CN113619656A - Railway construction crossing safety early warning system and method based on radar monitoring - Google Patents
Railway construction crossing safety early warning system and method based on radar monitoring Download PDFInfo
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- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
- B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The embodiment of the invention provides a railway construction crossing safety early warning system and method based on radar monitoring, and belongs to the technical field of traffic safety. The method comprises the following steps: the millimeter wave radar is arranged above the track of the railway construction crossing and used for detecting whether a train which advances to the railway construction crossing exists on any two-way track or not and detecting the position and the actual speed of the train under the condition that the train exists; and the control unit is used for determining the distance between the train and the railway construction crossing based on the position of the train, calculating the arrival time of the train reaching the railway construction crossing based on the distance and the actual speed, and sending alarm information when the arrival time is less than a preset arrival time threshold or the distance is less than a preset safety distance threshold so that the alarm equipment corresponding to the lane where the train is located executes alarm. The railway construction crossing safety early warning system and method based on radar monitoring can respectively carry out early warning on multiple lanes in the uplink and downlink directions, so that accurate early warning is realized, and the working efficiency of workers is improved.
Description
Technical Field
The invention relates to the technical field of traffic safety, in particular to a railway construction crossing safety early warning system and method based on radar monitoring.
Background
The control of the traditional railway crossing safety early warning system at present is divided into two modes of manual control and automatic control. The manual control means that barrier is closed in a manual or electric mode after the barrier attendant or nearby stations and signal building attendant receive train arrival information, and a crossing signal lamp and a voice horn are started to warn passing vehicles and pedestrians to forbid passing; the intelligent level and the reliability of the mode of manually identifying the arrival of the train and manually starting the early warning equipment are lower. The automatic control means that the system completes the process of detecting the arrival signal of the train and automatically starting or closing the barrier, the crossing signal lamp and the voice horn in a wireless communication mode, the control mode needs to install GPS positioning and wireless communication equipment on each train, and the early warning process cannot be completed under the condition that hardware equipment at the train or the crossing position is incomplete.
With the development of intelligent identification technology in recent years, relevant scholars propose to combine a video detector and an AI intelligent identification technology as a monitoring unit to identify and confirm the arrival of a train and automatically start an early warning signal to warn passing vehicles and pedestrians.
Disclosure of Invention
The embodiment of the invention aims to provide a railway construction crossing safety early warning system and method based on radar monitoring, which can respectively early warn multiple lanes in the uplink and downlink directions, so that accurate early warning is realized, and the working efficiency of workers is improved.
In order to achieve the above object, an embodiment of the present invention provides a railway construction crossing safety early warning system based on radar monitoring, where the railway construction crossing safety early warning system based on radar monitoring includes:
the millimeter wave radar is arranged above the tracks of the railway construction crossing and used for detecting whether a train which advances to the railway construction crossing exists on any two-way track or not and detecting the position and the actual speed of the train under the condition that the train exists; and
and the control unit is used for determining the distance between the train and the railway construction crossing based on the position of the train, calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed, and sending alarm information when the arrival time is less than a preset arrival time threshold or the distance is less than a preset safe distance threshold so that the alarm equipment corresponding to the lane where the train is located executes alarm.
Preferably, the millimeter wave radar includes:
the ascending radar is used for detecting whether a train which advances to the railway construction crossing exists on an ascending track; and
and the downlink radar is used for monitoring whether a train which advances to the railway construction crossing exists on a downlink track.
Preferably, the uplink radar or the downlink radar includes:
the lane judging unit is used for acquiring the position of the train and determining the track where the train is located based on the paths of the plurality of tracks and the position; and
and the vehicle speed determining unit is used for acquiring two positions of the train and the corresponding running time of the train, determining the running distance of the train based on the two positions and the track where the train is located, and calculating the speed of the train based on the running distance and the running time.
Preferably, the control unit for calculating the arrival time of the train at the railway construction crossing based on the distance and the current speed includes:
an estimated travel speed acquisition module for acquiring an estimated travel speed of the train passing through the railway construction crossing, wherein the estimated travel speed is configured to be related to a historical travel speed of the train passing through the railway construction crossing; and
and the time determining module is used for determining the arrival time of the train at the railway construction crossing based on the estimated running speed, the actual speed and the distance.
Preferably, the alarm device comprises: speech horns and signal lights; the signal lamp can send out an early warning indicator lamp when the arrival time is smaller than a preset arrival time threshold value or the distance is smaller than a preset safe distance threshold value, and the voice horn can play early warning prompt voice related to the lane where the train is located.
Preferably, the millimeter wave radar and the control unit realize signal communication through a signal transmission unit; wherein the signal transmission unit is configured as one or more of 3g, 4g, 5 g.
Preferably, the control unit is further configured to:
and when the millimeter wave radar does not detect the train travelling to the railway construction crossing within a preset time period, sending out stop early warning information to enable the warning equipment corresponding to the lane where the train is located to stop warning.
In addition, the invention also provides a railway construction crossing safety early warning method based on radar monitoring, which comprises the following steps:
detecting whether a train which advances to the railway construction crossing exists on any two-way track, and detecting the position and the actual speed of the train under the condition that the train exists;
determining the distance between the train and the railway construction crossing based on the position of the train, and calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed; and
when the arrival time is less than a preset arrival time threshold or the distance is less than a preset safety distance threshold, sending alarm information to enable alarm equipment corresponding to the lane where the train is located to execute alarm
Preferably, the calculating the arrival time of the train at the railway construction crossing based on the distance and the current speed comprises:
acquiring the position of the train, and determining the track where the train is located based on the paths of the plurality of tracks and the position; and
the system comprises a train, a track, a speed calculation module, a track control module and a control module, wherein the train is used for acquiring two positions of the train and corresponding running time of the two positions, determining the running distance of the train based on the two positions and the track where the train is located, and calculating the speed of the train based on the running distance and the running time.
Preferably, the calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed comprises:
obtaining an estimated travel speed of the train passing through the railway construction crossing, wherein the estimated travel speed is configured to correlate to a historical travel speed of the train passing through the railway construction crossing; and
and determining the arrival time of the train at the railway construction crossing based on the estimated running speed, the actual speed and the distance.
Through the technical scheme, a railway construction crossing safety early warning control mechanism is established, a millimeter wave radar detects arrival conditions of trains in the up-down direction of a railway in real time, when the trains are detected to advance towards the direction of the railway crossing, the radar uploads the positions of the trains and the running speed in real time, a control unit calculates the arrival time of the trains at the crossing in real time, and when the arrival time of the trains at the crossing is smaller than a preset threshold value or the longitudinal distance between the trains and the construction crossing is smaller than a preset threshold value, a warning unit arranged on the periphery of the crossing is controlled by the control unit to perform sound-light alarm to remind workers in construction to leave a dangerous area in time, and other construction workers are forbidden to enter the crossing again in a dangerous time period, so that the passing safety of the construction workers and the trains is ensured.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a block diagram of the main components of a railway construction crossing safety pre-warning system based on radar monitoring according to the present invention;
FIG. 2 is a schematic diagram of an installation and deployment structure of a railway construction crossing safety early warning system based on radar monitoring according to the present invention;
FIG. 3 is a flow chart of a method for early warning of safety of a railway construction crossing based on radar monitoring according to the present invention;
FIG. 4 is a flow chart of another radar monitoring-based railway construction crossing safety pre-warning method of the present invention; and
fig. 5 is a block diagram of another radar monitoring-based railway construction crossing safety early warning system of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a block diagram of a railway construction crossing safety early warning system based on radar monitoring according to the present invention, and as shown in fig. 1, the main components of the railway construction crossing safety early warning system based on radar monitoring include a millimeter wave radar, a signal lamp, a voice horn, an early warning control unit, a data storage unit, and further include a solar photovoltaic battery pack, a wireless bridge, a 4G signal transmission unit, and other power supply and wireless communication supporting devices.
Fig. 5 is a block diagram of a railway construction crossing safety early warning system based on radar monitoring, and as shown in fig. 5, the railway construction crossing safety early warning system based on radar monitoring includes: the millimeter wave radar is arranged above the tracks of the railway construction crossing and used for detecting whether a train advancing to the railway construction crossing exists on any two-way track or not and detecting the position and the actual speed of the train under the condition that the train exists. Wherein, the millimeter wave radar is a device for sensing the position of the train, as shown in fig. 2, it is configured above the track, and according to the different directions of the track, there are two directions of millimeter wave radars, for example 4 (2 on one side in two directions) as shown in fig. 2, the millimeter wave radars in different positions in the same direction are used for measuring the long distance train, the farther the distance is, the more the required radars are, the more the detection devices (millimeter wave radars) are arranged in the up-down direction of the railway construction crossing without protection in the invention, the number of train arrival detection devices (millimeter wave radars) are respectively arranged in one set at the up-down direction of the railway construction crossing, the position and number of the detection devices should comprehensively consider the number of train lanes near the construction crossing and the train passing speed, the full coverage detection within l meter of the longitudinal distance from the crossing of each track of the crossing should be ensured, the size of l should ensure that the train is detected to advance to the crossing direction at a certain speed, the constructors have enough reaction and avoidance time.
And the control unit is used for determining the distance between the train and the railway construction crossing based on the position of the train, calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed, and sending alarm information when the arrival time is less than a preset arrival time threshold or the distance is less than a preset safe distance threshold so that the alarm equipment corresponding to the lane where the train is located executes alarm.
The invention establishes a railway construction crossing safety early warning control mechanism, a millimeter wave radar detects the arrival condition of a train in the ascending and descending directions of a railway in real time, when the train is detected to advance towards the direction of the railway crossing, the radar uploads the position and the running speed of the train in real time, a control unit calculates the arrival time of the train at the crossing in real time, and when the arrival time of the train at the crossing is less than a preset threshold value or the longitudinal distance of the train from the construction crossing is less than the preset threshold value, a warning unit arranged at the periphery of the crossing is controlled by the control unit to carry out sound-light alarm to remind workers in construction to leave a dangerous area in time and prohibit other construction workers from entering the crossing again in a dangerous time period, thereby ensuring the passing safety of the construction workers and the train.
Preferably, as shown in fig. 2, the millimeter wave radar includes: the ascending radar in the ascending direction is used for detecting whether a train which advances to the railway construction crossing exists on an ascending track; and the downlink radar in the downlink direction is used for monitoring whether a train which advances to the railway construction crossing exists on a downlink track.
Preferably, the uplink radar or the downlink radar includes: the lane judging unit is used for acquiring the position of the train and determining the track where the train is located based on the paths of the plurality of tracks and the position; and the vehicle speed determining unit is used for acquiring two positions of the train and the corresponding running time of the two positions, determining the running distance of the train based on the two positions and the track where the train is located, and calculating the speed of the train based on the running distance and the running time. The position of the train can be represented by coordinates A, B, the track path is the path traveled by the train, the travel time is the time the train traveled on the track, and the distance is calculated not as a distance between A, B two points but as a length between A, B two points on the path.
Preferably, the control unit for calculating the arrival time of the train at the railway construction crossing based on the distance and the current speed includes: an estimated travel speed acquisition module for acquiring an estimated travel speed of the train passing through the railway construction crossing, wherein the estimated travel speed is configured to be related to a historical travel speed of the train passing through the railway construction crossing; and the time determining module is used for determining the arrival time of the train at the railway construction crossing based on the estimated running speed, the actual speed and the distance. The historical driving speed reflects the speed of the train passing through the railway construction crossing, generally, the speed of the train passing through the crossing needs to be reduced, and the speed of the train passing through the crossing is determined by using the historical data so as to calculate the driving time of the train in the following process.
Preferably, the alarm device may include: speech horns and signal lights; the signal lamp can send out an early warning indicator lamp when the arrival time is smaller than a preset arrival time threshold value or the distance is smaller than a preset safe distance threshold value, and the voice horn can play early warning prompt voice related to the lane where the train is located.
Preferably, the millimeter wave radar and the control unit realize signal communication through a signal transmission unit; wherein the signal transmission unit is configured as one or more of 3g, 4g, 5 g.
Preferably, the control unit is further configured to: and when the millimeter wave radar does not detect the train travelling to the railway construction crossing within a preset time period, sending out stop early warning information to enable the warning equipment corresponding to the lane where the train is located to stop warning.
As shown in fig. 2, the millimeter wave radar is installed in the center of the one-way railway in a cross bar mode, the irradiation direction is opposite to the train advancing direction, the range of the radar transverse detection angle is +/-28 degrees, the maximum effective detection distance of the center can reach 400 meters, the maximum effective detection distance of the edge can reach 300 meters, in order to ensure that each lane has no dead angle detection and provide enough reaction and avoidance time for a system and workers, a plurality of devices can be adopted to be connected in series for long-distance detection (two devices are used in one direction, and four devices in two directions are used for simultaneous detection), and the full-coverage detection of each lane within 600 meters of a crossing is ensured; the signal lamp and the voice horn are arranged on two sides of the crossing in a vertical rod mode and are respectively used for warning construction workers in the up-down direction and two sides of the crossing to avoid the train and ensuring the safe passing of the train and construction workers; the early warning control unit, the data storage unit and the 4G signal transmission unit can be integrated equipment and are arranged on a vertical rod on one side of the crossing in a vertical rod mode, and the early warning control unit, the data storage unit and the 4G signal transmission unit are used for receiving the longitudinal distance between the lanes of the train and the running speed uploaded by the millimeter wave radar in the uplink and downlink directions, calculating the time length required by the train to reach the crossing, controlling the starting and closing of the warning units on the two sides of the crossing, and storing data and using wireless communication; in consideration of the fact that most railway construction crossings are located in remote areas and electricity is difficult to get, the system supplies power to all devices of the system through the solar battery pack.
For example, as shown in fig. 3.
The millimeter wave radar detects the arrival condition of the trains in the up-down direction of the railway construction crossing in real time, records the lanes where the trains in the up-down direction are located when detecting that the trains arrive in both the up-down direction and the up-down direction, and calculates the estimated arrival time T of the trains in the up-down direction at the crossing in real time1，T2Distance L between train and crossing1、L2To judge T in real time1、T2、L1、L2The size relation with T, L (the size of T and L needs to ensure enough reaction and avoidance time for system and construction worker, the patent T takes 20-25s, L takes 250-300m), the first step is (T)1≥T，L1Not less than L) and (T)2≥T，L2Not less than L), the train is far away from the crossing, and the system does not need early warning; ② when (T)1≥T，L1Not less than L) and (T)2<T or L2<L), when the train is close to the crossing in the descending direction, the main control unit controls signal lamps on two sides of the crossing to be lighted in red, and the voice horn broadcasts the descending direction of the railway, so that the XX lane is about to have the train arrive, all personnel are required to pay attention to avoiding the arrival of the train, and the early warning is finished until the train passing is not detected in the descending direction for 5-8 s; ③ when (T)1<T or L1<L) and (T)2≥T，L2Not less than L), the train in the ascending direction is close to the crossing, the main control unit controls signal lamps on two sides of the crossing to be lighted in red, the voice horn broadcasts the ascending direction of the railway, the XX lane is about to have the train arrive, all personnel are required to pay attention to avoiding, and the early warning is finished until the train passing is not detected in the ascending direction for 5-8 s; fourthly, (T)1<T or L1<L) and (T)2<T or L2Not less than L), master control listThe unit controls the red lights of the signal lamps at the two sides of the crossing to be lighted; the voice loudspeaker broadcasts that 'the railway is in the ascending direction, the XX lane and the descending direction, a train is about to arrive in the XX lane, all people are required to pay attention to avoiding', and when no train is detected to pass in the direction of 5-8s on one side, early warning on the side is finished.
When detecting that a train arrives in the uplink direction and no train arrives in the downlink direction, recording the lane where the train arrives in the uplink direction, and calculating the predicted arrival time T of the train at the crossing in the uplink direction in real time1Distance L between train and crossing1To judge T in real time1、L1The size relationship with T, L, when T is1Not less than T and L1When the train is more than or equal to L, the train is far away from the crossing, and the system does not need early warning; when T1<T or L1<When L is needed, the main control unit controls signal lamps on two sides of the crossing to be lighted in red; and (3) broadcasting that a train is about to arrive in the XX lane and please all people to pay attention to avoidance by the voice horn in the ascending direction of the railway until the train passing is not detected in the ascending direction for 5-8s, and finishing the early warning.
When no train arrival in the uplink direction and train arrival in the downlink direction are detected, recording the lane where the train in the downlink direction is located, and calculating the predicted arrival crossing time T of the train in the downlink direction in real time2Distance L between train and crossing2To judge T in real time2、L2The size relationship with T, L, when T is2Not less than T and L2When the train is more than or equal to L, the train is far away from the crossing, and the system does not need early warning; when T2<T or L2<When L is needed, the main control unit controls signal lamps on two sides of the crossing to be lighted in red; and (3) broadcasting that a train is about to arrive in the XX lane and please all people to pay attention to avoidance by the voice horn in the descending direction of the railway until the train passing is not detected in the descending direction for 5-8s, and finishing the early warning.
In addition, as shown in fig. 4, the invention also provides a railway construction crossing safety early warning method based on radar monitoring, which comprises the following steps:
s401, detecting whether a train moving to the railway construction crossing exists on any two-way track, and detecting the position and the actual speed of the train under the condition that the train exists;
s402, determining the distance between the train and the railway construction crossing based on the position of the train, and calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed; and
and S403, when the arrival time is less than a preset arrival time threshold or the distance is less than a preset safety distance threshold, sending alarm information to enable alarm equipment corresponding to the lane where the train is located to alarm.
Preferably, the calculating the arrival time of the train at the railway construction crossing based on the distance and the current speed comprises:
acquiring the position of the train, and determining the track where the train is located based on the paths of the plurality of tracks and the position; and
the system comprises a train, a track, a speed calculation module, a track control module and a control module, wherein the train is used for acquiring two positions of the train and corresponding running time of the two positions, determining the running distance of the train based on the two positions and the track where the train is located, and calculating the speed of the train based on the running distance and the running time.
Preferably, the calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed comprises:
obtaining an estimated travel speed of the train passing through the railway construction crossing, wherein the estimated travel speed is configured to correlate to a historical travel speed of the train passing through the railway construction crossing; and
and determining the arrival time of the train at the railway construction crossing based on the estimated running speed, the actual speed and the distance.
Compared with the prior art, the radar monitoring-based railway construction crossing safety early warning method has the same distinguishing technical characteristics and technical effects as the radar monitoring-based railway construction crossing safety early warning system, and is not repeated herein.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The utility model provides a railway construction crossing safety precaution system based on radar monitoring which characterized in that, railway construction crossing safety precaution system based on radar monitoring includes:
the millimeter wave radar is arranged above the tracks of the railway construction crossing and used for detecting whether a train which advances to the railway construction crossing exists on any two-way track or not and detecting the position and the actual speed of the train under the condition that the train exists; and
and the control unit is used for determining the distance between the train and the railway construction crossing based on the position of the train, calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed, and sending alarm information when the arrival time is less than a preset arrival time threshold or the distance is less than a preset safe distance threshold so that the alarm equipment corresponding to the lane where the train is located executes alarm.
2. The radar monitoring based railway construction crossing safety precaution system of claim 1, wherein the millimeter wave radar comprises:
the ascending radar is used for detecting whether a train which advances to the railway construction crossing exists on an ascending track; and
and the downlink radar is used for monitoring whether a train which advances to the railway construction crossing exists on a downlink track.
3. The radar-monitoring-based railway construction crossing safety pre-warning system according to claim 2, wherein the uplink radar or the downlink radar comprises:
the lane judging unit is used for acquiring the position of the train and determining the track where the train is located based on the paths of the plurality of tracks and the position; and
and the vehicle speed determining unit is used for acquiring two positions of the train and the corresponding running time of the train, determining the running distance of the train based on the two positions and the track where the train is located, and calculating the speed of the train based on the running distance and the running time.
4. The radar-monitoring-based railway construction crossing safety pre-warning system according to claim 3, wherein the control unit for calculating the arrival time of the train at the railway construction crossing based on the distance and the current speed comprises:
an estimated travel speed acquisition module for acquiring an estimated travel speed of the train passing through the railway construction crossing, wherein the estimated travel speed is configured to be related to a historical travel speed of the train passing through the railway construction crossing; and
and the time determining module is used for determining the arrival time of the train at the railway construction crossing based on the estimated running speed, the actual speed and the distance.
5. The radar-monitoring-based railway construction crossing safety pre-warning system according to claim 3, wherein the alarm device comprises: speech horns and signal lights; the signal lamp can send out an early warning indicator lamp when the arrival time is smaller than a preset arrival time threshold value or the distance is smaller than a preset safe distance threshold value, and the voice horn can play early warning prompt voice related to the lane where the train is located.
6. The radar monitoring-based railway construction crossing safety early warning system as claimed in claim 1, wherein the millimeter wave radar and the control unit are in signal communication through a signal transmission unit; wherein the signal transmission unit is configured as one or more of 3g, 4g, 5 g.
7. The radar-monitoring-based railway construction crossing safety pre-warning system according to claim 1, wherein the control unit is further configured to:
and when the millimeter wave radar does not detect the train travelling to the railway construction crossing within a preset time period, sending out stop early warning information to enable the warning equipment corresponding to the lane where the train is located to stop warning.
8. A railway construction crossing safety early warning method based on radar monitoring is characterized by comprising the following steps:
detecting whether a train which advances to the railway construction crossing exists on any two-way track, and detecting the position and the actual speed of the train under the condition that the train exists;
determining the distance between the train and the railway construction crossing based on the position of the train, and calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed; and
and when the arrival time is less than a preset arrival time threshold or the distance is less than a preset safety distance threshold, sending alarm information to enable alarm equipment corresponding to the lane where the train is located to alarm.
9. The radar-monitoring-based railway construction crossing safety pre-warning method according to claim 8, wherein the calculating the arrival time of the train at the railway construction crossing based on the distance and the current speed comprises:
acquiring the position of the train, and determining the track where the train is located based on the paths of the plurality of tracks and the position; and
the system comprises a train, a track, a speed calculation module, a track control module and a control module, wherein the train is used for acquiring two positions of the train and corresponding running time of the two positions, determining the running distance of the train based on the two positions and the track where the train is located, and calculating the speed of the train based on the running distance and the running time.
10. The radar-monitoring-based railway construction crossing safety pre-warning method according to claim 9, wherein the calculating the arrival time of the train at the railway construction crossing based on the distance and the actual speed comprises:
obtaining an estimated travel speed of the train passing through the railway construction crossing, wherein the estimated travel speed is configured to correlate to a historical travel speed of the train passing through the railway construction crossing; and
and determining the arrival time of the train at the railway construction crossing based on the estimated running speed, the actual speed and the distance.
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