiment is constructed as described above is that other embodiments according to the technical idea of the present invention can be easily understood from the first embodiment.

Hereinafter, the configuration of the first embodiment will be described in detail with reference to the accompanying drawings.

First, as shown in FIGS. 6 and 8, the signal input unit 110, the signal output unit 110, the database unit 140, the image acquisition unit 150, and the line light generation unit 160 are connected. After connecting to the control unit 130, the support 7 is installed on one side of the railroad crossing to install the line light generator 160 and the image acquisition unit 150 to configure the first embodiment.

The image acquisition unit 150 coats the filter 154 passing only the frequency band of the laser beam to the lens of the CCD camera 153, and then the image signal amplifier 152 and the signal output terminal of the CCD camera 153; The image processing unit 151 is sequentially connected, and the line light generator 160 is configured by installing the cylindrical lens 162 in front of the laser beam generator 161.

Hereinafter, the operation and the effect of the first embodiment configured as described above will be described with reference to the accompanying drawings.

First, when a breaker operation start signal is input through the signal input unit 110 connected to the breaker controller 3, the control unit 130 recognizes this as an obstacle detection start signal, and as shown in FIG. 13, within the crosswalk. The line light scanning step S10 of scanning the laser line light is performed.

That is, the laser beam generator 161 is operated to scan the laser line light into the railroad crossing.

The laser line light is scanned at about 30 cm from the ground to form an image on the ground across the railroad crossing so that the laser line light is not irradiated to the human eye.

9 illustrates a process in which a laser beam in the form of a point light source output from the laser beam generator 161 passes through the cylindrical lens 162 and is converted into line light 163.

After performing the line light scanning step (S10) to scan the laser line light in the crossing, the controller 130 sequentially performs the image taking step (S20) and the image processing step (S30) to scan the laser line light. By taking a picture of railroad crossings, the presence of obstacles, the direction of movement, and the speed of movement are calculated.

This will be described as follows.

FIG. 10A illustrates a crossing image when no filter is mounted on the CCD camera 153.

FIG. 10B illustrates a crossing image taken by the CCD camera 153 coated with a filter that passes only the laser light. As shown in the drawing, only the laser line light 163a, 163b, and 163c is photographed.

FIG. 10C shows that the obstacle (car) 7 is at the crossing point, and FIG. 10C shows that the car has progressed to the top of the screen.

In the figure, 163a and 163c show that the laser line light is scanned on the ground across the crossing because there is no obstacle, and 163b shows that the laser line light is condensed on the obstacle 7.

If there are no obstructions in the crosswalk, all of the laser line light will be scanned on the ground across the crosswalk.

Accordingly, the position of the laser line light of FIGS. 10B and 10C can be detected to calculate the presence or absence of the obstacle 7, the moving direction, and the moving speed.

Since the image processing method for detecting the presence or absence of obstacles, the moving direction, the moving speed, and the like by comparing two images photographed at regular time intervals is well known, the detailed description thereof will be omitted.

On the other hand, after performing the image processing step (S30) to perform a signal output step (S40) for outputting the result.

In the first embodiment, the operation of the breaker 4 is controlled according to the result of the image processing step S30.

That is, when there is an obstacle in the crossing, the movement direction and the moving speed are detected to control the operation of the exit breaker in the direction in which the obstacle 7 proceeds so that the obstacle 7 completes the crossing. Do not allow the exit breaker to block the roadway.

In other words, a control signal is applied to the breaker controller 3 through the signal output unit 120 to control the crossing crossing operation of the breaker.

On the other hand, after performing the operation, the storage step (S50) is performed to database the obstacle detection results.

Example 2

The second embodiment shows an embodiment of the "railroad crossing obstacle detection control system using a laser beam" of the present invention.

In the second embodiment, a database unit and a train operation control unit are configured, and the train operation is controlled by the train operation control unit according to the presence or absence of an obstacle.

The reason why the second embodiment is configured as described above is that other embodiments according to the technical idea of the present invention can be easily understood from the second embodiment.

In the description, the same name is given to the components having the same or similar configuration and operation as the first embodiment.

Hereinafter, the configuration of the second embodiment will be described in detail with reference to the accompanying drawings.

First, as shown in FIG. 1 and FIG. 7, the train detector 210, the signal lamp 220, the train operation controller 230, the database unit 250, the image acquisition unit 260, The second embodiment is constructed by connecting the line light generator 270 and the control signal output unit 280 to the control unit 240.

The train detection unit 210 is composed of a wheel sensor 211, as shown in Figure 11, the signal lamp 220 is composed of a high-brightness LED, the train operation control unit 230 is a crossing box 233 and the relay The unit 232 and the terrestrial controller 231 are configured.

Then, as shown in Figure 1, the train detecting unit 210 is installed in front of the crossing crossing, the crossing crossing box 233a, 233b and the relay unit 232a, 232b between the train detecting unit 210 and the crossing And ground terrestrial controllers 231a and 231b, respectively, and the circuit breaker controller 3 is connected to the control signal output unit 280, and then a support 7 is installed at one side of the railroad crossing. 270 and the image acquisition unit 260 is installed.

The signal lamps 220a and 220b are connected to the signal output terminal of the control unit 240.

Hereinafter, with reference to the accompanying drawings, the configuration and operation effects of the second embodiment configured as described above are as follows.

First, as shown in FIG. 14, the controller 240 continuously performs a train entry detection step S110 to continuously detect whether a train entering a railroad crossing exists.

That is, it is continuously determined whether the train is detected by the wheel sensor 211 installed in front of the crossing.

When it is determined that the train enters as a result of performing the train entry detection step S110, the laser line light scanning step S120 for scanning the laser line light 273 in the railroad crossing and the laser line light 273 are scanned. An image acquisition step (S130) of photographing a crosswalk being performed, and an obstacle detection step (S140) of detecting whether a obstacle exists from the image captured by performing the image acquisition step (S130), a moving direction, and a moving speed (S140). ) Will be performed sequentially.

The method of detecting the presence or absence of obstacles, the movement direction, and the movement speed by scanning the laser line light 273 in the crosswalk is as described in Embodiment 1, and thus its detailed description is omitted.

When it is determined that obstacles exist in the railroad crossing as a result of performing the obstacle detection step (S140), the circuit breaker control step (S150) of controlling the operation of the exit side breaker in the direction in which the obstacle proceeds is performed.

That is, the obstacle 6 is controlled by applying the breaker control signal to the breaker controller 3 through the control signal output unit 280 to control the operation of the outlet side breaker in the direction in which the obstacle 6 proceeds. 4) Don't get trapped in between.

After performing the circuit breaker control step (S150) to control the operation of the signal lamp 220 signal lamp control step of informing the train driver (engineer) of the presence of obstacles in the railroad crossing through the signal lamp 220 (S160).

That is, when there is an obstacle in the crossing, the red light is turned on, and when there is no obstacle, the green light is turned on to indicate the presence or absence of the obstacle.

After performing the signal lamp control step (S160) to perform the train operation control step (S170) for controlling the operation of the train entering the crossing in accordance with the presence or absence of obstacles.

This will be described as follows.

As is well known, the ATS receives the speed command signal indicating the maximum allowable speed from a ground person (not shown) installed on the track in the form of a resonant frequency by frequency induction, thereby controlling the operation of the train.

Therefore, the operation of the train can be controlled by controlling the operation of the crossing boxes 233a and 233b to change the resonant frequency.

12 illustrates the configuration of the crossing box 233 and the relay unit 232. The control signal generated by the controller 240 is applied by the ground controller 231 to relay the relay unit 232 to the relay RL21. RL2n) to control the operation of the train by changing the resonance frequency of the crossing box 233.

In the present embodiment, since two crossing boxes 233a and 233b are installed at a suitable position in front of the crossing, the first crossing box 233a is to display the maximum allowable speed considering the braking distance and the second crossing. It is preferable that the box 233b represents a signal (resonant frequency) indicating stop.

On the other hand, after performing the train operation control step (S170) to perform a database step (S180) to database the obstacle detection result and detection history.

As described above, the present invention detects the presence of obstacles throughout the crossing by scanning laser line light in the crossing, and controls the exit breaker, signal lamp, and train operation according to the presence of the obstacle. In addition to preventing accidents, it is a very useful invention with low installation, maintenance, and maintenance costs and no detection errors.

However, in the above embodiments, it has been described as an example of detecting obstacles by installing each line light generating unit and the image acquisition unit on one side of the crosswalk, but the technical spirit of the present invention is not limited thereto.

That is, a plurality of line light generators or a plurality of image acquisition units may be installed at the crossings to detect obstacles.

In addition, in the above embodiments, the technical idea of the present invention has been described with an example in which one train detection unit and two train operation control units are installed along a line, but the technical idea of the present invention is not limited thereto. .

1 is a system diagram showing the configuration of the present invention "railroad crossing obstacle detection control system using a laser beam",

2 is a block diagram showing a configuration of an ATS apparatus;

3 is a circuit diagram showing the ground and ground control relay of the ATS device;

4 is an installation configuration diagram showing the configuration of the outlet side breaker control device;

5 is an installation configuration diagram showing the configuration of the obstacle detecting device;

Figure 6 is a block diagram showing the configuration of the present invention "railroad crossing obstacle detection system using a laser beam",

7 is a block diagram showing the configuration of the present invention "railroad crossing obstacle detection control system using a laser beam",

8 is a system diagram showing the configuration of the present invention "railroad crossing obstacle detection system using a laser beam",

9 is a view showing a laser line light generation principle of the present invention,

10A is a view showing a railroad crossing in which laser line light is scanned according to the present invention;

10B is a view showing a state of photographing the railroad crossing of FIG. 10A through an optical filter;

FIG. 10C is a view illustrating a state where an obstacle (car) is photographed through an optical filter in FIG. 10A;

11 is a view showing the mounting state of the wheel sensor;

12 is a circuit diagram showing the configuration of the crossing box and the relay unit according to the present invention;

13 is a control flowchart illustrating the present invention "a railroad crossing obstacle detection method using a laser beam",

14 is a control flowchart illustrating the present invention "a method for controlling railroad crossing obstacle detection using a laser beam";

Explanation of symbols on the main parts of the drawings

100,100a ~ 100j: door system 110: video recording unit

110: signal input unit 120: signal output unit

130: control unit 140: database unit

150: image acquisition unit 151: image processing unit

152: video signal amplifier 153: CCD camera

154: filter 160: line light generating unit

161: laser beam generator 162: cylindrical lens

163: laser line light 210: train detection unit

220: signal lamp 230: train operation control unit

231: ground control unit 232: relay unit

233: crossing box 240: control unit

250: database unit 260: image acquisition unit

261: image processor 262: video signal amplifier

263: CCD camera 264: filter

270: line light generator 271: laser beam generator

272: cylindrical lens 273: laser line light

280: control signal output unit

S10: line light scanning step S20: video recording step

S30: image processing step S40: signal output step

S50: Save step

S110: train entry detection step S120: laser line light scanning step

S130: image acquisition step S140: obstacle detection step

S150: breaker control step S160: signal lamp control step

S170: Train operation control step S180: Database step

Claims

And a controller for controlling the operation of the line light generator and the image acquisition unit to detect whether obstacles are present in the crosswalk from the image of the railroad crossing to which the laser line light is scanned. Railroad crossing obstacle detection system using

A database unit for databaseing the obstacle detection history of the railroad crossing and an image of the railroad crossing to which the laser line light is scanned; And,

By controlling the operation of the line light generating unit, the image acquisition unit and the database unit to detect whether there is an obstacle in the crossing from the image of the railroad crossing to which the laser line light is scanned, the obstacle detection history and the railroad crossing image Railroad crossing obstacle detection system using a laser beam, characterized in that comprises a; control unit for the database.

The method according to claim 1 or 2,

A signal input unit connected to the controller and configured to apply a train entry signal applied from the outside to the controller; And,

And a signal output unit connected to the control unit and configured to apply a signal output from the control unit to an external device. The railroad crossing obstacle detecting system using the laser beam further comprises.

The method according to claim 1 or 2,

If the control unit analyzes an image of a railroad crossing to which laser line light is scanned, and it is determined that an obstacle exists, it is disturbed from two or more images continuously taken or two or more images taken with a certain time difference. Railroad crossing obstacle detection system using a laser beam, characterized in that for detecting the direction of movement of water.

The method according to any one of claims 1 to 4, wherein when the control unit analyzes an image of the railroad crossing to which the laser line light is scanned, it is determined that an obstacle exists in the railroad crossing, the photographing is performed continuously. Detects either the moving speed of the obstacle or the size of the obstacle further from two or more images or two or more images taken with a certain time difference, or further detects the movement speed and the size of the obstacle. Railroad crossing obstacle detection system using a laser beam.

The line light generating unit according to any one of claims 1 and 2, wherein

A laser beam generator for generating a laser beam; And,

It is connected between the train detecting unit, the line light generating unit, the image acquisition unit, the signal lamp, and the control signal output unit, and scans the laser crossing light into the railroad crossing when the train enters, A control unit for controlling photographing, detecting a presence or absence of a obstacle and a moving direction from the railroad crossing image scanned with laser line light, and controlling a breaker and an operation of a signal lamp according to the presence or absence of the obstacle; Railroad crossing obstacle detection control system using a laser beam, characterized in that configured to include.

A control signal output unit for applying a breaker operation control signal to the breaker controller;

At least one train operation control unit for controlling train operation depending on whether obstacles exist in the railroad crossing; And,

It is connected between the train detecting unit, the line light generating unit, the image acquisition unit, the signal lamp, the control signal output unit, and the train operation control unit, and scans the laser line light in the railroad crossing when the train enters the laser line light. It controls to photograph the scanned railroad crossings, detects the presence and the moving direction of obstacles from the railroad crossing image scanned with the laser line light, and according to the presence and the moving direction of the obstacles, the circuit breaker, the signal lamp and the train operation. Railroad crossing obstacle detection control system using a laser beam, characterized in that comprises a; control unit for controlling the operation of the control unit.

The method according to any one of claims 7 or 8,

A control unit for railroad crossing obstacle detection using a laser beam, characterized in that it further comprises; a database unit for database the image of the railroad crossing for detecting obstacles of railroad crossings and laser line light is connected to the control unit; system.

The method of claim 8, wherein the train operation control unit,

Cross box, consisting of a coil and a condenser to form a resonant frequency;

And a ground control unit for controlling the operation of the relay unit in accordance with the received signal by receiving the relay control signal transmitted from the control unit. Railroad crossing obstacle detection control system using a laser beam, characterized in that it comprises a.

The method according to any one of claims 7 and 8, wherein when the control unit analyzes an image of a railroad crossing on which the laser line light is scanned, it is determined that obstacles exist in the railroad crossing, the photographing is performed continuously. Detects either the moving speed of the obstacle or the size of the obstacle further from two or more images or two or more images taken with a certain time difference, or further detects the movement speed and the size of the obstacle. Railroad crossing obstacle detection control system using a laser beam.

The method according to any one of claims 7 or 8,

The line light generator,

A laser beam generator for generating a laser beam; And,

And a cylindrical lens for converting a laser beam of a point light source output from the laser beam generator into a laser beam of a line light source.

A line light scanning step of scanning laser line light in a railroad crossing;

Railroad crossing obstacles using a laser beam, characterized in that it comprises a; image processing step of detecting the presence of obstacles by analyzing the railroad crossing image scan the laser line light taken by performing the image taking step Water detection control method.

A line light scanning step of scanning laser line light in a railroad crossing;

An image photographing step of photographing a railroad crossing on which laser line light is scanned after performing the line light scanning step;

An image processing step of detecting whether a obstacle exists by analyzing an image of a railroad crossing at which the laser line light is scanned by performing the image photographing step; And,

And a signal output step of outputting an obstacle detection result after performing the image processing step.

A line light scanning step of scanning laser line light in a railroad crossing;

And performing a data processing step, and storing the obstacle detection database into a database. The railroad crossing obstacle detection control method using a laser beam, characterized in that it comprises a.

A line light scanning step of scanning laser line light in a railroad crossing;

An image processing step of detecting whether a obstacle exists by analyzing an image of a railroad crossing at which the laser line light is scanned by performing the image photographing step;

A signal output step of outputting an obstacle detection result after performing the image processing step; And,

17. The method according to any one of claims 13 to 16, wherein when it is determined that obstacles exist in the railroad crossing in the image processing step, two or more images continuously photographed, or two images photographed with a predetermined time difference. Railroad crossing obstacle detection control method using a laser beam, characterized in that for detecting the movement direction of the obstacle from the above image.

17. The method according to any one of claims 13 to 16, wherein when it is determined that obstacles exist in the railroad crossing in the image processing step, two or more images continuously photographed, or two images photographed with a predetermined time difference. Railroad crossing obstacle detection control method using a laser beam, characterized in that for detecting the moving speed of the obstacle from the above image.

And a signal lamp control step of controlling whether the obstacle is present in the railroad crossing by controlling the operation of the signal lamp after performing the obstacle detection step or the circuit breaker control step. Control method of railroad crossing obstacle detection using

An obstacle detection step of detecting whether a obstacle exists and a moving direction of the obstacle by analyzing a railroad crossing neck image to which the laser line light photographed by performing the image acquisition step is scanned;

A circuit breaker control step of controlling the operation of the exit circuit breaker in the direction in which the obstacle passes, if it is determined that the obstacle exists in the railroad crossing as a result of performing the obstacle detection step;

A signal lamp control step indicating whether obstacles exist in the railroad crossing by controlling the operation of the signal lamp after performing the obstacle detection step or the circuit breaker control step; And,

Railroad crossing obstacle detection control method using a laser beam, characterized in that it comprises a; train operation control step for controlling the operation of the train entering the crossing in accordance with the presence or absence of obstacles after performing the signal lamp control step.

The method according to any one of claims 19 or 20,

After performing the signal lamp control step or the train operation control step, the database step of database the obstacle detection results; further comprising a railroad crossing obstacle detection control method using a laser beam, characterized in that it comprises a.

The railroad crossing obstacle detection using a laser beam according to claim 20, wherein when the train operation is controlled according to the presence or absence of obstacles in the train operation control step, the train operation is controlled by an ATS control logic. Control method.