TWI794635B - A warning system for detecting approaching object - Google Patents

Abstract

A warning system for detecting approaching object is provided. The system is disposed on a rail road and/or a restrain area of a cross section of roads. The system includes a plurality of detection units for detecting a moving path of an approaching object moving toward the restrain area along the road and outputting a detection signal; a storage unit storing a warning information including the warning path and the confirmation condition; and a processing unit receiving the detection signal to acquire an immediate moving path of the approaching object. When the processing unit determines that the moving path falls in the warning path and fulfills the confirmation condition, the processing unit sends a warning signal for accurately warning that the approaching object moving toward the restrain area causes a danger.

Description

Early warning system for detecting approaching objects

The present invention relates to an early-warning system for detecting approaching objects, especially an early-warning system for detecting approaching objects and providing warnings, which is set in a control area at a railway and/or road intersection.

Railways and roads are usually classified as control areas at the intersections. If a train approaches, an emergency sound will be made to allow vehicles and personnel to leave the control areas as soon as possible to make them clear. If the vehicle suddenly encounters a vehicle breakdown or is blocked by an obstacle when passing through the control area, the emergency button set next to the control area can be pressed by the vehicle driver or bystanders to warn the train to decelerate and stop urgently. However, it is common for a driver of a vehicle to forget to press the emergency button due to excessive nervousness. If there is no assistance from others, the train cannot be warned and cannot slow down and stop, and a serious accident occurs in the control area. This is an emergency The problem is that the buttons have to be operated manually.

In order to solve the lack of emergency buttons in the above-mentioned control areas but fail to prevent accidents immediately, an image detection system (such as thermal image detection) is known, which detects the above-mentioned Whether there are vehicles or people staying around the control area, and then issue a warning to drive away as soon as possible to achieve the effect of automatic obstacle detection. However, the conventional image detection system is prone to misjudgments except in the case of poor sightlines, and if there are no vehicles or people staying in the control area, but if there is any traffic on the intersection road Vehicles, people, or cats, dogs and other approaching objects coming from the above-mentioned control area, the known image detection system cannot detect and give a warning, and cannot immediately prevent the train from entering the control area, and serious accidents still occur, which is the present The main problem that the invention intends to solve lies.

In order to solve the above problems, the present invention provides an early warning system for detecting approaching objects, which can automatically detect approaching objects in control areas at railway and/or road intersections, and issue warnings immediately.

An embodiment of the present invention provides an early warning system for detecting approaching objects, which is installed in a control area at a railway and/or road intersection, and includes a plurality of detection units, a storage unit, and a processing unit. The plurality of detection units have more than two kinds of transmission frequencies to detect the moving path of the approaching object along the road to the control area, and convert it into a detection signal output; in addition, the storage unit stores a The early warning information includes a warning path and a confirmation condition, and the confirmation condition confirms that the approaching object continues to drive on the warning path; the arithmetic processing unit is electrically connected to a plurality of detection units and storage units, and the arithmetic processing unit receives the detection signal to obtain the The real-time moving path of the approaching object, when the computing processing unit judges that the moving path is in the warning path and meets the confirmation condition, the computing processing unit outputs a warning signal.

In this way, when the detected moving path of the approaching object is within the warning path and meets the confirmation condition, it can be confirmed that the approaching object is indeed moving within the warning path and continues towards the control area Then, the computing processing unit can output a warning signal for warning, so as to notify the emergency deceleration and stop of the train that is about to enter the control area as soon as possible, so as to prevent the approaching object from colliding with the train in the control area, thereby avoiding serious accidents in the control area. Accidents happen.

100: Early Warning System

10: Detection unit

11:Horizontal scanning radar

12:Vertical scanning radar

13: Intercept scanning radar

20: storage unit

30: Operation processing unit

A, B, C, D: Waypoints

CA: control area

L: warning path

P: moving path

P1, P2: endpoints

P3, P4: the location

R1: Railway

R2: road

T: train

V: close to the object

W: predetermined width

Z1: Straight line warning zone

Z2: buffer zone

Z3, Z4: curve warning area

Z5, Z6: buffer zone

Fig. 1 is a schematic top view of an early warning system installed in a control area where railways and roads intersect according to an embodiment of the present invention.

Fig. 2 is a schematic side view of an early warning system installed in a control area where railways and roads intersect according to an embodiment of the present invention.

Fig. 3 is a block diagram of the early warning system of the present invention.

Fig. 4 is the judgment flow chart of the early warning system of the present invention in the linear mode.

Fig. 5 is the schematic diagram that the early warning system of the present invention detects approaching objects in the linear mode and has reached the warning state. In the figure, only one horizontal scanning radar is used for road detection to the control area, and the other horizontal scanning radar The detection method is the same, so it is not shown in the figure.

Fig. 6 is a schematic diagram of the early warning system of the present invention detecting approaching objects in a straight line mode but not reaching the warning state. In the figure, only one horizontal scanning radar is used for road detection to one side of the control area, and the other horizontal scanning radar The detection method is the same, so it is not shown in the figure.

Fig. 7 is the judgment flowchart of the early warning system of the present invention in the curve mode.

Figure 8 is a schematic diagram of the early warning system of the present invention detecting approaching objects in the curve mode but not reaching the warning state. In the figure, only one horizontal scanning radar is used to detect the road to the control area, and the other horizontal scanning radar The detection method is the same, so it is not shown in the figure.

Fig. 9 is the schematic diagram that the early warning system of the present invention detects approaching objects in the curve mode and has reached the warning state. In the figure, only one horizontal scanning radar is used to detect the road to one side of the control area for illustration, and the other horizontal scanning radar The detection method is the same, so it is not shown in the figure.

In order to illustrate the central idea of the present invention expressed in the column of the above-mentioned summary of the invention, it is expressed in specific embodiments. Various objects in the embodiments are drawn according to proportions, sizes, deformations or displacements suitable for illustration, rather than drawn according to the proportions of actual components, which are described first.

1 to 9, the present invention provides an early warning system 100 for detecting approaching objects, which is located in a control area CA (Control Area) at the intersection of railway R1 and road R2, including a plurality of detection units 10 , a storage unit 20 and an operation processing unit 30 . For ease of description, the control area CA in the following embodiments is represented by a rectangular block at the intersection of the railway R1 and the road R2, but the control area CA is not limited to the aforementioned rectangular block. In the following embodiments, the approaching object V detected by the early warning system 100 can be a moving vehicle, but it is not limited thereto. In fact, any approaching object can be used as a detection target, for example, it can also be applied to pedestrians , Detection of approaching objects such as animals (such as cats and dogs).

The plurality of detection units 10 include a plurality of horizontal scanning radars 11 , that is, each detection unit 10 has more than one horizontal scanning radar 11 . The plurality of horizontal scanning radars 11 are oppositely arranged at opposite corners of the control area CA, and the detection range of each horizontal scanning radar 11 scans in the horizontal direction to detect the moving path P of the approaching object V. In this embodiment, a plurality of detection units 10 further include a plurality of vertical scanning radars 12 installed opposite to each other on the road R2, and the installation positions are adjacent to both sides of the control area CA. The detection range of each vertical scanning radar 12 is vertical Directional scanning is used to detect the approaching object V that intends to enter the control area CA, whose height may be higher than the detection range of the horizontal scanning radar 11 . Preferably, the plurality of detection units 10 further include a plurality of interdiction scanning radars 13 installed on the railway R1, and the installation position is on both sides of the intersection of the adjacent road R2, so as to detect the entry and exit of the train T Area CA (as shown in Figure 2). Wherein, the radar operating frequency of the horizontal scanning radar 11 and the vertical scanning radar 12 is about 79Ghz, and the operating frequency of the interdiction scanning radar 13 is about 77Ghz.

In a preferred embodiment, the setting environment of the early warning system 100 is based on the control area CA being less than 15 meters on both sides of the road R2. In this example, there are two detection units 10, that is, each detection unit 10 has a horizontal scanning Radar 11, two horizontal scanning radars 11 are arranged at opposite corners in the control area CA (all are set at 45 degree angles in the figure), and the horizontal scanning ranges of the two horizontal scanning radars 11 are each at a 45 degree angle and do not overlap , at this time, the horizontal scanning ranges of the two horizontal scanning radars 11 cover the control area CA, and the horizontal scanning ranges of each horizontal scanning radar 11 extend to the facing road R2. The number of horizontal scanning radars 11 described in this embodiment and the horizontal scanning range at an angle of 45 degrees are just examples. Horizontal scanning radars 11 (not shown) are all set in the four corners of the control area CA, and the opposite corners are also opposite to each other; in addition, the horizontal scanning radars 11 can use different angles of horizontal scanning ranges, for example, 60 can be selected. ~120 degree angle.

Preferably, each detection unit 10 has two vertical scanning radars 12 and two interdiction scanning radars 13 . The vertical scanning radar 12 is installed opposite to each other on both sides of the road R2, and the vertical scanning is used as the detection range to detect the approaching object V intending to enter the control area CA whose height may be higher than the detection range of the horizontal scanning radar 11. For example, a crane with a boom (not shown in the figure), when it intends to pass through the control area CA, the horizontal scanning radar 11 can detect the tires and the car body from its bottom, but the boom hangs above the front of the car and protrudes , may exceed the detectable height range of the horizontal scanning radar 11. At this time, through the vertical scanning radar 12 to scan in the vertical direction, the crane and its protruding boom can still be detected, so as to assist in the detection of the approaching object V in the vertical direction. , to reach the comprehensive detection when the approaching object V intends to enter the control area CA; the interdiction scanning radar 13 is used to detect the train T entering and leaving the control area CA. The axle counter detects the train T entering and exiting the control area CA.

Continuing from the above, the plurality of detection units 10 have more than two transmission frequencies. Taking the two-horizontal scanning radar 11 as an example, if the operating frequency range is about 79Ghz, the operating frequency of the two-horizontal scanning radar 11 can be The operating frequency is divided and staggered, for example, one horizontal scanning radar 11 uses 79.3Ghz as its operating frequency, while the other horizontal scanning radar 11 uses 79.6Ghz as its operating frequency, so as to avoid the radar waves of the two horizontal scanning radars 11 being the same The operating frequency interferes with each other. To put it simply, the operating frequencies of the horizontal scanning radars 11 are different. The two vertical scanning radars 12 and the two interdiction scanning radars 13 of each detection unit 10 also have a mechanism for dividing the operating frequency to avoid mutual interference. In addition, the method of frequency division can also achieve the effect of quick warning of the system. Suppose there are 12 horizontal scanning radars 11 set in the control area CA, and 12 horizontal scanning radars 11 take 4 kinds of operating frequency bands as an example, that is, there are 3 horizontal scanning radars 11 in each operating frequency band with the same operating frequency. The response time of each horizontal scanning radar 11 takes 50ms as an example. In order to avoid mutual interference between the horizontal scanning radars 11 due to the same operating frequency, the scanning time of the three horizontal scanning radars 11 in each operating frequency band is staggered, and the scanning time is carried out at a single position. Confirm 5 times (to avoid the loss of the scanning signal, thereby improving the reliability of signal feedback), and under the condition that the horizontal scanning radar 11 of different operating frequency bands can scan at the same time, 12 horizontal scanning radars 11 can complete the scanning in 150ms, so that Let the arithmetic processing unit 30 perform the judgment of approaching the object V for the first time. If 12 horizontal scanning radars 11 do not use the aforementioned method of frequency division, but use the method of time-sharing polling (that is, each horizontal scanning radar 11 is staggered to scan with a response time of 50 ms), then the 12 radars must be It takes 600ms to complete the collection and allow the processing unit 30 to make the first judgment on approaching the object V, so frequency division can be used to respond more quickly and improve the effect of collision warning.

According to the above embodiment, the horizontal scanning radar 11 of a plurality of detection units 10 detects the moving path P of the approaching object V along the road R2 towards the control area CA, and converts it into a detection signal output; the storage unit 20 Used to store an early warning information, the early warning information includes a warning path L and a confirmation condition, the warning path L is set in the detection area, and the confirmation condition is to confirm that the approaching object V continues to drive on the warning path L; the calculation processing unit 30 is electrically connected to the detection unit 10 and the storage unit 20 for receiving the aforementioned detection signal output by the detection unit 10 to obtain the real-time moving path P of the approaching object V.

The confirmation condition mentioned above is a count preset value in this embodiment, and the object V is close to When entering the warning path L, start counting a counting actual value. If the counting actual value has reached the counting preset value, the arithmetic processing unit 30 judges that the moving path P of the approaching object V in the warning path L conforms to the confirmation condition. On the contrary, if the counting actual value does not reach the counting preset value, the arithmetic processing unit 30 judges that the movement path P of the approaching object V among the warning paths L does not meet the confirmation condition.

In this embodiment, the counting default value is 5, and the counting actual value is 0 to 5. The counting process is not counting when the approaching object V is outside the warning path L, and the counting actual value is equal to 0 at this time; When the approaching object V enters the warning path L, it starts counting until the counting actual value is equal to 5, and the counting actual value reaches the counting preset value. The preset counting value and the actual counting value can be adjusted depending on the situation, and are not limited to the above-mentioned embodiments.

In this embodiment, the relative distance of the approaching object V is detected by the horizontal scanning radar 11 in the detection area to obtain a time to collision (Time to Collision, TTC), and the collision time is measured by the horizontal scanning radar 11. After the distance, differentiate the relative distance to obtain a relative velocity of the approaching object V, and divide the relative distance by the relative velocity to obtain. In this embodiment, the warning information also includes a default value of collision time, and the default value of collision time is about 3.5 seconds. In this embodiment, the detected movement path P of the approaching object V is in the warning path L and meets the aforementioned confirmation conditions, and when it is judged that the aforementioned collision time is equal to or less than the aforementioned collision time preset value, the algorithm processing unit 30 output a warning signal.

Continuing from the above, the condition for outputting the warning signal by the arithmetic processing unit 30 of the present invention is not limited to including judging that the collision time is equal to or less than the preset value of the collision time, that is, detecting the moving path P of the approaching object V When the warning path L meets the aforementioned confirmation conditions, the arithmetic processing unit 30 can output the warning signal, and in this embodiment, the arithmetic processing unit 30 further judges that the aforementioned collision time is equal to or less than the aforementioned collision time preset value and then Sending out the warning signal is only an example, The present invention is not limited to this example.

The early warning system for detecting approaching objects includes a "straight line mode" and a "curve mode" in this embodiment. In the aforementioned "straight-line mode", the warning path L includes a straight-line warning zone Z1 and a buffer zone Z2 (as shown in Figures 5 and 6). The buffer zone Z2 is expanded outside the straight-line warning zone Z1. The straight-line warning zone Z1 is A predetermined width W that can be detected by the horizontal scanning radar 11 extends. In this embodiment, the linear warning zone Z1 extends linearly in the same direction with a predetermined width W, and the buffer zone Z2 expands on both sides of the linear warning zone Z1. And the distance is symmetrical.

As shown in Figure 4, it is the judgment process for detecting approaching objects in the "straight line mode", and in conjunction with Figure 5, when the approaching object V does not enter the buffer zone Z2, it does not count, indicating that the approaching object V does not If the warning path L is not entered, the early warning system 100 is in a standby state; when the approaching object V enters the buffer zone Z2, the calculation and judgment of the confirmation conditions are started, and in this embodiment, the actual counting value starts from 0 and goes up. Count to 5, if the approaching object V leaves the buffer zone Z2 during the process, it will count down until the actual value of the count is 0. When the counting actual value starts from 0 and counts up to 5, the approaching object V is in the buffer zone Z2, or enters the linear warning zone Z1 from the buffer zone Z2, and when the counting reaches 5, because the counting actual value reaches the counting By default, the arithmetic processing unit 30 judges that the movement path P of the approaching object V in the warning path L meets the confirmation condition.

Based on the above, if the arithmetic processing unit 30 has judged that the moving path P of the approaching object V is within the linear warning zone Z1, and the moving path P of the approaching object V also meets the confirmation conditions, in this embodiment, it is further processed by arithmetic The unit 30 judges whether the collision time measured by the approaching object V is equal to or less than the aforementioned collision time preset value of 3.5 seconds, that is, whether the measured collision time of the approaching object V is within the aforementioned collision time preset value of 3.5 seconds. In other words, when the calculation processing unit 30 judges that the collision time measured by the approaching object V is greater than the aforementioned collision time preset value of 3.5 seconds, the early warning system 100 is in a non-warning state; When the unit 30 judges that the collision time measured by the approaching object V is equal to or less than the aforementioned collision time preset value of 3.5 seconds, it judges that the approaching object V is in a dangerous state and is a dangerous vehicle, and then outputs the warning signal for warning ( Such as buzzer or flashing light), so that the vehicles and personnel beside the train T and the control area CA can immediately know that a dangerous vehicle is approaching, and deal with it as soon as possible.

Also as shown in FIG. 4, if the arithmetic processing unit 30 also judges that the moving path P of the approaching object V is within the linear warning zone Z1, and the moving path P of the approaching object V also meets the confirmation conditions, but the approaching object V is measured Before the collision time reaches the aforementioned collision time preset value within 3.5 seconds, it has already driven out of the straight-line warning zone Z1. The object V has driven out of the straight-line warning zone Z1 and will not cause danger to the control area CA. The processing unit 30 does not output the warning signal and does not issue a warning, so as to prevent people in the control area CA from being afraid or panic.

In this embodiment, in the above-mentioned "curve mode", the triangular area formed by the two points P1, P2 of the predetermined width W and the point P3 close to the position of the object V is a three-point line as the curved warning area Z3, Z4, and buffer zone Z5, Z6 are expanded (as shown in Figure 8, 9) on both sides of curve warning zone Z3, Z4. As shown in Figure 7, it is the judgment process of detecting approaching objects in the "curve mode", and in conjunction with Figure 8, when the approaching object V does not enter the buffer zones Z5 and Z6, it does not count, indicating that the approaching object V does not enter the warning path L, and the early warning system 100 is in a standby state at this time. And when the approaching object V enters the buffer zone Z5, the counting starts, and the actual counting value starts from 0 and counts up to 5. If the approaching object V enters the curve warning zone Z3 and then leaves, it counts down to the actual counting value is 0.

As shown in Figures 8 and 9, as the moving path P of the approaching object V changes, for example, the moving path P of the approaching object V leaves the curved warning zone Z3 and meets a distance condition. For example, in this embodiment, the distance condition is The moving path P of the approaching object V when moving away from the curved warning zone Z3 as mentioned above is successively extracted from the path Points A, B, C, D and other four path points (as shown in Figure 8), and the first path point A to the last path point D in the path points A, B, C, D are compared by the arithmetic processing unit 30 Stay away from the curve warning zone Z3. At this time, use the triangle area formed by the point P4 where the approaching object V meets the distance condition and the three-point line connecting the two ends P1 and P2 to redefine the curve warning zone Z4 and the buffer zone Z6 (such as 9 ), and so on, until the confirmation condition is met and the operation processing unit 30 outputs the warning signal, or the approaching object V moves away through the horizontal scanning radar 11 . On the contrary, if the first path point A to the last path point D among the path points A, B, C, and D are not gradually moving away from the curve warning zone Z3, it is considered as not meeting the distance condition. At this time, the curve warning zone Z3 is still maintained and not will be redefined.

When in the "curve mode", the approaching object V enters the buffer zone Z5 or buffer zone Z6, the counting actual value starts from 0 and counts up to 5, and the approaching object V enters the curve warning zone Z3 from the buffer zone Z5, or enters from the buffer zone Z6 Curve warning zone Z4, and when the continuous count reaches 5, because the counting actual value reaches the counting preset value, the arithmetic processing unit 30 judges that the movement path P of the approaching object V in the warning path L meets the confirmation condition.

Based on the above, if the arithmetic processing unit 30 has judged that the moving path P of the approaching object V is within the curve warning zone Z3 or the curve warning zone Z4, and the moving path P of the approaching object V also meets the confirmation conditions, then in this In the embodiment, the arithmetic processing unit 30 also judges whether the collision time measured by the approaching object V is equal to or less than the preset collision time value of 3.5 seconds. In other words, when the arithmetic processing unit 30 judges that the collision time measured by the approaching object V is greater than the aforementioned collision time preset value of 3.5 seconds, the early warning system 100 is in a non-warning state; When the collision time is equal to or less than the aforementioned collision time preset value of 3.5 seconds (as shown in Figure 9), it is judged that the approaching object V is a dangerous vehicle, and at this time the warning signal is output to warn, so that the train T and the control area CA The vehicles and personnel nearby can immediately know that a dangerous vehicle is approaching and deal with it as soon as possible. If the approaching object V drives out of the curve warning zone Z4 (not shown in the figure) At this time, even if the collision time measured by the approaching object V reaches the aforementioned collision time preset value within 3.5 seconds, it will not cause danger to the personnel in the control area CA, and the calculation processing unit 30 does not output the warning signal and does not Be warned.

The above are the linear mode and the curved mode respectively. In actual use, the approaching object V can be detected in the linear mode or the curved mode alone, or the linear mode and the curved mode can be paralleled. For example, the linear mode and the curved mode can be used to detect the approaching object at the same time. V is approaching, or the linear mode and the curve mode are used to detect the approaching object V in an alternate manner, so that the mode of detecting the approaching object V can be used more flexibly to reduce the occurrence of misjudgment.

It is not difficult to find the characteristics of the present invention from the above description, mainly in:

1. The early warning system 100 for detecting approaching objects provided by the present invention is that the moving path P of the approaching object V is in the warning path L, and the approaching object can be confirmed if the confirmation conditions are met V is indeed moving in the warning path L and continues to come towards the control area CA to confirm that the approaching object V is in a dangerous state, and the calculation processing unit 30 outputs a warning signal for warning, so as to notify that it is about to enter the control area as soon as possible. The train T of CA is braked to prevent the collision between the approaching object V and the train T in the control area CA, thereby achieving the effect of automatic warning and avoiding serious accidents in the control area CA.

2. The early warning system 100 for detecting approaching objects provided by the present invention, in addition to providing a horizontal scanning radar 11 to scan and detect the movement path P of the approaching object V in the horizontal direction, further includes a vertical scanning radar 12 on the road R2 is set opposite to each other, and the detection range is scanned in the vertical direction. When the height of the approaching object V may be higher than the detection range of the horizontal scanning radar 11 (such as the aforementioned crane), when it wants to enter the control area CA, it can still be detected. Measure everything without missing a beat. The present invention is further equipped with an interdiction scanning radar 13 to detect that the train T enters and exits the control area CA, so as to solve the problem of the detection of the train T entering and leaving by the conventional axle counter. The problem of detection error may occur when leaving the control area CA, thereby improving the accuracy of detection.

3. The early warning system 100 for detecting approaching objects provided by the present invention further uses the detection unit 10 to detect the collision time of the approaching object V, except that the moving path P of the aforementioned approaching object V is in the warning path L And must meet the confirmation conditions, and must be judged by the arithmetic processing unit 30 is within the preset value of the collision time, it will confirm that the approaching object V is in a dangerous state, and then output the aforementioned warning signal for warning, so as to describe the collision The time is used to assist in judging the correctness of the approaching object V being in a dangerous state.

4. The early warning system 100 for detecting approaching objects provided by the present invention, when the moving path P of the approaching object V enters from the side, can obtain good detection and early warning effects in the curve mode, and can see the approaching objects The moving path P of V adjusts the range of the warning zone (for example, the aforementioned curved warning zone Z3 is adjusted to the curved warning zone Z4), so as to further achieve the effect of accurately detecting the moving path P of the approaching object V.

Further, when the horizontal scanning radar 11 detects that the approaching object V is traveling outside the buffer zones Z2, Z5, and Z6, there is a first number of detections, and detects that the approaching object V is traveling in the buffer zones Z2, Z5, and Z6. There is a second detection time, and the second detection time is higher than the first detection time at the same detection time. For example, when the approaching object V travels outside the buffer zones Z2, Z5, and Z6, the first detection times measured by the detection unit 10, such as only 50 times per second, belong to the slow detection mode; when the approaching object V travels When in the buffer zone Z2, Z5, Z6, the horizontal scanning radar 11 can measure a second detection times, for example, only 500 times per second, belonging to the fast detection mode. Therefore, by approaching the object V and driving outside the buffer zones Z2, Z5, and Z6, the slow detection mode can save power compared with the fast detection mode, thereby enabling the horizontal scanning radar 11 to achieve power saving effect during detection.

Further, when the approaching object V travels in the buffer zone Z2, Z5, Z6, it can start to output the warning signal for warning, and the warning signal is the operation processing unit 30 when the approaching object V travels in the warning zone Z1, Z3, Z4 The output is compared with the operation processing unit 30 when approaching the object V and traveling in the buffer zone When Z2, Z5, and Z6, the warning level of the output is high. In other words, when the approaching object V travels in the buffer zones Z2, Z5, and Z6 and starts to output the warning signal for warning, the warning level is low (such as the buzzer sound is small or the warning light flashing frequency is low), providing personnel. The approaching object V can be detected when driving in the buffer zone Z2, Z5, Z6, and when the approaching object V travels to the warning zone Z1, Z3, Z4, the warning level will be increased (for example, the buzzer sounds louder or the warning light flashes Higher frequency) to assist personnel to dodge as soon as possible when informed of the critical situation.

The above-mentioned embodiments are only used to illustrate the present invention, and are not intended to limit the scope of the present invention. All modifications or changes that do not violate the spirit of the present invention belong to the intended protection category of the present invention.

100: Early Warning System

10: Detection unit

11:Horizontal scanning radar

12:Vertical scanning radar

13: Intercept scanning radar

20: storage unit

30: Operation processing unit

Claims (14)

An early warning system for detecting approaching objects, which is installed in a control area at the intersection of railways and/or roads, including: a plurality of detection units, the plurality of detection units have more than two transmission frequencies to detect approaching objects The object travels along the road to a movement path of the control area and converts it into a detection signal output, wherein the plurality of detection units are scanning radars; a storage unit stores a warning information, and the warning information It includes a warning path and a confirmation condition for confirming that the approaching object continues to drive on the warning path; and an arithmetic processing unit, which is electrically connected to the plurality of detection units and the storage unit, receives the detection signal to obtain the The real-time moving path of the approaching object is determined, and when the moving path is determined to be within the warning path and meets the confirmation condition, the arithmetic processing unit outputs a warning signal. The early warning system for detecting approaching objects as described in Claim 1, wherein the plurality of detection units include a plurality of horizontal scanning radars, and the plurality of horizontal scanning radars are oppositely arranged at opposite corners of the control area, each The detection range of the horizontal scanning radar scans in the horizontal direction to detect the moving path of the approaching object. The early warning system for detecting approaching objects as described in claim 2, wherein the warning path includes a warning area and a buffer zone, the warning area extends with a predetermined width that can be detected by the horizontal scanning radar, the The buffer zone expands relative to the warning zone. The early warning system for detecting approaching objects as described in claim item 3, wherein the confirmation condition is a counting preset value, and when the approaching object enters the buffer zone, it starts to count a counting actual value, if the counting actual value has already When the counting preset value is reached, the arithmetic processing unit judges that the movement path meets the confirmation condition in the warning area; otherwise, the counting actual value does not reach the counting preset value, and the arithmetic processing unit judges that the The movement path in the warning area does not meet the confirmation condition. The early warning system for detecting approaching objects as described in claim 4, wherein the warning area is a straight line warning area, which extends linearly in the same direction with the predetermined width, and the buffer zone expands on both sides of the line warning area and The distance is symmetric, and the counting actual value starts counting when the approaching object enters the buffer zone. The early warning system for detecting approaching objects as described in claim 3, wherein the warning area is a curved warning area, which is connected by three points between the two ends of the predetermined width and a point where the approaching object is located When the triangular area formed by the lines leaves the curved warning area along with the moving path of the approaching object, and meets a condition for moving away, the point where the approaching object meets the condition for leaving away is connected with three points of the two ends. The triangular area formed by the lines redefines the curved warning area, and so on, until the confirmation condition is met and the arithmetic processing unit outputs the warning signal, or the approaching object moves away through the plurality of detection units. The early warning system for detecting approaching objects as described in claim 6, wherein the distance condition is that the moving path of the approaching object moves away from the curved warning area as described above, and a plurality of path points are successively extracted and processed by the calculation When the unit is gradually away from the warning area of the curve from the first path point to the last path point among the plurality of path points, it is deemed to meet the condition of leaving; When staying away from the warning zone of the curve, it is deemed not to meet the conditions for keeping away. The early warning system for detecting approaching objects as described in claim 5, further comprising a curved warning area, which is formed by a line connecting three points between the two ends of the predetermined width and a point where the approaching object is located When the moving path of the approaching object leaves the curved warning area and meets a distance condition, the point where the approaching object meets the distance condition is changed to the point where the approaching object meets the distance condition and the three-point line between the two ends The triangular area redefines the warning area of the curve, and so on until the confirmation bar is met. and the arithmetic processing unit outputs the warning signal, or the approaching object moves away through the plurality of detection units. The early warning system for detecting approaching objects as described in Claim 8, wherein the distance condition is that the moving path of the approaching object as described above moves away from the curved warning area, and a plurality of path points are successively extracted, and processed by the calculation When the unit is gradually away from the warning area of the curve from the first path point to the last path point among the plurality of path points, it is deemed to meet the condition of leaving; When staying away from the warning zone of the curve, it is deemed not to meet the conditions for keeping away. The early warning system for detecting approaching objects as described in claim 1, wherein the plurality of detection units detect a relative distance of the approaching objects in a detection area to obtain a collision time, and the early warning information includes a Collision time default value, the arithmetic processing unit receives the detection signal to obtain the real-time collision time of the approaching object, the moving path is in the warning area and meets the confirmation condition, and judges that the collision time is equal to or less than When the collision time is preset, the arithmetic processing unit outputs the warning signal. The early warning system for detecting approaching objects as described in Claim 2, wherein the plurality of detection units further include a plurality of vertical scanning radars, and the plurality of vertical scanning radars are arranged opposite to the road and adjacent to the control area On both sides of the vertical scanning radar, the detection range of each vertical scanning radar scans in the vertical direction to detect approaching objects that intend to enter the control area. The early warning system for detecting approaching objects as described in claim 11, wherein the plurality of detection units further include a plurality of interdiction scanning radars, and the plurality of intermission scanning radars are set on the railway adjacent to the road on both sides of the intersection to detect trains entering and exiting the control area. The early warning system for detecting approaching objects according to claim 12, wherein, the radar operating frequency of the horizontal scanning radar and the vertical scanning radar is about 79Ghz; the interdiction scanning radar The operating frequency is about 77Ghz. In the early warning system for detecting approaching objects as claimed in Claim 2, wherein the operating frequencies of the plurality of horizontal scanning radars are different.

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