Railway monitoring system and monitoring method thereof

Abstract

The embodiment of the present application discloses a railway monitoring system and a monitoring method, the railway monitoring system comprises: a control bus, which is arranged along a railway line; a railway-side visual sensor, which is arranged along the railway line and has a signal output end connected with the control bus; a highway-side visual sensor, which is arranged at a railway crossing and has a signal output end connected with the control bus; a crossing barrier gate, which is arranged at the railway crossing; a crossing signal machine and a sound, which are arranged at the railway crossing; and a control device, which is used for starting the crossing barrier gate, closing the crossing barrier gate, starting the crossing signal machine and the sound, and / or closing the crossing signal machine and the sound based on train running information output by the railway-side visual sensor, crossing empty information output by the highway-side visual sensor and a preset corresponding relationship.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of railway monitoring, and in particular to a railway monitoring system and a monitoring method thereof. BACKGROUND

[0002] With the rapid development of railway systems in China, the safety problem of railway and highway level crossings has become an important work of railway safety management, directly affecting the safety of railway operation.

[0003] The equipment failure of railway level crossings, as well as the daily safety management of vehicles and pedestrians passing outside the crossing, is one of the important factors affecting the safety of railway operation. Safety accidents at crossings caused by human factors are common, and frequent crossing accidents have seriously affected the safety of railway operation, and the situation of crossing safety is becoming increasingly severe. SUMMARY

[0004] Therefore, the embodiments of the present application expect to provide a railway monitoring system and a monitoring method thereof.

[0005] In a first aspect, the embodiments of the present application provide a railway monitoring system, comprising:

[0006] A control bus, the control bus is arranged along the railway line;

[0007] A railway-side visual sensor, the railway-side visual sensor is arranged along the railway line, and a signal output end of the railway-side visual sensor is connected with the control bus;

[0008] A highway-side visual sensor, the highway-side visual sensor is arranged at a railway crossing, and a signal output end of the highway-side visual sensor is connected with the control bus, wherein the railway crossing is a place where the highway and the railway line intersect in the plane;

[0009] A crossing barrier gate, the crossing barrier gate is arranged at the railway crossing, and the crossing barrier gate is connected with the control bus;

[0010] A crossing signal and sound, the crossing signal and sound are arranged at the railway crossing, and the crossing signal and sound are connected with the control bus;

[0011] A control device connected with the control bus, the control device being configured to open the crossing barrier, close the crossing barrier, open the crossing signal and sound, and / or close the crossing signal and sound based on the train operation information output by the railway-side vision sensor, the crossing clearance information output by the road-side vision sensor, and a preset correspondence relationship, wherein the preset correspondence relationship comprises different correspondence relationships between the train operation information and the crossing clearance information and opening the crossing barrier, closing the crossing barrier, opening the crossing signal and sound, and / or closing the crossing signal and sound.

[0012] In an embodiment, the railway monitoring system further comprises:

[0013] A block signal arranged at a first preset distance from the railway crossing, the block signal being connected with the control bus.

[0014] The control device is further configured to open or close the block signal based on the train operation information and the opening and closing state of the crossing barrier.

[0015] In an embodiment, the railway monitoring system further comprises:

[0016] A block advance signal arranged at a second preset distance from the railway crossing, the block advance signal being connected with the control bus, wherein the second preset distance is greater than the first preset distance.

[0017] The control device is further configured to open or close the block advance signal based on the train operation information and the opening and closing state of the crossing barrier.

[0018] In an embodiment, the distance between the second preset distance and the first preset distance is a maximum braking distance, wherein the maximum braking distance is the maximum distance required for braking of all trains on the railway.

[0019] In an embodiment, the railway monitoring system further comprises:

[0020] A fault handling device connected with the control device, the fault handling device being configured to generate an alarm information based on fault information reported by the control device.

[0021] In an embodiment, the control device is connected with the fault handling device through a redundant communication channel.

[0022] In an embodiment, the railway monitoring system further comprises:

[0023] At least one input power supply for powering the control device.

[0024] In one embodiment, the crossing barrier is a barrier post.

[0025] In one embodiment, the control device adopts a dual-computer or multi-computer standby redundant hardware structure.

[0026] In one embodiment, the control bus adopts a dual-channel mode.

[0027] In a second aspect, the embodiments of the present application also provide a railway monitoring method, comprising:

[0028] Obtaining train operation information output by a railway-side visual sensor and crossing empty information output by a highway-side visual sensor; wherein the railway-side visual sensor is arranged along a railway line, the highway-side visual sensor is arranged at a railway crossing, and the railway crossing is a place where a highway and a railway line intersect in a plane;

[0029] Based on the train operation information, the crossing empty information and a preset corresponding relationship, opening the crossing barrier, closing the crossing barrier, opening the crossing signal and the sound, and / or closing the crossing signal and the sound, wherein the crossing barrier is arranged at the railway crossing, the crossing signal and the sound are arranged at the railway crossing, and the preset corresponding relationship includes corresponding relationships between different train operation information and crossing empty information and opening the crossing barrier, closing the crossing barrier, opening the crossing signal and the sound, and / or closing the crossing signal and the sound.

[0030] In one embodiment, the method further comprises:

[0031] In one embodiment, the method further comprises:

[0032] Based on the train operation information and the opening and closing state of the crossing barrier, opening or closing a blocking signal, wherein the blocking signal is arranged at a first set distance from the railway crossing.

[0033] Based on the train operation information and the opening and closing state of the crossing barrier, opening or closing a blocking advance signal, wherein the blocking advance signal is arranged at a second set distance from the railway crossing, and the second set distance is greater than the first set distance.

[0034] In one embodiment, the distance between the second set distance and the first set distance is a maximum braking distance, wherein the maximum braking distance is the maximum distance required for braking of all trains on the railway.

[0035] In one embodiment, the method further comprises:

[0036] reporting the fault information to a fault processing device.

[0037] The railway monitoring system of the embodiment of the present application sets a railway-side visual sensor at a railway crossing and sets a road-side visual sensor at a first distance from the railway crossing, controls the early warning and protection equipment of the railway crossing based on the train operation information detected by the railway-side visual sensor and the crossing emptying information detected by the road-side visual sensor, provides a hardware foundation for realizing the automatic control of the railway crossing, and improves the safety of the railway crossing. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A structural schematic diagram of the railway monitoring system provided by the embodiment of the present application is shown in the figure.

[0039] Figure 2 A flowchart of the first railway monitoring method provided by the embodiment of the present application is shown in the figure.

[0040] Figure 3 A flowchart of the second railway monitoring method provided by the embodiment of the present application is shown in the figure.

[0041] Figure 4 A schematic diagram of the linkage relationship between the devices of the railway monitoring system of the embodiment of the present application is shown in the figure.

[0042] Figure 5 A control logic diagram of the control device of the railway monitoring system of the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0043] The technical solutions of the present application are further described in detail below in combination with the accompanying drawings and specific embodiments.

[0044] As shown in the figure, a railway monitoring system 10 comprises: Figure 1 A control bus 101, which is arranged along a railway line;

[0045] A railway-side visual sensor 102, which is arranged along the railway line, and the signal output end of the railway-side visual sensor 102 is connected with the control bus 101;

[0046] A road-side visual sensor 103, which is arranged at a railway crossing, and the signal output end of the road-side visual sensor 103 is connected with the control bus 101, wherein the railway crossing is the intersection of a road and the plane of the railway line.

[0047]

[0048] ​A crossing gate 104 is arranged at the railway crossing, and the crossing gate 104 is connected with the control bus 101;

[0049] A crossing signal and sounder 105 is arranged at the railway crossing, and the crossing signal and sounder 105 is connected with the control bus 101;

[0050] A control device 106 is connected with the control bus 101, and the control device 106 is configured to open the crossing gate 104, close the crossing gate 104, open the crossing signal and sounder 105, and / or close the crossing signal and sounder 105 based on the train running information output by the railway-side visual sensor 102, the crossing clearance information output by the highway-side visual sensor 103, and a preset corresponding relationship, wherein the preset corresponding relationship includes different corresponding relationships between the train running information and the crossing clearance information and the opening and closing of the crossing gate 104, the crossing signal and sounder 105.

[0051] In the embodiment, the railway-side visual sensor 102 and / or the highway-side visual sensor 103 can be a linear array and a surface array CCD camera, a TV camera, or a digital camera, etc. After capturing an image, the captured image can be compared and analyzed with a reference image stored in a memory.

[0052] Specifically, in some embodiments, at least one railway-side visual sensor 102 is arranged at each side of the railway crossing, and the railway-side visual sensor 102 is located along the railway so that the detection range thereof covers a preset distance range in the uplink and downlink directions of the train. For example, for the preset distance range in the uplink direction, the preset distance range includes a first position before the train enters the railway crossing to a second position after the train leaves the railway crossing in the uplink direction, wherein the distance between the first position and the railway crossing is L 制MAX +V 列MAX ×t 接近通知 , and the second position is the maximum train length. Wherein, L 制MAX is the maximum emergency braking distance required by each type of train passing through the railway crossing, V 列MAX is the maximum speed of each type of train passing through the railway crossing, and t 接近通知 is a preset reserved reaction time, for example, the preset reserved reaction time can include the sum of the longest time required for the vehicle to pass through the railway crossing, the closing time of the crossing gate, and the train braking reaction time. It can be understood that for the preset distance range in the downlink direction, the same way can be used to determine.

[0053] The railway-side visual sensor 102 can determine the train running information, including the running direction, displacement and speed of the train, by pre-storing pictures, presetting train interval scale, comparing actual images, etc., based on the characteristics that the train on the railway line runs along the track, the movement trajectory is single, and the cross-sectional area of the train is single, and the train running information is transmitted to the control device 106 through the control bus 101.

[0054] It should be noted that how the railway-side visual sensor 102 determines the train running information is quite mature in the related art, and will not be described here.

[0055] It can be understood that in all embodiments of the present application, unless otherwise specified, the distance between the railway crossing and the center point of the railway crossing is referred to.

[0056] In some embodiments, at least one road-side visual sensor 103 is arranged at the railway crossing, so that the detection range of the visual sensor includes the length of the railway crossing along the railway direction, the crossing gate 104 on both sides of the railway crossing, and the limited space enclosed by the maximum allowed train height.

[0057] Based on the finiteness of the detection range, the road-side visual sensor 103 can determine the crossing clearance information by pre-storing static images, separating dynamic foreground from static background, comparing dynamic foreground, etc. For example, the clearance status of pedestrians, vehicles and trains is determined. If there is no pedestrian, vehicle and train information in the railway crossing, it is determined that the railway crossing has been cleared. If there is no pedestrian, vehicle and train information in the railway crossing, it is determined that the railway crossing has not been cleared, and the crossing clearance information is transmitted to the control device 106 through the control bus 101.

[0058] It should be noted that how the road-side visual sensor 103 determines the crossing clearance information is quite mature in the related art, and will not be described here.

[0059] In this embodiment, the crossing gate 104 can be arranged on both sides of the railway crossing to control whether the railway crossing in the road direction is passable. When the crossing gate 104 is opened, the railway crossing in the road direction is passable; when the crossing gate 104 is closed, the railway crossing in the road direction is not passable.

[0060] In this embodiment, the crossing signal and sound 105 can be arranged on both sides of the railway crossing to issue an alarm when a train is about to pass through the railway crossing.

[0061] In the embodiment, the control device 106 pre-stores a preset corresponding relationship, and upon receiving the train operation information and the crossing clearance information, can directly control opening of the crossing barrier gate 104, closing of the crossing barrier gate 104, opening of the crossing signal and sound 105, and / or closing of the crossing signal and sound 105 according to the preset corresponding relationship.

[0062] Specifically, the control device 106 comprises a control circuit, and the preset corresponding relationship corresponds to the control logic of the control circuit. The control circuit directly implements opening of the crossing barrier gate 104, closing of the crossing barrier gate 104, opening of the crossing signal and sound 105, and / or closing of the crossing signal and sound 105 according to the preset corresponding relationship based on the train operation information signal and the crossing clearance information signal.

[0063] The railway monitoring system of the embodiment provides a hardware basis for realizing automatic control of the railway crossing and improves the safety of the railway crossing.

[0064] In some embodiments, the railway monitoring system 10 further comprises:

[0065] The blocking signal 108 is arranged along the railway, and the blocking signal 108 is connected with the control bus 101.

[0066] The control device 106 is further configured to open or close the blocking signal 108 based on the train operation information and the opening and closing state of the crossing barrier gate 104.

[0067] In the embodiment, the blocking signal 108 is arranged on both sides of the railway crossing to play a role of requiring a train in the uplink direction and the downlink direction to stop, respectively.

[0068] In some embodiments, the railway monitoring system 10 further comprises:

[0069] The blocking advance signal 107 is arranged at a second set distance from the railway crossing, and the blocking advance signal 107 is connected with the control bus 101, wherein the second set distance is greater than the first set distance.

[0070] The control device 106 is further configured to open or close the blocking advance signal 107 based on the train operation information and the opening and closing state of the crossing barrier gate 104.

[0071] In the embodiment, the blocking pre-warning signal machine 107 is arranged on both sides of the railway crossing to respectively play the role of requiring the train in the uplink direction and the downlink direction to stop.

[0072] In some embodiments, the distance between the second set distance and the first set distance is a maximum braking distance, wherein the maximum braking distance is the maximum distance required for braking of all trains on the railway.

[0073] In the embodiment, the maximum braking distance is the maximum emergency braking distance required by trains of various types passing through the railway crossing. By limiting the distance between the second set distance and the first set distance, the distance between the blocking pre-warning signal machine 107 and the blocking signal machine 108 is correspondingly limited, so that the effect of multiple reminders can be achieved when the train is required to brake and stop, and the reliability of indicating the train to brake and stop is improved.

[0074] In some embodiments, the railway monitoring system 10 further comprises:

[0075] The fault processing device 109 is connected with the control device 106, and is configured to generate alarm information based on the fault information reported by the control device 106.

[0076] In the embodiment, the control device 106 is connected with the fault processing device 109, and the control device 106 uploads the self-monitoring information of the railway-side visual sensor 102, the road-side visual sensor 103, the crossing barrier gate 104, the crossing signal machine and the sound 105, the blocking pre-warning signal machine 107 and the blocking signal machine 108, the filament state information of the blocking pre-warning signal machine 107 and the blocking signal machine 108, and the state information of the train passing through the railway crossing, etc. to the fault processing device 109, so that the fault processing device 109 can timely issue a fault reminder and perform fault recovery.

[0077] In some embodiments, the control device 106 is connected with the fault processing device 109 through a redundant communication channel to improve the reliability of the transmission of fault information.

[0078] In some embodiments, the railway monitoring system 10 further comprises:

[0079] At least one input power supply is configured to supply power to the control device 106 to improve the reliability of the control device 106.

[0080] In some embodiments, the crossing barrier gate 104 is a fence.

[0081] In some embodiments, the control device 106 adopts a dual-machine or multi-machine standby redundant hardware structure.

[0082] In some embodiments, the control bus 101 adopts a dual-channel mode.

[0083] In some embodiments, the railway monitoring system is powered by adopting a multi-path input power supply, the crossing control center device adopts a dual-machine or multi-machine standby redundant hardware structure, a safety software system is adopted, the outdoor bus adopts a dual-channel or dual-channel mode of different physical paths, in abnormal conditions, the system is connected with a "fault handling center" to handle abnormal conditions, and the RAMS indicators (i.e., reliability, availability, maintainability, and safety indicators) of the railway monitoring system are improved, and the SIL4 safety requirement of the railway monitoring system is ensured.

[0084] In some embodiments, the indoor and outdoor equipment of the railway monitoring system considers good lightning protection and grounding measures, and the selection of equipment and cables considers the protection capability against traction current interference.

[0085] As shown in Figure 2 The present embodiment also provides a railway monitoring method, which can be applied to the railway monitoring system of any of the above-mentioned embodiments. The railway monitoring method comprises:

[0086] S101: acquiring train running information output by a railway-side visual sensor and crossing clearance information output by a road-side visual sensor; wherein the railway-side visual sensor is arranged along a railway line, the road-side visual sensor is arranged at a railway crossing, and the railway crossing is a place where a road and a railway line intersect in a plane;

[0087] S102: based on the train running information, the crossing clearance information, and a preset corresponding relationship, opening the crossing barrier gate, closing the crossing barrier gate, opening the crossing signal and sound, and / or closing the crossing signal and sound, wherein the crossing barrier gate is arranged at the railway crossing, the crossing signal and sound are arranged at the railway crossing, and the preset corresponding relationship includes a corresponding relationship between different train running information and crossing clearance information and opening the crossing barrier gate, closing the crossing barrier gate, opening the crossing signal and sound, and / or closing the crossing signal and sound.

[0088] In some embodiments, as shown in Figure 3 The method further comprises:

[0089] S103: based on the train running information and the opening and closing state of the crossing barrier gate, opening or closing a blocking signal, wherein the blocking signal is arranged at a first set distance from the railway crossing.

[0090] In some embodiments, as shown in Figure 3 The method further comprises:

[0091] S104: based on the train operation information and the opening and closing state of the crossing barrier, turning on or off a block warning signal, wherein the block warning signal is arranged at a second set distance from the railway crossing, and the second set distance is greater than the first set distance.

[0092] In the embodiment, the distance between the second set distance and the first set distance is a maximum braking distance, wherein the maximum braking distance is the maximum distance required for braking of all trains on the railway.

[0093] In some embodiments, as shown in Figure 3 The method further comprises:

[0094] S105: reporting fault information to a fault processing device.

[0095] Specifically, the preset corresponding relationship comprises at least one of the following:

[0096] If the distance between the train and the railway crossing is not greater than the sum of the braking distance based on the first speed and the driving distance within a preset time length based on the first speed, the crossing signal and the sound are turned on, wherein the first speed is the train speed indicated by the currently acquired train operation information;

[0097] After the crossing signal and the sound are turned on, if the crossing clearance information received within the preset time length indicates that the train crossing has been cleared, the crossing barrier is turned on.

[0098] Before the crossing barrier is completely turned on, if the current braking distance of the train is less than the distance between the train and the railway crossing, the block warning signal and the block signal are turned on to require the train to brake and stop.

[0099] If the crossing clearance information indicates that the train tail has driven out of the railway crossing, the crossing barrier, the crossing signal and the sound, the block warning signal, and / or the block signal are turned off.

[0100] In the following, a specific example is used to describe the railway monitoring system and the monitoring method according to the embodiments of the present application:

[0101] As shown in Figure 1As shown in the figure, the railway monitoring system comprises: a control bus 101, a railway-side visual sensor 102, a highway-side visual sensor 103, a crossing barrier 104, a crossing signal and sound 105, a block pre-warning signal 107, a block signal 108, a fault handling device 109, and a train-machine joint control device (not shown in the figure). Here, the crossing barrier 104, the crossing signal and sound 105, the block pre-warning signal 107, and the block signal 108 are set and used in accordance with the requirements of the current national standard.

[0102] Figure 4 A schematic diagram of the linkage between the devices of the railway monitoring system is shown in the figure. As shown in the figure, Figure 4 The railway-side visual sensor 102 and the highway-side visual sensor 103 use computer vision and image processing technology to realize the detection of the direction, displacement, and speed of the approaching and departing trains from the railway side, as well as the detection of the clearance of pedestrians and vehicles from the highway side in the crossing area.

[0103] Specifically, the detection range of the railway-side visual sensor 102 from the railway side includes the approaching and departing aspects of the train, and the range of the railway line for each aspect of operation includes: from the approaching aspect of the crossing to the maximum train length in the departing aspect of the crossing. 制MAX +V 列MAX ×t 接近通知 Wherein, L 制MAX is the longest emergency braking distance of each type of train passing through the crossing, V 列MAX is the highest train speed of each type of train passing through the crossing, and t 接近通知 is the time for the slowest speed passing through the crossing + the closing time of the barrier + the confirmation time for the start of train braking.

[0104] According to the characteristics that the trains from the railway side run along the rails, the motion trajectory is single, and the cross-sectional area of the train is single, the railway-side visual sensor 102 judges the changes in the running speed and direction of the train by means of pre-stored pictures, train interval scale presetting, and actual image comparison, and transmits the pre-processed information to the control device 106.

[0105] The detection range of the highway-side visual sensor 103 from the highway side in the crossing area includes the limited space constituted by the width of the crossing from the highway side, the space between the barriers on both sides of the railway, and the height of the train.

[0106] In view of the finiteness of the detected range, the highway-side visual sensor 103 can judge the clearance of pedestrians and vehicles and trains by means of static image pre-storing, separating the dynamic foreground from the static background, and dynamic foreground comparison, and transmits the pre-processed information to the crossing control center device.

[0107] In view of the limitation of the detection range, the same graphic processing technique is used to determine whether the train tail has left the crossing, and the preprocessed information is transmitted to the control device 106.

[0108] The control device 106 receives the preprocessed information from the railway-side vision sensor 102 and the road-side vision sensor 103 in real time, pre-stores the train braking parameters, calculates the train emergency braking distance and braking time in real time, and performs programmed control according to the calculation results.

[0109] Figure 5 The control logic of the control device of the railway monitoring system is shown in the schematic diagram as shown in Figure 5 The control logic of the control device 106 includes:

[0110] a) When idle, transmit daily information to the fault handling device 109, determine whether the filament state of the block warning signal 107 and the block signal 108 is intact, if not, alarm the fault handling device 109, and enter the fault handling state.

[0111] b) When the train approaches the crossing and is located outside the distance L 制 + V 列 x t 接近通知 from the crossing, the railway monitoring system maintains the original state, wherein L 制 is the emergency braking distance calculated according to the real-time train speed, and V 列 is the actual speed of the train passing through the railway crossing.

[0112] c) When the train approaches the crossing and enters the range of distance L 制 + V 列 x t 接近通知 from the crossing, the control device 106 controls the crossing signal and the sound 105 on the road side to start prompting and alarming to the road side.

[0113] d) During the process of prompting and alarming to the road side by the crossing signal and the sound 105, if the information of "pedestrians and vehicles leaving the crossing" of the road-side vision sensor 103 is obtained within t approaching notification time, the road barrier (i.e., the crossing barrier 104) is controlled to fall down; at the same time, the control device 106 continues to calculate the train emergency braking distance according to the train speed, and once it is determined that the distance between the train and the crossing approaches L 制 and the road barrier has not fallen into place, the block warning signal 107 and the block signal 108 are controlled to be turned on, and the train on the railway side is controlled to stop by braking.

[0114] e) In the first preset time, if the "train tail out of the crossing" information of the highway visual sensor 103 is obtained after the highway barrier is reliably lowered, the crossing signal and the sound 105 are canceled to the highway side, and the highway barrier is controlled to be lifted. At this time, if the highway barrier cannot be reliably lifted, the crossing enters the fault handling state.

[0115] f) In the second preset time, if the highway barrier cannot be lowered in place, the blocking warning signal 107 and the blocking signal 108 are controlled to be turned on to control the train braking to stop on the railway side.

[0116] g) In the process of the crossing signal and the sound 105 starting to prompt and alarm the highway side, if the "pedestrian and vehicle out of the crossing" information of the highway visual sensor 103 is not obtained within the preset time, the blocking warning signal 107 and the blocking signal 108 are controlled to be turned on to control the train braking to stop on the railway side. 接近通知

[0117] h) After entering the "control the blocking signal and the blocking warning signal" state, it is judged whether the train is stopped in front of the blocking signal 108. If the train has stopped stably, the conditions of the crossing out and the highway barrier reliably lowered are waited for, and after the crossing out and the highway barrier reliably lowered, the blocking warning signal 107 and the blocking signal 108 are turned off, the "train and vehicle out of the crossing" information of the highway visual sensor 103 is waited for, and after the information is obtained, the highway barrier is controlled to be lowered; repeat e) and the subsequent steps; if the train is not stopped in front of the blocking signal 108, the railway enters an abnormal state, the control device 106 alarms the fault handling device 109, and enters the fault handling state.

[0118] With reference to Figure 1 , the control device 106 interfaces with the fault handling device 109, uploads the self-monitoring information of the railway visual sensor 102, the highway visual sensor 103, the crossing barrier 104 and the crossing signal and the sound 105, the filament state of the blocking warning signal 107 and the blocking signal 108, and the train passing through the crossing state information, so that the fault handling device 109 handles the fault in the case that the device in the railway monitoring system fails, the filament of the blocking warning signal 107 and the blocking signal 108 breaks, or both the highway and the railway sides are in the fault condition that the passage is prohibited.

[0119] In the railway monitoring system of the embodiment of the application, the crossing control logic of the control device 106 judges that the train approaches the crossing, enters the distance L 制 +V 列 ×t 接近通知 ​If the train accelerates after the control device 106 controls the highway-side crossing signal and the sound 105 to start prompting and alarming to the highway side, further measures need to be taken to ensure that there is no conflict between the railway and the highway.

[0120] For the train on the railway side, the dangerous stopping point is outside the crossing when the situation occurs on the highway side. When the alarm starts on the highway side, the control device 106 should still continuously check the train speed and braking distance, and once it is found that the distance between the train and the crossing is less than or equal to L 制 , and the highway barrier on the highway side has not been lowered in place, the control device 106 needs to control the opening of the blocking warning signal 107 and the blocking signal 108 to control the train on the railway side to brake and stop.

[0121] For the railway side, especially the railway line of the national railway, there is usually a ground low-frequency code sequence and a locomotive signal associated with the blocking signal 108. When the blocking signal 108 is opened, the low-frequency code sequence associated with it is considered as H code to ensure that the train receives the code to trigger emergency braking.

[0122] The railway monitoring system of the embodiment of the present application actively senses the movement of the train by using a machine vision system, which can determine the approach and departure of the train without relying on the train handling situation on the railway side, and can also passively monitor the arrival and departure of the train by using the open and closed circuit controllers set at fixed ground locations.

[0123] The railway monitoring system of the embodiment of the present application uses visual image processing and analysis technology, and fully utilizes the characteristics of single train running along the rail track and limited space of the highway passage at the crossing, simplifies the technical scheme of image recognition and information processing, reduces the requirements of system processing speed, information transmission capacity and other technical parameters, and realizes real-time detection of the running direction and displacement of the train, calculation of the train running speed, and detection of the space vacancy of the highway passage at the crossing by using the pre-stored pictures, train interval scale presetting, actual performance image comparison, foreground and background image separation, and dynamic foreground comparison.

[0124] The control device 106 of the embodiment of the present application stores train braking parameters, calculates the train braking distance and braking time in real time according to the train running speed from the visual sensor, determines the situation of the train passing through the crossing in real time, and starts the crossing control process when the train enters the distance L 制 +V 列 ×t 接近通知 ) range, which can identify the problem of the train with a change in running direction in the area near the crossing, and can also select a reasonable closing time of the highway side of the crossing according to different running speeds of the train passing through the crossing, to avoid the difficulty of uniformly calculating the approach time according to the fast train and waiting for a long time on the highway side when the slow train passes through the crossing.

[0125] The railway monitoring system of the embodiment of the application can be used for newly-built railway section crossings and also for reconstruction of existing railway section crossings, and is particularly suitable for overseas projects requiring unmanned crossings.

[0126] Specifically, during construction, the construction can be performed according to the following rules:

[0127] For the arrangement of trackside equipment, here, the trackside equipment includes: a railway-side visual sensor 102, a road-side visual sensor 103, a crossing barrier gate 104, a crossing signal and sound 105, a block pre-warning signal 107 and a block signal 108, and a trackside control cable (i.e., a control bus 101), and all the trackside equipment except the trackside control cable is provided with a double-channel interface.

[0128] Controllable barriers, such as electric barriers, with self-monitoring state are arranged at appropriate positions on both sides of the railway at the railway crossing, and a crossing signal and sound 105 is arranged outside the barrier and at a position convenient for the road driver to look.

[0129] A block signal 108 is arranged at an appropriate position, for example, 10 m away from the crossing on the railway side, and a block pre-warning signal 107 is arranged outside the block signal 108 and in the range of the braking distance allowed by the line; for an automatic block section, a certain automatic block passing signal within a range of, for example, 300 m away from the crossing can be selected as the block signal 108, and a block pre-warning signal 107 is arranged outside the block signal 108; after the block and its pre-warning signal are selected, an interface controller is arranged to interconnect and control the signals.

[0130] Taking the case that there are trains passing in both directions at the crossing as an example, according to the working distance of the railway-side visual sensor 102 and the road-side visual sensor 103, one or more railway-side visual sensors 102 and / or road-side visual sensors 103 are arranged within the range of L 制 +V 列 ×t 接近通知 ) at both sides of the crossing, taking the train speed of 60 km / h and the width of the road side of the crossing of 30 m as an example, the range is about 1000 m at both sides of the crossing, and one or more railway-side visual sensors 102 and / or road-side visual sensors 103 are arranged uniformly, and one should be arranged at the intersection of the railway and the kilometer to detect the clearance of pedestrians, vehicles or trains in the space of the intersection.

[0131] The field bus medium and the equipment interface consider optical cables and optical interfaces with strong anti-interference ability, and double optical cables are laid along the equipment range in the direction of the railway line, and are connected with the barriers, the crossing signal and sound, the block and its pre-warning signal or the interface controllers thereof, and the visual sensors. Power supply cables are laid along the same path to provide power supply interfaces for the trackside equipment.

[0132] The indoor control device 106 is provided with a multi-path power input interface. The control device 106 controls the trackside device and collects the state of the trackside device through the trackside control cable, and provides power supply for the trackside device. The control device 106 stores train braking parameters, track parameters near the crossing, and has the ability to calculate the train braking distance in real time.

[0133] The remote fault processing device 109 is connected with the control device 106 through a redundant communication channel.

[0134] The railway-side visual sensor 102 and the highway-side visual sensor 103 collect real-time field data, and through the ways of pre-stored pictures, train interval scale presetting, actual performance image comparison, foreground and background image separation, and dynamic foreground comparison, the running direction and displacement of the train are real-time detected, the running speed of the train is calculated, the space vacancy of the crossing highway passage is detected, and the sensing information is transmitted to the control device 106 through the control bus 101.

[0135] The control device 106 is the main device of the crossing signal device. When there is no train passing through the crossing, the device state monitoring and the previous train sequence information are uploaded, and the crossing is usually in the monitoring and blocking state and the pre-warning signal machine is in the monitoring state. The control device 106 receives the train approaching information from the visual sensor and calculates the emergency braking distance of the train. When it is judged that a train enters the range of the crossing (L 制 +V 列 ×t 接近通知 ), the crossing control process is started, and the other trackside devices outside the visual sensor are controlled and information is collected according to the control logic shown in Figure 5 , and the working of the whole railway monitoring system is controlled. When the railway monitoring system appears abnormal, the fault processing center is alarmed, the control device 106 itself exits the service and enters the fault processing state.

[0136] The crossing signal machine and the sound 105, the blocking pre-warning signal machine 107, the blocking signal machine 108 and the crossing barrier 104 are controlled objects of the control device 106, which are the execution layer devices for guiding the passing or non-passing of the railway and highway vehicles and people. According to the instructions of the control device 106, these execution layer devices perform specific alarm, switch light, lifting and lowering operations. When the barrier, the blocking and the pre-warning signal machine fail to guide the passing, the corresponding fault processing is performed through the control device 106.

[0137] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the division of the units is merely a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components can be indirect coupling or communication connection through some ports, devices or units, which can be electrical, mechanical or other forms.

[0138] The units described above as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on multiple network units; part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0139] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0140] Those skilled in the art can understand that all or part of the steps of the above method embodiments can be completed by program instruction related hardware, and the foregoing program can be stored in a computer readable storage medium, and the program executes the steps including the above method embodiments when executed.

[0141] The above is merely a specific implementation of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A railway monitoring system, characterized in that The railway monitoring system comprises: a control bus arranged along a railway line; The railway visual sensor is arranged along a railway, and a signal output end of the railway visual sensor is connected with the control bus; a detection range of the railway visual sensor covers preset distance ranges in uplink and downlink directions of a train; the preset distance range in the uplink direction includes: from a first position before the train drives into a railway crossing to a second position after the train drives away from the railway crossing, wherein a distance between the first position and the railway crossing is L 制MAX +V 列MAX ×t 接近通知 , the second position is a maximum train length; wherein L 制MAX is a maximum emergency braking distance required by each type of train passing through the railway crossing, V 列MAX is a maximum speed of each type of train passing through the railway crossing, and t 接近通知 is a preset reserved reaction time; a road-side visual sensor arranged at a railway crossing, a signal output end of the road-side visual sensor being connected to the control bus, wherein the railway crossing is a place where a road and the railway line intersect in a plane; a crossing gate arranged at the railway crossing, the crossing gate being connected to the control bus; a crossing signal and sound device arranged at the railway crossing, the crossing signal and sound device being connected to the control bus; the railway-side visual sensor and / or the road-side visual sensor compare and analyze a captured image with a reference image stored in a memory after capturing the image; the railway-side visual sensor determines train operation information and transmits the train operation information to a control device through the control bus; a control device connected to the control bus, the control device being configured to open the crossing gate, close the crossing gate, open the crossing signal and sound device, and / or close the crossing signal and sound device based on the train operation information output by the railway-side visual sensor, crossing empty information output by the road-side visual sensor, and a preset corresponding relationship, wherein the preset corresponding relationship comprises a corresponding relationship between different train operation information and crossing empty information and opening the crossing gate, closing the crossing gate, opening the crossing signal and sound device, and / or closing the crossing signal and sound device. The train operation information comprises a running direction, a running displacement, and a running speed of a train.

2. The railway monitoring system of claim 1, wherein, The railway monitoring system further comprises: a block signal arranged at a first set distance from the railway crossing, the block signal being connected to the control bus; the control device is further configured to open or close the block signal based on the train operation information and an opening and closing state of the crossing gate.

3. The railway monitoring system of claim 2, wherein, The railway monitoring system further comprises: a block warning signal arranged at a second set distance from the railway crossing, the block warning signal being connected to the control bus, wherein the second set distance is greater than the first set distance; the control device is further configured to open or close the block warning signal based on the train operation information and the opening and closing state of the crossing gate.

4. The railway monitoring system of claim 3, wherein, A distance between the second set distance and the first set distance is a maximum braking distance, wherein the maximum braking distance is a maximum distance required for braking of all trains on the railway.

5. The railway monitoring system of claim 1, wherein, The railway monitoring system further comprises: a fault handling device connected to the control device, configured to generate alarm information based on fault information reported by the control device.

6. The railway monitoring system of claim 5, wherein, The control device is connected to the fault handling device through a redundant communication channel.

7. The railway monitoring system of claim 1, wherein, The railway monitoring system further comprises: at least one input power supply configured to supply power to the control device.

8. The railway monitoring system of claim 1, wherein, The crossing barrier is a controllable device with state self-monitoring.

9. The railway monitoring system of claim 1, wherein, The control device adopts a hardware structure with dual or multi-machine standby redundancy.

10. The railway monitoring system of claim 1, wherein, The control bus adopts a dual-channel mode.

11. A railway monitoring method, characterized in that, Obtain train operation information output by a railway-side vision sensor and crossing clearance information output by a highway-side vision sensor; wherein the railway-side vision sensor is arranged along a railway line, the highway-side vision sensor is arranged at a railway crossing, the railway crossing is a place where a highway and a railway line intersect in a plane, a detection range of the railway-side vision sensor covers a preset distance range in an uplink direction and a downlink direction of a train, the preset distance range in the uplink direction includes a first position before a train enters the railway crossing to a second position after the train leaves the railway crossing, a distance between the first position and the railway crossing is L 制MAX + V 列MAX × t 接近通知 , the second position is a maximum train length, L 制MAX is a maximum emergency braking distance required by each type of train passing through the railway crossing, V 列MAX is a maximum speed of each type of train passing through the railway crossing, and t 接近通知 is a preset reserved reaction time; after capturing images, the railway-side vision sensor and / or the highway-side vision sensor compares and analyzes the captured images with reference images stored in a memory; the railway-side vision sensor determines train operation information and transmits the train operation information to a control device through a control bus; based on the train operation information, the crossing clearance information and a preset corresponding relationship, opening the crossing barrier, closing the crossing barrier, opening the crossing signal and sound, and / or closing the crossing signal and sound, wherein the crossing barrier is arranged at the railway crossing, the crossing signal and sound are arranged at the railway crossing; the preset corresponding relationship includes different corresponding relationships between the train operation information and the crossing clearance information and opening the crossing barrier, closing the crossing barrier, opening the crossing signal and sound, and / or closing the crossing signal and sound; wherein the train operation information includes the running direction, running displacement and running speed of the train.

12. The method of claim 11, wherein, The method further comprises: based on the train operation information and the opening and closing state of the crossing barrier, opening or closing the block signal, wherein the block signal is arranged at a first set distance from the railway crossing.

13. The method of claim 12, wherein, The method further comprises: based on the train operation information and the opening and closing state of the crossing barrier, opening or closing the block warning signal, wherein the block warning signal is arranged at a second set distance from the railway crossing, and the second set distance is greater than the first set distance.

14. The method of claim 13, wherein, The distance between the second set distance and the first set distance is the maximum braking distance, wherein the maximum braking distance is the maximum distance required for braking of all trains on the railway.

15. The method of claim 11, wherein, The method further comprises: reporting fault information to a fault handling device.

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