WO2024055439A1 - 一种用于列车障碍物信息显示的方法和装置 - Google Patents

一种用于列车障碍物信息显示的方法和装置 Download PDF

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Publication number
WO2024055439A1
WO2024055439A1 PCT/CN2022/135650 CN2022135650W WO2024055439A1 WO 2024055439 A1 WO2024055439 A1 WO 2024055439A1 CN 2022135650 W CN2022135650 W CN 2022135650W WO 2024055439 A1 WO2024055439 A1 WO 2024055439A1
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train
mobile terminal
obstacle
handheld mobile
information
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PCT/CN2022/135650
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English (en)
French (fr)
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王思远
崔洪州
蒋耀东
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卡斯柯信号有限公司
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Publication of WO2024055439A1 publication Critical patent/WO2024055439A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
    • 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 vehicle trains
    • B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains

Definitions

  • the invention relates to a train signal control system, and in particular to a method and device for displaying train obstacle information.
  • the train obstacle detection system is an emerging technology in recent years. It uses cameras, lidar, millimeter wave radar and other sensors to achieve obstacle sensing and processing capabilities during train operation. Since this system is an emerging product, there are few opportunities for pre-train installation. It is usually added and installed after the train is delivered. At this time, when facing the display of obstacle information, there is a difficulty in installing the display screen nowhere. In GoA3-level DTO mode, fault response is the responsibility of the train attendant. In GoA4-level UTO mode, fault response is also completed automatically. In current practice, in order to improve operational safety and handle unexpected abnormal situations, trains in DTO or UTO mode are generally equipped with train attendants. The train attendants no longer have fixed seats, display screens and operating desks, but can move around in the carriage like ordinary passengers.
  • the train attendants rely on walkie-talkies to communicate with the dispatch center and cannot directly obtain the train's operating status. Especially with the obstacle detection system installed later, the train attendants cannot know its working status and can only rely on notifications from the dispatch center, which is relatively inefficient. .
  • the purpose of the present invention is to provide a method and device for displaying train obstacle information in order to overcome the above-mentioned shortcomings of the prior art.
  • a method for displaying train obstacle information is provided. This method allows train attendants to grasp the working status of the on-board obstacle detection system in real time. When an obstacle affects driving, the method can Receive the notification as soon as possible and go to the front of the car to deal with traffic interruption accidents caused by abnormal obstacles;
  • the method includes the following steps:
  • Step S101 the on-board host of the train autonomous sensing system collects train operation information, sensor information, and obstacle information, and sends them to the handheld mobile terminal;
  • Step S102 the handheld mobile terminal receives the train operation information, sensor information and obstacle information sent by the vehicle-mounted host and displays them;
  • Step S103 the handheld mobile terminal communicates with the server installed in the ground dispatch center, reports its own status, and obtains instructions from the ground dispatch center;
  • Step S104 when the on-board host detects an obstacle, the handheld mobile terminal emits an audible and visual alarm and continues to vibrate, reminding the train attendants to handle the obstacle as soon as possible; at the same time, the handheld mobile terminal displays obstacle handling opinions and guidance for the train. Reference for value passengers;
  • Step S105 After the accident is handled, the train attendant reports the obstacle handling results to the ground dispatch center through the handheld mobile terminal.
  • the handheld mobile terminal and the vehicle-mounted host establish corresponding communication through a binding operation.
  • the binding method includes scanning a vehicle-mounted QR code or using NFC communication.
  • the handheld mobile terminal has a verification and authorization function.
  • authorization verification is performed through the server or the vehicle-mounted host. Only after passing the verification can it communicate with the vehicle-mounted host and the server.
  • the handheld mobile terminal After the handheld mobile terminal is bound and verified and authorized, it displays vehicle operation information, including train number, vehicle speed, location and arrival station ahead.
  • the handheld mobile terminal displays sensor information sent from the vehicle host, where the sensor information includes original point cloud presentation, original image or video information.
  • the handheld mobile terminal displays obstacle simulation information processed by the vehicle-mounted host, where the obstacle simulation information includes obstacle number, orientation, size and distance information.
  • the handheld mobile terminal has a communication connection status monitoring function, which can monitor the communication status between the handheld and the vehicle-mounted host in real time. When the connection is disconnected, the user will be prompted to check and reconnect.
  • a device for the method for displaying train obstacle information including a handheld mobile terminal with a communication function and an APP installed in the handheld mobile terminal. Through the handheld mobile terminal Check the train obstacle information on the terminal.
  • an electronic device including a memory and a processor.
  • a computer program is stored on the memory, and the method is implemented when the processor executes the program.
  • a computer-readable storage medium is provided, a computer program is stored thereon, and the method is implemented when the program is executed by a processor.
  • the present invention has the following advantages:
  • the present invention allows train attendants to grasp the working status of the on-board obstacle detection system in real time. When an obstacle occurs that affects driving, they can receive a notification immediately and go to the front of the train to deal with the driving interruption accident caused by abnormal obstacles. . After the train attendants arrive at the front of the train, they can handle the accident according to the method prompted by the terminal.
  • the present invention can display obstacle information for train passengers on subway operating lines in DTO and UTO modes.
  • the present invention has flexible characteristics.
  • the train attendants do not need to be fixed at the front of the train to view the driving status display, but can walk back and forth in the carriage to inspect the safety of the carriage.
  • the device provided by the patent of the present invention has an automatic alarm function after an obstacle is discovered, reducing the monitoring work pressure of train attendants.
  • the device provided by the patent of this invention can check the driving status and the status of the obstacle detection system at any time, and check the video information in front of the vehicle.
  • the train attendant does not need to always be at the front of the vehicle.
  • Figure 1 is a diagram showing the position and connection relationship of the handheld mobile terminal in the autonomous train sensing system of the present invention
  • Figure 2 is a work flow chart of the handheld mobile terminal of the present invention.
  • the method proposed by the present invention for displaying train obstacle information allows train attendants to grasp the working status of the on-board obstacle detection system in real time, and receive notifications immediately when obstacles appear that affect driving. Go to the front of the car to deal with traffic interruption accidents caused by abnormal obstacles. After the train attendants arrive at the front of the train, they can handle the accident according to the method prompted by the terminal.
  • the train autonomous sensing system includes multiple subsystems, among which the on-board subsystem and server subsystem related to the handheld mobile terminal are shown in Figure 1.
  • the on-board subsystem is installed at both ends of the train, including sensors and processing hosts, and the central server is generally installed in the dispatch center.
  • the handheld mobile terminal is carried by the train attendant, and is brought to the train and used when the train is on duty.
  • the handheld mobile terminal, the vehicle-mounted host and the central server all have communication connections.
  • the handheld mobile terminal can also directly communicate with the vehicle-mounted host.
  • the tag contains the train ID and is affixed to a specific location in the train carriage to distinguish each train.
  • the handheld mobile terminal After the handheld mobile terminal obtains the server address and vehicle ID, it is transmitted together with its own ID to the central server for login authentication. If the authentication is passed, the handheld mobile terminal will be allowed to access the network and the vehicle host address will be issued. Set the status of the handheld mobile terminal and the vehicle host to have a bound relationship. If the authentication fails, the handheld mobile terminal cannot access the vehicle host and cannot obtain relevant information. Using this method can prevent unauthorized users from obtaining information, or the handheld mobile terminal is lost, resulting in information leakage, etc., and ensures information security.
  • the handheld mobile terminal establishes communication with the vehicle host according to the address of the vehicle host. After the communication is established, the vehicle host will periodically send train operation information to the handheld mobile terminal, such as the current train number, speed, current train position, ahead arrival information, etc. . In addition, the vehicle-mounted host will also send the vehicle-mounted host obstacle detection information to the handheld mobile terminal, including the presence or absence of obstacles, the number, orientation, size, distance and other information of obstacles.
  • Train attendants can choose to view the original output of the train's front-end/back-end sensors, such as laser point clouds, video output, etc., and can perform switching, rotation and other operations through interface operations.
  • front-end/back-end sensors such as laser point clouds, video output, etc.
  • the on-board host When the on-board host detects an obstacle, it will immediately send an alarm message to the handheld mobile terminal, driving the handheld mobile terminal to issue an audible and visual alarm and continue to vibrate, reminding the train crew to take action. At the same time, the on-board host will perform corresponding processing. If it is connected to the signaling system, it will participate in train control through the on-board equipment of the signaling system. If it is directly connected to the vehicle braking unit, it will output vehicle braking instructions.
  • the handheld mobile terminal can display the obstacle information for the reference of the train crew. At this time, the train crew can visually or view the original data of the on-board sensor. Review obstacle information. At the same time, the handheld mobile terminal can obtain obstacle handling opinions and handling method guidance from the server, guide the train crew to solve problems, and upload the obstacle handling process and results. After the incident is handled, the handheld mobile terminal returns to the normal display mode and continues to obtain and display various information.
  • the handheld mobile terminal will continue to monitor the communication connection between the handheld and the vehicle-mounted host. Once the connection is disconnected, the user will be reminded that the current device is unavailable, prompting the user to check and re-establish the connection, such as leaving the vehicle-mounted host. Closer, to a place where the signal is less affected by shielding, etc.
  • the realization of the above functions by the handheld mobile terminal depends on the hardware capabilities and software of the handheld mobile terminal.
  • the hardware capabilities include power supply, QR code scanning module, NFC communication module, network communication module, etc.
  • the software is an APP specially developed for the above functions, and Changes, upgrades and other operations can be performed according to user needs to improve user satisfaction.
  • the present invention does not limit the communication methods between various subsystems.
  • the communication method can adopt WLAN communication, mobile data communication, and other near field communication methods.
  • the present invention also provides a device for implementing the method, specifically a handheld mobile terminal. After installing the APP, the train obstacle information can be viewed through the handheld mobile terminal.
  • the train autonomous sensing system as a whole provides obstacle sensing capabilities for multiple vehicles in the subway line.
  • the present invention is a part of the train autonomous sensing system. As a subsystem, it assumes the function of displaying obstacle information.
  • the device of the present invention includes a central processing unit (CPU), which can execute various appropriate functions according to computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). actions and processing.
  • ROM read-only memory
  • RAM random access memory
  • various programs and data required for device operation can also be stored.
  • CPU, ROM and RAM are connected to each other through buses.
  • I/O Input/output
  • I/O interface Multiple components in the device are connected to the I/O interface, including: input units, such as keyboards, mice, etc.; output units, such as various types of monitors, speakers, etc.; storage units, such as disks, optical disks, etc.; and communication units, For example, network cards, modems, wireless communication transceivers, etc.
  • the communication unit allows the device to exchange information/data with other devices through computer networks such as the Internet and/or various telecommunications networks.
  • the processing unit executes each method and processing described above, such as methods S101 to S105.
  • methods S101 to S105 may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit.
  • part or all of the computer program may be loaded and/or installed onto the device via the ROM and/or communication unit.
  • the CPU may be configured to perform methods S101 to S105 in any other suitable manner (eg, by means of firmware).
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSPs Application Specific Standard Products
  • SOCs Systems on Chips
  • CPLD Complex Programmable Logical device
  • Program code for implementing the methods of the invention may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that the program codes, when executed by the processor or controller, cause the functions specified in the flowcharts and/or block diagrams/ The operation is implemented.
  • the program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.
  • the machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM portable compact disk read-only memory
  • magnetic storage device or any suitable combination of the above.

Abstract

一种用于列车障碍物信息显示的方法，能够让列车值乘人员实时掌握车载障碍物检测系统的工作状态，在出现障碍物影响行车时，能够第一时间接收到通知，到车头去处理障碍物异常造成的行车中断事故；同时在列车值乘人员到达车头后，按照手持移动终端提示的方法，对事故进行处理。有益效果：能够在DTO、UTO模式下的地铁运行线路上为列车值乘人员显示障碍物信息。

Description

一种用于列车障碍物信息显示的方法和装置 技术领域
本发明涉及列车信号控制系统，尤其是涉及一种用于列车障碍物信息显示的方法和装置。
背景技术
在城市轨道交通中，随着系统的复杂化，越来越多的屏幕出现在驾驶台上，以提示司机进行相应的操作，然而驾驶台的空间本来就有限，后装的系统很可能就没有合适的地方安装屏幕，造成使用的不便。此外随着自动驾驶技术的成熟，越来越多的线路实现了DTO(Driverless train operation，有人值守下列车自动运行)模式甚至UTO(Unattended train operation，无人值守下的列车自动运行)模式，列车不再设置司机室，相应的显示屏也被取消，无法安装，即使是有空间安装，也要考虑到信息安全，不可以让普通乘客接触到列车运营信息。
列车障碍物检测系统是近几年新兴的技术，利用摄像机、激光雷达、毫米波雷达等传感器实现了列车运行过程中的障碍物感知与处理能力。由于该系统是新兴产品，列车前装的机会很少，一般都是在列车交付后添加安装，此时面对障碍物信息的显示，就存在显示屏无处安装的困难。GoA3级的DTO模式，故障应对由列车值乘人员负责，GoA4级的UTO模式下，故障应对也是自动完成。在目前的实践中，为了提高运营安全性，处理突发异常状况，无论DTO还是UTO模式的列车，一般也还配有列车值乘人员。该列车值乘人员不再拥有固定的座位、显示屏及操作台，而是像普通乘客一样在车厢里可以到处走动。列车值乘人员依靠对讲机与调度中心通信，无法直接获取列车的运行状态，特别是后加装的障碍物检测系统，列车值乘人员无法知道其工作状态，只能依靠调度中心通知，效率比较低。
发明内容
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种用于列车障碍物信息显示的方法和装置。
本发明的目的可以通过以下技术方案来实现：
根据本发明的第一方面，提供了一种用于列车障碍物信息显示的方法，该方法能够让列车值乘人员实时掌握车载障碍物检测系统的工作状态，在出现障碍物影响行车时，能够第一时间接收到通知，到车头去处理障碍物异常造成的行车中断事故；
同时在列车值乘人员到达车头后，按照手持移动终端提示的方法，对事故进行处理。
作为优选的技术方案，该方法包括以下步骤：
步骤S101，列车自主感知系统的车载主机收集列车运行信息、传感器信息、障碍物信息，并发送给手持移动终端；
步骤S102，所述手持移动终端接收车载主机发出的列车运行信息、传感器信息和障碍物信息，并显示；
步骤S103，所述手持移动终端与安装在地面调度中心的服务器进行通信，上报自身的状态，获取地面调度中心的指令；
步骤S104，当所述车载主机检测到障碍物后，手持移动终端发出声光报警并持续震动，提醒列车值乘人员尽快进行处置；同时手持移动终端显示障碍物处理意见及处理方法指导，供列车值乘人员参考；
步骤S105，事故处理完毕后，列车值乘人员通过手持移动终端向地面调度中心上报障碍物处理结果。
作为优选的技术方案，所述手持移动终端与车载主机通过绑定操作建立对应的通信。
作为优选的技术方案，所述绑定的方法包括扫描车载二维码或者使用NFC通信。
作为优选的技术方案，所述手持移动终端具有验证授权功能，在绑定登录时，通过服务器或者车载主机进行授权验证，验证通过后才能够与车载主机及服务器进行通信。
作为优选的技术方案，所述手持移动终端绑定及验证授权通过后，显示车辆运行信息，包括车次号、车速、位置和前方到站。
作为优选的技术方案，所述手持移动终端显示车载主机发送过来的传感器信息，其中传感器信息包括原始点云呈现、原始图像或视频信息。
作为优选的技术方案，所述手持移动终端显示车载主机处理过后的障碍物模拟信息，其中障碍物模拟信息包括障碍物数量、方位、大小和距离信息。
作为优选的技术方案，所述手持移动终端具有通信连接状态监测功能，实时监测手持和车载主机之间的通信状态，断开连接时，会提示用户进行检查和重新连接。
根据本发明的第二方面，提供了一种用于所述用于列车障碍物信息显示的方法的装置，包括具备通信功能的手持移动终端以及安装在手持移动终端中的APP，通过该手持移动终端查看列车障碍物信息。
根据本发明的第三方面，提供了一种电子设备，包括存储器和处理器，所述存储器上存储有计算机程序，所述处理器执行所述程序时实现所述的方法。
根据本发明的第四方面，提供了一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现所述的方法。
与现有技术相比，本发明具有以下优点：
1)本发明能够让列车值乘人员可以实时掌握车载障碍物检测系统的工作状态，在出现障碍物影响行车时，能够第一时间接收到通知，到车头去处理障碍物异常造成的行车中断事故。在列车值乘人员到达车头后，可以按照终端提示的方法，对事故进行处理。
2)本发明能够在DTO、UTO模式下的地铁运行线路上为列车值乘人员显示障碍物信息。
3)相对在列车上安装屏幕的方法，本发明具有灵活的特性，列车值乘人员无需固定在车头位置查看行车状态显示，可以在车厢里来回走动，巡视车厢安全。
4)本发明专利提供的装置，具有发现障碍物后自动报警功能，减少列车值乘人员的监视工作压力。
5)本发明专利提供的装置，可以随时查看行车状态及障碍物检测系统的状态，查看车辆前方视频信息，列车值乘人员不用始终处于车头位置。
附图说明
图1为本发明手持移动终端在列车自主感知系统中的位置及连接关系图；
图2为本发明手持移动终端工作流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完 整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。
本发明提出的一种用于列车障碍物信息显示的方法，能够让列车值乘人员可以实时掌握车载障碍物检测系统的工作状态，在出现障碍物影响行车时，能够第一时间接收到通知，到车头去处理障碍物异常造成的行车中断事故。在列车值乘人员到达车头后，可以按照终端提示的方法，对事故进行处理。
列车自主感知系统包括多个子系统，其中与手持移动终端相关的是车载子系统和服务器子系统，如图1所示。车载子系统安装在列车的两端，包括传感器和处理主机，中心服务器一般安装在调度中心。手持移动终端由列车值乘人员携带，在值乘列车时，带到列车上并且使用。手持移动终端、车载主机和中心服务器都有通信连接，此外手持移动终端也可以和车载主机直接通信。
手持移动终端的一般使用过程如下：
手持移动终端开机后，读取配置文件，获取服务器地址，使用二维码扫描功能或者NFC标签读取功能，扫描/读取车载主机标签。该标签包含列车ID，贴在列车车厢内的特定位置，用于区别每一列车。
手持移动终端获取服务器地址和车辆ID后，连同自身的ID，一起传送给中心服务器，进行登录鉴权操作，如果鉴权通过，则会允许手持移动终端接入网络，并且下发车载主机地址，设置手持移动终端和车辆主机的状态为已经绑定关系。如果鉴权不通过，则该手持移动终端无法接入车辆主机，无法获取相关信息。使用该方法可以防止未授权的用户获取信息，或者手持移动终端丢失，导致信息泄露等情况，保障信息安全。
手持移动终端根据车载主机地址与车载主机建立通信，通信建立后，车载主机会周期性地向手持移动终端发送列车运行信息，如当前列车的车次号、车速、当前列车位置、前方到站信息等。此外车载主机还会发送车载主机障碍物检测信息给手持移动终端，包括有无障碍物、障碍物数量、方位、大小、距离等信息。
列车值乘人员可以选择查看列车前端/后端传感器的原始输出，如激光点云、视频输出等，并可以通过界面操作进行切换，旋转等操作。
当车载主机检测到障碍物后，会立即向手持移动终端发送告警信息，驱动手持移 动终端发出声光报警、持续震动，提醒列车值乘人员进行处置。同时车载主机会进行相应的处理，如果连接信号系统，则会通过信号系统的车载设备参与列车控制，如果直接与车辆制动单元相连，则会输出车辆制动指令。
当车载主机检测到障碍物并紧急制动，导致列车停车后，手持移动终端能够显示障碍物信息，供列车值乘人员参考，此时列车值乘人员可以通过目视或者查看车载传感器原始数据，复核障碍物信息。同时手持移动终端能够从服务器端获取障碍物处理意见及处理方法指导，指导列车值乘人员解决问题，上传障碍物处理过程及处理结果。事故处理完毕后，手持移动终端恢复正常显示模式，继续获取并显示各类信息。
手持移动终端在使用过程中，会持续监视手持与车载主机之间的通信连接，一旦连接断开，则会提醒用户，当前设备不可用，提示用户进行检查和重新建立连接，比如到离车载主机更近的地方，到信号受屏蔽影响比较小的地方等等。
手持移动终端实现上述功能依赖于手持移动终端的硬件能力和软件，硬件能力如电源供应、二维码扫描模块、NFC通信模块、网络通信模块等，软件是针对上述功能而特意开发的APP，并且可以根据用户的需求进行更改、升级等操作，以提升用户使用满意度。
本发明并没有限制各个子系统之间的通信方式，取决于项目具体的实施方式，通信方式可以采用WLAN通信、移动数据通信、以及其它近场通信方式。这些改变均应认为在本发明专利允许的范围之内，并不能构成新的专利。
以上是关于方法实施例的介绍，以下通过装置实施例，对本发明所述方案进行进一步说明。
如图1所示，本发明还提供了一种装置，用于实现该方法，具体为一种手持移动终端，安装APP后，可以通过该手持移动终端查看列车障碍物信息。列车自主感知系统作为一个整体，为地铁线路中多个车辆提供障碍物感知能力，本发明是列车自主感知系统的一部分，作为一个子系统，承担障碍物信息显示的功能。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，所述描述的模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本发明设备包括中央处理单元(CPU)，其可以根据存储在只读存储器(ROM)中的计算机程序指令或者从存储单元加载到随机访问存储器(RAM)中的计算机程序指令，来执行各种适当的动作和处理。在RAM中，还可以存储设备操作所需的各种程序和 数据。CPU、ROM以及RAM通过总线彼此相连。输入/输出(I/O)接口也连接至总线。
设备中的多个部件连接至I/O接口，包括：输入单元，例如键盘、鼠标等；输出单元，例如各种类型的显示器、扬声器等；存储单元，例如磁盘、光盘等；以及通信单元，例如网卡、调制解调器、无线通信收发机等。通信单元允许设备通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
处理单元执行上文所描述的各个方法和处理，例如方法S101～S105。例如，在一些实施例中，方法S101～S105可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元。在一些实施例中，计算机程序的部分或者全部可以经由ROM和/或通信单元而被载入和/或安装到设备上。当计算机程序加载到RAM并由CPU执行时，可以执行上文描述的方法S101～S105的一个或多个步骤。备选地，在其他实施例中，CPU可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行方法S101～S105。
本文中以上描述的功能可以至少部分地由一个或多个硬件逻辑部件来执行。例如，非限制性地，可以使用的示范类型的硬件逻辑部件包括：现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、片上系统(SOC)、复杂可编程逻辑设备(CPLD)等等。
用于实施本发明的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本发明的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器 (CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (12)

  1. 一种用于列车障碍物信息显示的方法，其特征在于，该方法能够让列车值乘人员实时掌握车载障碍物检测系统的工作状态，在出现障碍物影响行车时，能够第一时间接收到通知，到车头去处理障碍物异常造成的行车中断事故；
    同时在列车值乘人员到达车头后，按照手持移动终端提示的方法，对事故进行处理。
  2. 根据权利要求1所述的一种用于列车障碍物信息显示的方法，其特征在于，该方法包括以下步骤：
    步骤S101，列车自主感知系统的车载主机收集列车运行信息、传感器信息、障碍物信息，并发送给手持移动终端；
    步骤S102，所述手持移动终端接收车载主机发出的列车运行信息、传感器信息和障碍物信息，并显示；
    步骤S103，所述手持移动终端与安装在地面调度中心的服务器进行通信，上报自身的状态，获取地面调度中心的指令；
    步骤S104，当所述车载主机检测到障碍物后，手持移动终端发出声光报警并持续震动，提醒列车值乘人员尽快进行处置；同时手持移动终端显示障碍物处理意见及处理方法指导，供列车值乘人员参考；
    步骤S105，事故处理完毕后，列车值乘人员通过手持移动终端向地面调度中心上报障碍物处理结果。
  3. 根据权利要求2所述的一种用于列车障碍物信息显示的方法，其特征在于，所述手持移动终端与车载主机通过绑定操作建立对应的通信。
  4. 根据权利要求3所述的一种用于列车障碍物信息显示的方法，其特征在于，所述绑定的方法包括扫描车载二维码或者使用NFC通信。
  5. 根据权利要求2所述的一种用于列车障碍物信息显示的方法，其特征在于，所述手持移动终端具有验证授权功能，在绑定登录时，通过服务器或者车载主机进行授权验证，验证通过后才能够与车载主机及服务器进行通信。
  6. 根据权利要求5所述的一种用于列车障碍物信息显示的方法，其特征在于，所述手持移动终端绑定及验证授权通过后，显示车辆运行信息，包括车次号、车速、位置和前方到站。
  7. 根据权利要求2所述的一种用于列车障碍物信息显示的方法，其特征在于，所述手持移动终端显示车载主机发送过来的传感器信息，其中传感器信息包括原始点云呈现、原始图像或视频信息。
  8. 根据权利要求2所述的一种用于列车障碍物信息显示的方法，其特征在于，所述手持移动终端显示车载主机处理过后的障碍物模拟信息，其中障碍物模拟信息包括障碍物数量、方位、大小和距离信息。
  9. 根据权利要求2所述的一种用于列车障碍物信息显示的方法，其特征在于，所述手持移动终端具有通信连接状态监测功能，实时监测手持和车载主机之间的通信状态，断开连接时，会提示用户进行检查和重新连接。
  10. 一种用于权利要求1所述用于列车障碍物信息显示的方法的装置，其特征在于，包括具备通信功能的手持移动终端以及安装在手持移动终端中的APP，通过该手持移动终端查看列车障碍物信息。
  11. 一种电子设备，包括存储器和处理器，所述存储器上存储有计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1～9中任一项所述的方法。
  12. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述程序被处理器执行时实现如权利要求1～9中任一项所述的方法。
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