CN107064952A - Railway track barrier monitors the device of identification automatically - Google Patents
Railway track barrier monitors the device of identification automatically Download PDFInfo
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- CN107064952A CN107064952A CN201710269082.3A CN201710269082A CN107064952A CN 107064952 A CN107064952 A CN 107064952A CN 201710269082 A CN201710269082 A CN 201710269082A CN 107064952 A CN107064952 A CN 107064952A
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- laser
- barrier
- laser signal
- range finder
- railway track
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
A kind of railway track barrier monitors the device of identification automatically, including：Laser range finder, for sending laser by set angle scope along a plane above railway track, carries out sweeping search；It is additionally operable to receive the laser signal returned；Precise rotation platform, is fixed with laser range finder, for controlling laser range finder to be swept by set angle；Barrier judgment circuit and arithmetic processing unit, for the laser signal returned according to receiving and send on laser signal, automatic decision railway track with the presence or absence of harmful barrier.Warning device of the present invention can quickly and accurately be differentiated, and alarm target is positioned under the conditions of various weather and weather to harmful barrier that train normally travel may be threatened on rail track.
Description
Technical field
The invention belongs to laser measuring technique field, it is related to the device that a kind of railway track barrier monitors identification automatically.
Background technology
Current China railways realized 120,000 kilometers of mileage open to traffic, high ferro in 2015 by the construction energetically of " 12 "
Mileage is runed more than 1.9 ten thousand kilometers, is that the trip of the common people is provided a great convenience, is that socio-economic development is made that positive
Contribution.Operation security is the eternal theme of railway transportation.To strengthen rail track protection management, it is ensured that railway operation safety and people
Body safety, reduces human casualty accident inside and outside road, and the newly-built each grade Along Railway of China is provided with roll guard, protection network
Closed as railway circumference.Harmful barrier such as the falling rocks of tunnel face massif is serious harm safely to railway operation,
Key area carries out safety management means along, is to ensure one of important measures of railway operation safety.
Based on railway operation safety management demand, it is necessary to which research is based on tunnel monitoring technology, with reference to light sensing, fax sense
Etc. new technology and management and control measures, develop it is a set of run in harmful barrier warning system such as railway tunnel falling rocks, be that railway is carried
For comprehensive security protection, railway circumference, the safeguard management level of key area are significantly lifted.
The content of the invention
In view of this, artificial intelligence is searched for automatically it is an object of the invention to provide a kind of railway track barrier laser radar
The device of identification and alarm can be monitored to solve at least one of above-described technical problem.
To achieve the above object, the present invention provides the device that a kind of railway track barrier monitors identification automatically, including：
Laser range finder, for sending laser by set angle scope along a plane above railway track, carries out sweeping and searches
Rope；It is additionally operable to receive the laser signal returned；
Precise rotation platform, is fixed with laser range finder, for controlling laser range finder to be swept by set angle；
Barrier judgment circuit and arithmetic processing unit, the laser signal for being returned according to reception are believed with laser is sent
Number, with the presence or absence of harmful barrier on automatic decision railway track.
Further, in addition to alarm, for when automatic decision has harmful barrier, sending alarm signal.
Further, the precise rotation platform is electrically coupled to a stepper motor, so that described sweep search with isogonism
Step-forward methods are spent to carry out.
Further, the step angle of the stepper motor is 0.001 point of -10 degree.
Further, the barrier judgment circuit and arithmetic processing unit, on automatic decision railway track whether
Specifically included in the presence of harmful barrier：
Acquired disturbance thing data are calculated according to the laser signal of return and the laser signal sent, the position of barrier is determined
Put and horizontal direction size；
The laser signal region for receiving return is carried out to repeat to sweep search, the laser signal of return is such as still received,
Then judge there is harmful barrier.
Further, the barrier data include the size of barrier, with the distance of the laser signal device of return with
And azimuth.
Further, the laser signal region for receiving return is carried out repeating to sweep search, as do not received return
Laser signal, then judge harmful barrier is not present.
Further, in addition to：Launch orthopaedic component, it is whole for carrying out light beam to the laser sent by set angle scope
Shape is to form collimated light beam；Orthopaedic component is received, for carrying out beam shaping formation collimated light to receiving the laser signal returned
Beam.
Further, the laser range finder is used to send laser with continuous laser mode or pulse laser mode.
Further, the cycle that the laser range finder sweeps search is 1ms-60min.
By above-mentioned technical proposal, it can learn that apparatus of the present invention have the following advantages that：
(1) apparatus of the present invention can provide monitoring immediately and alarm, without time delay；Vision signal can be provided simultaneously, is supplied
Operator on duty is remote to be observed and is judged to harmful barrier, to be taken measures to alarm；
(2) apparatus of the present invention have the function of artificial intelligence, especially by barrier judgment circuit and arithmetic processing unit
Realize, only the harmful barrier that may be threatened to railway (is harmful to such as size exceedes necessarily required falling rocks
Barrier) alarm.It can differentiate due to raining, insect, float thing (such as leaf, polybag etc.) passes by toy, and
The objects such as vehicular traffic, it is to avoid above-mentioned object causes the wrong report of system；
(3) apparatus of the present invention sweep search using step-by-step movement, form High Accuracy Radar system, distance, the resolution ratio in orientation
It can reach Centimeter Level；Search lighting face can cover the rail track specified, non-blind area.Detection range is remote up to 100 meters；
(4) apparatus of the present invention detect harmful barrier using the non-contacting way of search of laser beam of eye-safe, no
Train operation or line attendant can be damaged；
(5) apparatus of the present invention can be damp and hot, and high temperature or cold region are used, can be with all weather operations.
Brief description of the drawings
Fig. 1 is that the railway track barrier of the embodiment of the present invention monitors the structure drawing of device of identification automatically.
Fig. 2 is that the railway track barrier of the embodiment of the present invention monitors the principle of device schematic diagram of identification automatically.
Embodiment
To make technical scheme become apparent from clearly, the present invention is described further below in conjunction with the accompanying drawings,
It is any that guarantor of the present invention is each fallen within to the scheme that the technical characteristic progress equivalencing of technical solution of the present invention and conventional reasoning are drawn
Protect scope.The present invention includes and is not limited to following application.
According to the basic conception of the present invention there is provided the device that a kind of railway track barrier monitors identification automatically, pass through hair
Laser is penetrated and received, using laser ranging and Laser video camera principle, the harmful barrier swarmed into investigative range can be carried out
Quickly and accurately differentiate, and alarm target is positioned.Quick transmission warning information simultaneously, be easy to related personnel observe and
When judge, take emergency measures.
Fig. 1 is that the railway track barrier of the embodiment of the present invention monitors the structure drawing of device of identification automatically.As shown in figure 1,
The railway track barrier that the present embodiment is provided monitors the device of identification automatically, can include：
Laser range finder, for sending laser by set angle scope along a plane above railway track, carries out sweeping and searches
Rope；It is additionally operable to receive the laser signal returned；
Precise rotation platform, is fixed with laser range finder, for controlling laser range finder to be swept by set angle；
Barrier judgment circuit and arithmetic processing unit, the laser signal for being returned according to reception are believed with laser is sent
Number, with the presence or absence of harmful barrier on automatic decision railway track.
Further, alarm is may also include in some embodiments, for when automatic decision has harmful barrier, sending out
Go out alarm signal.
Above-mentioned precise rotation platform is electrically coupled to a stepper motor, so that described sweep search equiangularly step-by-step movement
Method is carried out, and the step angle of the stepper motor is 0.001 point of -10 degree.
Laser range finder is used to send laser with continuous laser mode or pulse laser mode.The laser range finder is swept
The cycle of dynamic search, such as animal and to float polybag with the wind be dynamic can move mainly to be judged according to the time.If
A fixed specific period (such as 1ms to 60min), after duplicate measurements, to judge whether the barrier also exists, then determine be
No alarm.
Specifically, whether the barrier judgment circuit and arithmetic processing unit, deposit on automatic decision railway track
Include in harmful barrier：Acquired disturbance thing data are calculated according to the laser signal of return and the laser signal sent, it is determined that
The position of barrier and horizontal direction size；The laser signal region for receiving return is carried out to repeat to sweep search, such as still connect
The laser signal of return is received, then judges there is harmful barrier.
Above-mentioned barrier data include the size of barrier, distance and azimuth with the laser signal device of return.
For laser range finder, the laser signal region for receiving return can be carried out repeating to sweep search, do not received such as
To the laser signal of return, then judge harmful barrier is not present.
It is preferred that, said apparatus may also include：Launch orthopaedic component, for entering to the laser sent by set angle scope
Row beam shaping is to form collimated light beam；Orthopaedic component is received, for carrying out beam shaping shape to receiving the laser signal returned
Into collimated light beam.
The step of a kind of optional progress detection of said apparatus is recognized includes：
S100：A plane sends laser by set angle scope above along railway track, carries out sweeping search；
S200：The laser signal returned is received, automatic decision whether there is harmful barrier.
In step S100, can be along one plane of railway track top and railway track place plane top setting height
Plane, the setting height is preferably 0.5-50cm, further preferably 1-10cm.Certain plane as far as possible with railway line
Plane where road is as parallel as possible, can also have certain angle between the two, can be detected with the laser for sweeping search
Region to be detected is defined above track to be detected.
For set angle, it is therefore an objective to realize across track scanning, i.e., from the track scanning of side to another siding track, also
It is that sweeping search can be realized above whole track.The set angle can be 0-360 °, preferably 180 degree.
For above-mentioned sweeping search, it can be sent according to continuous laser mode or pulse laser mode is sent, to setting
Angular range in scan for.
Wherein, above-mentioned steps S100 may include sub-step：
S101：An automatic search switch of railway track barrier laser radar is opened, the high accuracy of laser range finder is disposed
Turntable starts to circulate progress rotation laser search between set angle along a plane above railway track；
S102：During laser search, laser range finder sends laser, by beam shaping part, and being irradiated to go out
In existing target obstacle.
For the position of search, laser radar can be placed in the tunnel face of railway, towards tunnel face outside rail enter
Row laser search, Airborne Lidar probing at 0-1000 meters, preferably can also be 0-100 meters；Also can be as needed from tunnel
The track of one segment distance of the outside laser search tunnel exit of mouth.
Above-mentioned laser radar can be with the near-infrared laser (wavelength 780-2526nm) of eye-safe for light source, will not be to train
Operation or line attendant are damaged.
When rotating search, equiangularly step-forward methods it can carry out；The angle that stepping can be selected is 0.001 point -10
Degree.The step-by-step movement, which is searched for, can improve the precision of laser radar, the resolution ratio of the laser signal for the reflection that the raising later stage receives,
It can reach Centimeter Level.Stepper motor driven precise rotation platform has high accuracy, high stability and long-life feature, can
It is steady accurate on some angular range, the horizontal plane of some height to make to be mounted in laser range finder thereon for a long time
Progress has interruption, or unremitting search and monitoring for a long time.
In step S102, shaping can be carried out to laser beam by launching shaping unit, it is launched track and put down
The collimated light beam in face sweeps search, monitoring as detection light, wherein collimation laser to carrying out machinery in the angle of visual field of monitor area
Into the foreign body of monitoring scope.
What step-by-step movement was realized when searching for by above-mentioned high precision turntable, high precision turntable is arranged at laser range finder bottom,
Laser range finder is sent is reflected back laser signal if running into barrier after laser, be received；Then next angle is stepped to again
Degree, whether the next angle position of measurement, which deposits, can detect the signal of reflection.
Wherein, above-mentioned steps S200 may include sub-step：
S201：The laser signal of return returns to laser range finder receiver by receiving shaping unit；
S202：Gamut BACKGROUNDLasers are searched for and perfect；
S203：The position of harmful barrier is determined by measuring the distance and angle of the harmful barrier and range finder
Put and horizontal direction size, determine Obstacle Position；
S204：Repeat to sweep search；
S205：If barrier still suffers from home position, it is judged as harmful barrier, sends alarm；If this barrier is
Not in home position, then continue monitoring process, return to step S101.
Above-mentioned harmful barrier time of occurrence can be set according to specific requirement, such as 1ms-60min, further excellent
The 1-10s of choosing.Appear on railway track and (such as recognize that the size of the barrier of alarm can basis with certain volume size
It is required that setting, length and width high scope can be set as 0.5cm to 50cm, it is that length, width and height are 5cm to be currently set) object.
In step S201, beam shaping formation collimated light beam is also carried out when receiving the laser signal returned, it is accurate by being formed
Collimated optical beam is to improve the precision of detection.
S202：The search of gamut BACKGROUNDLasers is prescan, that is, is advanced by the situation for taking off circuit, can so exclude pre-
The normal object such as the electric pole on alert circuit, it is to avoid report by mistake as barrier.
Step S203 breaks the barriers decision circuitry realization, and barrier judgment circuit can pass through range gating method or pre-
The intelligent decision algorithm for calculating setting judges barrier.
In step S205, when automatic decision has harmful barrier, alarm signal is sent.It may include an alarm,
The alarm includes sound, light, the alarm signal put.When the data that laser radar system is sent exceed the criterion of system early warning,
System sends alarm.Operator on duty is notified further to be judged by video to alarm scene, manual confirmation swarms into object
Property, takes necessary measure.The step can be realized by arithmetic processing unit, arithmetic processing unit can for single-chip microcomputer,
Computer and the integrated chip for having certain logic judging function.
Fig. 2 is that the railway track barrier of the embodiment of the present invention monitors the principle of device schematic diagram of identification automatically.Such as Fig. 2 institutes
Show, the laser range finder 201 of transmitting and exploring laser light integration, laser ranging can be provided with along the side of railway track 203
Machine sends laser 202 with set angle d along a plane 206 above railway track and carries out sweeping search.
There is barrier 204 to swarm into specified track-bound, the first laser reflection signal to receiving when have an outside
Reception shaping is carried out, the signal after shaping is then supplied to barrier judgment circuit and arithmetic processing unit, by according to survey
The distance and angular relationship of harmful obstacle distance range finder obtained by amount and then the substantially position for judging harmful barrier
Put and horizontal length, and barrier residence time, decide whether to send alarm signal.Sent when laser radar system
When data exceed the criterion of system early warning, system sends alarm.System is sent after alarm signal, while it is high to automatically open up laser
Monitor is differentiated, and notifies operator on duty further to be judged by video to alarm scene, manual confirmation swarms into object
Property, takes necessary measure.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of railway track barrier monitors the device of identification automatically, including：
Laser range finder, for sending laser by set angle scope along a plane above railway track, carries out sweeping search；Also
For receiving the laser signal returned；
Precise rotation platform, is fixed with laser range finder, for controlling laser range finder to be swept by set angle；
Barrier judgment circuit and arithmetic processing unit, for according to receive return laser signal and send laser signal, from
It is dynamic to judge on railway track with the presence or absence of harmful barrier.
2. device according to claim 1, it is characterised in that also including alarm, for being harmful to when automatic decision is present
During barrier, alarm signal is sent.
3. device according to claim 1, it is characterised in that the precise rotation platform is electrically coupled to stepping electricity
Machine, so that described sweep search equiangularly step-forward methods progress.
4. device according to claim 3, it is characterised in that the step angle of the stepper motor is 0.001 point -10
Degree.
5. device according to claim 1, it is characterised in that the barrier judgment circuit and arithmetic processing unit, is used
Specifically included in whether there is harmful barrier on automatic decision railway track：
Acquired disturbance thing data are calculated according to the laser signal of return and the laser signal sent, determine barrier position and
Horizontal direction size；
The laser signal region for receiving return is carried out to repeat to sweep search, the laser signal of return is such as still received, then sentences
It is disconnected to there is harmful barrier.
6. device according to claim 1, it is characterised in that the barrier data include the size of barrier, with returning
The distance of the laser signal device returned and azimuth.
7. device according to claim 5, it is characterised in that carry out repeating to sweep to the laser signal region for receiving return
Dynamic search, does not receive the laser signal of return such as, then judges harmful barrier is not present.
8. device according to claim 1, it is characterised in that also include：
Launch orthopaedic component, for carrying out beam shaping to the laser that is sent by set angle scope to form collimated light beam；
Orthopaedic component is received, for carrying out beam shaping formation collimated light beam to receiving the laser signal returned.
9. device according to claim 1, it is characterised in that the laser range finder be used in continuous laser mode or
Pulse laser mode sends laser.
10. device according to claim 1, it is characterised in that the cycle that the laser range finder sweeps search is 1ms-
60min。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269082.3A CN107064952A (en) | 2017-04-21 | 2017-04-21 | Railway track barrier monitors the device of identification automatically |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269082.3A CN107064952A (en) | 2017-04-21 | 2017-04-21 | Railway track barrier monitors the device of identification automatically |
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| CN201710269082.3A Pending CN107064952A (en) | 2017-04-21 | 2017-04-21 | Railway track barrier monitors the device of identification automatically |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107966711A (en) * | 2017-10-27 | 2018-04-27 | 河南辉煌科技股份有限公司 | Rail track barrier automatic identifying method based on two-dimensional laser radar |
| CN108163721A (en) * | 2017-12-29 | 2018-06-15 | 江苏中科大港激光科技有限公司 | A kind of container front crane reversing active safety prior-warning device |
| CN108375771A (en) * | 2018-01-23 | 2018-08-07 | 四川国软科技发展有限责任公司 | A kind of two-dimensional laser radar railway obstacle detection system and its detection method |
| CN109709566A (en) * | 2018-12-25 | 2019-05-03 | 中国科学院半导体研究所 | The device of curved surface terrain obstacle monitoring |
| CN109709567A (en) * | 2018-12-25 | 2019-05-03 | 中国科学院半导体研究所 | Rail and the device of side slope barrier monitoring |
| CN110058239A (en) * | 2019-04-29 | 2019-07-26 | 上海保隆汽车科技股份有限公司 | A kind of vehicle-mounted millimeter wave radar installations and object detection method |
| CN110161526A (en) * | 2019-05-24 | 2019-08-23 | 河南辉煌科技股份有限公司 | A kind of circuitry obstacle object recognition methods based on three-dimensional imaging |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204945409U (en) * | 2015-08-29 | 2016-01-06 | 西安希德电子信息技术股份有限公司 | A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically |
-
2017
- 2017-04-21 CN CN201710269082.3A patent/CN107064952A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204945409U (en) * | 2015-08-29 | 2016-01-06 | 西安希德电子信息技术股份有限公司 | A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107966711A (en) * | 2017-10-27 | 2018-04-27 | 河南辉煌科技股份有限公司 | Rail track barrier automatic identifying method based on two-dimensional laser radar |
| CN108163721A (en) * | 2017-12-29 | 2018-06-15 | 江苏中科大港激光科技有限公司 | A kind of container front crane reversing active safety prior-warning device |
| CN108375771A (en) * | 2018-01-23 | 2018-08-07 | 四川国软科技发展有限责任公司 | A kind of two-dimensional laser radar railway obstacle detection system and its detection method |
| CN108375771B (en) * | 2018-01-23 | 2021-10-29 | 四川国软科技集团有限公司 | Two-dimensional laser radar railway obstacle detection method |
| CN109709566A (en) * | 2018-12-25 | 2019-05-03 | 中国科学院半导体研究所 | The device of curved surface terrain obstacle monitoring |
| CN109709567A (en) * | 2018-12-25 | 2019-05-03 | 中国科学院半导体研究所 | Rail and the device of side slope barrier monitoring |
| CN110058239A (en) * | 2019-04-29 | 2019-07-26 | 上海保隆汽车科技股份有限公司 | A kind of vehicle-mounted millimeter wave radar installations and object detection method |
| CN110058239B (en) * | 2019-04-29 | 2023-08-01 | 上海保隆汽车科技股份有限公司 | Vehicle-mounted millimeter wave radar device and target detection method |
| CN110161526A (en) * | 2019-05-24 | 2019-08-23 | 河南辉煌科技股份有限公司 | A kind of circuitry obstacle object recognition methods based on three-dimensional imaging |
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Application publication date: 20170818 |