WO2021027075A1 - 一种基于红外激光和微波的平交道口存在检测装置与方法 - Google Patents

一种基于红外激光和微波的平交道口存在检测装置与方法 Download PDF

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WO2021027075A1
WO2021027075A1 PCT/CN2019/113971 CN2019113971W WO2021027075A1 WO 2021027075 A1 WO2021027075 A1 WO 2021027075A1 CN 2019113971 W CN2019113971 W CN 2019113971W WO 2021027075 A1 WO2021027075 A1 WO 2021027075A1
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level crossing
infrared
space
detected
railway level
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PCT/CN2019/113971
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English (en)
French (fr)
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陶征
王升亮
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南京慧尔视智能科技有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/007—Safety arrangements on railway crossings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L29/00—Safety means for rail/road crossing traffic
    • B61L29/08—Operation of gates; Combined operation of gates and signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L29/00—Safety means for rail/road crossing traffic
    • B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
    • B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
    • B61L29/30—Supervision, e.g. monitoring arrangements

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  • the invention relates to a railway level crossing existence detection device and method based on infrared laser and microwave, belonging to railway road traffic safety technology.
  • Unguarded level crossings are a weak link in the safety of the railway transportation system. A large number of extra-road casualties occur at railway level crossings every year. There are two main reasons leading to level crossing accidents: one is the poor safety awareness of pedestrians. They do not pay attention to the approaching or passing of railway vehicles, forcibly cross the level crossing on foot, and compete with the train while the train is approaching the level crossing. The speed at the crossing is very fast, and the pedestrians who rush to the road cannot be avoided in time. Another main reason is the environment. Due to the terrain restrictions, the railway curve is likely to be too close to the level crossing, which prevents the train driver from seeing the level crossing in advance. Furthermore, the inability to adjust the train speed in time, coupled with the influence of severe weather such as smog, is more likely to cause accidents.
  • this intelligent crossing control system mainly includes three modules, namely crossing target detectors, crossing intelligent control equipment, and railing control/sound and light alarm equipment.
  • the crossing target detectors detect crossing trains/vehicles/pedestrians.
  • Existence information and send the existence information to the crossing intelligent control equipment through the network
  • the crossing intelligent control equipment generates control instructions according to the existence information, and sends the control instructions to the railing control/sound and light alarm equipment through the network, and the railing control/sound and light alarm equipment Implement improvement plans based on control command actions.
  • the level crossing target detector only uses electromagnetic coils to sense the running conditions of trains and cars on the rails. It has a single working mode and cannot achieve comprehensive protection of level crossings. It can only detect the running conditions of trains on this section of the railway. If there are people in this area, it cannot be detected, resulting in a detection blind spot; if the electromagnetic coil fails, it is more likely to cause a safety accident due to the lack of backup detection equipment.
  • the present invention provides a railway level crossing existence detection device and method based on infrared laser and microwave.
  • microwave radar and infrared lidar are arranged in the space to be inspected at the railway level crossing, and the trains, road vehicles, pedestrians and other targets at the level crossing can be detected in all-weather, high precision and high reliability in a complementary manner to prevent railway trains. Collisions with road vehicles and pedestrians.
  • a railway level crossing existence detection device based on infrared laser and microwave including more than two sets of crossing target detectors, each group of crossing target detectors includes a microwave radar and an infrared lidar, and each microwave radar is configured with an angle Cone;
  • the incident wave area of the pyramid covers the space to be detected at the railway level crossing, the microwave radar is used to identify the reflected wave of the pyramid, and the infrared lidar performs infrared imaging of the space to be detected at the railway level crossing;
  • Two sets of level crossing target detectors are arranged in a pair of diagonally diagonal areas of the space to be detected at a railway level crossing.
  • the pyramid is used as the detection reference of the microwave radar, so the pyramid is set in the to-be-detected space of the railway level crossing to match the diagonal position of the corresponding microwave radar.
  • the invention arranges microwave radar and infrared laser radar in the space to be detected at the railway level crossing at the same time, and adopts a complementary way to perform all-weather, high-precision, high-reliability, all-weather, high-precision and high-reliability detection of targets such as trains, road vehicles, and pedestrians at the level crossing. Prevent road vehicles or pedestrians from affecting the passage of the train; at the same time, it can also detect whether the train has passed.
  • the infrared lidar adopts solid-state design and area array projection to perform three-dimensional imaging of the space to be detected at a railway level crossing, including the height of foreign objects, whether it is a train, a road vehicle, a walking pedestrian, or a squatting/falling pedestrian , It can be detected clearly, can cover the detection of low and slow foreign objects, and the detection accuracy is high.
  • microwave radar can have high detection accuracy for moving foreign objects, and has high environmental adaptability. It can form a good complement to infrared lidar in the detection of foreign objects with low reflection cross-section.
  • the microwave radar can identify the stable reflected wave corresponding to the pyramid; when there is a foreign object in the space to be detected at the railway level crossing, the microwave radar can identify the corresponding pyramid. Shaking/flickering reflected waves.
  • it further includes a signal processing unit and a main control unit;
  • the signal processing unit preprocesses the reflected wave of the pyramid identified by the microwave radar, and sends the preprocessed information to the main control unit.
  • the main control unit judges the railway according to whether the energy value of the reflected wave of the pyramid is jittered/flicker Whether there is a foreign body in the space to be inspected at the level crossing, if there is a foreign body, a protection instruction is generated;
  • the signal processing unit preprocesses the infrared imaging data of the infrared lidar, and sends the preprocessed information to the main control unit.
  • the main control unit judges the space to be inspected at the railway level crossing based on the difference between the infrared imaging and the background image Whether there is a foreign body, if there is a foreign body, a protection instruction is generated; the background image is the infrared imaging of the infrared lidar when there is no foreign body in the space to be detected at the railway level crossing.
  • the protection instruction includes one or more of audible and visual alarm instructions, intelligent traffic signal warning instructions, motion prompt instructions of railings on both sides of the space to be detected at a railway level crossing, and train deceleration instructions.
  • the main control unit learns the detection results of the microwave radar and the infrared lidar, and obtains the space signals of the train entering and leaving the railway level crossing to be detected.
  • the result of infrared imaging performed by the infrared lidar on the space to be detected at a railway level crossing is point cloud data, and the point cloud data is converted into image data based on the distance-Doppler imaging technology.
  • a method for detecting the presence of a railway level crossing based on infrared laser and microwave including the following steps:
  • the main control unit learns the detection results of microwave radar and infrared lidar, and obtains the signal of the train entering and leaving the space to be detected at the railway level crossing;
  • the intelligent traffic light turns into a red light and starts to close one side railing. After a set time delay, it starts to close the other side railing, and then starts to close the other side railing. Start microwave radar and infrared lidar at the same time or before;
  • the infrared laser and microwave-based railway level crossing existence detection device and method provided by the present invention have the following advantages:
  • microwave radar has good environmental adaptability, but it has low detection accuracy for low, small and slow targets and cannot accurately detect people; although lidar has poor environmental adaptability, it is in harsh environments It will affect the detection accuracy, but it has advantages for the detection of low, small and slow targets; the two complement each other and can improve the robustness of the system; the dual detection of microwave radar and infrared lidar can adapt to various complex environments, intelligent and all-weather crossings Monitoring and alarm equipment can make up for human negligence, improve the safety of the crossing, and ensure the normal passage of the crossing;
  • Two sets of level crossing target detectors are respectively set at a pair of diagonal positions in the space to be detected at a railway level crossing. When there is a foreign object obscured by it, the blind can be filled at the same time to form a complement; when one of the level crossing target detectors fails, The other can be used as a backup option;
  • Microwave radar is to receive the reflected wave changes of the pyramid to determine the existence of the target in the current area.
  • the entire device is installed in a non-contact manner without destroying the existing equipment at the railway level crossing.
  • Figure 1 is a block diagram of the intelligent crossing control system
  • Figure 2 is a block diagram of the system structure of the device of the present invention.
  • Figure 3 is a schematic diagram of the installation of the device of the present invention.
  • Figure 4 is a schematic diagram of the implementation process of the method of the present invention.
  • the figure includes: 1- crossing target detector; 2- pyramid; 3- railway level crossing to be detected space; 4- railing.
  • Figures 1 to 3 show a railway level crossing existence detection device based on infrared laser and microwave, including two sets of crossing target detectors, signal processing unit and main control unit. All equipment is powered by the power supply.
  • Each group of crossing target detectors includes a microwave radar and an infrared lidar, and each microwave radar is configured with a pyramid; the incident wave area of the pyramid covers the space to be detected at a railway level crossing, and the microwave radar is used for To identify the reflected wave of the pyramid, the infrared lidar performs infrared imaging on the space to be detected at a railway level crossing; two sets of level crossing target detectors are arranged in a pair of diagonal areas of the space to be detected at a railway level crossing, and the corresponding two The two pyramids are also set in the same diagonal area.
  • the pyramid is mainly used for microwave radar to detect changes in the state of foreign objects.
  • the infrared lidar adopts solid-state design and area array projection to perform three-dimensional imaging of the space to be inspected at railway level crossings.
  • the infrared lidar adopts range-Doppler imaging technology to obtain high-resolution clear images of moving targets, real-time Point cloud data for detecting foreign objects on the ground is mainly used to detect low, small, and slow targets on the ground.
  • the signal processing unit preprocesses the reflected wave of the pyramid identified by the microwave radar, and sends the preprocessed information to the main control unit.
  • the main control unit judges the railway according to whether the energy value of the reflected wave of the pyramid is jittered/flicker Whether there is a foreign body in the space to be inspected at the level crossing, if there is a foreign body, a protection instruction is generated;
  • the signal processing unit preprocesses the infrared imaging data of the infrared lidar, and sends the preprocessed information to the main control unit.
  • the main control unit judges the space to be inspected at the railway level crossing based on the difference between the infrared imaging and the background image Whether there is a foreign body, if there is a foreign body, a protection instruction is generated; the background image is the infrared imaging of the infrared lidar when there is no foreign body in the space to be detected at the railway level crossing.
  • the protection instructions include one or more of audible and visual alarm instructions, intelligent traffic light warning instructions, motion prompt instructions for railings on both sides of the space to be detected at a railway level crossing, and train deceleration instructions.
  • the detection method based on the above detection device is divided into two parts: the learning phase and the detection phase.
  • the crossing target detector learns the environment background when there is no foreign matter in the detection area, which is convenient for lidar and infrared microwave radar to calculate the three-dimensional space situation of the detection area when there is no foreign matter. At the same time, it ensures that the microwave radar is used for self-checking. Whether there is any foreign matter in the shielding, so that the corresponding pyramid can be stably identified.
  • the main control unit learns the detection results of microwave radar and infrared lidar, and obtains the signal of the train entering and leaving the space to be detected at the railway level crossing;
  • the crossing target detector images/scans the detection area, and analyzes the presence of foreign objects in the current detection area based on the echo signal.
  • the intelligent traffic signal turns to a red light, and one side of the railing is closed to prevent new road vehicles and pedestrians from entering.
  • the closing speed of the railing does not slow down in principle ;
  • the main control unit If the energy value of the pyramid reflection wave detected by the microwave radar jitters/flickers, it is judged that there is a foreign object in the space to be detected at the railway level crossing, and the main control unit generates a protection instruction, starts the sound and light alarm device to alarm, and slows down the other Side rail closing speed;
  • the main control unit If there is a difference between the infrared imaging of the infrared lidar and the background image, it is judged that there is a foreign object in the space to be detected at the railway level crossing, and the main control unit generates a protection instruction, activates the sound and light alarm device to alarm, and slows down the closing speed of the railing on the other side;
  • the main control unit If the energy value of the pyramid reflection wave detected by the microwave radar jitters/flickers, it is judged that there is a foreign object in the space to be detected at the railway level crossing, and the main control unit generates a protection instruction, and sends an alarm instruction and a train deceleration instruction to the artificial station , To remind the staff to carry out on-site inspection and manual operation; the main control unit can calculate the collision time according to the running speed of the train, and notify the train to slow down in time;
  • the main control unit If there is a difference between the infrared imaging of the infrared lidar and the background image, it is judged that there is a foreign object in the space to be detected at the railway level crossing, and the main control unit generates a protection instruction, sends an alarm instruction and a train deceleration instruction to the artificial station to remind the staff to proceed On-site inspection and manual operation; the main control unit can calculate the collision time according to the running speed of the train and notify the train to slow down in time;
  • the current technical direction is mainly to detect whether the train passes smoothly, and most of the accident factors are the safety hazards caused by the improper passage of pedestrians, and this case is more about how to detect the passage of the train in all directions. ⁇ Whether there are pedestrians in the protection area when the railing is about to be completely closed. Infrared lidar can image the point cloud, is not affected by the weather, and accurately detects pedestrians falling on the road and other low, small and slow targets. Microwave radar can quickly detect the passing of trains and the presence of cars in the protected area. This case adopts non-contact installation. After the installation of this case device at the crossing, even if the number of motor vehicles continues to increase, it can effectively prevent accidents.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种基于红外激光和微波的铁路平交道口存在检测装置与方法，在铁路平交道口待检测空间同时布置微波雷达和红外激光雷达，采用互补的方式对平交道口的列车、道路车辆、行人等目标进行全天候、高精度、高可靠性的全方位检测，防止铁路列车与道路车辆及行人发生冲撞。

Description

一种基于红外激光和微波的平交道口存在检测装置与方法 技术领域
本发明涉及一种基于红外激光和微波的铁路平交道口存在检测装置与方法，属于铁路道路交通安全技术。
背景技术
无人看守的平交道口是铁路运输系统中的安全薄弱环节，每年铁路的平交道口都会发生大量的路外伤亡事故。导致平交道口事故的主要原因有两个：一个主要原因是行人的安全意识淡薄，他们不注意铁路车辆的接近或通过，强行徒步穿越平交道口，和列车抢道，而列车在接近平交道口时的车速非常快，不能够及时避让抢道的行人；另一个主要原因是环境，由于地形限制容易造成铁路曲线距离平交道口太近，使得列车司机瞭望受阻不提前掌握平交道口情况，进而不能及时调整列车速度，再加上雾霾等恶劣天气的影响，更容易造成事故的发生。
目前，国内外主要采用智能道口控制系统来预防平交道口事故，其通过电子和机械手段对道口闸杆/栅栏和相交公路信号灯进行自动控制，结合声光预警系统以减少平交道口事故的发生。如图1所示，这种智能道口控制系统主要包括三个模块，分别为道口目标探测器、道口智能控制设备和栏杆控制/声光报警设备，通过道口目标探测器探测道口列车/车辆/行人存在信息，并将存在信息通过网络发送给道口智能控制设备，道口智能控制设备根据存在信息产生控制指令，并将控制指令通过网络发送给栏杆控制/声光报警设备，栏杆控制/声光报警设备根据控制指令动作实施改善方案。
目前道口目标探测器仅使用电磁线圈来感应列车和汽车在铁轨上的行驶情况，其工作模式单一，不能够实现平交道口的综合防护，并且只能探测列车在该段铁路上的运行情况，若该段区域内有人存在的话无法是无法探测到的，造成了探测盲点；若是电磁线圈发生故障，由于缺少备用探测设备，更容易造成安全事故。
发明内容
发明目的：为了克服现有技术中存在的不足，以及智能道口信号、栏杆控制系统对前端检测系统的要求，本发明提供一种基于红外激光和微波的铁路平交道口存在检测装置与方法，在铁路平交道口待检测空间同时布置微波雷达和红外激光雷达，采用互补的方式对平交道口的列车、道路车辆、行人等目标进行全天候、高精度、高可靠性的全方 位检测，防止铁路列车与道路车辆及行人发生冲撞。
技术方案：为实现上述目的，本发明采用的技术方案为：
一种基于红外激光和微波的铁路平交道口存在检测装置，包括两组以上道口目标探测器，每组道口目标探测器均包括一个微波雷达和一个红外激光雷达，对应每个微波雷达配置一个角锥；所述角锥的入射波区域覆盖铁路平交道口待检测空间，所述微波雷达用于识别角锥的反射波，所述红外激光雷达对铁路平交道口待检测空间进行红外成像；其中两组道口目标探测器设置在铁路平交道口待检测空间的一对斜对角区域。角锥作为微波雷达的探测参考物，因此角锥设置在铁路平交道口待检测空间中匹配对应微波雷达的对角位置。
本发明在铁路平交道口待检测空间同时布置微波雷达和红外激光雷达，采用互补的方式对平交道口的列车、道路车辆、行人等目标进行全天候、高精度、高可靠性的全方位检测，防止道路车辆或行人等影响列车通过；同时还能够检测到列车是否通行完毕。
具体的，所述红外激光雷达采用固态设计和面阵投影方式对铁路平交道口待检测空间进行三维立体成像，包括异物高度，不论是列车、道路车辆、走动的行人或蹲坐/跌倒的行人，能够清晰检测到，能够覆盖低小慢异物的检测，且检测精度高。相对来说，微波雷达对运动的异物能够有很高的检测精度，且环境适应度较高，在低反射截面的异物检测上可以与红外激光雷达形成良好的互补。
具体的，在铁路平交道口待检测空间无异物时，微波雷达能够识别到对应角锥的稳定的反射波；在铁路平交道口待检测空间有异物时，微波雷达能够识别到对应角锥的抖动/闪烁的反射波。
优选的，还包括信号处理单元和主控单元；
所述信号处理单元对微波雷达识别到的角锥的反射波进行预处理，并将预处理后的信息发送给主控单元，主控单元根据角锥反射波的能量值是否抖动/闪烁判断铁路平交道口待检测空间内是否有异物存在，若存在异物则生成防护指令；
所述信号处理单元对红外激光雷达的红外成像数据进行预处理，并将预处理后的信息发送给主控单元，主控单元根据红外成像与背景图像的差别判断铁路平交道口待检测空间内是否有异物存在，若存在异物则生成防护指令；所述背景图像为在铁路平交道口待检测空间无异物时，红外激光雷达的红外成像。
具体的，所述防护指令包括声光报警指令、智能交通信号灯警示指令、铁路平交道 口待检测空间两侧栏杆的动作提示指令、列车减速指令中的一种或两种以上。
具体的，在没有列车通行情况，且铁路平交道口待检测空间无异物情况时，安装角锥并使用红外激光雷达对铁路平交道口待检测空间进行检测：调节角锥的位置至微波雷达能够识别到对应角锥的稳定的反射波；基于红外激光雷达的检测结果，主控单元通过学习获取背景图像。
具体的，在列车通行时，主控单元通过对微波雷达和红外激光雷达的检测结果进行学习，获取到列车驶入和驶出铁路平交道口待检测空间信号。
具体的，所述红外激光雷达对铁路平交道口待检测空间进行红外成像的结果为点云数据，基于距离-多普勒成像技术将点云数据转换成图像数据。
一种基于红外激光和微波的铁路平交道口存在检测方法，包括如下步骤：
学习阶段：
(1)对铁路平交道口待检测空间配置权利要求1所述的基于红外激光和微波的铁路平交道口存在检测装置，道口目标探测器的探测区域均覆盖铁路平交道口待检测空间，其中两个角锥分别设置在铁路平交道口待检测空间的一对斜对角位置；
(2)在没有列车通行，且铁路平交道口待检测空间无异物情况下，开启微波雷达和红外激光雷达进行检测：基于微波雷达的检测结果调整角锥的位置，使得微波雷达能够识别到对应角锥的稳定的反射波；基于红外激光雷达的检测结果，主控单元通过学习获取背景图像；
(3)在列车通行时，主控单元通过对微波雷达和红外激光雷达的检测结果进行学习，获取到列车驶入和驶出铁路平交道口待检测空间信号；
检测阶段：
(4)在铁路平交道口未接收到列车通行预警信息时，微波雷达复位，红外激光雷达复位，声光报警装置复位，智能交通信号灯常规工作，铁路平交道口待检测空间两侧栏杆完全打开；
(5)在铁路平交道口接收到列车通行预警信息时，智能交通信号灯转换为红灯，开始关闭一侧栏杆，延时设定时间后开始关闭另一侧栏杆，在开始关闭另一侧栏杆的同时或之前启动微波雷达和红外激光雷达；
(6)在另一侧栏杆完全关闭前：
①若微波雷达检测到的角锥反射波的能量值维持稳定，且红外激光雷达的红外成像 与背景图像维持无差别，则判断铁路平交道口待检测空间无异物；
②若微波雷达检测到的角锥反射波的能量值发生抖动/闪烁，则判断铁路平交道口待检测空间有异物，则生成防护指令，启动声光报警装置报警，减缓另一侧栏杆关闭速度；
③若红外激光雷达的红外成像与背景图像存在差别，则判断铁路平交道口待检测空间有异物，则生成防护指令，启动声光报警装置报警，减缓另一侧栏杆关闭速度；
(7)在另一侧栏杆完全关闭后、列车到达前：
①若微波雷达检测到的角锥反射波的能量值维持稳定，且红外激光雷达的红外成像与背景图像维持无差别，则判断铁路平交道口待检测空间无异物；
②若微波雷达检测到的角锥反射波的能量值发生抖动/闪烁，则判断铁路平交道口待检测空间有异物，则生成防护指令，向人工台发送报警指令和列车减速指令，提醒工作人员进行现场检查和手动操作；
③若红外激光雷达的红外成像与背景图像存在差别，则判断铁路平交道口待检测空间有异物，则生成防护指令，向人工台发送报警指令和列车减速指令，提醒工作人员进行现场检查和手动操作；
(8)在列车通行期间，通过道口目标探测器对列车通行速度进行监测；
(9)在列车通行结束后，微波雷达复位，红外激光雷达复位，声光报警装置复位，智能交通信号灯常规工作，栏杆打开。
有益效果：本发明提供的基于红外激光和微波的铁路平交道口存在检测装置与方法，相对于现有技术，具有如下优势：
1、同时采用红外激光雷达和微波雷达进行检测：微波雷达的环境适应性好，但对低小慢目标的检测精度低，无法精准检测到人；虽然激光雷达的环境适应性差一些，在恶劣环境会影响检测精度，但是对低小慢目标检测存在优势；两者形成互补，能够提高系统的鲁棒性；采用微波雷达和红外激光雷达双重检测能够适应各种复杂环境，智能化、全天候的道口监控及报警设备能够弥补人为疏忽、提升道口安全、保障道口正常通行；
2、两组道口目标探测器分别设置在铁路平交道口待检测空间的一对斜对角位置，当有异物遮挡时可以同时补盲，形成互补；当其中一个道口目标探测器出现故障时，另个可以作为备份之选；
3、微波雷达是接收角锥的反射波变化来判定当前区域的目标存在情况，整个装置均采用非接触式安装，无需破坏铁路平交道口现有设备。
附图说明
图1为智能道口控制系统的结构框图；
图2为本发明装置的系统结构框图；
图3为本发明装置的安装示意图；
图4为本发明方法的实施流程示意图；
图中包括：1-道口目标探测器；2-角锥；3-铁路平交道口待检测空间；4-栏杆。
具体实施方式
下面结合附图对本发明作更进一步的说明。
如图1～3所示为一种基于红外激光和微波的铁路平交道口存在检测装置，包括两组道口目标探测器、信号处理单元和主控单元，所有设备均通过电源供电。
每组道口目标探测器均包括一个微波雷达和一个红外激光雷达，对应每个微波雷达配置一个角锥；所述角锥的入射波区域覆盖铁路平交道口待检测空间，所述微波雷达用于识别角锥的反射波，所述红外激光雷达对铁路平交道口待检测空间进行红外成像；两组道口目标探测器设置在铁路平交道口待检测空间的一对斜对角区域，对应的两个角锥设置也设置在相同的斜对角区域。
所述角锥主要是用于微波雷达来探测异物状态的变化情况，当检测区域存在异物时，微波雷达接收到的角锥的反射波的能量值将会抖动闪烁，以此来判定检测区域进入目标。所述红外激光雷达采用固态设计和面阵投影方式对铁路平交道口待检测空间进行三维立体成像，红外激光雷达采用距离-多普勒成像技术可以得到运动目标的高分辨率的清晰图像，实时探测地面异物的点云数据，主要用于探测地面的低小慢目标。
所述信号处理单元对微波雷达识别到的角锥的反射波进行预处理，并将预处理后的信息发送给主控单元，主控单元根据角锥反射波的能量值是否抖动/闪烁判断铁路平交道口待检测空间内是否有异物存在，若存在异物则生成防护指令；
所述信号处理单元对红外激光雷达的红外成像数据进行预处理，并将预处理后的信息发送给主控单元，主控单元根据红外成像与背景图像的差别判断铁路平交道口待检测空间内是否有异物存在，若存在异物则生成防护指令；所述背景图像为在铁路平交道口待检测空间无异物时，红外激光雷达的红外成像。
所述防护指令包括声光报警指令、智能交通信号灯警示指令、铁路平交道口待检测空间两侧栏杆的动作提示指令、列车减速指令中的一种或两种以上。
基于上述检测装置的检测方法，分为学习阶段和检测阶段两部分。
学习阶段：道口目标探测器对检测区域内没有任何异物的情况进行环境背景学习，便于激光雷达和红外微波雷达计算无异物时的检测区域的三维空间情况，同时确保微波雷达用于自检是否被遮蔽、中间是否有异物，便于能稳定识别到对应的角锥。
(1)对铁路平交道口待检测空间配置权利要求1所述的基于红外激光和微波的铁路平交道口存在检测装置，道口目标探测器的探测区域均覆盖铁路平交道口待检测空间，其中两个角锥分别设置在铁路平交道口待检测空间的一对斜对角位置；
(2)在没有列车通行，且铁路平交道口待检测空间无异物情况下，开启微波雷达和红外激光雷达进行检测：基于微波雷达的检测结果调整角锥的位置，使得微波雷达能够识别到对应角锥的稳定的反射波；基于红外激光雷达的检测结果，主控单元通过学习获取背景图像；
(3)在列车通行时，主控单元通过对微波雷达和红外激光雷达的检测结果进行学习，获取到列车驶入和驶出铁路平交道口待检测空间信号；
检测阶段：道口目标探测器对检测区域进行成像/扫描，根据回波信号分析当前检测区域的异物存在情况。
(4)在铁路平交道口未接收到列车通行预警信息时，微波雷达复位，红外激光雷达复位，声光报警装置复位，智能交通信号灯常规工作，铁路平交道口待检测空间两侧栏杆完全打开；
(5)在铁路平交道口接收到列车通行预警信息时，智能交通信号灯转换为红灯，开始关闭一侧栏杆，以阻止新的道路车辆和行人进入，关闭期间，栏杆关闭速度原则上不减速；延时设定时间后开始关闭另一侧栏杆，在开始关闭另一侧栏杆的同时或之前启动微波雷达和红外激光雷达；
(6)在另一侧栏杆完全关闭前：
①若微波雷达检测到的角锥反射波的能量值维持稳定，且红外激光雷达的红外成像与背景图像维持无差别，则判断铁路平交道口待检测空间无异物，正常关闭另一侧栏杆；
②若微波雷达检测到的角锥反射波的能量值发生抖动/闪烁，则判断铁路平交道口待检测空间有异物，则通过主控单元生成防护指令，启动声光报警装置报警，减缓另一侧栏杆关闭速度；
③若红外激光雷达的红外成像与背景图像存在差别，则判断铁路平交道口待检测空 间有异物，则通过主控单元生成防护指令，启动声光报警装置报警，减缓另一侧栏杆关闭速度；
(7)在另一侧栏杆完全关闭后、列车到达前：
①若微波雷达检测到的角锥反射波的能量值维持稳定，且红外激光雷达的红外成像与背景图像维持无差别，则判断铁路平交道口待检测空间无异物；
②若微波雷达检测到的角锥反射波的能量值发生抖动/闪烁，则判断铁路平交道口待检测空间有异物，则通过主控单元生成防护指令，向人工台发送报警指令和列车减速指令，提醒工作人员进行现场检查和手动操作；主控单元可以根据列车的运行速度计算出碰撞时间，通知列车及时减速；
③若红外激光雷达的红外成像与背景图像存在差别，则判断铁路平交道口待检测空间有异物，则通过主控单元生成防护指令，向人工台发送报警指令和列车减速指令，提醒工作人员进行现场检查和手动操作；主控单元可以根据列车的运行速度计算出碰撞时间，通知列车及时减速；
(8)在列车通行期间，通过道口目标探测器对列车通行速度进行监测；
(9)在列车通行结束后，微波雷达复位，红外激光雷达复位，声光报警装置复位，智能交通信号灯常规工作，栏杆打开。
现有技术方向主要在于检测到列车是否顺利通过，而发生的事故因素中大多的情况是行人的不规范通过导致的安全隐患，而本案更多的是考虑到如何全方位探测到在列车即将通过、栏杆即将完全关闭期间，防护区域内是否有行人。红外激光雷达可以点云成像，不受天气影响，精准探测到路面跌倒的行人以及其他低小慢目标。微波雷达可快速探测到列车的通过和防护区域内汽车的存在情况。本案采用非接触式安装，在道口增设本案装置后，即使机动车辆不断增多，也能够有效防止意外发生。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (8)

  1. 一种基于红外激光和微波的铁路平交道口存在检测装置，其特征在于：包括两组以上道口目标探测器，每组道口目标探测器均包括一个微波雷达和一个红外激光雷达，对应每个微波雷达配置一个角锥；所述角锥的入射波区域覆盖铁路平交道口待检测空间，所述微波雷达用于识别角锥的反射波，所述红外激光雷达对铁路平交道口待检测空间进行红外成像；其中两组道口目标探测器设置在铁路平交道口待检测空间的一对斜对角区域。
  2. 根据权利要求1所述的基于红外激光和微波的铁路平交道口存在检测装置，其特征在于：所述红外激光雷达采用固态设计和面阵投影方式对铁路平交道口待检测空间进行三维立体成像。
  3. 根据权利要求1所述的基于红外激光和微波的铁路平交道口存在检测装置，其特征在于：在铁路平交道口待检测空间无异物时，微波雷达能够识别到对应角锥的稳定的反射波；在铁路平交道口待检测空间有异物时，微波雷达能够识别到对应角锥的抖动/闪烁的反射波。
  4. 根据权利要求1、2或3基于红外激光和微波的铁路平交道口存在检测装置，其特征在于：还包括信号处理单元和主控单元；
    所述信号处理单元对微波雷达识别到的角锥的反射波进行预处理，并将预处理后的信息发送给主控单元，主控单元根据角锥反射波的能量值是否抖动/闪烁判断铁路平交道口待检测空间内是否有异物存在，若存在异物则生成防护指令；
    所述信号处理单元对红外激光雷达的红外成像数据进行预处理，并将预处理后的信息发送给主控单元，主控单元根据红外成像与背景图像的差别判断铁路平交道口待检测空间内是否有异物存在，若存在异物则生成防护指令；所述背景图像为在铁路平交道口待检测空间无异物时，红外激光雷达的红外成像。
  5. 根据权利要求4所述的基于红外激光和微波的铁路平交道口存在检测装置，其特征在于：所述防护指令包括声光报警指令、智能交通信号灯警示指令、铁路平交道口待检测空间两侧栏杆的动作提示指令、列车减速指令中的一种或两种以上。
  6. 根据权利要求4所述的基于红外激光和微波的铁路平交道口存在检测装置，其特征在于：
    在没有列车通行情况，且铁路平交道口待检测空间无异物情况时，安装角锥并使用红外激光雷达对铁路平交道口待检测空间进行检测：调节角锥的位置至微波雷达能够识 别到对应角锥的稳定的反射波；基于红外激光雷达的检测结果，主控单元通过学习获取背景图像；
    在列车通行时，主控单元通过对微波雷达和红外激光雷达的检测结果进行学习，获取到列车驶入和驶出铁路平交道口待检测空间信号。
  7. 根据权利要求1所述的基于红外激光和微波的铁路平交道口存在检测装置，其特征在于：所述红外激光雷达对铁路平交道口待检测空间进行红外成像的结果为点云数据，基于距离-多普勒成像技术将点云数据转换成图像数据。
  8. 一种基于红外激光和微波的铁路平交道口存在检测方法，其特征在于：包括如下步骤：
    学习阶段：
    (1)对铁路平交道口待检测空间配置权利要求1所述的基于红外激光和微波的铁路平交道口存在检测装置，道口目标探测器的探测区域均覆盖铁路平交道口待检测空间，其中两个角锥分别设置在铁路平交道口待检测空间的一对斜对角位置；
    (2)在没有列车通行，且铁路平交道口待检测空间无异物情况下，开启微波雷达和红外激光雷达进行检测：基于微波雷达的检测结果调整角锥的位置，使得微波雷达能够识别到对应角锥的稳定的反射波；基于红外激光雷达的检测结果，主控单元通过学习获取背景图像；
    (3)在列车通行时，主控单元通过对微波雷达和红外激光雷达的检测结果进行学习，获取到列车驶入和驶出铁路平交道口待检测空间信号；
    检测阶段：
    (4)在铁路平交道口未接收到列车通行预警信息时，微波雷达复位，红外激光雷达复位，声光报警装置复位，智能交通信号灯常规工作，铁路平交道口待检测空间两侧栏杆完全打开；
    (5)在铁路平交道口接收到列车通行预警信息时，智能交通信号灯转换为红灯，开始关闭一侧栏杆，延时设定时间后开始关闭另一侧栏杆，在开始关闭另一侧栏杆的同时或之前启动微波雷达和红外激光雷达；
    (6)在另一侧栏杆完全关闭前：
    ①若微波雷达检测到的角锥反射波的能量值维持稳定，且红外激光雷达的红外成像与背景图像维持无差别，则判断铁路平交道口待检测空间无异物；
    ②若微波雷达检测到的角锥反射波的能量值发生抖动/闪烁，则判断铁路平交道口待检测空间有异物，则生成防护指令，启动声光报警装置报警，减缓另一侧栏杆关闭速度；
    ③若红外激光雷达的红外成像与背景图像存在差别，则判断铁路平交道口待检测空间有异物，则生成防护指令，启动声光报警装置报警，减缓另一侧栏杆关闭速度；
    (7)在另一侧栏杆完全关闭后、列车到达前：
    ①若微波雷达检测到的角锥反射波的能量值维持稳定，且红外激光雷达的红外成像与背景图像维持无差别，则判断铁路平交道口待检测空间无异物；
    ②若微波雷达检测到的角锥反射波的能量值发生抖动/闪烁，则判断铁路平交道口待检测空间有异物，则生成防护指令，向人工台发送报警指令和列车减速指令，提醒工作人员进行现场检查和手动操作；
    ③若红外激光雷达的红外成像与背景图像存在差别，则判断铁路平交道口待检测空间有异物，则生成防护指令，向人工台发送报警指令和列车减速指令，提醒工作人员进行现场检查和手动操作；
    (8)在列车通行期间，通过道口目标探测器对列车通行速度进行监测；
    (9)在列车通行结束后，微波雷达复位，红外激光雷达复位，声光报警装置复位，智能交通信号灯常规工作，栏杆打开。
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