CN101590861B - Method and device for detecting obstructions on railway rail by adopting image comparing technology - Google Patents
Method and device for detecting obstructions on railway rail by adopting image comparing technology Download PDFInfo
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- CN101590861B CN101590861B CN 200810067480 CN200810067480A CN101590861B CN 101590861 B CN101590861 B CN 101590861B CN 200810067480 CN200810067480 CN 200810067480 CN 200810067480 A CN200810067480 A CN 200810067480A CN 101590861 B CN101590861 B CN 101590861B
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Abstract
The invention relates to a method and a device for detecting obstructions on a railway rail by adopting an image comparing technology, which are used for detecting obstructions on the rail. The device for detecting obstructions is arranged aside a rail along the railway line and mainly comprises a controller (1), a storage device (2) and a video capture device (3), wherein the controller (1) operates according to a preset program to control the storage device (2) and the video capture device (3) to operate, and the controller (1) captures a sample image without obstructions in the working range in advance through the video capture device (3) and stores the sample image into the storage device (2). When obstructions are detected, the controller (1) captures a real-time image in the working range through the video capture device (3), and the real-time image and the stored sample image are compared and checked. When the real-time image and the sample image have inconsistent parts, the controller (1) sends a warning message to show that the obstructions exist on the rail in the working range.
Description
[technical field]
The present invention relates to the railway security field, particularly relate to a kind of railroad track obstacle detection method and device that adopts the image comparison techniques.
[background technology]
Current general railroad track; except electric railway is to adopt the totally enclosed type rail; all the other most of railways all are to adopt open rail; be that orbital region is open zone; anyone can enter rail; cross rail; when train driver is found to have the people to stop on the track; can not as automobile, can in short distance, train very be stopped immediately; usually stopping distance needs hundreds of meters to several kilometers, and when having the people to stop in emergency on finding track, it is fixed generally to need tens of seconds time train could be stopped; so collide people's accident to death through regular meeting, it is a problem extremely to be solved.
[summary of the invention]
Purpose of the present invention, be to provide a kind of railroad track obstacle detection method and device that adopts the image comparison techniques, detect on the track barrier whether occurred, information gives a warning when the discovery barrier occurs, make the relevant personnel make suitable action, thereby avoid having an accident.
The object of the present invention is achieved like this, adopt a kind of like this obstacle detection method, for detection of the barrier on the railroad track, it is characterized in that, described obstacle detection method comprises that the orbit imagery of taking clear in the working range in advance is as sample image, then when detecting barrier, take the interior orbit imagery of working range as real-time imaging, and described real-time imaging and sample image compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression working range barrier appears.
And, adopt a kind of like this obstacle detector, for detection of the barrier on the railroad track, adopt barrier method on the detection railroad track as previously described, it is characterized in that, described obstacle detector includes controller (1), storage device (2), camera device (3), wherein, described controller (1) is connected with camera device (3) circuitry phase with storage device (2), and by the preset program running, control the running of storage device (2) and camera device (3), and, controller (1) is taken the orbit imagery of clear in the working range as sample image in advance by camera device (3), and described sample image is stored in the storage device (2), then when detecting barrier, controller (1) is taken the interior orbit imagery of working range as real-time imaging by camera device (3), and the sample image that stores in described real-time imaging and the storage device (2) compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning, barrier appears in the track in the expression working range.
So just realized purpose of the present invention.
Obstacle detector of the present invention is to adopt the image comparative approach to detect barrier, so can detect any barrier, comprise people, animal, object etc., as long as barrier has entered on the track of working range, will change the captured real-time imaging of camera device (3), by comparing real-time imaging and sample image, just can find the appearance of barrier.
[description of drawings]
Fig. 1 is the three-dimensional schematic illustration of the imageization of obstacle detector of the present invention;
Fig. 2 is the structural representation key diagram of obstacle detector of the present invention;
Fig. 3 is the structural representation key diagram of having set up the obstacle detector of communication device (4);
Fig. 4 is obstacle detector when work near the give a warning schematic illustration of information of train;
Fig. 5 is the structural representation key diagram of having set up the obstacle detector of wireless signal receiver (5);
Fig. 6 is the structural representation key diagram of having set up the obstacle detector of laser suggestion device (6);
Fig. 7 to Figure 10 is the three-dimensional schematic illustration of imageization that obstacle detector of the present invention is arranged at diverse location.
Among the figure, the device that identical digitized representation is identical, parts device, accompanying drawing are schematically, in order to formation of the present invention and principal character to be described.
[embodiment]
Below in conjunction with accompanying drawing, apparatus and method of the present invention are described in further detail.
Consult Fig. 1 and Fig. 2, Fig. 1 is the three-dimensional schematic illustration of the imageization of obstacle detector of the present invention, Fig. 2 is the structural representation key diagram of obstacle detector of the present invention, obstacle detector shown in Fig. 1 and Fig. 2 is arranged at by the railway track along the line, primary structure includes controller (1), storage device (2), camera device (3), wherein, described controller (1) is connected with camera device (3) circuitry phase with storage device (2), and by the preset program running, control the running of storage device (2) and camera device (3), and, controller (1) is taken the orbit imagery of clear in the working range as sample image in advance by camera device (3), and described sample image is stored in the storage device (2), then when detecting barrier, controller (1) is taken the interior orbit imagery of working range as real-time imaging by camera device (3), and the sample image that stores in described real-time imaging and the storage device (2) compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning, barrier appears in the track in the expression working range.In addition, obstacle detector also includes a unique identification coding, described identification coding is mainly used in the place that arranges that the cognitive disorders quality testing is surveyed device, and, described warning message content includes the identification coding of the device that sends this warning message, so just can be that barrier appears in the track in the working range of that obstacle detector from the content-aware of warning message.
The present invention adopts the image comparative approach to detect barrier, detection method comprises that the orbit imagery of taking clear in the working range in advance is as sample image, then when detecting barrier, take the interior orbit imagery of working range as real-time imaging, and described real-time imaging and sample image compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression working range barrier appears.As long as in working range (with hacures part being shown in as Fig. 1), barrier occurs, barrier will influence the real-time imaging of taking gained, cause real-time imaging and sample image inconsistent, just can detect whether occur barrier in the working range by checking comparison real-time imaging and sample image.In addition, in this manual, real-time imaging and sample image are to obtain by the orbit imagery of taking working range, camera device (3) may also be filmed the scenery beyond the working range together when taking, wherein the image of working range part just can be as real-time imaging or the sample image of indication of the present invention but have only, beyond the working range image of part can give up need not, to avoid influencing testing result.
Because general open rail is to be in open-air atmosphere, so working range can be changed by daylight and the brightness of the real-time imaging of taking gained is affected, so when checking comparison real-time imaging and sample image, relatively checking step comprises the brightness of adjusting real-time imaging, make the mean flow rate of real-time imaging identical with the mean flow rate of sample image, with each pixel in the real-time imaging be then real-time pixel one by one with sample image in corresponding pixel be that the brightness of sampled pixel is compared, finding out with the brightness of sampled pixel real-time pixel inequality is the barrier pixel, and from each barrier pixel, find out the barrier image, described barrier image is made up of a plurality of continuous barrier pixels, when finding that barrier pixel quantity that any one barrier image wherein comprises surpasses specified quantity, be to occur and the inconsistent part of sample image in the real-time imaging, barrier occur on the track in the expression working range.And, described barrier pixel refers to that the brightness number of real-time pixel and the brightness number of corresponding sample pixel differ above the specification error value, for example the specification error value is 2%, and when the brightness number of real-time pixel and sampled pixel differs when surpassing 2%, this real-time pixel is exactly the barrier pixel.
Consult Fig. 3 and Fig. 4, Fig. 3 is the structural representation key diagram of having set up the obstacle detector of communication device (4), Fig. 4 is obstacle detector when work near the give a warning schematic illustration of information of train, obstacle detector shown in Fig. 3 and Fig. 4 also includes communication device (4), described communication device (4) is controlled by controller (1), when barrier appears in the track in obstacle detector detects working range, by communication device (4) warning message is sent near train by controller (1).And described communication device (4) is wireless signal transmitter or GSM mobile handset or CDMA mobile phone or 3G mobile.Continue to consult Fig. 3 and Fig. 4, among the embodiment of Fig. 3 and Fig. 4, to one communication device (4) be set at each train, make each train receive the warning message of being sent by obstacle detector by communication device (4), train is just as having grown farsighted person like this, if barrier occurs on the rail of train front, train driver just can not receive warning message by communication device (4) before train sails to, know that barrier appears on that stretch rail, just can make appropriate reaction early, avoid meeting accident.
Consult Fig. 5, Fig. 5 is the structural representation key diagram of having set up the obstacle detector of wireless signal receiver (5), obstacle detector shown in the figure also includes wireless signal receiver (5), described wireless signal receiver (5) is mainly used in receiving the signal that is sent by near train, after controller (1) receives the signal that is sent by near train by wireless signal receiver (5), controller (1) just begins to detect barrier work, behind the signal that near train not receiving sends, just stop to detect barrier work.Continue to consult Fig. 5, among the embodiment of Fig. 5, to one wireless signal transmitter be set at each train, make each train start the obstacle detector that is positioned at the train front by this wireless signal transmitter, leave obstruction checkout gear powered-down automatically to train.
Consult Fig. 6, Fig. 6 is the structural representation key diagram of having set up the obstacle detector of laser suggestion device (6), obstacle detector shown in the figure also includes laser suggestion device (6), described laser suggestion device (6) is arranged at the track top, and controlled by controller (1), when obstacle detector detects when barrier occurring on the track, controller (1) startup laser suggestion device (6) gives off laser beam and shines the interior track of working range signal by way of caution back and forth, if the barrier on the track is the people, he sees that this laser beam just knows that train soon sails to this track, he is disorbit immediately just, avoids meeting accident.
In addition, the further improvement of obstacle detection method of the present invention, it is the environmental information of when taking sample image, noting working range at that time, and under different environmental information conditions, take a plurality of different sample images, and, when detecting barrier, when taking real-time imaging, note the environmental information of working range at that time, then real-time imaging and the sample image with equivalent environment information are compared checking step, when occurring with the inconsistent part of sample image in finding real-time imaging, on the track in the expression working range barrier appears.And described environmental information includes geographical location information and/or temporal information and/or Weather information etc.So just can under different environment, accurately detect barrier, for example respectively morning of fine, cloudy day, rainy day, noon, dusk equal time take under sample image, the environment in the time of just can be according to detection when detecting barrier is found out the corresponding sample image and is detected barrier.
Aspect obstacle detector, above-mentioned further the improving one's methods of same employing, a plurality of orbit imageries of taking clear in the working range in advance by camera device (3) at described controller (1) are during as sample image, write down each sample image shooting environmental information at that time simultaneously, then each sample image and corresponding environmental information are bundled and be stored in the storage device (2), and, when detecting barrier, controller (1) is taken the interior orbit imagery of working range as real-time imaging by camera device (3), write down this real-time imaging shooting environmental information at that time simultaneously, in storage device (2), find out the sample image with equivalent environment information then, described real-time imaging and sample image are compared checking step, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning barrier occurs on the track in the expression working range.
By above-mentioned further improve one's methods after, obstacle detector singly can not be installed on the fixed position, also can be installed in the train head, as long as when taking sample image, note geographical location information and the Weather information of train at that time simultaneously, train is gone on the identical position later on, just the sample image with same geographic location information detects barrier, so just can help train driver to detect the train front whether barrier is arranged, when finding barrier, just can be immediately to the train driver information that gives a warning, make the driver in time make appropriate reaction, avoid meeting accident.
Consult Fig. 7 to Figure 10, Fig. 7 to Figure 10 is the three-dimensional schematic illustration of imageization that obstacle detector of the present invention is arranged at diverse location, obstacle detector shown in Fig. 7 is arranged on the other pillar of track, obstacle detector shown in Fig. 8 is arranged on the pillar of middle position of two-wire track, and arrange in back-to-back mode with two obstacle detectors, can save the expense that pillar is set like this, obstacle detector shown in Fig. 9 is arranged at the middle position on the rack beam on the track, arrange in back-to-back mode with two obstacle detectors equally, obstacle detector shown in Figure 10 is arranged on the other pillar of track, and between each pillar and pillar, be provided with power line, this power line is except can providing the required electric power of each obstacle detector, more can adopt power-line carrier communication, this power line is become communication network, obstacle detector just can send testing result to railway dispatching control centre by power line like this, makes the railway dispatching control centre checkout gear that can break the barriers in time grasp the situation in each track highway section.In addition, obstacle detector more can be sent to railway dispatching control centre immediately with the real-time imaging that barrier occurs, when the people will destroy any facility on the railway, railway dispatching control centre just can know from real-time imaging immediately, just can send someone immediately to handle, it is the same that this obstacle detector just equals a railway guard, at every moment keeps guard over track, to improving very benifit of railway security.
In addition, though the present invention is illustrated with the above embodiments, the present invention is not limited to this, under the situation of the scope of not leaving spirit of the present invention and appended claims, can do multiple change and variation.
Obstacle detector of the present invention is particularly suitable for being applied on some existing non-electrified open tracks, by being arranged at railway obstacle detector along the line, on near train driver just can be known the track whether barrier is arranged, just as train has increased farsighted person, when on finding track, barrier occurring, just can make suitable action early, avoid meeting accident.Enforcement of the present invention can improve railway security and bring good society and economic benefit.
Claims (6)
1. obstacle detector, for detection of the barrier on the railroad track, the method that adopts comprises that the orbit imagery of taking clear in the working range in advance is as sample image, then when detecting barrier, take the interior orbit imagery of working range as real-time imaging, and described real-time imaging and sample image compared check, when in finding real-time imaging, occurring with the inconsistent part of sample image, barrier appears on the track in the expression working range, it is characterized in that, described obstacle detector includes controller (1), storage device (2), camera device (3), wherein, described controller (1) is connected with camera device (3) circuitry phase with storage device (2), and by the preset program running, control the running of storage device (2) and camera device (3), and, controller (1) is taken the orbit imagery of clear in the working range as sample image in advance by camera device (3), and described sample image is stored in the storage device (2), then when detecting barrier, controller (1) is taken the interior orbit imagery of working range as real-time imaging by camera device (3), and the sample image that stores in described real-time imaging and the storage device (2) compared check, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning, barrier appears in the track in the expression working range, and, described obstacle detector also includes wireless signal receiver (5), described wireless signal receiver (5) is used for receiving the signal that is sent by near train, after controller (1) receives the signal that is sent by near train by wireless signal receiver (5), controller (1) just begins to detect barrier work, behind the signal that near train not receiving sends, just stop to detect barrier work.
2. obstacle detector as claimed in claim 1, it is characterized in that, described obstacle detector also includes communication device (4), described communication device (4) is controlled by controller (1), when barrier appears in the track in obstacle detector detects working range, by communication device (4) warning message is sent near train by controller (1).
3. obstacle detector as claimed in claim 2 is characterized in that, described communication device (4) is wireless signal transmitter or GSM mobile handset or CDMA mobile phone or 3G mobile.
4. obstacle detector as claimed in claim 1 or 2, it is characterized in that, described obstacle detector also includes laser suggestion device (6), described laser suggestion device (6) is arranged at the track top, and controlled by controller (1), when obstacle detector detects when barrier occurring on the track, controller (1) starts laser suggestion device (6) and gives off laser beam and shine track signal by way of caution in the working range back and forth.
5. obstacle detector as claimed in claim 1 or 2, it is characterized in that, a plurality of orbit imageries that described controller (1) is taken clear in the working range in advance by camera device (3) are during as sample image, write down each sample image shooting environmental information at that time simultaneously, then each sample image and corresponding environmental information are bundled and be stored in the storage device (2), and, when detecting barrier, controller (1) is taken the interior orbit imagery of working range as real-time imaging by camera device (3), write down this real-time imaging shooting environmental information at that time simultaneously, in storage device (2), find out the sample image with equivalent environment information then, described real-time imaging and sample image compared check, when in finding real-time imaging, occurring with the inconsistent part of sample image, controller (1) information that gives a warning barrier occurs on the track in the expression working range.
6. obstacle detector as claimed in claim 1 or 2, it is characterized in that, described obstacle detector also includes a unique identification coding, and described warning message content includes the identification coding of the obstacle detector that sends this warning message.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200810067480 CN101590861B (en) | 2008-05-30 | 2008-05-30 | Method and device for detecting obstructions on railway rail by adopting image comparing technology |
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| CN 200810067480 CN101590861B (en) | 2008-05-30 | 2008-05-30 | Method and device for detecting obstructions on railway rail by adopting image comparing technology |
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| CN101590861B true CN101590861B (en) | 2013-07-10 |
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| CN101973290B (en) * | 2010-09-25 | 2015-02-11 | 张澎珍 | Estimation system of railway operating environment of high-speed train |
| CN112776856A (en) * | 2021-01-15 | 2021-05-11 | 中国神华能源股份有限公司神朔铁路分公司 | Track foreign matter intrusion monitoring method, device and system and monitoring host equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1214656A (en) * | 1996-02-27 | 1999-04-21 | 航空工业有限公司 | Obstacle detection system |
| CN101020466A (en) * | 2006-02-13 | 2007-08-22 | 申朗 | Over-the-horizon and curve observing system for railway train |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156089A (en) * | 1983-10-11 | 1984-09-05 | Hitachi Ltd | Obstacle detecting method for vehicle |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1214656A (en) * | 1996-02-27 | 1999-04-21 | 航空工业有限公司 | Obstacle detection system |
| CN101020466A (en) * | 2006-02-13 | 2007-08-22 | 申朗 | Over-the-horizon and curve observing system for railway train |
Non-Patent Citations (2)
| Title |
|---|
| JP昭59-156089A 1984.09.05 |
| 王小琦."障碍物视觉识别中的稳像技术研究".《科技信息》.2007,623-625. |
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Address after: The International Chamber of Commerce building, No. 2 Beijing 100035 Xicheng District huapichang alley 16 Patentee after: Huang Jinfu Address before: 100032, Beijing, Financial Street, Xicheng District No. 27 investment Plaza, block B, 19 Patentee before: Huang Jinfu |
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