CN112037484A - Intelligent early warning system for railway freight yard anti-intrusion safety - Google Patents
Intelligent early warning system for railway freight yard anti-intrusion safety Download PDFInfo
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- CN112037484A CN112037484A CN202011044932.8A CN202011044932A CN112037484A CN 112037484 A CN112037484 A CN 112037484A CN 202011044932 A CN202011044932 A CN 202011044932A CN 112037484 A CN112037484 A CN 112037484A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
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Abstract
The utility model provides a railway goods yard prevents invading limit safety intelligence early warning system comprises intelligent invasion monitoring facilities who installs in each inside region in goods yard, the intelligent video monitoring equipment who installs in the monitor backstage, controller, its characterized in that: the intelligent intrusion monitoring device is composed of an intelligent camera and a proximity sensor, wherein the intelligent camera is arranged on the outer side of the track and forms virtual limits according with railway specifications on two sides of the track. Through the synergistic effect of the intelligent camera acquiring images and video information through the image processing module, the mode recognition module, the computer vision technology module and the intelligent video analysis module, useless or interference information of video pictures is filtered out by means of strong data processing capacity of a computer, the states of different objects (freight cars, shunting cars, crossing gate bars, goods and pedestrians) are automatically recognized, and the situation that the freight cars invade into a virtual limit and collide with a shunting machine can be effectively prevented.
Description
Technical Field
The invention relates to the technical field of railway freight yard safety, in particular to an anti-intrusion safety intelligent early warning system for a railway freight yard.
Background
The railway freight yard is a production workshop for handling goods carrying, storing, loading, unloading and delivering operations at a railway freight station, and is also a place for connecting railway freight with other freight transport vehicles. The goods yard is the starting, transferring and ending place of the railway goods transportation production process, is directly linked with each department of national economy, and is the main link of railway goods transportation.
There is certain safe risk in the actual production of goods yard and operation in-process, like many dispatch of cars group personnel casualties accidents that the railway goods yard takes place in recent years, the training is very deep, the accident reason mainly for the car rush to cross the flat passageway that does not set up the protection railing and the limit is invaded to the car and the circuit parallel operation, this has exposed the railway goods yard in the aspect of preventing invading limit safety precaution monitoring technique means relatively backward to a certain extent, can't carry out timely effectual management and control to above-mentioned risk. At present, a comprehensive video monitoring system is generally implemented in a domestic goods yard, and high-definition video full coverage of the goods yard is realized. However, the existing high-definition video monitoring system also faces a great challenge, a large number of video sources are often displayed on a large screen in a large-screen round-robin manner, and event monitoring is performed in a manual judgment manner. In such a large number of video streams, human supervision is heavy and inefficient, and the greater role of supervision is still only used for subsequent forensics and retrieval.
Disclosure of Invention
The invention aims to solve the problems and provide an intelligent anti-intrusion safety early-warning system for a railway freight yard, so as to overcome the defects existing in the use of the conventional safety early-warning monitoring system. The preferable technical scheme in the technical schemes provided by the invention comprises the following steps: the virtual limit and the vehicle moving path in the video are read and analyzed in real time, whether vehicles and goods invade the limit is monitored in real time, meanwhile, alarm information is transmitted to a manual console of a shunting operator, and intelligent early warning and monitoring of the virtual limit invaded by the vehicles and the goods in a goods yard are achieved, and details are explained below.
The invention provides a railway goods yard anti-intrusion safety intelligent early warning system which comprises intelligent intrusion monitoring equipment arranged in each area in a goods yard, intelligent video monitoring equipment arranged on a background of a monitoring room, a controller and a response device, and is characterized in that: intelligence invasion monitoring facilities comprises smart camera and proximity sensor, the smart camera sets up in orbital outside and forms the virtual limit that accords with the railway specification in the track both sides, proximity sensor installs and gets into the track inboard outside the freight yard loading area certain distance apart from shunting, intelligence invasion monitoring facilities is connected with the controller electricity, the controller is connected with intelligent video monitoring equipment electricity, the controller is connected with response device.
The invention is further provided with: the intelligent video monitoring equipment consists of a computer vision technology module, an image processing module, a mode recognition module and an intelligent video analysis module.
The invention is further provided with: the computer vision technology module can screen images and videos acquired by the intelligent camera, acquire high-level and abstract information from the images and videos and transmit the high-level and abstract information to the image processing module and the mode recognition module;
the image processing module and the pattern recognition module are respectively used for processing image information and recognizing patterns and transmitting the processed and recognized information to the intelligent video analysis module;
the intelligent video analysis module can analyze and arrange the information and transmit the state information of shunting, trucks and pedestrians which is analyzed and judged to the controller.
The invention is further provided with: the response device consists of a broadcast alarm, a remote terminal and a brake bar rise-and-fall control device arranged at the road barricade cut; the response device can be connected with the controller through a Bluetooth communication mode and a wireless information interaction mode.
The invention is further provided with: the remote terminal is arranged on the shunting hand platform.
The invention is further provided with: the intelligent camera is used for acquiring video data and audio data in a railway freight yard, and the intelligent camera starts a video recording function under the condition that the intelligent camera meets the preset condition; the preset conditions comprise the states of the stationary state, the running state and the running state of the truck, and the states of the driving-in, the stopping state and the driving-out of the shunting in the goods yard.
The invention is further provided with: proximity sensor detects to have the shunting to be close, when driving in, the intrusion monitoring is carried out to virtual boundary limit when the smart camera starts vapour transport truck, the pedestrian state control in the freight yard to transmission information gives intelligent video monitoring equipment through computer processing, analysis and judgement, the controller with control signal transmission give the brake lever rise and fall controlling means start the crossing brake lever fall down, broadcast siren broadcast warning language reminds vapour transport truck and operation personnel to notice that the operation safety has the shunting to be close, and transmission information extremely remote terminal suggestion shunting operation person notices danger.
The invention is further provided with: when the proximity sensor detects that the vehicle is shunting and leaves the field after the loading and unloading work is finished, the intelligent camera starts to monitor the states of the truck and the pedestrian in the freight yard and simultaneously monitors the intrusion of the virtual limit, transmits information to the intelligent video monitoring equipment, and controls the crossing gate rod to fall down and the broadcast alarm to play warning language through computer processing, analysis and judgment, so as to remind the truck and the operator of the safety of the operation that the vehicle is shunting and will leave, and transmits information to the remote terminal to prompt the shunting operator to notice danger.
The invention is further provided with: proximity sensor detects the shunting and gets into the goods yard after stopping steady, intelligent camera starts vapour delivery wagon, pedestrian's state control and in the goods yard whether crossing brake lever rise and fall state and virtual limit have illegal invasion to monitor, and transmission information gives intelligent video monitoring equipment, through computer processing, analysis and judgement, works as crossing brake lever rises and falls unusually, the crossing exists to contend the lane to rush to the line and when the virtual limit has illegal invasion, the controller starts broadcast siren broadcast warning language, reminds vapour delivery wagon and operation personnel to pay attention to operation safety, vehicle in proper order carefully go, and transmission information extremely remote terminal suggestion shunting operator notices danger.
In conclusion, the beneficial technical effects of the invention are as follows:
the invention adopts the synergy of the intelligent intrusion monitoring equipment, the intelligent video monitoring equipment, the controller and the response device, whether shunting enters a track or not is detected through a proximity sensor in the intelligent intrusion equipment, and after image and video information is collected through an intelligent camera, through the synergistic effect of the image processing module, the mode recognition module, the computer vision technology module and the intelligent video analysis module in the intelligent video monitoring equipment, the useless or interference information of the video picture is filtered out by means of the strong data processing capacity of the computer, the states of different objects (freight cars, shunting cars, crossing gate bars, goods and pedestrians) are automatically recognized, the controller is connected with the response device through Bluetooth, and gives out warning information, voice and controls a brake lever arranged at a road junction to rise and fall, so that the risk of collision between a freight car and a shunting machine when the freight car invades into a virtual limit can be effectively prevented; the accident scene can be quickly and accurately positioned, the abnormal condition in the monitoring picture is judged, and an alarm is sent out or other actions are triggered in a fastest and optimal mode, so that the early warning, the treatment in the accident and the timely evidence obtaining after the accident are effectively carried out, the supervision work of workers is replaced, the labor intensity of the workers is reduced, and the efficiency of obtaining evidence and retrieving video information is improved; meanwhile, the intelligent system can be fully automatic, all-weather and real-time monitored, and can timely inform shunting operation personnel of abnormal states discovered by the intelligent video monitoring technology through a plane shunting hand platform, prompt the shunting operation personnel to pay attention to the limit invasion condition of the truck, and guarantee the safety of shunting operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of the components of the intelligent video detection device.
Fig. 2 is a schematic diagram of the intelligent intrusion monitoring device.
FIG. 3 is a schematic diagram of the system of the present invention.
Fig. 4 is a schematic diagram of the system connection of the present invention.
The reference numerals are explained below:
the intelligent intrusion monitoring system comprises an intelligent intrusion monitoring device-1, an intelligent camera-101, a proximity sensor-102, an intelligent video monitoring device-2, a computer vision module-201, an image processing module-202, a pattern recognition module-203, an intelligent video analysis module-204, a controller-3, a response device-4 and a track-5.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Example 1
As shown in the figure, the intelligent anti-intrusion safety early warning system for the railway freight yard comprises intelligent intrusion monitoring equipment 1 installed in each region inside the freight yard, intelligent video monitoring equipment 2 installed at a background of a monitoring room, a controller 3 and a response device 4, and is characterized in that: intelligence invasion monitoring facilities 1 comprises intelligent camera 101 and proximity sensor 102, intelligent camera 101 sets up in the outside of track 5 and forms the virtual limit that accords with the railway specification in track 5 both sides, proximity sensor 102 installs and gets into the track 5 inboard outside the freight yard loading area certain distance apart from shunting, intelligence invasion monitoring facilities 1 is connected with controller 3 electricity, controller 3 is connected with 2 electricity of intelligent video monitoring equipment, controller 3 is connected through bluetooth or the interactive mode of wireless information with response device 4.
The intelligent video monitoring device 2 is composed of a computer vision technology module 201, an image processing module 202, a pattern recognition module 203 and an intelligent video analysis module 204.
The computer vision technology module 201 can screen the images and videos acquired by the smart camera 101, acquire high-level and abstract information from the images and videos, and transmit the high-level and abstract information to the image processing module 202 and the pattern recognition module 203;
the image processing module 202 and the pattern recognition module 203 are respectively used for processing image information and recognizing patterns, and transmitting the processed and recognized information to the intelligent video analysis module;
the intelligent video analysis module 204 may analyze and collate the information, and transmit the state information of the shunting, the truck, and the pedestrian, which is determined by the analysis, to the controller 3.
The response device 4 consists of a broadcast alarm, a remote terminal and a brake bar rise-and-fall control device arranged at the road interception port; the response device 4 is connected with the controller 3 through a Bluetooth communication or wireless information interaction mode.
The remote terminal is arranged on the shunting hand platform.
The intelligent camera 101 is used for collecting video data and audio data in a railway freight yard, and the intelligent camera 101 starts a video recording function under the condition that the intelligent camera meets the preset condition; the preset conditions comprise the states of the stationary state, the running state and the running state of the truck, and the states of the driving-in, the stopping state and the driving-out of the shunting in the goods yard.
When the proximity sensor detects that the vehicle is shunting and leaves the field after the loading and unloading work is finished, the intelligent camera starts to monitor the states of the truck and the pedestrian in the freight yard and simultaneously monitors the intrusion of the virtual limit, transmits information to the intelligent video monitoring equipment, and controls the crossing gate rod to fall down and the broadcast alarm to play warning language through computer processing, analysis and judgment, so as to remind the truck and the operator of the safety of the operation that the vehicle is shunting and will leave, and transmits information to the remote terminal to prompt the shunting operator to notice danger.
Proximity sensor detects the shunting and gets into the goods yard after stopping steady, intelligent camera starts vapour delivery wagon, pedestrian's state control and in the goods yard whether crossing brake lever rise and fall state and virtual limit have illegal invasion to monitor, and transmission information gives intelligent video monitoring equipment, through computer processing, analysis and judgement, works as crossing brake lever rises and falls unusually, the crossing exists to contend the lane to rush to the line and when the virtual limit has illegal invasion, the controller starts broadcast siren broadcast warning language, reminds vapour delivery wagon and operation personnel to pay attention to operation safety, vehicle in proper order carefully go, and transmission information extremely remote terminal suggestion shunting operator notices danger.
Example 2
As shown in the figure, proximity sensor 102 installs at the track 5 inboard outside certain distance from the truck loading and unloading district, get into the freight train in the freight yard or the shunting triggers proximity sensor 102, intelligent camera 101 among the intelligent intrusion monitoring equipment begins the image promptly, video acquisition work, and give intelligent monitoring equipment 2 with the graphic information transmission who gathers, computer vision module will screen required image and video information and pass through image processing module and pattern recognition module's identification processing transmission for intelligent video analysis module, and give controller 3 and make corresponding control action according to the information that the analysis is out with analysis result transmission:
1. when the static state of the truck is monitored, the controller 3 starts the proximity sensor to monitor whether illegal invasion exists in the virtual boundary, and when the illegal invasion is monitored, the controller 3 controls the broadcast alarm to give an alarm prompt and sends the alarm prompt to the remote terminal to prompt the driver to take care and avoid on the plane through a Bluetooth communication mode;
2. when the operation state of the truck is monitored, the controller 3 starts the proximity sensor 2 to monitor whether illegal invasion exists in the virtual boundary, and when the illegal invasion is monitored, the controller controls the broadcast alarm to give an alarm prompt and sends a signal to the remote terminal through the wireless transmitter to prompt the driver to take care and avoid on the plane;
3. when the driving state of the truck is monitored, the state of the truck is monitored, meanwhile, the video acquisition module monitors the intersection without the intercepting rod, monitoring and video recording are carried out aiming at the situation of lane-conflict and rush-driving, and the controller controls the broadcast alarm to give an alarm prompt, so that the truck can safely drive and carefully avoid;
4. when the driving state of the truck is monitored, the state of the truck is monitored, meanwhile, the video acquisition module simultaneously monitors the lifting and falling states of the intercepting rod at the intersection with the intercepting rod, monitoring and video recording are carried out aiming at abnormal conditions, and the controller controls the broadcast alarm to give an alarm for prompting and safely driving.
The freight automobile can be effectively prevented from intruding into the virtual limit and colliding with the shunting car; the intelligent system can quickly and accurately position the accident site, judge abnormal conditions in the monitoring picture, send out an alarm or trigger other actions in a fastest and optimal mode, effectively perform pre-warning, process in the event and timely obtain evidence in the event, is a full-automatic, all-weather and real-time monitoring intelligent system, and can timely inform shunting operation personnel of abnormal states discovered by an intelligent video monitoring technology through a plane shunting hand platform so as to prompt the shunting operation personnel to pay attention to the intrusion condition of the truck, avoid accidents caused by the fact that the truck runs in parallel with a shunting line over a flat passageway without a protective barrier and an intrusion limit, and improve safety.
Example 3
As shown in the figure, proximity sensor 2 installs and gets into 5 inboards on track outside the certain distance of goods yard loading and unloading district apart from shunting, when shunting closes on to trigger proximity sensor, proximity sensor is signal transmission to intelligent monitoring system, pattern recognition module and intelligent analysis module discernment, the analysis state of shunting in the intelligent monitoring system immediately:
when the shunting is in a driving-in state and a driving-out state, the intelligent analysis module transmits analyzed data to the controller, a primary response is started, a broadcast alarm is started to immediately sound an operation broadcast tightly tightening a vehicle passing and loading and unloading area to immediately warn a gas-transport truck and operators that the shunting is close to the operation safety and the shunting is safe, a signal is sent to a remote terminal through a wireless transmitter to prompt a plane shunting hand platform to be careful and avoid, a plane passage gateway barrier rod is controlled to fall down, and a video acquisition module of a virtual limiting area where the shunting is located is started at the same time, an intelligent monitoring system carries out image conversion, image acquisition, mode recognition and analysis processing to judge whether the virtual limiting area is illegally invaded, and meanwhile, the controller sends warning information to the plane shunting hand platform in a wireless information interaction mode to prompt shunting operators to pay attention to the danger and carefully operate;
when a shunting enters a virtual limiting area of a goods yard and is stopped stably, an intelligent monitoring system still monitors whether the virtual limiting area is illegally invaded, meanwhile, a mode recognition module and an analysis processing module transmit a signal of a 'shunting stop state' after recognition and analysis to a controller, a secondary response is started, namely vehicles and pedestrians in all areas in the goods yard are comprehensively monitored, image acquisition, video recording and analysis are carried out to judge whether the virtual limiting area is illegally invaded, the rising and falling state of a flat passageway gateway bar and the situation that whether a lane-contending and rushing are carried out at an intersection without the flat passageway gateway bar are judged, and when the situation is abnormal, a controller starts a broadcast alarm to prompt shunting operators to notice the limit intrusion condition of a gas transportation truck and remind the gas transportation truck to carefully run and avoid the lane-contending and robbing.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. The utility model provides a railway goods yard prevents invading limit safety intelligence early warning system comprises intelligent invasion monitoring facilities who installs in each inside region in goods yard, the intelligent video monitoring equipment who installs in the monitor backstage, controller and response device, its characterized in that: intelligence invasion monitoring facilities comprises smart camera and proximity sensor, the smart camera sets up in orbital outside and forms the virtual limit that accords with the railway specification in the track both sides, proximity sensor installs and gets into the track inboard outside the freight yard loading area certain distance apart from shunting, intelligence invasion monitoring facilities is connected with the controller electricity, the controller is connected with intelligent video monitoring equipment electricity, the controller is connected with response device.
2. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 1, characterized in that: the intelligent video monitoring equipment consists of a computer vision technology module, an image processing module, a mode recognition module and an intelligent video analysis module.
3. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 2, characterized in that: the computer vision technology module can screen images and videos acquired by the intelligent camera, acquire high-level and abstract information from the images and videos and transmit the high-level and abstract information to the image processing module and the mode recognition module;
the image processing module and the pattern recognition module are respectively used for processing image information and recognizing patterns and transmitting the processed and recognized information to the intelligent video analysis module;
the intelligent video analysis module can analyze and arrange the information and transmit the state information of shunting, trucks and pedestrians which is analyzed and judged to the controller.
4. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 3, characterized in that: the response device consists of a broadcast alarm, a remote terminal and a brake bar rise-and-fall control device arranged at the road barricade cut; the response device can be connected with the controller through a Bluetooth communication mode and a wireless information interaction mode.
5. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 3, characterized in that: the remote terminal is arranged on the shunting hand platform.
6. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 1, characterized in that: the intelligent camera is used for acquiring video data and audio data in a railway freight yard, and the intelligent camera starts a video recording function under the condition that the intelligent camera meets the preset condition; the preset conditions comprise the states of the stationary state, the running state and the running state of the truck, and the states of the driving-in, the stopping state and the driving-out of the shunting in the goods yard.
7. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 1, characterized in that: proximity sensor detects to have the shunting to be close, when driving in, the intrusion monitoring is carried out to virtual boundary limit when the smart camera starts vapour transport truck, the pedestrian state control in the freight yard to transmission information gives intelligent video monitoring equipment through computer processing, analysis and judgement, the controller with control signal transmission give the brake lever rise and fall controlling means start the crossing brake lever fall down, broadcast siren broadcast warning language reminds vapour transport truck and operation personnel to notice that the operation safety has the shunting to be close, and transmission information extremely remote terminal suggestion shunting operation person notices danger.
8. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 1, characterized in that: when the proximity sensor detects that the vehicle is shunting and leaves the field after the loading and unloading work is finished, the intelligent camera starts to monitor the states of the truck and the pedestrian in the freight yard and simultaneously monitors the intrusion of the virtual limit, transmits information to the intelligent video monitoring equipment, and controls the crossing gate rod to fall down and the broadcast alarm to play warning language through computer processing, analysis and judgment, so as to remind the truck and the operator of the safety of the operation that the vehicle is shunting and will leave, and transmits information to the remote terminal to prompt the shunting operator to notice danger.
9. The intelligent early warning system for preventing the intrusion limit of the railway freight yard according to claim 1, characterized in that: proximity sensor detects the shunting and gets into the goods yard after stopping steady, intelligent camera starts vapour delivery wagon, pedestrian's state control and in the goods yard whether crossing brake lever rise and fall state and virtual limit have illegal invasion to monitor, and transmission information gives intelligent video monitoring equipment, through computer processing, analysis and judgement, works as crossing brake lever rises and falls unusually, the crossing exists to contend the lane to rush to the line and when the virtual limit has illegal invasion, the controller starts broadcast siren broadcast warning language, reminds vapour delivery wagon and operation personnel to pay attention to operation safety, vehicle in proper order carefully go, and transmission information extremely remote terminal suggestion shunting operator notices danger.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114463910A (en) * | 2022-02-16 | 2022-05-10 | 山东高速德州发展有限公司 | Intelligent early warning system and method for anti-intrusion safety of highway facilities |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114463910A (en) * | 2022-02-16 | 2022-05-10 | 山东高速德州发展有限公司 | Intelligent early warning system and method for anti-intrusion safety of highway facilities |
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