CN107380213A - A kind of auxiliary, which is shunt, pushes the safety monitoring system and its distance-finding method of operation - Google Patents
A kind of auxiliary, which is shunt, pushes the safety monitoring system and its distance-finding method of operation Download PDFInfo
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- CN107380213A CN107380213A CN201710439923.0A CN201710439923A CN107380213A CN 107380213 A CN107380213 A CN 107380213A CN 201710439923 A CN201710439923 A CN 201710439923A CN 107380213 A CN107380213 A CN 107380213A
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- 238000000034 method Methods 0.000 title claims abstract description 13
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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Abstract
Shunt the invention discloses a kind of auxiliary and push the safety monitoring system and its distance-finding method of operation, by establishing the ranging model based on image longitudinal direction proportionate relationship, so as to draw the relational expression of the horizontal range between target point and video camera, by substituting into relevant parameter, so as to try to achieve the solution of relational expression, it can obtain the horizontal range between target point and video camera, distance i.e. between foreign matter and train, therefore crew can be eliminated and climb the hazardous act on compartment, improve the efficiency of plugging between train.
Description
Technical field
The present invention relates to train scheduling to push field of operation, and especially a kind of auxiliary, which is shunt, pushes the security monitoring system of operation
System and its distance-finding method.
Background technology
The trains such as train, high ferro train and motor-car are plugged into by a compartment successively, therefore are plugged into train
When, it is necessary to the push operation that shunt.The progress of traditional push operation of shunting is, it is necessary to which a crew climbs the tail in train
End, ensureing that train is plugged into using the mode of eye-observation can be smoothed out, avoid train complete plug into it is follow-up continue sail and
Promotion compartment of plugging into causes unexpectedly to occur, and it also requires confirm on track with the presence or absence of foreign matter so as to avoid because foreign matter and
Influence the traveling of train.But this traditional push operating type of shunting, for the crew for needing to climb observation there is
The hidden danger of safety, and when being observed using human eye, easily there is the problem of sighting distance error is excessive, so as to be unable to accurate judgement
The distance between foreign matter and train on track.
The content of the invention
A kind of to solve the above problems, safety monitoring system for push operation of being shunt it is an object of the invention to provide auxiliary
And its distance-finding method, the foreign matter on track can be accurately detected, and distance between foreign matter and train can be accurately calculated, from
And eliminate crew and climb the hazardous act on compartment, improve the efficiency of plugging between train.
Technical scheme is used by the present invention solves its problem：
A kind of auxiliary, which is shunt, pushes the safety monitoring system of operation, including the front end for track shoot processing is total
Installing is standby and for handling the image information sended over by front end General assembling equipment and carrying out the back-end processing equipment of range operation,
Front end General assembling equipment includes video camera, and front end General assembling equipment is arranged on the connection hitch of train, the optical axis and rail of video camera
Road center line is parallel to each other and the plane where optical axis and track centerline is perpendicular to track, front end General assembling equipment and rear end
Reason equipment carries out data connection by way of being wirelessly transferred.
Further, front end General assembling equipment also include being used for by camera acquisition to image carry out image real time transfer
Figure transmission module, for rear end processing equipment send view data image transmitting antenna, for being sent out by back-end processing equipment
The operational order brought carries out the main control module of data processing and the command reception antenna for receiving operational order, shooting
Machine, figure transmission module and image transmitting antenna are sequentially connected and connect, and command reception antenna, main control module and video camera, which are sequentially connected, to be connect.
Further, front end General assembling equipment also includes being used for the illuminating lamp for carrying out light filling auxiliary shooting, illuminating lamp and master control mould
Block is connected.
Further, front end General assembling equipment also includes being used for the buzzer blown a whistle of alarming, and buzzer is connected with main control module.
Further, front end General assembling equipment also includes pushing the warning lamp of operation for indicating that train carries out shunting, alert
Show that lamp is connected with main control module.
Further, back-end processing equipment includes being used to receive the image-receptive antenna of view data, for view data
The figure sending and receiving device of the form of data signal is changed into from the form of high frequency analog signals, for carrying out foreign matter analysis and foreign matter
The data processing module of ranging, for operational order carry out radio-frequency modulations wireless module and for forward end General assembling equipment send out
The instruction transmission antenna of operational order is sent, image-receptive antenna, figure sending and receiving device and data processing module are sequentially connected and connect, number
It is sequentially connected and connects according to processing module, wireless module and instruction transmission antenna.
Further, using it is a kind of aid in shunt push operation safety monitoring system distance-finding method, comprise the following steps：
A, the image of video camera shooting track, the pixel total length P and target point range image in the picture of image are tried to achieve
The length in pixels Δ P of bottom；
B, the ranging model based on image longitudinal direction proportionate relationship is established, obtains the horizontal range between target point and video camera
Relational expression be：
Wherein, horizontal ranges of the L between target point and video camera；L0For a constant, the shooting blind area of video camera is represented
Distance；
C, the relational expression in step B is solved, obtains the horizontal range between target point and video camera.
Further, the length in pixels Δ P of target point range image bottom in the picture, including following step are tried to achieve in step A
Suddenly：
A1, image carried out binaryzation；
A2, the position according to two pixels in image on rail, this two are tried to achieve using depth convolutional neural networks
The coordinate of pixel；
A3, rail linearity equation tried to achieve according to the coordinate of two pixels：
Y=kx+b
Wherein, y is the Y value of the pixel on rail in picture, and x is the horizontal stroke of the pixel on rail in picture
Coordinate values, k are the slope of rail in picture, and b is the intercept of rail in picture；
A4, the rail linearity equation in A3, try to achieve the length in pixels Δ of target point range image bottom in the picture
P。
The beneficial effects of the invention are as follows：
A kind of auxiliary, which is shunt, pushes the safety monitoring system of operation, and front end General assembling equipment can be shot to track, and
And among the image photographed being real-time transmitted to back-end processing equipment by way of being wirelessly transferred, and back-end processing is set
It is standby then data processing can be carried out to the image information that is transmitted by front end General assembling equipment and ranging calculates, so as to real-time
It whether there is foreign matter in monitoring track, and when foreign matter in track be present, foreign matter and front end General assembling equipment can be measured in real time
The distance between；The optical axis of video camera is parallel to each other with track centerline and optical axis and track centerline are perpendicular to track, because
This video camera effectively can all be filmed two rail of track so that two rail being photographed are equably in figure
The centre position of picture, so as to reduce the intractability to image, improve treatment effeciency and accuracy of analysis to image；Cause
This, safety monitoring system of the invention, can accurately detect the foreign matter on track, and can accurately calculate foreign matter and train
Between distance, climb hazardous act on compartment so as to eliminate crew, improve the efficiency of plugging between train；
Using it is a kind of aid in shunt push operation safety monitoring system distance-finding method, by establish based on image longitudinal direction
The ranging model of proportionate relationship is related by substituting into so as to draw the relational expression of the horizontal range between target point and video camera
Parameter, so as to try to achieve the solution of relational expression, you can obtain the horizontal range between target point and video camera, i.e., between foreign matter and train
Distance, therefore crew can be eliminated and climb the hazardous act on compartment, improve the efficiency of plugging between train.
Brief description of the drawings
The invention will be further described with example below in conjunction with the accompanying drawings.
Fig. 1 is the schematic diagram of the safety monitoring system of the present invention；
Fig. 2 is the ranging model schematic based on image longitudinal direction proportionate relationship；
Fig. 3 is the flow chart using the distance-finding method of safety monitoring system.
Embodiment
Reference picture 1, a kind of auxiliary of the invention, which is shunt, pushes the safety monitoring system of operation, including for being carried out to track
Shoot the front end General assembling equipment 1 of processing and for handling the image information sended over by front end General assembling equipment 1 and carrying out ranging
The back-end processing equipment 2 of operation, front end General assembling equipment 1 include video camera 11, and front end General assembling equipment 1 is arranged at the connection car of train
On hook, the optical axis of video camera 11 be parallel to each other with track centerline and optical axis and the plane where track centerline perpendicular to
Track, front end General assembling equipment 1 carry out data by way of being wirelessly transferred with back-end processing equipment 2 and are connected.Specifically, it is of the invention
Safety monitoring system in, front end General assembling equipment 1 can be shot to track, and the image photographed can be passed through nothing
The mode of line transmission is real-time transmitted among back-end processing equipment 2, and rear end processing equipment 2 then can be to by front end General assembling equipment
1 image information transmitted carries out data processing and ranging calculates, and whether there is foreign matter in track so as to monitor in real time,
And when foreign matter in track be present, the distance between foreign matter and front end General assembling equipment 1 can be measured in real time；The light of video camera 11
Axle is parallel to each other with track centerline and optical axis and track centerline are perpendicular to track, therefore video camera 11 can be effectively rail
Two rail in road are all filmed so that and two rail being photographed equably are in the centre position of image, so as to
Enough intractabilities reduced to image, improve the treatment effeciency and accuracy of analysis to image；Therefore, security monitoring of the invention
System, the foreign matter on track can be accurately detected, and can accurately calculate distance between foreign matter and train, so as to eliminate
Crew climbs the hazardous act on compartment, improves the efficiency of plugging between train.
Wherein, reference picture 1, front end General assembling equipment 1 also include being used to carry out image to the image collected by video camera 11
The figure transmission module 12 of data processing, for rear end processing equipment 2 send view data image transmitting antenna 13, for by
The operational order that back-end processing equipment 2 sends over carries out the main control module 14 of data processing and the finger for receiving operational order
Reception antenna 15 is made, video camera 11, figure transmission module 12 and image transmitting antenna 13 are sequentially connected and connect, command reception antenna 15, master
Control module 14 and video camera 11 are sequentially connected and connect.Specifically, the image collected by video camera 11, by figure transmission module 12 to it
Data processing after, back-end processing equipment 2 is sent to by image transmitting antenna 13, so that back-end processing equipment 2 can be real-time
Image is handled and carried out distance calculation.After back-end processing equipment 2 calculates the real-time range between foreign matter and train,
The forward end General assembling equipment 1 of back-end processing equipment 2 sends the operational order of correlation, and command reception antenna 15 receives operational order
Afterwards, operational order being sent to main control module 14, main control module 14 controls front end General assembling equipment 1 to perform related operation, also,
Main control module 14 can also adjust the work of video camera 11 so that video camera 11 can continue in real time shoot track.
Wherein, reference picture 1, front end General assembling equipment 1 also include being used for the illuminating lamp 16 for carrying out light filling auxiliary shooting, illuminating lamp
16 are connected with main control module 14.Specifically, illuminating lamp 16 can be mended according to the light and shade situation of light to video camera 11
Light operates, so as to the shooting of auxiliary camera 11 so that video camera 11 can shoot clear accurate image, so as to convenient figure
Transmission module 12 and back-end processing equipment 2 carry out data processing.
Wherein, reference picture 1, front end General assembling equipment 1 also include being used for the alarm buzzer 17 blown a whistle, buzzer 17 and master control
Module 14 is connected.Specifically, buzzer 17 performs the task that alarm is blown a whistle, so as to warn pedestrian beyond this point, to ensure row
The safety of people.
Wherein, reference picture 1, front end General assembling equipment 1 also include pushing the police of operation for indicating that train carries out shunting
Show lamp 18, warning lamp 18 is connected with main control module 14.Specifically, warning lamp 18 can be used in prompting train to be shunt
Operation is pushed, Keep off by alarm pedestrian, to ensure safe operation.
Wherein, reference picture 1, back-end processing equipment 2 include being used to receive the image-receptive antenna 21 of view data, for handle
View data changes into the figure sending and receiving device 22 of the form of data signal from the form of high frequency analog signals, for carrying out foreign matter
Analysis and foreign matter ranging data processing module 23, for operational order carry out radio-frequency modulations wireless module 24 and for
Front end General assembling equipment 1 sends the instruction transmission antenna 25 of operational order, image-receptive antenna 21, figure sending and receiving device 22 and data
Processing module 23, which is sequentially connected, to be connect, and data processing module 23, wireless module 24 and instruction transmission antenna 25 are sequentially connected and connect.Specifically
Ground, the picture signal sended over by front end General assembling equipment 1, successively by image-receptive antenna 21 and figure sending and receiving device 22,
Finally enter and carry out distance calculation among data processing module 23.When the completion ranging of data processing module 23 calculates and draws different
During real-time range between thing and train, data processing module 23 is total by wireless module 24 and the instruction forward end of transmission antenna 25
Installing standby 1 sends operational order, front end General assembling equipment 1 is performed corresponding operation, for example, illuminating lamp 16 carry out light filling illumination,
The alarm of buzzer 17 is blown a whistle or warning lamp 18 alerts pedestrian etc..
Reference picture 1- Fig. 3, a kind of distance-finding method for the safety monitoring system of push operation of being shunt using auxiliary, including it is following
Step：
A, video camera 11 shoots the image of track, tries to achieve the pixel total length P and target point distance map in the picture of image
As the length in pixels Δ P of bottom；
B, establish the ranging model based on image longitudinal direction proportionate relationship, obtain between target point and video camera 11 it is horizontal away from
From relational expression be：
Wherein, horizontal ranges of the L between target point and video camera 11；L0For a constant, the shooting of video camera 11 is represented
Blind area distance；
C, the relational expression in step B is solved, obtains the horizontal range between target point and video camera 11；
Specifically, by establishing the ranging model based on image longitudinal direction proportionate relationship, so as to draw target point and video camera
The relational expression of horizontal range between 11, by substituting into relevant parameter, so as to try to achieve the solution of relational expression, you can obtain target point with
Distance between horizontal range between video camera 11, i.e. foreign matter and train, therefore crew's climbing can be eliminated on compartment
Hazardous act, improve the efficiency of plugging between train.
Wherein, the length in pixels Δ P of target point range image bottom in the picture is tried to achieve in reference picture 1- Fig. 3, step A,
Comprise the following steps：
A1, image carried out binaryzation；
A2, the position according to two pixels in image on rail, this two are tried to achieve using depth convolutional neural networks
The coordinate of pixel；
A3, rail linearity equation tried to achieve according to the coordinate of two pixels：
Y=kx+b
Wherein, y is the Y value of the pixel on rail in picture, and x is the horizontal stroke of the pixel on rail in picture
Coordinate values, k are the slope of rail in picture, and b is the intercept of rail in picture；
A4, the rail linearity equation in A3, try to achieve the length in pixels Δ of target point range image bottom in the picture
P；
Specifically, video camera 11 photographs the image of track and the view data is transferred in back-end processing equipment 2
During data processing module 23, carry out the processing of image for convenience, it is necessary first to the image of the track carry out binaryzation so as to
Matrix data is changed into, now, the pixel of the pixel at foreign matter, i.e. target point in image on rail, with matrix function
Position in is corresponding, therefore, in order to find out faster and more accurately the pixel of target point, it is necessary to try to achieve rail linearity
Equation.Therefore, try to achieve the coordinate of any two pixel on rail in image using depth convolutional neural networks, and according to this two
The coordinate of individual pixel tries to achieve rail linearity equation, now, no matter any position that target point is on rail, straight using track
Line equation all can rapidly and accurately try to achieve the length in pixels Δ P of target point range image bottom in the picture.
In addition, reference picture 1- Fig. 2, because optical axis and the track centerline of video camera 11 are parallel to each other and optical axis and track
Plane where center line is perpendicular to track, therefore as in the image of the track taken by video camera 11, track is from image
Bottom is extended at the horizontal line where the point midway of image, and what the horizontal line where the point midway of image arrived to image
Top is the image of sky in the range of this, and therefore, rail is indulged for image the distance between to the bottom of image in image
To the half of pixel total length.Therefore, in Fig. 1-Fig. 2, there is following definition：F represents the focal length of video camera 11, and h represents to take the photograph
The setting height(from bottom) of camera 11, L0Represent video camera 11 shooting blind area distance, L represent target point to video camera 11 level away from
From Δ b represents target point to the re-imaging length of image base, and P is image longitudinal direction pixel total length, therefore, with reference to Fig. 2, can be obtained
Following relational expression：
With reference to two above-mentioned relational expressions, can obtain：
Due toTherefore can obtain：
And because the imaging total length in video camera 11 is 2ftan δ, and re-imaging length and image longitudinal direction pixel total length
There is one-to-one relation, therefore following proportionate relationship can be drawn：
Now, above-mentioned formula is be combined with each other, the horizontal range that can be obtained between target point and video camera 11 is：
Wherein, L0With P as known parameters, and in step can be in the hope of target point range image bottom in the picture
Length in pixels Δ P, therefore, these parameters be updated to it is above-mentioned in, you can try to achieve the level between target point and video camera 11
Distance, so as to realize that real-time ranging calculates, therefore crew can be eliminated and climb the hazardous act on compartment, improved
Efficiency of plugging between train.
In addition, after calculating the horizontal range between target point and video camera 11, in order to ensure the result symbol being calculated
Close actual number range, it is therefore desirable to which error analysis is carried out to the result.With traditional grid scale based on gauge constant
Relation ranging model is compared, and has following comparative result：
From above-mentioned data, the ranging side of the invention of the ranging model based on image longitudinal direction proportionate relationship is employed
Method, its error are less than the distance-finding method of the grid scale relation ranging model based on gauge constant, therefore, application one of the invention
Kind auxiliary shunt push operation safety monitoring system distance-finding method, can more accurately detect the foreign matter on track, and
And it can more accurately calculate distance between foreign matter and train.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited in above-mentioned embodiment party
Formula, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (8)
- The safety monitoring system of push operation 1. a kind of auxiliary is shunt, it is characterised in that：Including for being carried out to track at shooting The front end General assembling equipment (1) of reason and the image information sended over for processing by the front end General assembling equipment (1) are simultaneously surveyed Back-end processing equipment (2) away from operation, the front end General assembling equipment (1) include video camera (11), the front end General assembling equipment (1) It is arranged on the connection hitch of train, the optical axis of the video camera (11) is parallel to each other with track centerline and optical axis and rail Plane where road center line is perpendicular to track, and the front end General assembling equipment (1) is with back-end processing equipment (2) by being wirelessly transferred Mode carry out data connection.
- The safety monitoring system of push operation 2. a kind of auxiliary according to claim 1 is shunt, it is characterised in that：Before described The figure that end General assembling equipment (1) also includes being used for carrying out the image collected image real time transfer by the video camera (11) passes mould Block (12), the image transmitting antenna (13) for sending view data to the back-end processing equipment (2), for by after described The operational order that end processing equipment (2) sends over carries out the main control module (14) of data processing and for receiving operational order Command reception antenna (15), the video camera (11), figure transmission module (12) and image transmitting antenna (13) are sequentially connected and connect, described Command reception antenna (15), main control module (14) and video camera (11) are sequentially connected and connect.
- The safety monitoring system of push operation 3. a kind of auxiliary according to claim 2 is shunt, it is characterised in that：Before described End General assembling equipment (1) also includes being used for the illuminating lamp (16) for carrying out light filling auxiliary shooting, the illuminating lamp (16) and the master control Module (14) is connected.
- The safety monitoring system of push operation 4. a kind of auxiliary according to claim 3 is shunt, it is characterised in that：Before described End General assembling equipment (1) also includes being used for the buzzer (17) blown a whistle of alarming, the buzzer (17) and the main control module (14) It is connected.
- The safety monitoring system of push operation 5. a kind of auxiliary according to claim 4 is shunt, it is characterised in that：Before described End General assembling equipment (1) also includes pushing the warning lamp (18) of operation, the warning lamp for indicating that train carries out shunting (18) it is connected with the main control module (14).
- 6. the safety monitoring system for push operation of being shunt according to a kind of any described auxiliary of claim 1-5, it is characterised in that： Image-receptive antenna (21) that the back-end processing equipment (2) includes being used to receive view data, for view data from height The form of frequency analog signal changes into the figure sending and receiving device (22) of the form of data signal, for carrying out foreign matter analysis and foreign matter The data processing module (23) of ranging, the wireless module (24) for carrying out radio-frequency modulations to operational order and for before described General assembling equipment (1) is held to send the instruction transmission antenna (25) of operational order, described image reception antenna (21), figure sending and receiving device (22) it is sequentially connected and connects with data processing module (23), the data processing module (23), wireless module (24) and instruction is sent Antenna (25), which is sequentially connected, to be connect.
- The distance-finding method of the safety monitoring system of push operation 7. a kind of any described auxiliary of application claim 1-6 is shunt, It is characterized in that：Comprise the following steps：A, the image of video camera (11) shooting track, the pixel total length P and target point range image in the picture of image are tried to achieve The length in pixels Δ P of bottom；B, the ranging model based on image longitudinal direction proportionate relationship is established, obtains the horizontal range between target point and video camera (11) Relational expression be：<mrow> <mi>L</mi> <mo>=</mo> <mfrac> <msub> <mi>L</mi> <mn>0</mn> </msub> <mrow> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mfrac> <mrow> <mi>&Delta;</mi> <mi>P</mi> </mrow> <mi>P</mi> </mfrac> </mrow> </mfrac> </mrow>Wherein, horizontal ranges of the L between target point and video camera (11)；L0For a constant, represent that the shooting of video camera (11) is blind Offset from；C, the relational expression in step B is solved, obtains the horizontal range between target point and video camera (11).
- The safety monitoring system of push operation 8. a kind of auxiliary according to claim 7 is shunt, it is characterised in that：Step A In try to achieve the length in pixels Δ P of target point range image bottom in the picture, comprise the following steps：A1, image carried out binaryzation；A2, the position according to two pixels in image on rail, two pixels are tried to achieve using depth convolutional neural networks The coordinate of point；A3, rail linearity equation tried to achieve according to the coordinate of two pixels：Y=kx+bWherein, y is the Y value of the pixel on rail in picture, and x is the abscissa of the pixel on rail in picture Numerical value, k are the slope of rail in picture, and b is the intercept of rail in picture；A4, the rail linearity equation in A3, try to achieve the length in pixels Δ P of target point range image bottom in the picture.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758473A (en) * | 2019-10-25 | 2020-02-07 | 中铁武汉勘察设计研究院有限公司 | Tracking and positioning method and system for rail vehicle for molten iron combined transportation |
| CN110758473B (en) * | 2019-10-25 | 2021-06-01 | 中铁武汉勘察设计研究院有限公司 | Tracking and positioning method and system for rail vehicle for molten iron combined transportation |
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