WO2022267331A1 - Obstacle detection method and system for railway vehicle - Google Patents

Abstract

An obstacle detection method and system for a railway vehicle. The method comprises: acquiring detection data detected by obstacle detection apparatuses (102), which are arranged on a railway vehicle (S601); processing the detection data detected by each obstacle detection apparatus (102), and determining obstacle information that indicates the presence of an obstacle (S602); if information of the same type of obstacles is obtained, performing difference value verification on the obstacle detection apparatuses (102), which detect the same type of obstacles (S605); and sending a difference value verification result to a train control and management center, so that the train control and management center executes corresponding processing on the basis of the difference value verification result. Unified processing is performed on detection data detected by various obstacle detection apparatuses (102), and mutual verification is performed on obstacle information corresponding to the obstacle detection apparatuses (102), which detect the same type of obstacles, such that the objectives of precisely and quickly detecting obstacles and giving a prompt regarding an abnormal obstacle detection apparatus (102) are achieved.

Description

Obstacle detection method and system for a rail vehicle

This application claims the priority of the Chinese patent application with the application number 202110705447.9 and the title of the invention "A Method and System for Obstacle Detection of Rail Vehicles" submitted to the China Patent Office on June 24, 2021, the entire contents of which are incorporated by reference in this application.

technical field

The invention relates to the technical field of rail vehicle protection, in particular to an obstacle detection method and system for rail vehicles.

Background technique

At present, rail vehicles are equipped with different obstacle detection devices, but in the prior art, each obstacle detection device is independent and is equipped with a corresponding host. Each of the different obstacle detection devices is connected to the corresponding host through the Train Control and Management System (TCMS), and the detected data is transmitted to the corresponding host through the TCMS, and the host performs independent processing to determine whether The corresponding fault occurs.

However, when using independent obstacle detection devices and corresponding hosts in the prior art for obstacle detection, the detection of obstacles is relatively simple, and when the obstacle detection device breaks down or the detection data is inaccurate, It is easy to cause inaccurate obstacle detection or failure to quickly detect obstacles, and failure to detect abnormalities in time before the obstacle detection device fails.

Contents of the invention

In view of this, an embodiment of the present invention provides an obstacle detection method and system for a rail vehicle, so as to realize accurate and rapid detection of obstacles and prompting an abnormal obstacle detection device.

In order to achieve the above purpose, embodiments of the present invention provide the following technical solutions:

The first aspect of the present invention discloses an obstacle detection method for a rail vehicle, the method comprising:

Obtain the detection data detected by the obstacle detection device installed on the rail vehicle;

For each obstacle detection device, process the detection data detected by the obstacle detection device, and confirm the obstacle information indicating the existence of obstacles, and each obstacle detection device corresponds to at least one obstacle information;

If the same type of obstacle information is obtained, based on the obstacle information, it is determined that the obstacle detection device that detects the same type of obstacle is the obstacle detection device to be cross-validated, and the corresponding Obstacle information for difference value verification;

If the difference value is within the preset range, sending the currently obtained obstacle information to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information;

If the difference value exceeds a preset range, generate abnormality warning information indicating that the obstacle detection device to be cross-validated is abnormal;

Sending the currently obtained obstacle information and abnormal warning information to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information and the abnormal warning information.

Preferably, it also includes:

If within the preset detection range of N obstacle detection devices that detect obstacles of the same type, only one or M detection data sent by obstacle detection devices are received, an obstacle detection device that indicates that no obstacles are detected exists Abnormal exception alarm information, M is a positive integer less than N, and N is a positive integer greater than or equal to 2.

Preferably, performing difference value verification on the obstacle information corresponding to the obstacle detection device to be cross-validated includes:

Computing the difference between the obstacle information corresponding to the obstacle detection device to be cross-validated, the obstacle information at least including physical parameters of the obstacle and distance parameters between the obstacle and the rail vehicle;

The difference between the physical parameter of the obstacle and the distance parameter is used as the difference value of the obstacle detection device to be cross-validated.

Preferably, if the obstacle detection device includes a passive obstacle detection and derailment detection device, the passive obstacle detection and derailment detection device at least includes a detection beam, a detection plate spring, a limit shaft and a travel switch, and the travel switch Connected in series with the train emergency braking circuit of the rail vehicle, the detection data detected by each of the obstacle detection devices is processed, and the obstacle information indicating the existence of obstacles is confirmed, including:

Obtain the emergency braking operation information triggered by the passive obstacle detection and derailment detection device to be executed by the train emergency braking circuit of the rail vehicle, wherein the generation process of the emergency braking operation is: when the detection plate spring is When an obstacle on the track is deformed when it hits the detection beam and triggers the travel switch, the train emergency braking circuit generates an emergency braking operation based on the travel switch, and the deformation range of the detection plate spring is limited by a fixed point and the limit shaft limit, the fixed point is used to fix the detection plate spring;

determining the type of reported event based on the emergency braking operation information;

If the reported event type is obstacle detection, generate obstacle information.

Preferably, it also includes:

Obtain the emergency braking operation information generated by the train emergency braking circuit of the rail vehicle triggered by the passive obstacle detection and derailment detection device, wherein the generation process of the emergency braking operation is: when the detection plate spring is caused by When the derailed rail of the rail vehicle is deformed when it hits the detection beam and triggers the travel switch, the train emergency braking circuit generates emergency braking operation information based on the travel switch, and the deformation range of the detection plate spring is limited by A fixed point is limited by the limit shaft, and the fixed point is used to fix the detection plate spring;

determining the type of reported event based on the emergency braking operation information;

If the reported event type is a detected derailment event, generate derailment warning information.

Preferably, if the obstacle detection device includes an active obstacle detection device, the active obstacle detection device includes a camera and a laser radar, and the detection data detected by each of the obstacle detection devices is processed to confirm Obstacle messages indicating the presence of obstacles, including:

Obtaining the video source data collected by the camera in front of the rail vehicle during operation, and the laser radar point cloud data and inertial acceleration data collected by the laser radar;

Carrying out target detection based on the video source data, extracting detected target information, and merging track information detected based on a locally stored track line image with the target information to obtain first target data;

Based on the lidar point cloud data and inertial acceleration data, determine the positional relationship data of the detected radar target and track line, and generate the second target data based on the positional relationship data;

performing data fusion according to the first target data and the second target data, and extracting third target data;

Judging whether the target data indicates that there is an obstacle, and if so, generating obstacle information.

Preferably, if the obstacle detection device includes an anti-collision early warning detection device, the anti-collision early warning detection device includes a secondary radar, the detection data detected by each of the obstacle detection devices is processed, and the indication is confirmed Obstacle information for existing obstacles, including:

Obtaining the distance information of other rail vehicles traveling in the same direction detected by the secondary radar arranged on the rail vehicle, the same secondary radar is set on the other rail vehicles, the secondary radar on the rail vehicle and The secondary radar on the other rail vehicle performs ranging communication;

Calculate based on the vehicle distance information, and generate obstacle information if it is determined that the distance between the rail vehicle and the other rail vehicles is within an alarm range.

The second aspect of the embodiment of the present invention discloses an obstacle detection system for a rail vehicle. The obstacle detection system for a rail vehicle includes: a main controller and an obstacle detection device;

The obstacle detection device is arranged at different positions of the rail vehicle based on different detection types;

The main controller is connected to all obstacle detection devices, receives the detection data detected by all obstacle detection devices, and processes the detection data obtained by the obstacle detection devices for each obstacle detection device, Confirm the obstacle information that indicates the existence of obstacles, and each obstacle detection device corresponds to at least one obstacle information; if the same type of obstacle information is obtained, based on the obstacle information, it is determined that the obstacle detection device that detects the same type of obstacles is the waiting list. The cross-verified obstacle detection device, and verifying the difference value of the obstacle information corresponding to the obstacle detection device to be cross-validated; if the difference value is within the preset range, sending the currently obtained obstacle information to the train control and the management center, causing the train control and management center to perform corresponding processing based on the obstacle information; if the difference value exceeds a preset range, generate abnormal alarm information indicating that the obstacle detection device to be cross-validated is abnormal; send The currently obtained obstacle information and abnormal alarm information are sent to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information and the abnormal alarm information.

Preferably, the main controller is further configured to generate: Abnormal alarm information indicating that an obstacle detection device that has not detected an obstacle is abnormal. The value of M is a positive integer less than N, and the value of N is a positive integer greater than or equal to 2.

Preferably, the obstacle detection device includes: a passive obstacle detection and derailment detection device;

The passive obstacle detection and derailment detection device is arranged on the bogie of the rail vehicle, and at least includes a detection beam, a detection plate spring, a limit shaft and a travel switch;

The detection beam is associated with the detection plate spring, and when an obstacle on the track hits the detection beam, the detection beam deforms the detection plate spring, and the deformation range of the detection plate spring is limited by a fixed The point is limited by the limit shaft, and the fixed point is used to fix the detection plate spring.

The detection plate spring is connected to the travel switch, and the travel switch is connected in series with the train emergency brake circuit of the rail vehicle, and the travel switch performs a corresponding switching action according to the deformation of the detection plate spring, so that the The train emergency braking circuit generates emergency braking operation information and executes corresponding emergency braking operations;

The main controller determines a reporting event type based on the emergency braking operation information, and generates obstacle information if the reporting event type is an obstacle detected.

Based on the obstacle detection method and system of a rail vehicle provided by the above-mentioned embodiments of the present invention, the detection data detected by the obstacle detection device installed on the rail vehicle is acquired; for each obstacle detection device detected The detection data is processed, and the obstacle information indicating the existence of the obstacle is confirmed. If the obstacle information of the same type is obtained, the obstacle detection device that detects the same type of obstacle is determined based on the obstacle information as the obstacle detection device to be cross-validated, And verify the difference value; if the difference value is within the preset range, send the currently obtained obstacle information to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information; if the difference value exceeds the preset range , generate abnormality warning information indicating that the obstacle detection device to be cross-validated exists abnormally; send the currently obtained obstacle information and abnormal warning information to the train control and management center, so that the train control and management center based on the obstacle information and the obtained Perform corresponding processing on the above abnormal alarm information. In this solution, the detection data detected by each obstacle detection device is processed uniformly, and the obstacle information corresponding to the obstacle detection device that detects the same type of obstacle is mutually verified to achieve accurate and rapid detection of obstacles. And the purpose of prompting the abnormal obstacle detection device.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a structural schematic diagram of an obstacle detection system for a rail vehicle disclosed in an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of another obstacle detection system for a rail vehicle disclosed in an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of an active obstacle processing module disclosed in an embodiment of the present invention;

Fig. 4 is the schematic flow chart of the distance measurement and calculation of two rail vehicles traveling in the same direction disclosed by the embodiment of the present invention;

FIG. 5 is a schematic diagram of an application scenario of distance measurement disclosed in an embodiment of the present invention;

Fig. 6 is a schematic flowchart of an obstacle detection method for a rail vehicle disclosed in an embodiment of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In this application, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes none. other elements specifically listed, or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

It can be seen from the background technology that in the prior art, when the independent obstacle detection devices and their corresponding hosts perform obstacle detection, the detection of obstacles is relatively simple, and when the obstacle detection device fails or the detection data is inaccurate In this situation, it is easy to cause inaccurate obstacle detection or failure to quickly detect obstacles, and to detect abnormalities in time before the obstacle detection device fails.

Therefore, the embodiment of the present invention discloses an obstacle detection method and system for a rail vehicle, which performs unified processing on the detection data detected by each obstacle detection device, and performs corresponding processing for the obstacle detection device that detects the same type of obstacle. Obstacle information is mutually verified to achieve accurate and rapid detection of obstacles, as well as the purpose of prompting abnormal obstacle detection devices. The specific implementation process is described in detail through the following embodiments.

As shown in FIG. 1 , it is a schematic structural diagram of an obstacle detection system for a rail vehicle disclosed in an embodiment of the present invention.

The obstacle detection system of the rail vehicle includes: a main controller 101 and an obstacle detection device 102 .

It should be noted that multiple different obstacle detection devices 102 can be provided according to requirements. The obstacle detection device 102 is installed at different positions of the rail vehicle based on the detection characteristics.

Each obstacle detection device 102 is connected to the main controller 101 , and the main controller 101 is provided with a processor or a processing module corresponding to process the detection data sent by each obstacle detection device 102 .

The main controller 101 receives the detection data detected by each obstacle detection device 102, and processes the detection data detected by each obstacle detection device in the corresponding processor or processing module, and confirms that the obstacle indicates the presence of an obstacle. Obstacle information; if the same type of obstacle information is obtained, based on the obstacle information, it is determined that the obstacle detection device that detects the same type of obstacle is the obstacle detection device to be cross-validated, and the obstacle detection device to be cross-validated Verify the difference value of the obstacle information corresponding to the device; if the difference value is within the preset range, send the currently obtained obstacle information to TCMS, so that TCMS performs corresponding processing based on the obstacle information; if the difference value exceeds the preset range, generate Abnormal warning information indicating that the obstacle detection device to be cross-validated is abnormal; sending the currently obtained obstacle information and abnormal warning information to TCMS, so that TCMS performs corresponding processing based on the obstacle information and the abnormal warning information.

The obstacle detection device 102 includes, but is not limited to: a passive obstacle detection and derailment detection device, an active obstacle detection device and a secondary radar.

Optionally, the obstacle detection system of the rail vehicle may also be provided with other processing modules or processors such as SLAM positioning.

As shown in FIG. 2 , it is a schematic structural diagram of another obstacle detection system for a rail vehicle disclosed in an embodiment of the present invention. The obstacle detection system for a rail vehicle includes: a main controller 201, a passive obstacle detection and derailment detection device 202 , an active obstacle detection device 203 , a collision avoidance warning detection device 204 , a positioning device 205 and a communication interface 206 .

The communication interface 206 includes, but is not limited to, a TCMS interface, an ATP interface, and a train braking and warning interface.

The main controller 201 is provided with a corresponding processor or processing module for the passive obstacle detection and derailment detection device 202, the active obstacle detection device 203, the anti-collision warning detection device 204 and the positioning device 205, and a data cross-validation module 2016 And execute output module 2017.

Wherein, the passive obstacle detection and derailment detection device 202 includes a passive sensing module 2021 and a derailment detection rod 2022 .

The passive sensing module 2021 corresponds to the passive obstacle processing module 2011 in the main controller 201 .

The derailment detection lever 2022 corresponds to the derailment processing module 2012 in the main controller 201 .

The active obstacle detection device 203 corresponds to the active obstacle processing module 2013 in the main controller 201 .

The anti-collision warning detection device 204 corresponds to the anti-collision warning module 2014 in the main controller 201 .

The positioning device 205 corresponds to the SLAM positioning processing module 2015 in the main controller 201 .

The following will specifically describe different obstacle detection devices.

Aiming at the passive obstacle detection and derailment detection device 202 .

The passive obstacle detection and derailment detection device 202 is arranged on the bogie of the rail vehicle, and the passive obstacle detection and derailment detection device at least includes a detection beam, a detection plate spring, a limit shaft and a travel switch.

The detection beam is associated with the detection plate spring, and when an obstacle on the track hits the detection beam, based on the relationship of the association connection, the detection beam will deform the detection plate spring.

It should be noted that the deformation range of the detection plate spring is limited by a fixed point and a limit shaft, and the limit shaft can constitute two limit points.

The fixed point is a fixed part used to fix the detection plate spring, and optionally, the fixed part can be a bolt.

The detection plate spring is under the action of three nodes, the fixed point and the limit axis, the displacement is limited, and the deformation can only occur within a certain range. This setting can prevent the detection plate spring from vibrating relative to the bogie during the running of the rail train, improve the stability of the passive obstacle detection and derailment detection device, and eliminate the problem of false alarms. At the same time, the vibration bending moment and torque of the fixed end of the detection plate spring can be reduced, and the anti-fatigue strength of the fixed end of the detection plate spring can be improved.

The detection plate spring is connected to the limit switch, which is connected in series with the train emergency braking circuit of the rail vehicle. When the deformation of the detection plate spring reaches a preset level, the forming switch will be triggered to perform the corresponding switching action, so that the train brakes in an emergency The circuit performs emergency braking operations. That is, the travel switch performs a corresponding switching action according to the deformation of the detection plate spring, so that the train emergency braking circuit generates corresponding emergency braking operation information and executes a corresponding emergency braking operation.

The passive obstacle processing module 2011 or the first processor in the main controller 201 receives the emergency braking operation information, and determines the type of the reported event based on the emergency braking operation information, if the reported event type is an obstacle detected , to generate obstacle information.

On the other hand, when the derailed rail of the rail vehicle hits the detection beam, based on the relationship of the associated connection, the detection beam will deform the detection plate spring, and when the deformation of the detection plate spring reaches a preset level, the formation switch will be triggered to execute the corresponding The switch acts to make the train emergency braking circuit perform emergency braking operation. That is, the travel switch performs a corresponding switching action according to the deformation of the detection plate spring, so that the train emergency braking circuit generates corresponding emergency braking operation information and executes a corresponding emergency braking operation.

The derailment processing module 2012 or the second processor in the main controller 201 receives the emergency braking operation information, and determines the reporting event type based on the emergency braking operation information, and if the reporting event type is a derailment event detected, generates Derailment warning information.

For the active obstacle detection device 203.

The active obstacle detection device 203 includes a camera 2031 and a laser radar 2032 .

The camera 2031 is used to collect the front video source data when the rail vehicle is running, and send the video source data to the main controller.

The lidar 2032 is used to collect lidar point cloud data and inertial acceleration data of rail vehicles, and send the lidar point cloud data and inertial acceleration data to the main controller.

The active obstacle processing module 2013 or the third processor in the main controller 201 performs target detection based on the video source data, extracts the detected target information, and uses the track information detected based on the locally stored track line image and The target information is fused to obtain the first target data; based on the laser radar point cloud data and the inertial acceleration data, determine the positional relationship data of the detected radar target and the trajectory line, and generate the second target data based on the positional relationship data; Then perform data fusion according to the first target data and the second target data, and extract the third target data; determine whether the target data indicates that there is an obstacle, and if so, generate obstacle information.

Specifically, as shown in FIG. 3 , the active obstacle processing module 2013 or the third processor includes: a video detection module 301 , a lane line detection module 302 , a radar target detection module 303 and a fusion decision module 304 .

The video detection module 301 is used to obtain the video source data collected by the camera, and use the artificial intelligence algorithm to perform target detection on the video source data, extract the detected target information, and send the target information to the lane line detection module 302 . Meanwhile, the video detection module 301 stores the video source data locally.

The lane line detection module 302 is used to read the video source data stored locally by the video detection module 301 to perform track line detection, and fuse the detected track line results with the target information sent by the video detection module 301, based on the fusion result It is judged whether the target is within the track line, and the first target data obtained based on the judgment is sent to the fusion decision module 304 .

The radar target detection module 303 is used to obtain the laser radar point cloud data collected by the laser radar and the inertial acceleration data of the rail vehicle, and use the pre-built data clustering model to cluster the radar targets detected by the laser radar, and based on the track Determine the positional relationship data of the radar target and the track line, and generate second target data according to the positional relationship data, the positional relationship data includes at least the azimuth data, pitch angle, and distance data of the radar target from the rail vehicle.

The fusion judgment module 304 is used to respectively receive the first target data and the second target data through the IP/UDP protocol, perform data fusion according to the first target data and the second target data, extract the third target data, and judge the third target data Whether to indicate that there is an obstacle, if so, generate obstacle information.

Optionally, the fusion decision module 304 is further configured to generate a corresponding braking message based on the third target data and send it to the TCMS if the third target data indicates that there is an obstacle.

If the obstacle detection device 102 includes an anti-collision warning detection device.

The anti-collision warning detection device includes a secondary radar. The secondary radar includes a radar calling terminal arranged at the front of the rail vehicle, and a radar called terminal arranged at the rear of the rail vehicle.

The secondary radar is used for ranging communication with secondary radars on other rail vehicles, and sends the detected vehicle distance information to the main controller.

The anti-collision warning module or the fourth processor in the main controller is used to calculate based on the vehicle distance information, if it is determined that the distance between the rail vehicle and the other rail vehicles is within the warning range, an obstacle is generated information, or generate obstacle information and warning information.

It should be noted that the secondary radar obtains the distance between the front and rear vehicles through Time Of Arrival (TOA) communication. Specifically, the front and rear vehicles perform distance measurement through an inquiry-response mechanism.

As shown in Figure 4, it is a schematic diagram of the distance calculation flow chart of two rail vehicles traveling in the same direction.

In the process of calculating the distance between the specific rear vehicle and the front vehicle, the following steps are performed:

S401: The radar calling terminal at the front of the rear vehicle sends a ranging request signal to the radar called terminal at the rear of the front vehicle.

S402: The radar called terminal at the rear of the vehicle in front receives the ranging request signal.

S403: The radar called terminal at the rear of the vehicle in front performs signal identification and data verification. For example, the current communication conforms to the predetermined communication protocol, and then sends a response signal to the radar calling terminal at the front of the vehicle behind.

S404: The radar calling terminal at the front of the vehicle behind receives the response signal sent by the radar called terminal at the rear of the vehicle in front.

S405: The radar calling terminal at the front of the vehicle behind performs signal identification and data verification. For example, if the current communication conforms to the predetermined communication protocol, it performs distance calculation to obtain the distance to the vehicle in front.

S406: The radar calling terminal at the front of the rear vehicle displays the distance to the vehicle in front in real time, and if the distance is within an unsafe distance, an alarm is issued.

Similarly, if the vehicle in front can also actively measure and calculate the distance to the vehicle behind through the secondary radar, the calculation method is similar and will not be repeated here.

As shown in Figure 5, it is a schematic diagram of another application scenario for distance measurement provided by the embodiment of the present invention:

When the rail vehicle T1 and the rail vehicle T2 are intersecting with the up and down trains, and the rail vehicle T3 on the same track as the rail vehicle T1 reverses. The radar terminals (radar called terminal and radar calling terminal) running in opposite directions are all in the active ranging mode. The obstacle detection system for rail vehicles disclosed in the embodiment of the present invention can real-time detect rail vehicle T1, rail vehicle T2 and track The secondary radar of vehicle T3 implements an ad hoc network and communicates in real time, so that rail vehicle T1, rail vehicle T2 and rail vehicle T3 can measure the distance of each other in real time.

According to the uplink and downlink relationship of rail vehicle T1, rail vehicle T2 and rail vehicle T3 shown in Fig. 5, rail vehicle T1 and rail vehicle T3 can perform collision avoidance detection.

The specific implementation process will be described in detail in combination with the obstacle detection device disclosed above, wherein the active obstacle detection device 203 and the collision avoidance warning detection device 204 can detect the same type of obstacle, that is, there is an obstacle on the track ahead, the difference is that , the detection distance of the active obstacle detection device 203 is greater than that of the anti-collision detection device 204 . The detection distance refers to the distance at which obstacles are detected. For example, the active obstacle detection device 203 can detect obstacles within 200 meters, and the anti-collision detection device 204 can detect obstacles within 100 meters. The specific detection distance varies from device to device.

Assuming that there is an obstacle at 100 meters, when the rail vehicle travels within 100 meters from the obstacle, the main controller 201 receives the obstacle information from the active obstacle detection device 203 in the process of receiving the obstacle information in real time. The detected obstacle information also receives the same type of obstacle information detected by the anti-collision detection device 204, and the obstacle information includes at least physical parameters of the obstacle and distance parameters between the obstacle and the rail vehicle.

At this time, cross-validate the same type of obstacle information detected by the active obstacle detection device 203 and the anti-collision detection device 204, that is, the difference between the obstacle information detected by the two is performed in the data cross-validation module 2016 Calculate and obtain the difference value, if the difference value is within the preset range, it is determined that the active obstacle detection device 203 and the anti-collision detection device 204 have no problem, then the execution output module 2017 sends the currently obtained obstacle information to the train control and The management center enables the train control and management center to perform corresponding processing based on the obstacle information.

If the difference value exceeds the preset range, it can be determined that there may be an abnormality or a problem of reduced detection accuracy in the active obstacle detection device 203 and the anti-collision detection device 204. At this time, the main controller 201 generates a cross-validated obstacle detection device. Abnormal abnormal warning information; the currently obtained obstacle information and abnormal warning information are sent to the train control and management center by the execution output module 207, so that the train control and management center executes the operation based on the obstacle information and the abnormal warning information Treat accordingly.

It should be noted that when a single obstacle detection device or equipment detects information, the obstacle prompt is normally performed, and the same type of obstacle information is detected during the operation of the rail vehicle, and data cross-validation is performed at this time.

The above is just an example. In a specific implementation, data cross-validation can be performed on obstacle detection devices or equipment that detects the same type of obstacle information to verify whether there is an abnormality in the obstacle detection device or equipment, so that technicians can use it based on The purpose of processing exception information in advance.

Based on the above-mentioned obstacle detection system for rail vehicles disclosed in the embodiments of the present invention, different functional modules in the main controller are used to process the detection data detected by each obstacle detection device respectively, and the obtained data are processed in the main controller. The fusion of obstacle information can complete mutual verification between obstacle information, and achieve the purpose of accurate and fast detection of obstacles.

Based on the above-mentioned obstacle detection system for rail vehicles disclosed in the embodiments of the present invention, the present invention also discloses an obstacle detection method suitable for the obstacle detection system for rail vehicles, as shown in FIG. 6 , which is an implementation of the present invention A flow chart of an obstacle detection method for a rail vehicle disclosed in the example. It mainly includes the following steps:

S601: Obtain detection data detected by all obstacle detection devices installed on the rail vehicle.

S602: For each obstacle detection device, process the detection data detected by the obstacle detection device, and confirm obstacle information indicating the existence of an obstacle.

In S602, each obstacle detection device corresponds to at least one piece of obstacle information.

S603: Determine in real time whether the detected obstacle information is the same type of obstacle information, if not, execute S604, and if yes, execute S605.

S604: Send the currently obtained obstacle information to the TCMS.

In the specific implementation of S604, the currently detected obstacle information is sent to the TCMS, so that the TCMS performs corresponding processing based on the obstacle information.

S605: Based on the obstacle information, determine that the obstacle detection device that detects the same type of obstacle is the obstacle detection device to be cross-validated, and perform difference value verification on the obstacle information corresponding to the obstacle detection device to be cross-validated .

In S605, the obstacle information includes, but not limited to, physical parameters of the obstacle and distance parameters between the obstacle and the rail vehicle.

Optionally, performing difference value verification on the obstacle information corresponding to the obstacle detection device to be cross-validated, specifically:

Firstly, the difference is calculated for two pairs of obstacle information corresponding to the obstacle detection devices to be cross-validated.

Secondly, the difference between the physical parameter of the obstacle and the distance parameter is used as the difference of the obstacle detection device to be cross-validated.

S606: Determine whether the difference value is within a preset range, if it is within the preset range, execute S604; if it exceeds the preset range, execute S607.

S607: Generate abnormality warning information indicating that the obstacle detection device to be cross-validated is abnormal.

S608: Send the currently obtained obstacle information and abnormal warning information to the TCMS.

In the specific implementation of S608, the currently detected obstacle information and abnormal warning information are sent to the TCMS, so that the TCMS performs corresponding processing based on the obstacle information and abnormal warning information.

Optionally, in the process of performing the above detection, if within the preset detection ranges of the N obstacle detection devices that detect the same type of obstacles, only one or M detection data sent by the obstacle detection devices are received, then Abnormality warning information indicating that the obstacle detection device that has not detected an obstacle is abnormal is generated. Wherein, the value of M is a positive integer smaller than N, and the value of N is a positive integer greater than or equal to 2.

Based on the above disclosed obstacle detection system for rail vehicles, if the obstacle detection device includes a passive obstacle detection and derailment detection device, the specific execution process of step S602 is as follows:

Firstly, the emergency braking operation information triggered by the passive obstacle detection and derailment detection device to be executed by the train emergency braking circuit of the rail vehicle is acquired.

Wherein, the generation process of the emergency braking operation is: when the detection plate spring is deformed when an obstacle on the track hits the detection crossbeam and triggers the travel switch, the train emergency braking circuit is based on the The travel switch generates an emergency braking operation, and the deformation range of the detection plate spring is limited by a fixed point and the limit shaft, and the fixed point is used to fix the detection plate spring.

Then, the reporting event type is determined based on the emergency braking operation information.

Finally, if the reported event type is obstacle detection, obstacle information is generated.

Or, firstly, acquire the emergency braking operation generated by the train emergency braking circuit of the rail vehicle triggered by the passive obstacle detection and derailment detection device.

Wherein, the generation process of the emergency braking operation is: when the detection plate spring is deformed and triggers the travel switch when the derailed rail of the rail vehicle hits the detection crossbeam, the train emergency braking circuit is based on The travel switch generates an emergency braking operation, and the deformation range of the detection plate spring is limited by a fixed point and the limit shaft, and the fixed point is used to fix the detection plate spring;

Then, the reporting event type is determined based on the emergency braking operation.

Finally, if the reported event type is a detected derailment event, derailment warning information is generated.

Based on the above disclosed obstacle detection system for rail vehicles, if the obstacle detection device includes an active obstacle detection device, the specific execution process of step S602 is:

Firstly, the camera collects the video source data ahead of the rail vehicle when it is running, and the lidar point cloud data and inertial acceleration data collected by the lidar.

Then, target detection is performed based on the video source data, detected target information is extracted, and track information detected based on a locally stored track line image is fused with the target information to obtain first target data.

Then, based on the lidar point cloud data and inertial acceleration data, determine the positional relationship data between the detected radar target and the trajectory line, and generate second target data based on the positional relationship data.

Then, data fusion is performed according to the first target data and the second target data, and third target data is extracted.

Finally, judge whether the target data indicates that there is an obstacle, and if so, generate obstacle information.

Based on the above-mentioned disclosed obstacle detection system for rail vehicles, if the obstacle detection device includes an anti-collision warning detection device, the specific execution process of step S602 is:

First, obtain the vehicle distance information of other rail vehicles traveling in the same direction detected by the secondary radar arranged on the rail vehicle, the same secondary radar is set on the other rail vehicles, and the secondary radar on the rail vehicle The radar communicates ranging with secondary radars on said other rail vehicles.

Then, calculation is performed based on the vehicle distance information, and if it is determined that the distance between the rail vehicle and the other rail vehicles is within a warning range, obstacle information is generated.

Based on the obstacle detection method of a rail vehicle provided by the above-mentioned embodiment of the present invention, the detection data detected by the obstacle detection device installed on the rail vehicle is acquired; the detection data detected by each obstacle detection device Processing is performed to confirm the obstacle information indicating that there is an obstacle. If the obstacle information of the same type is obtained, it is determined that the obstacle detection device that detects the same type of obstacle is the obstacle detection device to be cross-validated based on the obstacle information, and performs Difference value verification; if the difference value is within the preset range, send the currently obtained obstacle information to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information; if the difference value exceeds the preset range, generate Indicating that there is abnormal abnormal warning information in the obstacle detection device to be cross-validated; sending the currently obtained obstacle information and abnormal warning information to the train control and management center, so that the train control and management center based on the obstacle information and the abnormal Alarm information is processed accordingly. In this solution, the detection data detected by each obstacle detection device is processed uniformly, and the obstacle information corresponding to the obstacle detection device that detects the same type of obstacle is mutually verified to achieve accurate and rapid detection of obstacles. And the purpose of prompting the abnormal obstacle detection device.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An obstacle detection method for rail vehicles, characterized in that the method comprises:

   Obtain the detection data detected by the obstacle detection device installed on the rail vehicle;

   For each obstacle detection device, process the detection data detected by the obstacle detection device, and confirm the obstacle information indicating the existence of obstacles, and each obstacle detection device corresponds to at least one obstacle information;

   If the same type of obstacle information is obtained, based on the obstacle information, it is determined that the obstacle detection device that detects the same type of obstacle is the obstacle detection device to be cross-validated, and the corresponding Obstacle information for difference value verification;

   If the difference value is within the preset range, sending the currently obtained obstacle information to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information;

   If the difference value exceeds a preset range, generate abnormality warning information indicating that the obstacle detection device to be cross-validated is abnormal;

   Sending the currently obtained obstacle information and abnormal warning information to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information and the abnormal warning information.
2. The method according to claim 1, further comprising:

   If within the preset detection range of N obstacle detection devices that detect obstacles of the same type, only one or M detection data sent by obstacle detection devices are received, an obstacle detection device that indicates that no obstacles are detected exists Abnormal exception alarm information, M is a positive integer less than N, and N is a positive integer greater than or equal to 2.
3. The method according to claim 1, wherein the verification of the difference value of the obstacle information corresponding to the obstacle detection device to be cross-validated comprises:

   Computing the difference between the obstacle information corresponding to the obstacle detection device to be cross-validated, the obstacle information at least including physical parameters of the obstacle and distance parameters between the obstacle and the rail vehicle;

   The difference between the physical parameter of the obstacle and the distance parameter is used as the difference value of the obstacle detection device to be cross-validated.
4. The method according to claim 1, wherein if the obstacle detection device includes a passive obstacle detection and derailment detection device, the passive obstacle detection and derailment detection device at least includes a detection beam, a detection plate spring, a limiter A position axis and a travel switch, the travel switch is connected in series with the train emergency brake circuit of the rail vehicle, the detection data detected by each of the obstacle detection devices is processed, and the obstacle indicating the existence of an obstacle is confirmed information, including:

   Obtain the emergency braking operation information triggered by the passive obstacle detection and derailment detection device to be executed by the train emergency braking circuit of the rail vehicle, wherein the generation process of the emergency braking operation is: when the detection plate spring is When an obstacle on the track is deformed when it hits the detection beam and triggers the travel switch, the train emergency braking circuit generates an emergency braking operation based on the travel switch, and the deformation range of the detection plate spring is limited by a fixed point and the limit shaft limit, the fixed point is used to fix the detection plate spring;

   determining the type of reported event based on the emergency braking operation information;

   If the reported event type is obstacle detection, generate obstacle information.
5. The method according to claim 4, further comprising:

   Obtain the emergency braking operation information generated by the train emergency braking circuit of the rail vehicle triggered by the passive obstacle detection and derailment detection device, wherein the generation process of the emergency braking operation is: when the detection plate spring is caused by When the derailed rail of the rail vehicle is deformed when it hits the detection beam and triggers the travel switch, the train emergency braking circuit generates emergency braking operation information based on the travel switch, and the deformation range of the detection plate spring is limited by A fixed point is limited by the limit shaft, and the fixed point is used to fix the detection plate spring;

   determining the type of reported event based on the emergency braking operation information;

   If the reported event type is a detected derailment event, generate derailment warning information.
6. The method according to claim 1, wherein, if the obstacle detection device includes an active obstacle detection device, the active obstacle detection device includes a camera and a laser radar, and each of the obstacle detection The detection data obtained by the device detection is processed, and the obstacle information indicating the existence of obstacles is confirmed, including:

   Obtaining the video source data in front of the rail vehicle running when the camera is collected, and the laser radar point cloud data and inertial acceleration data collected by the laser radar;

   Carrying out target detection based on the video source data, extracting detected target information, and merging track information detected based on a locally stored track line image with the target information to obtain first target data;

   Based on the lidar point cloud data and inertial acceleration data, determine the positional relationship data of the detected radar target and the trajectory line, and generate second target data based on the positional relationship data;

   performing data fusion according to the first target data and the second target data, and extracting third target data;

   Judging whether the target data indicates that there is an obstacle, and if so, generating obstacle information.
7. The method according to claim 1, wherein if the obstacle detection device includes an anti-collision early warning detection device, the anti-collision early warning detection device includes a secondary radar, and each of the obstacle detection devices The detected detection data is processed to confirm the obstacle information indicating the existence of obstacles, including:

   Obtaining the distance information of other rail vehicles traveling in the same direction detected by the secondary radar arranged on the rail vehicle, the same secondary radar is set on the other rail vehicles, the secondary radar on the rail vehicle and The secondary radar on the other rail vehicle performs ranging communication;

   Calculate based on the vehicle distance information, and generate obstacle information if it is determined that the distance between the rail vehicle and the other rail vehicles is within an alarm range.
8. An obstacle detection system for a rail vehicle, characterized in that the obstacle detection system for a rail vehicle includes: a main controller and an obstacle detection device;

   The obstacle detection device is arranged at different positions of the rail vehicle based on different detection types;

   The main controller is connected to all obstacle detection devices, receives the detection data detected by all obstacle detection devices, and processes the detection data obtained by the obstacle detection devices for each obstacle detection device, Confirm the obstacle information that indicates the existence of obstacles, and each obstacle detection device corresponds to at least one obstacle information; if the same type of obstacle information is obtained, based on the obstacle information, it is determined that the obstacle detection device that detects the same type of obstacles is the waiting list. cross-verified obstacle detection device, and verify the difference value of the obstacle information corresponding to the obstacle detection device to be cross-validated; if the difference value is within the preset range, send the currently obtained obstacle information to the train control and the management center, causing the train control and management center to perform corresponding processing based on the obstacle information; if the difference value exceeds a preset range, generate abnormal alarm information indicating that the obstacle detection device to be cross-validated is abnormal; send The currently obtained obstacle information and abnormal alarm information are sent to the train control and management center, so that the train control and management center performs corresponding processing based on the obstacle information and the abnormal alarm information.
9. The system according to claim 8, wherein the main controller is further configured to receive only one or M obstacle detection devices within the preset detection ranges of N obstacle detection devices of the same type The detection data sent by the obstacle detection device generates abnormal alarm information indicating that the obstacle detection device that has not detected an obstacle is abnormal, the value of M is a positive integer less than N, and the value of N is a positive integer greater than or equal to 2 .
10. The system according to claim 8, wherein the obstacle detection device comprises: a passive obstacle detection and derailment detection device;

    The passive obstacle detection and derailment detection device is arranged on the bogie of the rail vehicle, and at least includes a detection beam, a detection plate spring, a limit shaft and a travel switch;

    The detection beam is associated with the detection plate spring, and when an obstacle on the track hits the detection beam, the detection beam deforms the detection plate spring, and the deformation range of the detection plate spring is limited by a fixed point and the limit shaft limit, the fixed point is used to fix the detection plate spring;

    The detection plate spring is connected to the travel switch, and the travel switch is connected in series with the train emergency brake circuit of the rail vehicle, and the travel switch performs a corresponding switching action according to the deformation of the detection plate spring, so that the The train emergency braking circuit generates emergency braking operation information and executes corresponding emergency braking operations;

    The main controller determines a reporting event type based on the emergency braking operation information, and generates obstacle information if the reporting event type is an obstacle detected.

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