CN109910955A - Rail tunnel obstacle detection system and method based on transponder information transmission - Google Patents
Rail tunnel obstacle detection system and method based on transponder information transmission Download PDFInfo
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Abstract
The invention discloses a kind of rail tunnel obstacle detection system and method based on transponder information transmission, the data that system is obtained according to image capture module and range finder module carry out video image processing, complete the one-time detection of barrier.And transponder long distance transmission one-time detection can be passed through as a result, fusion vehicle-mounted detection apparatus testing result, completes the secondary detection of barrier.According to the final disturbance in judgement object of secondary detection result to the influence degree of train operation, thus control train early warning, run slowly or stop, the final purpose realized to train operation environmental monitoring and emergency processing.The present invention has the advantages that hardware cost is low, development efficiency is high, detection accuracy is high.
Description
Technical field
The invention belongs to intelligent transportation detection technique field, especially a kind of rail traffic based on transponder information transmission
Tunnel obstacle detection system.
Background technique
Detection of obstacles as a kind of algorithm for ensureing train operating safety, it is theoretical and actually all achieve it is good
Achievement, but still face following point in the analysis of detection accuracy and test object: 1) static state can be distinguished by commonly using detection algorithm
Barrier and dynamic barrier, detection process is cumbersome, and detection algorithm is complicated and changeable, when test object is dynamic barrier, leads to
What is often obtained is the motion profile of barrier, hardly results in barrier morphological feature；2) when with vehicle-mounted detection apparatus detect obstacle
When object, detectable range and apart from limited is big by external interference, when only with the device detection for being fixed on route both sides, spirit
Activity is not high, communicates and is easy to interrupt；3) video image processing can only obtain the two-dimensional signal of barrier, cannot obtain barrier
Elevation information, it is thus possible to influence of the barrier to train operation can be judged by accident；4) it is to work as that emergency processing method is often used in rail traffic
When driver sees front obstacle, just controls train deceleration or parking, the method may result in emergency processing not in time, thus
Serious driving accident occurs.
Summary of the invention
The purpose of the present invention is to provide a kind of rail tunnel detection of obstacles systems based on transponder information transmission
System and method.
The technical solution for realizing the aim of the invention is as follows: a kind of rail tunnel barrier based on transponder information transmission
Hinder quality testing examining system, including image capture module, range finder module, terrestrial information processing module, on-vehicle information processing module, ground
Transponder, vehicle-mounted transponder and vehicle-mounted detection apparatus, in which:
An image capture module, adjacent acquisition mould is arranged every a distance in image capture module, the side in tunnel
Block monitoring range intersects, and for obtaining the video image of train running interval, and is transferred to terrestrial information processing module；
Range finder module is set to the fixed height of tunnel upper and lower section, for detecting the elevation information of barrier, and passes
It is defeated by terrestrial information processing module；
Terrestrial information processing module is installed in tunnel by image capture module, to the video image and barrier received
Elevation information carries out image procossing using frame difference method, obtains the size of barrier, position, to train operation influence degree, and will
Processing result passes to corresponding ground transponder；
Ground transponder is installed among two tracks, for storing track block information and the newest letter of front obstacle
Breath passes information to train when train passes through this transponder；
Vehicle-mounted transponder is installed on train body bottom end, when vehicle-mounted transponder approach ground transponder, reads ground and answers
Device storage information is answered, and this information is passed into on-vehicle information processing module；
Vehicle-mounted detection apparatus is mounted to the obstacle detector of train front end, including onboard image collection module, vehicle
Carry laser radar and on-vehicle information processing module；By merging the vehicle-mounted transponder information received, newest train row is obtained
Sail the size of barrier in front, position and to train operation influence degree.
A kind of rail tunnel obstacle detection method based on transponder information transmission, specific steps are as follows:
Step 1, image capture module obtain tunnel video image, and range finder module obtains each side position obstacle distance in tunnel
Information, the two blend, and transmit information to terrestrial information processing module, carry out video image processing；
Step 2, by video image processing fructufy in terrestrial information processing module when pass to corresponding ground transponder,
Ground transponder covers processing result in real time, only retains the newest obstacle information in front；
Step 3, when train passes through this ground transponder, vehicle-mounted transponder reads the newest obstacle information in front, and will
This obstacle information passes to on-vehicle information processing module；
Step 4, on-vehicle information processing module transmit information and vehicle-mounted detection apparatus detection knot by merging vehicle-mounted transponder
Fruit realizes the judgement again of barrier, and according to judging result, realizes early warning emergency measure corresponding to taking.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) mutually tied using image capture module with range finder module
It closes, the elevation information of barrier is added in constraint condition, so that testing result is more accurate, it is easier to react the body of barrier
State feature；(2) tool for using transponder to transmit as information can overcome the difficulty transmitted at a distance, so that detectable model
It encloses more extensively；(3) in rail tunnel, the detection side that is combined using detection device in vehicle-mounted detection apparatus and tunnel
Method, can cope with that the tunnel environment visual field is narrow, and bend leads to unsighted situation；(4) barrier is recognized compared to traditional driver
Take emergency measures, the present invention according to testing result can timely early warning, the crash time can be shortened, improve emergency processing efficiency,
To ensure train operation safety.
Detailed description of the invention
Fig. 1 is that the present invention is based on the process frames of the rail tunnel obstacle detection method of transponder information transmission to show
It is intended to.
Fig. 2 is information transmission process schematic diagram in the present invention；
Wherein: 1 being car body, 2 be ground transponder, 3 be vehicle-mounted transponder, 4 be vehicle-mounted detection apparatus, 5 be Image Acquisition
Module, 6 be range finder module, 7 be terrestrial information processing module.
Fig. 3 is range finder module scheme of installation in the present invention.
Wherein: 8 being onboard image collection module, 9 be mobile lidar, 10 be on-vehicle information processing module.
Fig. 4 is detection of obstacles principle top view in the present invention.
Specific embodiment
The present invention is based on the rail tunnel obstacle detection system of transponder information transmission, be it is a kind of it is cheap,
Obstacle detection system easily adaptable, detection algorithm is easy, detection accuracy is high, detection range is wide, the system can combine vehicle-mounted
Detection device carries out high-precision detection to the barrier of rail tunnel.
Including image capture module 5, range finder module 6, terrestrial information processing module 7, on-vehicle information processing module 10, ground
Transponder 2, vehicle-mounted transponder 3 and vehicle-mounted detection apparatus 4 are able to achieve the obstacle detection system of software and hardware fusion, can be complete
At the information transmission system based on transponder, and it is able to achieve the train emergent treatment system of active safety.
A kind of rail tunnel obstacle detection method based on transponder information transmission, specific steps are as follows:
Step 1, the image capture module 5 being installed on the inside of tunnel obtain tunnel video image in real time, and range finder module 6 is installed
In tunnel top and bottom end, appearance form is a pair, and mounting height is the maximum safety allowance for guaranteeing train operation, for obtaining
Two information of range information in all directions, acquisition blend, and video image processing is carried out in terrestrial information processing module 7,
It obtains the size of barrier, position, train operation influenced, complete the primary judgement of barrier.
Judging result real-time delivery of barrier is given corresponding ground transponder 2, a judging result transmitting by step 2
To multiple transponders, a transponder receives multiple judging results, judgement from same device of the transponder to receiving
As a result real-time update covering is carried out, the newest obstacle information in front is finally only retained.
Step 3, when train passes through this ground transponder 2, vehicle-mounted transponder 3 reads the newest obstacle information in front,
Detection interval length can determine according to image capture module 5 and range finder module 6 and the information transmitting corresponding relationship of ground transponder 2
It is fixed, and itself 4 detection information of vehicle-mounted detection apparatus is merged, detection of obstacles is carried out in on-vehicle information processing module 10, is obtained
The size of barrier, influences train operation position, completes the secondary judgement of barrier.
Step 4, train are according to the secondary judging result of barrier, in train operator's control room real-time display front obstacle
Position, shape, area, height, to train operation influence degree, and according to pre-set program realize early warning it is corresponding to taking
Emergency measure, such as run slowly or stop.
The invention will be further described with reference to the accompanying drawings and examples.
A kind of rail tunnel obstacle detection system based on transponder information transmission of the present invention, including Image Acquisition
Module, range finder module, message processing module, transponder, vehicle-mounted detection apparatus.
As shown in Figure 1, for the present invention in process block schematic illustration, the process include image capture module, range finder module,
The coefficient barrier of terrestrial information processing module once judges, transponder, vehicle-mounted detection apparatus, on-vehicle information processing module
The coefficient secondary judgement of barrier, wherein barrier once judge and the size of the equal acquired disturbance object of secondary judgement, position,
Influence to train operation obtains rail tunnel detection of obstacles system to carry out emergency processing to train.
As shown in Fig. 2, for the present invention in information transmission process schematic diagram, the obstacle detection system include car body 1,
Face transponder 2, vehicle-mounted transponder 3, vehicle-mounted detection apparatus 4, image capture module 5 and 8, range finder module 6, terrestrial information handle mould
Block 7.
The car body 1 is rail transit train, including subway, light rail, high-speed rail etc., and car body front bottom end is equipped with vehicle-mounted inspection
Device, including onboard image collection module, mobile lidar and on-vehicle information processing module are surveyed, is mainly used in train driving
Detection of obstacles is carried out to short distance section in front of train in the process, and merges the remote section in front of ground transponder transmission
Obstacle information realizes the secondary judgement of barrier, obtains size, the position, the influence to train operation of barrier.
The transponder 2 uses passive balise, is installed among track circuit and train bottom end, each section are arranged one
A transponder is the intrinsic device of train operation, provides fixed interval circuit information and temporary speed limitation, cab signal for train and open
Information is closed, also provides front obstacle up-to-date information in such a system for train, the information transmission of long range is realized, passes through fusion
, it can be achieved that train operation ahead monitors closely and simultaneously at a distance, common guarantee is arranged for the detection information of vehicle-mounted detection apparatus
Vehicle operational safety.
Described image acquisition module 5 is infrared monitor control device, and adjacent image acquisition module monitoring range can intersect, and realizes rail
Road traffic tunnel monitors all standing, because intensity of illumination is basically unchanged in tunnel, therefore on video monitoring clarity almost without influence, energy
Situation in clear monitoring tunnel, and video image is passed into terrestrial information processing unit, carry out video image processing.
The range finder module 6 is that planar laser ranging senses instrument, can 360 ° of obstacle distance in the plane of scanning motion, on tunnel
Under each one, for a pair, the position that each orientation initial distance install according to range finder module is different and different, when barrier is more than this
When level secure threshold, then the laser in this orientation can be obscured by an obstacle, therefore institute's ranging defection is smaller than initial setting,
Thus judge whether this orientation barrier is more than the height threshold of setting, and incorporate video image and handled, it is preliminary to describe barrier
Hinder the size of object, position, influence etc. information on train operation.
As shown in figure 3, wherein range finder module is installed on tunnel top and bottom for range finder module scheme of installation in the present invention
End is highly the safety allowance for guaranteeing safe train operation, and when barrier is more than this height, representative may have train operation
It influences, this feedback result is incorporated in video detection, is once judged to complete barrier.
Terrestrial information processing module 7 carries out the video image and obstacle height information received using background frame difference method
Processing, specific as follows:
Tunnel image capture module 5 is by collected video information real-time delivery to terrestrial information processing module 7, initial view
Frequency image is background model b (x, y), and current each frame image is f (x, y, i, h), wherein (x, y) is image position coordinates, i is
Number of image frames, h are the relationship between barrier and secure threshold that range finder module measures, and the gray value of each frame image is subtracted
The gray value of background obtains an error image:
Id (x, y, i, h)=f (x, y, i, h)-b (x, y, h)
A binaryzation error image is obtained by the way that an an image threshold T and height threshold H is arranged:
Wherein height h is surveyed according to laser range sensor, specific corresponding relationship are as follows:
Wherein r is that laser range sensor measures measured distance in all directions, and r ' measures in all directions for laser sensor
Initial distance；The pixel that value is 1 and 0 corresponds respectively to prospect i.e. target area and background, using threshold value in still image point
Method choice threshold value T used in cutting, according to the height threshold value H for influencing train operation.
Vehicle-mounted detection apparatus 4 obtains size, position and the side to train operation influence degree of barrier using frame difference method
Method are as follows:
Onboard image collection module 8 in vehicle-mounted detection apparatus 4 is real by short distance video information in front of collected train
When pass to on-vehicle information processing module 10, mobile lidar 9 believes low coverage Obstacle Clearance in front of collected train
Real-time delivery is ceased to on-vehicle information processing module 10；Video image processing is completed in on-vehicle information processing module 10, wherein just
Beginning video image is background model b (x, y), and current each frame image is f (x, y, i, h), wherein (x, y) is picture position seat
Mark, i are number of image frames, and h is the relationship between barrier and secure threshold that range finder module measures, by the gray scale of each frame image
The gray value that value subtracts background obtains an error image:
Id (x, y, i, h)=f (x, y, i, h)-b (x, y, h)
A binaryzation error image is obtained by the way that an an image threshold T and height threshold H is arranged:
Wherein height h is surveyed according to mobile lidar, specific corresponding relationship are as follows:
Wherein r is that laser radar measures measured distance in all directions, r ' be laser sensor measure it is in all directions initially away from
From；The pixel that value is 1 and 0 corresponds respectively to prospect i.e. target area and background, is made using Threshold segmentation in still image
Method choice threshold value T, according to the height threshold value H for influencing train operation.
As shown in figure 4, wherein A is the detection device in tunnel for detection of obstacles principle top view in the present invention, including
Image capture module, range finder module and terrestrial information processing module, B are barrier top view, and C is transponder, and r is detection device
To the minimum distance of barrier, θ is detection device to barrier minimum distance and the horizontal angle of train direction of advance, and d is
Detection device to the minimum distance of barrier to the horizontal projection of train direction of advance, R be detection device to barrier most
At a distance, α is detection device to barrier maximum distance and the horizontal angle of train direction of advance, and D is detection device to barrier
Hinder the maximum distance of object to the horizontal projection of train direction of advance, S is the distance that farthest horizontal line projects to train front end, m
For the distance of detection device to transponder, n is distance of the transponder to train front end, and there are following relationships between them:
D=| rcos θ |
D=| Rcos α |
S=m-n+Rcos α
If clear, laser distance of the range finder module in the orientation θ should be initial distance r ', height occur and be greater than
When the barrier of secure threshold, measuring laser distance is r, at this time r < r '.Assuming that train running speed is vt, then at the beginning of known train
The beginning speed of service and the distance for reaching barrier can be used target-distance mode curve and carry out speed control, train is made to reach barrier
Hinder object to enable in a safe condition, is further continued for running after barrier to be cleaned.
In conclusion the present invention is based on the rail tunnel obstacle detection system and method for transponder information transmission,
The data that system can be obtained according to image capture module and range finder module, carry out video image processing, complete the primary of barrier
Detection.And transponder long distance transmission one-time detection can be passed through as a result, fusion vehicle-mounted detection apparatus testing result, completes barrier
Secondary detection.According to the final disturbance in judgement object of secondary detection result to the influence degree of train operation, so that it is pre- to control train
Police runs slowly or stops, the final purpose realized to train operation environmental monitoring and emergency processing.
Claims (10)
1. a kind of rail tunnel obstacle detection system based on transponder information transmission, which is characterized in that including image
Acquisition module (5), range finder module (6), terrestrial information processing module (7), on-vehicle information processing module (10), ground transponder
(2), vehicle-mounted transponder (3) and vehicle-mounted detection apparatus (4), in which:
An image capture module (5), adjacent acquisition is arranged every a distance in image capture module (5), the side in tunnel
Module monitors range is intersected, and for obtaining the video image of train running interval, and is transferred to terrestrial information processing module (7)；
Range finder module (6), is set to the fixed height of tunnel upper and lower section, for detecting the elevation information of barrier, and passes
It is defeated by terrestrial information processing module (7)；
Terrestrial information processing module (7) is installed on image capture module in tunnel (5) side, to the video image and obstacle received
Object elevation information carries out image procossing using frame difference method, obtains the size of barrier, position, to train operation influence degree, and
Processing result is passed into corresponding ground transponder (2)；
Ground transponder (2) is installed among two tracks, for storing track block information and the newest letter of front obstacle
Breath passes information to train when train passes through this transponder；
Vehicle-mounted transponder (3), is installed on train body bottom end, when vehicle-mounted transponder (3) approach ground transponder (2), reads
Ground transponder (2) stores information, and this information is passed to on-vehicle information processing module (10)；
Vehicle-mounted detection apparatus (4) is mounted to the obstacle detector of train front end, including onboard image collection module (8),
Mobile lidar (9) and on-vehicle information processing module (10)；By merging vehicle-mounted transponder (3) information received, obtain
The size of barrier in front of newest train driving, position and to train operation influence degree.
2. the rail tunnel obstacle detection system according to claim 1 based on transponder information transmission, special
Sign is: described image acquisition module (5), onboard image collection module (8) use thermal camera, for monitoring tunnel inside information
Condition, and video information real-time delivery is given terrestrial information processing module (7), carry out video image processing.
3. the rail tunnel obstacle detection system according to claim 1 based on transponder information transmission, special
Sign is: the range finder module (6) is planar laser distance measuring sensor.
4. the rail tunnel obstacle detection system according to claim 1 based on transponder information transmission, special
Sign is: the vehicle-mounted detection apparatus (4) is installed on car body front bottom end, for detecting the barrier of short distance, and with it is vehicle-mounted
The obstacle information of transponder (3) transmission blends, and obtains the size of barrier, position using frame difference method and to train operation shadow
The degree of sound.
5. the rail tunnel obstacle detection system according to claim 1 based on transponder information transmission, special
Sign is: the ground transponder (2) is divided into passive balise and active balise, for passing to the fixed interval line of train
Road information and temporary speed limitation, the barrier size of cab signal opening and closing information and terrestrial information processing module (7) transmission, position
It sets and to train operation influence degree；Vehicle-mounted transponder (3) realizes train-ground communication for reading ground transponder (2) information.
6. the rail tunnel obstacle detection system according to claim 1 based on transponder information transmission, special
Sign is: the terrestrial information processing module (7) believes the video image and obstacle height received using background frame difference method
Breath is handled, specific as follows:
Tunnel image capture module (5) gives collected video information real-time delivery to terrestrial information processing module (7), initial to regard
Frequency image is background model b (x, y), and current each frame image is f (x, y, i, h), wherein (x, y) is image position coordinates, i is
Number of image frames, h are the relationship between barrier and secure threshold that range finder module measures, and the gray value of each frame image is subtracted
The gray value of background obtains an error image:
Id (x, y, i, h)=f (x, y, i, h)-b (x, y, h)
A binaryzation error image is obtained by the way that an an image threshold T and height threshold H is arranged:
Wherein height h is surveyed according to laser range sensor, specific corresponding relationship are as follows:
Wherein r is that laser range sensor measures measured distance in all directions, and r ' measures in all directions initial for laser sensor
Distance；The pixel that value is 1 and 0 corresponds respectively to prospect i.e. target area and background, using Threshold segmentation institute in still image
The method choice threshold value T used, according to the height threshold value H for influencing train operation.
7. the rail tunnel obstacle detection system according to claim 4 based on transponder information transmission, special
Sign is, the vehicle-mounted detection apparatus (4) is obtained the size of barrier, position using frame difference method and to train operation influence degree
Method are as follows:
Onboard image collection module (8) in vehicle-mounted detection apparatus (4) is real by short distance video information in front of collected train
When pass to on-vehicle information processing module (10), mobile lidar (9) is high by short distance barrier in front of collected train
Degree information real-time delivery gives on-vehicle information processing module (10)；It is completed at video image in on-vehicle information processing module (10)
Reason, wherein initial video image is background model b (x, y), and current each frame image is f (x, y, i, h), wherein (x, y) is figure
Image position coordinate, i are number of image frames, and h is the relationship between barrier and secure threshold that range finder module measures, by each frame figure
The gray value that the gray value of picture subtracts background obtains an error image:
Id (x, y, i, h)=f (x, y, i, h)-b (x, y, h)
A binaryzation error image is obtained by the way that an an image threshold T and height threshold H is arranged:
Wherein height h is surveyed according to mobile lidar, specific corresponding relationship are as follows:
Wherein r is that laser radar measures measured distance in all directions, and r ' is that laser sensor measures initial distance in all directions；It takes
The pixel that value is 1 and 0 corresponds respectively to prospect i.e. target area and background, using side used in Threshold segmentation in still image
Method selects threshold value T, according to the height threshold value H for influencing train operation.
8. a kind of rail tunnel obstacle detection method based on transponder information transmission, which is characterized in that specific steps
Are as follows:
Step 1, image capture module obtain tunnel video image, and range finder module obtains each side position obstacle distance letter in tunnel
Breath, the two blend, and transmit information to terrestrial information processing module, carry out video image processing；
Step 2, by video image processing fructufy in terrestrial information processing module when pass to corresponding ground transponder, ground
Transponder covers processing result in real time, only retains the newest obstacle information in front；
Step 3, when train passes through this ground transponder, vehicle-mounted transponder reads the newest obstacle information in front, and this is hindered
Object information is hindered to pass to on-vehicle information processing module；
Step 4, on-vehicle information processing module transmit information and vehicle-mounted detection apparatus testing result by merging vehicle-mounted transponder, real
The judgement again of existing barrier, and according to judging result, realize early warning emergency measure corresponding to taking.
9. the rail tunnel obstacle detection method according to claim 7 based on transponder information transmission, special
Sign is, the method for video image processing is carried out described in step 1 are as follows:
Tunnel image capture module gives collected video information real-time delivery to terrestrial information processing module, initial video image
For background model b (x, y), current each frame image is f (x, y, i, h), wherein (x, y) is image position coordinates, i is picture frame
Number, h are the relationship between barrier and secure threshold that range finder module measures, and the gray value of each frame image is subtracted background
Gray value obtains an error image:
Id (x, y, i, h)=f (x, y, i, h)-b (x, y, h)
A binaryzation error image is obtained by the way that an an image threshold T and height threshold H is arranged:
Wherein height h is surveyed according to laser range sensor, specific corresponding relationship are as follows:
Wherein r is that laser range sensor measures measured distance in all directions, and r ' measures in all directions initial for laser sensor
Distance；
The pixel that value is 1 and 0 corresponds respectively to prospect i.e. target area and background, is made using Threshold segmentation in still image
Method choice threshold value T, according to the height threshold value H for influencing train operation.
10. the rail tunnel obstacle detection method according to claim 7 based on transponder information transmission, special
Sign is that vehicle-mounted detection apparatus described in step 4 detects the barrier of short distance, and the obstacle information with the transmission of vehicle-mounted transponder
It blends, the size of barrier, position is obtained using frame difference method and to train operation influence degree.
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