A concave-bottom vehicle information collection system

Abstract

This invention relates to a vehicle undercarriage information acquisition system. The system includes a laser ranging module, an axle counting and vehicle identification module, a vehicle number acquisition module, an image acquisition module, and a processing computer. The vehicle undercarriage information acquisition system provided by this invention can provide and process complete information about vehicles with undercarriages, including undercarriage clearance information, sequence information, vehicle number and model information, and image information. When the undercarriage clearance of a vehicle with an undercarriage is less than a preset value, the system provides an alarm to the user.

Description

Technical Field

[0001] This invention relates to the field of rail transit safety inspection technology, and in particular to an information collection system for concave-bottom cars during shunting operations in railway marshalling yards. Background Technology

[0002] Concave-bottom cars are a type of railway transport vehicle with a recessed floor, used to transport special goods such as large transformers, generators, and small cars. Due to their low undercarriage clearance, concave-bottom cars are prohibited from being directly shunted via hump yards during marshalling yard dismantling operations. They must be transported to prohibited shunting lines for storage, severely impacting operational efficiency. Furthermore, the undercarriage clearance height varies among different concave-bottom cars. Therefore, identifying concave-bottom cars and their order before trains arrive at the marshalling yard, accurately measuring their undercarriage clearance height in real time, and filtering out cars with excessively low clearance heights are crucial for improving the operational capacity of marshalling yards.

[0003] Currently, existing concave-bottom vehicle information acquisition systems only include a ranging sensor and a processing computer to collect the height of the concave-bottom vehicle's undercarriage. The shortcomings of this system are: (1) the system cannot collect axle counting and vehicle identification information, and therefore cannot provide the order of concave-bottom vehicles in mixed formations; (2) the system cannot collect other information about concave-bottom vehicles, such as vehicle number and model information, image information, etc. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a concave bottom vehicle information collection system to address the above-mentioned shortcomings.

[0005] This invention is achieved through the following technical solution:

[0006] A concave vehicle information collection system, the system comprising:

[0007] The laser ranging module is used to measure the height of the undercarriage of passing vehicles in real time and transmit the undercarriage height data to the processing computer.

[0008] The axle counting and vehicle judgment module is used to monitor the wheelbase and passing time of passing vehicles in real time, and transmit the wheelbase data and passing time data to the processing computer.

[0009] The vehicle number acquisition module is used to collect the vehicle numbers of passing vehicles in real time and transmit the vehicle number information data to the processing computer.

[0010] The image acquisition module is used to acquire images of passing vehicles in real time and send the image data to the processing computer; and

[0011] The processing computer is used to calculate and match the vehicle undercarriage height data, the wheelbase data, the vehicle number information data, and the image data to obtain information about the vehicle with a concave undercarriage.

[0012] Furthermore, in the aforementioned concave-bottom vehicle information acquisition system, the laser ranging module includes at least two laser sensors.

[0013] Furthermore, in the aforementioned concave-bottom vehicle information acquisition system, the laser ranging module includes two laser sensors, which are respectively installed on the inner sides of the two rails, and the line connecting the two laser sensors is perpendicular to the rails.

[0014] Furthermore, in the aforementioned concave-bottom vehicle information collection system, the axle counting and vehicle judgment module includes four magnets and an axle distance acquisition module. The four magnets are distributed on the inner side of one side of the rail; the four magnets are connected to the axle distance acquisition module, and the axle distance acquisition module is connected to the processing computer.

[0015] Furthermore, in the aforementioned concave-bottom vehicle information collection system, the vehicle number collection module includes a vehicle number collection host and a vehicle number antenna, the vehicle number antenna being installed in the center of the railway track; the vehicle number antenna is connected to the vehicle number collection host, and the vehicle number collection host is connected to the processing computer.

[0016] Furthermore, in the aforementioned concave-bottom vehicle information acquisition system, the image acquisition module includes at least one high-definition line scan camera and an image acquisition card. The high-definition line scan camera is mounted on a rail post; the high-definition line scan camera is connected to the image acquisition card, and the image acquisition card is connected to the processing computer; the processing computer uses the wheelbase data to segment the image data.

[0017] Furthermore, the aforementioned dented vehicle information collection system also includes a monitoring platform, which is used to receive dented vehicle information output by the processing computer and display it to the user; when an oversized dented vehicle is detected, the monitoring platform will issue an alarm to the user.

[0018] Furthermore, in the aforementioned concave-bottom vehicle information collection system, the processing computer performs the following operations:

[0019] The number of concave-bottom cars and the clearance height of each concave-bottom car are calculated based on the car bottom height data.

[0020] The vehicle sequence information at the concave bottom is calculated based on the vehicle passage time data.

[0021] The vehicle model information of the vehicle that has passed through the vehicle number information is identified, and the number, clearance height and order information of the vehicles with concave bottoms are corrected based on the vehicle model information.

[0022] Furthermore, in the aforementioned concave-bottom vehicle information collection system, the processing computer calculates the number of concave-bottom vehicles and the clearance height of each concave-bottom vehicle based on a waveform recognition algorithm.

[0023] Furthermore, in the aforementioned information collection system for concave-bottom vehicles, the processing computer also performs the following operations:

[0024] (1) Based on the vehicle model information, obtain the vehicle model and length s[n] of each car section. p ],in,

[0025] (2) Based on the passing time data, calculate the passing time t[n] for each car. p ];

[0026] (3) Calculate the speed of each car based on its length and travel time.

[0027] (4) Calculate the number of data points D under each car. p [n p ]=v[n p ]*f, where f is the data sampling frequency;

[0028] (5) The number of data points D identified as concave-bottom vehicles p [n p ],like If the data is incorrect, the data of the car with the concave bottom will be retained; otherwise, the car with the concave bottom is a misjudgment and its data will be deleted. Wherein, I0[n] and I1[n] are the starting and ending subscripts of the data of each car with the concave bottom, and δ1 and δ2 are the upper and lower limits of the ratio of the number of data points of the car with the concave bottom to the total number of data points of the car.

[0029] (6) For vehicles with concave bottoms that are not identified in the vehicle model information, find their sequence l′ and extract the vehicle bottom height data D corresponding to the l′ vehicle. l′ The waveform recognition algorithm is used to calculate the clearance height of the concave-bottomed vehicle.

[0030] (7) Update the number of concave bottom sections.

[0031] The advantages and effects of this invention are:

[0032] The dented vehicle information acquisition system provided by this invention can provide and process complete information about dented vehicles, including undercarriage clearance information, sequence information, vehicle number and model information, and image information. When the undercarriage clearance of a dented vehicle is less than a preset value, the system provides an alarm to the user. Attached Figure Description

[0033] Figure 1 This diagram shows a module schematic of the concave-bottom vehicle information collection system provided by the present invention;

[0034] Figure 2 This diagram shows the layout scheme of the concave-bottom vehicle information collection system provided by the present invention.

[0035] Figure 3 The flowchart illustrates the execution operation of the computer in the information collection system for concave-bottom vehicles provided by this invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. The described embodiments are only some, not all, of the embodiments of this invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The embodiments of this invention will be described in detail below with reference to the accompanying drawings:

[0037] In the description of this invention, it should be understood that, unless otherwise stated, "a plurality of" means two or more; the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "joined" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] The vehicle undercarriage information acquisition system provided by this invention includes a laser ranging module A, an axle counting and vehicle identification module B, a vehicle number acquisition module C, an image acquisition module D, a processing computer E, and a monitoring platform F. The laser ranging module A is used to measure the undercarriage height of passing vehicles in real time and transmit the undercarriage height data to the processing computer E. Specifically, as... Figure 2As shown, the laser ranging module A includes at least two laser sensors A1, A2, ... These sensors are separately installed on the inner sides of both sides of the rail to collect real-time vehicle undercarriage height data and are connected to the processing computer E via data cables to transmit real-time ranging data to the processing computer E. Preferably, the laser ranging module includes two laser sensors, which are respectively installed on the inner sides of both sides of the rail, and the line connecting the two laser sensors is perpendicular to the rail. The axle counting and vehicle judgment module B is used to measure the passing wheelbase and passing time in real time, and transmits the wheelbase data and passing time data to the processing computer E. The passing time is the time when each car passes. Specifically, as... Figure 2 As shown, the axle counting module B includes four magnets B1, B2, B3, and B4, and a wheelbase acquisition module BY (wheelbase acquisition instrument). The four magnets B1, B2, B3, and B4 are installed on the inside of one side of the rail and connected to the wheelbase acquisition module BY via an aviation connector. The wheelbase acquisition module BY is connected to the processing computer E via a data cable, transmitting wheelbase information to the processing computer E. The car number acquisition module C is used to collect the car numbers of passing vehicles in real time and transmit the car number information data to the processing computer E. Specifically, as... Figure 2 As shown, the vehicle number acquisition module C includes a vehicle number acquisition host C1 and a vehicle number antenna C2. The vehicle number antenna C2 is installed in the center of the railway track and is connected to the vehicle number host C1 via a feeder. The vehicle number host C1 is connected to the processing computer E via a data cable to identify vehicle number and model information. The image acquisition module D is used to acquire images of passing vehicles in real time and send the image data to the processing computer E. Specifically, as shown... Figure 2 As shown, the image acquisition module D includes at least one high-definition line scan camera D1, D2, ... and an image acquisition card DK. The high-definition line scan cameras D1, D2, ... are mounted on the rail posts and connected to the image acquisition card DK via data cables. The image acquisition card DK is connected to the processing computer E. The processing computer E acquires image data in real time through the image acquisition card DK and performs image segmentation using the wheelbase information data provided by the axle counting and vehicle determination module B. The processing computer E is used to calculate and match the vehicle undercarriage height data, wheelbase data, vehicle number information data, and image data, and transmits the processing results to the monitoring platform. Specifically, the processing computer E transmits the data along with the images to the monitoring platform F in the form of messages. The monitoring platform F receives and processes the messages and stores the high-definition images, and publishes and displays information about vehicles with dented undercarriages to users G; when an oversized vehicle with a dented undercarriage is detected, the monitoring platform F sends an alarm to users G1, G2, ...

[0039] Figure 3 This diagram illustrates the execution operation flowchart of the processing computer in the concave-bottom vehicle information collection system provided by the present invention. The processing computer of this system performs the following operations:

[0040] The number of concave-bottom cars and the clearance height of each concave-bottom car are calculated based on the car bottom height data.

[0041] The order of the vehicles at the concave bottom is calculated based on the vehicle passage time data;

[0042] The vehicle model information of the vehicle that has passed through the vehicle is identified based on the vehicle number information, and the number, clearance height and order information of the vehicles with concave bottoms are corrected based on the vehicle model information.

[0043] In a specific embodiment, the processing computer of the system performs the following operations:

[0044] (1) The laser ranging module measures the undercarriage height data sequence D of the passing vehicle in real time, and the length of sequence D is N. d The time series of data collection for vehicle undercarriage height T D T D The sequence length is N d Specifically, T D There is a one-to-one correspondence between D and the time of data collection, meaning that each vehicle undercarriage height corresponds to a specific data collection time. The axle counting and vehicle determination module collects the vehicle passage time sequence T. P T P The sequence length is N P Each time a car passes through the axle counting module, the axle counting module records the current time.

[0045] (2) Combining the undercarriage height information, the number of concave-bottom car sections N, the starting index I0[n] and ending index I1[n] of each concave-bottom car section data, and the net height h of each concave-bottom car section are obtained through waveform recognition algorithm. n , (n = 1, 2, ..., N).

[0046] Specifically, the waveform recognition algorithm is as follows:

[0047] ① The vehicle undercarriage height data sequence D is respectively processed by M filters F m Perform convolution to obtain M filtered waveforms D m ,Right now Preferably, M can be 1-10.

[0048] ② For each filtered waveform D m Find those less than the threshold δ m All D m subscript J m Among them, δ m It is used for preliminary screening of the filtered waveform D m The parameters for medium-to-low altitude data are related to the calibration of the hardware acquisition system and can be selected between 140mm and 200mm.

[0049] ③ Set the subscript J of each group m Divide into N′m Segment, traverse N′ m The start and end indices of the segments are determined. If the difference between the start index of the (i+1)th segment and the end index of the ith segment is less than the threshold δ0, then the data of the ith and (i+1)th segments are merged (i = 1, 2, ..., N′). m -1), to obtain N m The start and end indices of the data segment, i.e., N m This indicates the number of concave-bottom car sections in the preliminary identification results. Here, δ0 is a parameter used to ensure the continuity of data indices; its value is related to the acquisition frequency of the hardware acquisition system and the passing speed, and can range from 5 to 1000. For example, data points 1000 to 2000 represent the waveform of one concave-bottom car section, but in actual acquisition, the 40 data points from 1400 to 1440 may have values ​​higher than δ0 in ②. m Setting δ0 allows the algorithm to ignore these 40 outliers.

[0050] ④ Select m sets of filtered waveforms D m N m The most frequent waveform subscripts are used as the starting subscript I0[n] and ending subscript I1[n] of the data for each concave bottom car section, respectively.

[0051] ⑤ Select data from index I0[n] to I1[n] from the vehicle bottom height sequence D, and calculate the minimum value as the minimum height h[n] of the nth concave-bottom vehicle, that is, the clearance height h. n .

[0052] (3) Combine the preliminary identification results in step (2) with the vehicle passing time information, and obtain the concave bottom vehicle sequence information through the sequence identification algorithm.

[0053] Specifically, the order recognition algorithm is as follows:

[0054] ①Find T P At each moment in T D The subscript J in P This makes T D [J P [i]]≤T P [i]≤T D [J P [i]]+1(i=1,2,...,N P ).

[0055] ② Calculate I0[n]~I1[n] and J P The overlap of the sequences is used to select the sequence with the highest overlap as the sequence L[n] of the nth concave-bottom car.

[0056] (4) Based on the vehicle number acquisition module, identify the vehicle type information of the passing vehicles (including the vehicle type information of each freight car), and correct the identification results of the concave-bottomed cars in steps (2) and (3) (including the number of concave-bottomed cars N, the starting index I0[n] and ending index I1[n] of the data for each concave-bottomed car, and the net height h of each concave-bottomed car). n and the order L[n]).

[0057] Specifically:

[0058] ①Based on vehicle model information Info[n p ], obtain the model and length s[n] of each car section. p ]. Where, n p Let be an independent variable, representing that the length s is a sequence (array), i.e., n. p The length of the car section.

[0059] ②Based on the time sequence T of the passing train P [n p ], perform difference operation on it to obtain the transit time t[n] of each car. p ].

[0060] ③ Calculate the passing speed of each car.

[0061] ④ Calculate the number of data points D under each car section. p [n p ]=v[n p ]*f (f is the data sampling frequency).

[0062] ⑤ The number of data points D identified as concave-bottomed vehicles p [n p ],like If the car with the concave bottom is identified, its identification data is retained; otherwise, the car with the concave bottom is considered a false positive and its data is deleted. Here, δ1 and δ2 are the upper and lower limits of the ratio of the number of data points identifying the car with the concave bottom to the total number of data points for that car section, used to filter out false positives. A ratio that is too small may indicate structural issues such as the car's bogie, while a ratio that is too large indicates a false positive. The values ​​of δ1 and δ2 are also related to other factors such as equipment calibration; generally, δ1 can be taken as 0.3–0.6, and δ2 as 0.8–0.95.

[0063] ⑥ For vehicles with concave bottoms that are not identified in the vehicle model information, find their sequence l′ and extract the vehicle bottom height data D corresponding to the l′ vehicle. l′ Using the waveform recognition algorithm, D is found. l′ The lowest height in the system, i.e., the clearance height.

[0064] ⑦ Update the number of concave bottom sections and end the recognition process.

[0065] The concave-bottom car information acquisition system provided by this invention can collect real-time data on the clearance undercarriage of concave-bottom cars online, issue alarms for oversized vehicles, and provide users with multimodal concave-bottom car information, such as undercarriage waveform data, vehicle type and number information, vehicle position sequence, and high-definition images of the vehicles. The system's monitoring platform can provide dispatchers with comprehensive information, assisting railway station dispatching operations.

[0066] The concave-bottom vehicle information collection system provided by this invention can perform online monitoring and promptly alarm or warn oversized vehicles before they enter the station, effectively ensuring driving safety. Compared with existing technologies, the concave-bottom vehicle information collection system provided by this invention collects more comprehensive information, enabling users to more accurately determine whether the concave-bottom vehicle's undercarriage exceeds the limits.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the scope of the present invention. Any equivalent changes and modifications made within the protection scope of the present invention should be considered to fall within the protection scope of the present invention.

Claims

1. A concave-bottom vehicle information collection system, characterized in that, The system includes: The laser ranging module is used to measure the height of the undercarriage of passing vehicles in real time and transmit the undercarriage height data to the processing computer. The axle counting and vehicle judgment module is used to monitor the wheelbase and passing time of passing vehicles in real time, and transmit the wheelbase data and passing time data to the processing computer. The vehicle number acquisition module is used to collect the vehicle numbers of passing vehicles in real time and transmit the vehicle number information data to the processing computer. The image acquisition module is used to acquire images of passing vehicles in real time and send the image data to the processing computer; and The processing computer is used to calculate and match the vehicle undercarriage height data, the wheelbase data, the vehicle number information data, and the image data to obtain information about the vehicle with a concave undercarriage. The processing computer performs the following operations: The number of concave-bottom cars and the clearance height of each concave-bottom car are calculated based on the car bottom height data. The vehicle sequence information at the concave bottom is calculated based on the vehicle passage time data. The vehicle model information of the vehicle that passed through is identified based on the vehicle number information, and the number, clearance height and order information of the vehicles with concave bottoms are corrected based on the vehicle model information. The processing computer also performs the following operations: (1) Based on the vehicle model information, obtain the vehicle model and length of each car. ; (2) Calculate the passage time of each car based on the passing time data. ; (3) Calculate the passing speed of each car based on the length of each car and the passing time. ; (4) Calculate the number of data points under each car. ,in, This refers to the data sampling frequency; (5) The number of data points identified as concave-bottomed vehicles ,like If the vehicle with the dented bottom is identified, its identification data is retained; otherwise, the vehicle with the dented bottom is considered a false positive, and its data is deleted. , The starting and ending indices for the data of each concave bottom car section are defined, and δ1 and δ2 are the upper and lower limits of the ratio of the number of data points of the concave bottom car section to the total number of data points of that car section. (6) For vehicles with concave bottoms that are not identified in the vehicle model information, find their priority. and extract the first Car floor height data corresponding to the section The net height of the concave-bottomed car was calculated using a waveform recognition algorithm. (7) Update the number of concave bottom carriages; The waveform recognition algorithm is as follows: ① Sequence of vehicle undercarriage height data Separately and Filters Perform convolution to obtain Strip filter waveform ,Right now , ; ② For each filtered waveform Find those less than the threshold All subscript ;in, It is used for preliminary screening of filtered waveforms. Parameters for data at medium to low altitudes; ③ Set each group of subscripts Divided into Segment, traversal The start and end indices of the segment, if the first... The starting index of the segment minus the first The segment termination index is less than the threshold. Then the first and the Segment data merging ,get The start and end indices of the data segment, i.e. The number of concave-bottom sections is the preliminary identification result; among them, It is a parameter used to ensure the continuity of data indices; ④ Select Group filter waveform middle The most frequent waveform index is used as the starting index for the data of each concave bottom car. and termination of bid ; ⑤ Sequence of vehicle undercarriage height Select subscript from arrive The data is used to calculate the minimum value as the first... Minimum height of the concave bottom car That is, the clearance height .

2. The information collection system for a concave-bottom vehicle according to claim 1, characterized in that, The laser ranging module includes at least two laser sensors.

3. The information collection system for a concave-bottom vehicle according to claim 2, characterized in that, The laser ranging module includes two laser sensors, which are respectively installed on the inner side of the two rails, and the line connecting the two laser sensors is perpendicular to the rails.

4. The information collection system for a concave-bottom vehicle according to claim 1, characterized in that, The axle counting and vehicle judgment module includes four magnets and an axle distance acquisition module. The four magnets are distributed on the inner side of one side of the rail. The four magnets are connected to the axle distance acquisition module, and the axle distance acquisition module is connected to the processing computer.

5. The information collection system for a concave-bottom vehicle according to claim 1, characterized in that, The vehicle number acquisition module includes a vehicle number acquisition host and a vehicle number antenna. The vehicle number antenna is installed in the center of the railway track. The vehicle number antenna is connected to the vehicle number acquisition host, and the vehicle number acquisition host is connected to the processing computer.

6. The information collection system for a concave-bottom vehicle according to claim 1, characterized in that, The image acquisition module includes at least one high-definition line scan camera and an image acquisition card. The high-definition line scan camera is mounted on a column of the railway track. The high-definition line scan camera is connected to the image acquisition card, and the image acquisition card is connected to the processing computer. The processing computer uses the axis distance data to segment the image data.

7. The information collection system for a concave-bottom vehicle according to claim 1, characterized in that, It also includes a monitoring platform, which is used to receive the dented vehicle information output by the processing computer and display it to the user; when an oversized dented vehicle is found, the monitoring platform will issue an alarm to the user.

8. The information collection system for concave-bottom vehicles according to claim 1, characterized in that, The processing computer calculates the number of concave-bottom cars and the clearance height of each concave-bottom car based on a waveform recognition algorithm.

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